CN111478631A - Voice coil motor control system and control method for chip mounter - Google Patents
Voice coil motor control system and control method for chip mounter Download PDFInfo
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- CN111478631A CN111478631A CN202010452290.9A CN202010452290A CN111478631A CN 111478631 A CN111478631 A CN 111478631A CN 202010452290 A CN202010452290 A CN 202010452290A CN 111478631 A CN111478631 A CN 111478631A
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- 238000006243 chemical reaction Methods 0.000 claims description 19
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- 238000004364 calculation method Methods 0.000 claims description 2
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/032—Reciprocating, oscillating or vibrating motors
- H02P25/034—Voice coil motors
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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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/02—Arrangements for regulating or controlling the speed or torque of electric DC motors the DC motors being of the linear type
- H02P7/025—Arrangements for regulating or controlling the speed or torque of electric DC motors the DC motors being of the linear type the DC motors being of the moving coil type, e.g. voice coil motors
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Abstract
The invention discloses a voice coil motor control system and a voice coil motor control method for a chip mounter, which are applied to the technical field of automatic control, wherein the system comprises a controller, a motor driver and a motor module; the controller outputs a control signal to the motor driver, the motor driver outputs a driving current to the motor module, and the motor module feeds back a force signal and a position signal to the controller and the motor driver respectively and controls a chip mounting head on the chip mounting machine to reach and be far away from the chip position; a first switch and a selection switch are arranged in the controller and are used for switching control modes; the controller is provided with an integrator, the position control, the speed control and the compliance control of the voice coil motor are realized by controlling a selection switch and a switch I in the controller, and 3 control modes, namely a position control mode, a speed control mode and a compliance control mode, can be switched in real time according to actual needs.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a voice coil motor control system and a voice coil motor control method for a chip mounter.
Background
The voice coil motor drive is a direct drive system without an intermediate link, has high control precision, is widely applied to chip surface mount systems, machine polishing systems, macro/micro platforms and the like, and in the control systems, flexible contact control is often needed, such as surface mount in the chip surface mount systems, the first contact force needs to be controlled, and the system is commonly called soft landing.
In the literature, "force/position control and application based on voice coil motor" (the university of huanghao, huazhong science and technology university thesis, 2008), a summary is given to the current "soft landing" control method, which is realized by accurately controlling the detection threshold, the control speed and the output current of the following error at different stages, and the core idea of the method is to control the contact force by controlling the threshold of the current set value, and judge whether the contact is made or not by the size of the position following error.
Firstly, because the current control of a coil of a voice coil motor has certain error, the control precision of the contact force is influenced, and in order to improve the control precision, the parameters need to be adjusted by repeated experiments; the other defect is that the control process is divided into a plurality of stages, and the soft landing control is completed through machine learning or repeated tests.
Disclosure of Invention
The technical purpose is as follows: aiming at the defects of complex control process and low control precision of control force of a voice coil motor in the prior art, the invention discloses a voice coil motor control system and a voice coil motor control method for a chip mounter.
The technical scheme is as follows: in order to achieve the technical purpose, the invention adopts the following technical scheme.
A voice coil motor control system for a chip mounter comprises a controller, a motor driver and a motor module; the controller outputs a control signal to the motor driver, the motor driver outputs a driving current to the motor module, and the motor module feeds back a force signal and a position signal to the controller and the motor driver respectively and controls a chip mounting head on the chip mounting machine to reach and be far away from the chip position; a first switch and a selection switch are arranged in the controller and used for switching control modes.
Preferably, the controller further comprises a first set value, a second set value, a force signal comparator, an integrator and a conversion coefficient, wherein a force signal fed back by the motor module is input to the force signal comparator through the conversion coefficient and the first switch, the other input of the force signal comparator is the output of the first set value, the output of the force signal comparator is processed by the integrator and then input to the selector switch, the other input of the selector switch is the output of the second set value, and the selector switch outputs a control signal to the motor driver.
