CN108809178A - A kind of SMART FLUID actuator servo feedback control system and method - Google Patents
A kind of SMART FLUID actuator servo feedback control system and method Download PDFInfo
- Publication number
- CN108809178A CN108809178A CN201810688396.1A CN201810688396A CN108809178A CN 108809178 A CN108809178 A CN 108809178A CN 201810688396 A CN201810688396 A CN 201810688396A CN 108809178 A CN108809178 A CN 108809178A
- Authority
- CN
- China
- Prior art keywords
- servo
- motor
- module
- driver
- feedback
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
Abstract
The invention belongs to use digital processing unit technical field, discloses a kind of SMART FLUID actuator servo feedback control system and method, the SMART FLUID actuator servo feedback control system include：Rotational travel detection module, current detection module, load detecting module, main control module, reset motor module, feedback module, adjustment module, synchronization module.The present invention can be while not installing various types ancillary equipment and accessory by reset motor module, effectively and accurately motor is resetted, it reduces and various ancillary equipments is installed and cost that accessory is brought, and maintenance difficulties, simplify function simultaneously, space is saved, keeps its application field more extensive；Secondary address by synchronization module using the main address of response time most short servo-driver as all servo controllers simultaneously can be such that the servo motor that all servo controllers are controlled realizes and synchronize.
Description
Technical field
The invention belongs to use digital processing unit technical field more particularly to a kind of SMART FLUID actuator servo to feed back control
System and method processed.
Background technology
Servo-control system is used for accurately following or reappearing the feedback control system of some process.In many cases,
Servo-drive system refers exclusively to the feedback control system that controlled variable (output quantity of system) is mechanical displacement or velocity of displacement, acceleration,
Its effect is the displacement (or corner) for making the mechanical displacement (or corner) of output be accurately tracked by input.The structure group of servo-drive system
At the difference of the feedback control system with other forms not in principle.However, traditional servo reset motor function, can not pass through
Simple program control, needs individually to install in outside, sensor, and the ancillary equipments such as optoelectronic switch and accessory are multiple to help to realize
Bit function, these equipment and accessory complex installation process, function is complicated, and of high cost, stability is poor, and improves plant maintenance
Difficulty；Simultaneously existing different servo-driver receive the position command time that master controller is sent out be it is different,
Therefore time delay will cause the servo motor that servo-driver is controlled to start asynchronous at the very start, especially delay time
Too big or require locating speed fast, the synchronous error of servo motor is with regard to higher.
In conclusion problem of the existing technology is：
(1) traditional servo reset motor function can not be controlled by simple program, needed individually to install in outside, be passed
Sensor, the ancillary equipments such as optoelectronic switch and accessory help to realize reset function, these equipment and accessory complex installation process, work(
Can be complicated, of high cost, stability is poor, and improves the difficulty of plant maintenance；Different servo-driver existing simultaneously receives
It is different to the position command time that master controller is sent out, therefore time delay will cause servo-driver to be controlled
Servo motor startup is asynchronous at the very start, and especially delay time is too big or requires locating speed fast, the synchronization of servo motor
Error is with regard to higher.
(2) control accuracy of the controller of existing servo motor is low, of high cost.
Invention content
In view of the problems of the existing technology, the present invention provides a kind of SMART FLUID actuator servo feedback control system and
Method.
The invention is realized in this way a kind of SMART FLUID actuator servo feedback, the SMART FLUID transmission
Servo feedback control method includes：
(1) rotational travel of servo motor is detected, and exports the pulse feedback signal for indicating rotational travel；
The hydraulic fluid leak amount of the rotational travel is expressed as：
In formula：D is hydraulic pressure cylinder bore, and h chinky altitudes between piston and casing wall, Δ p is that gap pressure at two ends is poor, and μ is liquid
Pressure oil dynamic viscosity, l are gap length；
The fluid dynamic viscosity of hydraulic cylinder is expressed as：
In formula:μ0For under 1 atmospheric pressure, temperature t0When pure oil dynamic viscosity；μ be pressure be p, temperature t, fluid
Fluid dynamic viscosity when middle entrained gas amount is B；λ is viscosity-temperature coefficient, and α is glutinous pressure coefficient；
(2) electric current of servo motor is detected by hall sensor, and exports the current feedback signal for indicating the electric current；
(3) it when servo motor is under specified rotational travel and reaches specified rotational travel, obtains and is based on hall sensor
With the inertia load electric current of output；When servo motor is under specified rotational travel, the inertia arteries and veins based on encoder to export is obtained
Rush number；
(4) it is worked normally by main controller controls modules；
(5) it determines servo motor parameter, lateral position is calculated using Increment Type Digital Hydraulic PID increasable algorithms to servo motor
Carry out reset operation；
The determination method of the servo motor parameter includes：
(1) determination of target location value, R=512 × 4=2084 count values/circle；P=R × 2000=4168000 is counted
Value；P is switched to 16 into being made as P=003F9940H.
