CN109656199A - Method of servo-controlling based on clock drive feedback quantity synchronization process - Google Patents
Method of servo-controlling based on clock drive feedback quantity synchronization process Download PDFInfo
- Publication number
- CN109656199A CN109656199A CN201811598870.8A CN201811598870A CN109656199A CN 109656199 A CN109656199 A CN 109656199A CN 201811598870 A CN201811598870 A CN 201811598870A CN 109656199 A CN109656199 A CN 109656199A
- Authority
- CN
- China
- Prior art keywords
- servo
- programmable logic
- feedback quantity
- logic device
- servo 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.)
- Granted
Links
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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
-
- 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
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
Landscapes
- Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a kind of method of servo-controlling based on clock drive feedback quantity synchronization process, this method mainly realizes process are as follows: after the programmable logic device of servo-control system has acquired a bat absolute coding position data, SERVO CONTROL chip is actively given to send a synchronization signal, SERVO CONTROL chip is using the synchronization signal as external interrupt input source, external interrupt is triggered, the current location data progress Close loop servo control for receiving programmable logic device acquisition is interrupted.The present invention realizes the high-precision servo control system based on clock drive feedback quantity to the synchronization process of Real-time Feedback amount, avoids feedback quantity and acquires the asynchronous problem for causing closed-loop control ineffective.
Description
Technical field
It is especially a kind of based on clock drive feedback quantity synchronization process the present invention relates to electrical engineering applied technical field
Method of servo-controlling.
Background technique
High-precision servo control system mostly uses absolute type encoder as closed loop feed back quantity sensor, compared to increasing
Amount formula encoder, absolute type encoder have direct transmission absolute coding position, without position accumulated error and high resolution
Advantage.The transport protocol of absolute type encoder is essentially all to transmit absolute coding position using clock signal as excitation, is watched
Clothes control chip does not have the ability (transport protocol of the clock drive signal in output absolute coding location transmission agreement substantially
Example diagram is as shown in Figure 1), need additional programmable logic device as terminal, exporting has some cycles certain frequency
Clock drive signal, acquisition absolute coding position data are simultaneously transferred to SERVO CONTROL chip.
High-precision servo control system acquires absolute coding position feedback quantity with certain sample frequency in real time and carries out reality
When Close loop servo control, traditional way is that certain control period is arranged by timer interruption for SERVO CONTROL chip, is being controlled
Position feedback quantity acquisition, the operation of Close loop servo control rule and the output for controlling signal are completed in period processed, functional block diagram is such as
Shown in Fig. 2.Since SERVO CONTROL chip and programmable logic device respectively have independent clock source, the two asynchronous, can deposit
It is clapped in the absolute coding position feedback quantity advanced one that SERVO CONTROL chip is sampled from programmable logic device or lag one is clapped
The problem of (as shown in Figure 3), cause participate in Close loop servo control feedback quantity be not encoder true value synchronous in real time, meeting
The dynamic response and control effect of strong influence servo-control system even result in servo-control system oscillation.
Summary of the invention
The technical problem to be solved by the present invention is in view of the shortcomings of the prior art, provide a kind of based on clock drive feedback
The method of servo-controlling of synchronization process is measured, solves that the feedback quantity based on clock drive is asynchronous causes control effect is bad to ask
Topic.
In order to solve the above technical problems, the technical scheme adopted by the invention is that: one kind is same based on clock drive feedback quantity
The method of servo-controlling of processing is walked, this method mainly realizes process are as follows: acquire in the programmable logic device of servo-control system
After complete one claps absolute coding position data, SERVO CONTROL chip is actively given to send a synchronization signal, SERVO CONTROL chip is with this
Synchronization signal triggers external interrupt as external interrupt input source, interrupts the current location for receiving programmable logic device acquisition
Data carry out Close loop servo control.
The programmable logic device sends a synchronization signal in real time to realize that the acquisition of SERVO CONTROL chip synchronization is absolute
Coding site data.
