CN115065298A - Two-for-one twister control system and method - Google Patents
Two-for-one twister control system and method Download PDFInfo
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- CN115065298A CN115065298A CN202210715717.9A CN202210715717A CN115065298A CN 115065298 A CN115065298 A CN 115065298A CN 202210715717 A CN202210715717 A CN 202210715717A CN 115065298 A CN115065298 A CN 115065298A
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01H—SPINNING OR TWISTING
- D01H7/00—Spinning or twisting arrangements
- D01H7/02—Spinning or twisting arrangements for imparting permanent twist
- D01H7/86—Multiple-twist arrangements, e.g. two-for-one twisting devices ; Threading of yarn; Devices in hollow spindles for imparting false twist
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
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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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Abstract
The invention provides a two-for-one twister control system and a method thereof, wherein the two-for-one twister control system comprises: a first processor and a second processor; the second processor is used for acquiring the current position and the current speed of each motion axis and sending the current position and the current speed to the first processor; the first processor is used for determining and obtaining a torque parameter according to the current position and the current speed of each motion axis sent by the second processor, and sending a torque instruction to the second processor according to the torque parameter; the second processor is also used for controlling the motor of each motion shaft according to the torque command sent by the first processor. The integration level is high, and the cost is lower; the time delay of instruction transmission is reduced, and the real-time performance of the whole control system and the synchronism among all the motion axes are improved; the problem of poor synchronism among the motion axes caused by difference of processing efficiency among the independent servo control systems is solved, and the synchronism among the motion axes is improved.
Description
Technical Field
The application relates to the technical field of textile control systems, in particular to a two-for-one twister control system and method.
Background
The current mainstream two-for-one twister system generally comprises a PLC Controller (Programmable Logic Controller), a traverse axis servo control system, a spindle axis servo control system, and a winding axis servo control system, wherein the PLC Controller reads information such as position, speed, and running state of each moving axis and plans a target position and a target speed of each moving axis through RS485 or other communication methods, and then sends the information to the servo control system corresponding to each moving axis, and the servo control system corresponding to each moving axis determines a torque command of each moving axis and performs current loop control according to the information sent by the PLC Controller.
Firstly, because each motion axis in the prior art is provided with an independent servo control system, the hardware cost of the whole control system is high. Secondly, the PLC is required to be connected with a corresponding servo control system through various signal wires, so that more wires are arranged, the installation is complex, and the maintenance is not convenient; and because there is great time delay in the relevant instruction that is transmitted from the PLC controller to the servo control system, can influence the real-time of whole control system and the synchronism between each movement axis.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a two-for-one twister control system and a method.
In a first aspect, in one embodiment, the present invention provides a two-for-one twister control system for controlling respective movement axes of a two-for-one twister, the two-for-one twister control system comprising:
a first processor and a second processor;
the second processor is used for acquiring the current position and the current speed of each motion axis and sending the current position and the current speed to the first processor;
the first processor is used for determining and obtaining a torque parameter according to the current position and the current speed of each motion axis sent by the second processor, and sending a torque instruction to the second processor according to the torque parameter;
the second processor is also used for controlling the torque of the motor of each moving shaft according to the torque command sent by the first processor.
In one embodiment, a first processor includes a first core and a second core; the first kernel and the second kernel share a data storage area of the first processor, and inter-kernel data transmission is carried out through the data storage area;
the first kernel is used for acquiring a system control instruction of the two-for-one twister and sending a motion instruction to the second kernel according to the system control instruction of the two-for-one twister, wherein the motion instruction comprises a target position and a target speed to which each motion axis needs to move;
the second kernel is used for determining and obtaining a torque parameter according to the motion instruction sent by the first kernel and the current position and the current speed of each motion axis sent by the second processor, and sending a torque instruction to the second processor according to the torque parameter.
In one embodiment, the two-for-one twister control system further comprises a synchronization timer;
the synchronous timer is used for generating a first trigger signal, a second trigger signal and a third trigger signal according to preset periods, and in each preset period, the generation time of the second trigger signal is later than the generation time of the first trigger signal and the generation time of the third trigger signal;
the first kernel is specifically used for responding to the control instruction of the two-for-one twister system and sending a motion instruction to the second kernel based on a first trigger signal after the control instruction of the two-for-one twister system is obtained;
the second kernel is specifically configured to determine to obtain a torque parameter based on a second trigger signal after acquiring the motion instruction sent by the first kernel and the current position and the current speed of each motion axis sent by the second processor, and send the torque instruction to the second processor according to the torque parameter;
the second processor is specifically configured to obtain a current position and a current speed of each motion axis according to the third trigger signal, and send the current position and the current speed to the second core.
In one embodiment, the two-for-one twister control system further comprises a power circuit; the power circuit is respectively connected with the second processor and power lines of the motors of the motion shafts;
the power circuit is used for processing the control signal sent by the second processor and controlling the input voltage and the input current of the motor of each motion axis according to the control signal; the control signal is a signal obtained by the second processor in response to a torque command sent by the first processor.
