CN114326502A - Logic control algorithm for dual-channel servo pulse signal - Google Patents
Logic control algorithm for dual-channel servo pulse signal Download PDFInfo
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- CN114326502A CN114326502A CN202111619742.9A CN202111619742A CN114326502A CN 114326502 A CN114326502 A CN 114326502A CN 202111619742 A CN202111619742 A CN 202111619742A CN 114326502 A CN114326502 A CN 114326502A
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Abstract
The invention discloses a double-channel servo pulse signal logic control algorithm, and relates to the technical field of servo control. The invention comprises the following steps: the double-channel carries out double redundancy selection on the displacement feedback acquisition value LWFa of the metering valve of the channel and the B channel acquisition value LWFb received through a 659 bus to obtain the selected displacement feedback LWF1 of the metering valve; performing closed-loop operation according to the metering valve expected value LWF _ dem and the selected metering valve displacement feedback LWF1 to obtain a current value; and carrying out integral equalization operation on the integral between the two channels. According to the invention, dual-redundancy selection is carried out through the displacement feedback acquisition value of the channel and the displacement feedback acquisition value of the opposite channel, fault tolerance is enhanced, any one channel acquisition value fails, the acquisition value of the other channel can be adopted for calculation, switching of the channels is not needed, and the speed of fault degradation is reduced.
Description
Technical Field
The invention belongs to the technical field of servo control, and particularly relates to a dual-channel servo pulse signal logic control algorithm.
Background
The development of industrial automation puts higher demands on the precision and the performance of a transmission system. The servo driving system has the advantages of accurate positioning, high rotating speed precision, large rotating speed adjustable range, stable torque, quick acceleration and compact appearance, and is more and more widely applied to the numerical control fields of numerical control machines and industrial robots which require high-precision positioning. The servo drive technology is one of the key technologies for controlling numerical control machines, industrial robots and other industrial machines, and is generally concerned at home and abroad. The servo system takes the position and the speed as control objects, is a key part for connecting the numerical control device and the mechanical body, receives a feeding pulse command signal sent by the numerical control device, and drives the numerical control equipment to realize the required movement through a servo motor after signal conversion and power amplification.
The control precision of the position and the speed is the core value of a servo system and is one of the most important technical indexes for measuring a numerical control system. Over the years, servo motor and servo driver manufacturers have performed technology upgrading and innovation without leaving much effort, and have achieved fruitful results. However, the numerical control system is divided into three links of algorithm calculation, data transmission and mechanical execution, the servo motor and the servo driver are only one mechanical execution link of the numerical control system, and the performance of the whole numerical control system is improved by ensuring the performance of each link. At present, the ring for data transmission is a relatively weak ring, and the improvement of the system performance and the precision is restricted.
In data transmission, most of the numerical control systems adopt a data bus for data transmission and then are processed by the MCU, and the obtained specific commands are sent to the FPGA to generate various paths of servo pulses, and then are sent to the servo driver after level conversion so as to control the system to operate in a fixed period. The servo driver acts according to the received pulse, and because the control period is fixed, the uniformity of pulse transmission is important to ensure the uniform coordination of the servo driver, and the non-uniformity of the pulse in the period can seriously affect the smoothness of the servo action and the synchronization between the servos. In a general method, an MCU (microprogrammed control Unit) is difficult to output uniform servo pulses, so that an FPGA (field programmable gate array) is added to assist in generating and distributing pulses. Although the FPGA realizes the uniformity of pulse distribution, the links and time delay of the system are increased, the weak loop of output transmission is lengthened, and the performance improvement of the system and the cost increase are influenced.
