CN110365280A - Motor control system and its method - Google Patents
Motor control system and its method Download PDFInfo
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- CN110365280A CN110365280A CN201810288167.0A CN201810288167A CN110365280A CN 110365280 A CN110365280 A CN 110365280A CN 201810288167 A CN201810288167 A CN 201810288167A CN 110365280 A CN110365280 A CN 110365280A
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- motion
- motor control
- control system
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- driving signal
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- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
Abstract
A kind of motor control system and its method, motor control system is to transmit a driving signal a to driving device, to drive a motor, and includes an input module and a motion controller.Input module, to set multiple motion control parameters, and motion control parameter includes at least a target position and a target run duration.Motion controller, it is electrically connected input module, to receive motion control parameter, the unit motion amount for corresponding to the unit motion time is generated according to an at least operation rule, and the control command of a corresponding unit motion amount is generated according to an at least transformation rule, then generate the driving signal according to the control command.Wherein, the unit motion time is less than target run duration.
Description
Technical field
The present invention relates to a kind of motor control system and its method more particularly to an a kind of units using a unit time
The motor control system and its method of amount of exercise drive motor.
Background technique
Most of mechanical system needs to carry out Motion trajectory, such as CNC toolroom machine, mechanical arm, drilling machine, engraving
Machine, draught machine etc., above-mentioned equipment are essentially all Multi-axis motion control, in the case where controlling multiple axes system, multiple motors
Be mutually shifted, the generation of motion path, the planning etc. of movement speed and acceleration and deceleration it is all quite important.Therefore, in response to the demand,
Motion controller becomes the key control unit of system naturally.Motion controller mainly has received the fortune that user is transmitted
Information is moved, and these information are converted into the input signal of motor driver, and then controls the movement of motor and mechanical system
Track.
General common motion controller is digital differential analysis device (Digital Differential Analyzer；
DDA), digital differential analysis device is to receive a target position, and according to an object time, operation generates a pulse drive signal,
To drive a motor.
However, the prior art needs longer operation time to generate pulse using digital differential analysis device, and if
Have new target position in operation time, it is also desirable to wait the previous operation time to terminate, and wait again the once-through operation time according to
Operation is carried out according to new target position, the pulse drive signal of corresponding new target position could be generated, order is easy to cause to cut
When changing, the pulse drive signal of generation can be postponed or error.
Summary of the invention
In view of in the prior art, digital differential analysis device needs longer operation time, and order is easy to cause to switch
When, cause pulse drive signal that can be postponed or error.A main purpose of the invention is to provide a kind of motor control system
With motor control method, to solve the problems, such as that the prior art is derived.
The present invention is to solve problem of the prior art, and used necessary technology means are to provide a kind of motor control system
System, to drive a motor, and includes an input module and a motion control to transmit a driving signal a to driving device
Device.
Input module, to set multiple motion control parameters, and motion control parameter include at least a target position with
One target run duration.
Motion controller is electrically connected above-mentioned input module, to receive above-mentioned motion control parameter, transports according at least one
The unit motion amount that rule generation corresponds to the unit motion time is calculated, and generates a corresponding list according to an at least transformation rule
The control command of position amount of exercise, then above-mentioned driving signal is generated according to control command.
Wherein, the above-mentioned unit motion time is less than above-mentioned target run duration.
On the basis of above-mentioned necessary technology means, an attached technological means derived from the present invention is to transport above-mentioned unit
Momentum is less than above-mentioned target position.
On the basis of above-mentioned necessary technology means, an attached technological means derived from the present invention is to make above-mentioned at least one
Operation rule is acceleration linear motion formula.
On the basis of above-mentioned necessary technology means, an attached technological means derived from the present invention is to make above-mentioned at least one
Transformation rule is comparison list, and the table of comparisons shows the corresponding relationship of above-mentioned unit motion amount Yu an edge of a pulse variable quantity.
On the basis of above-mentioned necessary technology means, an attached technological means derived from the present invention is to make above-mentioned movement control
Device processed generates above-mentioned control command according to the edge of a pulse variable quantity corresponding to above-mentioned unit motion amount.
