CN117134675B - Servo motor control system based on machine vision - Google Patents
Servo motor control system based on machine vision Download PDFInfo
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- CN117134675B CN117134675B CN202311089535.6A CN202311089535A CN117134675B CN 117134675 B CN117134675 B CN 117134675B CN 202311089535 A CN202311089535 A CN 202311089535A CN 117134675 B CN117134675 B CN 117134675B
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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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 discloses a servo motor control system based on machine vision, which relates to the technical field of servo systems, and comprises an acquisition unit for acquiring relevant basic information of a servo motor; the operation unit builds a servo motor control model, connects the servo motor with the controller through an interface circuit, and loads the CANopen protocol stack and the machine vision recognition module in the controller; a judging unit; the recording unit is used for continuously operating a monitoring module for a data set required by the motor movement running state evaluation value Mse; the technical key points are as follows: by setting up a servo motor control model, the monitoring of the inner core position is completed by means of a machine vision recognition module according to the situation of the inner core operation position deviation of the servo motor, the deviation is separated from a data set in the motor core operation state evaluation value Mse, and the core operation parameter Nr is additionally set, so that the control precision of the whole system is effectively improved, and the servo motor is also ensured to be in a stable working state.
Description
Technical Field
The invention relates to the technical field of servo systems, in particular to a servo motor control system based on machine vision.
Background
Servo systems, also known as follower systems, are feedback control systems used to follow or reproduce a process accurately; the servo system is an automatic control system which enables the output controlled quantity of the position, the azimuth, the state and the like of the object to follow any change of an input target (or a given value); the main task of the power control device is to amplify, transform, regulate and control the power according to the requirements of control commands, so that the torque, the speed and the position output by the driving device are controlled flexibly and conveniently; in many cases, the servo system is a feedback control system in which the controlled quantity (output quantity of the system) is mechanical displacement or displacement speed or acceleration, and the function of the servo system is to make the mechanical displacement (or rotation angle) of the output accurately track the displacement (or rotation angle) of the input, and the structural composition of the servo system is not different from that of other feedback control systems in principle.
Current control of servomotors generally involves more types of control systems, such as: the Chinese patent application publication No. CN 101738978A discloses a multi-axis servo motor control system which is used for completing synchronous control of multiple axes on the premise of not affecting each other; the chinese patent application publication No. CN111342709a discloses a multi-servo motor control system for accomplishing control of wiring and data transmission by designing a bus structure.
In the above patent application and the prior art, although there are related servo motors or parameters that provide correction parameters for control, in which, for the vibration amplitude during movement rotation, although it can be adjusted by adjusting the rotation speed, in order to ensure the accuracy of control, the working efficiency of the servo motor itself cannot be ensured or cannot be effectively solved, the operation parameters of the servo motor are not effectively analyzed, the vibration amplitude mentioned in the parameters is critical to the influence of the whole servo motor, if the amplitude exceeds a predetermined value, the motor cannot be continuously used, the unified analysis of the vibration amplitude and other parameters is not reasonable, and the accuracy of the obtained coefficient is also affected.
Disclosure of Invention
(One) solving the technical problems
Aiming at the defects of the prior art, the invention provides a servo motor control system based on machine vision, which is used for completing the monitoring of the position of an inner core of a servo motor by means of a machine vision identification module according to the situation of the deviation of the running position of the inner core of the servo motor by constructing a servo motor control model, separating the deviation from a data set in an evaluation value Mse of the running state of a motor core and adding a core running parameter Nr, thereby effectively improving the control precision of the whole system, ensuring that the servo motor is in a stable working state and solving the problems in the background art.