Preferably, the motor driver comprises a position-current double closed loop device, the position closed loop is an outer loop and comprises a position signal comparator and a position controller, an input signal of the position signal comparator is a control signal output by the controller and a position signal fed back by the motor module, and the position signal comparator provides an input signal for the position controller; the current closed loop is an inner loop and comprises a current signal comparator, a current controller, power amplification and current detection, an input signal of the current signal comparator is a signal output by the position controller and a signal fed back by the current detection, the current signal comparator provides input for the circuit controller, the current controller provides input for the power amplification, and an output signal of the power amplification provides a driving current for the motor module and an input signal for the current detection.
Preferably, the motor module comprises a voice coil motor, a force sensor and a grating ruler; the force sensor and the grating ruler are arranged on the voice coil motor, the force sensor is used for feeding back force signals to the controller, and the grating ruler is used for feeding back position signals to the motor driver.
A voice coil motor control method is applied to any one of the voice coil motor control systems for the chip mounter, and comprises the following steps:
s1, the controller adopts a position control mode, and the chip mounting head reaches the position near the chip: setting a second set value according to the actual working condition, placing a selection switch at the position 2, switching on the output of the second set value, and controlling a chip mounting head on the chip mounting machine to move forward by the distance of the second set value by a motor module to realize that the chip mounting head quickly reaches the position near a chip;
s2, the controller adopts a compliance control mode, the chip mounting head reaches the chip position, and chip welding is completed: placing a selection switch at the position 1, switching on the output of an integrator, closing a switch I, adjusting a set value I and a value of a conversion coefficient, further adjusting the force of a chip mounting head, enabling the chip mounting head to reach the position of a chip, keeping pressure, and enabling the chip to reliably contact a bonding pad until the chip is welded;
s3, the controller adopts a position control mode, and high-speed backspacing: and after the chip welding is finished, setting the second set value as a returned initial position, placing the selector switch at the position 2, switching on the output of the second set value, and controlling the chip mounting head on the chip mounting machine to move backwards by the distance of the second set value by the motor module to realize the high-speed return of the chip mounting head.
Preferably, the specific calculation process of the chip position reached by the chip mounter head in S2 is as follows:
ΔW＝SP×T
and adjusting Sp to further realize that the chip mounting head reaches the position of the chip.
Preferably, the specific process of adjusting the force of the mounting head to complete the chip bonding is as follows:
ΔW＝(SP-F×KF)×T
wherein F is the detection value of the force sensor, KF is the value of the conversion coefficient, and the integral is integrated when the patch welding is carried outThe position increment of the output of the device is zero, and Sp and K are adjustedFAnd then adjusting the size of the F, and further adjusting the size of the force of the chip mounting head, thereby completing the chip welding.
Preferably, in S2, the chip mounter head reaches the chip position and performs pressure maintenance, where the specific process includes: when the force signal fed back by the motor module is processed by the conversion coefficient and then is the same as the value of the first set value, the input of the integrator is zero, the integrator does not perform integration, and the pressure is maintained.
Has the advantages that:
1. the invention realizes position-current double closed loop control in the motor driver, under the condition that the configuration of the motor driver is not changed, the position control, the speed control and the compliance control of the voice coil motor are realized by controlling the selection switch and the switch I in the controller, and 3 control modes, namely a position control mode, a speed control mode and a compliance control mode, can be switched in real time according to actual requirements;
2. according to the invention, the approach speed of a chip mounting head on a chip mounter when the chip mounting head reaches the position of a chip can be changed through the specific numerical adjustment of the first set value;
3. according to the invention, the contact force of the chip mounting head on the chip mounting machine during welding is conveniently and efficiently controlled by adjusting the first set value and the specific numerical value of the conversion coefficient.
Drawings
FIG. 1 is a block diagram of the system architecture of the present invention;
FIG. 2 is a schematic diagram of the detailed structure of FIG. 1;
FIG. 3 is a flow chart of the method of the present invention.
Detailed Description
The invention will be further explained and explained with reference to the drawings.