(2) determination of velocity amplitude
200 count values of V=RT × 50=26.675/sampling period；The velocity amplitude of loading：
748 185.90 rounding V=1 748 185 of the 536=1 of V=V × 65；V is switched into 16 system V=001AACD9H；
(3) determination of acceleration value
A=RTT × 10=0.000 136 577；
The acceleration value of loading：
The 536=8.950 of A=A × 65 711 844；
Rounding A=8；
A is switched into 16 systems, A=00000008H；
The reset operation calculates lateral position using Increment Type Digital Hydraulic PID increasable algorithms, adjusts lateral position；
It is described use the mathematical model of Increment Type Digital Hydraulic PID increasable algorithms for：
Δ u (k)=Kp[e(k)-e(k-1)]+Kie(k)+Kd[e(k)-e(k-1)+e(k-2)]；
In formula, Δ u (k) is the variable quantity K of current controlled quentity controlled variable u (k) and moment controlled quentity controlled variable u (k-1) before thisp、Ki、KdRespectively
For ratio, integral and differential control parameter, e (k), e (k-1), e (k-2) are respectively current to measure, previous measurement and preceding survey twice
The deviation of amount；
(6) the position scan instruction that master controller is sent is received, and position scan instruction is fed back to the master controller
Response time and corresponding main address；
(7) it receives and writes secondary address instruction and the instruction of write pulse position difference transmitted by master controller, and will be received
The secondary address write in secondary address instruction is written in its secondary address register；Pulse position difference during write pulse position difference is instructed is write
Enter in its alternate position spike register；
(8) it receives and starts order comprising secondary address and the specified servo for starting location information from master controller, with
Its respectively pulse position difference and pre-determined bit method are adjusted the specified position that starts, and control its servo motor after the adjustment
Start and started on position, to realize moving synchronously for all servo motors.
Further, the pre-determined bit method includes：Short time pulse voltage vector V1, V4 are passed through machine winding, electric degree
Angle differs 180 °, and the pulse period is 30 μ s；Electric current I1, I4 are detected at the end of voltage vector, if I1 > I4, and | I1-I4 |
> Δ I, Δ I are that electric current compares threshold value), then understand that rotor-position is being located in 180 ° of electric degree angles by the poles N of rotor；V1,V4
Rotor-position when effect is it is possible that make | I1-I4 | the case where < Δ I, rotor region cannot be distinguished；It is passed through voltage arrow
V2, V5 are measured, detection I2, I5 can be again by rotor fixed position in 180 ° of electric degree angles；After 180 ° of electric degree angular regions determine, then to around
Group is passed through short time pulse voltage vector V2, V6, detects electric current I2, I6, if I1 > I2 and I1 > I6, the position of rotor can
To further reduce the shadow region within 60 °；I2 > I1 and when I2 > I6, rotor is then located at 30 °~90 ° of counterclockwise
Section.
Further, the reset motor method is as follows：
Step 1：Reset motor switch is pressed, the reset motor switch starts；
Step 2：The motor rotates clockwise or counterclockwise, until touching the first limit switch；
Step 3：After touching the first limit switch certain time described in step 2, the motor stalls,
And send motor stop signal to system；
Step 4：After system receives motor stop signal described in step 3, the motor present position is recorded
A, and movement instruction is sent to the motor, the motor edge is counterclockwise or is rotated clockwise, until touching the second limit
Bit switch；
Step 5：After touching the second limit switch certain time described in step 4, the motor stalls,
And send motor stop signal to system；
Step 6：After system receives motor stop signal described in step 5, the motor present position is recorded
B, and movement instruction is sent to the motor, while according to certain calculation formula, calculating the reset motor position C；
Step 7：The motor sends to system and resets clockwise or counterclockwise to position C described in step 6
Complete signal.
Further, synchronous method is as follows：
First, position scan instruction is sent to the multiple servo-driver, and receives the multiple servo-driver pair
The response time and the corresponding main address of feedback that the position scan instruction is fed back respectively；
Then, it the main address fed back respectively according to received multiple servo-drivers and response time, will respond
The main address of time most short servo-driver is as secondary address, and according to each servo-driver response time and most short response
Difference between time determines that its corresponding pulse position is poor for each servo-driver, and by the secondary address and pulse
Alternate position spike is sent to corresponding servo-driver；
Finally, servo-driver is sent to the multiple servo-driver simultaneously with secondary address and specified startup position
Information executes instruction so that with its, respectively pulse position difference carries out the specified startup position to the multiple servo-driver
Adjustment, and control and started on the startup position of its servo motor after the adjustment, to realize that the synchronous of all servo motors is transported
It is dynamic.
