CN111240245A - Servo system time sequence control circuit and method - Google Patents
Servo system time sequence control circuit and method Download PDFInfo
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- CN111240245A CN111240245A CN202010066220.XA CN202010066220A CN111240245A CN 111240245 A CN111240245 A CN 111240245A CN 202010066220 A CN202010066220 A CN 202010066220A CN 111240245 A CN111240245 A CN 111240245A
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Abstract
The invention discloses a servo system time sequence control circuit and a servo system time sequence control method. The circuit comprises a communication interface circuit, a sampling circuit, a control circuit, a level conversion circuit and an optical coupling isolation circuit; the first input end of the control circuit is connected with the communication interface circuit, the second input end of the control circuit is connected with the sampling circuit, the input end of the level conversion circuit is connected with the output end of the control circuit, and the input end of the optical coupling isolation circuit is connected with the output end of the level conversion circuit. The invention has the advantages of low power consumption, small volume and low cost.
Description
Technical Field
The invention belongs to the technical field of electromechanical control, and particularly relates to a servo system time sequence control circuit and a servo system time sequence control method.
Background
With the wide application of servo systems in high-technology weaponry such as photoelectricity, radar, fire control and the like, the type weapon system puts forward higher requirements on servo matching single machines in the aspects of high precision, high dynamic performance, high light weight ratio, high integration degree, low power consumption, low cost and the like. With the continuous increase of the power of the servo system, especially in the aspect of the matched servo test, the requirements on the power distribution and disconnection time sequence functions are higher.
At present, the servo system of domestic weapon model product adopts the power reverse control technique for the vast majority, but this kind of scheme mostly exists control and drive and joins in marriage the power off time sequence requirement, often can be owing to join in marriage the power off mistake, leads to the impaired problem of product device, and traditional solution mainly does: the power distribution control circuit is added in the power supply part, but with the continuous improvement of the servo power and power quality ratio, the circuit design scheme is difficult to meet the current design requirements on light weight, power consumption and cost, which is the inherent defect of the design scheme of the servo system control drive circuit.
Disclosure of Invention
In view of at least one of the drawbacks and needs of the related art, the present invention provides a servo system timing control circuit and method, which can meet the requirements of low power consumption, small size and low cost.
In order to achieve the above object, according to an aspect of the present invention, there is provided a servo system timing control circuit, including a communication interface circuit, a sampling circuit, a control circuit, a level conversion circuit, and an optical coupling isolation circuit;
the first input end of the control circuit is connected with the communication interface circuit, the second input end of the control circuit is connected with the sampling circuit, the input end of the level conversion circuit is connected with the output end of the control circuit, and the input end of the optical coupling isolation circuit is connected with the output end of the level conversion circuit;
the servo system comprises a communication interface circuit, a sampling circuit, a control circuit, a level conversion circuit and an optical coupling isolation circuit, wherein the communication interface circuit is used for collecting a position reference value, the sampling circuit is used for collecting a position feedback value, a speed feedback value and a current feedback value of the servo system, the control circuit is used for generating PWM control signals according to the received position reference value, the position feedback value, the speed feedback value and the current feedback value, the level conversion circuit is used for carrying out logic level conversion on the received PWM control signals, and the optical coupling isolation circuit is used for outputting isolation driving signals according to the received logic level conversion signals to drive the servo.
Preferably, the generating the PWM control signal according to the received position reference value, the position feedback value, the speed feedback value, and the current feedback value specifically includes:
carrying out operation processing according to the received position reference value, the position feedback value, the speed feedback value and the current feedback value to obtain an error control quantity;
if the control error amount is positive, generating a first pulse signal to drive the servo mechanism to deflect according to a first direction;
if the control error amount is negative, generating a second pulse signal to drive the servo mechanism to deflect according to a second direction;
if the control error amount is zero, no pulse signal is generated.
Preferably, the operation processing specifically includes:
according to the formula
Carrying out proportional integral derivative operation processing, wherein Uc (k) is an error control quantity, and Kp is a self-defined proportional coefficient; kd is a self-defined speed error coefficient; e (k) is the error between the position reference value and the position feedback value, Spd _ ref is the reference velocity value calculated according to e (k), Spd _ act is the velocity feedback value,
and e (i) is an integral quantity, Ki is an integral coefficient, i is an integral variable, and k is the total number of integration.
Preferably, the servo system timing control circuit further comprises a power amplification circuit, wherein an input end of the power amplification circuit is connected with an output end of the optical coupling isolation circuit, and the power amplification circuit is used for performing power amplification on the isolation driving signal to drive the servo system.
