CN109407588A - A kind of motor operation control system and control method - Google Patents
A kind of motor operation control system and control method Download PDFInfo
- Publication number
- CN109407588A CN109407588A CN201811448247.4A CN201811448247A CN109407588A CN 109407588 A CN109407588 A CN 109407588A CN 201811448247 A CN201811448247 A CN 201811448247A CN 109407588 A CN109407588 A CN 109407588A
- Authority
- CN
- China
- Prior art keywords
- motor
- pulse
- servo controller
- motor operation
- operation control
- 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
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000013016 damping Methods 0.000 claims abstract description 9
- 238000002955 isolation Methods 0.000 claims abstract description 9
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 11
- 238000004321 preservation Methods 0.000 claims description 6
- 238000000605 extraction Methods 0.000 claims description 4
- 238000013075 data extraction Methods 0.000 claims description 2
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- BYACHAOCSIPLCM-UHFFFAOYSA-N 2-[2-[bis(2-hydroxyethyl)amino]ethyl-(2-hydroxyethyl)amino]ethanol Chemical group OCCN(CCO)CCN(CCO)CCO BYACHAOCSIPLCM-UHFFFAOYSA-N 0.000 abstract description 2
- 238000012935 Averaging Methods 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 abstract description 2
- 238000005070 sampling Methods 0.000 abstract description 2
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 210000001367 artery Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000000306 recurrent effect Effects 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Stepping Motors (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of motor operation control system and control methods, including motor and the servo controller being electrically connected, it is theed improvement is that: being further included one piece and is equipped with the control panel that single-chip microcontroller, light-coupled isolation module and RS232 serial ports turn TTL module, wherein single-chip microcontroller is electrically connected by light-coupled isolation module with the PORT COM of servo controller, RS232 serial ports turns one end and the monolithic mechatronics of TTL module, and the other end can then be connected with rs 232 serial interface signal line.Motor operation control system and control method disclosed in this invention, the simple harmonic quantity that motor may be implemented is swung, the frequency that settable motor is swung, the amplitude of swing, the period of swing, the position of motor is finely adjusted, whether setting motor movement is damped motion, and when there is damping, motor amplitude is smaller and smaller until finally stopping.If also needing to start other acquisition equipment while motor operation and/or software carrying out related data sampling, synchronous averaging may be implemented, to guarantee the synchronism of acquisition.
Description
Technical field
The invention belongs to motor operation control fields, in particular to one of field motor operation control system and control
Method processed.
Background technique
Servo motor generally comprises motor body and servo controller, and servo controller can control motor and simply transport
Row, but complicated movement, such as sinusoidal rule is swung and the sinusoidal rule with damping is swung, servo controller goes back nothing at present
Method is realized.
Summary of the invention
The technical problem to be solved by the invention is to provide one kind can control motor carry out sinusoidal rule swing and
The motor operation control system and control method that sinusoidal rule with damping is swung.
The present invention adopts the following technical scheme:
A kind of motor operation control system is theed improvement is that: also being wrapped including motor and the servo controller being electrically connected
It includes one piece and the control panel that single-chip microcontroller, light-coupled isolation module and RS232 serial ports turn TTL module is installed, wherein single-chip microcontroller passes through light
Coupling isolation module is electrically connected with the PORT COM of servo controller, and RS232 serial ports turns one end of TTL module and single-chip microcontroller is electrically connected
It connects, the other end can then be connected with rs 232 serial interface signal line.
Further, the terminal in control direction is set in the PORT COM of servo controller, is received the terminal of pulse and is made
Energy terminal, wherein the terminal in control direction determines that motor rotates forward or reversion, the terminal for receiving pulse determine according to low and high level
The operation angle and speed of motor, enabled terminal determine that motor operation is not still run according to low and high level.
A kind of motor operation control method, using above-mentioned control system, it is improved in that including following content:
The sine of a cycle is divided into several pieces according to control accuracy requirement, the pulse frequency in every part is identical, but each
Pulse number between part is with pulse frequency difference, undamped operational mode result being saved in array；Calculated for 50 week
There is damping operational mode in phase and saves, and the amplitude of sine swing constantly changes in this mode；
Single-chip microcontroller receive turn the information that TTL module transfers from RS232 serial ports when, first determine whether the information be operating parameter or
Operation order,
For example operating parameter then carries out data extraction, and the content of extraction includes but is not limited to individual pen umber of pulse, hunting frequency, swing
Number of cycles, amplitude and damped coefficient then determine umber of pulse and frequency according to the data of extraction, and save into array；
Whether the damped coefficient that for example operation order is then extracted referring initially to above-mentioned data is 0, is sent if being 0 to servo controller
The undamped operational mode pulse information of a cycle saved in array is not then to send array to servo controller if 0
There are damping operational mode pulse information in 50 periods of middle preservation；
It is finally sent again to servo controller and rotates forward, inverts or cease and desist order.