On the basis of above-mentioned necessary technology means, an attached technological means derived from the present invention is to make motor control system
System also includes: a conversion module, and conversion module is electrically connected above-mentioned input module and above-mentioned motion controller, to receive
Above-mentioned motion control parameter, and by above-mentioned motion control Parameter Switch at binary format.
On the basis of above-mentioned necessary technology means, an attached technological means derived from the present invention is to make motor control system
Motion controller in system also includes: a memory module, and memory module is advised to store above-mentioned operation rule and above-mentioned conversion
Then.
On the basis of above-mentioned necessary technology means, an attached technological means derived from the present invention is to make motor control system
Motion controller in system also includes: a pulse output module, and pulse output module according to above-mentioned control command to generate
Above-mentioned driving signal, and above-mentioned driving signal is a pulse drive signal.
The present invention also provides a kind of motor control methods, using an input module and a motion controller, and include following
Step: (a) utilizing input module, set multiple motion control parameters, and motion control parameter include at least a target position with
One target run duration；(b) motion controller is utilized, receives motion control parameter, and according to an at least operation rule, generation pair
The unit motion amount of Ying Yuyi unit motion time；(c) motion controller is utilized, according to an at least transformation rule, generates one
The control command of corresponding unit motion amount；(d) motion controller is utilized, generates a driving signal according to control command；And (e)
Using motion controller, a driving device is driveed signals to, to drive a motor.
On the basis of above-mentioned necessary technology means, an attached technological means derived from the present invention is to make motor control side
Method also comprises the steps of: and judges that driving signal is a unchanged amount driving signal using motion controller, and it is substantially fast to generate one
Driving signal is spent, and is sent to driving device.
From the above, motor control system provided by the present invention and its method are advised using motion controller according to operation
Then and transformation rule generates a driving signal for corresponding to unit motion time and unit motion amount, and wherein the unit motion time is small
In target run duration.Therefore, required operation time can be shortened, if receiving new target position, motion controller can
The operation of the new target position of instant progress, conversion simultaneously generate new driving signal, and to solve in the prior art, switching is new
Target position may cause the delay or error of driving signal.
Detailed description of the invention
Fig. 1 is the system block diagrams of motor control system and its method provided by one embodiment of the invention；
Fig. 2 is position-time diagram of motor control system and its method provided by one embodiment of the invention；
Fig. 3 is the method flow diagram of motor control system and its method provided by one embodiment of the invention；
Fig. 4 is the system block diagrams of motor control system and its method provided by another embodiment of the present invention；
Fig. 5 is the method flow diagram of motor control system and its method provided by another embodiment of the present invention；
Fig. 6 A and Fig. 6 B is that the pulsed drive of motor control system and its method provided by another embodiment of the present invention is believed
Number schematic diagram.
[symbol description]
1,1a: motor control system
11: input module
12,12a: motion controller
121a: processing module
122a: memory module
123a: pulse output module
13a: conversion module
2: driving device
3: motor
S0: initial position
S1: first position
S2: the second position
Sn: target position
T0: initial time
T1: at the first time
T2: the second time
Tn: target run duration
Δ T: unit motion time
ΔSi、ΔS1、ΔS2: unit motion amount
Specific embodiment
It please refers to Fig.1 to Fig.3, wherein Fig. 1 is motor control system and its method provided by one embodiment of the invention
System block diagrams；Fig. 2 is position-time diagram of motor control system and its method provided by one embodiment of the invention；And
Fig. 3 is the method flow diagram of motor control system and its method provided by one embodiment of the invention.As shown, a kind of motor
Control system 1 drives a motor 3, and motor control to transmit a driving signal a to driving device 2, and by driving device 2
System 1 processed and include an input module 11 and a motion controller 12.
Input module 11 to set multiple motion control parameters, and includes at least a target position in motion control parameter
Set SnWith a target run duration Tn.Input module 11 can be that a computer, a mobile phone, a keyboard etc. can input motion control parameters
Device.