Preferably, the control circuit includes an integrated control chip (D1), a first diode (V1), a second diode (V2), a third diode (V3), a fourth diode (V4), a fifth diode (V5), a sixth diode (V6), a first resistor (R1), a second resistor (R2), a third resistor (R3), a fourth resistor (R4), a fifth resistor (R5), and a sixth resistor (R6);
the level conversion circuit is a logic chip (N1);
the optical coupling isolation circuit comprises a first optical coupling isolation chip (D2), a second optical coupling isolation chip (D3), a seventh resistor (R7) and an eighth resistor (R8);
one end of the first resistor (R1) is simultaneously connected with a sixth diode (V5), an integrated control chip (D1) and a logic chip (N1), and the other end of the first resistor (R1) is connected with an external power supply (VCC 1); one end of a second resistor (R2) is simultaneously connected with a fifth diode (V5), an integrated control chip D1 and a logic chip N1, and the other end of the second resistor (R2) is connected with an external power supply (VCC 1); one end of the third resistor (R3) is simultaneously connected with a fourth diode (V4), an integrated control chip (D1) and a logic chip (N1), and the other end of the third resistor (R3) is connected with an external power supply (VCC 1); one end of the fourth resistor (R4) is simultaneously connected with the third diode (V3), the integrated control chip (D1) and the logic chip (N1), and the other end of the fourth resistor (R4) is connected with an external power supply (VCC 1); one end of the fifth resistor (R5) is simultaneously connected with the second diode (V2), the integrated control chip (D1) and the logic chip (N1), and the other end of the fifth resistor (R5) is connected with an external power supply (VCC 1); one end of the sixth resistor (R6) is simultaneously connected with the first diode (V1), the integrated control chip (D1) and the logic chip (N1), the other end of the sixth resistor (R6) is connected with an external power supply (VCC1), and the common anodes of the first diode (V1), the second diode (V2), the third diode (V3), the fourth diode (V4), the fifth diode (V5) and the sixth diode (V6) are grounded;
one end of a seventh resistor (R7) is connected with the output end of the logic chip (N1), and the other end of the seventh resistor (R7) is simultaneously connected with a control low-end pin of the first optical coupling isolation chip (D2) and a control high-end pin of the second optical coupling isolation chip (D3); one end of an eighth resistor (R8) is connected with the output end of the logic chip (N1), and the other end of the eighth resistor (R8) is simultaneously connected with a control high-end pin of the first optical coupling isolation chip (D2) and a control low-end pin of the second optical coupling isolation chip (D3); power pins of the first optical coupling isolation chip (D2) and the second optical coupling isolation chip (D3) are connected with an external power supply (VCC2), and grounding pins of the first optical coupling isolation chip (D2) and the second optical coupling isolation chip (D3) are grounded;
the input end of the power amplification circuit (U1) is simultaneously connected with the output end pins of the first optical coupling isolation chip (D2) and the second optical coupling isolation chip (D3).
Preferably, the integrated control chip adopts a TMS320F2812 processor.
According to another aspect of the present invention, there is provided a servo system timing control method, including:
collecting a position reference value, a position feedback value, a speed feedback value and a current feedback value;
generating a PWM control signal according to the received position reference value, the position feedback value, the speed feedback value and the current feedback value;
performing logic level conversion on the generated PWM control signal and outputting a logic level conversion signal;
and performing optical coupling isolation on the logic level conversion signal to output an isolation driving signal to drive a servo system.
Generally, compared with the prior art, the technical scheme of the invention has the following beneficial effects:
(1) the system adopts integrated circuit design, optical coupler complementary reverse circuit design technology and the like, realizes the requirements of a hardware control circuit on power and power distribution and outage time sequence control, reduces the design of a power supply distribution control circuit and the power supply quantity of a power supply, and simplifies the complex circuit design, thereby having the characteristics of low power consumption, small volume, low cost and the like.
(2) The complementary PWM signal output by the integrated control chip is pulled up, so that the output of the optical coupling isolator is ensured to be low level at the moment of power distribution control, the problem of power tube damage caused by misconduction of a power amplifier when power is firstly distributed is prevented, and meanwhile, the input signals of the upper bridge arm and the lower bridge arm of the power amplifier are reversely mutually exclusive in the design of a hardware circuit, so that a traditional power circuit power distribution and outage time sequence design circuit is simplified, the reliability and the power-quality ratio of the circuit design are improved, and the power consumption of a product is reduced.