In one embodiment, the power circuit comprises a rectifying and filtering circuit, a switching power supply circuit, an inverter circuit and a driving circuit;
the rectification filter circuit is used for rectifying and filtering the accessed initial alternating current to obtain initial direct current and providing a power supply for the inverter circuit and the switching power supply circuit;
the inverter circuit is used for converting the initial direct current provided by the rectifying and filtering circuit through the driving circuit to obtain target alternating current and sending the target alternating current to the motors of the motion shafts;
the switching power supply circuit is used for converting the initial direct current provided by the rectifying and filtering circuit to obtain target direct current and supplying power to the driving circuit and other control circuits;
the driving circuit is used for controlling the connection state between the inverter circuit and the motor of each moving shaft according to the current control signal sent by the second processor so as to control the torque of the motor of each moving shaft.
In one embodiment, the first processor is a DSP processor and the second processor is an FPGA processor.
In a second aspect, in an embodiment, the present invention provides a two-for-one twister control method, which is applied to the two-for-one twister control system in any one of the above embodiments, the two-for-one twister control method including:
the second processor acquires the current position and the current speed of each motion axis and sends the current position and the current speed to the first processor;
the first processor determines to obtain a torque parameter according to the current position and the current speed of each motion axis sent by the second processor, and sends a torque instruction to the second processor according to the torque parameter;
the second processor controls the torque of the motor of each moving axis according to the torque command sent by the first processor.
In one embodiment, a first processor includes a first core and a second core; the first processor determines to obtain a torque parameter according to the current position and the current speed of each motion axis sent by the second processor, and sends a torque instruction to the second processor according to the torque parameter, wherein the torque instruction comprises the following steps:
the method comprises the steps that a first kernel obtains a two-for-one twister system control instruction, and sends a motion instruction to a second kernel according to the two-for-one twister system control instruction, wherein the motion instruction comprises a target position and a target speed to which each motion axis needs to move;
and the second kernel determines to obtain a torque parameter according to the motion instruction sent by the first kernel and the current position and the current speed of each motion axis sent by the second processor, and sends a torque instruction to the second processor according to the torque parameter.
In one embodiment, the method for acquiring a system control instruction of a two-for-one twister by a first kernel and sending a motion instruction to a second kernel according to the system control instruction of the two-for-one twister comprises the following steps:
the method comprises the steps that a first kernel obtains a two-for-one twister system control instruction, motion planning is conducted on each motion axis according to the two-for-one twister system control instruction, the target position and the target speed of each motion axis are determined and obtained, a motion instruction is obtained according to the target position and the target speed of each motion axis, and the motion instruction is sent to a second kernel;
the second kernel determines to obtain a torque parameter according to the motion instruction sent by the first kernel and the current position and the current speed of each motion axis sent by the second processor, and sends the torque instruction to the second processor according to the torque parameter, wherein the method comprises the following steps:
and the second kernel acquires the target position and the target speed of each movement axis in the movement instruction, performs torque operation according to the target position and the target speed of each movement axis and the current position and the current speed of each movement axis sent by the second processor, determines to obtain a torque parameter, and sends the torque instruction to the second processor according to the torque parameter.
In one embodiment, each axis of motion comprises a master axis of motion and at least one slave axis of motion; and performing torque calculation according to the target position and the target speed of each moving axis and the current position and the current speed of each moving axis sent by the second processor, wherein the torque calculation comprises the following steps:
the second kernel obtains position compensation information between the main motion axis and each slave motion axis according to the current position of the main motion axis and the current position of each slave motion axis;
the second kernel obtains speed compensation information between the main motion axis and each slave motion axis according to the current speed of the main motion axis and the current speed of each slave motion axis;
the second kernel performs a torque operation based on the target positions, the target speeds, the current position, the current speed of the master movement axis and the respective slave movement axes, and position compensation information and speed compensation information between the master movement axis and the slave movement axis.
According to the two-for-one twister control system and the two-for-one twister control method, a first processor and a second processor are used as hardware bases, the second processor reads the current position and the current speed of each moving shaft, the first processor directly determines and obtains torque parameters according to received control instructions and the current position and the current speed of each moving shaft, the torque instructions are sent to the second processor according to the torque parameters, and the second processor controls the torque of the motor of each moving shaft according to the torque instructions, namely current loop control is completed;
firstly, the whole system does not need to configure a separate servo control system for each motion axis, the integration level is high, and the cost is lower;
secondly, the first processor replaces a traditional PLC controller and a single servo control system, so that data transmission is not needed through a complex signal line, interference in the signal transmission process is avoided, the time delay of instruction transmission is reduced, and the real-time performance of the whole control system and the synchronism among all movement axes are improved;
finally, the torque command and the torque control of each moving axis are processed in parallel by the first processor and the second processor, so that the problem of poor synchronism among the moving axes caused by the difference of processing efficiency among the independent servo control systems is solved, and the synchronism among the moving axes is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be 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 to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a control system of a two-for-one twister according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a dual core first processor according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an embodiment of the present invention including a synchronous timer;
FIG. 4 is a diagram illustrating an embodiment of a synchronous timer in a second processor;
FIG. 5 is a timing diagram of an embodiment of the present invention executed according to a trigger signal generated by a synchronous timer;
FIG. 6 is a schematic diagram of an embodiment of the present invention including a power circuit;
FIG. 7 is a diagram illustrating a specific structure of a power circuit according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a detailed structure of a control system of the two-for-one twister according to an embodiment of the present invention;
FIG. 9 is a flow diagram illustrating system control of a first core in accordance with an embodiment of the present invention;
FIG. 10 is a flow chart illustrating the programming control of the first core in accordance with an embodiment of the present invention;
FIG. 11 is a flow chart illustrating system control of a second core in accordance with an embodiment of the present invention;
