CN116520901A - Servo control equipment, system and method for high-precision speed turntable - Google Patents
Servo control equipment, system and method for high-precision speed turntable Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- 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
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Abstract
The invention relates to the technical field of servo control, in particular to servo control equipment, a servo control system and a servo control method of a high-precision speed turntable. Wherein the apparatus comprises: the device comprises a turntable, a motor, an encoder, a current sensor, a servo control unit, a servo driving unit and a power supply; the servo control unit is used for calculating a position loop according to the transmitted target position of the upper computer and the position information fed back by the current moment of the encoder, then calculating the predicted speed of the current moment according to the position information fed back by the current moment of the encoder, calculating a speed loop according to the calculated result of the position loop, the position information fed back by the current moment of the encoder and the predicted speed of the current moment, and outputting the calculated result of the speed loop to the servo drive unit; the servo driving unit is used for generating driving current to the motor according to the calculation result of the speed ring and the current fed back by the current sensor so as to enable the motor to directly drive the turntable to rotate. The speed accuracy of the turntable can be greatly improved by the scheme.
Description
Technical Field
The embodiment of the invention relates to the technical field of servo control, in particular to servo control equipment, a servo control system and a servo control method of a high-precision speed turntable.
Background
The gyroscope and the positioning and orientation device are widely used in civil and military projects, and especially because of higher requirements on equipment precision in some projects, special equipment is needed for detecting and rechecking the gyroscope, inertial navigation and other equipment. In the testing process, a gyroscope or positioning and orientation equipment is placed on a speed turntable, the rotation speed of tested data is tested at different speeds, if the accuracy of the gyroscope or the positioning and orientation equipment is high, the accuracy of the speed turntable is necessarily required to be higher, however, the speed of the turntable is controlled by the existing speed turntable only through an encoder, so that the speed accuracy of the existing speed turntable is lower, and the high accuracy required by the gyroscope or the positioning and orientation equipment is difficult to achieve.
Therefore, a servo control apparatus of a high precision rate turntable is demanded.
Disclosure of Invention
In order to solve the problem of lower speed precision of a traditional speed turntable, the embodiment of the invention provides servo control equipment, a system and a method of a high-precision speed turntable.
In a first aspect, an embodiment of the present invention provides a servo control apparatus for a high precision rate turntable, including: the device comprises a turntable, a motor, an encoder, a current sensor, a servo control unit, a servo driving unit and a power supply;
the encoder is respectively connected with the motor and the servo control unit and is used for collecting the position information of the turntable in real time and feeding back the position information of the turntable to the servo control unit in real time;
the power supply is respectively connected with the servo control unit, the servo driving unit and an external power supply, and is used for respectively supplying power to the servo control unit and the servo driving unit by using the power supply voltage provided by the power supply;
the servo control unit is respectively connected with the servo drive unit, the encoder and an external upper computer, and is used for calculating a position loop according to a target position carried in a control instruction of the upper computer and position information fed back by the encoder at the current moment, then calculating a predicted speed at the current moment according to the position information fed back by the encoder at the current moment, calculating a speed loop according to a calculation result of the position loop, the position information fed back by the encoder at the current moment and the predicted speed at the current moment, and outputting a calculation result of the speed loop to the servo drive unit;
the servo driving unit is connected between the motor and the servo control unit and is used for calculating a current control quantity according to a calculation result of the speed loop and the current fed back by the current sensor and generating a driving current to the motor based on the current control quantity so as to enable the motor to directly drive the turntable to rotate; and two ends of the current sensor are respectively connected with the servo driving unit and the motor.
In a second aspect, an embodiment of the present invention further provides a servo control system for a high precision rate turntable, including: the upper computer, the power supply and the position pulse generating device are described in any embodiment of the specification;
the upper computer is electrically connected with the position pulse generating device and is used for communicating with the position pulse generating device;
the power supply is electrically connected with the position pulse generating device and is used for providing power supply voltage for the position pulse generating device.