The invention discloses a Voice Coil Motor control system and a Voice Coil Motor control method for a chip mounter, wherein a Voice Coil Motor (VCM) is a direct drive Motor in a special form and has the characteristics of simple structure, small volume, high speed, high acceleration response speed and the like. The principle of operation of a voice coil motor is that a coil (conductor) subjected to an electric current is placed in a magnetic field to generate a force whose magnitude is proportional to the current applied to the coil.
As shown in fig. 1, a voice coil motor control system for a chip mounter includes a controller, a motor driver, and a motor module, where the controller outputs a control signal to the motor driver, and the motor module provides a feedback force signal and a position signal to the controller and the motor driver, respectively.
As shown in fig. 2, the controller outputs a control signal to the motor driver, the controller further includes a first set value, a second set value, a force signal comparator, an integrator, a conversion coefficient, a first switch and a selection switch, the force signal fed back by the motor module is input to the force signal comparator through the conversion coefficient and the first switch, the other input of the force signal comparator is the output of the first set value, the force signal comparator subtracts the value output by the first set value and the first switch and outputs the result to the integrator, the integrator is output to the selection switch, the other input of the selection switch is the output of the second set value, the selection switch outputs the control signal to the motor driver, and the first switch and the selection switch in the controller are used for switching the control mode.
The motor driver outputs driving current to the motor module, the motor driver comprises a position-current double closed loop device, the position closed loop is an outer loop and comprises a position signal comparator and a position controller, input signals of the position signal comparator are control signals output by the controller and position signals fed back by the motor module, and the position signal comparator provides input signals for the position controller; the current closed loop is an inner loop and comprises a current signal comparator, a current controller, a power amplifier and a current detector, wherein an input signal of the current signal comparator is a signal output by the position controller and a signal fed back by the current detector, the current signal comparator provides input for the circuit controller, the current controller provides input for the power amplifier, an output signal of the power amplifier provides driving current for the motor module and provides an input signal for the current detector, and the position controller and the current controller adopt a proportional-integral control algorithm.
The invention realizes position-current double closed loop control in the motor driver, under the condition that the configuration of the motor driver is not changed, the position control, the speed control and the compliance control of the voice coil motor can be realized by controlling the selection switch and the first switch in the controller, and 3 control modes, namely a position control mode, a speed control mode and a compliance control mode, can be switched in real time according to actual requirements.
The motor module respectively feeds back a force signal and a position signal to the controller and the motor driver, and controls a chip mounting head on the chip mounting machine to reach and be far away from the chip position; the motor module comprises a voice coil motor, a force sensor and a grating ruler; the force sensor and the grating ruler are arranged on the voice coil motor, the force sensor is used for feeding back force signals to the controller, and the grating ruler is used for feeding back position signals to the motor driver.
As shown in fig. 3, a voice coil motor control method applied to any one of the voice coil motor control systems for a chip mounter includes the following steps:
s1, the controller adopts a position control mode, and the chip mounting head reaches the position near the chip: setting a second set value according to the actual working condition, placing a selection switch at the position 2, switching on the output of the second set value, and controlling a chip mounting head on the chip mounting machine to move forward by the distance of the second set value by a motor module to realize that the chip mounting head quickly reaches the position near a chip; the position control mode adopts open loop control, so that the voice coil motor can quickly reach the position of the chip according to a second set value.
S2, the controller adopts a compliance control mode, the chip mounting head reaches the chip position, and pressure is kept until welding is finished: placing the selection switch at the position 1, switching on the output of the integrator, closing the switch I, adjusting the value of the set value I and the value of the conversion coefficient, further adjusting the force of the chip mounting head, completing the contact between the chip and the bonding pad and keeping the pressure, ensuring that the chip reliably contacts the bonding pad, and completing the chip welding;
s3, the controller adopts a position control mode, and high-speed backspacing: and after the chip welding is finished, setting the second set value as a returned initial position, placing the selector switch at the position 2, switching on the output of the second set value, and controlling the chip mounting head on the chip mounting machine to move backwards to the position of the second set value by the motor module to realize the high-speed return of the chip mounting head.