FIG. 12 is a flowchart illustrating the scheduling control of the second core according to one embodiment of the present invention;
fig. 13 is a schematic structural diagram of a two-for-one twister according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all 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 application.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. 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 this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
In a first aspect, as shown in fig. 1, in one embodiment, the present invention provides a two-for-one twister control system for controlling each motion axis of a two-for-one twister, the two-for-one twister control system comprising:
a first processor and a second processor;
the second processor is used for acquiring the current position and the current speed of each motion axis and sending the current position and the current speed to the first processor;
the first processor is used for obtaining a system control instruction of the two-for-one twister, determining to obtain a torque parameter according to the system control instruction of the two-for-one twister and the current position and the current speed of each motion axis sent by the second processor, and sending a torque instruction to the second processor according to the torque parameter;
the second processor is also used for controlling the torque of the motor of each moving shaft according to the torque command sent by the first processor;
the two-for-one twister generally comprises a spindle shaft, a winding shaft and a transverse moving shaft, wherein the three moving shafts work independently and are matched together to finish twisting operation, and are driven by corresponding motors, so that the two-for-one twister control system actually controls the motors of the three moving shafts to realize the control of the three moving shafts; the motor can only rotate forwards or reversely, and the three motion shafts actually need to rotate, translate and the like, so that corresponding transmission structures such as a screw rod, a gear and the like are needed before the motor and the motion shafts;
the control instruction of the two-for-one twister system usually comprises twisting conditions to be achieved, such as twist, twist coefficient, twist direction and the like, through corresponding input equipment, such as a human-computer interaction interface, a keyboard, a mouse and the like, by an operator; of course, in other embodiments, the first processor may also directly read the pre-stored yarn twisting conditions;
the current position and the current speed are used as feedback parameters in motor control, so that when a control instruction of a two-for-one twister system and corresponding feedback parameters are obtained by the first processor, relevant control parameters for controlling the motor can be determined, namely a torque instruction is obtained, and the torque instruction represents the next rotation operation required by the motor; after the second processor obtains the corresponding torque instruction, current loop control can be carried out, namely the magnitude and direction of current and voltage output to the motor are controlled, so that the torque of the motor is controlled;
by the two-for-one twister control system, the first processor and the second processor are used as hardware bases, the second processor reads the current position and the current speed of each moving shaft, the first processor directly determines to obtain torque parameters according to the received control instruction and the current position and the current speed of each moving shaft, sends a torque instruction and a steering instruction to the second processor according to the torque parameters, and the second processor controls the torque of the motor of each moving shaft according to the torque instruction, namely, the current loop control is completed; firstly, the whole system does not need to configure a separate servo control system for each motion axis, the integration level is high, and the cost is lower; secondly, the first processor replaces a traditional PLC controller and a single servo control system, so that data transmission is not needed through a complex signal line, the interference of a signal transmission process is avoided, the time delay of instruction transmission is reduced, and the real-time performance of the whole control system and the synchronism among all motion axes are improved; finally, the torque command and the torque control of each moving axis are processed in parallel by the first processor and the second processor, so that the problem of poor synchronism among the moving axes caused by the difference of processing efficiency among the independent servo control systems is solved, and the synchronism among the moving axes is improved.
As shown in FIG. 2, in one embodiment, a first processor includes a first core and a second core; the first kernel and the second kernel share a data storage area of the first processor, and inter-kernel data transmission is carried out through the data storage area;
the first kernel is used for acquiring a system control instruction of the two-for-one twister and sending a motion instruction to the second kernel according to the system control instruction of the two-for-one twister, wherein the motion instruction comprises a target position and a target speed to which each motion axis needs to move;
the second kernel is used for determining and obtaining a torque parameter according to the motion instruction sent by the first kernel and the current position and the current speed of each motion axis sent by the second processor, and sending a torque instruction to the second processor according to the torque parameter;
although the function of the first processor is specifically realized by two processing cores, namely the first core and the second core, the first core and the second core are based on the same chip, so that the first core and the second core can perform data transmission through a Random Access Memory (RAM) in the chip, and similarly, the data transmission does not need a complex signal line; two processing cores are adopted, so that the processing efficiency can be improved, and the real-time performance of the control system is further improved;
wherein, the first kernel is mainly used for responding to a control instruction of a two-for-one twister system, and performing motion planning on each motion axis according to yarn twisting conditions required to be achieved in the control instruction of the two-for-one twister system, for example, taking twist as an example, if a target number of twists are required to be achieved, three axes of motion would need to be controlled to complete a target number of sets of actions, each set of actions you can complete one twist, in each action set, three motion axes need to complete corresponding action behaviors, the first kernel disassembles each action behavior to obtain a plurality of action steps which are executed in sequence, for example, a certain motion axis moves to a target position at a target speed, so as to obtain a motion instruction corresponding to each action step, specifically performing disassembly according to the corresponding control period, when the control period is not changed, if the target speed is higher, the corresponding target position is farther, namely the moving distance is longer;
the second kernel needs to obtain a target position and a target speed in the motion instruction, and then performs motion conversion by combining the current position and the current speed fed back currently, because the position and the speed sent by the first kernel and the second processor are relative to the motion axis, but actually control the motor of the motion axis, the second kernel needs to determine the target rotating speed of the motor according to the data, that is, obtain a torque instruction (under the condition of constant power, the larger the torque, the smaller the rotating speed achieved correspondingly); and the second kernel is used for carrying out a torque operation process, specifically, the calculation of a position loop and a speed loop is required, the current position is used as a feedback reference, the position difference value of the target position and the current position is calculated, the required actual speed is determined according to the position difference value and the target speed, the current speed is used as a feedback reference, and the required target rotating speed of the motor is determined according to the transmission ratio of a preset transmission structure (namely the transmission ratio between the motor and a motion shaft), so that a corresponding torque instruction is obtained.
