CN111865168A - Control method, control system, readable storage medium and deflection apparatus for deflection motor - Google Patents
Control method, control system, readable storage medium and deflection apparatus for deflection motor Download PDFInfo
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- CN111865168A CN111865168A CN202010607489.4A CN202010607489A CN111865168A CN 111865168 A CN111865168 A CN 111865168A CN 202010607489 A CN202010607489 A CN 202010607489A CN 111865168 A CN111865168 A CN 111865168A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
Abstract
The invention discloses a control method, a control system, a readable storage medium and deflection equipment of a deflection motor, wherein the control method comprises the steps of S1, receiving a deflection control command sent by a PLC, and determining an IO combined value corresponding to the deflection control command; s2, transferring the operation parameters in the parameter register corresponding to the IO combined value into the working register; and S3, controlling the motor to work according to the operation parameters in the working register. The scheme logically combines the existing IO points, can convert the on-off states of all or part of the existing IO points into a plurality of decimal numbers or hexadecimal numbers according to a binary algorithm, and enables each decimal number or hexadecimal number to correspond to one type of instruction, thereby expanding the number of types of instructions on the basis of not increasing the IO points.
Description
Technical Field
The invention relates to the technical field of logistics sorting, in particular to a control method and a control system of a deflection motor, a readable storage medium and deflection equipment.
Background
The deflection wheels are devices which drive a group of deflection wheels to turn to realize parcel sorting on the deflection wheels easily through deflection motors, and the deflection motors are usually controlled by matching of a driver and a controller (PLC and the like).
In the control, the drivers communicate with the deflection motors, the controllers and the like through IO points, generally, one type of command needs to correspond to the IO point of one driver, for example, 10 types of commands need to have 10 IO points for the driver. But the IO point number of the driver is usually limited, and the expansion on the existing structure to increase the IO point is difficult.
In recent years, with the rapid development of the logistics industry, in the field of logistics automatic sorting, the demand for the control diversity of logistics equipment such as a deflection wheel is very large, which means that various new types of control instructions need to be added, if each new type of instruction is added, a corresponding IO point needs to be added, which is contradictory to the fact that the IO points of the existing driver cannot be expanded and increased, so that an enterprise must replace drivers with more IO points, the waste of the existing equipment is caused, the production finished products of the enterprise are greatly increased, and the time cost and the labor cost for equipment modification are increased.
Disclosure of Invention
An object of the present invention is to solve the above problems in the prior art and to provide a control method, a control system, a readable storage medium, and a deflection apparatus for a deflection motor.
The purpose of the invention is realized by the following technical scheme:
a control method of a deflection motor includes the steps of:
s1, receiving a deflection control instruction sent by the PLC, and determining an IO combined value corresponding to the deflection control instruction, wherein the IO combined value is a decimal number or a hexadecimal number obtained by binary conversion of binary numbers determined according to the on-off state of part or all IO points of the driver and according to a set sequence;
s2, transferring the operation parameters in the parameter register corresponding to the IO combined value into the working register;
and S3, controlling the motor to work according to the operation parameters in the working register.
Preferably, the yaw motor control method includes, before S1, the steps of:
s00, receiving the working mode parameters, and selecting an independent IO mode or a combined IO mode according to the working mode parameters to control the motor;
s01, after determining that the mode is the combined IO mode, determining whether the motor enabling is completed;
s02, after confirming that the motor is enabled, receiving an IO combined value corresponding to an origin confirming instruction, and confirming the origin;
And S03, after the origin is confirmed, receiving the control mode selection parameter, and selecting one of the speed control mode, the position control mode or the speed/position mixed control mode to control the motor.
Preferably, in the yaw motor control method, the step S01 includes
S011, receiving the enabling mode parameters, and determining whether to adopt a no-instruction enabling mode or an instruction enabling mode according to the enabling mode parameters;
s012, when adopting the enable mode without order, after confirming as the combination IO mode, directly control the motor to enable and confirm whether enable is finished;
and S013, when the command enabling mode is adopted and an enabling command is received, controlling the motor to enable and determining whether enabling is completed.
