CN110380661B - Motor control system and method thereof - Google Patents
Motor control system and method thereof Download PDFInfo
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- CN110380661B CN110380661B CN201810318447.1A CN201810318447A CN110380661B CN 110380661 B CN110380661 B CN 110380661B CN 201810318447 A CN201810318447 A CN 201810318447A CN 110380661 B CN110380661 B CN 110380661B
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0077—Characterised by the use of a particular software algorithm
Abstract
A motor control system and a method thereof are provided, wherein the motor control system is used for transmitting a driving signal to a driving device for driving a motor and comprises an input module, a processing module and a motion control operation module. The input module is used for setting a maximum output pulse frequency and a plurality of motion control parameters. The processing module receives the maximum output pulse frequency, generates a unit pulse time according to the ratio of a built-in basic time and the maximum output pulse frequency, judges the size of the unit pulse time and a built-in operation time, and defines the larger of the unit pulse time and the built-in operation time as an actual operation time. And the motion control operation module is used for receiving the motion control parameters and the actual operation clock pulse to generate a driving signal. Therefore, the situation that the prior art uses the built-in operation clock number for operation can be solved, and the operation flexibility of the motor control system is increased.
Description
Technical Field
The present invention relates to a motor control system and method, and more particularly, to a motor control system and method capable of adjusting actual operation clock rate.
Background
Most mechanical systems require motion trajectory planning, such as CNC machines, robotic arms, drills, engravers, plotters, and the like. These machines are basically multi-axis motion control, and it is important to plan the mutual movement of a plurality of motors, the generation of motion paths, the calculation of moving speed and acceleration/deceleration, and the interpolation of paths required for simultaneous movement and stopping. Thus, the motion controller naturally forms the core control unit of the system. The motion controller mainly receives motion information transmitted by a user, converts the motion information into a driving signal and transmits the driving signal to the motor driver, and then drives and controls a motor and even a motion track of a mechanical system.
A common motion controller is a Digital Differential Analyzer (DDA). The digital differential analyzer receives a target position and calculates to generate a pulse driving signal according to a target time to drive a motor.
Referring to fig. 1, fig. 1 is a system block diagram of a motor control system in the prior art. The motor control system PA1 is used for generating a driving signal to a driving device PA2 for driving a motor PA3, and includes a processing module PA11 and a motion control operation module PA12, where the motor control system PA1 is a digital differential analyzer. The processing module PA11 receives a target position and a target Time, and performs an operation according to a built-in operation clock (DDA Cycle Time) to calculate the number of frames that the motor PA3 needs to move within the built-in operation clock. The value is converted to generate a pulse driving signal, which is transmitted to the driving device PA2 to drive the motor PA3 to move at the same speed to the target position within the target time.
However, the prior art PA1 does not adjust the operation clock rate according to the maximum output pulse frequency, and uses the built-in operation clock rate to perform the operation. Therefore, the motor control system PA1 is made to operate by using its built-in operation clock number without flexibility. In short, the maximum output pulse frequency may not be generated as fast as the motor control system PA1 does with its built-in operation clock number, or the motor control system PA1 may not generate the maximum output pulse frequency even with its built-in operation clock number, but the motor control system PA1 does not have any operation for adjusting the operation clock, and the user cannot know whether the built-in operation clock number of the motor control system PA1 is enough to load the maximum output pulse frequency.
Disclosure of Invention
In view of the prior art, the motor control system only performs operation according to the built-in operation clock rate, but does not adjust the built-in operation clock rate according to the maximum output pulse rate. The present invention provides a motor control system and method thereof, wherein a processing module defines an actual operation clock according to a maximum output pulse frequency, and a motion control operation module receives a plurality of motion control parameters and generates a driving signal according to the actual operation clock.
The present invention is directed to a motor control system for transmitting a driving signal to a driving device for driving a motor, and includes an input module, a processing module, and a motion control operation module.
The input module is used for setting a maximum output pulse frequency and a plurality of motion control parameters. The processing module is electrically connected with the input module, receives the maximum output pulse frequency, generates a unit pulse time according to the ratio of a built-in basic time and the maximum output pulse frequency, judges the size of the unit pulse time and a built-in operation time, and defines the larger of the unit pulse time and the built-in operation time as an actual operation time. And the motion control operation module is electrically connected with the processing module and used for receiving the motion control parameters and the actual operation clock pulse so as to generate the driving signal.