Further, the difference according between each servo-driver response time and most short response time is each
The step that servo-driver generates its corresponding pulse position difference is specially：
Pass through formula (Ti-Tj) * V calculate it is most short to obtain each servo-driver of servo-driver and the response time
Pulse position difference between servo-driver is；Wherein, TjFor the response time of the response time most short servo-driver, Ti
For the response time of each servo-driver of servo-driver, V is the speed of service of the response time most short servo-driver.
Another object of the present invention is to provide a kind of intelligence for realizing the SMART FLUID actuator servo feedback
Energy Fluid-transmission servo feedback control system, the SMART FLUID actuator servo feedback control system include：
Rotational travel detection module, connect with main control module, the rotational travel for detecting servo motor, and exports table
Show the pulse feedback signal of the rotational travel；
Current detection module is connect with main control module, the electric current for detecting servo motor by hall sensor, and
Output indicates the current feedback signal of the electric current；
Load detecting module, connect with main control module, under specified rotational travel and being reached specified when servo motor
When rotational travel, the inertia load electric current based on hall sensor to export is obtained；When servo motor is under specified rotational travel,
Obtain the inertia umber of pulse based on encoder to export；
Main control module, with rotational travel detection module, current detection module, load detecting module, reset motor module, anti-
Module, adjustment module, synchronization module connection are presented, is worked normally for passing through main controller controls modules；
Reset motor module, connect with main control module, for carrying out reset operation to servo motor；
Feedback module is connect with main control module, the position scan instruction sent for receiving the master controller, and to institute
Rheme sets scan instruction to the master controller feedback response time and corresponding main address；
Module is adjusted, is connect with main control module, instructs and writes for receiving the secondary address of writing transmitted by the master controller
Pulse position difference instructs, and the received secondary address in secondary address instruction of writing is written in its secondary address register；By institute
The pulse position difference stated in the instruction of write pulse position difference is written in its alternate position spike register；
Synchronization module is connect with main control module, and it includes secondary address and specified startup to be used to receive from master controller
The servo of location information starts order, and with its, respectively pulse position difference is adjusted the specified startup position, and controls it
Servo motor is started on startup position after the adjustment, to realize moving synchronously for all servo motors.
Another object of the present invention is to provide a kind of letters for realizing the SMART FLUID actuator servo feedback
Cease data processing terminal.
The present invention can be while not installing various types ancillary equipment and accessory, effectively simultaneously by reset motor module
Accurately motor is resetted, reduces and various ancillary equipments is installed and cost and maintenance difficulties that accessory is brought, simultaneously
Function is simplified, space is saved, keeps its application field more extensive；Simultaneously by synchronization module with response time most short servo
Secondary address of the main address of driver as all servo controllers, each servo-driver receive the servo containing secondary address and open
After dynamic order, the startup position in order is started to servo according to the pulse position difference being obtained ahead of time and is adjusted, its institute is controlled
The servo motor of control is started on startup position after the adjustment；So as to so that watching of being controlled of all servo controllers
It takes motor and realizes synchronization.The present invention improves the control accuracy of brushless direct current motor servo controller, reduces brush-less Dc motor
The cost of machine servo controller.The start-up course that the present invention completes under closed-loop case compares threshold value completion by the way that electric current is arranged
Accurate pre-determined bit and the optimum position in accelerator, pass through the secondary stabilization for accelerating the back-emf further improved switching
Property, therefore be that a kind of startability is preferable, reliability is higher, environmental change influences smaller startup method.
Description of the drawings
Fig. 1 is SMART FLUID actuator servo feedback structure schematic diagram provided in an embodiment of the present invention；
In figure：1, rotational travel detection module；2, current detection module；3, load detecting module；4, main control module；5, electric
Machine reseting module；6, feedback module；7, module is adjusted；8, synchronization module.
Specific implementation mode
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached drawing
Detailed description are as follows.
The structure of the present invention is explained in detail below in conjunction with the accompanying drawings.
As shown in Figure 1, SMART FLUID actuator servo feedback control system provided by the invention includes：Rotational travel detects mould
Block 1, current detection module 2, load detecting module 3, main control module 4, reset motor module 5, feedback module 6, adjustment module 7,
Synchronization module 8.