As shown in fig. 3, in one embodiment, the two-for-one twister control system further comprises a synchronization timer;
the synchronous timer is used for generating a first trigger signal, a second trigger signal and a third trigger signal according to preset periods, and in each preset period, the generation time of the second trigger signal is later than the generation time of the first trigger signal and the generation time of the third trigger signal;
the first kernel is specifically used for sending a motion instruction to the second kernel according to the system control instruction of the two-for-one twister based on a first trigger signal after the system control instruction of the two-for-one twister is obtained;
the second kernel is specifically configured to determine to obtain a torque parameter based on a second trigger signal after acquiring the motion instruction sent by the first kernel and the current position and the current speed of each motion axis sent by the second processor, and send a torque instruction to the second processor according to the torque parameter;
the second processor is specifically used for acquiring the current position and the current speed of each motion axis according to the third trigger signal and sending the current position and the current speed to the second kernel;
in the above embodiment, it has been mentioned that the action steps are obtained by disassembling the first kernel according to its own control cycle, for example, if a certain action step is represented as moving from a time a to a position B, the time a is the control cycle, so that when the next control cycle comes, the first kernel plans the next action step, for example, moving from the time a to a position C; in each control cycle, the corresponding first kernel needs to complete at least one corresponding step, and each control is to enable the motion axis to complete one motion step, for each motion step, the first kernel needs to plan a target position and a required motion speed, which are required to be moved by the motion axis in the motion step, for example, the motion is also expressed as a time a to a position B, if the control cycle of the second kernel is smaller than that of the first kernel, for example, half of the control cycle of the first kernel, the second kernel will obtain a corresponding torque command based on the target position and the target speed planned by the first kernel when the first control cycle comes, and the second kernel will obtain a corresponding torque command based on the target position and the target speed planned by the first kernel again when the second control cycle comes, but the previous torque command is executed for half of the time, at this time, the new torque command can cause the motor to be disordered; if the control period of the second core is greater than that of the first core, for example, twice as long as that of the first core, the first core is planned twice in the control period of the second core, and the first core is executed only once, which may cause the motor to be disordered, so that the control period of the first core and the control period of the second core need to be kept consistent; similarly, if the control period of the second processor is greater than the control period of the second core, for example, twice the control period of the second core, the second core may successively obtain two torque instructions within the control period of the second processor, where the two torque instructions correspond to two action steps, and the second processor may only execute one action step, so that the motor may be stalled and the yarn twisting task may not be completed, and therefore the control period of the second processor needs to be not greater than the control period of the second core, and thus, in this embodiment, the control periods of the second processor and the second processor may be set to be the same, that is, all are equal to the preset period;
the first trigger signal, the second trigger signal and the third trigger signal generated by the synchronous timer are used for enabling the first kernel, the second kernel and the second processor to execute in the same control cycle, and the first kernel, the second kernel and the second processor only start to execute corresponding steps when receiving the corresponding trigger signals;
the second core needs to take the data sent by the first core and the second processor as a basis for executing the corresponding steps, and the generation time of the second trigger signal is later than that of the first trigger signal and that of the third trigger signal;
wherein, the synchronous timer may have only one, for example, the measuring range is 100 μ s, and the synchronous timer may generate the third trigger signal, the first trigger signal and the second trigger signal at 5 μ s, 25 μ s and 75 μ s, respectively; of course, in other embodiments, the number of the synchronous timers may also include three, which correspond to the first core, the second core and the second processor, respectively, for example, the three ranges are all 100 μ s, the first synchronous timer generates the third trigger signal at 5 μ s, the second synchronous timer generates the first trigger signal at 25 μ s, and the third synchronous timer generates the second trigger signal at 75 μ s;
wherein the synchronization timer may be located outside the first processor and the second processor; of course, as shown in fig. 4, in other embodiments, the synchronization timer is located in the second processor, that is, the timer of the second processor is used as the synchronization timer;
in order to make the embodiment clearer, as shown in fig. 5, the preset period is 100 μ s, before the second kernel executes, the first kernel performs control system interrupt according to the first trigger signal, plans to obtain a motion command correspondingly including a target position and a target speed, and sends the motion command to the second kernel, the second processor performs current loop interrupt according to the third trigger signal, obtains a current position and a current speed of each motion axis, and sends the current position and the current speed to the second kernel, then the second kernel performs servo system interrupt according to the second trigger signal, obtains a torque parameter according to the target position and the target speed in the motion command, and the current position and the current speed sent by the second processor, and sends a corresponding torque command to the second processor according to the torque parameter, so that the second processor performs current loop control according to the torque command, it is required to say that the second processor executes according to the third trigger signal, the second processor comprises two substeps in one execution, wherein one substep is to acquire a current position and a current speed, and the other substep is to perform current loop control according to a torque command, so that a time interval between the two substeps needs to be reasonably set to ensure that the second processor can perform current loop control based on the torque command obtained in a preset period;
as shown in fig. 5, in a preset period of 100 μ s, the second processor is actually executed twice, and only one of the times is executed according to the torque command obtained in the preset period, that is, the second processor is executed twice according to each torque command, so as to ensure that the rotation of the motor is more accurate and reduce the error.