On the basis of the above-mentioned necessary technical means, an accessory technical means derived from the present invention is to make the motor control system further include a clock setting module, wherein the clock setting module is electrically connected to the processing module and the motion control operation module, and is configured to receive the actual operation clock number and make the motion control operation module perform operation according to the actual operation clock number.
Based on the above-mentioned necessary technical means, an accessory technical means derived from the present invention is to make the clock setting module in the motor control system be a Phase Lock Loop (PLL).
On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the motion control operation module in the motor control system further include a compensation axis selection operation unit, a compensation mode selection operation unit and an output unit. The motion control device comprises a compensation axis selection operation unit, a motion control unit and a motion control unit, wherein the compensation axis selection operation unit is used for determining a compensation axis control algorithm and calculating a motion control value according to the compensation axis control algorithm. And the motion control value is electrically connected with the motion control value and the motion mode selection operation unit to determine a motion control value. The output unit is electrically connected to the complementary mode selection operation unit and is used for generating the driving signal according to the actual operation clock number, the motion control parameters, the main axis operation value and the complementary operation value, and the driving signal is a pulse driving signal.
On the basis of the necessary technical means, an auxiliary technical means derived by the invention is that an auxiliary shaft control algorithm in the motor control system is one of an X-axis motion control algorithm, a Y-axis motion control algorithm, a Z-axis motion control algorithm, a U-axis motion control algorithm and a theta-axis motion control algorithm.
The invention also provides a motor control method, which uses a motor control system, the motor control system comprises an input module, a processing module and a motion control operation module, the motor control method comprises the following steps: (a) setting a maximum output pulse frequency and a plurality of motion control parameters by using an input module; (b) utilizing the processing module to receive the maximum output pulse frequency and generate a unit pulse time according to the ratio of a built-in basic time and the maximum output pulse frequency; (c) utilizing the processing module to judge the size of the unit pulse time pulse and a built-in operation time pulse, and defining the larger of the unit pulse time pulse and the built-in operation time pulse as an actual operation time pulse; and (d) utilizing the motion control operation module to receive the motion control parameters and the actual operation clock pulse, generating a driving signal according to the motion control parameters and the actual operation clock pulse, and transmitting the driving signal to a driving device to drive a motor.
On the basis of the above-mentioned necessary technical means, an accessory technical means derived from the present invention is to make the step (c) in the motor control method further use a clock setting module, and the clock setting module is used for receiving and setting the actual operation clock number, and make the motion control operation module perform operation according to the actual operation clock number.
In view of the above, the motor control system and the method thereof provided by the present invention define the actual operation clock rate according to the maximum output pulse frequency by the processing module, receive a plurality of motion control parameters by the motion control operation module, generate the driving signal according to the actual operation clock rate, and change the actual operation clock rate according to the difference of the maximum output pulse frequency, thereby solving the problem that the motor control system operates only according to the built-in operation clock rate in the prior art.
Drawings
FIG. 1 is a system block diagram of a motor control system in the prior art;
FIG. 2 is a system block diagram of a motor control system and method thereof according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for controlling a motor and a method thereof according to an embodiment of the present invention;
FIG. 4 is a system block diagram of a motor control system and method thereof according to another embodiment of the present invention; and
fig. 5 is a flowchart of a motor control system and a method thereof according to another embodiment of the present invention.
[ notation ] to show
PA 1: motor control system
PA 11: processing module
PA 12: motion control operation module
PA 2: drive device
PA 3: motor with a stator having a stator core
1. 1 a: motor control system
11: input module
12. 12 a: processing module
13. 13 a: motion control operation module
131 a: supplementary shaft selecting unit
132 a: internally compensated mode selection unit
133 a: output unit
14 a: clock setting module
2: drive device
3: motor with a stator having a stator core
Detailed Description
Referring to fig. 2 to fig. 3, fig. 2 is a system block diagram of a motor control system and a method thereof according to an embodiment of the present invention; fig. 3 is a flowchart of a method of a motor control system and a method thereof according to an embodiment of the invention. As shown in the figure, a motor control system 1 is used for transmitting a driving signal to a driving device 2 for driving a motor 3, and includes an input module 11, a processing module 12 and a motion control operation module 13.
The input module 11 is configured to set a maximum output pulse frequency and a plurality of motion control parameters, the maximum output pulse frequency is a maximum frequency of a driving signal to be output to the motor 3, and the maximum output pulse frequency is different according to a type of the motor and a user's requirement, and the motion control parameters may include: target position, target movement time, velocity, acceleration, jerk, initial position, initial velocity, initial acceleration, etc. The input module 11 can be a computer, a mobile phone or other devices for inputting.