Rotational travel detection module 1 is connect with main control module 4, the rotational travel for detecting servo motor, and is exported
Indicate the pulse feedback signal of the rotational travel；
Current detection module 2 is connect with main control module 4, the electric current for detecting servo motor by hall sensor, and
And output indicates the current feedback signal of the electric current；
Load detecting module 3 is connect with main control module 4, is referred to for working as servo motor under specified rotational travel and reaching
When determining rotational travel, the inertia load electric current based on hall sensor to export is obtained；When servo motor is in specified rotational travel
Under, obtain the inertia umber of pulse based on encoder to export；
Main control module 4, with rotational travel detection module 1, current detection module 2, load detecting module 3, reset motor mould
Block 5, feedback module 6, adjustment module 7, synchronization module 8 connect, and are worked normally for passing through main controller controls modules；
Reset motor module 5 is connect with main control module 4, for carrying out reset operation to servo motor；
Feedback module 6 is connect with main control module 4, the position scan instruction sent for receiving the master controller, and right
The position scan instruction is to the master controller feedback response time and corresponding main address；
Adjust module 7, connect with main control module 4, for receive transmitted by the master controller write secondary address instruction with
Write pulse position difference instructs, and the received secondary address in secondary address instruction of writing is written in its secondary address register；It will
Pulse position difference in the write pulse position difference instruction is written in its alternate position spike register；
Synchronization module 8 is connect with main control module 4, for receive from master controller comprising secondary address and specified open
The servo of dynamic location information starts order, and with its, respectively pulse position difference is adjusted the specified startup position, and controls
Its servo motor is started on startup position after the adjustment, to realize moving synchronously for all servo motors.
The rotational travel detection module hydraulic fluid leak amount is expressed as：
In formula：D is hydraulic pressure cylinder bore, and h chinky altitudes between piston and casing wall, Δ p is that gap pressure at two ends is poor, and μ is liquid
Pressure oil dynamic viscosity, l are gap length；
The fluid dynamic viscosity of hydraulic cylinder is expressed as：
In formula:μ0For under 1 atmospheric pressure, temperature t0When pure oil dynamic viscosity；μ be pressure be p, temperature t, fluid
Fluid dynamic viscosity when middle entrained gas amount is B；λ is viscosity-temperature coefficient, and α is glutinous pressure coefficient；
The reset motor module calculates lateral position using Increment Type Digital Hydraulic PID increasable algorithms, adjusts lateral position；
It is described use the mathematical model of Increment Type Digital Hydraulic PID increasable algorithms for：
Δ u (k)=Kp[e(k)-e(k-1)]+Kie(k)+Kd[e(k)-e(k-1)+e(k-2)]；
In formula, Δ u (k) is the variable quantity K of current controlled quentity controlled variable u (k) and moment controlled quentity controlled variable u (k-1) before thisp、Ki、KdRespectively
For ratio, integral and differential control parameter, e (k), e (k-1), e (k-2) are respectively current to measure, previous measurement and preceding survey twice
The deviation of amount；
5 repositioning method of reset motor module provided by the invention is as follows：
Step 1：Reset motor switch is pressed, the reset motor switch starts；
Step 2：The motor rotates clockwise or counterclockwise, until touching the first limit switch；
Step 3：After touching the first limit switch certain time described in step 2, the motor stalls,
And send motor stop signal to system；
Step 4：After system receives motor stop signal described in step 3, the motor present position is recorded
A, and movement instruction is sent to the motor, the motor edge is counterclockwise or is rotated clockwise, until touching the second limit
Bit switch；
Step 5：After touching the second limit switch certain time described in step 4, the motor stalls,
And send motor stop signal to system；
Step 6：After system receives motor stop signal described in step 5, the motor present position is recorded
B, and movement instruction is sent to the motor, while according to certain calculation formula, calculating the reset motor position C；
Step 7：The motor sends to system and resets clockwise or counterclockwise to position C described in step 6
Complete signal.
8 synchronous method of synchronization module provided by the invention is as follows：
First, position scan instruction is sent to the multiple servo-driver, and receives the multiple servo-driver pair
The response time and the corresponding main address of feedback that the position scan instruction is fed back respectively；
Then, it the main address fed back respectively according to received multiple servo-drivers and response time, will respond
The main address of time most short servo-driver is as secondary address, and according to each servo-driver response time and most short response
Difference between time determines that its corresponding pulse position is poor for each servo-driver, and by the secondary address and pulse
Alternate position spike is sent to corresponding servo-driver；
Finally, servo-driver is sent to the multiple servo-driver simultaneously with secondary address and specified startup position
Information executes instruction so that with its, respectively pulse position difference carries out the specified startup position to the multiple servo-driver
Adjustment, and control and started on the startup position of its servo motor after the adjustment, to realize that the synchronous of all servo motors is transported
It is dynamic.
Difference provided by the invention according between each servo-driver response time and most short response time is each
The step that servo-driver generates its corresponding pulse position difference is specially：
Pass through formula (Ti-Tj) * V calculate it is most short to obtain each servo-driver of servo-driver and the response time
Pulse position difference between servo-driver is；Wherein, TjFor the response time of the response time most short servo-driver, Ti
For the response time of each servo-driver of servo-driver, V is the speed of service of the response time most short servo-driver.
