CN109217554B - Linear module closed loop system and control method thereof - Google Patents
Linear module closed loop system and control method thereof Download PDFInfo
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- CN109217554B CN109217554B CN201811407038.5A CN201811407038A CN109217554B CN 109217554 B CN109217554 B CN 109217554B CN 201811407038 A CN201811407038 A CN 201811407038A CN 109217554 B CN109217554 B CN 109217554B
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- 230000003287 optical effect Effects 0.000 claims 4
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- 238000004519 manufacturing process Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 2
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/22—Optical devices
Abstract
The invention provides a linear module closed loop system and a control method thereof, wherein the closed loop system comprises a ball screw, a sliding block, a motor frame, a stepping motor, a grating encoder and a controller, the sliding block is arranged on the ball screw, the stepping motor is fixed on the frame, one end of a rotating shaft of the stepping motor is connected with the ball screw, the grating encoder is connected with the other end of the rotating shaft of the stepping motor, and the controller is in signal connection with the stepping motor and the grating encoder. The invention adds a grating encoder to form a closed-loop linear module based on the existing linear module (by the combination of the stepping motor and the module), thereby realizing the accuracy controllability of the linear module.
Description
Technical Field
The invention relates to the field of automatic control, in particular to a linear module closed-loop system and a control method thereof.
Background
The linear module is also called a positioning module, and is a linear transmission device, and the structure of the linear transmission device can be realized in two ways. One is composed of a ball screw and a linear guide rail, and the other is composed of a synchronous belt and a synchronous belt wheel. The device has wide application range, convenient installation and high precision, and is accepted by wide users as follows! The specific link of self-making linear motion mechanism is omitted.
There are two common linear module driving modes: manual mechanical and electric drive. Manual mechanical type belongs to a relatively old application mode, and the positioning of the module is determined by observing a comparison scale by naked eyes of a person. This approach is very low in terms of both accuracy and efficiency. Along with the development of technology, the production efficiency and the manufacturing precision requirements of various fields such as production machinery, simulation, classification machinery, feeding machinery, reciprocating machinery, spraying machinery, grabbing machinery, transferring machinery and the like are continuously improved, and the traditional manual linear module gradually exits from the history stage. Electrically driven linear modules have evolved under this strong demand. The stepping motor drives the module to linearly move, and the precision and the efficiency of the intelligent controller are greatly improved. The structure of the electric linear module is shown in fig. 1. The linear module consists of a ball screw 6, a sliding block 7, a motor frame 8, a motor 9 and the like. The action principle is as follows: the motor is fixed on the motor frame, and drives the lead screw to rotate together during rotation. The sliding block is driven to linearly move by the rotation of the screw rod. The screw rod rotates for one circle, and the sliding block moves linearly by one screw pitch.
The linear module greatly improves the working efficiency, but the accuracy is still uncontrollable in the application process. For example, a 3D printer is constructed of 3 linear modules X, Y, Z. When one of the linear modules loses steps, the system cannot capture the error, and the other two shafts still continue to operate, so that the printed accessory cannot meet the production requirement. For example, after the controller sends out the pulse of the corresponding position, the stepping motor can not send the sliding block to the corresponding position due to instant starting step loss, so that the grabbing failure or the grabbing error can cause immeasurable loss. These problems arise because the stepper motors currently used on linear modules are all open loop motion control systems. The controller subjectively considers that the slider has moved to the corresponding position after sending the corresponding number of pulses, however, in some special cases, the slider may not be at the corresponding position, for example, the slider is jammed or overloaded, which causes the stepper motor to lose steps.
Disclosure of Invention
The invention aims at: aiming at the problems existing in the prior art, the linear module closed-loop system is provided, a grating encoder is added on the basis of the existing linear module (by the combination of a stepping motor and a module) to form a closed-loop linear module, and the accuracy controllability of the linear module is realized.
The invention provides a linear module closed loop system which comprises a ball screw, a sliding block, a motor frame, a stepping motor, a grating encoder and a controller, wherein the sliding block is arranged on the ball screw, the stepping motor is fixed on the frame, one end of a rotating shaft of the stepping motor is connected with the ball screw, the grating encoder is connected with the other end of the rotating shaft of the stepping motor, and the controller is in signal connection with the stepping motor and the grating encoder.