The processing module 12 is electrically connected to the input module 11, receives the maximum output pulse frequency, generates a unit pulse clock according to a ratio of a built-in basic clock to the maximum output pulse frequency, determines a magnitude relationship between the unit pulse clock and a built-in operational clock, and defines a larger one of the unit pulse clock and the built-in operational clock as an actual operational clock. If the unit pulse count is greater than the built-in operation count, the processing module 12 defines the unit pulse count as the actual operation count; similarly, if the built-in operation clock rate is greater than the unit pulse clock rate, the built-in operation clock rate is defined as the actual operation clock rate.
The motion control operation module 13 is electrically connected to the processing module 12, and is configured to receive the actual operation clock and the motion control parameter, calculate the motion control parameter according to the actual operation clock, and generate the driving signal accordingly. With the change of the actual operation clock rate, the operation time of the motion control operation module 13 is changed accordingly, so as to solve the problem that the motor control system PA1 only operates according to the built-in operation clock rate in the prior art.
As shown in fig. 3, a motor control method is applied to the motor control system 1 of fig. 2, and the motor control system 1 includes an input module 11, a processing module 12 and a motion control operation module 13. The motor control method includes the following steps S101 to S107.
Step S101: a maximum output pulse frequency and a plurality of motion control parameters are set by the input module 11.
Step S102: the processing module 12 is used to receive the maximum output pulse frequency and generate a unit pulse clock according to the ratio of a built-in basic clock to the maximum output pulse frequency.
Step S103: using the processing module 12 to determine whether the unit pulse count is greater than a built-in operation count, if yes, entering step S104; if no, the process proceeds to step S107.
Step S104: the processing module 12 is used to define the unit pulse clock as an actual operation clock.
Step S105: the motion control operation module 13 is used to receive the motion control parameters and the actual operation clock to generate a motion control command.
Step S106: the motion control operation module 13 converts the motion control command into a driving signal, and transmits the driving signal to a driving device 2 for driving a motor 3.
Step S107: the processing module 12 defines the built-in operation clock as an actual operation clock, and proceeds to step 105.
In step S101, the input module 11 is used to set a maximum output pulse frequency, which is changed according to the type of the motor or the requirement of the user, and a motion control parameter for calculating a motion control operation parameter and generating a driving signal.
Step S102 uses the processing module 12 to receive the maximum output pulse frequency and generate a unit pulse clock according to the ratio of the built-in basic clock and the maximum output pulse frequency. Generally, the motor control system 1 has a built-in base clock rate, which is 50M if a built-in base frequency of the motor control system 1 is 50 MHz. The unit pulse rate is the ratio of the built-in basic pulse rate to the maximum output pulse rate, i.e.: the number of clocks required to generate a pulse signal of the maximum output pulse frequency.
Step S103, using the processing module 12, determining whether the unit pulse count is greater than a built-in operation count, if yes, entering step S104; if no, the process proceeds to step S107.
Step S104 and step S107 define an actual operation clock by the processing module 12. If the unit pulse count is greater than the built-in operation count, it indicates that the count of the clock pulses required for generating a maximum output pulse is greater than the built-in operation count, and at this time, the processing module 12 defines the unit pulse count as the actual operation count, so as to increase the operation flexibility of the motor control system 1; if the number of the built-in operation clock is greater than the unit pulse clock, it indicates that the number of the built-in operation clock cannot reach the number of the clock required for generating a maximum output pulse, and at this time, the processing module 12 defines the number of the built-in operation clock as the actual operation clock.
In steps S105 and S106, the motion control operation module 13 performs operations according to the motion control parameters and the actual operation clock number defined by the processing module 12, and generates a driving signal to the driving device 2 to drive the motor 3.
Taking actual values as an example, the built-in basic clock of the motor control system 1 is 50M, the built-in operational clock is 6, and the maximum output pulse frequency is 5 MHz. The unit pulse count 10 is obtained by the operation of the processing module 12, and it is determined that the unit pulse count 10 is greater than the built-in operation count 6, so that the processing module 12 defines the unit pulse count as the actual operation count 10.
It can be easily understood that the built-in operation time of the motor control system 1 is equal to 6 microseconds (μ s), but the time for generating a maximum output pulse only needs to be within 10 microseconds (including 10 μ s), so the processing module 12 determines not to generate the maximum output pulse as fast as the motor control system 1, and adjusts the actual operation time to 10 μ s. In practice, the operation flexibility of the motor control system 1 can be increased by adjusting the actual operation time to be between 6 microseconds and 10 microseconds, including the upper limit (10 microseconds) and not the lower limit (6 microseconds), and preferably 10 microseconds. In addition, the actual operation time cannot be adjusted to exceed 10 microseconds, because the maximum output pulse frequency cannot be achieved beyond 10 microseconds.