Further, the sequence of interruption is followed successively by operating parameter, operation order, rotates forward order, inverted command and stop life
It enables.
Further, individual pen umber of pulse is 200000, and the range of hunting frequency is 0.5-2HZ, swing period number takes
Integer between 0-15000, the range of damped coefficient are-0.1-0.1.
Further, when sending operation order to servo controller, can also start simultaneously other acquisition equipment and/or
Software.
The beneficial effects of the present invention are:
Motor operation control system and control method disclosed in this invention, the simple harmonic quantity that motor may be implemented are swung, settable electricity
The frequency that machine is swung, the amplitude of swing, the period of swing are finely adjusted the position of motor, and whether setting motor movement is resistance
Buddhist nun's movement, when there is damping, motor amplitude is smaller and smaller until finally stopping.If also needing to start it while motor operation
He acquires equipment and/or software carries out related data sampling, then synchronous averaging may be implemented, to guarantee the synchronism of acquisition.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of motor operation control system disclosed in the embodiment of the present invention 1；
Fig. 2 is the flow diagram of motor operation control method disclosed in the embodiment of the present invention 1；
Fig. 3 is the interruption flow chart of motor operation control method disclosed in the embodiment of the present invention 1.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, right below in conjunction with drawings and examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment 1, as shown in Figure 1, present embodiment discloses a kind of motor operation control system, including motor 1 and therewith
The servo controller 2 of electrical connection further includes one piece and is equipped with single-chip microcontroller 31, light-coupled isolation module 32 and RS232 serial ports and turns TTL mould
The control panel 3 of block 33, wherein single-chip microcontroller is electrically connected by light-coupled isolation module with the PORT COM of servo controller, RS232 string
Mouth turns one end and the monolithic mechatronics of TTL module, and the other end can then be connected with rs 232 serial interface signal line.
The core of control system is stm32f429 type single-chip microcontroller, RS232 serial ports turn TTL module major function be will be electric
Brain is converted into TTL signal by the signal that USB RS 232 Serial Port Line transmits, to match with the signal form of single-chip microcontroller；It is single
The low and high level of piece machine is 3.3 and 0V, and the low and high level of servo controller PORT COM is 24V and 0V, light-coupled isolation module
Not only the interference of different circuit signals can have been prevented but also can solve the problem of level not etc..
Corresponding motor operating parameter is set by computer software, data are sent to monolithic by computer RS232 serial ports
Machine, single-chip microcontroller extract relevant parameter by resolve command, and data and the preservation of control servo controller are obtained by calculating,
After single-chip microcontroller receives operation order, the data of preservation are disposably sent to servo controller, control motor operation.
Servo controller one pulse of every reception, motor correspondingly rotates certain angle, when there is no pulse generation, electricity
Machine is motionless, and motor receives the faster of the more fast then motor rotation of frequency of pulse.The sine swing of motor is realized it is necessary to change constantly
Become the frequency (changing according to cosine rule) that pulse is sent, and also to turn in position, if to have realized
The amplitude that the sine swing of damping, i.e. motion process are swung constantly changes, then needing or else to break on the basis of above, it is each to change
The pulse number in period.
The rotational angle of each pulse determines as follows: having electronics gear ratio and individual pen umber of pulse in servo controller
Two parameters, wherein electronics gear ratio is similar with the gear ratio in real life, and only electronics gear ratio is to pass through
What internal processes changed；When individual pen umber of pulse assumes that electronics gear ratio is 1, umber of pulse required for motor rotation one is enclosed.Cause
, when electronics gear ratio is 1, the angle of each pulse rotation is 360 °/individual pen umber of pulse for this.
As shown in Fig. 2-3, the present embodiment also discloses a kind of motor operation control method, and this method includes following content:
Single-chip microcontroller receives the external data or order transmitted, wherein data, and main includes the amplitude swung, frequency, individual pen umber of pulse, resistance
Buddhist nun's coefficient, and the number swung；Order mainly includes running, stopping, rotating forward, inverting.