Further, the grating encoder is a reflective grating encoder, and the reflective grating encoder comprises a reflective grating code disc and a signal processing chip, wherein a code channel for generating a signal is carved on the reflective grating code disc; the signal processing chip is packaged on the circuit board and is integrated with an emission light source, a main signal receiving part and a zero signal receiving part; the reflective grating code disc is arranged on a tray at the rear end of the rotating shaft of the miniature stepping motor, the circuit board is correspondingly arranged with the reflective grating code disc, and a code channel on the reflective grating code disc is opposite to a reflective light receiving window of the signal processing chip; the main signal is a signal reflected back to the receiving window after the light rays emitted by the emitting light source irradiate the code channel, and the zero signal is a signal reflected back to the receiving window after the light rays emitted by the emitting light source irradiate the zero position.
Further, the vertical distance between the reflective grating code disc and the circuit board is within 1.5 mm.
Further, the signal processing chip is a 4mm×4mm QFN package.
Further, the tracks on the reflective grating code disk comprise 360 score lines, each line is 1 degree, and the score line width is 91um.
Further, an alarm is also included, which is in signal connection with the controller.
In another aspect, the present invention provides a control method of the linear module closed loop system as described above, including:
the controller calculates the driving pulse number of the stepping motor driven at this time and the pulse number in the feedback signal of the grating encoder according to the position requirement of the upper computer, and drives the stepping motor to rotate;
the controller continuously reads the feedback signal of the grating encoder and counts the pulses in the feedback signal in the driving process;
if the pulse count of the feedback signal of the encoder is lower than the target value, the target value is the calculated pulse count in the feedback signal of the grating encoder, but the encoder does not have signal feedback, the stepping motor is judged to be in a step losing state.
Further, the method further comprises the following steps: when the stepping motor is judged to be in a step losing state, the controller sends out an alarm through the alarm to prompt the staff that an error is generated.
The invention adds a grating encoder to form a closed-loop linear module based on the existing linear module (by the combination of a stepping motor and the module), and the linear module added with the reflective grating encoder is a high-precision closed-loop system at first, and can be applied to a plurality of fields with high precision requirements, such as automobile assembly and the like. Secondly, because the reflective grating encoder has the characteristics of small size, high precision and the like, the linear module can be applied to more fields such as the robot field, automatic medical equipment and the like.
Drawings
FIG. 1 is a schematic diagram of an electric linear module in the prior art;
FIG. 2 is a schematic diagram of a closed loop system of a linear module according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a circuit board according to an embodiment of the present invention;
fig. 4-5 are schematic diagrams illustrating positions of a circuit board and a reflective grating code disc according to an embodiment of the invention;
fig. 6 (a) -6 (b) are schematic diagrams of output signals of a reflective grating encoder according to embodiments of the present invention.
Detailed Description
All of the features disclosed in this specification, or all of the steps in a method or process disclosed, may be combined in any combination, except for mutually exclusive features and/or steps.
Any feature disclosed in this specification may be replaced by alternative features serving the same or equivalent purpose, unless expressly stated otherwise. That is, each feature is one example only of a generic series of equivalent or similar features, unless expressly stated otherwise.
The invention adds a grating encoder as a position feedback component of a closed loop system based on the control of the existing stepping motor, and the grating encoder has strong interference resistance, high thermal stability, high precision and resolution. Regardless of the reason for the step loss of the stepping motor, the encoder can feed back the real-time position information of the motor to the controller to form a high-precision closed-loop control system. The structure of the device is shown in fig. 2, and the device comprises a ball screw 6 (used for connecting a stepping motor and a sliding block), a sliding block 7 (used for installing a mechanical arm or other accurate positioning equipment), a motor frame 8 (used for fixing a motor), a stepping motor 9 (used for kinetic energy transmission), a grating encoder 10 (used for feeding back a position signal of the stepping motor) and a controller (used for receiving a control signal and converting the control signal into the position and accurately driving the motor through the feedback signal of the encoder), wherein the sliding block 7 is arranged on the ball screw 6, the stepping motor 9 is fixed on the motor frame 8, one end of a rotating shaft of the stepping motor 9 is connected with the ball screw 6, the grating encoder 10 is connected with the other end of the rotating shaft of the stepping motor 9, and the controller is in signal connection with the stepping motor 9 and the grating encoder 10.