If the detection value of the force sensor is F, the conversion coefficient is KF, the first set value is Sp, the position increment output by the integrator is delta W, and the sampling period of the integrator is T, the mathematical relation as shown in formula (1) exists during the flexible control:
ΔW＝(SP-F×KF)×T (1)
when the voice coil motor is not in contact with the motor, the force sensor detection value F is 0, and at this time, the position increment output by the integrator is Δ W — SP× T, the position increment of each sampling period can be adjusted by adjusting the size of Sp, and the running speed of the voice coil motor can be adjusted.
The method for adjusting the size of the compliant contact force comprises the following steps: when the voice coil motor is in operation contact, the position increment is 0, based on the formula (1), the result is
S related to operating speed when no contact is determinedpCan be adjusted by adjusting KFThe value of the contact force is adjusted, when the force signal fed back by the motor module is processed by a conversion coefficient and is the same as the value of a set value I, the input of the integrator is zero, the integrator does not perform integration, and the pressure maintenance is realized.
In the invention, an integrator is added in a controller, in the process of compliance control, when a chip mounting head on a chip mounting machine does not contact a chip, the detection value of a force sensor is zero, the integrator performs integration according to a first set value at the moment, the chip mounting head is controlled to reach a specified position of a chip, and the approach speed of the chip mounting head on the chip mounting machine when the chip mounting head reaches the position of the chip can be changed through the adjustment of a specific numerical value of the first set value; when the chip mounting head reaches the specified position of the chip mounting, the position increment output by the integrator is zero, the contact force of the chip mounting head on the chip mounting machine during welding is conveniently and efficiently controlled by adjusting the specific numerical value of the first set value and the conversion coefficient, when the first set value is equal to the value output by the first switch, the force signal comparator outputs zero to the integrator, the integrator does not perform integration at the moment, and the current value of the force sensor is kept, namely the contact force of the chip during chip mounting is finally controlled to be equal to the first set value. The invention can set and adjust the first set value and the conversion coefficient according to the actual working conditions such as the thicknesses of different chips and the like.
In the position control mode, the control method is that the selection switch is arranged at the position 2, at the moment, the set value II is the target position value of the voice coil motor, and the controller realizes the position control of the voice coil motor through the motor controller. In the position control mode, the current position of the voice coil motor is set as the original point, and a set value II is set according to the distance of the position to be reached, so that high-speed reaching and high-speed returning in the surface mounting process are realized.
In the speed control mode, the control method is that the selection switch is arranged at the position 1, the first switch is disconnected, at the moment, an integrator is arranged between a set value one and the motor controller, the set value one is integrated by utilizing the integration function of the integrator, the output of the integrator is transmitted to the motor driver through the selection switch, the speed control of the voice coil motor is realized through the motor controller, in the control mode, the set value one is in a linear relation with the running speed of the voice coil motor, and the running speed of the voice coil motor can be changed by changing the set value one.
In the compliance control mode, the control method is that the selection switch is arranged at the position 1, the first switch is closed, at the moment, the set value I minus the conversion coefficient multiplied by the measurement of the force sensor is input into the integrator to be integrated, and the result is transmitted to the motor control, so that the compliance control of the voice coil motor is realized.
According to the invention, the approach speed of a chip mounting head on a chip mounter when the chip mounting head reaches the position of a chip can be changed through the specific numerical adjustment of the first set value; by adjusting the first set value and the specific numerical value of the conversion coefficient, the contact force of a chip mounting head on the chip mounting machine during welding can be controlled conveniently and efficiently.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (8)
1. The utility model provides a voice coil motor control system for chip mounter which characterized in that: the motor comprises a controller, a motor driver and a motor module; the controller outputs a control signal to the motor driver, the motor driver outputs a driving current to the motor module, and the motor module feeds back a force signal and a position signal to the controller and the motor driver respectively and controls a chip mounting head on the chip mounting machine to reach and be far away from the chip position; a first switch and a selection switch are arranged in the controller and used for switching control modes.
2. The voice coil motor control system for the chip mounter according to claim 1, wherein: the controller further comprises a first set value, a second set value, a force signal comparator, an integrator and a conversion coefficient, wherein a force signal fed back by the motor module is input to the force signal comparator through the conversion coefficient and the first switch, the other input of the force signal comparator is the output of the first set value, the output of the force signal comparator is input to the selector switch after being processed by the integrator, the other input of the selector switch is the output of the second set value, and the selector switch outputs a control signal to the motor driver.