Disclosure of Invention
The invention aims to provide a dual-channel servo pulse signal logic control algorithm, which is characterized in that a servo controller is controlled through a dual-channel servo pulse signal, dual-redundancy selection is carried out on a displacement feedback acquisition value of a channel and a displacement feedback acquisition value of an opposite channel, and the problems of low data transmission capability and high cost of the conventional system are solved.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a dual-channel servo pulse signal logic control algorithm, which comprises the following steps:
step S1: the channel A performs double redundancy selection on the displacement feedback acquisition value LWFa of the metering valve of the channel and the acquisition value LWFb of the channel B received through a 659 bus to obtain the selected displacement feedback LWF1 of the metering valve;
step S2: performing closed-loop operation according to the expected value LWF _ dem of the metering valve and the selected displacement feedback LWF1 of the metering valve to obtain a current value Ia；
Step S3: the channel B performs double redundancy selection on the displacement feedback acquisition value LWFb of the metering valve of the channel and the acquisition value LWFa of the channel A received through a 659 bus to obtain the selected displacement feedback LWF2 of the metering valve;
step S4: performing closed-loop operation according to the expected value LWF _ dem of the metering valve and the selected displacement feedback LWF1 of the metering valve to obtain a current value Ib；
Step S5: integral equalization operation is carried out on the integral between the two channels;
step S6: setting parameters of each channel, including output polarity, phase shift Ps, turnover coefficient K and output pulse number, and outputting control pulses required by servo by setting the 4 channel parameters; meanwhile, counting the number of steps and clearing, and initializing GPIO according to the polarity of a channel;
step S7: judging whether the step counting is equal to the total number of steps, if so, entering a step g, otherwise, executing other tasks by the MCU, and entering an interrupt task after waiting for a step time T;
step S8: and ending the current control period and entering the next period.
As a preferred technical solution, in steps S1 to S4, the channel a and the channel B respectively employ two servo control modules for servo loop control law calculation and current output, the electro-hydraulic servo valve with dual coils is used as an electro-hydraulic conversion device of the actuator, and the displacement sensor with dual coils is used to collect displacement feedback of the actuator.
As a preferable technical scheme, a coil a of the servo valve and a coil a of the metering valve displacement sensor are connected to a servo control module A; the B coil of the servo valve and the B coil of the metering valve displacement sensor are connected to a servo control module B.
As a preferred technical solution, the servo control module a can only control the coil a of the electrohydraulic servo valve and is marked as channel a, and the servo control module B can only control the coil B of the electrohydraulic servo valve and is marked as channel B; the servo control module A and the servo control module B are hung on an ARINC659 serial backboard bus and carry out data transmission through the bus.
As a preferred technical solution, in step S5, if the a channel and the B channel are both normal, the current I calculated by the a channel is usedaHalf of IWFa is output to a loop of the servo valve, and the current I calculated by the channel BbHalf of the IWFb is output to a coil b of the servo valve, and main fuel control is realized by simultaneously controlling a coil a and the coil b of the electro-hydraulic servo valve; otherwise, if the channel A has a fault, outputting the current obtained by the calculation of the channel B to a coil B of the servo valve, and realizing the control of the main fuel oil by independently controlling the coil B of the electro-hydraulic servo valve; otherwise, if the B channel is in fault, calculating the current I obtained by the A channelaThe control signal is output to an a coil of a servo valve, and main fuel control is realized by independently controlling the a coil of the electro-hydraulic servo valve; otherwise, the current output is turned off.
As a preferable technical solution, in the step S6, the method for calculating the inversion coefficient K is: the flip coefficient K is equal to the total number of steps divided by 2 times of the number of output pulses set for the channel, and only the integer result is retained.
As a preferable technical solution, in the step S6, initializing GPIOs according to the channel polarities specifically includes: if the output polarity of the channel is positive, the GPIO is initially at a low level, otherwise, the GPIO is initially at a high level.
As a preferable technical solution, in the step S7, the query is interrupted to determine whether each channel needs to be level-reversed at that time, and the determination method is to determine whether each channel reversal coefficient K can divide the sum of the current step count Cs and the phase shift Ps of the corresponding channel, and if so, the level reversal is needed, otherwise, the level reversal is not needed.
The invention has the following beneficial effects:
(1) according to the invention, dual-redundancy selection is carried out through the displacement feedback acquisition value of the channel and the displacement feedback acquisition value of the opposite channel, fault tolerance is enhanced, any one channel acquisition value fails, the acquisition value of the other channel can be adopted for calculation, switching of the channels is not needed, and the speed of fault degradation is reduced.
(2) When the channel A or the channel B fails to work normally, the other channel is always controlled in the failure confirmation period, so that the disturbance caused by channel switching is reduced. In addition, the dual-redundancy selection algorithm is adopted to select the displacement feedback acquisition, so that the disturbance influence of the dual-redundancy signal acquisition difference of the sensor on the channel switching is avoided.