As shown in fig. 6, in one embodiment, the two-for-one twister control system further comprises a power circuit; the power circuit is respectively connected with the second processor and power lines of the motors of the motion shafts;
the power circuit is used for processing the control signal sent by the second processor and controlling the input voltage and the input current of the motor of each motion axis according to the control signal; the control signal is obtained by the second processor in response to the torque command sent by the first processor;
the power circuit is mainly used for supplying power to the motor, and particularly controls the connection state of the power circuit according to the current control signal sent by the second processor so as to control the torque of the motor.
As shown in fig. 7, in one embodiment, the power circuit includes a rectifying and filtering circuit, a switching power supply circuit, an inverter circuit corresponding to each motion axis, and a PWM driving circuit;
the inverter circuit is respectively connected with the rectifying and filtering circuit and the PWM drive circuit, the switching power supply circuit is respectively connected with the rectifying and filtering circuit and the PWM drive circuit, the PWM drive circuit is connected with the second processor, and the PWM drive circuit is also connected with the motors of all the motion shafts;
the rectification filter circuit is used for rectifying and filtering the accessed initial alternating current to obtain initial direct current and provide a power supply for the inverter circuit and the switching power supply circuit;
the inverter circuit is used for converting the initial direct current provided by the rectifying and filtering circuit through the driving circuit to obtain target alternating current and sending the target alternating current to the motor of each moving shaft;
the switching power supply circuit is used for converting the initial direct current provided by the rectifying and filtering circuit to obtain target direct current and supplying power to the driving circuit and other control circuits;
the driving circuit is used for controlling the connection state between the inverter circuit and the motor of each moving shaft according to the current control signal sent by the second processor so as to control various parameters of target alternating current input to the motor, including the current magnitude, the current direction and the like, and further control the torque of the motor of each moving shaft;
the total capacity of the power circuit and the three inverter circuits are flexibly configured according to the type of the two-for-one twister;
the second processor is used for sending a current control signal in a PWM form to the PWM driving circuit;
the rectification filter circuit, the switching power supply circuit, the inverter circuit corresponding to each motion axis and the PWM driving circuit may adopt various common circuits in the prior art, and are not described herein again;
for which circuits are specifically included in the other control circuits, reference may also be made to the prior art, which is not described herein again;
the target direct current is mainly used for supplying power to the whole control system.
As shown in fig. 7, in one embodiment, the power circuit further includes a current sampling circuit;
the current sampling circuit is connected with the second processor;
the current sampling circuit is mainly used for collecting current input into the motor and sending the current to the second processor;
the second processor is also used for detecting whether the current is normal.
As shown in fig. 8, in one embodiment, the first processor is a DSP (Digital Signal Processing) processor model 28377D, and the second processor is an FPGA (Field Programmable Gate Array) processor model LFE 5U-45F;
the DSP processor comprises a digital IO interface, a 485 communication interface, an Ethernet and a wireless communication interface which are connected with a first inner core inside the DSP processor;
the digital IO interface is used for receiving system start and stop signals, original point and limit signal detection, cooling fans and indicator lamp control. The 485 communication interface is used for communicating with the HMI data to realize the parameter setting of the equipment system and the monitoring of the machine operation information. The Ethernet and wireless communication interface is used for communicating with a factory master controller and realizing the remote control requirement;
the first core of the DSP processor comprises the following modules: the system comprises a two-for-one twister system function scheduling module, a target speed and target position curve planning module of three motion axes; a system signal detection and Modbus communication protocol;
the second kernel of the DSP processor comprises a servo system function scheduling module; the three motion shaft position closed-loop and speed closed-loop control modules; a servo system fault detection and protection function module;
the system comprises an FPGA processor, a motor torque closed-loop control module and a system synchronization management module, wherein the FPGA processor comprises an encoder speed position detection module (in other embodiments, the FPGA processor can be connected with an external position sensor so as to obtain a current position sent by the position sensor and obtain a current speed based on the variation of the current position and the variation of corresponding time); in addition, in this embodiment, a timer inside the FPGA processor serves as a synchronous timer, that is, the FPGA processor sends a first trigger signal and a second trigger signal to a first core and a second core of the DSP processor, respectively, to implement system control interruption and servo control interruption;
wherein, the ADC is an analog-to-digital conversion.
In a second aspect, in an embodiment, the present invention provides a two-for-one twister control method, which is applied to the two-for-one twister control system in any one of the above embodiments, the two-for-one twister control method including:
the second processor acquires the current position and the current speed of each motion axis and sends the current position and the current speed to the first processor;
the first processor obtains a system control instruction of the two-for-one twister, determines to obtain a torque parameter according to the system control instruction of the two-for-one twister and the current position and the current speed of each motion axis sent by the second processor, and sends a torque instruction to the second processor according to the torque parameter;
the second processor controls the torque of the motor of each moving axis according to the torque command sent by the first processor.