In order to be able to adapt to more micro-control fields, the encoder uses a reflective grating encoder, which can obtain a resolution of higher precision on a smaller size. The invention adopts the reflective grating code disc and the corresponding signal processing chip to form the reflective grating encoder. In one embodiment, the reflective grating encoder may be constructed using reflective grating code disks PR24S26-360 manufactured by ICHAUS, germany, plus the company IC-PR2604 series signal processing chip. The processing of the reflection type grating signal is to acquire the photoelectric signal based on the diffraction principle, and the smaller the line width is, the better the diffraction effect is. While the reduction of the linewidth has no significant effect on the gap between the code wheel and the indicator grating (index plate). The gap is more than 10 times or even higher than that of the transparent transmission type through experimental measurement, and can adapt to a severe environment. Preferably, 360 scribed lines are engraved on the reflective grating code disc, each line is 1 DEG, and the scribed line width is 91um.
The signal processing chip set transmits a light source, a main signal (a signal which is reflected back to a receiving window after the light emitted by the transmitting light source irradiates a code channel and is used for recording the number of signals in a circumference) and a zero signal (a signal which is reflected back to the receiving window after the light emitted by the transmitting light source irradiates a zero and is used for recording the number of circumferences) are received together, and the transmitting light source is used for transmitting the light to the code disc. Preferably, the signal processing chip adopts a QFN package with the thickness of only 4mm multiplied by 4mm, and is very convenient to integrate inside the miniature stepping motor.
The reflective grating code disc 1 can be directly installed on the tray at the rear end of the rotating shaft of the stepping motor 6, and the signal processing chip 2 needs to be designed on the circuit board 3, as shown in fig. 3.
The relative positions of the circuit board 3 and the reflective grating code disc 1 are shown in fig. 4, and the reflective grating code disc 1 is carved with code tracks 4 for generating signals. In order to enable the signal generated by the code track 4 to be received by the signal processing chip 2, the code track 4 on the reflective grating code disc 1 should be opposite to the reflective light receiving window 5 of the signal processing chip 2. Preferably, the vertical distance between the reflective grating code disc 1 and the circuit board 3 is within 1.5mm, as shown in fig. 5. When light is emitted from the signal processing chip 2 to irradiate on the code channel 4, the light is reflected back to the photoelectric conversion module (the module in the chip) on the signal processing chip 2, sine and cosine waveforms are generated through photoelectric conversion, and the waveforms are subjected to signal processing such as amplification, filtering, shaping, interpolation and the like to finally output two paths of orthogonal digital signals.
When the light emitted by the signal processing chip 2 irradiates the code track 4 of the reflective grating code disc 1, a standard sine and cosine signal is generated if the code disc 1 rotates. The final output signals are shown in fig. 6 (a) -6 (b), wherein fig. 6 (a) is a schematic diagram of the output signals when the code wheel is rotated forward (clockwise), and fig. 6 (b) is a schematic diagram of the output signals when the code wheel is rotated backward (counterclockwise). During forward rotation, the phase of the signal A leads the phase of the signal B by 90 degrees; the phase of the B signal leads the a signal by 90 ° when inverted.
The control principle of the invention is as follows: the controller calculates the number of driving pulses of the stepping motor and the number of pulses in the feedback signal of the grating encoder according to the position requirement of the upper computer (the equipment of the user), for example, the distance for requiring the sliding block to be driven forward is X (the data sent by the upper computer to the controller), the screw thread distance of the ball screw is b (the distance between two adjacent screw threads, the distance means the distance for enabling the screw to rotate by one circle and the sliding block to move), the step distance of the stepping motor is θ, then the number of driving pulses of the stepping motor is= (X X360)/(b X θ), the number of pulses in the feedback signal of the grating encoder is= (X360X m)/b, wherein m in the formula is the interpolation coefficient in the signal processing chip of the grating encoder (the interpolation coefficient is 1 to represent 1 grating line to finally output 1 feedback signal, the interpolation coefficient 16 is the maximum interpolation coefficient of the system, and the feedback grating encoder is determined by the signal processing chip). Assuming a step of 1.8, i.e. the controller sends a pulse, the stepper motor rotates 1.8. When the motor rotates by 1.8 degrees, the reflective code disc also rotates by 1.8 degrees, and the code disc of the system is 360-degree lines, so that 1-degree grating line corresponds to 1 degree. So 1.8 ° corresponds to 1.8 grating lines, 1.8 grating lines representing 1.8x16=28.8 pulses when the interpolation factor of the encoder is 16. That is, every time the controller outputs 1 pulse to drive the stepper motor, 28.8 pulse signals are fed back from the encoder. The accuracy is improved by 28.8 times.