When the present invention works, the rotational travel of servo motor is detected by rotational travel detection module 1, and exports expression
The pulse feedback signal of the rotational travel；The electric current of servo motor is detected by current detection module 2, and is exported and indicated the electricity
The current feedback signal of stream；By load detecting module 3 when servo motor under specified rotational travel and reaches specified rotation row
Cheng Shi obtains the inertia load electric current based on hall sensor to export；When servo motor is under specified rotational travel, base is obtained
Inertia umber of pulse in encoder to export；Main control module 4 dispatches reset motor module 5, connect with main control module 4, is used for pair
Servo motor carries out reset operation；The position scan instruction that the master controller is sent is received by feedback module 6, and to described
Position scan instruction is to the master controller feedback response time and corresponding main address；It is received by adjusting module 7 described
Secondary address instruction and the instruction of write pulse position difference are write transmitted by master controller, and received is write in secondary address instruction
Secondary address is written in its secondary address register；Pulse position difference during the write pulse position difference is instructed is written its alternate position spike and posts
In storage；Finally, by synchronization module 8 receive from master controller comprising secondary address and specified start watching for location information
Clothes start order, and with its, respectively pulse position difference is adjusted the specified startup position, and controls its servo motor and adjusting
Started on startup position after whole, to realize moving synchronously for all servo motors.
The application principle of the present invention is further described with reference to specific embodiment.
SMART FLUID actuator servo feedback provided in an embodiment of the present invention includes：
(1) rotational travel of servo motor is detected, and exports the pulse feedback signal for indicating rotational travel；
The hydraulic fluid leak amount of the rotational travel is expressed as：
In formula：D is hydraulic pressure cylinder bore, and h chinky altitudes between piston and casing wall, Δ p is that gap pressure at two ends is poor, and μ is liquid
Pressure oil dynamic viscosity, l are gap length；
The fluid dynamic viscosity of hydraulic cylinder is expressed as：
In formula:μ0For under 1 atmospheric pressure, temperature t0When pure oil dynamic viscosity；μ be pressure be p, temperature t, fluid
Fluid dynamic viscosity when middle entrained gas amount is B；λ is viscosity-temperature coefficient, and α is glutinous pressure coefficient；
(2) electric current of servo motor is detected by hall sensor, and exports the current feedback signal for indicating the electric current；
(3) it when servo motor is under specified rotational travel and reaches specified rotational travel, obtains and is based on hall sensor
With the inertia load electric current of output；When servo motor is under specified rotational travel, the inertia arteries and veins based on encoder to export is obtained
Rush number；
(4) it is worked normally by main controller controls modules；
(5) it determines servo motor parameter, lateral position is calculated using Increment Type Digital Hydraulic PID increasable algorithms to servo motor
Carry out reset operation；
The determination method of the servo motor parameter includes：
(1) determination of target location value, 084 count values of R=512 × 4=2/circle；The 000=4 of P=R × 2 168 000
Count value；P is switched to 16 into being made as P=003F9940H.
(2) determination of velocity amplitude
200 count values of V=RT × 50=26.675/sampling period；The velocity amplitude of loading：
748 185.90 rounding V=1 748 185 of the 536=1 of V=V × 65；V is switched into 16 system V=001AACD9H；
(3) determination of acceleration value
A=RTT × 10=0.000 136 577；
The acceleration value of loading：
The 536=8.950 of A=A × 65 711 844；
Rounding A=8；
A is switched into 16 systems, A=00000008H；
The reset operation calculates lateral position using Increment Type Digital Hydraulic PID increasable algorithms, adjusts lateral position；
It is described use the mathematical model of Increment Type Digital Hydraulic PID increasable algorithms for：
Δ u (k)=Kp[e(k)-e(k-1)]+Kie(k)+Kd[e(k)-e(k-1)+e(k-2)]；
In formula, Δ u (k) is the variable quantity K of current controlled quentity controlled variable u (k) and moment controlled quentity controlled variable u (k-1) before thisp, Ki, Kd difference
For ratio, integral and differential control parameter, e (k), e (k-1), e (k-2) are respectively current to measure, previous measurement and preceding survey twice
The deviation of amount；
(6) the position scan instruction that master controller is sent is received, and position scan instruction is fed back to the master controller
Response time and corresponding main address；
(7) it receives and writes secondary address instruction and the instruction of write pulse position difference transmitted by master controller, and will be received
The secondary address write in secondary address instruction is written in its secondary address register；Pulse position difference during write pulse position difference is instructed is write
Enter in its alternate position spike register；
(8) it receives and starts order comprising secondary address and the specified servo for starting location information from master controller, with
Its respectively pulse position difference and pre-determined bit method are adjusted the specified position that starts, and control its servo motor after the adjustment
Start and started on position, to realize moving synchronously for all servo motors.
