CN113014177B - Motor position and torque control method - Google Patents
Motor position and torque control method Download PDFInfo
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- CN113014177B CN113014177B CN202110257736.7A CN202110257736A CN113014177B CN 113014177 B CN113014177 B CN 113014177B CN 202110257736 A CN202110257736 A CN 202110257736A CN 113014177 B CN113014177 B CN 113014177B
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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
- H02P23/20—Controlling the acceleration or deceleration
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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
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P23/16—Controlling the angular speed of one shaft
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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 motor position and torque control method, which comprises the following steps: step S1, planning an operation curve of a motor-driven actuator approaching a target object and maintaining pressure in a driver: the method comprises the steps that a motor driving actuator is made to be in a position mode, a plurality of parameters are set through an upper controller, the torque limit of the motor driving actuator is set to be a default torque limit within the width range of a high-speed approaching interval, so that the motor driving actuator can move at a high speed, the motor driving actuator is controlled to decelerate to a landing speed and enter the width range of a landing area at the end of the width range of the high-speed approaching interval, and the landing speed is smaller than the high-speed approaching speed; and S2, planning an operation curve of the motor drive actuator for disengaging from and returning to the initial position in the driver. The invention can effectively shorten the action time, avoid the impact of high-speed moving inertia on the contact and realize the accurate control on the contact pressure.
Description
Technical Field
The invention relates to a motor control method, in particular to a motor position and torque control method.
Background
In the production process of semiconductor, electronic and other related equipment, a large number of stations require a motor to drive an actuator to rapidly move for a short distance and then contact with a target object, and meanwhile, a certain pressure is kept, and then the actuator returns to an initial position. In order to improve production efficiency, it is desirable to move earlier as fast as possible, and to establish a soft and controllable pressure after contact so as not to damage the target.
In some conventional technical means, a stepping motor is used to drive an actuator, a proximity switch is placed in front of a target, a controller sends a high-speed pulse to drive the stepping motor, when a proximity switch signal is detected, the sending of the high-speed pulse is stopped immediately, a certain number of pulses with lower speed are sent instead, the actuator is stopped after slowly contacting the target, and contact pressure is generated by arranging a mechanical structure such as a spring on the actuator. This solution has the following problems:
1. the connection between the high-speed section and the low-speed section is not soft, and the mechanical shaking is large;
2. the position of the proximity switch needs to be set according to the height difference of the target object, and the efficiency is wasted only by taking the highest target object as the reference for the condition of continuously contacting the target objects with different heights;
3. the contact pressure is generated by the spring structure and cannot be precisely controlled.
In addition, some schemes use a servo motor to drive an actuator, so that the motor operates in a position mode, a positioning command is operated to enable the actuator to move quickly and contact with a target object, and the contact pressure with the target object is controlled by setting a torque limit in the whole operation process. This solution has the following problems:
1. at the moment when the actuator is contacted with the target object, due to the existence of inertia, the actual pressure has a large overshoot, and the target object can be damaged;
2. in the acceleration and deceleration stage, the motor is required to output a large torque because acceleration is generated. Torque limitation lengthens the acceleration and deceleration time, reducing efficiency.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a motor position and torque control method which can effectively shorten the action time, avoid the impact of high-speed moving inertia on a contact point and realize accurate control on contact pressure, aiming at the defects of the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme.
A motor position and torque control method is realized based on an upper controller, a driver and a motor drive actuator, and comprises the following steps: s1, planning an operation curve of the motor-driven actuator approaching a target object and maintaining pressure in the driver: setting a plurality of parameters including high-speed approaching interval width, landing area width, landing speed, initial landing torque limit and final landing torque limit by the upper controller, setting the torque limit of the motor drive actuator as default torque limit within the high-speed approaching interval width range to enable the motor drive actuator to move at a high speed, and controlling the motor drive actuator to decelerate to the landing speed and enter the landing area width range at the ending section of the high-speed approaching interval width range, wherein the landing speed is less than the high-speed approaching speed; s2, planning an operation curve of the motor drive actuator for disengaging from and returning to the initial position in the driver: the motor driving actuator is enabled to be in a position mode, a plurality of parameters including a disengaging point coordinate, an initial position coordinate, a disengaging speed and a high-speed returning speed are set through the upper controller, the rotating speed of the motor is set to be the disengaging speed in an interval of running with the disengaging point coordinate as a target position, the motor driving actuator is enabled to be slowly disengaged from a target object, after the motor driving actuator runs to the position of the disengaging point coordinate, the motor driving actuator enters a high-speed returning interval, in the high-speed returning interval, the motor driving actuator accelerates to the high-speed returning speed, finally decelerates and stops at the initial position, and the disengaging speed is smaller than the returning speed.