In a third aspect, an embodiment of the present invention further provides a servo control method of a high precision rate turntable based on the servo control device according to any one of the embodiments of the present specification, including:
acquiring the position information of the turntable in real time by using an encoder;
the servo control unit receives a control instruction of an upper computer to acquire a target position carried in the control instruction;
the servo control unit calculates a position loop according to the target position and the position information fed back by the encoder at the current moment to obtain a calculation result of the position loop;
the servo control unit calculates the predicted speed of the current moment according to the position information fed back by the current moment of the encoder, so as to calculate a speed loop according to the calculation result of the position loop, the position information fed back by the current moment of the encoder and the predicted speed of the current moment, and obtain the calculation result of the speed loop;
the servo control unit calculates a current control quantity according to a calculation result of the speed loop and a current fed back by a current sensor connected to the motor, and generates a driving current to the motor based on the current control quantity so as to enable the motor to directly drive the turntable to rotate.
The embodiment of the invention provides servo control equipment, a system and a method of a high-precision speed turntable, wherein the equipment comprises the turntable, a motor, an encoder, a current sensor, a servo control unit, a servo driving unit and a power supply; the servo control unit is respectively connected with the servo drive unit, the encoder and an external upper computer, calculates a position loop according to a target position carried in a control instruction of the upper computer and position information fed back by the encoder at the current moment, calculates a predicted speed at the current moment according to the position information fed back by the encoder at the current moment, calculates a speed loop according to a calculation result of the position loop, the position information fed back by the encoder at the current moment and the predicted speed at the current moment, and outputs the calculation result of the speed loop to the servo drive unit; the servo driving unit calculates a current control amount according to a calculation result of the speed ring and the current fed back by the current sensor, and generates a driving current to the motor based on the current control amount so as to enable the motor to directly drive the turntable to rotate, thereby improving the speed accuracy of the turntable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a servo control device of a high precision rate turntable according to an embodiment of the present invention;
FIG. 2 is a flowchart of a servo control method of a high precision rate turntable according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
As described above, the existing rate turntable controls the speed of the turntable only by the encoder, and thus the rate accuracy of the existing rate turntable is low, and it is difficult to achieve the high accuracy required for a gyroscope or a positioning and orientation apparatus.
In order to solve the above technical problems, the inventor considers that in the servo control unit, the predicted speed of the current moment is calculated according to the position information fed back by the current moment of the encoder, and then the speed loop is calculated according to the calculation result of the position loop, the position information fed back by the current moment of the encoder and the predicted speed of the current moment, so as to improve the speed precision of the turntable.
Specific implementations of the above concepts are described below.
Referring to fig. 1, an embodiment of the present invention provides a servo control apparatus of a high precision rate turntable, the apparatus including: the device comprises a turntable, a motor, an encoder, a current sensor, a servo control unit, a servo driving unit and a power supply;
the encoder is respectively connected with the motor and the servo control unit and is used for collecting the position information of the turntable in real time and feeding back the position information of the turntable to the servo control unit in real time;
the power supply is respectively connected with the servo control unit, the servo driving unit and an external power supply, and is used for respectively supplying power to the servo control unit and the servo driving unit by using the power supply voltage provided by the power supply;
the servo control unit is respectively connected with the servo drive unit, the encoder and an external upper computer, and is used for calculating a position loop according to a target position carried in a control instruction of the upper computer and position information fed back by the encoder at the current moment, then calculating a predicted speed at the current moment according to the position information fed back by the encoder at the current moment, calculating a speed loop according to a calculation result of the position loop, the position information fed back by the encoder at the current moment and the predicted speed at the current moment, and outputting a calculation result of the speed loop to the servo drive unit;
the servo driving unit is connected between the motor and the servo control unit and is used for calculating a current control quantity according to a calculation result of the speed loop and the current fed back by the current sensor and generating a driving current to the motor based on the current control quantity so as to enable the motor to directly drive the turntable to rotate; and two ends of the current sensor are respectively connected with the servo driving unit and the motor.
In the embodiment of the invention, a servo control unit is respectively connected with a servo drive unit, an encoder and an external upper computer, the servo control unit calculates a position loop according to a target position carried in a control instruction of the upper computer and position information fed back by the current moment of the encoder, then calculates a prediction speed of the current moment according to the position information fed back by the current moment of the encoder, calculates a speed loop according to a calculation result of the position loop, the position information fed back by the current moment of the encoder and the prediction speed of the current moment, and outputs the calculation result of the speed loop to the servo drive unit; the servo driving unit calculates a current control amount according to a calculation result of the speed ring and the current fed back by the current sensor, and generates a driving current to the motor based on the current control amount so as to enable the motor to directly drive the turntable to rotate, thereby improving the speed accuracy of the turntable.