Drawings
FIG. 1 is a block diagram of an embodiment of a servo system timing control circuit according to the present invention;
FIG. 2 is a schematic diagram illustrating a flow of control signals in an embodiment of a servo timing control circuit according to the present invention;
FIG. 3 is a schematic diagram of a servo system timing control circuit according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a servo system control algorithm according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention provides a servo system time sequence control circuit and a control method, wherein a system position reference signal and a feedback signal are processed by digital signals to generate an error control quantity signal, corresponding related control signals are output, and the deflection state of a servo mechanism is controlled by an operational amplifier and an isolation circuit; the position signal generated by the position sensor is fed back to the control circuit to form a servo system position control loop; the feedback signal of the speed measuring machine is used for calculating a speed control loop of the servo system, and the current sensor is used for calculating a current control loop of the servo system, so that the closed-loop control of the servo system is realized.
The timing control circuit of the servo system provided by the embodiment of the invention, as shown in fig. 1 and 2, includes: the device comprises a communication interface circuit, a sampling circuit, a control circuit, a level conversion circuit and an optical coupling isolation circuit; the first input end of the control circuit is connected with the communication interface circuit, and the second input end of the control circuit is connected with the sampling circuit; the input end of the level conversion circuit is connected with the output end of the control circuit; the input end of the optical coupling isolation circuit is connected with the output end of the level conversion circuit.
Preferably, the servo system timing control circuit further comprises a power amplification circuit, and an input end of the power amplification circuit is connected with an output end of the optical coupling isolation circuit.
The communication interface circuit is used for receiving a position reference signal and acquiring a position reference value; the sampling circuit is used for acquiring position, speed and current feedback signals of the servo system and acquiring actual position, speed and current feedback values; the communication interface circuit also feeds back the acquired feedback value to the upper computer.
The control circuit is used for generating a PWM control signal according to the position reference signal and the feedback signal. The control signal interface is used for receiving a position reference signal and sending a feedback signal in an access mode, and the sampling circuit is used for collecting position, speed and current signals of the servo system; the control circuit 1 receives the position reference signal through a CAN interface of the communication interface circuit 5, generates a PWM control signal after being operated and processed with the position, speed and current feedback signal of the sampling circuit 6, and drives a servo mechanism through the level conversion circuit 2 and the optical coupling isolation circuit 3, thereby completing servo closed-loop control.
The level conversion circuit is used for carrying out logic level conversion according to the received PWM control signal and increasing the signal driving capability;
the optical coupling isolation circuit is used for outputting an isolation driving signal according to the received logic level conversion signal to drive the servo system. Preferably, the optical coupling isolation circuit outputs complementary on-off control signals according to the received PWM control signals to control the on-off of the upper and lower bridge arms of the power amplifier.
Preferably, the servo timing control circuit is as shown in FIG. 3.
The control circuit comprises an integrated control chip (D1), a first diode (V1), a second diode (V2), a third diode (V3), a fourth diode (V4), a fifth diode (V5), a sixth diode (V6), a first resistor (R1), a second resistor (R2), a third resistor (R3), a fourth resistor (R4), a fifth resistor (R5) and a sixth resistor (R6).
The level shift circuit is a logic chip (N1).
The optical coupling isolation circuit comprises a first optical coupling isolation chip (D2), a second optical coupling isolation chip (D3), a seventh resistor (R7) and an eighth resistor (R8).