The programmable logic device is sent certain with certain sampling period T according to absolute type encoder transport protocol
The clock drive signal of frequency acquires absolute coding position data.
The sample frequency of the programmable logic device is the integer that closed loop servo-control system controls frequency.
The SERVO CONTROL chip just interrupts reception using synchronization signal as external interrupt input source, every (N-1) T time
The absolute coding position data that the programmable logic device n-th sampling period acquires in real time.
Programmable logic device just generates a synchronization signal, correspondingly, servo control coremaking every (N-1) a sampling period
Piece just acquires an absolute coding position data into an external interrupt every (N-1) T time in real time, executes a closed loop servo
Control law operation and the output for controlling signal.
Compared with prior art, the advantageous effect of present invention is that:
1. realize the high-precision servo control system based on clock drive feedback quantity to the synchronization process of Real-time Feedback amount,
It avoids feedback quantity and acquires the asynchronous problem for causing closed-loop control ineffective.
2. SERVO CONTROL chip is controlled using the period that periodic synchronization signal realizes closed loop servo-control system, it is not necessarily to
Cycle interruption is generated using timer to carry out the period of closed loop servo-control system and control, to save SERVO CONTROL chip
Piece in resource, reduce design cost while improve designed reliability.
3. having scalability, other systems or link based on clock drive feedback quantity can be wanted according to algorithms of different
It asks corresponding and generates synchronization signal to meet algorithms of different to the synchronous of clock drive feedback quantity and require.
4. meeting the clock drive signal of absolute type encoder transport protocol using programmable logic device generation to acquire
Advantage of the programmable logic device in terms of timing sequence process is utilized well, has saved hardware money for absolute coding position data
Source.
Detailed description of the invention
Fig. 1 absolute type encoder transport protocol example diagram；MA is indicated station acquisition request and timing information (clock) from master
Interface is transferred to grating；SLO indicates position data being transferred to the main interface synchronous with MA from grating；
Fig. 2 traditional servo control system functional block diagram；
Fig. 3 is that SERVO CONTROL chip 2ms feedback quantity acquires data increment data graphs, and horizontal axis is time (unit: s),
The longitudinal axis is 2ms data increment (unit: °)；The programmable logic device sampling period is 100us, and rotating mechanism revolving speed is about
46.5 °/s, bat (100us) data increment is 0.00465 °, and it is 0.00468 ° that two o'clock increment is marked in figure, shows SERVO CONTROL
There is the problem of lag one is clapped in the absolute coding position feedback quantity that chip is sampled from programmable logic device；
Fig. 4 synchronous servo control system functional block diagram；
Fig. 5 is that SERVO CONTROL chip 2ms feedback quantity acquires data increment data graphs, and horizontal axis is time (unit: s),
The longitudinal axis is 2ms data increment (unit: °)；The programmable logic device sampling period is 100us, and rotating mechanism revolving speed is about
45.5 °/s, one clap (100us) data increment be 0.00455 °, in figure all incremental datas between 0.09 ° to 0.092 °,
Very poor is 0.002 °, realizes function of the SERVO CONTROL chip from programmable logic device synchronous acquisition absolute coding position.
Specific embodiment
Servo-control system programmable logic device acquired one bat absolute coding position data after actively to servo
It controls chip and sends a synchronization signal, SERVO CONTROL chip is external using the synchronization signal as external interrupt input source, triggering
It interrupts, interrupts the current location data progress Close loop servo control for receiving programmable logic device acquisition, it in this way can be to avoid base
In the asynchronous problem for causing control effect bad of the feedback quantity of clock drive.
This method sends a synchronization signal in real time by programmable logic device to realize that SERVO CONTROL chip synchronization is adopted
Collect absolute coding position data, servo-control system functional block diagram is as shown in Figure 4.