Further, the pre-determined bit method includes：Short time pulse voltage vector V1, V4 are passed through machine winding, electric degree
Angle differs 180 °, and the pulse period is 30 μ s；Electric current I1, I4 are detected at the end of voltage vector, if I1 > I4, and | I1-I4 |
> Δ I, Δ I are that electric current compares threshold value), then understand that rotor-position is being located in 180 ° of electric degree angles by the poles N of rotor；V1,V4
Rotor-position when effect is it is possible that make | I1-I4 | the case where < Δ I, rotor region cannot be distinguished；It is passed through voltage arrow
V2, V5 are measured, detection I2, I5 can be again by rotor fixed position in 180 ° of electric degree angles；After 180 ° of electric degree angular regions determine, then to around
Group is passed through short time pulse voltage vector V2, V6, detects electric current I2, I6, if I1 > I2 and I1 > I6, the position of rotor can
To further reduce the shadow region within 60 °；I2 > I1 and when I2 > I6, rotor is then located at 30 °~90 ° of counterclockwise
Section.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Every any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (7)
1. a kind of SMART FLUID actuator servo feedback, which is characterized in that the SMART FLUID actuator servo feedback control
Method processed includes：
(1) rotational travel of servo motor is detected, and exports the pulse feedback signal for indicating rotational travel；
The hydraulic fluid leak amount of the rotational travel is expressed as：
In formula：D is hydraulic pressure cylinder bore, and h chinky altitudes between piston and casing wall, Δ p is that gap pressure at two ends is poor, and μ is hydraulic oil
Dynamic viscosity, l are gap length；
The fluid dynamic viscosity of hydraulic cylinder is expressed as：
In formula:μ0For under 1 atmospheric pressure, temperature t0When pure oil dynamic viscosity；μ is that pressure is p, is mixed in temperature t, fluid
Enter fluid dynamic viscosity when gas flow is B；λ is viscosity-temperature coefficient, and α is glutinous pressure coefficient；
(2) electric current of servo motor is detected by hall sensor, and exports the current feedback signal for indicating the electric current；
(3) it when servo motor is under specified rotational travel and reaches specified rotational travel, obtains based on hall sensor with defeated
The inertia load electric current gone out；When servo motor is under specified rotational travel, the inertia umber of pulse based on encoder to export is obtained；
(4) it is worked normally by main controller controls modules；
(5) servo motor parameter is determined, calculating lateral position using Increment Type Digital Hydraulic PID increasable algorithms to servo motor carries out
Reset operation；
The determination method of the servo motor parameter includes：
(1) determination of target location value, 084 count values of R=512 × 4=2/circle；The 000=4 of P=R × 2 168 000 are counted
Value；P is switched to 16 into being made as P=003F9940H；
(2) determination of velocity amplitude
200 count values of V=RT × 50=26.675/sampling period；The velocity amplitude of loading：
748 185.90 rounding V=1 748 185 of the 536=1 of V=V × 65；V is switched into 16 system V=001AACD9H；
(3) determination of acceleration value
A=RTT × 10=0.000 136 577；
The acceleration value of loading：
The 536=8.950 of A=A × 65 711 844；
Rounding A=8；
A is switched into 16 systems, A=00000008H；
The reset operation calculates lateral position using Increment Type Digital Hydraulic PID increasable algorithms, adjusts lateral position；
It is described use the mathematical model of Increment Type Digital Hydraulic PID increasable algorithms for：
Δ u (k)=KP[e(k)-e(k-1)]+Kie(k)+
Kd[e(k)-e(k-1)+e(k-2)]；
In formula, Δ u (k) is the variable quantity K of current controlled quentity controlled variable u (k) and moment controlled quentity controlled variable u (k-1) before thisp、Ki、KdRespectively compare
Example, integral and differential control parameter, e (k), e (k-1), e (k-2) are respectively current to measure, previous measurement and preceding measure twice
Deviation；
(6) the position scan instruction that master controller is sent is received, and to position scan instruction to the master controller feedback response
Time and corresponding main address；
(7) it receives and writes secondary address instruction and the instruction of write pulse position difference transmitted by master controller, and received writing is auxiliary
Secondary address in address instruction is written in its secondary address register；It is written in pulse position difference during write pulse position difference is instructed
In alternate position spike register；
(8) it receives and starts order comprising secondary address and the specified servo for starting location information from master controller, it is each with it
The specified position that starts is adjusted from pulse position difference and pre-determined bit method, and controls the startup of its servo motor after the adjustment
Started on position, to realize moving synchronously for all servo motors.
2. SMART FLUID actuator servo feedback as described in claim 1, which is characterized in that the pre-determined bit method
Including：Short time pulse voltage vector V1, V4 are passed through machine winding, electric degree angle differs 180 °, and the pulse period is 30 μ s；In electricity
Electric current I1, I4 are detected at the end of pressing vector, if I1 > I4, and | I1-I4 | > Δ I, Δ I are that electric current compares threshold value), then may be used
Know that rotor-position is being located in 180 ° of electric degree angles by the poles N of rotor；Rotor-position is it is possible that make when V1, V4 are acted on |
I1-I4 | the case where < Δ I, rotor region cannot be distinguished；It is passed through voltage vector V2, V5, detection I2, I5 will can turn again
Son is located in 180 ° of electric degree angles；After 180 ° of electric degree angular regions determine, then to winding be passed through short time pulse voltage vector V2,
V6 detects electric current I2, I6, if I1 > I2 and I1 > I6, the position of rotor can further reduce the shade within 60 °
Region；I2 > I1 and when I2 > I6, rotor is then located at 30 °~90 ° sections of counterclockwise.