One end of the first resistor (R1) is simultaneously connected with the sixth diode (V5), the integrated control chip (D1) and the logic chip (N1), and the other end of the first resistor (R1) is connected with an external power supply (VCC 1); one end of a second resistor (R2) is simultaneously connected with a fifth diode (V5), the integrated control chip D1 and the logic chip N1, and the other end of the second resistor (R2) is connected with an external power supply (VCC 1); one end of a third resistor (R3) is simultaneously connected with a fourth diode (V4), an integrated control chip (D1) and a logic chip (N1), and the other end of the third resistor (R3) is connected with an external power supply (VCC 1); one end of a fourth resistor (R4) is simultaneously connected with a third diode (V3), an integrated control chip (D1) and a logic chip (N1), and the other end of the fourth resistor (R4) is connected with an external power supply (VCC 1); one end of the fifth resistor (R5) is simultaneously connected with the second diode (V2), the integrated control chip (D1) and the logic chip (N1), and the other end of the fifth resistor (R5) is connected with an external power supply (VCC 1); one end of the sixth resistor (R6) is simultaneously connected with the first diode (V1), the integrated control chip (D1) and the logic chip (N1), the other end of the sixth resistor (R6) is connected with an external power supply (VCC1), and common anodes of the first diode (V1), the second diode (V2), the third diode (V3), the fourth diode (V4), the fifth diode (V5) and the sixth diode (V6) are grounded;
one end of a seventh resistor (R7) is connected with the output end of the logic chip (N1), and the other end of the seventh resistor (R7) is simultaneously connected with a control low-end pin (pin No. 3) of the first optical coupling isolation chip (D2) and a control high-end pin (pin No. 1) of the second optical coupling isolation chip (D3); one end of an eighth resistor (R8) is connected with the output end of the logic chip (N1), and the other end of the eighth resistor (R8) is simultaneously connected with a control high-end pin (pin No. 1) of the first optical coupling isolation chip (D2) and a control low-end pin (pin No. 3) of the second optical coupling isolation chip (D3); the power supply pin (pin No. 6) of the first optical coupling isolation chip (D2) and the second optical coupling isolation chip (D3) are connected with an external power supply (VCC2), and the grounding pins (pin No. 4) of the first optical coupling isolation chip (D2) and the second optical coupling isolation chip (D3) are grounded;
the input end of the power amplification circuit (U1) is simultaneously connected with the output end pin (pin No. 5) of the first optical coupling isolation chip (D2) and the second optical coupling isolation chip (D3).
The PWM control signal generated by the control circuit after the operation processing is specifically:
(1) the control circuit receives a position reference value, a position feedback signal, a speed feedback signal and a current feedback signal of the servo system through the CAN communication interface and the sampling circuit, and performs control algorithm operation processing to obtain an error control quantity;
(2) judging whether the error control quantity is positive, if so, entering the step (3); if not, entering the step (4);
(3) after the error control quantity is subjected to logic operation, a first pulse signal is generated to drive the servo mechanism to deflect according to a first direction, for example, the first pulse signal can be a positive pulse signal, and the first direction can be a counterclockwise direction;
(4) after the error control quantity is subjected to logic operation, a second pulse signal is generated to drive the servo mechanism to deflect according to a second direction, for example, the second pulse signal may be a negative pulse signal, and the second direction may be a clockwise direction;
(5) judging whether the servo system reaches the current position or not according to the position reference value, if so, outputting the error control quantity to be zero, and not generating a pulse signal; if not, returning to the step (1) to recalculate the error control quantity.
The method for performing the operation processing in the step (1) specifically adopts the proportional-integral-derivative operation processing, which specifically comprises the following steps:
according to the formula
Carrying out proportional integral derivative operation processing;
wherein Uc (k) is an error control quantity, and Kp is a self-defined proportionality coefficient; kd is a self-defined speed error coefficient; e (k) is the error between the position reference value and the position feedback value, Spd _ ref is the reference velocity value calculated according to e (k), Spd _ act is the actual velocity feedback value,
and e (i) is an integral quantity, Ki is an integral coefficient, i is an integral variable, and k is the total number of integration.
The PID control algorithm adopted by the control method has high control precision, and adopts sine wave signals for control, thereby ensuring the running stability of the servo system. The software can be adopted to realize the functions of most hardware, so that the software of the hardware functions is realized, and the flexibility of the system is improved. And the functions can be completed by a method of modifying software under the condition that circuit hardware is not greatly adjusted, so that the research and development period of the circuit is greatly shortened.
Preferably, the integrated control chip (D1) adopts a DSP digital signal processor TMS320F2812 as a processing unit, receives a reference value of a CAN communication interface position and a feedback signal of a sampling circuit to perform operation, generates 6 switching signals, and outputs the 6 switching signals to an external power amplifier through an operational amplifier and an isolation circuit to control a deflection state of the servo mechanism, thereby realizing closed-loop control of the servo system; the position signal generated by the position sensor is fed back to the control circuit to form a servo system position control loop; the tachometer feedback signal is used to calculate the servo system speed control loop and the current sensor is used to calculate the servo system current control loop.