According to the control method of the two-for-one twister, the first processor and the second processor are used as hardware bases, the second processor reads the current position and the current speed of each moving shaft, the first processor directly determines to obtain torque parameters according to the received control instruction and the current position and the current speed of each moving shaft, sends the torque instruction to the second processor according to the torque parameters, and the second processor controls the torque of the motor of each moving shaft according to the torque instruction, namely, the current loop control is completed; firstly, the whole system does not need to configure a separate servo control system for each motion axis, the integration level is high, and the cost is lower; secondly, the first processor replaces a traditional PLC controller and a single servo control system, so that data transmission is not needed through a complex signal line, interference in the signal transmission process is avoided, the time delay of instruction transmission is reduced, and the real-time performance of the whole control system and the synchronism among all movement axes are improved; finally, the torque command and the torque control of each moving axis are processed in parallel by the first processor and the second processor, so that the problem of poor synchronism among the moving axes caused by the difference of processing efficiency among the independent servo control systems is solved, and the synchronism among the moving axes is improved.
In one embodiment, a first processor includes a first core and a second core; the first processor acquires a system control instruction of the two-for-one twister, determines to obtain a torque parameter according to the system control instruction of the two-for-one twister and the current position and the current speed of each motion axis sent by the second processor, and sends the torque instruction to the second processor according to the torque parameter, and the method comprises the following steps:
the method comprises the steps that a first kernel obtains a two-for-one twister system control instruction, and sends a motion instruction to a second kernel according to the two-for-one twister system control instruction, wherein the motion instruction comprises a target position and a target speed to which each motion axis needs to move;
and the second kernel determines to obtain a torque parameter according to the motion instruction sent by the first kernel and the current position and the current speed of each motion axis sent by the second processor, and sends a torque instruction to the second processor according to the torque parameter.
In one embodiment, the method for acquiring a system control instruction of a two-for-one twister by a first kernel and sending a motion instruction to a second kernel according to the system control instruction of the two-for-one twister comprises the following steps:
the method comprises the steps that a first kernel obtains a two-for-one twister system control instruction, motion planning is conducted on each motion axis according to the two-for-one twister system control instruction, the target position and the target speed of each motion axis are determined and obtained, a motion instruction is obtained according to the target position and the target speed of each motion axis, and the motion instruction is sent to a second kernel;
the second kernel determines to obtain a torque parameter according to the motion instruction sent by the first kernel and the current position and the current speed of each motion axis sent by the second processor, and sends the torque instruction to the second processor according to the torque parameter, wherein the method comprises the following steps:
the second kernel acquires the target position and the target speed of each motion axis in the motion instruction, performs torque operation according to the target position and the target speed of each motion axis and the current position and the current speed of each motion axis sent by the second processor, determines to obtain a torque parameter, and sends a torque instruction to the second processor according to the torque parameter;
as shown in fig. 9, the first core sequentially performs system initialization, digital IO detection, RS485 communication, two-for-one twister system management, digital IO output, ethernet communication protocol, and two-for-one twister parameter update, and thus the system function is ensured to be realized;
as shown in fig. 10, when the control system is interrupted, the first core executes a corresponding step, specifically, performs the forming control of the two-for-one twister, the speed planning of the spindle shaft, the speed position planning of the winding shaft, and the speed position planning of the traverse shaft in sequence; it should be noted that the spindle shaft does not change its position, and during the operation, it only rotates at a fixed position, so it only needs to plan its speed, and the winding shaft and the traverse shaft need to move, so it needs to plan its speed and position;
as shown in fig. 11, the second kernel sequentially performs system initialization, servo system fault processing, servo system operation management, servo system parameter updating, servo system key display, and servo system 485 communication, and circulates according to the above steps to ensure the implementation of system functions;
as shown in fig. 12, when the servo system is interrupted, the second kernel executes a corresponding step, specifically, sequentially updates the servo system instruction (i.e., obtains the latest motion instruction sent by the first kernel), reads the servo axis information (i.e., obtains the current position and the current speed sent by the second processor), controls the winding axis speed position, controls the traverse axis speed position, and controls the spindle axis speed (i.e., obtains the torque instruction and the steering instruction of each motion axis).
In one embodiment, the two-for-one twister control system further comprises a synchronization timer; the two-for-one twister control method further comprises the following steps:
the method comprises the following steps that a first kernel obtains a system control instruction of a two-for-one twister, performs motion planning on each motion axis according to the system control instruction of the two-for-one twister, determines to obtain a target position and a target speed of each motion axis, obtains a motion instruction according to the target position and the target speed of each motion axis, and sends the motion instruction to a second kernel, and the method comprises the following steps:
after the first kernel obtains a system control instruction of the two-for-one twister, motion planning is carried out on each motion axis based on a first trigger signal, the target position and the target speed of each motion axis are determined and obtained, a motion instruction is obtained according to the target position and the target speed of each motion axis, and the motion instruction is sent to the second kernel;
the second kernel obtains a target position and a target speed of each motion axis in the motion instruction, performs torque operation according to the target position and the target speed of each motion axis and the current position and the current speed of each motion axis sent by the second processor, determines to obtain a torque parameter, and sends the torque instruction to the second processor according to the torque parameter, and the method comprises the following steps:
after acquiring the target position and the target speed of each moving axis in the movement instruction, the second kernel performs torque operation according to the target position and the target speed of each moving axis and the current position and the current speed of each moving axis sent by the second processor based on a second trigger signal to determine a torque parameter, and sends a torque instruction to the second processor according to the torque parameter;
the second processor acquires the current position and the current speed of each motion axis and sends the current position and the current speed to the first processor, and the method comprises the following steps:
and the second processor acquires the current position and the current speed of each motion axis according to the third trigger signal and sends the current position and the current speed to the first kernel.
