CN113037018A - Closed-loop stepping module system with linear encoder and control method thereof - Google Patents
Closed-loop stepping module system with linear encoder and control method thereof Download PDFInfo
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- CN113037018A CN113037018A CN201911349254.3A CN201911349254A CN113037018A CN 113037018 A CN113037018 A CN 113037018A CN 201911349254 A CN201911349254 A CN 201911349254A CN 113037018 A CN113037018 A CN 113037018A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims description 7
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 6
- 229910052782 aluminium Inorganic materials 0.000 claims description 6
- 239000000696 magnetic material Substances 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 description 8
- 230000004044 response Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K37/00—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors
- H02K37/24—Structural association with auxiliary mechanical devices
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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
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
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- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention relates to a closed-loop stepping module system with a linear encoder and a control method thereof, wherein the system comprises a motor driver, a motor controller, a motor mounting bracket, a base, a stepping motor, a screw rod, a nut, a guide rail and a load sliding block, wherein the stepping motor, the screw rod, the nut, the guide rail and the load sliding block are respectively mounted on the motor mounting bracket and the base, the motor controller is connected with the stepping motor through the motor driver, the stepping motor is in transmission connection with the nut through the screw rod, the nut drives the load sliding block to move on the guide rail, the system also comprises a linear encoder magnetic stripe and a linear encoder module, the linear encoder magnetic stripe is mounted on the inner side walls of the motor mounting bracket and the shell of the base, and the linear encoder module is arranged. Compared with the prior art, the linear stepping module has the advantages that the motion precision of the linear stepping module is greatly improved, and the like.
Description
Technical Field
The present invention relates to a closed-loop stepping module system and a control method thereof, and more particularly, to a closed-loop stepping module system with a linear encoder and a control method thereof.
Background
The Stepping Motor (Stepping Motor) is often connected with some linear transmission mechanisms, guide rails and the like due to the good low-speed motion response characteristic, is widely applied to various machines and equipment and is used as an actuating mechanism of linear motion to convert a control signal into the linear motion, so that the given distance of the motion of the actuating mechanism is controlled, and the thrust capable of effectively driving a load is generated.
However, this conventional integration and mechanism design has major drawbacks: on one hand, because the stepping motor is usually controlled in an open-loop mode, the problems of step loss, overshoot, locked rotor and the like generated in the motion process of the mechanism are difficult to find, and the dynamic response capability of the open-loop mode is also very low. In addition, because the whole module system has transmission mechanisms such as a screw rod, a nut and a guide rail, the transmission mechanisms are not free from gaps with different degrees, and linear motion accumulated errors with different degrees exist, so that the linear motion precision of the whole system is not high.
Disclosure of Invention
The present invention is directed to overcome the above-mentioned drawbacks of the prior art, and provides a closed-loop stepping module system with a linear encoder and a control method thereof, which can effectively overcome the above-mentioned drawbacks, and greatly improve the precision, the stability and the dynamic response of the system.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a step-by-step module system of closed loop with linear encoder, includes motor drive and motor controller, motor installing support and base and installs step motor, lead screw, nut, guide rail and the load slider on motor installing support and base respectively, motor controller pass through motor drive and be connected with step motor, step motor pass through the lead screw and be connected with the nut transmission, the nut drive the load slider at the guide rail motion, the system still include linear encoder magnetic stripe and linear encoder module, the linear encoder magnetic stripe install on the shell inside wall of motor installing support and base, linear encoder module and linear encoder magnetic stripe set up relatively and be connected with the nut.
Preferably, the motor mounting bracket and the inner side wall of the shell of the base are provided with grooves for mounting magnetic stripes of the linear encoder.
Preferably, the distance between the center of the magnetic strip of the linear encoder positioned by the groove and the center of the encoder module is less than 0.3 mm.
Preferably, the system further comprises an encoder mounting end block, the linear encoder module is embedded in the encoder mounting end block, and the encoder mounting end block is connected with the nut through a nut.
Preferably, the screw rod is a trapezoidal screw rod or a ball screw rod; the nut is a trapezoidal nut or a ball nut.
Preferably, the linear encoder module adopts a magnetic linear sensor chip, and the interior of the magnetic linear sensor chip is formed by a Hall element array.
Preferably, the mounting base of the magnetic stripe of the linear encoder is made of aluminum or other non-magnetic materials; the mounting base of the linear encoder module is made of aluminum or other non-magnetic materials.
Preferably, the variation range of the gap between the linear encoder magnetic strip and the linear encoder module is 0.02-0.2 mm, the flatness of the installation base of the linear encoder magnetic strip is less than 0.15, and the gap tolerance between the linear encoder magnetic strip and the linear encoder module is less than +/-0.1 mm.
In the process of linear motion of the system, a linear encoder module induces a magnetic field signal of a magnetic strip of the linear encoder module, so that real-time position information is fed back to a motor controller or a motor driver, the motor controller or the motor driver forms closed-loop control according to the position signal fed back by the linear encoder module, and the closed-loop control range comprises a speed loop and a position loop.