Preferably, in the yaw motor control method, the step S013 includes:
s0131, determining to adopt an independent IO enabled instruction mode or a combined IO enabled instruction mode according to the instruction mode parameters;
s0132, when an independent IO enabling instruction mode is adopted, after an enabling instruction of independent IO is received, controlling enabling of a motor and determining whether enabling is finished;
s0133, when a combined IO enabling instruction mode is adopted, when an IO combined value corresponding to an enabling instruction is received, enabling of the motor is controlled, and whether enabling is finished or not is determined.
Preferably, in the yaw-motor control method, in the speed/position hybrid control mode, the step S1 includes determining that the received yaw control command is a speed command or a position command; when the command is a speed command, the step S2 calls the operating parameters in the position register corresponding to the speed command into the working register; if the position command is received, in step S2, the operating parameter in the position register corresponding to the position command is called into the working register.
Preferably, the method for controlling a yaw motor further includes step S4, when the previous yaw control command is not completed and a new yaw control command is received, discarding the current operating parameters in the working register, and calling the operating parameters corresponding to the new yaw control command into the working register to control the motor to operate according to the steps S1-S3.
Preferably, in the deflection motor control method, in the combined IO mode, part or all of the feedback signals fed back to the PLC are fed back through the independent IO points, and the feedback signals include an alarm or fault signal, an enable completion signal, an origin confirmation completion signal, and a point location completion signal.
A yaw motor control system comprising
The command determination unit is used for receiving a deflection control command sent by the PLC and determining an IO (input/output) combination value corresponding to the deflection control command, wherein the IO combination value is a decimal number or a hexadecimal number obtained by carrying out binary conversion on binary numbers determined according to the on-off state of part or all IO points of the driver according to a set sequence;
the instruction calling unit is used for calling the operation parameters in the parameter register corresponding to the IO combined value into the working register;
and the instruction execution unit controls the motor to work according to the operation parameters in the working register.
Preferably, the yaw motor control system further comprises
And the instruction updating unit is used for abandoning the current operating parameter in the working register when the previous deflection control instruction is not finished and a new deflection control instruction is received, and calling the operating parameter corresponding to the new deflection control instruction into the working register to control the motor to work.
A readable storage medium storing the above-described yaw motor control system to execute any of the above-described yaw motor control methods.
The deflection equipment comprises a PLC, a motor and a driver, wherein the driver comprises the system for executing the deflection motor control method.
The technical scheme of the invention has the advantages that:
the design of the scheme is exquisite, the logic combination is carried out on the basis of the existing IO points, the on-off states of all or part of the existing IO points can be converted into a plurality of decimal numbers or hexadecimal numbers according to a binary algorithm, each decimal number or hexadecimal number corresponds to one type of instruction, and therefore the instruction type number can be expanded on the basis of not increasing the IO points.
The scheme can select between the independent IO mode and the combined IO mode, can communicate according to the original communication mode under the condition that IO points are enough, adopts the combined IO mode when the points are required to be expanded, can effectively meet the actual requirements of different application scenes, is good in application flexibility, does not have influence among the modes, and is good in compatibility.
The energy-saving device can adopt various forms in an enabling mode, can be freely designed according to actual application requirements, and is better in adjustability.
This scheme can adopt multiple control mode when concrete control, can satisfy actual control requirement better, improves the flexibility.
According to the scheme, when the actual control instruction is executed, the execution of the current instruction can be interrupted, a new instruction is executed, the control flexibility is improved, some wrong operations or sudden situations can be timely adjusted, and the sorting safety and controllability are improved.
Drawings
FIG. 1 is a schematic process diagram of the present invention;
FIG. 2 is a schematic diagram of the process of the present invention with function selection;
FIG. 3 is a schematic diagram of the drive arrangement of the present invention;
FIG. 4 is a diagram illustrating a process for executing a new instruction with interrupting a current instruction according to the present invention.
Detailed Description
Objects, advantages and features of the present invention will be illustrated and explained by the following non-limiting description of preferred embodiments. The embodiments are merely exemplary for applying the technical solutions of the present invention, and any technical solution formed by replacing or converting the equivalent thereof falls within the scope of the present invention claimed.
In the description of the schemes, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the embodiment, the operator is used as a reference, and the direction close to the operator is a proximal end, and the direction away from the operator is a distal end.