The servo system time sequence control circuit works according to the following principle: when the control circuit distributes power, the PWM of the D1 integrated control circuit has a power-on reset process which is three-state; external pull-up resistors R1-R6 ensure that the output of PWMA _ P, PWMA _ N, PWMB _ P, PWMB _ N, PWMC _ P, PWMC _ N is high level in the power distribution process, TVS diodes V1-V6 limit voltage pumping, and a rear-stage circuit is prevented from being damaged due to overvoltage; the output of the signal after level conversion is controlled by a pin 1(DIR) and a pin 18(E) of the N1 level conversion circuit, and a UP1 of the complementary output signal is connected with an output pin 3 of an optical coupler isolator D2 and an input pin 1 of the optical coupler isolator D3 through a current limiting resistor R7; the UN1 is connected with an input pin 1 of an optocoupler isolator D2 and an output pin 3 of an optocoupler isolator D3 through a current limiting resistor R8; therefore, the input end of the optical coupling isolation circuit is high level and cannot form a current loop in the power distribution process of the control circuit, and the output end of the optical coupling isolation circuit is always in a closed state, so that the upper bridge arm and the lower bridge arm of the power amplifier are protected from being damaged.
Compared with the traditional rudder servo system, the servo system time sequence control circuit provided by the invention adopts integrated circuit design, optical coupler complementary reverse circuit design technology and the like, reduces the power supply distribution control circuit design and the power supply quantity, and simplifies the complex circuit design. The servo system time sequence control circuit adopts an optical coupler complementary reverse circuit design technology to realize the requirements of a hardware control circuit on power and control distribution and outage time sequence, so that the system has the characteristics of low power consumption, small volume, low cost and the like.
FIG. 4 shows a flow chart of implementing the servo system control method provided by the embodiment of the invention; in the embodiment, a DSP digital signal processor of the control circuit adopts a CCS4.1 software development platform. The control software first initializes the EV event manager, CAN communications, related GPIOs and timers, etc. And after the initialization is finished, receiving the position reference value of the CAN communication interface and a feedback signal of the sampling circuit to carry out operation, and generating an error control quantity. The servo mechanism needs to rotate in the direction judged by the error value, the control circuit operates according to the error value and outputs 6 paths of PWM switching signal output signals of 5 KHz-20 KHz, and the signals are output to an external power amplifier through an operational amplifier and an isolation circuit so as to control the deflection state of the servo mechanism, thereby realizing the closed-loop control of the servo system.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A servo system time sequence control circuit is characterized by comprising a communication interface circuit, a sampling circuit, a control circuit, a level conversion circuit and an optical coupling isolation circuit;
the first input end of the control circuit is connected with the communication interface circuit, the second input end of the control circuit is connected with the sampling circuit, the input end of the level conversion circuit is connected with the output end of the control circuit, and the input end of the optical coupling isolation circuit is connected with the output end of the level conversion circuit;
the servo system comprises a communication interface circuit, a sampling circuit, a control circuit, a level conversion circuit and an optical coupling isolation circuit, wherein the communication interface circuit is used for collecting a position reference value, the sampling circuit is used for collecting a position feedback value, a speed feedback value and a current feedback value of the servo system, the control circuit is used for generating PWM control signals according to the received position reference value, the position feedback value, the speed feedback value and the current feedback value, the level conversion circuit is used for carrying out logic level conversion on the received PWM control signals, and the optical coupling isolation circuit is used for outputting isolation driving signals according to the received logic level conversion signals to drive the servo.
2. The servo timing control circuit of claim 1, wherein the generating a PWM control signal based on the received position reference value, position feedback value, velocity feedback value, and current feedback value is specifically:
carrying out operation processing according to the received position reference value, the position feedback value, the speed feedback value and the current feedback value to obtain an error control quantity;
if the control error amount is positive, generating a first pulse signal to drive the servo mechanism to deflect according to a first direction;
if the control error amount is negative, generating a second pulse signal to drive the servo mechanism to deflect according to a second direction;
if the control error amount is zero, no pulse signal is generated.
3. The servo timing control circuit of claim 2, wherein the computing process is specifically:
according to the formula
Performing proportional integral derivative operation, wherein Uc (k) is an error control quantity, Kp is a self-defined proportional coefficient, Kd is a self-defined speed error coefficient, e (k) is an error between a position reference value and a position feedback value, Spd _ ref is a reference speed value calculated according to e (k), Spd _ act is a speed feedback value,
and e (i) is an integral quantity, Ki is an integral coefficient, i is an integral variable, and k is the total number of integration.
4. The servo system timing control circuit of claim 1, 2 or 3, further comprising a power amplification circuit, an input of the power amplification circuit being connected to an output of the opto-coupler isolation circuit for power amplifying the isolated drive signal to drive the servo system.