For another example, the built-in base clock of the motor control system 1 is 50M, the built-in operation clock is 6, and the maximum output pulse frequency is 10 MHz. The unit pulse count is 5 through the operation of the processing module 12, and the built-in operation pulse count 6 is determined to be greater than the built-in pulse count 5, so that the processing module 12 defines the built-in pulse count as the actual operation pulse count 6.
According to the above explanation, the time for generating a maximum output pulse needs to be within 5 μ s (including 5 μ s), but the built-in operation time of the motor control system 1 is 6 μ s, although the explanation of the previous example is that the actual operation time cannot exceed the time for generating a maximum output pulse, which cannot achieve the maximum output pulse frequency. However, the built-in operation time of the motor control system 1 is 6 microseconds, which means that the operation can be completed only after 6 microseconds at the fastest speed, so even if the time for generating the maximum output pulse is 5 microseconds, the motor control system 1 cannot achieve the time, and therefore the built-in pulse clock is defined as the actual operation clock being 6.
That is, the motor control system 1 cannot achieve the maximum output pulse frequency, but the motor control system 1 still operates according to the built-in pulse clock number (as if it operates at full speed), and at the same time, informs the user that the full-speed operation still cannot achieve the maximum output pulse frequency, and then determines whether the user wants to modify the maximum output pulse frequency.
Referring to fig. 4 and 5, fig. 4 is a system block diagram of a motor control system and a method thereof according to another embodiment of the present invention; and, fig. 5 is a flow chart of a method of a motor control system and a method thereof according to another embodiment of the present invention. As shown in the drawings, a motor control system 1a according to another embodiment of the present invention is used for generating a driving signal to a driving device 2 for driving a motor 3, and includes an input module 11, a processing module 12a, a motion control operation module 13a and a clock setting module 14 a. The input module 11 is the same as that in the previous embodiment, and therefore, the description thereof is omitted.
The processing module 12a, which is substantially the same as the previous embodiment, receives the maximum output pulse frequency and generates a unit pulse clock according to a ratio of a built-in base clock to the maximum output pulse frequency. The relationship between the unit pulse count and a built-in operation clock count is determined, and the larger of the unit pulse count and the built-in operation clock count is transmitted.
The clock setting module 14a is electrically connected to the processing module 12a, receives the larger of the unit pulse count and the built-in operation clock count, and defines the larger of the unit pulse count and the built-in operation clock count as an actual operation clock count. In the present embodiment, the clock setting module 14a is a Phase Lock Loop (PLL).
The motion control operation module 13a is electrically connected to the processing module 12a and the clock setting module 14a, and receives the motion control parameters and the actual operation clock. The motion control operation module 13a further includes an interpolation axis selection operation unit 131a, an interpolation mode selection operation unit 132a, and an output unit 133 a. In the embodiment, the motion control operation module 13a and the processing module 12a are Field Programmable Gate Array (Field Programmable Gate Array) chips. In addition, the chip may also include a clock setting module 14 a.
The compensation axis selection operation unit 131a is configured to determine a compensation axis and a compensation axis control algorithm corresponding to the compensation axis, where the compensation axis is a main axis and a driven axis, and the compensation axis control algorithm may be an X-axis motion control algorithm, a Y-axis motion control algorithm, a Z-axis motion control algorithm, a U-axis motion control algorithm, or a θ -axis motion control algorithm. And, a motion control value is calculated.
The interpolation mode selection operation unit 132a is electrically connected to the interpolation axis selection operation unit 131a, and determines an interpolation algorithm according to the motion control value, wherein the interpolation algorithm may be a linear interpolation algorithm, a circular interpolation algorithm, a spiral interpolation algorithm, or a bit interpolation algorithm. And generating a complementary control value by using the complementary algorithm and the motion control value. Compared with the prior art in which the compensation axis is mostly the X axis, the present embodiment can determine the main axis and the driven axis by itself, because it is more suitable to use the axial directions other than the X axis as the main axis in some cases. In addition, a theta axis motion control algorithm is additionally arranged to accelerate complementary calculations such as circular arcs, spirals and the like. The motion control value and the complementary control value form a motion control command.