The control method of the deflection motor disclosed by the invention is explained below with reference to the attached drawings, the method is used for controlling the deflection motor of the deflection wheel/deflection ball or the motor which needs to run in forward and reverse rotation, the structure of the whole equipment at least comprises the motor, a driver (various possible servo drivers) and a controller, the improvement of the scheme mainly lies in the improvement of the program of the driver, as shown in the attached fig. 1, the control specifically comprises the following steps:
and S1, receiving the sent deflection control command, wherein the deflection control command can be a position command or a speed command of a control motor, and determining an IO (input/output) combination value corresponding to the deflection control command, and the IO combination value is a decimal number or a hexadecimal number obtained by carrying out binary conversion on binary numbers determined according to the on-off state of part or all IO points of the driver according to a set sequence. The on-off states of a plurality of IO points corresponding to control signals sent by a controller are determined firstly, then the on-off states are converted into secondary numbers according to a set sequence, and then the secondary numbers are converted into decimal numbers or hexadecimal numbers.
S2, transferring the operation parameters in the parameter register corresponding to the IO combined value into the working register;
And S3, controlling the motor to work according to the operation parameters in the working register.
On the premise that the number of IO points of the driver is determined, for example, the driver has 10 IO points, the conventional driver can only receive 10 types of control commands, and in the embodiment of controlling the deflection motor of the deflection wheel, the control commands may include an enable command, an origin confirmation command, a centering command, position commands 1 to n, speed commands 1 to n, and the like.
Under the new control method, the on-off state of each IO point can be represented as 0 and 1, that is, two states, and for 10 IO points, when they are sorted according to a certain order, there are 210And =1024 combinations, each combination can correspond to one type of the control instruction, so that the whole driver can receive 1024 types of control instructions, and the number of types of received instructions is greatly expanded. In actual use, only a few IO points of all IO points may be subjected to combination control, for example, 5 IO points selected from 10 IO points may be combined, that is, 2 IO points5=32 combinations, so that some control commands can be communicated in the form of combined IO; and some key instructions still adopt the original independent IO points to communicate.
Of course, as shown in fig. 2, before performing control according to the steps of S1-S3, the PLC and the driver need to be set first, that is, it needs to set whether they adopt the combined IO mode or the independent IO mode, and when they select the combined IO mode, they can perform corresponding control according to the steps of S1-S3, and during specific setting, the PLC may be manually implemented by inputting corresponding setting parameters through a control board or through voice control, and the like, where the setting of the PLC is only required to make the PLC have a function of selecting between two modes when compiling the program, which is a known technology and is not described herein again.
The following description will mainly be made of the driver arrangement, as shown in fig. 3, and the specific arrangement is as follows:
manually inputting working mode parameters on an operation panel of the driver, wherein the working mode parameters are used for selecting between a combined IO mode and an independent IO mode, and in the combined IO mode, part or all of instructions sent to the driver by the PLC can be controlled in a mode of combining a plurality of IO points; in the independent IO mode, the driver is controlled according to the original function, namely, the driver is controlled according to the mode that a single PLC control instruction is corresponding to a single IO point.
S00, a servo driving chip of the driver receives the manually input working mode parameters and selects an independent IO mode or a combined IO mode according to the working mode parameters;
s01, confirming whether the motor enabling is finished or not after the input working mode parameters are determined to correspond to the combined IO mode;
after determining to use the combined IO mode, it is necessary to determine in what manner to enable the motor; the selection of the enabling mode of the motor can be performed by manually inputting enabling mode parameters on an operation panel of the driver, which is as follows:
s011, a servo driving chip of a driver receives an enabling mode parameter, and determines to adopt a no-instruction enabling mode or an instruction enabling mode according to the enabling mode parameter;
and S012, when determining that the enabling mode parameter corresponds to the command-free enabling mode, directly controlling the motor to enable and determining whether the enabling is completed or not after determining that the servo driving chip of the driver adopts the combined IO mode.
And S013, when the enable mode parameter is determined to correspond to the command enable mode, controlling the motor to enable and determining whether enabling is completed or not when the servo drive chip of the driver receives an enable command.
In the instruction enabling mode, it is also required to determine whether to adopt the independent IO enabling instruction mode or the combined IO enabling instruction mode, and instruction mode parameters can be manually input on an operation panel of the driver.