It is first that data or order will if it is data according to the judgement of the agreement of agreement when receiving external information
Data parsing calculates the feature of pulse signal according to parsing data, and calculating process is as follows:
The sine of a cycle is divided into 200 parts first, the pulse characteristics in every part are identical (i.e. pulse frequency is identical), but
Pulse number and frequency difference between each part.The result calculated is saved in array.After receiving operation order, monolithic
Machine will send low and high level according to array, and to servo controller, (pulse here is replaced with one low level of a high level, arteries and veins
The frequency of punching is realized by the conversion speed of low and high level) control motor operation.
There are two types of operational modes, and when damped coefficient is 0, i.e. undamped motion, each recurrent pulse feature is identical, only protects
A cycle pulse information is deposited, is repeated to determine to swing how many times according to cycle of operation number；It is sinusoidal when damped coefficient is not zero
The amplitude of swing constantly changes, and when calculating, calculates the data in 50 periods and preservation, has run preservation in this case
50 periods data after i.e. stop.
It receives and rotates forward the rotating forward of order motor, receive inverted command motor reversal, receive and cease and desist order, motor stops
Only.
Claims (6)
1. a kind of motor operation control system, including motor and the servo controller being electrically connected, it is characterised in that: further include
One piece is equipped with the control panel that single-chip microcontroller, light-coupled isolation module and RS232 serial ports turn TTL module, and wherein single-chip microcontroller passes through optocoupler
Isolation module is electrically connected with the PORT COM of servo controller, and RS232 serial ports turns one end and the monolithic mechatronics of TTL module,
The other end can then be connected with rs 232 serial interface signal line.
2. motor operation control system according to claim 1, it is characterised in that: set in the PORT COM of servo controller
It controls the terminal in direction, receive the terminal and enabled terminal of pulse, wherein the terminal in control direction is determined according to low and high level
Motor is rotated forward or is inverted, and the terminal for receiving pulse determines the operation angle and speed of motor, enables terminal according to low and high level
Determine that motor operation is not still run.
3. a kind of motor operation control method, uses control system described in claim 1, which is characterized in that in following
Hold:
The sine of a cycle is divided into several pieces according to control accuracy requirement, the pulse frequency in every part is identical, but each
Pulse number between part is with pulse frequency difference, undamped operational mode result being saved in array；Calculated for 50 week
There is damping operational mode in phase and saves, and the amplitude of sine swing constantly changes in this mode；
Single-chip microcontroller receive turn the information that TTL module transfers from RS232 serial ports when, first determine whether the information be operating parameter or
Operation order,
For example operating parameter then carries out data extraction, and the content of extraction includes but is not limited to individual pen umber of pulse, hunting frequency, swing
Number of cycles, amplitude and damped coefficient then determine umber of pulse and frequency according to the data of extraction, and save into array；
Whether the damped coefficient that for example operation order is then extracted referring initially to above-mentioned data is 0, is sent if being 0 to servo controller
The undamped operational mode pulse information of a cycle saved in array is not then to send array to servo controller if 0
There are damping operational mode pulse information in 50 periods of middle preservation；
It is finally sent again to servo controller and rotates forward, inverts or cease and desist order.
4. motor operation control method according to claim 3, it is characterised in that: the sequence of interruption is followed successively by operation ginseng
Number, rotates forward order, inverted command and ceases and desist order operation order.
