CN110580059A - Motor control method and turntable control method - Google Patents

Motor control method and turntable control method Download PDF

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Publication number
CN110580059A
CN110580059A CN201910880460.0A CN201910880460A CN110580059A CN 110580059 A CN110580059 A CN 110580059A CN 201910880460 A CN201910880460 A CN 201910880460A CN 110580059 A CN110580059 A CN 110580059A
Authority
CN
China
Prior art keywords
turntable
motor
rotary table
extreme position
control method
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
Application number
CN201910880460.0A
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Chinese (zh)
Inventor
刘紫微
杨德俊
徐治洲
史天宝
曹凌霄
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Huang Hu Science And Technology Co Ltd
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Huang Hu Science And Technology Co Ltd
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Filing date
Publication date
Application filed by Huang Hu Science And Technology Co Ltd filed Critical Huang Hu Science And Technology Co Ltd
Priority to CN201910880460.0A priority Critical patent/CN110580059A/en
Publication of CN110580059A publication Critical patent/CN110580059A/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • 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
    • H02P23/20—Controlling the acceleration or deceleration

Abstract

The invention discloses a motor control method and a turntable control method, wherein the motor control method comprises the following steps: s1 determines the rated acceleration change value δ: determining an acceleration change curve of the motor according to the optimal working curve of the motor, and taking the maximum value in the acceleration change curve as a rated acceleration change value delta; s2 controls the motor: and controlling the motor to rotate and work in a range smaller than the rated acceleration change value delta. The optimal working curve of the motor can fully reflect the performances of starting, accelerating, running, decelerating and stopping of the motor. The maximum value in the acceleration change curve is taken as the rated acceleration change value delta, and the motor is controlled to rotate and work at the acceleration change value smaller than the rated acceleration change value delta, so that the reliability and the stability of the motion of a load connected with the motor can be improved while the performance of the motor is fully exerted. And so also can protect the motor, avoid the motor to burn out, improve motor life.