S0131, a servo drive chip of the driver receives the instruction mode parameters and determines to adopt an independent IO enabling instruction mode or a combined IO enabling instruction mode according to the instruction mode parameters;
s0132, when the command mode parameters are determined to correspond to the independent IO enabling command mode, after the driver receives an enabling command of independent IO, controlling the motor to enable and determining whether enabling is completed;
s0133, when the command mode parameter is determined to correspond to the IO enabling command mode, the driver controls the motor to enable and determines whether enabling is completed or not when receiving the IO combination value corresponding to the enabling command. The determination of whether the enabling is completed is a known technique in the field of servo control, and is not an innovative point of the present solution, and is not described herein.
S02, after the motor is confirmed to be enabled, the driver feeds back a signal to the PLC, receives an IO combined value corresponding to an origin confirmation instruction sent by the PLC, and confirms the origin; the origin confirmation instruction can be automatically triggered by a PLC according to program setting or can be a manual operation trigger instruction, and the specific process of origin confirmation is a known technology in the technical field of motor control, is not an innovation point of the scheme, and is not described herein again.
S03, after the origin is confirmed, receiving a control mode selection parameter, and selecting one of a speed control mode, a position control mode or a speed/position mixed control mode to control the motor, wherein in the speed control mode, a control instruction sent to the driver by the PLC is a speed instruction; in the position control mode, a control instruction sent to the driver by the PLC is a position instruction; in the speed/position hybrid mode, the control command sent by the PLC to the driver may be a position command or a speed command.
In the speed/position hybrid control mode, the S1 step includes determining whether the received yaw control command is a speed command or a position command; when the confirmation is a position instruction or a speed instruction, the confirmation can be determined through the IO combination value of the position instruction or the speed instruction or the corresponding IO port. When the speed command is determined, in the step S2, the operation parameters in the position register corresponding to the speed command are called into the working register; if the position command is received, in step S2, the operating parameter in the position register corresponding to the position command is called into the working register.
In addition, when the conventional servo motor is controlled, when the driver executes a control command, the driver discards all other control commands sent to the driver by the PLC, that is, only when the current command is executed, the driver can execute the next command sent by the PLC.
Therefore, in a more preferred embodiment, as shown in fig. 4, it further includes S4, when the previous deflection control command is not completed (the PLC does not receive the deflection control command completion signal), and the driver receives a new deflection control command, it discards the current operating parameters in the working register, and according to the steps S1-S3, it transfers the operating parameters corresponding to the new deflection control command into the working register to control the motor to operate, so that it can suspend the current command and insert the new deflection control command when necessary, thereby improving the flexibility and adjustability of control.
In the combined IO mode, all or part of feedback signals fed back to the PLC by the driver are independent IO point signals, and the feedback signals comprise alarm or fault signals, enable completion signals, origin confirmation completion signals and point location completion signals.
The scheme further discloses a deflection motor control system for realizing the method, which comprises
The command determining unit is used for receiving a deflection control command sent by the PLC and determining an IO combined value corresponding to the deflection control command, wherein the IO combined value is obtained by transporting according to the on-off state of part or all IO points of the driver according to a set sequence;
The instruction calling unit is used for calling the operation parameters in the parameter register corresponding to the IO combined value into the working register;
and the instruction execution unit controls the motor to work according to the operation parameters in the working register.
Furthermore, the deflection motor control system further comprises an instruction updating unit, configured to discard the current operating parameter in the working register when a previous deflection control instruction is not completed and a new deflection control instruction is received, and call the operating parameter corresponding to the new deflection control instruction into the working register to control the motor to operate.
The invention also discloses a readable storage medium which stores the deflection motor control system to execute any one of the deflection motor control methods.
The present solution also discloses a readable storage medium, a deflection apparatus comprising a PLC, a motor and a driver having the computer readable storage medium of claim 10.
The invention has various embodiments, and all technical solutions formed by adopting equivalent transformation or equivalent transformation are within the protection scope of the invention.