5. The servo timing control circuit of claim 4, wherein the control circuit comprises an integrated control chip (D1), a first diode (V1), a second diode (V2), a third diode (V3), a fourth diode (V4), a fifth diode (V5), a sixth diode (V6), a first resistor (R1), a second resistor (R2), a third resistor (R3), a fourth resistor (R4), a fifth resistor (R5), and a sixth resistor (R6);
the level conversion circuit is a logic chip (N1);
the optical coupling isolation circuit comprises a first optical coupling isolation chip (D2), a second optical coupling isolation chip (D3), a seventh resistor (R7) and an eighth resistor (R8);
one end of the first resistor (R1) is simultaneously connected with a sixth diode (V5), an integrated control chip (D1) and a logic chip (N1), and the other end of the first resistor (R1) is connected with an external power supply (VCC 1); one end of a second resistor (R2) is simultaneously connected with a fifth diode (V5), an integrated control chip D1 and a logic chip N1, and the other end of the second resistor (R2) is connected with an external power supply (VCC 1); one end of the third resistor (R3) is simultaneously connected with a fourth diode (V4), an integrated control chip (D1) and a logic chip (N1), and the other end of the third resistor (R3) is connected with an external power supply (VCC 1); one end of the fourth resistor (R4) is simultaneously connected with the third diode (V3), the integrated control chip (D1) and the logic chip (N1), and the other end of the fourth resistor (R4) is connected with an external power supply (VCC 1); one end of the fifth resistor (R5) is simultaneously connected with the second diode (V2), the integrated control chip (D1) and the logic chip (N1), and the other end of the fifth resistor (R5) is connected with an external power supply (VCC 1); one end of the sixth resistor (R6) is simultaneously connected with the first diode (V1), the integrated control chip (D1) and the logic chip (N1), the other end of the sixth resistor (R6) is connected with an external power supply (VCC1), and the common anodes of the first diode (V1), the second diode (V2), the third diode (V3), the fourth diode (V4), the fifth diode (V5) and the sixth diode (V6) are grounded;
one end of a seventh resistor (R7) is connected with the output end of the logic chip (N1), and the other end of the seventh resistor (R7) is simultaneously connected with a control low-end pin of the first optical coupling isolation chip (D2) and a control high-end pin of the second optical coupling isolation chip (D3); one end of an eighth resistor (R8) is connected with the output end of the logic chip (N1), and the other end of the eighth resistor (R8) is simultaneously connected with a control high-end pin of the first optical coupling isolation chip (D2) and a control low-end pin of the second optical coupling isolation chip (D3); power pins of the first optical coupling isolation chip (D2) and the second optical coupling isolation chip (D3) are connected with an external power supply (VCC2), and grounding pins of the first optical coupling isolation chip (D2) and the second optical coupling isolation chip (D3) are grounded;
the input end of the power amplification circuit (U1) is simultaneously connected with the output end pins of the first optical coupling isolation chip (D2) and the second optical coupling isolation chip (D3).
6. The servo timing control circuit of claim 5, wherein said integrated control chip employs a TMS320F2812 processor.
7. A method for controlling a timing of a servo system, comprising:
collecting a position reference value, a position feedback value, a speed feedback value and a current feedback value;
generating a PWM control signal according to the received position reference value, the position feedback value, the speed feedback value and the current feedback value;
performing logic level conversion on the generated PWM control signal and outputting a logic level conversion signal;
and performing optical coupling isolation on the logic level conversion signal to output an isolation driving signal to drive a servo system.
8. The servo system timing control method of claim 7, wherein the control circuit is configured to generate the PWM control signal based on the received position reference value, position feedback value, velocity feedback value, and current feedback value, in particular:
carrying out operation processing according to the received position reference value, the position feedback value, the speed feedback value and the current feedback value to obtain an error control quantity;
if the control error amount is positive, generating a first pulse signal to drive the servo mechanism to deflect according to a first direction;
if the control error amount is negative, generating a second pulse signal to drive the servo mechanism to deflect according to a second direction;
if the control error amount is zero, no pulse signal is generated.
9. The servo system timing control method of claim 8, wherein the computing process is specifically:
according to the formula
Performing proportional integral derivative operation, wherein Uc (k) is an error control quantity, Kp is a self-defined proportional coefficient, Kd is a self-defined speed error coefficient, e (k) is an error between a position reference value and a position feedback value, Spd _ ref is a reference speed feedback value calculated according to e (k), Spd _ act is a speed feedback value,
and e (i) is an integral quantity, Ki is an integral coefficient, i is an integral variable, and k is the total number of integration.
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| CN (1) | CN111240245B (en) |
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