Description

Motor control method and turntable control method
Technical Field
The invention relates to the technical field of motors, in particular to a motor control method and a rotary table control method.
Background
Motor control refers to controlling the starting, acceleration, running, deceleration, and stopping of a motor. According to different types, use occasions and use requirements of the motor, the motor achieves the purposes of quick start, quick response, high efficiency, high torque output or high overload capacity through reasonable control of the motor.
In use, the load connected with the motor often has the problem of poor motion reliability and stability.
Disclosure of Invention
In view of the above-mentioned defects in the prior art, the present invention provides a motor control method and a turntable control method to solve the problem of poor reliability and stability of load motion.
in order to achieve the above object, the present invention provides a motor control method, comprising the steps of:
S1 determines the rated acceleration change value δ: determining an acceleration change curve of the motor according to the optimal working curve of the motor, and taking the maximum value in the acceleration change curve as a rated acceleration change value delta;
S2 controls the motor: and controlling the motor to rotate and work in a range smaller than the rated acceleration change value delta.
According to the motor control method, the optimal working curve of the motor can fully reflect the performances of starting, accelerating, running, decelerating and stopping of the motor. The maximum value in the acceleration change curve is taken as the rated acceleration change value delta, and the motor is controlled to rotate and work at the acceleration change value smaller than the rated acceleration change value delta, so that the reliability and the stability of the motion of a load connected with the motor can be improved while the performance of the motor is fully exerted. And so also can protect the motor, avoid the motor to burn out, improve motor life.
A turntable control method is used for a turntable which can rotate freely, and comprises the following steps:
S10a determining the turning direction of the rotary table: setting the initial position A of the turntable0Setting the end position A of the turntable1from an initial position A with the turntable0To the end position A1The direction with the minimum rotation angle is the rotation direction of the rotary table;
S20a, driving the rotary table to rotate: the motor connected with the rotary table is driven to work by adopting the motor control method.
In the turntable control method, the steering of the turntable is determined through S10a, so that the turntable is driven from the initial position A0Is turned to the end position A1so that the power consumption of the motor can be reduced. Meanwhile, the motor control method is adopted in the step of driving the rotary table to rotate by the S20a, so that the rotary table can rotate reliably and stably.
A method of controlling a turntable for a turntable of limited rotation, comprising the steps of:
S10b sets the turntable initial position: determining the turntable in a first extreme position B1And a second limit position B2set the turntable from the first extreme position B1To a second extreme position B2The position between is the initial position B of the turntable0；
S20b, driving the rotary table to rotate: setting the end position B of the turntable3The motor connected with the rotary table is driven by the motor control method to move from the initial position B of the rotary table0To the end position B3。
The method for controlling the turntable comprises setting the initial position B0is set at a first extreme position B1To a second extreme position B2Can shorten the length of the turn table from the initial position B0To a first extreme position B1Or a second extreme position B2The range of rotation angles of. In use, if the turntable is required to be in the first extreme position B1To a second extreme position B2Is stopped at any position, is positioned at a first extreme position B1To a second extreme position B2Initial position B in between0The efficiency of the turntable rotating in place can be improved, and the rotating time of the turntable is shortened.
In one embodiment: the step of determining the initial position of the turntable by the step S10b specifically includes the following steps:
S11c sets the turntable limit position: the rotary table is provided with an angular position sensor for clockwise rotationThe turntable is moved to an extreme position, the position of the turntable at the moment is marked as a first extreme position B by an angular position sensor1(ii) a Rotating the turntable counterclockwise to an extreme position, marking the position of the turntable at this time with the angular position sensor as a second extreme position B2；
S12c determining the initial position of the rotary table: is taken from the first extreme position B1Rotate anticlockwise to a second extreme position B2is set to a first extreme position B1the position after the rotation angle beta is rotated anticlockwise is taken as the initial position B of the rotary table0The β ∈ (0, α). The operation is simple and convenient.
In one embodiment, theWhen in useWhen the turntable is required to be in the first extreme position B1To a second extreme position B2is stopped at any position, is positioned at a first extreme position B1to a second extreme position B2Initial position B in between0The efficiency of the turntable rotating in place can be improved, and the rotating time of the turntable is shortened.
In one embodiment, the step S10b of determining the initial position of the turntable specifically includes the following steps:
S11d sets the turntable limit position: an angular position sensor is arranged on the rotary table, the rotary table is rotated clockwise to an extreme position, and the angular position sensor marks the position of the rotary table at the moment as a first extreme position B2(ii) a Rotating the turntable counterclockwise to an extreme position, marking the position of the turntable at this time with the angular position sensor as a second extreme position B2；
s12d determining the initial position of the rotary table: is taken from the second extreme position B2Clockwise to a first extreme position B1Is set to the first limit position B1by turning anglePosition after counter-clockwise rotationIs the initial position B of the turntable0SaidThe operation is simple and convenient.
In one embodiment, theIf the turntable is to be in the first extreme position B1to a second extreme position B2Is stopped at any position, is positioned at a first extreme position B1To a second extreme position B2Initial position B in between0The efficiency of the turntable rotating in place can be improved, and the rotating time of the turntable is shortened.
Drawings
FIG. 1 shows an optimal operation curve of a motor in the first embodiment as W (t), a rotation speed curve of the motor as V (t), an acceleration curve of the motor as a (t), and an acceleration curve of the motor as τ (t);
FIG. 2 is a schematic view of a second embodiment;
FIG. 3 is a schematic view of a third embodiment;
Fig. 4 is a schematic diagram of the fourth embodiment.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
The first implementation mode comprises the following steps:
A motor control method comprising the steps of:
s1 determines the rated acceleration change value δ: determining an acceleration change curve of the motor according to the optimal working curve of the motor, and taking the maximum value in the acceleration change curve as a rated acceleration change value delta;
S2 controls the motor: and controlling the motor to rotate and work in a range smaller than the rated acceleration change value delta.