In one embodiment, assuming that x=10cm and b=2mm, the number of pulses driven by the stepper motor of this time is 10000 pulses, and the number of pulses in the encoder feedback signal is 288000 pulses (the interpolation coefficient m is equal to 16). At this time, the controller drives the stepper motor to rotate, the stepper motor drives the screw rod to rotate together, the sliding block fixed on the screw rod advances by a thread distance according to each rotation of the screw rod, the controller continuously reads the feedback signal of the encoder and counts the pulse in the feedback signal (instead of counting whether the driving pulse of the stepper motor is sent or not) in the driving process, the completion of the driving is indicated when 288000 pulses are received, and the controller stops driving. If the number of pulses received remains at a value less than 288000, i.e., the current drive has not been completed (the encoder feedback signal pulse count is below the target value (the encoder feedback signal pulse count that should be obtained this time)), but the encoder does not have signal feedback, then it indicates that the stepper motor is currently in a lost step (the stepper motor is powered on but not rotating), at which time the controller may alert the operator via an alarm that an error has occurred.
The invention is not limited to the specific embodiments described above. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification, as well as to any novel one, or any novel combination, of the steps of the method or process disclosed.
Claims (5)
1. The linear module closed loop system is characterized by comprising a ball screw, a sliding block, a motor frame, a stepping motor, a grating encoder and a controller, wherein the sliding block is arranged on the ball screw, the stepping motor is fixed on the frame, one end of a rotating shaft of the stepping motor is connected with the ball screw, the grating encoder is connected with the other end of the rotating shaft of the stepping motor, and the controller is in signal connection with the stepping motor and the grating encoder; the optical grating encoder is a reflective optical grating encoder, and comprises a reflective optical grating code disc and a signal processing chip, wherein a code channel for generating a signal is carved on the reflective optical grating code disc; the signal processing chip is packaged on the circuit board and is integrated with an emission light source, a main signal receiving part and a zero signal receiving part; the reflective grating code disc is arranged on a tray at the rear end of the rotating shaft of the miniature stepping motor, the circuit board is correspondingly arranged with the reflective grating code disc, and a code channel on the reflective grating code disc is opposite to a reflective light receiving window of the signal processing chip; the main signal is a signal reflected back to the receiving window after the light rays emitted by the emitting light source irradiate the code channel, and the zero signal is a signal reflected back to the receiving window after the light rays emitted by the emitting light source irradiate the zero position; the code channel on the reflective grating code disc comprises 360 scribing lines, each line is 1 degree, and the width of each scribing line is 91um; the vertical distance between the reflective grating code disc and the circuit board is within 1.5 mm.
2. The linear modular closed loop system of claim 1, wherein the signal processing chip is a 4mm x 4mm QFN package.
3. A linear modular closed loop system according to any of claims 1-2, further comprising an alarm in signal connection with the controller.
4. A control method of the linear module closed loop system according to any one of claims 1 to 3, comprising: the controller calculates the driving pulse number of the stepping motor driven at this time and the pulse number in the feedback signal of the grating encoder according to the position requirement of the upper computer, and drives the stepping motor to rotate;
the controller continuously reads the feedback signal of the grating encoder and counts the pulses in the feedback signal in the driving process;
if the pulse count of the feedback signal of the encoder is lower than the target value, the target value is the calculated pulse count in the feedback signal of the grating encoder, but the encoder does not have signal feedback, the stepping motor is judged to be in a step losing state.
5. The control method according to claim 4, characterized by further comprising: when the stepping motor is judged to be in a step losing state, the controller sends out an alarm through the alarm to prompt the staff that an error is generated.
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| CN111679378A (en) * | 2020-07-08 | 2020-09-18 | 国网浙江省电力有限公司宁波供电公司 | Optical fiber butt joint device and optical fiber butt joint system |
| CN113917647A (en) * | 2021-09-09 | 2022-01-11 | 西安应用光学研究所 | Multi-component continuous zoom lens device based on stepping motor and control method |
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