Preferably, in step S1, the parameters set by the upper controller further include a high-speed approach speed, an acceleration/deceleration time, and a default torque limit.
Preferably, in step S1, after the motor drive actuator enters the landing zone, the torque limit of the motor drive actuator is set by a landing initial torque limit and a landing end torque limit.
Preferably, in step S1, after the motor-driven actuator enters the landing zone, if the motor-driven actuator is already in contact with the target object, the output torque of the motor is increased until the torque limit value is reached, and the torque limit value is set through mechanical conversion, so as to control the contact pressure.
Preferably, in step S1, the torque limit calculation formula of the motor-driven actuator in the landing zone is:
compared with the prior art, the motor position and torque control method has the advantages that firstly, the whole process of the method adopts a position control mode, and the motor moves at a high speed according to a set distance in a high-speed approaching section, so that the action time is shortened; secondly, the invention decelerates to the set landing speed at the end of the high-speed approach section to avoid the impact of the high-speed moving inertia on the contact; thirdly, in the landing stage, the feedback current of the motor is monitored and converted into pressure, and the pressure is accurately controlled; in addition, in the return stage, the invention firstly separates from the contact with the target object at low speed and then returns to the initial position at high speed, and the action is soft, thereby better meeting the application requirements.
Drawings
FIG. 1 is a schematic diagram of a position and torque control curve of a motor driven actuator approaching a target.
FIG. 2 is a schematic view of a position control curve for the motor-driven actuator returning to an initial position after disengaging from the target object.
FIG. 3 is a schematic diagram of a flying probe testing mechanism according to an exemplary embodiment of the present invention.
Detailed Description
The invention is described in more detail below with reference to the figures and examples.
The invention discloses a motor position and torque control method, which is realized based on an upper controller, a driver and a motor drive actuator and comprises the following steps:
step S1, planning an operation curve of the motor-driven actuator approaching a target object and maintaining pressure in the driver: setting a plurality of parameters including high-speed approaching interval width, landing area width, landing speed, initial landing torque limit and final landing torque limit by the upper controller, setting the torque limit of the motor drive actuator as default torque limit within the high-speed approaching interval width range to enable the motor drive actuator to move at a high speed, and controlling the motor drive actuator to decelerate to the landing speed and enter the landing area width range at the ending section of the high-speed approaching interval width range, wherein the landing speed is less than the high-speed approaching speed;
s2, planning an operation curve of the motor drive actuator for disengaging from and returning to the initial position in the driver: the motor driving actuator is enabled to be in a position mode, a plurality of parameters including a disengaging point coordinate, an initial position coordinate, a disengaging speed and a high-speed returning speed are set through the upper controller, the rotating speed of the motor is set to be the disengaging speed in an interval of running with the disengaging point coordinate as a target position, the motor driving actuator is enabled to be slowly disengaged from a target object, after the motor driving actuator runs to the position of the disengaging point coordinate, the motor driving actuator enters a high-speed returning interval, in the high-speed returning interval, the motor driving actuator accelerates to the high-speed returning speed, finally decelerates and stops at the initial position, and the disengaging speed is smaller than the returning speed.
Further, in step S1, the parameters set by the upper controller further include a high-speed approach speed, an acceleration/deceleration time, and a default torque limit.
In addition, in step S1, after the motor drive actuator enters the landing zone, the torque limit of the motor drive actuator is set by the initial landing torque limit and the end landing torque limit.
In step S1 of this embodiment, after the motor-driven actuator enters the landing zone, if the motor-driven actuator is already in contact with the target object, the output torque of the motor is increased until the torque limit value is reached, and the torque limit value is set through mechanical conversion, so as to control the contact pressure.
And planning an operation curve for approaching and maintaining the pressure of the motor-driven actuator in the driver for the step S1. The motor is in a position mode, and the upper controller sets parameters such as high-speed approaching interval width, landing zone width, high-speed approaching speed, landing speed, acceleration and deceleration time, default torque limit, initial landing torque limit, and ending landing torque limit. The positioning with the aim of high-speed approaching interval width is firstly carried out, the interval is the interval in which the motor drives the actuator to move at a high speed, and in the interval, the torque limit of the motor is the default torque limit, so that the large torque requirement in the acceleration and deceleration process can be met. In the final section of the high-speed approach section, the motor is decelerated to the landing speed, the motor enters the landing section of the second section, the motor drives the actuator to move at a set lower speed in the section, the torque limit is also set by the initial landing torque limit and the ending landing torque limit, and in the section, if the actuator is already in contact with the target object, the output torque of the motor can be increased and finally reaches the torque limit value. By simple mechanical conversion, the contact pressure can be controlled by setting the torque limit.