according to the motor control method, the optimal working curve of the motor can fully reflect the performances of starting, accelerating, running, decelerating and stopping of the motor. The maximum value in the acceleration change curve is taken as the rated acceleration change value delta, and the motor is controlled to rotate and work in the range smaller than the rated acceleration change value delta, so that the reliability and the stability of the motion of a load connected with the motor can be improved while the performance of the motor is fully exerted. And so also can protect the motor, avoid the motor to burn out, improve motor life.
for example: referring to fig. 1, setting an optimal working curve of the motor as w (t), calculating a motor rotation speed curve as v (t) according to w (t), calculating a motor acceleration curve a (t) according to w (t), and calculating a motor acceleration change curve τ (t) according to a (t). The nominal acceleration change δ is the maximum value of the acceleration change curve τ (t).
The second embodiment:
A turntable control method is used for a turntable which can rotate freely, and comprises the following steps:
S10a determining the turning direction of the rotary table: setting the initial position A of the turntable0Setting the end position A of the turntable1From an initial position A with the turntable0To the end position A1The direction with the minimum rotation angle is the rotation direction of the rotary table;
S20a, driving the rotary table to rotate: and driving a motor connected with the rotary table to work by adopting the motor control method of the first embodiment.
In the turntable control method, the steering of the turntable is determined through S10a, so that the turntable is driven from the initial position A0Is turned to the end position A1So that the power consumption of the motor can be reduced. Meanwhile, the motor control method is adopted in the step of driving the rotary table to rotate by the S20a, so that the rotary table can rotate reliably and stably.
For example: as shown in fig. 2, the turntable is required to be moved from an initial position a0Is turned to the end position A1(ii) a And the rotary table can rotate in both clockwise and anticlockwise directions. By comparison, the rotation angle of the clockwise rotation of the turntable is smaller than the rotation angle of the counterclockwise rotation of the turntable, so that the rotation angle of the turntable is determined to be clockwise rotation.
the third embodiment is as follows:
Referring to fig. 3, an embodiment provides a method for controlling a turntable, for a rotation-limited turntable, comprising the steps of:
S10b sets the turntable initial position: determining the turntable in a first extreme position B1And a second limit position B2Set the turntable from the first extreme position B1to a second extreme position B2The position between is the initial position B of the turntable0；
S20b, driving the rotary table to rotate: setting the end position B of the turntable3Driving a motor connected to a turntable from a turntable initial position B by using the motor control method according to the first embodiment0To the end position B3。
The method for controlling the turntable comprises setting the initial position B0Is set at a first extreme position B1To a second extreme position B2Can shorten the length of the turn table from the initial position B0To a first extreme position B1Or a second extreme position B2The range of rotation angles of. In use, if the turntable is required to be in the first extreme position B1To a second extreme position B2Is stopped at any position, is positioned at a first extreme position B1To a second extreme position B2Initial position B in between0the efficiency of the turntable rotating in place can be improved, and the rotating time of the turntable is shortened.
In one embodiment: the step of determining the initial position of the turntable by the step S10b specifically includes the following steps:
S11c sets the turntable limit position: an angular position sensor is arranged on the rotary table, the rotary table is rotated clockwise to an extreme position, and the angular position sensor marks the position of the rotary table at the moment as a first extreme position B1(ii) a Rotating the turntable counterclockwise to an extreme position, marking the position of the turntable at this time with the angular position sensor as a second extreme position B2；
S12c determining the initial position of the rotary table: is taken from the first extreme position B1Rotate anticlockwise to a second extreme position B2is set to a first extreme position B1the position after the rotation angle beta is rotated anticlockwise is taken as the initial position B of the rotary table0The β ∈ (0, α). The operation is simple and convenient.
Specifically, in the present embodiment, theWhen in useWhen the turntable is required to be in the first extreme position B1To a second extreme position B2Is stopped at any position, is positioned at a first extreme position B1To a second extreme position B2Initial position B in between0The efficiency of the turntable rotating in place can be improved, and the rotating time of the turntable is shortened.
of course, in other embodiments, the initial position B0Or may be the first extreme position B1To a second extreme position B2Other positions in between. Particularly, the initial position B can be the middle position among a plurality of stations commonly used by the rotary table0。
The fourth embodiment:
referring to fig. 3, in one embodiment, a method for controlling a turntable is provided for a limited rotation turntable, comprising the steps of:
S10b sets the turntable initial position: determining the turntable in a first extreme position B1And a second limit position B2set the turntable from the first extreme position B1To a second extreme position B2the position between is the initial position B of the turntable0；
S20b, driving the rotary table to rotate: setting the end position B of the turntable3Driving a motor connected to a turntable from a turntable initial position B by using the motor control method according to the first embodiment0To the end position B3。
The method for controlling the turntable comprises setting the initial position B0Is set at a first extreme position B1To a second extreme position B2Can shorten the rotation of the turntable from the initial position to the first limit position B1Or a second extreme position B2the range of rotation angles of. In use, if the turntable is required to be in the first extreme position B1To a second extreme position B2Is stopped at any position, is positioned at a first extreme position B1To the second limitPosition B2Initial position B in between0The efficiency of the turntable rotating in place can be improved, and the rotating time of the turntable is shortened.
In an embodiment, the step of determining the initial position of the turntable by S10b specifically includes the following steps:
S11d sets the turntable limit position: an angular position sensor is arranged on the rotary table, the rotary table is rotated clockwise to an extreme position, and the angular position sensor marks the position of the rotary table at the moment as a first extreme position B1(ii) a Rotating the turntable counterclockwise to an extreme position, marking the position of the turntable at this time with the angular position sensor as a second extreme position B2；
S12d determining the initial position of the rotary table: is taken from the second extreme position B2Clockwise to a first extreme position B1Is set to the first limit position B1By turning angleThe position after anticlockwise rotation is the initial position B of the rotary table0SaidThe operation is simple and convenient.
In one embodiment, theIf the turntable is to be in the first extreme position B1To a second extreme position B2Is stopped at any position, is positioned at a first extreme position B1To a second extreme position B2Initial position B in between0The efficiency of the turntable rotating in place can be improved, and the rotating time of the turntable is shortened.
Of course, in other embodiments, the initial position B0or may be the first extreme position B1to a second extreme position B2Other positions in between. Particularly, the initial position B can be the middle position among a plurality of stations commonly used by the rotary table0。
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims (7)