(3) According to the invention, the integral equalization processing is carried out on the integral pre-value of the servo calculation, namely, half of the integral pre-value of the channel is added with half of the integral value transmitted by the opposite channel through the 659 bus to be used as the integral pre-value of the channel, so that the synchronism of current calculation of the two channels is ensured, and the servo control performance is improved.
(4) The two channels of the invention work simultaneously, which is beneficial to the online fault diagnosis of each channel.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a servo control module connected to an actuator;
fig. 2 is a schematic diagram of a servo dual-channel cooperative control method.
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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present invention is a dual-channel servo burst signal logic control algorithm, comprising the following steps:
step S1: the channel A performs double redundancy selection on the displacement feedback acquisition value LWFa of the metering valve of the channel and the acquisition value LWFb of the channel B received through a 659 bus to obtain the selected displacement feedback LWF1 of the metering valve;
step S2: performing closed-loop operation according to the expected value LWF _ dem of the metering valve and the selected displacement feedback LWF1 of the metering valve to obtain a current value Ia；
Step S3: the channel B performs double redundancy selection on the displacement feedback acquisition value LWFb of the metering valve of the channel and the acquisition value LWFa of the channel A received through a 659 bus to obtain the selected displacement feedback LWF2 of the metering valve;
step S4: performing closed-loop operation according to the expected value LWF _ dem of the metering valve and the selected displacement feedback LWF1 of the metering valve to obtain a current value Ib；
Step S5: integral equalization operation is carried out on the integral between the two channels;
step S6: setting parameters of each channel, including output polarity, phase shift Ps, turnover coefficient K and output pulse number, and outputting control pulses required by servo by setting the 4 channel parameters; meanwhile, counting the number of steps and clearing, and initializing GPIO according to the polarity of a channel;
step S7: judging whether the step counting is equal to the total number of steps, if so, entering a step g, otherwise, executing other tasks by the MCU, and entering an interrupt task after waiting for a step time T;
step S8: and ending the current control period and entering the next period.
In steps S1 to S4, the channel a and the channel B respectively employ two servo control modules for servo loop control law calculation and current output, a double-coil electro-hydraulic servo valve is used as an electro-hydraulic conversion device of the actuator, and a double-coil displacement sensor is used to acquire displacement feedback of the actuator.
A coil a of the servo valve and a coil a of the metering valve displacement sensor are connected to a servo control module A; the B coil of the servo valve and the B coil of the metering valve displacement sensor are connected to a servo control module B.
The servo control module A can only control the coil a of the electro-hydraulic servo valve and is marked as a channel A, and the servo control module B can only control the coil B of the electro-hydraulic servo valve and is marked as a channel B; the servo control module A and the servo control module B are hung on an ARINC659 serial backboard bus and carry out data transmission through the bus.
In step S5, if both the a channel and the B channel are normal, the current I calculated from the a channel is usedaHalf of IWFa is output to a loop of the servo valve, and the current I calculated by the channel BbHalf of the IWFb is output to a coil b of the servo valve, and main fuel control is realized by simultaneously controlling a coil a and the coil b of the electro-hydraulic servo valve; otherwise, if the channel A has a fault, outputting the current obtained by the calculation of the channel B to a coil B of the servo valve, and realizing the control of the main fuel oil by independently controlling the coil B of the electro-hydraulic servo valve; otherwise, if the B channel is in fault, calculating the current I obtained by the A channelaThe control signal is output to an a coil of a servo valve, and main fuel control is realized by independently controlling the a coil of the electro-hydraulic servo valve; otherwise, the current output is turned off.
In step S6, the method for calculating the inversion coefficient K is: the flip coefficient K is equal to the total number of steps divided by 2 times of the number of output pulses set for the channel, and only the integer result is retained.
In step S6, initializing GPIOs according to the channel polarities specifically includes: if the output polarity of the channel is positive, the GPIO is initially at a low level, otherwise, the GPIO is initially at a high level.
In step S7, the method of interrupting the query determines whether each channel needs to perform level inversion at that time, where the determination method is to determine whether each channel inversion coefficient K can divide the sum of the current step count Cs and the phase shift Ps of the corresponding channel, and if so, the level inversion is needed, otherwise, the level inversion is not needed.