For step S2, an operating curve of the motor-driven actuator out of the initial position and back to the initial position is planned in the drive. The motor is in a position mode, and the upper controller sets parameters such as a disengaging point coordinate, an initial position coordinate, a disengaging speed, a high-speed returning speed, acceleration and deceleration time, default torque limit and the like. Firstly, the separation point coordinate is used as a target position for operation, in the interval, the rotating speed of the motor is the separation speed, and the lower separation speed is set, so that the actuator can be separated from the target object softly. And after the vehicle runs to the position of the coordinate of the departure point, the vehicle enters a high-speed return interval of a second section, and in the interval, the motor drives the actuator to accelerate to a higher return speed, and finally decelerates and stops at the initial position.
The technical scheme can be applied to the occasions that the motor drives the actuator to rapidly move for a certain distance and then contact with a target object, and the actuator returns to the initial position after keeping a certain pressure, and the specific application mode refers to the following embodiments.
Example one
In this embodiment, a structure of a flying probe testing mechanism is provided, please refer to fig. 3, in which a belt pulley is driven by a servo motor, and an actuator is fixed on the belt pulley and can reciprocate up and down. A spring is arranged between the actuator and the upper fixing structure, so that the actuator is ensured to be in a recycling position when the system is not electrified. The lower target is fixed on a two-dimensional positioning platform. The flow of executing one action is as follows: firstly, the two-dimensional positioning platform moves in the X-Y direction to enable a tested target object to move to the actuator, namely the position below a test probe, then the motor drives the actuator to move downwards to enable the probe to be in contact with the target object, certain pressure is kept for a period of time, and then the probe returns to an initial position.
Please refer to the schematic diagram of the approaching target position and torque control curve of the motor-driven actuator shown in fig. 1. The driver receives control parameters of the upper controller, including high-speed approaching interval width, landing zone width, high-speed approaching speed, landing speed, acceleration and deceleration time, default torque limit, initial landing torque limit, ending landing torque limit and the like. Based on these parameters, an operating curve for the motor driven actuator to approach and maintain pressure is planned.
The motor is in a position mode, positioning for the purpose of high-speed approaching of the interval width is firstly carried out, the interval is the interval in which the motor drives the actuator to move at a high speed, and in the interval, the torque limit of the motor is the default torque limit, so that the large torque requirement in the acceleration and deceleration process can be met. And in the ending section of the high-speed approaching section, the motor decelerates to the landing speed and enters the landing section of the second section.
During the landing interval, the motor drives the actuator to move at a set lower speed, and the torque limit is set by a landing initial torque limit and a landing end torque limit. In the landing interval, if the actuator is already in contact with the target object, the output torque of the motor is increased and finally reaches the torque limit value. The contact pressure can be controlled by setting a reasonable torque limit value through simple mechanical conversion.
In order to achieve the desired control effect, a precise control of the pressure in the landing zone is desired, for which purpose the tension of the spring must be accurately compensated. The torque limit value is obtained as follows:
the torque limit in the landing zone is determined by two parameters of initial landing torque limit and ending landing torque limit and the distance entering the landing zone, and the calculation formula is as follows:
the tension of the spring is in direct proportion to the stretching length, and by measuring the tension at the initial position and the end position of the landing zone, reasonable values of two parameters of Liu Chushi torque limit and landing end torque limit which need to be superposed for completely compensating the tension of the spring can be obtained. Then:
landing initial torque limit = landing zone initial position equivalent torque + target torque.
Landing ending torque limit = landing zone ending position equivalent torque + target torque.
Please refer to fig. 2, which illustrates a schematic diagram of a position control curve of the motor-driven actuator returning to the initial position after disengaging from the target object. The motor is in a position mode, and the upper controller sets parameters such as a disengaging point coordinate, an initial position coordinate, a disengaging speed, a high-speed returning speed, acceleration and deceleration time, default torque limit and the like.
And (3) absolute position positioning is carried out, the separation point coordinate is taken as a target position to operate, in the interval, the rotating speed of the motor is taken as a separation speed, and a lower separation speed is set, so that the actuator can be separated from the target object softly. After the vehicle runs to the position of the coordinate of the departure point, the vehicle enters a high-speed return interval of a second section, and in the interval, the motor drives the actuator to accelerate to a higher return speed, and finally the vehicle decelerates and stops at the initial position.
Compared with the prior art, the motor position and torque control method has the advantages that firstly, the whole process of the method adopts a position control mode, and the motor moves at a high speed according to a set distance in a high-speed approaching section, so that the action time is shortened; secondly, the invention decelerates to the set landing speed at the end of the high-speed approach section to avoid the impact of the high-speed moving inertia on the contact; thirdly, in the landing stage, the feedback current of the motor is monitored and converted into pressure, and the pressure is accurately controlled; in addition, in the return stage, the invention firstly separates from the contact with the target object at low speed and then returns to the initial position at high speed, and the action is soft, thereby better meeting the application requirements.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the technical scope of the present invention should be included in the scope of the present invention.