In some embodiments, the servo control unit includes: the information receiving and transmitting circuit, the FPGA chip and the DSP chip;
the information receiving and transmitting circuit comprises an encoder information receiving circuit, a communication receiving and transmitting circuit and a PWM circuit, wherein two ends of the encoder information receiving circuit are respectively connected with the FPGA chip and the encoder, the encoder information receiving circuit is used for converting voltage of position information fed back by the encoder and then transmitting the position information to the FPGA chip, two ends of the communication receiving and transmitting circuit are respectively connected with the FPGA chip and the upper computer, and two ends of the PWM circuit are respectively connected with the FPGA chip and the servo driving unit;
the other end of the FPGA chip is connected with the DSP chip, and the FPGA chip is used for reading signals sent by the information receiving and transmitting circuit, sending the read signals to the DSP chip and sending the signals sent by the DSP chip to the information receiving and transmitting circuit;
the DSP chip is used for determining a first parameter, a second parameter and a third parameter of the position loop according to the target position and the position information fed back by the current moment of the encoder so as to obtain a calculation result of the position loop, then calculating the prediction speed of the current moment according to the position information fed back by the current moment of the encoder so as to determine the first parameter, the second parameter and the third parameter of the speed loop according to the calculation result of the position loop, the position information fed back by the current moment of the encoder and the prediction speed of the current moment, so as to obtain the calculation result of the speed loop, and sending the calculation result of the speed loop to the FPGA chip so as to output the calculation result of the speed loop to the servo driving unit.
In this embodiment, the first parameter, the second parameter and the third parameter of the position loop are dynamically determined according to the target position and the position information fed back by the current moment of the encoder, and the first parameter, the second parameter and the third parameter of the speed loop are dynamically determined according to the calculation result of the position loop, the position information fed back by the current moment of the encoder and the predicted speed of the current moment.
In some embodiments, the DSP chip determines a first parameter, a second parameter, and a third parameter of the position loop according to the target position and the position information fed back by the encoder at the current time, including:
calculating a first difference value between the target position and position information fed back by the encoder at the current moment;
when the first difference value is smaller than 1, the first parameter of the position ring is 2, the second parameter is 1, and the third parameter is 0;
when the first difference value is larger than 1 and smaller than 10, determining a first parameter and a second parameter of the position ring according to the target position, wherein the third parameter is 0;
when the first difference is greater than 10, the first parameter of the position loop is 2.45, the second parameter is 1.27, and the third parameter is 0.05.
In this embodiment, when the first difference is greater than 1 and less than 10, the first parameter and the second parameter of the position loop may be determined by the following formula:
wherein K is p And K i A first parameter and a second parameter of the position loop respectively,is the target location.
In this embodiment, the first parameter, the second parameter and the third parameter of the position loop are determined according to the first difference between the target position and the position information fed back by the encoder at the current moment, so that the calculation accuracy of the position loop can be improved, and the rate control accuracy of the turntable can be further improved.
In some embodiments, the calculation of the position loop is calculated by the following formula:
L＝K p ·e(k)+K i ·∑e(k)+K d [e(k)-e(k-1)]
wherein L is the calculation result of the position ring, K p 、K i And K d The first parameter, the second parameter and the third parameter of the position loop are respectively, e (k) is the first difference value of the current moment, Σe (k) is the accumulated sum of the first difference values, and e (k-1) is the first difference value of the previous moment.
In some embodiments, the DSP chip calculates a predicted speed of a current time according to position information fed back by the current time of the encoder, including:
determining a predicted position at the last moment according to the sampling interval of the encoder, the predicted speed at the last moment and the position information fed back at the last moment on the encoder;
and determining the prediction speed of the current moment according to the position information fed back by the current moment of the encoder and the prediction position of the last moment.
In the present embodiment, the predicted position at the previous time is determined by the following formula:
W′ k-1 ＝T·S k-1 +W k-2
wherein W' is a predicted position, W is position information fed back by an encoder, k represents a current moment, k-1 represents a last moment, k-2 represents a last moment, T is a sampling time interval of the encoder, and S is a predicted speed;
the predicted speed at the current time is determined by the following formula:
S k ＝(W k -W k ′ -1 )·b
in the formula, S is a predicted speed, k represents a current moment, k-1 represents a previous moment, W' is a predicted position, W is position information fed back by an encoder, and b is a prediction coefficient.