5. motor operation control method according to claim 3, it is characterised in that: individual pen umber of pulse is 200000, is swung
The range of frequency is 0.5-2HZ, swing period number takes the integer between 0-15000, and the range of damped coefficient is-0.1-
0.1。
6. motor operation control method according to claim 3, it is characterised in that: sending operation life to servo controller
When enabling, it can also start other acquisition equipment and/or software simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811448247.4A CN109407588A (en) | 2018-11-30 | 2018-11-30 | A kind of motor operation control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811448247.4A CN109407588A (en) | 2018-11-30 | 2018-11-30 | A kind of motor operation control system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109407588A true CN109407588A (en) | 2019-03-01 |
Family
ID=65456442
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811448247.4A Pending CN109407588A (en) | 2018-11-30 | 2018-11-30 | A kind of motor operation control system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109407588A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006121830A (en) * | 2004-10-21 | 2006-05-11 | Toyota Motor Corp | Control method for motor |
| CN201374674Y (en) * | 2009-03-20 | 2009-12-30 | 中国舰船研究设计中心 | Device for controlling stepping motor |
| CN103078575A (en) * | 2013-02-20 | 2013-05-01 | 湖南大学 | Integrated multifunctional controller for low-power direct-current servomotors |
| CN204068925U (en) * | 2014-08-08 | 2014-12-31 | 浙江亚龙教育装备股份有限公司 | The control system of servo-driver and pulse driving circuit and servomotor |
| CN105258891A (en) * | 2015-10-28 | 2016-01-20 | 南京航空航天大学 | Single-degree-of-freedom vibration test device |
| CN106656707A (en) * | 2016-12-03 | 2017-05-10 | 河池学院 | Stepping motor subdivision control system |
| CN208969474U (en) * | 2018-11-30 | 2019-06-11 | 中国海洋大学 | A kind of motor operation control system |
-
2018
- 2018-11-30 CN CN201811448247.4A patent/CN109407588A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006121830A (en) * | 2004-10-21 | 2006-05-11 | Toyota Motor Corp | Control method for motor |
| CN201374674Y (en) * | 2009-03-20 | 2009-12-30 | 中国舰船研究设计中心 | Device for controlling stepping motor |
| CN103078575A (en) * | 2013-02-20 | 2013-05-01 | 湖南大学 | Integrated multifunctional controller for low-power direct-current servomotors |
| CN204068925U (en) * | 2014-08-08 | 2014-12-31 | 浙江亚龙教育装备股份有限公司 | The control system of servo-driver and pulse driving circuit and servomotor |
| CN105258891A (en) * | 2015-10-28 | 2016-01-20 | 南京航空航天大学 | Single-degree-of-freedom vibration test device |
| CN106656707A (en) * | 2016-12-03 | 2017-05-10 | 河池学院 | Stepping motor subdivision control system |
| CN208969474U (en) * | 2018-11-30 | 2019-06-11 | 中国海洋大学 | A kind of motor operation control system |
Non-Patent Citations (1)
| Title |
|---|
| 杨同杰: "基于DSP的直流伺服电机控制器设计与实现", 中国优秀硕士论文电子期刊网 工程科技Ⅱ辑, no. 2010, pages 042 - 31 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101546185B (en) | Programmable multi-axis controller based on IEEE-1394 serial bus | |
| CN109459955B (en) | FPGA-based multi-axis servo motor position reading and decoding system and method | |
| CN104317253A (en) | System method for servo motor position control | |
| CN104079218A (en) | Motor rotor position and angle obtaining method | |
| CN103259089A (en) | Control method and control device of X-waveband weather radar antenna | |
| CN103595598A (en) | Remote transparent transmission serial server based on fiber and control mode thereof | |
| CN105881504A (en) | Delta robot control system with traction visual teaching function | |
| CN208969474U (en) | A kind of motor operation control system | |
| CN104898466B (en) | A kind of communication control circuit of laser tracker | |
| CN201355804Y (en) | Four-dimensional ultrasonic probe motor control system | |
| CN106655928A (en) | Driving control and rotating angle measurement system used for stepping motor | |
| CN209460617U (en) | A kind of microwave-driven source control system | |
| CN108469730A (en) | Multi-motor fixed time self-adaptive sliding mode control method based on mean value coupling | |
| CN109407588A (en) | A kind of motor operation control system and control method | |
| CN201449530U (en) | Digital steering engine controller | |
| CN105403190A (en) | Displacement detection system of stepping machine | |
| CN202634350U (en) | Control circuit suitable for squid angling machine | |
| CN104730274A (en) | Programmed multifunctional rotation speed signal conversion device | |
| CN101887635A (en) | High-resolution multi-channel seismic exploration data transmission system at shallow layer of deepwater | |
| CN105958864A (en) | Ultrasonic motor control system and control method thereof | |
| CN106959678A (en) | A kind of electronical line shaft generation method that mechanism is reported based on clock bus | |
| CN207457812U (en) | Numerical control communication apparatus | |
| CN104677395A (en) | Compatible coded disc angle measuring device | |
| CN110752798B (en) | Multi-shaft multifunctional motor position decoding system based on ZYNQ | |
| CN203490504U (en) | Triaxial motion control system based on EtherCAT |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190301 |