In one embodiment, each axis of motion comprises one master axis of motion and at least one slave axis of motion; and performing torque calculation according to the target position and the target speed of each moving axis and the current position and the current speed of each moving axis sent by the second processor, wherein the torque calculation comprises the following steps:
the second kernel obtains position compensation information between the main motion axis and each slave motion axis according to the current position of the main motion axis and the current position of each slave motion axis;
the second kernel obtains speed compensation information between the main motion axis and each slave motion axis according to the current speed of the main motion axis and the current speed of each slave motion axis;
the second kernel carries out torque operation according to the target position, the target speed, the current position and the current speed of the main motion axis and each slave motion axis and position compensation information and speed compensation information between the main motion axis and each slave motion axis;
in the actual operation process, the load of each moving axis changes, and the like, which can cause inconsistent response of each moving axis, thereby affecting the actual synchronization harmony of the system; therefore, in the present embodiment, the main motion axis (for example, spindle axis) and the slave motion axis are determined by presetting, so that the motion of other slave motion axes can be compensated by using the main motion axis as a reference during operation, and the main motion axis and the slave motion axis can be kept synchronous;
the second kernel can determine a position difference value between the current position of the main motion axis and the current position of the slave motion axis, and gains the position difference value through a preset gain proportion so as to obtain a corresponding speed feedforward instruction (namely position compensation information); determining a speed difference value between the current speed of the main motion shaft and the current speed of the auxiliary motion shaft, and inputting the speed difference value into a PI regulator inside a second kernel to obtain a torque feedforward instruction (namely speed compensation information) output by the PI regulator; and the functional module in charge of speed and torque in the second kernel performs motion conversion according to the target position, the target speed, the current position and the current speed of each motion axis and the position compensation information and the speed compensation information between the main motion axis and the auxiliary motion axis, so that a compensated torque command and a steering command are obtained.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In a third aspect, as shown in fig. 13, in one embodiment, the present invention provides a two-for-one twister comprising:
a motor corresponding to each motion axis and a two-for-one twister control system in any one of the above embodiments;
each motor is respectively connected with a second processor of the two-for-one twister control system;
it should be noted that the motors shown in the figures are not limited to a certain number, and are only used for representing motors corresponding to three movement axes, and there may be a plurality of motors corresponding to each movement axis.
According to the two-for-one twister, a first processor and a second processor are used as hardware bases, the second processor reads the current position and the current speed of each moving shaft, the first processor directly determines to obtain a torque parameter according to a received control instruction and the current position and the current speed of each moving shaft, a torque instruction is sent to the second processor according to the torque parameter, and the second processor controls the torque of a motor of each moving shaft according to the torque instruction, so that current loop control is completed; firstly, the whole system does not need to configure a separate servo control system for each motion axis, the integration level is high, and the cost is lower; secondly, the first processor replaces a traditional PLC controller and a single servo control system, so that data transmission is not needed through a complex signal line, the interference of a signal transmission process is avoided, the time delay of instruction transmission is reduced, and the real-time performance of the whole control system and the synchronism among all motion axes are improved; finally, the torque command and the torque control of each moving axis are processed in parallel by the first processor and the second processor, so that the problem of poor synchronism among the moving axes caused by the difference of processing efficiency among the independent servo control systems is solved, and the synchronism among the moving axes is improved.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.
The above detailed description is given to a system and a method for controlling a two-for-one twister provided in the embodiments of the present application, and a specific example is applied in the present application to explain the principle and the implementation manner of the present application, and the description of the above embodiments is only used to help understanding the technical scheme and the core idea of the present application; those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the present disclosure as defined by the appended claims.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
Claims (10)
1. A two-for-one twister control system for controlling respective axes of motion of a two-for-one twister, said two-for-one twister control system comprising:
a first processor and a second processor;
the second processor is used for acquiring the current position and the current speed of each motion axis and sending the current position and the current speed to the first processor;
the first processor is used for determining and obtaining a torque parameter according to the current position and the current speed of each motion axis sent by the second processor, and sending a torque instruction to the second processor according to the torque parameter;
the second processor is also used for controlling the torque of the motor of each motion shaft according to the torque command sent by the first processor.
2. The two-for-one twister control system of claim 1, wherein said first processor comprises a first core and a second core; the first kernel and the second kernel share a data storage area of the first processor, and inter-kernel data transmission is carried out through the data storage area;
the first kernel is used for acquiring a system control instruction of the two-for-one twister and sending a motion instruction to the second kernel according to the system control instruction of the two-for-one twister, wherein the motion instruction comprises a target position and a target speed to which each motion axis needs to move;
the second kernel is configured to determine to obtain the torque parameter according to the motion instruction sent by the first kernel and the current position and the current speed of each motion axis sent by the second processor, and send the torque instruction to the second processor according to the torque parameter.