The output unit 133a is electrically connected to the complementary mode selection unit 132a, and receives the motion control value and the complementary control value, that is, the motion control command, and generates the driving signal according to the motion control command, where the driving signal is a pulse driving signal.
As shown in fig. 5, another embodiment of the present invention provides a motor control method for the motor control system 1a of fig. 4, and includes the following steps S201 to S209. Steps S201 to S203 are the same as steps S101 to S103, and therefore are not described again.
In the present embodiment, step S204 and step S208 use the processing module 12a to transmit the larger of the unit pulse clock count and the built-in base clock count, and step S205 and step S209 use the clock setting module 14a to receive the larger of the unit pulse clock count and the built-in base clock count, and define the larger of the unit pulse clock count and the built-in base clock count as an actual operation clock count, so that the motion control operation module 13a performs operation according to the actual operation clock count.
Steps S206 to 207 are the same as steps S105 to 106, and therefore, the description thereof is omitted.
In summary, the motor control system and the method thereof provided by the present invention compare the unit pulse number corresponding to the maximum output pulse frequency with the built-in operation clock number, and take the larger one as the actual operation clock number, thereby solving the problem that the prior art uses the built-in operation clock number for operation, and increasing the operation flexibility of the motor control system.
The foregoing detailed description of the preferred embodiments is intended to more clearly illustrate the features and spirit of the present invention, and not to limit the scope of the invention by the preferred embodiments disclosed above. On the contrary, it is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims.
Claims (7)
1. A motor control system for transmitting a driving signal to a driving device for driving a motor, comprising:
the input module is used for setting the maximum output pulse frequency and a plurality of motion control parameters;
the processing module is electrically connected with the input module, receives the maximum output pulse frequency, generates a unit pulse time according to the ratio of the built-in basic time and the maximum output pulse frequency, judges the sizes of the unit pulse time and the built-in operation time, and defines the larger of the unit pulse time and the built-in operation time as an actual operation time; and
and the motion control operation module is electrically connected with the processing module and used for receiving the motion control parameters and the actual operation clock pulse to generate the driving signal.
2. The motor control system of claim 1, further comprising: and the clock setting module is electrically connected with the processing module and the motion control operation module and is used for receiving and setting the actual operation clock number so that the motion control operation module performs operation according to the actual operation clock number.
3. The motor control system of claim 2, wherein the clock setting module is a phase locked loop.
4. The motor control system of claim 1, wherein the motion control algorithm module further comprises:
the motion control device comprises a compensation axis selection operation unit, a motion control unit and a motion control unit, wherein the compensation axis selection operation unit is used for determining a compensation axis control algorithm and calculating a motion control value according to the compensation axis control algorithm;
the motion control device comprises a motion control value calculating unit, a motion compensation mode selecting and calculating unit and a motion compensation axis selecting and calculating unit, wherein the motion compensation mode selecting and calculating unit is electrically connected with the motion compensation axis selecting and calculating unit and is used for determining a motion compensation algorithm and calculating a motion compensation control value according to the motion compensation algorithm and the motion control value; and
and the output unit is used for generating the driving signal according to the actual operation clock rate, the plurality of motion control parameters, the motion control value and the complementary control value, and the driving signal is a pulse driving signal.
5. The motor control system of claim 4, wherein the supplemental axis control algorithm is one of an X-axis motion control algorithm, a Y-axis motion control algorithm, a Z-axis motion control algorithm, a U-axis motion control algorithm, and a theta-axis motion control algorithm.
6. A motor control method is characterized in that an input module, a processing module and a motion control operation module are used, and the method comprises the following steps:
setting a maximum output pulse frequency and a plurality of motion control parameters by using the input module;
receiving the maximum output pulse frequency by using the processing module, and generating a unit pulse time pulse number according to the ratio of the built-in basic time pulse number to the maximum output pulse frequency;
judging the sizes of the unit pulse time and the built-in operation time by using the processing module, and defining the larger of the unit pulse time and the built-in operation time as an actual operation time; and
and receiving the plurality of motion control parameters and the actual operation clock frequency by using the motion control operation module to generate a driving signal, and transmitting the driving signal to a driving device for driving a motor.
7. The motor control method according to claim 6, wherein in the step of determining the magnitude of the unit pulse count and the built-in operation clock count by the processing module and defining the greater of the unit pulse count and the built-in operation clock count as the actual operation clock count, a clock setting module is further used, the clock setting module is configured to receive and set the actual operation clock count and enable the motion control operation module to perform operation according to the actual operation clock count.
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