Motion controller 12 is electrically connected input module 11, to receive motion control parameter, and according to an at least operation
Rule generates the unit motion amount Δ S for corresponding to a unit motion time Δ Ti, i=1~n, correspondence is to when different movements
Between point, Δ S1Correspond to a first time T1With an initial time T0Unit motion time Δ T, and keep motor 3 initial from one
Position S0It is moved to a first position S1, Δ S2Correspond to one second time T2With first time T1Unit motion time Δ T, and
And make motor 3 from first position S1It is moved to a second position S2.Herein it should be noted that, actually each unit motion when
Between the unit motion amount that arrives corresponding to Δ T not necessarily can be identical, the unit motion arrived corresponding to different unit motion time Δ T
Amount is with Δ S1、ΔS2... as difference, as shown in Fig. 2, unit motion amount Δ SiIt is then to be referred to as one, in favor of understanding this
Invention.
Motion controller 12 generates a corresponding unit motion amount Δ S according to an at least transformation ruleiControl command, then
Driving signal is generated according to control command, and driving signal is sent to driving device 2 with drive motor 3.Because control command is logical
It is often a digital signal, it can not direct drive motor.Therefore, the present embodiment according to control command be converted into driving device 2 can
The driving signal of interpretation is sent to driving device 2, with the rotation of drive motor 3.For an embodiment, driving signal can be an arteries and veins
Rush driving signal.
In the first embodiment, motion controller 12 is a field programmable gate array (Field Programmable
Gate Array；FPGA) chip, but not limited to this.In another embodiment, motion controller 12 can be at a digital signal
Manage device (Digital Signal Processor；DSP).Foregoing operation rule and transformation rule can be built into motion controller
In 12, a storage unit can also be stored in.
As shown in Fig. 2, every a bit of unit motion amount Δ S that motion controller 12 calculates outi(i.e. Δ S1、ΔS2...) complete
Portion is added, and motor can be made in target run duration TnFrom an initial position S0It is moved to target position Sn.Due to the present embodiment operation
Unit motion amount Δ SiRequired unit motion time Δ T (the built-in operation time that can be considered motion controller 12) is less than target
Run duration Tn, therefore, if in target run duration TnIt is interior, there is new target position or receives new motion control parameter,
The motion controller 12 of the present embodiment can immediately carry out new operation and generate new unit motion amount Δ Si, to cooperate new mesh
Cursor position and in target run duration TnReach new target position.Without as the prior art, needing first to transport in target
Dynamic time TnIt is moved to target position SnAfterwards, it then goes to generate by target position SnIt is moved to the driving signal of new target position.Cause
This, the present embodiment helps avoid the delay even error of driving signal caused by conventional motor control system and its method
The problems such as.
As shown in figure 3, one embodiment of the invention provides a kind of motor control method, this motor control method utilizes Fig. 1
Motor control system 1, this motor control system 1 include an input module 11 and a motion controller 12.This motor control side
Method comprises the steps of S101 to S105.
Step S101: input module 11 is utilized, sets multiple motion control parameters, and those motion control parameters are at least wrapped
Containing a target position and a target run duration.
Step S102: utilizing motion controller 12, receives those motion control parameters, and a foundation at least operation rule,
Generate the unit motion amount for corresponding to the unit motion time.
Step S103: utilizing motion controller 12, according to an at least transformation rule, generates a corresponding unit motion amount
Control command.
Step S104: utilizing motion controller 12, generates a driving signal according to the control command.
Step S105: motion controller 12 is utilized, transmits the driving signal to a driving device, to drive a motor.
Step S101 sets multiple motion control parameters using input module 11, and motion control parameter includes at least a mesh
Cursor position (Sn in such as Fig. 2) and a target run duration (Tn in such as Fig. 2).
Step S102, according to operation rule, is calculated corresponding to a unit motion time (such as Fig. 2 using motion controller 12
In Δ T) a unit motion amount (the Δ S in such as Fig. 2i、ΔS1、ΔS2…).This motion controller 12 can be a FPGA core
Piece.Also, motion controller 12 is according to acceleration linear motion formula, by motion control parameter for a preferred embodiment
Calculate out unit motion amount.