In the embodiment of the invention, the predicted speed at the initial time is 0, the predicted position is the position information fed back by the initial time encoder, namely, the initial position of the turntable, and the predicted position and the predicted speed are calculated according to the two formulas at each time after the initial time.
In some embodiments, the DSP chip determines a first parameter, a second parameter, and a third parameter of the speed loop according to a calculation result of the position loop, position information fed back by the current moment of the encoder, and a predicted speed of the current moment, including:
determining the speed of the turntable based on the position information fed back by the encoder at the current moment and the position information fed back by the encoder at the last moment;
determining the actual speed of the turntable based on the turntable speed and the predicted speed at the current moment;
determining a second difference between the calculated result of the position loop and the actual speed;
when the second difference is smaller than 5, the first parameter of the speed ring is 5, the second parameter is 4, and the third parameter is 0;
when the second difference is greater than 5 and smaller than 15, determining a first parameter and a second parameter of the speed loop according to the calculation result of the position loop, wherein the third parameter is 0;
when the second difference is larger than 15 and smaller than 30, determining a first parameter of the speed loop according to the calculation result of the position loop, wherein the second parameter is 2, and the third parameter is 0;
when the second difference is greater than 30, the first parameter is 4, and the second and third parameters are 0.
In this embodiment, the calculation of the speed loop requires the calculation result of the position loop and the actual speed of the turntable as inputs, and when the speed of the turntable is high, the difference between the position information fed back by the encoder at the previous moment and the position information fed back by the current moment is divided by the sampling time interval of the encoder to be used as the speed of the turntable at the moment, so that in this embodiment, the speed of the turntable is determined based on the position information fed back by the encoder at the current moment and the position information fed back by the encoder at the previous moment; then, the actual speed of the turntable is determined based on the turntable speed and the predicted speed at the current time, and the calculation accuracy of the actual speed of the turntable can be improved.
Specifically, the actual speed of the turntable is calculated by the following formula:
v k ＝0.3v k ′+0.7S k
in the formula, v k V' is the actual speed of the turntable, S k Is the predicted speed at the current time.
In some embodiments, when the second difference is greater than 5 and less than 15, the first and second parameters of the speed loop are determined by the following formula:
when the second difference is greater than 15 and less than 30, the first parameter of the speed loop is determined by the following formula:
in the method, in the process of the invention,and->The first parameter and the second parameter of the speed ring are respectively, and L is the calculation result of the position ring.
In the embodiment of the invention, the calculation result of the speed loop is calculated by the following formula:
wherein L is the calculation result of the speed loop,and->First of speed rings respectivelyParameters, second and third parameters, < ->For the second difference at the current time, +.>Is the sum of the accumulation of the second difference +.>Is the second difference from the previous time.
In some embodiments, the servo drive unit includes a current loop calculation module and a drive module;
the first end of the current loop calculation module is connected with the servo control unit, the second end of the current loop calculation module is connected with the driving module, the third end of the current loop calculation module is connected with the current sensor, and the current loop calculation module is used for calculating the current control quantity according to the calculation result of the speed loop and the current fed back by the current sensor and outputting the current control quantity to the driving module;
the other end of the driving module is connected with the motor, and the driving module is used for generating driving current to the motor based on the current control quantity so as to enable the motor to directly drive the turntable to rotate.
It will be appreciated that the other end of the current sensor is connected to the connection line of the drive module and the motor.
The embodiment of the invention also provides a servo control system of the high-precision speed turntable, which comprises the following steps: the upper computer, the power supply and the servo control equipment in any embodiment of the specification;
the upper computer is electrically connected with the servo control equipment and is used for communicating with the servo control equipment;
the power supply is electrically connected with the servo control device and is used for providing power supply voltage for the servo control device.
The content of the above system, which is based on the same concept as the embodiment of the apparatus of the present invention, may be referred to in the description of the embodiment of the apparatus of the present invention, and will not be described herein again.
