CN110780647B - Non-sinusoidal vibration drive control system - Google Patents
Non-sinusoidal vibration drive control system Download PDFInfo
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- CN110780647B CN110780647B CN201910977957.4A CN201910977957A CN110780647B CN 110780647 B CN110780647 B CN 110780647B CN 201910977957 A CN201910977957 A CN 201910977957A CN 110780647 B CN110780647 B CN 110780647B
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 29
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 16
- 238000003786 synthesis reaction Methods 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000009471 action Effects 0.000 abstract description 6
- 238000004891 communication Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000010355 oscillation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
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- 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
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31088—Network communication between supervisor and cell, machine group
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Abstract
The invention discloses a non-sinusoidal vibration driving control system, and relates to the technical field of intelligent control. The invention includes: the remote upper computer, the lower coordination processor and the plurality of servo motors; the lower coordination processor comprises a servo control unit, an instruction receiving and converting module, a displacement generator, a resonance generator and a double-channel waveform synthesis module. According to the invention, the image displacement wave and the resonance wave are synthesized into the hyperbolic wave by the dual-channel waveform synthesis module, and the motor is driven and controlled by the servo control unit, so that two action schemes can be completed by ensuring the servo positioning precision; is convenient to control and improves the efficiency.
Description
Technical Field
The invention belongs to the technical field of intelligent control, and particularly relates to a non-sinusoidal vibration driving control system.
Background
The existing motor drive controls multi-pass image displacement waves to be independently driven or resonance waves to be independently driven; referring to fig. 2, the image displacement wave refers to the displacement data generated by the animation when the image changes; the data is generally manufactured by a 3D animation movie and television upper manufacturer; wherein A-1 is a speed-time relation graph; a-2 is a displacement time relation graph; and A-3 is displacement complete waveform coating. Referring to fig. 3, the harmonic wave is a non-sinusoidal oscillation wave superimposed with the 3D video sound wave according to the 3D video image jitter; this data is now typically made by the host 3D motion picture film manufacturer. But the motor is not driven after the image displacement wave and the resonance wave are synthesized.
The invention provides a non-sinusoidal vibration drive control system, which synthesizes an image displacement wave and a resonance wave into a hyperbolic wave through a dual-channel waveform synthesis module and drives and controls a motor through a servo control unit, thereby ensuring that servo positioning precision can finish two action schemes; is convenient to control and improves the efficiency.
Disclosure of Invention
The invention aims to provide a non-sinusoidal vibration driving control system, which synthesizes an image displacement wave and a resonance wave into a hyperbolic wave through a dual-channel waveform synthesis module and controls the driving of a motor through a servo control unit, thereby ensuring that the servo positioning precision can finish two action schemes; is convenient to control and improves the efficiency.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention is a non-sinusoidal vibration drive control system, comprising: the system comprises a remote upper computer, a lower coordination processor and a plurality of servo motors;
the lower coordination processor comprises a servo control unit, an instruction receiving and converting module, a displacement generator, a resonance generator and a dual-channel waveform synthesis module;
the remote upper computer is used for transmitting a control instruction to the lower coordination processor;
the lower coordination processor receives a control instruction transmitted by the remote upper computer through the instruction receiving and converting module; the lower coordination processor controls the displacement generator to generate image displacement waves and the resonance generator to generate resonance waves according to the control instruction, and the resonance waves are transmitted to the dual-channel waveform synthesis module;
the dual-channel waveform synthesis module synthesizes the image displacement wave and the resonance wave into a hyperbolic wave; and the servo control unit drives the corresponding servo motor according to the hyperbolic wave and the control command.
Preferably, the servo control unit comprises a plurality of driving serial ports; the driving serial port is connected with the corresponding servo motor.
Preferably, the control instruction includes a drive serial number, an image displacement wave generation instruction, and a resonance wave generation instruction.