3. The two-for-one twister control system of claim 2, wherein said two-for-one twister control system further comprises a synchronization timer;
the synchronous timer is used for generating a first trigger signal, a second trigger signal and a third trigger signal according to preset periods, and in each preset period, the generation time of the second trigger signal is later than the generation time of the first trigger signal and the generation time of the third trigger signal;
the first kernel is specifically configured to, after acquiring the two-for-one twister system control instruction, respond to the two-for-one twister system control instruction based on the first trigger signal, and send the motion instruction to the second kernel;
the second core is specifically configured to determine to obtain the torque parameter based on the second trigger signal after acquiring the motion instruction sent by the first core and the current position and the current speed of each motion axis sent by the second processor, and send the torque instruction to the second processor according to the torque parameter;
the second processor is specifically configured to obtain a current position and a current speed of each motion axis according to the third trigger signal, and send the current position and the current speed to the second kernel.
4. The two-for-one twister control system of claim 1, wherein said two-for-one twister control system further comprises a power circuit; the power circuit is respectively connected with the second processor and a power line of the motor of each motion shaft;
the power circuit is used for processing the control signal sent by the second processor and controlling the input voltage and the input current of the motor of each motion shaft according to the control signal; the control signal is a signal obtained by the second processor through responding to the torque command sent by the first processor.
5. The two-for-one twister control system of claim 4, wherein said power circuit comprises a rectifier filter circuit, a switching power supply circuit, an inverter circuit, and a drive circuit;
the rectification filter circuit is used for rectifying and filtering the accessed initial alternating current to obtain initial direct current and providing a power supply for the inverter circuit and the switching power supply circuit;
the inverter circuit is used for converting the initial direct current provided by the rectifying and filtering circuit through the driving circuit to obtain target alternating current and sending the target alternating current to the motor of each moving shaft;
the switching power supply circuit is used for converting the initial direct current provided by the rectifying and filtering circuit to obtain a target direct current and supplying power to the driving circuit and other control circuits;
the driving circuit is used for controlling the connection state between the inverter circuit and the motor of each moving shaft according to the control signal sent by the second processor so as to control the torque of the motor of each moving shaft.
6. The two-for-one twister control system of any one of claims 1 to 5, wherein said first processor is a DSP processor and said second processor is an FPGA processor.
7. A two-for-one twister control method applied to the two-for-one twister control system according to any one of claims 1 to 6, comprising:
the second processor acquires the current position and the current speed of each motion axis and sends the current position and the current speed to the first processor;
the first processor determines to obtain a torque parameter according to the current position and the current speed of each motion axis sent by the second processor, and sends the torque instruction to the second processor according to the torque parameter;
and the second processor controls the torque of the motor of each motion shaft according to the torque command sent by the first processor.
8. The two-for-one twister control method of claim 7, wherein said first processor comprises a first core and a second core; the first processor determines to obtain a torque parameter according to the current position and the current speed of each motion axis sent by the second processor, and sends the torque instruction to the second processor according to the torque parameter, wherein the torque instruction comprises:
the first kernel acquires a two-for-one twister system control instruction, and sends a motion instruction to the second kernel according to the two-for-one twister system control instruction, wherein the motion instruction comprises a target position and a target speed to which each motion axis needs to move;
and the second kernel determines to obtain the torque parameter according to the motion instruction sent by the first kernel and the current position and the current speed of each motion axis sent by the second processor, and sends the torque instruction to the second processor according to the torque parameter.
9. The two-for-one twister control method according to claim 8, wherein said first core acquires a two-for-one twister system control instruction, and sends a motion instruction to said second core according to said two-for-one twister system control instruction, comprising:
the first kernel obtains the system control instruction of the two-for-one twister, performs motion planning on each motion axis according to the system control instruction of the two-for-one twister, determines to obtain a target position and a target speed of each motion axis, obtains the motion instruction according to the target position and the target speed of each motion axis, and sends the motion instruction to the second kernel;
the second kernel determines to obtain the torque parameter according to the motion instruction sent by the first kernel and the current position and the current speed of each motion axis sent by the second processor, and sends the torque instruction to the second processor according to the torque parameter, including:
the second kernel obtains the target position and the target speed of each moving axis in the movement instruction, performs torque operation according to the target position and the target speed of each moving axis and the current position and the current speed of each moving axis sent by the second processor, determines to obtain the torque parameter, and sends the torque instruction to the second processor according to the torque parameter.
10. The two-for-one twister control method of claim 9, wherein each of said motion axes comprises a master motion axis and at least one slave motion axis; the torque calculation according to the target position and the target speed of each moving axis and the current position and the current speed of each moving axis sent by the second processor includes:
the second kernel obtains position compensation information between the main motion axis and each slave motion axis according to the current position of the main motion axis and the current position of each slave motion axis;
the second kernel obtains speed compensation information between the main motion axis and each slave motion axis according to the current speed of the main motion axis and the current speed of each slave motion axis;
and the second kernel carries out torque operation according to the target position, the target speed, the current position and the current speed of the main motion axis and each slave motion axis and the position compensation information and the speed compensation information between the main motion axis and each slave motion axis.
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