The programmable logic device of closed loop servo system is passed with certain sampling period (being denoted as T) according to absolute type encoder
Defeated agreement sends the clock drive signal of certain frequency to acquire absolute coding position data.In order to guarantee the synchronization of position data
Real-time Transmission, the integer that the sample frequency of programmable logic device is necessary for closed loop servo-control system control frequency (are denoted as N, N
For positive integer, NmaxSample frequency and the minimum control of servo-control system are requested depending on absolute type encoder transport protocol highest
Frequency processed) times, in this way, programmable logic device has acquired in the n-th sampling period once bat absolute coding position data every time
A synchronization signal is sent in real time to SERVO CONTROL chip.
The SERVO CONTROL chip of closed loop servo system is using synchronization signal as external interrupt input source, every (N-1) T time
It is not in servo with regard to the absolute coding position data that the interruption reception programmable logic device n-th sampling period acquires in real time
The problem of absolute coding position feedback quantity advanced one that control chip is sampled from programmable logic device is clapped or lag one is clapped
(as shown in Figure 5).
Further, programmable logic device just generates a synchronization signal every (N-1) a sampling period, correspondingly,
SERVO CONTROL chip just acquires an absolute coding position data into an external interrupt every (N-1) T time in real time, executes one
Secondary Close loop servo control rule operation and the output for controlling signal, thereby realizing the control period is being swashed based on clock for NT
Encourage the Close loop servo control of feedback quantity synchronization process.
Further, if other links in closed loop servo system also need synchronous acquisition based on the exhausted of clock drive
The real-time processing of other algorithms is carried out to the position data of formula encoder, programmable logic device equally can be according to other algorithms
Process cycle synchronous signal transmission required to meet other algorithms to the synchronous of absolute coding position data.
The invention proposes a kind of novel method of servo-controlling based on clock drive feedback quantity synchronization process, Ke Yishi
Existing position sensor type is synchronization process of the high-precision servo control system to Real-time Feedback amount of absolute type encoder, is solved
At present extensively absolute type encoder as position sensor servo-control system because feedback quantity acquires it is asynchronous due to cause to close
The bad problem of ring control effect is reduced while servo-control system dynamic response and control effect is effectively ensured and is designed to
This has broad application prospects in practical applications in addition, this method has scalability.
Claims (6)
1. a kind of method of servo-controlling based on clock drive feedback quantity synchronization process, which is characterized in that this method is mainly realized
Process are as follows: after the programmable logic device of servo-control system has acquired a bat absolute coding position data, actively give servo
It controls chip and sends a synchronization signal, for SERVO CONTROL chip using the synchronization signal as external interrupt input source, triggering is external
It interrupts, interrupts the current location data progress Close loop servo control for receiving programmable logic device acquisition.
2. the method for servo-controlling according to claim 1 based on clock drive feedback quantity synchronization process, which is characterized in that
The programmable logic device sends a synchronization signal in real time to realize that SERVO CONTROL chip synchronization acquires absolute coding position
Data.
3. the method for servo-controlling according to claim 1 based on clock drive feedback quantity synchronization process, which is characterized in that
The programmable logic device with certain sampling period T, according to absolute type encoder transport protocol send certain frequency when
Clock pumping signal acquires absolute coding position data.
4. the method for servo-controlling according to claim 3 based on clock drive feedback quantity synchronization process, which is characterized in that
The sample frequency of the programmable logic device is the integer that closed loop servo-control system controls frequency.
5. the method for servo-controlling according to claim 1 based on clock drive feedback quantity synchronization process, which is characterized in that
The SERVO CONTROL chip is just interrupted every (N-1) T time using synchronization signal as external interrupt input source and is received programmable patrol
The absolute coding position data that volume device n-th sampling period acquires in real time.