3. SMART FLUID actuator servo feedback as described in claim 1, which is characterized in that the reset motor side
Method is as follows：
Step 1：Reset motor switch is pressed, the reset motor switch starts；
Step 2：The motor rotates clockwise or counterclockwise, until touching the first limit switch；
Step 3：After touching the first limit switch certain time described in step 2, the motor stalls, and to
System sends motor stop signal；
Step 4：After system receives motor stop signal described in step 3, the motor present position A is recorded, and
Movement instruction is sent to the motor, the motor edge is counterclockwise or is rotated clockwise, and is opened until touching the second limit
It closes；
Step 5：After touching the second limit switch certain time described in step 4, the motor stalls, and to
System sends motor stop signal；
Step 6：After system receives motor stop signal described in step 5, the motor present position B is recorded, and
Movement instruction is sent to the motor, while according to certain calculation formula, calculating the reset motor position C；
Step 7：The motor sends to reset and complete clockwise or counterclockwise to position C described in step 6 to system
Signal.
4. SMART FLUID actuator servo feedback as described in claim 1, which is characterized in that synchronous method is as follows：
First, position scan instruction is sent to the multiple servo-driver, and receives the multiple servo-driver to described
The response time and the corresponding main address of feedback that position scan instruction is fed back respectively；
Then, the main address fed back respectively according to received multiple servo-drivers and response time, by the response time
The main address of most short servo-driver is as secondary address, and according to each servo-driver response time and most short response time
Between difference, determine that its corresponding pulse position is poor for each servo-driver, and by the secondary address and pulse position
Difference is sent to corresponding servo-driver；
Finally, servo-driver is sent to the multiple servo-driver simultaneously with secondary address and specified startup location information
Execute instruction so that with its, respectively pulse position difference adjusts the specified startup position to the multiple servo-driver
It is whole, and control and started on the startup position of its servo motor after the adjustment, to realize moving synchronously for all servo motors.
5. SMART FLUID actuator servo feedback as claimed in claim 4, which is characterized in that described according to each servo
It is poor to generate its corresponding pulse position for each servo-driver for difference between driver response time and most short response time
The step of be specially：
Pass through formula (Ti-Tj) * V calculate to obtain each servo-driver of servo-driver and the response time most short servo
Pulse position difference between driver is；Wherein, TjFor the response time of the response time most short servo-driver, TiTo watch
The response time of each servo-driver of driver is taken, V is the speed of service of the response time most short servo-driver.
6. a kind of SMART FLUID actuator servo feedback for realizing SMART FLUID actuator servo feedback described in claim 1
Control system, which is characterized in that the SMART FLUID actuator servo feedback control system includes：
Rotational travel detection module, connect with main control module, the rotational travel for detecting servo motor, and exporting expression should
The pulse feedback signal of rotational travel；
Current detection module is connect with main control module, the electric current for detecting servo motor by hall sensor, and is exported
Indicate the current feedback signal of the electric current；
Load detecting module, connect with main control module, under specified rotational travel and reaching specified rotation when servo motor
When stroke, the inertia load electric current based on hall sensor to export is obtained；When servo motor is under specified rotational travel, obtain
Inertia umber of pulse based on encoder to export；
Main control module, with rotational travel detection module, current detection module, load detecting module, reset motor module, feedback mould
Block, adjustment module, synchronization module connection, work normally for passing through main controller controls modules；
Reset motor module, connect with main control module, for carrying out reset operation to servo motor；
Feedback module is connect with main control module, the position scan instruction sent for receiving the master controller, and to institute's rheme
Scan instruction is set to the master controller feedback response time and corresponding main address；
Module is adjusted, is connect with main control module, secondary address instruction and write pulse are write transmitted by the master controller for receiving
Alternate position spike instructs, and the received secondary address in secondary address instruction of writing is written in its secondary address register；It is write described
Pulse position difference in the instruction of pulse position difference is written in its alternate position spike register；
Synchronization module is connect with main control module, and it includes secondary address and specified startup position to be used to receive from master controller
The servo of information starts order, and with its, respectively pulse position difference is adjusted the specified startup position, and controls its servo
Motor is started on startup position after the adjustment, to realize moving synchronously for all servo motors.