1. A motor control method, comprising the steps of:
S1 determines the rated acceleration change value δ: determining an acceleration change curve of the motor according to the optimal working curve of the motor, and taking the maximum value in the acceleration change curve as a rated acceleration change value delta;
S2 controls the motor: and controlling the motor to rotate and work in a range smaller than the rated acceleration change value delta.
2. A turntable control method is characterized in that the method is used for a turntable which can rotate freely, and comprises the following steps:
S10a determining the turning direction of the rotary table: setting the initial position A of the turntable0Setting the end position A of the turntable1From an initial position A with the turntable0To the end position A1The direction with the minimum rotation angle is the rotation direction of the rotary table;
S20a, driving the rotary table to rotate: the motor control method of claim 1 is used to drive a motor connected to the turntable.
3. A method of controlling a turntable for a turntable with limited rotation, comprising the steps of:
S10b sets the turntable initial position: determining the turntable in a first extreme position B1And a second limit position B2Set the turntable from the first extreme position B1To a second extreme position B2The position between is the initial position B of the turntable0；
S20b, driving the rotary table to rotate: setting the end position B of the turntable3The motor control method according to claim 1A motor connected with the rotary table is driven by the method from the initial position B of the rotary table0To the end position B3。
4. The method for controlling the turntable according to claim 3, wherein the step S10b of determining the initial position of the turntable specifically comprises the steps of:
s11c sets the turntable limit position: an angular position sensor is arranged on the rotary table, the rotary table is rotated clockwise to an extreme position, and the angular position sensor marks the position of the rotary table at the moment as a first extreme position B1(ii) a Rotating the turntable counterclockwise to an extreme position, marking the position of the turntable at this time with the angular position sensor as a second extreme position B2；
S12c determining the initial position of the rotary table: is taken from the first extreme position B1Rotate anticlockwise to a second extreme position B2Is set to a first extreme position B1The position after the rotation angle beta is rotated anticlockwise is taken as the initial position B of the rotary table0The β ∈ (0, α).
5. Turntable control method according to claim 4, characterized in that said turntable control method is a method of controlling a turntable according to a predetermined condition
6. The method for controlling the turntable according to claim 3, wherein the step S10b of determining the initial position of the turntable specifically comprises the steps of:
S11d sets the turntable limit position: an angular position sensor is arranged on the rotary table, the rotary table is rotated clockwise to an extreme position, and the angular position sensor marks the position of the rotary table at the moment as a first extreme position B2(ii) a Rotating the turntable counterclockwise to an extreme position, marking the position of the turntable at this time with the angular position sensor as a second extreme position B2；
S12d determining the initial position of the rotary table: is taken from the second extreme position B2Clockwise to a first extreme position B1Is set to the first limit position B1By turning angleThe position after anticlockwise rotation is the initial position B of the rotary table0Said
7. The turntable control method according to claim 6, wherein the turntable is provided with a turntable controller
CN201910880460.0A 2019-09-18 2019-09-18 Motor control method and turntable control method Pending CN110580059A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910880460.0A CN110580059A (en) 2019-09-18 2019-09-18 Motor control method and turntable control method