Claims (11)
1. A method of controlling a yaw motor, comprising: the method comprises the following steps:
S1, receiving a deflection control instruction sent by the PLC, and determining an IO combined value corresponding to the deflection control instruction, wherein the IO combined value is a decimal number or a hexadecimal number obtained by binary conversion of binary numbers determined according to the on-off state of part or all IO points of the driver and according to a set sequence;
s2, transferring the operation parameters in the parameter register corresponding to the IO combined value into the working register;
and S3, controlling the motor to work according to the operation parameters in the working register.
2. The yaw motor control method according to claim 1, wherein: before S1, the method includes the following steps:
s00, receiving the working mode parameters, and selecting an independent IO mode or a combined IO mode according to the working mode parameters to control the motor;
s01, after determining that the mode is the combined IO mode, determining whether the motor enabling is completed;
s02, after the motor is enabled, receiving an IO combined value corresponding to an origin confirmation instruction, and performing origin confirmation;
and S03, after the origin is confirmed, receiving the control mode selection parameter, and selecting one of the speed control mode, the position control mode or the speed/position mixed control mode to control the motor.
3. The yaw motor control method according to claim 2, wherein: said S01 includes
S011, receiving the enabling mode parameters, and determining whether to adopt a no-instruction enabling mode or an instruction enabling mode according to the enabling mode parameters;
s012, when adopting the enable mode without order, after confirming as the combination IO mode, directly control the motor to enable and confirm whether enable is finished;
and S013, when the command enabling mode is adopted and an enabling command is received, controlling the motor to enable and determining whether enabling is completed.
4. The yaw motor control method according to claim 3, wherein: the step S013 includes:
s0131, determining to adopt an independent IO enabled instruction mode or a combined IO enabled instruction mode according to the instruction mode parameters;
s0132, when an independent IO enabling instruction mode is adopted, after an enabling instruction of independent IO is received, controlling enabling of a motor and determining whether enabling is finished;
s0133, when a combined IO enabling instruction mode is adopted, when an IO combined value corresponding to an enabling instruction is received, enabling of the motor is controlled, and whether enabling is finished or not is determined.
5. The yaw motor control method according to any one of claims 1 to 4, wherein: in the speed/position hybrid control mode, the S1 step includes determining whether the received yaw control command is a speed command or a position command; when the command is a speed command, the step S2 calls the operating parameters in the position register corresponding to the speed command into the working register; if the position command is received, in step S2, the operating parameter in the position register corresponding to the position command is called into the working register.
6. The yaw motor control method according to any one of claims 1 to 4, wherein: and S4, when the previous deflection control command is not completed and a new deflection control command is received, discarding the current operating parameters in the working register, and calling the operating parameters corresponding to the new deflection control command into the working register to control the motor to work according to the steps S1-S3.
7. The yaw motor control method according to any one of claims 1 to 4, wherein: in the combined IO mode, part or all of feedback signals fed back to the PLC are fed back through independent IO points, and the feedback signals at least comprise alarm or fault signals, enable completion signals, origin confirmation completion signals and point location completion signals.
8. A yaw motor control system characterized by: comprises that
The command determination unit is used for receiving a deflection control command sent by the PLC and determining an IO (input/output) combination value corresponding to the deflection control command, wherein the IO combination value is a decimal number or a hexadecimal number obtained by carrying out binary conversion on binary numbers determined according to the on-off state of part or all IO points of the driver according to a set sequence;
the instruction calling unit is used for calling the operation parameters in the parameter register corresponding to the IO combined value into the working register;
And the instruction execution unit controls the motor to work according to the operation parameters in the working register.
9. The yaw motor control system of claim 8, wherein: also comprises
And the instruction updating unit is used for abandoning the current operating parameters in the working register and calling the new operating parameters into the working register to control the motor to work when the previous deflection control instruction is not finished and a new deflection control instruction is received.
10. A readable storage medium, characterized in that: which stores the above-mentioned yaw motor control system to execute any of the above-mentioned yaw motor control methods.
11. The deflection equipment comprises a controller, a motor and a driver, wherein the driver comprises the system for executing the deflection motor control method.
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| CN202010607489.4A CN111865168A (en) | 2020-06-29 | 2020-06-29 | Control method, control system, readable storage medium and deflection apparatus for deflection motor |
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| CN202010607489.4A CN111865168A (en) | 2020-06-29 | 2020-06-29 | Control method, control system, readable storage medium and deflection apparatus for deflection motor |
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