Preferably, the closed-loop control algorithm adopts a PD or PID control algorithm, dead zone control is added in the PD or PID control algorithm, and the dead zone parameter is measured in an early stage to obtain the dead zone parameter which is most matched with the system.
Compared with the prior art, the invention has the following advantages:
1. the invention greatly improves the motion precision of the linear stepping module, improves the repeated positioning precision from about 0.1mm to within 0.01mm, improves the application precision by one order of magnitude, and brings great value in the fields of consumer electronics, automation and the like.
2. The invention can enable a user to know the running state of the linear motion module in real time in the system motion process, thereby avoiding the problems of step loss, overshoot, locked rotor and the like generated in the motion process of the mechanism.
3. The invention can enable a user to control the speed or the position of the linear module by adopting control strategies such as PD or PID and the like, thereby achieving higher dynamic response, being more stable and avoiding system errors.
4. According to the invention, a dead zone control algorithm is added in PD control, and the dead zone parameter can be measured in an early stage to obtain the dead zone parameter most matched with the system, so that during later control, the problem of transient overshoot and overspeed reaction caused by nonlinearity of a gap in a screw rod transmission system and during starting and stopping of the system can be further eliminated.
Drawings
FIG. 1 is a schematic view of the internal structure of the present invention;
FIG. 2 is a schematic side view of the present invention;
FIG. 3 is a flow chart of PI control according to the present invention;
FIG. 4 is a flow chart of PID control according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
As shown in fig. 1, a closed-loop stepping module system with linear encoder, including motor driver 9 and motor controller 10, motor installing support and base 4 and install step motor 1, lead screw 2, nut 3, guide rail 5 and load slider 6 on motor installing support and base 4 respectively, motor controller 10 be connected with step motor 1 through motor driver 9, step motor 1 be connected with the transmission of nut 3 through lead screw 2, nut 3 drive load slider 6 and move at guide rail 5, the system still include linear encoder magnetic stripe 7 and linear encoder module 8, linear encoder magnetic stripe 7 install on the shell inside wall of motor installing support and base 4, linear encoder module 8 set up and be connected with nut 3 with linear encoder magnetic stripe 7 relatively.
The motor driver 9 and the motor controller 10 can be integrated or can be separated into two parts; and grooves 11 for mounting the magnetic strips 7 of the linear encoder are formed in the inner side walls of the motor mounting bracket and the shell of the base 4. The distance between the center of the groove 11 and the center of the encoder module 8 is less than 0.3mm, and the groove 11 can help to determine the relative position of the magnetic stripe 7 of the linear encoder. Wherein the linear encoder module 8 can slide linearly inside the linear module along the load slide 6 on the guide rail 5.
As shown in fig. 2, the system further comprises an encoder mounting end block 12, the linear encoder module 8 is embedded in the encoder mounting end block 12, and the encoder mounting end block 12 is connected with the nut 3 through two screws.
The screw rod 2 is a trapezoidal screw rod or a ball screw rod; the nut 3 is a trapezoidal nut or a ball nut.
The linear encoder module 8 adopts a magnetic linear sensor chip, and the interior of the linear encoder module is composed of a Hall element array.
The mounting base of the magnetic stripe 7 of the linear encoder is made of aluminum or other non-magnetic materials; the mounting base of the linear encoder module 8 is made of aluminum or other non-magnetic materials.
The linear encoder magnetic stripe is installed on the inside shell inner wall of module, at the relative local installation linear encoder module of magnetic stripe, and guarantees the scope at whole sharp stroke by mechanical structure, linear encoder magnetic stripe 7 and linear encoder module 8 between the clearance variation range be 0.02 ~ 0.2mm, linear encoder magnetic stripe 7's installation base plane degree be less than 0.15, linear encoder magnetic stripe 7 and linear encoder module 8 between the clearance tolerance be less than +/-0.1 mm.
The working principle of the invention is as follows: the controller produces control signal at system's working process, thereby control signal gives drive circuit drive step motor rotatory, and step motor is driven by the driver according to the controller signal, and the rotatory angle of formulating under certain speed drives the rotatory angle of formulating of lead screw simultaneously, drives the nut under given speed, linear motion appointed distance length by the transmission pair simultaneously. The functional goal of the system is that the nut drives the load to perform actual motion under the motion trajectory planning given by the customer, and whether the final system working performance is good depends on the dynamic characteristic of linear motion and the motion precision. In the process of linear motion of the system, the linear encoder module 8 feeds back real-time position information to the motor controller 10 or the motor driver 9 by sensing a magnetic field signal of the magnetic stripe 7 of the linear encoder, and the motor controller 10 or the motor driver 9 forms closed-loop control according to the position signal fed back by the linear encoder module 8, wherein the closed-loop control range comprises a speed ring and a position ring, so that higher control precision and closed-loop control performance are achieved.