As shown in fig. 2, the embodiment of the present invention further provides a servo control method of the high precision rate turntable based on the servo control device according to any one of the embodiments of the present specification, including:
step 200, acquiring the position information of the turntable in real time by using an encoder;
step 202, a servo control unit receives a control instruction of an upper computer to acquire a target position carried in the control instruction;
step 204, the servo control unit calculates a position loop according to the target position and the position information fed back by the encoder at the current moment to obtain a calculation result of the position loop;
step 206, the servo control unit calculates the predicted speed of the current moment according to the position information fed back by the current moment of the encoder, so as to calculate the speed loop according to the calculation result of the position loop, the position information fed back by the current moment of the encoder and the predicted speed of the current moment, and obtain the calculation result of the speed loop;
and step 208, the servo control unit calculates a current control amount according to the calculation result of the speed loop and the current fed back by the current sensor connected to the motor, and generates a driving current to the motor based on the current control amount so as to enable the motor to directly drive the turntable to rotate.
The content of the above method, which is based on the same concept as the embodiment of the apparatus of the present invention, may be referred to in the description of the embodiment of the apparatus of the present invention, and will not be described herein again.
It is noted that relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: various media in which program code may be stored, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A servo control apparatus of a high precision rate turntable, comprising: the device comprises a turntable, a motor, an encoder, a current sensor, a servo control unit, a servo driving unit and a power supply;
the encoder is respectively connected with the motor and the servo control unit and is used for collecting the position information of the turntable in real time and feeding back the position information of the turntable to the servo control unit in real time;
the power supply is respectively connected with the servo control unit, the servo driving unit and an external power supply, and is used for respectively supplying power to the servo control unit and the servo driving unit by using the power supply voltage provided by the power supply;
the servo control unit is respectively connected with the servo drive unit, the encoder and an external upper computer, and is used for calculating a position loop according to a target position carried in a control instruction of the upper computer and position information fed back by the encoder at the current moment, then calculating a predicted speed at the current moment according to the position information fed back by the encoder at the current moment, calculating a speed loop according to a calculation result of the position loop, the position information fed back by the encoder at the current moment and the predicted speed at the current moment, and outputting a calculation result of the speed loop to the servo drive unit;
the servo driving unit is connected between the motor and the servo control unit and is used for calculating a current control quantity according to a calculation result of the speed loop and the current fed back by the current sensor and generating a driving current to the motor based on the current control quantity so as to enable the motor to directly drive the turntable to rotate; and two ends of the current sensor are respectively connected with the servo driving unit and the motor.
2. The method of claim 1, wherein the servo control unit comprises: the information receiving and transmitting circuit, the FPGA chip and the DSP chip;
the information receiving and transmitting circuit comprises an encoder information receiving circuit, a communication receiving and transmitting circuit and a PWM circuit, wherein two ends of the encoder information receiving circuit are respectively connected with an FPGA chip and the encoder, the encoder information receiving circuit is used for performing voltage conversion on position information fed back by the encoder and then sending the position information to the FPGA chip, two ends of the communication receiving and transmitting circuit are respectively connected with the FPGA chip and the upper computer, and two ends of the PWM circuit are respectively connected with the FPGA chip and the servo driving unit;
the other end of the FPGA chip is connected with the DSP chip, and the FPGA chip is used for reading the signals sent by the information receiving and transmitting circuit, sending the read signals to the DSP chip and sending the signals sent by the DSP chip to the information receiving and transmitting circuit;
the DSP chip is used for determining a first parameter, a second parameter and a third parameter of a position loop according to the target position and the position information fed back by the current moment of the encoder so as to obtain a calculation result of the position loop, then calculating the prediction speed of the current moment according to the position information fed back by the current moment of the encoder so as to determine the first parameter, the second parameter and the third parameter of the speed loop according to the calculation result of the position loop, the position information fed back by the current moment of the encoder and the prediction speed of the current moment so as to obtain the calculation result of the speed loop, and sending the calculation result of the speed loop to the FPGA chip so as to output the calculation result of the speed loop to the servo driving unit.
3. The method of claim 2, wherein the DSP chip determining the first parameter, the second parameter, and the third parameter of the position loop according to the target position and the position information fed back by the current time of the encoder, comprises:
calculating a first difference value between the target position and position information fed back by the encoder at the current moment;
when the first difference value is smaller than 1, the first parameter of the position ring is 2, the second parameter is 1, and the third parameter is 0;
when the first difference value is larger than 1 and smaller than 10, determining a first parameter and a second parameter of the position ring according to the target position, wherein the third parameter is 0;
when the first difference is greater than 10, the first parameter of the position loop is 2.45, the second parameter is 1.27, and the third parameter is 0.05.