6. the method for servo-controlling according to claim 5 based on clock drive feedback quantity synchronization process, which is characterized in that
Programmable logic device just generates a synchronization signal every (N-1) a sampling period, correspondingly, SERVO CONTROL chip every
(N-1) T time just acquires an absolute coding position data into an external interrupt in real time, executes a Close loop servo control rule
It restrains operation and controls the output of signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811598870.8A CN109656199B (en) | 2018-12-26 | 2018-12-26 | Servo control method based on clock excitation feedback quantity synchronous processing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811598870.8A CN109656199B (en) | 2018-12-26 | 2018-12-26 | Servo control method based on clock excitation feedback quantity synchronous processing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109656199A true CN109656199A (en) | 2019-04-19 |
| CN109656199B CN109656199B (en) | 2021-07-30 |
Family
ID=66115192
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811598870.8A Active CN109656199B (en) | 2018-12-26 | 2018-12-26 | Servo control method based on clock excitation feedback quantity synchronous processing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109656199B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7463003B2 (en) * | 2006-08-10 | 2008-12-09 | Sodick Co., Ltd. | Motor control system for controlling a plurality of motors |
| CN102739146A (en) * | 2011-04-12 | 2012-10-17 | 王庆华 | Servo control system |
| CN104009679A (en) * | 2013-02-25 | 2014-08-27 | 陈国祥 | Control system of servo motors |
| CN204585226U (en) * | 2015-04-30 | 2015-08-26 | 金陵科技学院 | A kind of application multi-axis motion controller on a robotic arm |
-
2018
- 2018-12-26 CN CN201811598870.8A patent/CN109656199B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7463003B2 (en) * | 2006-08-10 | 2008-12-09 | Sodick Co., Ltd. | Motor control system for controlling a plurality of motors |
| CN102739146A (en) * | 2011-04-12 | 2012-10-17 | 王庆华 | Servo control system |
| CN104009679A (en) * | 2013-02-25 | 2014-08-27 | 陈国祥 | Control system of servo motors |
| CN204585226U (en) * | 2015-04-30 | 2015-08-26 | 金陵科技学院 | A kind of application multi-axis motion controller on a robotic arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109656199B (en) | 2021-07-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105024777B (en) | Servo-driver synchronous method based on EtherCAT real-time ethernets | |
| US7280565B2 (en) | Synchronous clocked communication system with decentralized input/output modules and method for linking decentralized input/output modules into such a system | |
| CN105763641B (en) | A kind of quick clock synchronous method of EtherCAT main website control system | |
| CN107276711B (en) | EtherCAT master station device | |
| CN102130640B (en) | Multishaft synchronous servo driving system and synchronous control method thereof | |
| CN108923876A (en) | Method for synchronizing time, apparatus and system | |
| CN103309397B (en) | Based on the synchronous sampling method of the data acquisition equipment of USB | |
| US7012980B2 (en) | Synchronous, clocked communication system with relative clock and method for configuring such a system | |
| CN108638066A (en) | A kind of device of conveyer belt synchronized tracking for robot, method and system | |
| CN105824275B (en) | A kind of method that slave station servo-driver is controlled to synchronize main website | |
| CN104238447B (en) | A kind of method for realizing Biaxial synchronous control | |
| CN109687927B (en) | Method for determining timestamp, communication equipment and communication system | |
| CN102193497A (en) | Method for realizing multi-source data accurate time alignment by utilizing PPS (Pulse Per Second) signal of GPS (Global Positioning System) | |
| CN104730983B (en) | A kind of split-second precision programmed control method | |
| EP2960737B1 (en) | Device and method for generating a trigger signal in a position measuring device and position measurement device | |
| CN103001719B (en) | Work tempo and the synchronous method of time beat are realized in automated network | |
| CN109656199A (en) | Method of servo-controlling based on clock drive feedback quantity synchronization process | |
| CN103078401A (en) | Time synchronization and sampling synchronization system and method for transformer substation | |
| CN108008676B (en) | Multi-processing unit relay protection system and synchronization method thereof | |
| CN107835258A (en) | Multirobot collaboration working method and cooperative control system | |
| CN105656591A (en) | Method for synchronizing data collection during communication of serial encoder in servo system | |
| US20160048156A1 (en) | Automation device and method for reducing jitter | |
| Einspieler et al. | High accuracy software-based clock synchronization over CAN | |
| US9923573B2 (en) | Method and device for reading a serial data stream | |
| CN111033401B (en) | Control device, control system, control method, and storage medium for control program |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |