CN114915223A - Servo control device, method and servo motion system - Google Patents
Servo control device, method and servo motion system Download PDFInfo
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- 230000005489 elastic deformation Effects 0.000 description 4
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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 of the kind having motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/05—Torque loop, i.e. comparison of the motor torque with a torque reference
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a servo control device, a servo control method and a servo motion system, wherein the servo control device is used for controlling a servo motor to drive a motion platform and comprises the following steps: the closed loop assembly, the speed ring and the position ring are sequentially arranged from inside to outside; the position ring is connected with the output end of the servo motor, is configured to measure the position feedback value of the motion platform in real time, and calculates the given speed value based on the given position value and the position feedback value provided by the upper computer; the speed ring is connected with the position ring and the output end of the servo motor, and is configured to measure the speed feedback value of the motion platform in real time and calculate the driving force set value based on the speed set value and the speed feedback value; the closed-loop assembly is connected with the speed loop and is configured to measure a driving force feedback value of the motion platform in real time and control the servo motor to output a target driving force based on the driving force feedback value and a driving force set value, so that a servo control process is consistent with a physical process of the motion platform, and the control precision of the servo control device is improved.
Description
Technical Field
The invention relates to the technical field of manufacturing, in particular to a servo control device, a servo control method and a servo motion system.
Background
In the field of precision manufacturing, a high-precision servo system is generally used to achieve precision output. The existing common servo control system usually adopts a control design scheme based on a current loop, a speed loop and a position loop. The method specifically comprises the following steps: the control of the output force of the driver is realized through a current closed-loop control system, the control of the platform speed is realized through a speed closed-loop control system arranged on the periphery of a current ring, and the control of the platform position is realized through a position closed-loop control system arranged on the periphery of a speed ring. According to the dynamics theory, the process of realizing displacement output of the moving object can be described as 'force → acceleration → speed → displacement', and based on the fact that when the mass of the moving object is unchanged, the force is equivalent to the acceleration, the process can be simplified into 'force → speed → displacement'; the output force of the driver based on the electromagnetic working principle is usually related to the working current thereof, so the working process based on the electromagnetic type driver platform can be rewritten as "current → speed → displacement" to realize the servo motion output.
However, an important prerequisite for the above-described servo control system is that the output force of the drive motor must be accurately correlated with the operating current. However, in an actual working situation, a large error may exist between an actual working process and an ideal working process of the driving motor due to factors such as a magnetic field intensity error and a coil winding error existing in a manufacturing process of the driving motor, which will seriously affect a driving output force of an existing servo control system including a "current loop", that is, a "current → speed → displacement" scheme of the servo control system is inconsistent with a physical process of "acceleration (force) → speed → displacement" of a moving platform, thereby adversely affecting a control accuracy of the servo control system.
Disclosure of Invention
In view of the above, it is necessary to provide a servo control apparatus, a servo control method and a servo motion system to solve the above problems in the background art.
In order to solve the above technical problem, a first aspect of the present application provides a servo control device for controlling a servo motor to drive a motion platform, the servo control device including: the closed loop assembly, the speed ring and the position ring are sequentially arranged from inside to outside;
the position ring is connected with the output end of the servo motor, is configured to measure the position feedback value of the motion platform in real time, and calculates the given speed value based on the given position value and the position feedback value provided by the upper computer;
the speed ring is connected with the position ring and the output end of the servo motor, and is configured to measure a speed feedback value of the motion platform in real time and calculate a driving force set value based on the speed set value and the speed feedback value;
the closed-loop assembly is connected with the speed loop and is configured to measure a driving force feedback value of the motion platform in real time and control the servo motor to output a target driving force based on the driving force feedback value and the driving force given value.
In the servo control device provided in the above embodiment, the closed-loop component is arranged in the inner periphery of the speed ring, the driving force feedback value of the motion platform is measured in real time, the driving force set value output by the speed ring is received, and the servo motor is controlled to output the target driving force according to the driving force feedback value and the driving force set value, so that the servo control process is consistent with the physical process of the rigid-flexible coupling platform, the disturbance of the servo motor caused by the self error is directly and effectively suppressed, the control precision of the servo control device is improved, and the servo control period is shortened.
In one embodiment, the closed loop assembly comprises a first current loop and a force loop which are sequentially arranged from inside to outside;
the force ring is connected with the output end of the speed ring and is configured to calculate the driving force feedback value and the driving force given value to obtain a first current given value;
the first current loop is connected with the output end of the force loop and is configured to measure a first current feedback value of the servo motor in real time and calculate the first current feedback value and the first current given value to obtain the target driving force.
Further, the force ring includes:
the first force sensor is arranged between the motion platform and the servo motor;
a first force adjustment control configured to: the input end is connected with the output end of the speed ring and the first force sensor;
the first current loop includes:
the first current sensor is arranged on a starter connected with the servo motor;
a first current regulation controller configured to: the input end of the first force adjusting controller is connected with the output end of the first force adjusting controller and the first current sensor;
a first power amplifier configured to: the input end is connected with the output end of the first current regulation controller, and the output end is connected with the input end of the servo motor.
In one embodiment, the closed-loop assembly comprises:
the second force sensor is arranged between the motion platform and the servo motor;
a second force adjustment control configured to: the input end of the speed loop is connected with the output end of the speed loop and the second force sensor;
a second power amplifier configured to: the input end of the second force adjusting controller is connected with the output end of the second force adjusting controller, and the output end of the second force adjusting controller is connected with the input end of the servo motor.
In one embodiment, when the mass of the motion platform is not changed, the closed-loop component is further configured to measure an acceleration feedback value of the motion platform in real time, and control the servo motor to output the target driving force based on the acceleration feedback value and the driving force set value.
Furthermore, the closed-loop assembly comprises a second current loop and an acceleration loop which are sequentially arranged from inside to outside;
the acceleration loop is connected with the output end of the speed loop and is configured to calculate the acceleration feedback value and the driving force given value to obtain a second current given value;
the second current loop is connected with the output end of the acceleration loop and is configured to measure a second current feedback value of the servo motor in real time and calculate the second current feedback value and the second current given value to obtain the target driving force.
Further, the acceleration ring includes:
the first acceleration sensor is arranged between the motion platform and the servo motor;
a first acceleration adjustment controller configured to: the input end of the speed loop is connected with the output end of the speed loop and the first acceleration sensor;
the second current loop comprising:
the second current sensor is arranged on the starter connected with the servo motor;
a second current regulation controller configured to: the input end of the first acceleration adjusting controller is connected with the output end of the first acceleration adjusting controller and the second current sensor;
a third power amplifier configured to: the input end of the second current regulation controller is connected with the output end of the second current regulation controller, and the output end of the second current regulation controller is connected with the input end of the servo motor.
In one embodiment, the closed-loop assembly comprises:
the second acceleration sensor is arranged between the motion platform and the servo motor;
the second acceleration adjusting controller is connected with the input end of the speed ring and the second acceleration sensor;
a fourth power amplifier configured to: the input end of the second acceleration adjusting controller is connected with the output end of the second acceleration adjusting controller, and the output end of the second acceleration adjusting controller is connected with the input end of the servo motor.
In one embodiment, the position loop comprises:
the first grating sensor is arranged on the motion platform;
a position adjustment controller configured to: the input end is connected with the upper computer and the first grating sensor;
the speed ring includes:
the second grating sensor is arranged on the motion platform;
a speed adjustment controller configured to: the input end of the position adjusting controller is connected with the output end of the position adjusting controller and the second grating sensor, and the output end of the position adjusting controller is used as the output end of the speed ring.
A second aspect of the present application proposes a servo motion system comprising:
a base;
the moving guide rail is arranged on the base;
a motion platform;
a servo motor;
the servo control device is used for controlling the servo motor to drive the motion platform;
wherein the motion platform performs servo motion along the motion rail.
In the servo motion system provided in the above embodiment, a base, a motion guide rail, a servo motor, a motion platform, and the servo control device as described above are provided, where the motion guide rail is disposed on the base, and the servo control device is configured to control the motion platform to execute a servo motion along the motion guide rail, so that a servo control process is consistent with a physical process of the rigid-flexible coupling platform, directly and effectively suppress disturbance of the servo motor due to self error, improve control accuracy of the servo control device, and accelerate a servo control period.
A third aspect of the present application provides a servo control method, including:
the control position ring measures the position feedback value of the motion platform in real time, and the given speed value is obtained through calculation based on the given position value provided by the upper computer and the position feedback value;
controlling a speed loop to measure a speed feedback value of the motion platform in real time, and calculating a driving force set value based on the speed set value and the speed feedback value;
and the control closed-loop assembly measures a driving force feedback value of the motion platform in real time and controls the servo motor to output a target driving force based on the driving force feedback value and the driving force set value.
In the servo control method provided in the above embodiment, the position feedback value of the motion platform is measured in real time by sequentially controlling the position loop, and the speed set value is calculated based on the position set value and the position feedback value provided by the upper computer; controlling a speed ring to measure a speed feedback value of the motion platform in real time, and calculating to obtain a driving force set value based on the speed set value and the speed feedback value; the control closed-loop assembly measures a driving force feedback value of the motion platform in real time, and controls the servo motor to output a target driving force based on the driving force feedback value and a driving force set value, so that a servo control process is consistent with a physical process of the rigid-flexible coupling platform, disturbance of the servo motor caused by self errors is directly and effectively inhibited, the control precision of the servo control device is improved, and a servo control period is accelerated.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain drawings of other embodiments based on these drawings without any creative effort.
FIG. 1 is a schematic circuit diagram of a servo control apparatus according to an embodiment of the present disclosure;
FIG. 2 is a schematic circuit diagram of a servo control device according to another embodiment of the present application;
FIG. 3 is a schematic circuit diagram of a servo control device according to another embodiment of the present disclosure;
FIG. 4 is a schematic circuit diagram of a servo control device according to another embodiment of the present disclosure;
FIG. 5 is a schematic circuit diagram of a servo control device according to another embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a servo motion system according to an embodiment of the present application, in which fig. 6 (a) is a side view of the servo motion system, and fig. 6 (b) is a top view of the servo motion system;
FIG. 7 is a flowchart illustrating a servo control method according to an embodiment of the present application;
fig. 8 is a flowchart illustrating a servo control method according to another embodiment of the present application.
Description of the reference numerals: 1. a base; 2. a motion platform; 3. a guide rail; 4. a servo motor; 5. an upper computer;
10. a position ring; 11. a position adjustment controller;
20. a speed loop; 21. a speed adjustment controller;
30. a closed loop assembly; 310. a force ring; 311. a first force sensor; 312. a first force adjustment control;
320. a first current loop; 321. a first current regulation controller; 322. a first power amplifier;
31. a second force adjustment control; 32. a second power amplifier;
330. an acceleration ring; 331. a first acceleration sensor; 332. a first acceleration adjustment controller;
340. a second current loop; 341. a second current regulation controller; 342. a third power amplifier;
33. a second acceleration adjustment controller; 34. and a fourth power amplifier.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are illustrated in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Where the terms "comprising," "having," and "including" are used herein, another element may be added unless an explicit limitation is used, such as "only," "consisting of … …," or the like. Unless mentioned to the contrary, terms in the singular may include the plural and are not to be construed as being one in number.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present application.
In this application, unless otherwise expressly stated or limited, the terms "connected" and "coupled" are to be construed broadly and encompass, for example, direct and indirect coupling via an intermediary, and communication between two elements or an interaction between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In order to explain the technical solution of the present application, the following description will be given by way of specific examples.
Aiming at a rigid-flexible coupling platform, the rigid-flexible coupling platform is mainly used for precise positioning, the displacement of the rigid-flexible coupling platform is the result of the superposition of guide rail displacement and elastic deformation, and the platform solves the problem of static friction compensation when the driving force is smaller than the friction force through the elastic deformation. However, the elastic deformation is proportional to the force, and the fluctuation of the force directly affects the fluctuation of the displacement, so that it is necessary to reduce the fluctuation of the driving force as much as possible. The current of present drive power through servo motor replaces, however, current servo motor magnetic field distribution nonlinearity leads to the uniformity of current servo motor current control mode can't guarantee power, the deviation of drive power appears to lead to the elastic vibration of rigid-flexible coupling platform. Therefore, the invention introduces a closed-loop assembly, the closed-loop assembly comprises a force sensor, and the driving force of the platform is stably controlled by monitoring of the force sensor, so that the accurate control of the elastic displacement of the rigid-flexible coupling platform is realized.
In a servo control device provided in an embodiment of the present application, as shown in fig. 1, the servo control device is configured to control a servo motor 4 to drive a motion platform 2, and the servo control device includes a closed loop assembly 30, a speed loop 20, and a position loop 10, which are sequentially arranged from inside to outside; the position ring 10 is connected with the output end of the servo motor 4; the speed ring 20 is connected with the position ring 10 and the output end of the servo motor 4, and the closed-loop assembly 30 is connected with the speed ring 20.
Specifically, the position loop 10 is configured to measure a position feedback value of the motion platform 2 in real time, and calculate a speed given value based on the position given value and the position feedback value provided by the upper computer 5; the speed loop 20 is configured to measure a speed feedback value of the motion platform 2 in real time and calculate a driving force set value based on the speed set value and the speed feedback value; the closed-loop assembly 30 is configured to measure a driving force feedback value of the motion platform 2 in real time, and control the servo motor 4 to output a target driving force based on the driving force feedback value and a driving force set value, so as to effectively inhibit interference generated by factors such as magnetic field intensity error and coil winding error existing in the manufacturing process of the servo motor 4, and to enable the servo control process to be consistent with the physical process of the motion platform 2.
In the servo control device provided in the above embodiment, the closed loop assembly is arranged in the inner periphery of the speed loop, the driving force feedback value of the motion platform is measured in real time, the driving force set value output by the speed loop is received, and the servo motor is controlled to output the target driving force according to the driving force feedback value and the driving force set value, so that the servo control process is consistent with the physical process of the rigid-flexible coupling platform, the disturbance of the servo motor caused by self error is directly and effectively inhibited, the control precision of the servo control device is improved, and the servo control period is shortened.
In one embodiment, with continued reference to FIG. 1, the position loop 10, the velocity loop 20, and the closed-loop assembly 30 are implemented as a forward path, and the force feedback, the velocity feedback, and the position feedback are implemented as feedback paths, the forward path and the feedback paths forming a closed-loop control system. Wherein the velocity ring 20 is an outer ring of the closed loop assembly 30 and the position ring 10 is an outer ring of the velocity ring 20.
By way of example, the motion platform 2 includes, but is not limited to, a rigid-flexible coupled platform. The rigid-flexible coupled platform comprises a rigid frame, a flexible hinge and a working platform, the rigid frame and the flexible hinge are not shown in the figure. The rigid frame is arranged on a sliding block (not shown in the figure), the working platform is arranged on the rigid frame through a flexible hinge, and the rigid frame and the working platform are respectively provided with a first grating sensor and a second grating sensor.
In one embodiment, when the rigid frame speed is 0 and the target driving force calculated according to the position deviation of the position ring 10 and the rigidity of the flexible hinge is less than the maximum static friction force, that is, the driving force on the moving platform 2 is less than the friction force, the slider does not move, the displacement deviation of the moving platform is compensated by the elastic deformation of the flexible hinge, the servo control loop is from the position ring 10 to the closed loop assembly 30, the speed ring 20 is skipped, and the closed loop assembly 30 provides the target driving force of the moving platform 2 (or slider), so that the deformation of the flexible hinge compensates the displacement deviation, and the precise positioning is realized.
Specifically, when the rigid frame speed is 0 and the target driving force calculated according to the position deviation of the position ring 10 and the rigidity of the flexible hinge is less than the maximum static friction force, the position ring 10 is further configured to calculate a driving force set value based on a position set value and a position feedback value provided by the upper computer 5, the driving force set value is directly transmitted to the closed-loop assembly 30, and the closed-loop assembly 30 controls the servo motor 4 to output the target driving force based on the driving force set value and the driving force feedback value.
It should be noted that, in the control process of the position ring 10, the speed ring 20 and the closed-loop assembly 30, each sensor appearing hereinafter is not turned off, and each sensor measures a corresponding data value in real time.
In one embodiment, the position loop 10, the speed loop 20, and the closed loop assembly 30 each execute a Proportional Integral Derivative (PID) control algorithm; the position loop 10 calculates and calculates a position offset difference according to the position feedback value and the position given value, and performs PID operation on the position offset difference to obtain a speed given value; the speed loop 20 calculates and calculates a speed offset difference according to the speed feedback value and the speed set value, and performs PID operation on the speed offset difference to obtain a driving force set value; the closed loop component 30 calculates and calculates the driving force offset difference according to the driving force feedback value and the driving force set value, and performs PID operation on the driving force offset difference to control the servo motor to output the target driving force, so that the error is greatly eliminated, and the servo control process is always consistent with the physical process of the motion platform 2.
In the above embodiment, the deviation of the position loop 10, the speed loop 20 and the closed loop assembly 30 and the implementation of the PID control algorithm can quickly cancel the interference caused by the error of the servo motor 4, and eliminate the residual error.
As an example, the position given value is provided by a target position command output by the upper computer 5, the position feedback in fig. 1 is a position feedback signal, the position loop 10 receives the position feedback signal, the position feedback signal provides a position feedback value, and the position feedback value is the current position of the motion platform 2; the speed feedback is a speed feedback signal, the speed loop 20 receives the speed feedback signal, the speed feedback signal provides a speed feedback value, and the speed feedback value is the current running speed of the motion platform 2; the closed loop assembly 30 receives a driving force feedback signal that provides a driving force feedback value that is the current driving force of the motion platform 2.
In one embodiment, referring to fig. 2-5, the position ring 10 includes: a first grating sensor (not shown in the figure) and a position adjustment controller 11. The first grating sensor is arranged on the motion platform 2; the position adjustment controller 11 is configured to: the input end is connected with the upper computer 5 and the first grating sensor;
specifically, the first grating sensor is used for measuring a position feedback value of the motion platform 2 in real time and transmitting the position feedback value to the position adjustment controller 11; the position adjusting controller 11 is configured to obtain a position offset difference according to the position feedback value and the position given value provided by the upper computer 5, and perform PID operation according to the position offset difference to obtain a speed given value.
In one embodiment, referring to fig. 2-5, the speed ring 20 includes: a second grating sensor (not shown) and a speed adjustment controller 21. The second grating sensor is arranged on the motion platform 2; the speed adjustment controller 21 is configured to: the input end is connected to both the output end of the position adjustment controller 11 and the second grating sensor, and the output end is used as the output end of the speed loop 20.
In particular, the second grating sensor is used to measure the velocity feedback value of the motion platform 2 in real time.
By way of example, the position adjustment controller 11 and the speed adjustment controller 21 each include, but are not limited to, a PID controller.
As an example, the velocity loop 20 is configured with the velocity controller 21 and the closed-loop assembly 30 as a forward path and the second grating sensor as a feedback path to suppress the acceleration integral error during the "force → velocity" transition in the closed-loop assembly; the position loop 10 is constructed with the velocity loop 20, the position controller 11 as a forward path and the first grating sensor as a feedback path to suppress the velocity integral error in the "velocity → position" conversion process in the velocity loop 20. The servo control precision is improved to the maximum extent by the mode of buckling the ring.
In one embodiment, as shown in fig. 2, the closed loop assembly 30 includes a first current loop 320 and a force loop 310 sequentially arranged from inside to outside; the force ring 310 is connected with the output end of the speed ring 20 and is configured to calculate the driving force feedback value and the driving force given value to obtain a first current given value; the first current loop 320 is connected to the output end of the force loop 310, and is configured to measure a first current feedback value of the servo motor 4 in real time, and calculate the first current feedback value and a first current given value to obtain a target driving force.
Specifically, the first current loop 320 is an inner loop of the force loop 310, and the force loop 310 may include the first current loop 320 with force feedback as a feedback path and the force loop 310 and the first current loop 320 as a forward path. The force loop 310 calculates and calculates a driving force offset difference according to the driving force feedback value and the driving force set value, and performs proportional integral operation on the driving force offset difference to calculate and obtain a first current set value so as to inhibit an output force error caused by a physical error of the servo motor 4 in the first current loop 320; the first current loop 320 performs proportional integral operation on the first current given value and the first current feedback value to obtain a target current value, and then controls the servo motor 4 to output a target driving force based on the target current value, so that the servo control process is consistent with the physical process of the motion platform 2 (i.e., a rigid-flexible coupling platform), and the servo control precision is improved.
In one embodiment, with continued reference to FIG. 2, the force ring 310 includes a first force sensor 311 (see FIG. 6) and a first force adjustment control 312. The first force sensor 311 is arranged between the motion platform 2 and the servo motor 4; the first force adjustment control 312 is configured to: the input is connected to both the output of the speed ring 20 and the first force sensor 311. The first force sensor 311 is used to measure a feedback value of the driving force of the moving platform 2 or the current driving force output by the servo motor 4 in real time, and provides the feedback value or the current driving force to the first force adjusting controller 312. As an example, the driving force feedback value of the moving platform 2 is equal to the current driving force output by the servo motor 4.
In one embodiment, with continued reference to fig. 2, the first current loop 320 includes a first current sensor (not shown), a first current regulator controller 321, and a first power amplifier 322. The first current sensor is arranged on a starter connected with the servo motor 4; the first current regulation controller 321 is configured to: the input end is connected to both the output end of the first force adjustment controller 312 and the first current sensor; the first power amplifier 322 is configured to: the input end is connected with the output end of the first current regulation controller 321, and the output end is connected with the input end of the servo motor 4.
Specifically, the first current sensor measures the current value of the servo motor 4 in real time to generate a first current feedback signal, and the current feedback in fig. 2 is the first current feedback signal. The first power amplifier 322 performs power amplification processing on the current value adjusted by the first current adjustment controller 321, and outputs the current value to the servo motor 4.
Specifically, the first current regulation controller 321, the first power amplifier 322 and the servo motor 4 are taken as a forward path, and the first current sensor is taken as a feedback path, which together form a first current loop 320, so that the servo motor 4 outputs a target driving force; the first current loop 320, the first force adjusting controller 312, and the first force sensor 311 are used as a forward path and a feedback path to jointly form a force loop 310, so as to suppress an output force error in the first current loop 320 caused by a physical error of the servo motor 4.
As an example, the first force regulation controller 312 includes, but is not limited to, a PID controller, and the first current regulation controller 321 includes, but is not limited to, a PID controller.
In one embodiment, when the driving force on the motion platform 2 is less than the friction force, the position ring 10 calculates the driving force setpoint, which is directly given to the force ring 310.
In another embodiment, as shown in FIG. 3, the closed-loop assembly 30 includes: a second force sensor (not shown), a second force regulating control 31 and a second power amplifier 32. The second force sensor is arranged between the motion platform 2 and the servo motor 4; the second force adjustment controller 31 is configured to: the input end is connected with the output end of the speed ring 20 and the second force sensor; the second power amplifier 32 is configured to: the input end is connected with the output end of the second force adjusting controller 31, and the output end is connected with the input end of the servo motor 4.
Specifically, the second force sensor is used as a feedback channel, the servo motor 4, the second force regulation controller 31 and the second power amplifier 32 are used as forward channels, and a closed-loop component 30 is formed to suppress an output force error caused by a physical error of the servo motor 4 in an original current loop, so that a servo control process is consistent with a physical process of the motion platform 2, the precision of a servo control device is improved, and a servo control period is shortened.
As an example, the function of the second force sensor is the same as the function of the first force sensor 311 and will not be described again; the function of the second force adjustment control 31 is the same as the function of the first force adjustment control 312 and will not be described again; the functions of the first power amplifier 322, the second power amplifier 32, the third power amplifier 342, and the fourth power amplifier 34 are the same, and are not described herein again.
In one embodiment, the closed loop assembly 30 is further configured to measure an acceleration feedback value of the motion platform 2 in real time while the mass of the motion platform 2 is unchanged, and control the servo motor 4 to output the target driving force based on the acceleration feedback value and the driving force set point.
In one embodiment, as shown in fig. 4, the closed loop assembly 30 includes a second current loop 340 and an acceleration loop 330 sequentially arranged from inside to outside; the acceleration ring 330 is connected with the output end of the speed ring 20 and is configured to calculate the acceleration feedback value and the driving force given value to obtain a second current given value; the second current loop 340 is connected to the output end of the acceleration loop 330, and is configured to measure a second current feedback value of the servo motor 4 in real time, and calculate the second current feedback value and a second current given value to obtain a target driving force.
As an example, when the rigid frame speed is 0, and the target driving force calculated according to the position deviation of the position ring 10 and the rigidity of the flexible hinge is less than the maximum static friction force, the control process skips the speed ring 20, the position ring 10 is further configured to calculate a driving force given value based on the position given value and the position feedback value provided by the upper computer 5, the driving force given value is directly given to the acceleration ring 330, and the acceleration ring 330 calculates a second current given value according to the acceleration feedback value and the driving force given value.
Specifically, with continued reference to fig. 4, the acceleration ring 330 includes: a first acceleration sensor 331 (refer to fig. 6) disposed between the motion platform 2 and the servo motor 4; the first acceleration adjustment controller 332 is configured to: the input end is connected to both the output end of the speed ring 20 and the first acceleration sensor 331.
Specifically, with continued reference to fig. 4, the second current loop 340 includes: a second current sensor (not shown), a second current regulator controller 341, and a third power amplifier 342. The second current sensor is arranged on the starter connected with the servo motor 4; the second current regulation controller 341 is configured to: the input end is connected with the output end of the first acceleration adjustment controller 332 and the second current sensor; the third power amplifier 342 is configured to: the input end is connected with the output end of the second current regulation controller 341, and the output end is connected with the input end of the servo motor 4.
As an example, a second current loop 340 is formed by taking a second current sensor as a feedback channel and taking the servo motor 4, the second current regulation controller 341 and the third power amplifier 342 as forward channels; the acceleration loop 330 is formed by using the second current loop 340 and the first acceleration adjustment controller 332 as a forward path and the first acceleration sensor 331 as a feedback path.
In one embodiment, as shown in FIG. 5, the closed-loop assembly 30 includes: a second acceleration sensor (not shown in the figure), a second acceleration adjustment controller 33, and a fourth power amplifier 34. The second acceleration sensor is arranged between the motion platform 2 and the servo motor 4; the second acceleration adjustment controller 33 is connected with the input end of the speed loop 20 and the second acceleration sensor; the fourth power amplifier 34 is configured to: the input end is connected with the output end of the second acceleration adjustment controller 33, and the output end is connected with the input end of the servo motor 4.
As an example, the closed-loop component 30 is configured by taking the second acceleration sensor as a feedback channel and the servo motor 4, the second acceleration adjustment controller 33 and the fourth power amplifier 34 as a forward channel.
In a servo motion system provided in an embodiment of the present application, as shown in fig. 6, the servo motion system includes a base 1, a motion guide 3, a motion platform 2, a servo motor 4, and a servo control device as described above; the motion guide rail 3 is arranged on the base 1; the servo control device as described above is used to control the servo motor 4 to drive the motion platform 2, wherein the motion platform 2 performs servo motion along the motion rail 3.
Specifically, the servo control device controls the motion platform 2 to move transversely along the motion guide rail 3.
In the servo motion system provided in the above embodiment, a base, a motion guide rail, a servo motor, a motion platform, and the servo control device as described above are provided, where the motion guide rail is disposed on the base, and the servo control device is configured to control the motion platform to execute a servo motion along the motion guide rail, so that a servo control process is consistent with a physical process of the rigid-flexible coupling platform, directly and effectively suppress disturbance of the servo motor due to self error, improve control accuracy of the servo control device, and accelerate a servo control period.
In an embodiment of the present application, as shown in fig. 7, a servo control method is implemented based on the above-mentioned servo control apparatus, and the servo control method includes:
step S10: the control position ring 10 measures the position feedback value of the motion platform 2 in real time, and calculates the given speed value based on the given position value and the position feedback value provided by the upper computer 5;
step S20: the control speed ring 20 measures the speed feedback value of the motion platform 2 in real time and calculates the driving force set value based on the speed set value and the speed feedback value;
step S30: the control closed-loop assembly 30 measures the driving force feedback value of the motion platform 2 in real time and controls the servo motor 4 to output the target driving force based on the driving force feedback value and the driving force set value.
In one embodiment, as shown in fig. 8, the servo control method further includes:
step S40: when the mass of the motion platform 2 is not changed, the control closed-loop assembly 30 measures the acceleration feedback value of the motion platform 2 in real time, and controls the servo motor 4 to output the target driving force based on the acceleration feedback value and the driving force set value.
In the servo control method provided in the above embodiment, the position feedback value of the motion platform is measured in real time by sequentially controlling the position loop, and the speed set value is calculated based on the position set value and the position feedback value provided by the upper computer; controlling a speed ring to measure a speed feedback value of the motion platform in real time, and calculating to obtain a driving force given value based on the speed given value and the speed feedback value; the control closed-loop assembly measures a driving force feedback value of the motion platform in real time, and controls the servo motor to output a target driving force based on the driving force feedback value and a driving force set value, so that a servo control process is consistent with a physical process of the rigid-flexible coupling platform, disturbance of the servo motor caused by self errors is directly and effectively inhibited, the control precision of the servo control device is improved, and a servo control period is accelerated.
For the specific definition of the servo control method in the above embodiment, reference may be made to the above definition of the servo control method, which is not described herein again.
It should be understood that the steps described are not limited to being performed in the exact order described, and that the steps may be performed in other orders, unless explicitly stated otherwise herein. Moreover, at least some of the steps described may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or in alternation with other steps or at least some of the sub-steps or stages of other steps.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A servo control device for controlling a servo motor to drive a motion platform, the servo control device comprising: the closed loop assembly, the speed ring and the position ring are sequentially arranged from inside to outside;
the position ring is connected with the output end of the servo motor, is configured to measure the position feedback value of the motion platform in real time, and calculates the given speed value based on the given position value and the position feedback value provided by the upper computer;
the speed ring is connected with the position ring and the output end of the servo motor, and is configured to measure a speed feedback value of the motion platform in real time and calculate a driving force set value based on the speed set value and the speed feedback value;
the closed-loop assembly is connected with the speed loop and is configured to measure a driving force feedback value of the motion platform in real time and control the servo motor to output a target driving force based on the driving force feedback value and the driving force set value.