Step S103 utilizes motion controller 12, according to transformation rule, generates the control life of a corresponding unit motion amount
It enables, transformation rule can be built into motion controller 12, can also be stored in a storage unit.
Step S104 utilizes motion controller 12, driving signal is generated according to control command, because of 12 operation of motion controller
Unit motion amount Δ Si out and control command and can not direct drive motor 3, so, motion controller 12 will need to control again
Order is converted into a driving signal that can be linked up with driving device 2.
Finally, step S105 drives signals to driving device 2 using motion controller 12, with drive motor 3, in turn
Complete motor control.
Please refer to fig. 4 to fig. 6 B, wherein Fig. 4 is motor control system and its side provided by another embodiment of the present invention
The system block diagrams of method；Fig. 5 is the method flow diagram of motor control system and its method provided by another embodiment of the present invention；
And Fig. 6 A and Fig. 6 B is that the pulse drive signal of motor control system and its method provided by another embodiment of the present invention shows
It is intended to.As shown, a kind of motor control system 1a is to transmit a driving signal to driving device as in the first embodiment
2, to drive motor 3 as in the first embodiment, motor control system 1a and include an input module 11, a motion controller
A 12a and conversion module 13a, wherein input module 11 is identical with first embodiment, therefore does not add to repeat.
Conversion module 13a is electrically connected input module 11 and motion controller 12a, to the fortune for setting input module 11
Dynamic control parameter is converted into binary format, with the operation of sharp motion controller 12a.Conversion module 13a can be embedded in input mould
Block 11 can also be embedded in motion controller 12a, can also one module square of self-contained as shown in Figure 4.
Motion controller 12a also includes a processing module 121a, a memory module 122a and a pulse output module 123a.
Memory module 122a is to store an at least operation rule and an at least transformation rule, and in the present embodiment, operation rule is one
Acceleration linear motion formula, transformation rule is comparison list unit of display amount of exercise Δ SiWith pair of edge of a pulse variable quantity
It should be related to.Memory module 122a can be a storage chip.
Processing module 121a is received via the motion control parameter after conversion module 13a conversion, and according to memory module
Operation rule in 122a generates a unit motion amount Δ S of a corresponding unit motion time Δ T (being shown in Fig. 2)i(mark
In Fig. 2).And according to transformation rule, by unit motion amount Δ SiIt is converted into a digital information, this digital information has a default ratio
Bit length then generates a corresponding unit motion amount Δ S according to this digital information againiControl command, control command is this number
The edge of a pulse variable quantity arrived corresponding to word information.
Finally, recycling pulse output module 123a, a driving signal, this driving signal and the are generated according to control command
One embodiment it is different be in a then pulse drive signal, and driving device 2 is sent to, with drive motor 3.
As shown in figure 5, another embodiment of the present invention provides a kind of motor control method, this motor control method is for scheming
4 motor control system 1a, and comprise the steps of S201 to S207.The step S101 phase of step S201 and first embodiment
Together, therefore do not add to illustrate.
Step S202 utilizes conversion module 13a, receives motion control parameter, and by motion control Parameter Switch at conducive to fortune
Movement controller 12a carries out the format of operation, such as: binary format.
Step S102 of the step S203 into step S205 and first embodiment is roughly the same with S103, and difference is from
Motion controller 12 in one embodiment be changed to by second embodiment inside motion controller 12a processing module 121a, deposit
It stores up module 122a and executes step.
Step S206 receives control command using pulse output module 123a, and generates a driving signal accordingly, this driving
Signal is that this driving signal is a pulse drive signal with the difference in previous embodiment.And drive signals to driving
Device 2 completes step S207 with drive motor 3.