The PD closed-loop control algorithm of the present invention is shown in fig. 3, and fig. 4 is another preferred embodiment of PID control algorithm.
Through combining this closed-loop control algorithm with aforementioned step-by-step straight line module system of closed-loop to combining, can adopt the PD algorithm to come control to have gapped nonlinear screw rod system, wherein the setting of blind spot straight line error value sets up according to the traditional clearance of screw-nut system, establishes the screw-nut clearance and is alpha, then the value range of blind spot numerical value beta is: β <0.5 x α;
the setting range of the dead zone filtering (the input signal of the dead zone filtering is Sin, and the output signal is Sout):
therefore, the dead zone control algorithm is added in the PD control, and the dead zone parameters can obtain the dead zone parameters most matched with the system through early measurement, so that the problem of transient overshoot and overspeed reaction caused by nonlinearity of a gap in a screw rod transmission system and starting and stopping of the system can be further solved during later control.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A closed-loop stepping module system with a linear encoder comprises a motor driver (9), a motor controller (10), a motor mounting bracket, a base (4), a stepping motor (1), a screw rod (2), a nut (3), a guide rail (5) and a load sliding block (6) which are respectively mounted on the motor mounting bracket and the base (4), wherein the motor controller (10) is connected with the stepping motor (1) through the motor driver (9), the stepping motor (1) is in transmission connection with the nut (3) through the screw rod (2), the nut (3) drives the load sliding block (6) to move on the guide rail (5), the system is characterized by further comprising a linear encoder magnetic stripe (7) and a linear encoder module (8), the linear encoder magnetic stripe (7) is mounted on the inner side wall of a shell of the motor mounting bracket and the base (4), the linear encoder module (8) is opposite to the linear encoder magnetic strip (7) and is connected with the nut (3).
2. The closed-loop stepping module system with the linear encoder as claimed in claim 1, wherein the motor mounting bracket and the inner side wall of the housing of the base (4) are provided with grooves (11) for mounting the magnetic strips (7) of the linear encoder.
3. Closed loop stepping module system according to claim 2, wherein the center of the linear encoder magnetic strip (7) positioned by the groove (11) is less than 0.3mm from the center of the encoder module (8).
4. The closed-loop stepping module system with the linear encoder as claimed in claim 1, further comprising an encoder mounting end block (12), wherein the linear encoder module (8) is embedded in the encoder mounting end block (12), and the encoder mounting end block (12) is connected with the nut (3) through a nut.
5. The closed-loop stepping module system with the linear encoder as claimed in claim 1, wherein the lead screw (2) is a trapezoidal lead screw or a ball screw; the nut (3) is a trapezoidal nut or a ball nut.
6. The closed-loop stepping module system with the linear encoder as claimed in claim 1, wherein the linear encoder module (8) is a magnetic linear sensor chip, and the interior of the linear encoder module is formed by a Hall element array.
7. The closed-loop stepping module system with the linear encoder as claimed in claim 1, wherein the mounting base of the magnetic stripe (7) of the linear encoder is made of aluminum or other non-magnetic materials; the mounting base of the linear encoder module (8) is made of aluminum or other non-magnetic materials.
8. The closed-loop stepping module system with the linear encoder according to claim 1, wherein the variation range of the gap between the linear encoder magnetic strip (7) and the linear encoder module (8) is 0.02-0.2 mm, the flatness of the installation base of the linear encoder magnetic strip (7) is less than 0.15, and the tolerance of the gap between the linear encoder magnetic strip (7) and the linear encoder module (8) is less than +/-0.1 mm.
9. A control method for the closed-loop stepping module system with the linear encoder as claimed in claim 1, characterized in that in the process of the linear motion of the system, the linear encoder module (8) feeds back real-time position information to the motor controller (10) or the motor driver (9) by sensing the magnetic field signal of the magnetic strip (7) of the linear encoder, the motor controller (10) or the motor driver (9) forms a closed-loop control according to the position signal fed back by the linear encoder module (8), wherein the closed-loop control range comprises a speed loop and a position loop.
10. The method of claim 9, wherein the closed loop control algorithm is a PD or PID control algorithm, and a dead zone control is added to the PD or PID control algorithm, and the dead zone parameter is obtained by an earlier measurement to obtain the dead zone parameter that most closely matches the system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911349254.3A CN113037018A (en) | 2019-12-24 | 2019-12-24 | Closed-loop stepping module system with linear encoder and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911349254.3A CN113037018A (en) | 2019-12-24 | 2019-12-24 | Closed-loop stepping module system with linear encoder and control method thereof |
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| Publication Number | Publication Date |
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| CN113037018A true CN113037018A (en) | 2021-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911349254.3A Pending CN113037018A (en) | 2019-12-24 | 2019-12-24 | Closed-loop stepping module system with linear encoder and control method thereof |
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| CN (1) | CN113037018A (en) |
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- 2019-12-24 CN CN201911349254.3A patent/CN113037018A/en active Pending
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