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Application Number Priority Date Filing Date Title
CN201910880460.0A CN110580059A (en) 2019-09-18 2019-09-18 Motor control method and turntable control method

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Publication Number Publication Date
CN110580059A true CN110580059A (en) 2019-12-17

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CN201910880460.0A Pending CN110580059A (en) 2019-09-18 2019-09-18 Motor control method and turntable control method

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006035016A1 (en) * 2004-09-28 2006-04-06 Continental Teves Ag & Co. Ohg Method for determination of a steering angle
WO2012120248A1 (en) * 2011-03-10 2012-09-13 Falgayras S.A.S. Method and device for controlling the electric motor of a windshield wiper
US20130042749A1 (en) * 2009-12-11 2013-02-21 Oto Melara S.P.A. Handling system for a weapon placed on a turret
CN103394769A (en) * 2013-07-12 2013-11-20 湖北大学 Best tool setting method and device for automatically measuring and dispersing angles in gear grinding
CN105241449A (en) * 2015-11-25 2016-01-13 北京工商大学 Vision navigation method and system of inspection robot under parallel architecture
CN106799732A (en) * 2016-12-07 2017-06-06 中国科学院自动化研究所 For the control system and its localization method of the motion of binocular head eye coordination
US9776640B1 (en) * 2016-03-30 2017-10-03 Linestream Technologies Automatic determination of maximum acceleration for motion profiles

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006035016A1 (en) * 2004-09-28 2006-04-06 Continental Teves Ag & Co. Ohg Method for determination of a steering angle
US20130042749A1 (en) * 2009-12-11 2013-02-21 Oto Melara S.P.A. Handling system for a weapon placed on a turret
WO2012120248A1 (en) * 2011-03-10 2012-09-13 Falgayras S.A.S. Method and device for controlling the electric motor of a windshield wiper
CN103394769A (en) * 2013-07-12 2013-11-20 湖北大学 Best tool setting method and device for automatically measuring and dispersing angles in gear grinding
CN105241449A (en) * 2015-11-25 2016-01-13 北京工商大学 Vision navigation method and system of inspection robot under parallel architecture
US9776640B1 (en) * 2016-03-30 2017-10-03 Linestream Technologies Automatic determination of maximum acceleration for motion profiles
CN106799732A (en) * 2016-12-07 2017-06-06 中国科学院自动化研究所 For the control system and its localization method of the motion of binocular head eye coordination

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