It then, will be with actual numerical value for example, setting multiple motion control parameters includes acceleration=1, acceleration
=10, speed=100, target position=1000, initial acceleration=0, initial velocity=0, initial position=0, unit motion
Time=2, QX, Y format=Q32,24 and most edge of a pulse variable quantity=3.QX, Y format are a kind of binary format, to
Determine unit motion amount Δ SiBit number after being converted into binary format, wherein X=32 indicates that total bit number is 32 bits, Y
=24 indicate that the bit number for representing decimal has 24 bits.Referring to Figure 2 together, fig. 4 to fig. 6 B.Because we are for decimal format
It is familiar with, but motor control system actually operation utilizes binary format, therefore following explanation can use the decimal system together
Format and binary format, binary format are the actual operation situations in order to which motor control system is presented, and decimal format is then
It is to be conducive to understand the present invention.
Conversion module 13a by above-mentioned motion control Parameter Switch at binary format, in addition to QX, Y format and most pulses
Edge variation amount, processing module 121a calculate a list according to acceleration linear motion formula, by above-mentioned motion control parameter
The decimal format of position amount of exercise Δ Si is 221.333 circulating decimals, and the value at Q32,24 formats is
01101001001010101010101010101011。
Processing module 121a is according to transformation rule, and transformation rule is as follows: 1. can only at most have (2n- 1) a edge of a pulse becomes
Change amount.2.QX, in Y format, the leading bit of edge of a pulse variation is (Y-1) to (Y+ (n-1)) bit.3. such as following table
(1).
Table (one)
Table (one) is that a unit motion amount Δ Si dominates the correspondence numerical value of bit and the table of comparisons of edge of a pulse variable quantity.According to
According to above-mentioned transformation rule, it is known that because of most edge of a pulse variable quantities=3, n=2, dominate the bit of edge of a pulse variation
For (24-1) to (24+ (2-1)) bit, i.e. the 23rd to 25 bit, unit motion amount Δ SiThe 23rd in Q32,24 format
It is 101 to 25 bits (i.e. leading bit), the numerical value for corresponding to decimal format is 5 (i.e. 22+ 1), the corresponding pulse of this numerical value
Edge variation amount is -3, indicates that control command is control motor 3 along negative direction 3 lattice of rotation, and generate pulse according to control command
Driving signal makes 2 drive motor of driving device, 3 negative direction rotate 3 lattice, pulse drive signal shown by as Fig. 6 A.Pulse
Edge variation amount indicates the switching times of pulse, as shown, pulse drive signal sequentially switch to 0 from output logic 1, again from
It 0 switches to 1, finally from 1 switch to 0, switch 3 times altogether, indicate that edge of a pulse variable quantity is 3, because switching arrogant (1) for the first time
It switches to small (0), therefore is negative direction.And Fig. 6 B shows that positive direction rotates the pulse drive signal of 3 lattice, because switching is certainly for the first time
Small (0) switches to big (1), therefore is positive direction.
Herein specifically, when table (one) is suitable for n=2, but, the invention is not limited thereto.Substantially, table
(1) three sections, the unit motion amount Δ S in first section be can be divided intoiThe correspondence numerical value of leading bit is incremented by from 0,1,2 ...
To (2n- 1), corresponding edge of a pulse variable quantity is incremented to+(2 from 0 ,+1 ,+2 ...n-1).The unit motion amount Δ in second section
SiThe correspondence numerical value of leading bit is 2n, corresponding edge of a pulse variable quantity is 0 at this time.The unit motion amount Δ in third section
SiThe correspondence numerical value of leading bit is from (2n+1)、(2n+ 2) (2 ... are incremented ton+2n- 1), at this point, corresponding edge of a pulse variable quantity
From-(2n- 1) it is incremented to -1.
More detailed description is done for the corresponding relationship in third section, as unit motion amount Δ SiThe correspondence of leading bit
Numerical value is (2n+ 1) when, the edge of a pulse variable quantity corresponded to is-(2nIt -1), herein can be by (2n+ 1) it is equal to (2n+1-2n+ 1),
It is equal to (2 againn+1-(2n-1)).Therefore, edge of a pulse variable quantity is-(2n- 1) unit motion amount Δ S is corresponded toiLeading bit
Correspondence numerical value it is latter half of.Other unit amount of exercise Δ SiThe rest may be inferred with the corresponding relationship of edge of a pulse variable quantity.