The invention has the following beneficial effects:
according to the invention, the image displacement wave and the resonance wave are synthesized into the hyperbolic wave by the dual-channel waveform synthesis module, and the motor is driven and controlled by the servo control unit, so that two action schemes can be completed by ensuring the servo positioning precision; is convenient to control and improves the efficiency.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a non-sinusoidal vibration drive control system according to the present invention;
FIG. 2 is a schematic diagram of an image displacement wave in the background art of the present invention;
FIG. 3 is a schematic diagram of resonant waves in the background art of the present invention;
FIG. 4 is a schematic view of a hyperbolic wave of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention is a non-sinusoidal vibration driving control system, comprising: the remote upper computer, the lower coordination processor and the plurality of servo motors;
the lower coordination processor comprises a servo control unit, an instruction receiving and converting module, a displacement generator, a resonance generator and a dual-channel waveform synthesis module;
the remote upper computer is used for transmitting the control instruction to the lower coordination processor;
the lower coordination processor receives a control instruction transmitted by the remote upper computer through the instruction receiving and converting module; the lower coordination processor controls the displacement generator to generate image displacement waves and the resonance generator to generate resonance waves according to the control instruction, and the resonance waves are transmitted to the dual-channel waveform synthesis module;
the dual-channel waveform synthesis module synthesizes the image displacement wave and the resonant wave into a hyperbolic wave; the servo control unit drives the corresponding servo motor according to the hyperbolic wave and the control instruction; the servo control unit comprises a plurality of driving serial ports; the driving serial port is connected with a corresponding servo motor; the control instruction comprises a driving serial port number, an image displacement wave generation instruction and a resonance wave generation instruction.
In the actual use process: referring to fig. 4, the dual-channel waveform synthesis module synthesizes the image displacement wave and the harmonic wave into a hyperbolic wave; hyperbolic waveform-a time-division real-time synthesis method is adopted according to the two waveforms; and the PWM channels are superposed on a specific PWM channel, so that the servo motor operates in a gapless state.
Driving a serial port:
the baud rate is: 57600; data bit: 8; checking the bit: none; stopping a position: 1;
the lower coordination processor:
instruction processing speed: 0-480 strips/second; servo control action response frequency: 0.2ms; servo control oscillation frequency: 0-20Hz;
the system working mode is as follows:
a multitask real-time mode; maximum control 12 channels; steady state range: 12 clock cycles;
and (3) online and offline:
12 instructions are carried out; data maximum: 65535; the communication mode is as follows: RS232-9 wiring;
lower action coordination processor connection instruction:
position: p (0 x 50)
Frequency: z (0 x 5A)
Amplitude: g (0 x 47)
Resetting: m (0 x4 d) 01
And (3) stopping: m (0 x4 d) 00
Beginning: m (0 x4 d) 02
Communication: q (0 x 51);
the instruction mode comprises the following steps: ( Two formats include: single-axis transmission format and three-axis simultaneous transmission format )
Single-axis transmission format:
three-axis simultaneous transmission format:
instruction description:
1 single-axis transmission:
data 1)
Position: p (0 x 50)
Frequency: z (0 x 5A)
Amplitude: g (0 x 47)
Resetting: m (0 x4 d)
Stopping: m (0 x4 d)
Beginning: m (0 x4 d)
Communication: q (0 x 51)
Data 2)
A master station: 0
Data 3)
D: writing D except for the case where (data 1) is M
B: writing B only if (data 1) is M
Data 4)
A channel: the value ranges (1-3) correspond to the hardware interfaces 1,2,3, respectively (in sequence from top to bottom)
Data5, 6)
Given values: two 8-bit data components into 16-bit data
P (0 x 50) corresponds to a value range (-9000-9000) mV
T (0 x 54) corresponds to a value range (100-10000) milliseconds
The numerical range (1-50) Hz corresponding to Z (0 x5 a)
G (0 x 47) corresponds to a value range (10-1000) mV
M(0x4d)
Resetting: bit0 (failure reset)
Stopping: bit1 (= 0)
Beginning: bit1 (= 1)
Data7, 8)
The checking mode is as follows: the sum of the first 6 data is used as a check code.
Three-axis transmission of "2":
like the single-axis transmission format, two-axis data (4 bytes) are added in the middle, and the channel can only be set to 0.