3. The voice coil motor control system for the chip mounter according to claim 1, wherein: the motor driver comprises a position-current double closed loop device, the position closed loop is an outer loop and comprises a position signal comparator and a position controller, an input signal of the position signal comparator is a control signal output by the controller and a position signal fed back by the motor module, and the position signal comparator provides an input signal for the position controller; the current closed loop is an inner loop and comprises a current signal comparator, a current controller, power amplification and current detection, an input signal of the current signal comparator is a signal output by the position controller and a signal fed back by the current detection, the current signal comparator provides input for the circuit controller, the current controller provides input for the power amplification, and an output signal of the power amplification provides a driving current for the motor module and an input signal for the current detection.
4. The voice coil motor control system for the chip mounter according to claim 1, wherein: the motor module comprises a voice coil motor, a force sensor and a grating ruler; the force sensor and the grating ruler are arranged on the voice coil motor, the force sensor is used for feeding back force signals to the controller, and the grating ruler is used for feeding back position signals to the motor driver.
5. A voice coil motor control method applied to the voice coil motor control system for the chip mounter according to any one of claims 1 to 4, characterized by comprising the following steps:
s1, the controller adopts a position control mode, and the chip mounting head reaches the position near the chip: setting a second set value according to the actual working condition, placing a selection switch at the position 2, switching on the output of the second set value, and controlling a chip mounting head on the chip mounting machine to move forward by the distance of the second set value by a motor module to realize that the chip mounting head quickly reaches the position near a chip;
s2, the controller adopts a compliance control mode, the chip mounting head reaches the chip position, and chip welding is completed: placing a selection switch at the position 1, switching on the output of an integrator, closing a switch I, adjusting a set value I and a value of a conversion coefficient, further adjusting the force of a chip mounting head, enabling the chip mounting head to reach the position of a chip, keeping pressure, and enabling the chip to reliably contact a bonding pad until the chip is welded;
s3, the controller adopts a position control mode, and high-speed backspacing: and after the chip welding is finished, setting the second set value as a returned initial position, placing the selector switch at the position 2, switching on the output of the second set value, and controlling the chip mounting head on the chip mounting machine to move backwards by the distance of the second set value by the motor module to realize the high-speed return of the chip mounting head.
6. A voice coil motor control method according to claim 5, characterized in that: the specific calculation process of the chip placement head reaching the chip position in the S2 is as follows:
ΔW＝SP×T
and adjusting Sp to further realize that the chip mounting head reaches the position of the chip.
7. A voice coil motor control method according to claim 5, characterized in that: the specific process of adjusting the force of the chip mounting head to complete the chip welding in the step S2 is as follows:
ΔW＝(SP-F×KF)×T
wherein F is the detected value of the force sensor, KFFor converting the value of the coefficient, the position increment of the integrator output is zero when the chip bonding is performed, and Sp and K are adjustedFAnd then adjusting the size of the F, and further adjusting the size of the force of the chip mounting head, thereby completing the chip welding.
8. A voice coil motor control method according to claim 5, characterized in that: and the chip mounting head in the S2 reaches the chip position and maintains the pressure, and the specific process is as follows: when the force signal fed back by the motor module is processed by the conversion coefficient and then is the same as the value of the first set value, the input of the integrator is zero, the integrator does not perform integration, and the pressure is maintained.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114448320A (en) * | 2021-12-22 | 2022-05-06 | 上海智能制造功能平台有限公司 | Electromagnetic compliance device based on voice coil motor |
| WO2022179201A1 (en) * | 2021-02-23 | 2022-09-01 | 歌尔股份有限公司 | Voice coil electric motor, and control method and control apparatus therefor |
| CN114448320B (en) * | 2021-12-22 | 2024-05-24 | 上海智能制造功能平台有限公司 | Electromagnetic compliance device based on voice coil motor |
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