Again with actual numerical value for example, motion control parameter is all identical as above-mentioned numerical value, operation rule and transformation rule
Also identical, unique difference is unit motion time=1.The unit motion amount Δ S that unit motion temporal calculation goes out according to thisiIt is leading
Bit is 100, and corresponding numerical value is 4, and corresponding table (one) edge of a pulse variable quantity is 0, indicates that pulse drive signal will not make to drive
2 drive motor 3 of device generates a base speed driving signal, makes to drive when motion controller 12a judges pulse change amount for 0
Dynamic 2 drive motor 3 of device is with the minimum speed rotation of a corresponding base speed driving signal.
In conclusion motor control system provided by the present invention and its method are to set motion control using input module
Driving signal is sent to driving according to operation rule and transformation rule generation driving signal by parameter and motion controller
Device, with drive motor.
Compared to the prior art, motor control system provided by the present invention and its method will not join because of motion control
Several changes, and the delay or error of driving signal are caused, instead move less than target using the unit motion time
The relationship of time, and reach the real-time operation in response to new motion control parameter, therefore not will cause the delay or mistake of driving signal
Difference.
Pass through the above detailed description of preferred embodiments, it would be desirable to feature and spirit of the invention are more clearly described, and
Not the scope of the present invention is limited with above-mentioned revealed preferred embodiment.On the contrary, the purpose is to wish
Various changes can be covered and have equality and be arranged in the range of the claims in the present invention.
Claims (10)
1. a kind of motor control system, which is characterized in that drive signals to driving device, to drive motor, and
Include:
Input module, to set multiple motion control parameters, the multiple motion control parameter include at least target position with
Target run duration；And
Motion controller is electrically connected the input module, to receive the multiple motion control parameter, transports according at least one
It calculates rule and generates the unit motion amount for corresponding to the unit motion time, and generate the corresponding unit according to an at least transformation rule
The control command of amount of exercise, then the driving signal is generated according to the control command；
Wherein, the unit motion time is less than the target run duration.
2. motor control system as described in claim 1, wherein the unit motion amount is less than the target position.
3. motor control system as described in claim 1, wherein an at least operation rule is acceleration linear motion
Formula.
4. motor control system as described in claim 1, wherein an at least transformation rule is the table of comparisons, and described right
The corresponding relationship of the unit motion amount and edge of a pulse variable quantity is shown according to table.
5. motor control system as claimed in claim 4, wherein the motion controller is right according to the unit motion amount institute
The edge of a pulse variable quantity answered, generates the control command.
6. motor control system as described in claim 1, also includes: conversion module, and the conversion module is electrically connected institute
Input module and the motion controller are stated, to receive the multiple motion control parameter, and by the multiple motion control
Parameter Switch is at binary format.
7. motor control system as described in claim 1, wherein the motion controller also includes: memory module, and it is described
Memory module is to store an at least operation rule and an at least transformation rule.
8. motor control system as described in claim 1, wherein the motion controller also includes: pulse output module, institute
Pulse output module is stated to generate the driving signal according to the control command, and the driving signal is pulsed drive letter
Number.
9. a kind of motor control method, which is characterized in that use input module and motion controller, and comprise the steps of:
Using the input module, multiple motion control parameters are set, and the multiple motion control parameter includes at least target
Position and target run duration；
Using the motion controller, the multiple motion control parameter is received, and according to an at least operation rule, generates correspondence
In the unit motion amount of unit motion time；
The control command of the corresponding unit motion amount is generated according to an at least transformation rule using the motion controller,
Using the motion controller, driving signal is generated according to the control command；And
Using the motion controller, the driving signal is transmitted to driving device, to drive motor.
10. motor control method as claimed in claim 9, also comprises the steps of:
Judge that the driving signal is unchanged amount driving signal using the motion controller, generates base speed driving letter
Number, and it is sent to the driving device.
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