8) And data feedback:
returning to the driving state, when the upper computer sends an instruction to the lower computer once, the lower computer feeds back the state (8-bit data) of the current channel
Data1：Q
Data2：0
Data3：B
Data4: channel number
Data5: reservation
Data6：
A Bit0: in the event of a servo failure,
a Bit1: the servo-enabling brake is not opened,
and (2) Bit2: the parameters of the board card are not correct,
and (3) Bit3: searching origin point fault (overtime or electronic gear ratio is set incorrectly, maximum positioning value is not equal to dead point)
And (4) Bit4: the communication between the servo and the control card is failed,
and (5) Bit5: in the process of searching for the origin point,
and (6) Bit6: the completion of the origin is completed by the point of origin,
and (7) Bit7: in the working process of the system, the system is in operation,
data7, 8: the sum of the 6 data values before verification.
It should be noted that, in the above system embodiment, each included unit is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be implemented; in addition, the specific names of the functional units are only for the convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
In addition, it is understood by those skilled in the art that all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing associated hardware, and the corresponding program may be stored in a computer-readable storage medium.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (1)
1. A non-sinusoidal vibration drive control system, comprising: the remote upper computer, the lower coordination processor and the plurality of servo motors;
the lower coordination processor comprises a servo control unit, an instruction receiving and converting module, a displacement generator, a resonance generator and a dual-channel waveform synthesis module;
the remote upper computer is used for transmitting a control instruction to the lower coordination processor;
the lower coordination processor receives a control instruction transmitted by the remote upper computer through the instruction receiving and converting module; the lower coordination processor controls the displacement generator to generate image displacement waves and the resonance generator to generate resonance waves according to the control instructions and transmits the resonance waves to the dual-channel waveform synthesis module;
the dual-channel waveform synthesis module synthesizes the image displacement wave and the resonance wave into a hyperbolic wave; the servo control unit drives the corresponding servo motor according to the hyperbolic wave and the control instruction; the hyperbolic wave is superposed on a specific PWM channel in a time-division real-time synthesis mode according to the image displacement wave and the resonance wave, so that the servo motor operates in a gapless state;
the servo control unit comprises a plurality of driving serial ports; the driving serial port is connected with the corresponding servo motor;
the control instruction comprises a driving serial port number, an image displacement wave generation instruction and a resonance wave generation instruction; the modes of the instruction include a single-axis transmission format and a three-axis simultaneous transmission format.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910977957.4A CN110780647B (en) | 2019-10-15 | 2019-10-15 | Non-sinusoidal vibration drive control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910977957.4A CN110780647B (en) | 2019-10-15 | 2019-10-15 | Non-sinusoidal vibration drive control system |
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| Publication Number | Publication Date |
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| CN110780647A CN110780647A (en) | 2020-02-11 |
| CN110780647B true CN110780647B (en) | 2023-03-03 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1054689A (en) * | 1990-03-05 | 1991-09-18 | 洛克威尔国际公司 | The electric driver that is used for the composite type transducer |
| CN102720876A (en) * | 2012-05-17 | 2012-10-10 | 浙江工业大学 | Soft match grinding method for eliminating flow characteristic dead zone of electro-hydraulic servo valve |
| CN205032655U (en) * | 2015-08-14 | 2016-02-17 | 麦格瑞冶金工程技术（北京）有限公司 | Electronic non -sinusoidal vibration servo mechanism |
-
2019
- 2019-10-15 CN CN201910977957.4A patent/CN110780647B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1054689A (en) * | 1990-03-05 | 1991-09-18 | 洛克威尔国际公司 | The electric driver that is used for the composite type transducer |
| CN102720876A (en) * | 2012-05-17 | 2012-10-10 | 浙江工业大学 | Soft match grinding method for eliminating flow characteristic dead zone of electro-hydraulic servo valve |
| CN205032655U (en) * | 2015-08-14 | 2016-02-17 | 麦格瑞冶金工程技术（北京）有限公司 | Electronic non -sinusoidal vibration servo mechanism |
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| CN110780647A (en) | 2020-02-11 |
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