4. The method of claim 2, wherein the calculation of the position loop is calculated by the formula:
L＝K p ·e(k)+K i ·∑e(k)+K d [e(k)-e(k-1)]
wherein L is the calculation result of the position ring, K p 、K i And K d And e (k) is the first difference value of the current moment, Σe (k) is the accumulated sum of the first difference values, and e (k-1) is the first difference value of the previous moment.
5. The method of claim 2, wherein the DSP chip calculates a predicted speed of the current time according to the position information fed back by the current time of the encoder, comprising:
determining a predicted position at the last moment according to the sampling interval of the encoder, the predicted speed at the last moment and the position information fed back at the last moment of the encoder;
and determining the prediction speed of the current moment according to the position information fed back by the current moment of the encoder and the prediction position of the last moment.
6. The method of claim 5, wherein the predicted position at the previous time is determined by the following formula:
W k ′ -1 ＝T·S k-1 +W k-2
wherein W' is a predicted position, W is position information fed back by the encoder, k represents the current moment, k-1 represents the last moment, k-2 represents the last moment, T is a sampling time interval of the encoder, and S is a predicted speed;
the predicted speed at the current time is determined by the following formula:
S k ＝(W k -W k ′ -1 )·b
wherein S is a predicted speed, k represents a current time, k-1 represents a previous time, W' is a predicted position, W is position information fed back by the encoder, and b is a prediction coefficient.
7. The method of claim 2, wherein the DSP chip determines a first parameter, a second parameter, and a third parameter of a speed loop according to the calculation result of the position loop, the position information fed back by the current time of the encoder, and the predicted speed of the current time, including:
determining the speed of the turntable based on the position information fed back by the encoder at the current moment and the position information fed back at the last moment;
determining the actual speed of the turntable based on the turntable speed and the predicted speed at the current moment;
determining a second difference between the calculated result of the position loop and the actual speed;
when the second difference value is smaller than 5, the first parameter of the speed ring is 5, the second parameter is 4, and the third parameter is 0;
when the second difference is greater than 5 and smaller than 15, determining a first parameter and a second parameter of the speed loop according to the calculation result of the position loop, wherein the third parameter is 0;
when the second difference value is larger than 15 and smaller than 30, determining a first parameter of the speed ring according to the calculation result of the position ring, wherein the second parameter is 2, and the third parameter is 0;
when the second difference is greater than 30, the first parameter is 4, and the second and third parameters are 0.
8. The method of claim 2, wherein when the second difference is greater than 5 and less than 15, the first and second parameters of the speed loop are determined by the following formula:
when the second difference is greater than 15 and less than 30, the first parameter of the speed loop is determined by the following formula:
in the method, in the process of the invention,and->And the first parameter and the second parameter of the speed ring are respectively, and L is the calculation result of the position ring.
9. A servo control system for a high precision rate turntable, comprising: a host computer, a power supply and a servo control device according to any one of claims 1 to 8;
the upper computer is electrically connected with the servo control equipment and is used for communicating with the servo control equipment;
the power supply is electrically connected with the servo control device and is used for providing power supply voltage for the servo control device.
10. A servo control method based on a high precision rate turntable of a servo control apparatus according to any one of claims 1 to 8, comprising:
acquiring the position information of the turntable in real time by using an encoder;
the servo control unit receives a control instruction of an upper computer to acquire a target position carried in the control instruction;
the servo control unit calculates a position loop according to the target position and the position information fed back by the encoder at the current moment to obtain a calculation result of the position loop;
the servo control unit calculates the predicted speed of the current moment according to the position information fed back by the current moment of the encoder, so as to calculate a speed loop according to the calculation result of the position loop, the position information fed back by the current moment of the encoder and the predicted speed of the current moment, and obtain the calculation result of the speed loop;
the servo control unit calculates a current control quantity according to a calculation result of the speed loop and a current fed back by a current sensor connected to the motor, and generates a driving current to the motor based on the current control quantity so as to enable the motor to directly drive the turntable to rotate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310353533.7A CN116520901A (en) | 2023-04-04 | 2023-04-04 | Servo control equipment, system and method for high-precision speed turntable |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310353533.7A CN116520901A (en) | 2023-04-04 | 2023-04-04 | Servo control equipment, system and method for high-precision speed turntable |
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| CN202310353533.7A Pending CN116520901A (en) | 2023-04-04 | 2023-04-04 | Servo control equipment, system and method for high-precision speed turntable |
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