It should be noted that, in the above system embodiment, each included unit is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
In addition, it is understood by those skilled in the art that all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing associated hardware, and the corresponding program may be stored in a computer-readable storage medium.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (8)
1. A dual-channel servo pulse signal logic control algorithm is characterized by comprising the following steps:
step S1: the channel A performs double redundancy selection on the displacement feedback acquisition value LWFa of the metering valve of the channel and the acquisition value LWFb of the channel B received through a 659 bus to obtain the selected displacement feedback LWF1 of the metering valve;
step S2: performing closed-loop operation according to the expected value LWF _ dem of the metering valve and the selected displacement feedback LWF1 of the metering valve to obtain a current value Ia；
Step S3: the channel B performs double redundancy selection on the displacement feedback acquisition value LWFb of the metering valve of the channel and the acquisition value LWFa of the channel A received through a 659 bus to obtain the selected displacement feedback LWF2 of the metering valve;
step S4: performing closed-loop operation according to the expected value LWF _ dem of the metering valve and the selected displacement feedback LWF1 of the metering valve to obtain a current value Ib；
Step S5: integral equalization operation is carried out on the integral between the two channels;
step S6: setting parameters of each channel, including output polarity, phase shift Ps, turnover coefficient K and output pulse number, and outputting control pulses required by servo by setting the 4 channel parameters; meanwhile, counting the number of steps and clearing, and initializing GPIO according to the polarity of a channel;
step S7: judging whether the step counting is equal to the total number of steps, if so, entering a step g, otherwise, executing other tasks by the MCU, and entering an interrupt task after waiting for a step time T;
step S8: and ending the current control period and entering the next period.
2. The dual-channel servo pulse signal logic control algorithm as claimed in claim 1, wherein in steps S1 to S4, the channel a and the channel B respectively employ two servo control modules for servo loop control law calculation and current output, a dual-coil electro-hydraulic servo valve is used as an electro-hydraulic conversion device of the actuator, and a dual-coil displacement sensor is used for acquiring displacement feedback of the actuator.
3. The dual-channel servo pulse signal logic control algorithm as claimed in claim 2, wherein the a coil of the servo valve and the a coil of the metering valve displacement sensor are connected to a servo control module A; the B coil of the servo valve and the B coil of the metering valve displacement sensor are connected to a servo control module B.
4. The dual-channel servo pulse signal logic control algorithm of claim 3, wherein the servo control module A can only control the a coil of the electro-hydraulic servo valve, which is marked as channel A, and the servo control module B can only control the B coil of the electro-hydraulic servo valve, which is marked as channel B; the servo control module A and the servo control module B are hung on an ARINC659 serial backboard bus and carry out data transmission through the bus.
5. The dual channel servo burst signal logic control algorithm as claimed in claim 1, wherein in step S5, if the a channel and the B channel are both normal, the current I calculated by the a channel is calculatedaHalf of IWFa is output to a loop of the servo valve, and the current I calculated by the channel BbHalf of the IWFb is output to a coil b of the servo valve, and main fuel control is realized by simultaneously controlling a coil a and the coil b of the electro-hydraulic servo valve; otherwise, if the channel A has a fault, outputting the current obtained by the calculation of the channel B to a coil B of the servo valve, and realizing the control of the main fuel oil by independently controlling the coil B of the electro-hydraulic servo valve; otherwise, if the B channel is in fault, calculating the current I obtained by the A channelaThe control signal is output to an a coil of a servo valve, and main fuel control is realized by independently controlling the a coil of the electro-hydraulic servo valve; otherwise, the current output is turned off.
6. The dual channel servo burst signal logic control algorithm of claim 1, wherein in step S6, the inversion coefficient K is calculated by: the flip coefficient K is equal to the total number of steps divided by 2 times of the number of output pulses set for the channel, and only the integer result is retained.
7. The dual-channel servo burst signal logic control algorithm of claim 1, wherein the initializing GPIOs according to channel polarities in step S6 is specifically: if the output polarity of the channel is positive, the GPIO is initially at a low level, otherwise, the GPIO is initially at a high level.
8. The dual-channel servo pulse signal logic control algorithm of claim 1, wherein in step S7, the query is interrupted to determine whether each channel needs to perform level inversion at the time, and the determination method is to determine whether each channel inversion coefficient K can divide the sum of the current step count Cs and the phase shift Ps of the corresponding channel, if so, the level inversion is required, otherwise, the level inversion is not required.
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