Claims (1)
1. A motor position and torque control method is characterized in that the control method is realized based on an upper controller, a driver and a motor driving actuator, and the control method comprises the following steps:
s1, planning an operation curve of the motor-driven actuator approaching a target object and maintaining pressure in the driver: setting a plurality of parameters including high-speed approaching interval width, landing area width, landing speed, initial landing torque limit and final landing torque limit by the upper controller, setting the torque limit of the motor drive actuator as default torque limit within the high-speed approaching interval width range to enable the motor drive actuator to move at a high speed, and controlling the motor drive actuator to decelerate to the landing speed and enter the landing area width range at the ending section of the high-speed approaching interval width range, wherein the landing speed is less than the high-speed approaching speed;
s2, planning an operation curve of the motor drive actuator for disengaging from and returning to an initial position in the driver: setting a plurality of parameters including a disengaging point coordinate, an initial position coordinate, a disengaging speed and a high-speed returning speed by the upper controller, setting the rotating speed of the motor as the disengaging speed in an interval running by taking the disengaging point coordinate as a target position, slowly disengaging the motor-driven actuator from a target object, entering the high-speed returning interval by the motor-driven actuator after the motor-driven actuator runs to the position of the disengaging point coordinate, accelerating the motor-driven actuator to the high-speed returning speed in the high-speed returning interval, and finally decelerating and stopping at the initial position, wherein the disengaging speed is less than the returning speed;
in the step S1, the parameters set by the upper controller further include a high-speed approaching speed, an acceleration/deceleration time, and a default torque limit;
in the step S1, after the motor-driven actuator enters the landing zone, the torque limit of the motor-driven actuator is set by the initial landing torque limit and the end landing torque limit;
in the step S1, after the motor-driven actuator enters the landing zone, if the motor-driven actuator has already contacted the target object, the output torque of the motor is increased until reaching the actual torque limit value, and the landing end torque limit and the landing initial torque limit are set through mechanical conversion, so as to control the contact pressure;
in step S1, a calculation formula of an actual torque limit value of the motor drive actuator in the landing zone is:
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| CN202110257736.7A CN113014177B (en) | 2021-03-09 | 2021-03-09 | Motor position and torque control method |
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| CN202110257736.7A CN113014177B (en) | 2021-03-09 | 2021-03-09 | Motor position and torque control method |
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| CN113014177B true CN113014177B (en) | 2022-11-08 |
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| JPH0897590A (en) * | 1994-09-28 | 1996-04-12 | Sanyo Denki Co Ltd | Method and device for automatically pressing object against another object |
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| EP2830209A1 (en) * | 2012-03-19 | 2015-01-28 | Kabushiki Kaisha Yaskawa Denki | Motor control device |
| CN106059414A (en) * | 2015-04-09 | 2016-10-26 | 美蓓亚株式会社 | Drive controller of instrument |
| CN107534411A (en) * | 2016-04-22 | 2018-01-02 | 三菱电机株式会社 | Control device of electric motor |
| CN108762117A (en) * | 2018-05-22 | 2018-11-06 | 北京因时机器人科技有限公司 | A kind of servo-driver control method and device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002199758A (en) * | 2000-12-28 | 2002-07-12 | Canon Inc | Vibration type actuator controller |
| KR20190031778A (en) * | 2017-09-18 | 2019-03-27 | 콘티넨탈 오토모티브 게엠베하 | Apparatus and method for controlling motor of variable charge motion actuator |
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- 2021-03-09 CN CN202110257736.7A patent/CN113014177B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0897590A (en) * | 1994-09-28 | 1996-04-12 | Sanyo Denki Co Ltd | Method and device for automatically pressing object against another object |
| CN102522944A (en) * | 2011-12-29 | 2012-06-27 | 一重集团大连设计研究院有限公司 | Servo-motor acceleration-deceleration control method for servo pressure machine |
| EP2830209A1 (en) * | 2012-03-19 | 2015-01-28 | Kabushiki Kaisha Yaskawa Denki | Motor control device |
| CN106059414A (en) * | 2015-04-09 | 2016-10-26 | 美蓓亚株式会社 | Drive controller of instrument |
| CN107534411A (en) * | 2016-04-22 | 2018-01-02 | 三菱电机株式会社 | Control device of electric motor |
| CN108762117A (en) * | 2018-05-22 | 2018-11-06 | 北京因时机器人科技有限公司 | A kind of servo-driver control method and device |
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