2. The servo control device of claim 1, wherein the closed loop assembly comprises a first current loop and a force loop arranged in sequence from inside to outside;
the force ring is connected with the output end of the speed ring and is configured to calculate the driving force feedback value and the driving force given value to obtain a first current given value;
the first current loop is connected with the output end of the force loop and is configured to measure a first current feedback value of the servo motor in real time and calculate the first current feedback value and the first current given value to obtain the target driving force.
3. The servo control of claim 2, wherein the force loop comprises:
the first force sensor is arranged between the motion platform and the servo motor;
a first force adjustment control configured to: the input end is connected with the output end of the speed ring and the first force sensor;
the first current loop includes:
the first current sensor is arranged on a starter connected with the servo motor;
a first current regulation controller configured to: the input end of the first force adjusting controller is connected with the output end of the first force adjusting controller and the first current sensor;
a first power amplifier configured to: the input end is connected with the output end of the first current regulation controller, and the output end is connected with the input end of the servo motor.
4. The servo control of claim 1, wherein the closed loop assembly comprises:
the second force sensor is arranged between the motion platform and the servo motor;
a second force adjustment control configured to: the input end of the speed loop is connected with the output end of the speed loop and the second force sensor;
a second power amplifier configured to: the input end of the second force adjusting controller is connected with the output end of the second force adjusting controller, and the output end of the second force adjusting controller is connected with the input end of the servo motor.
5. The servo control apparatus of claim 1, wherein the closed loop assembly is further configured to measure an acceleration feedback value of the motion platform in real time while the mass of the motion platform is unchanged, and to control the servo motor to output the target driving force based on the acceleration feedback value and the driving force set point.
6. The servo control device of claim 5, wherein the closed loop assembly comprises a second current loop and an acceleration loop arranged in sequence from inside to outside;
the acceleration loop is connected with the output end of the speed loop and is configured to calculate the acceleration feedback value and the driving force given value to obtain a second current given value;
the second current loop is connected with the output end of the acceleration loop and is configured to measure a second current feedback value of the servo motor in real time and calculate the second current feedback value and the second current given value to obtain the target driving force.
7. The servo control of claim 6, wherein the acceleration loop comprises:
the first acceleration sensor is arranged between the motion platform and the servo motor;
a first acceleration adjustment controller configured to: the input end of the speed loop is connected with the output end of the speed loop and the first acceleration sensor;
the second current loop comprising:
the second current sensor is arranged on the starter connected with the servo motor;
a second current regulation controller configured to: the input end of the first acceleration adjusting controller is connected with the output end of the first acceleration adjusting controller and the second current sensor;
a third power amplifier configured to: the input end of the second current regulation controller is connected with the output end of the second current regulation controller, and the output end of the second current regulation controller is connected with the input end of the servo motor.
8. The servo control of claim 5, wherein the closed loop assembly comprises:
the second acceleration sensor is arranged between the motion platform and the servo motor;
the second acceleration adjusting controller is connected with the input end of the speed ring and the second acceleration sensor;
a fourth power amplifier configured to: the input end of the second acceleration adjusting controller is connected with the output end of the second acceleration adjusting controller, and the output end of the second acceleration adjusting controller is connected with the input end of the servo motor.
9. The servo control of claim 1, wherein the position loop comprises:
the first grating sensor is arranged on the motion platform;
a position adjustment controller configured to: the input end is connected with the upper computer and the first grating sensor;
the speed ring includes:
the second grating sensor is arranged on the motion platform;
a speed adjustment controller configured to: the input end of the position adjusting controller is connected with the output end of the position adjusting controller and the second grating sensor, and the output end of the position adjusting controller is used as the output end of the speed ring.
10. A servo motion system, comprising:
a base;
the moving guide rail is arranged on the base;
a motion platform;
a servo motor;
a servo control apparatus according to any of claims 1-9, for controlling said servo motor to drive said motion stage;
wherein the motion platform performs servo motion along the motion rail.
11. A servo control method, comprising:
the control position ring measures the position feedback value of the motion platform in real time, and the given speed value is obtained through calculation based on the given position value provided by the upper computer and the position feedback value;
controlling a speed loop to measure a speed feedback value of the motion platform in real time, and calculating a driving force set value based on the speed set value and the speed feedback value;
and the control closed-loop assembly measures a driving force feedback value of the motion platform in real time and controls the servo motor to output a target driving force based on the driving force feedback value and the driving force set value.
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Application publication date: 20220816 |