7. a kind of information data processing terminal for realizing SMART FLUID actuator servo feedback described in claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810688396.1A CN108809178A (en) | 2018-06-28 | 2018-06-28 | A kind of SMART FLUID actuator servo feedback control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810688396.1A CN108809178A (en) | 2018-06-28 | 2018-06-28 | A kind of SMART FLUID actuator servo feedback control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108809178A true CN108809178A (en) | 2018-11-13 |
Family
ID=64072542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810688396.1A Pending CN108809178A (en) | 2018-06-28 | 2018-06-28 | A kind of SMART FLUID actuator servo feedback control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108809178A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116365960A (en) * | 2023-04-04 | 2023-06-30 | 深圳市游名科技有限公司 | High-speed servo motor driver based on self-adaptive synchronous driving and driving method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102868350A (en) * | 2012-09-21 | 2013-01-09 | 中南林业科技大学 | Quasi-close loop starting method of brushless direct current motor free of position sensor |
| CN107608249A (en) * | 2017-10-18 | 2018-01-19 | 宁波迪卡数控科技有限公司 | Motor servo driver control system |
| CN107861414A (en) * | 2017-10-16 | 2018-03-30 | 深圳市合信自动化技术有限公司 | Realize the method and system, master controller, servo-driver that servomotor is synchronized with the movement |
| CN107947495A (en) * | 2017-12-11 | 2018-04-20 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of servomotor repositioning method |
-
2018
- 2018-06-28 CN CN201810688396.1A patent/CN108809178A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102868350A (en) * | 2012-09-21 | 2013-01-09 | 中南林业科技大学 | Quasi-close loop starting method of brushless direct current motor free of position sensor |
| CN107861414A (en) * | 2017-10-16 | 2018-03-30 | 深圳市合信自动化技术有限公司 | Realize the method and system, master controller, servo-driver that servomotor is synchronized with the movement |
| CN107608249A (en) * | 2017-10-18 | 2018-01-19 | 宁波迪卡数控科技有限公司 | Motor servo driver control system |
| CN107947495A (en) * | 2017-12-11 | 2018-04-20 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of servomotor repositioning method |
Non-Patent Citations (3)
| Title |
|---|
| 刘银萍: "全向移动机器人中电动机控制系统的研究", 《微电机》 * |
| 周仁斌等: "自行火炮液压系统泄漏机理及影响因素研究", 《湖北工业大学学报》 * |
| 王森林等: "基于LM629的无刷直流电动机伺服控制器", 《微特电机》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116365960A (en) * | 2023-04-04 | 2023-06-30 | 深圳市游名科技有限公司 | High-speed servo motor driver based on self-adaptive synchronous driving and driving method |
| CN116365960B (en) * | 2023-04-04 | 2023-10-13 | 深圳市游名科技有限公司 | High-speed servo motor driver based on self-adaptive synchronous driving and driving method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101984554B (en) | Method for starting motor without sensor | |
| CN100477483C (en) | Motor controller | |
| CN103219939B (en) | Rotational inertia on-line identification method for alternating current (AC) permanent magnet synchronous motor servo system | |
| JP6433404B2 (en) | Motor control device | |
| CN103580563A (en) | Method for controlling brushless direct current motor | |
| CN105119549A (en) | Motor stator resistor recognition method | |
| GB2211682A (en) | Rotor position estimator for switched reluctance motor | |
| CN102347726A (en) | Device and method for observing rotor position in motor control | |
| CN104158462A (en) | Method for detecting initial position of sensorless permanent magnet synchronous motor | |
| CN105048919A (en) | Rotation angle estimation module for sensorless vector control of pmsm | |
| CN104079218A (en) | Motor rotor position and angle obtaining method | |
| CN107834934A (en) | Electric automobile and its rotary transformer initial position auto-correction method and system | |
| CN109873586A (en) | A kind of electromechanics parameter identification method and system based on High-Order Sliding Mode observer | |
| CN103294006A (en) | Numerisch gesteuerte maschine | |
| CN108809178A (en) | A kind of SMART FLUID actuator servo feedback control system and method | |
| CN202034939U (en) | Direct torque control device for novel asynchronous motor based on fuzzy control | |
| CN108233792A (en) | BLDC motors and its back electromotive force zero-crossing acquisition method and driving device | |
| CN111817616B (en) | Motor control method and device | |
| CN110690838B (en) | Online self-tuning method and system for magnetic declination of motor | |
| CN109660169B (en) | Transient identification method for rotational inertia of induction motor | |
| CN100364224C (en) | Controller for permanent magnet motor | |
| CN104009685A (en) | Non-position sensing control method for electromagnetic launch | |
| KR20200140515A (en) | Apparatus for detecting offset of motor position sensor and method thereof | |
| CN202276316U (en) | Device for observing position of rotor in motor control | |
| US7228294B2 (en) | Electronic cam device and method of preparing cam data in electronic cam device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181113 |