(II) technical scheme
In order to achieve the above purpose, the invention is realized by the following technical scheme:
A machine vision based servo motor control system comprising:
the acquisition unit acquires relevant basic information of the servo motor;
The operation unit builds a servo motor control model, connects the servo motor and the controller through an interface circuit, loads the CANopen protocol stack and the machine vision recognition module in the controller, and completes scanning treatment on the position of the rotating core in the servo motor after the CANopen protocol stack is initialized; the machine vision recognition module is positioned in the corresponding servo motor, the scanning of the section of the inner core of the servo motor is finished from the overlooking view angle, the monitoring of the interval between the outer edge of the physical core and the standard frame can be finished in real time under the monitoring of the probe arranged in the machine vision recognition module based on the standard frame originally recorded by the machine vision recognition module, and the forming of the curve data table is finished at the equidistant time point; and then the scanning result is a curve data table, if the fluctuation value of the curve data table is within 0.1mm, the servo motor is normally operated, and the position deviation is not existed; if the fluctuation value of the curve data table is more than 0.1mm, the position deviation exists, the servo motor needs to be stopped for maintenance, and the part is the content required to be expressed in the second step;
The first judging module arranged in the controller is used for comparing the scanning processing result with the normal position;
If the position deviation exists, calculating and obtaining the deviation amount through a machine vision recognition module, and feeding back the deviation amount to a servo motor control model; if the position deviation does not exist, switching to an operation module established by the control system, executing operation on an operation mode, establishing a data set of operation parameters of the servo motor, obtaining an evaluation value Mse of the operation state of the motor core in a related manner, and completing the judgment of the evaluation value Mse of the operation state of the motor core through a second judgment module built in the operation module; if the motor movement running state evaluation value Mse does not exceed the preset threshold value, switching different modes to finish the adjustment of the servo motor; if the motor movement running state evaluation value Mse exceeds a preset threshold value, the servo motor works normally;
And the recording unit is used for continuously running a monitoring module for a data set required by the motor movement running state evaluation value Mse, recording each parameter in the data set, marking the parameter exceeding the standard range, and finally recording and backing up the running state of the servo motor.
Further, in the obtaining unit, the relevant basic information of the servo motor at least includes an interface circuit model, a selected controller model and a model of the servo motor itself.
Further, in the operation unit, an interface circuit of an adaptation type is selected to be connected with a corresponding servo motor and a controller, after a power supply is connected, a CANopen protocol stack enters initialization, the controller initializes and activates each module in a control system, a machine vision identification module finishes scanning processing at the moment, the deviation amount of the edge of a machine core in an operation state compared with the edge of the machine core in a static state is obtained, and a curve data table is formed and fed back to a servo motor control model;
It should be noted that: the CANopen protocol stack is a communication protocol based on a CAN bus, and defines a series of rules and protocols for realizing communication among different devices; the CANopen protocol stack is a software implementation of the CANopen protocol, and is responsible for converting data on a CAN physical layer into information conforming to the format regulated by the CANopen protocol and completing communication among devices in the information; the function of the CANopen protocol stack comprises the following aspects: the first is data frame format conversion, wherein the CANopen protocol stack converts the CAN signal of the physical layer into a correct CANopen format, and the method at least comprises the following steps: device ID, data content; secondly, the state machine realizes: the CANopen protocol stack comprises a group of state machines for managing all states and state transitions specified by the CANopen protocol, so that the accuracy and the reliability of communication are ensured; thirdly, processing an application layer protocol: the CANopen protocol stack supports all application layer protocols in the CANopen protocol, including SDO (service data object) and PDO (process data object), for handling data exchange between devices; fourth, network management: the CANopen protocol stack CAN realize the functions of self-diagnosis, configuration, monitoring and management of equipment on the CAN bus, and plays an important role in the stability and reliability of a network; in summary, the function of the CANopen protocol stack is to convert the CAN signal on the physical layer into information conforming to the format specified by the CANopen protocol, and complete communication and network management between devices in the information, so as to realize data exchange and communication between devices.
The scanning processing result according to the first judging module is a curve data table, if the fluctuation value of the curve data table is within 0.1mm, the position deviation does not exist, and the servo motor operates normally; if the fluctuation value of the curve data table is more than 0.1mm, the position deviation exists, and the servo motor needs to be shut down for maintenance.
Further, in the operation module, the data set of the operation parameters of the servo motor is established and includes the operation speed V of the movement, the operation temperature T of the servo motor and the operation parameter Nr of the movement, and the movement mentioned in the application is a rotating piece in the corresponding servo motor, and may also be called a rotating shaft or a rotating rod structure;
The method comprises the steps that when a servo motor is in an operating state, the average speed of a movement is recorded through a rotating speed sensor, and the movement operating speed V in unit time is obtained; detecting and acquiring the running temperature T of the servo motor through a temperature sensor; movement operating parameter nr=actual output power p1++rated output power P2; the actual output power P1 refers to the power output by the servo motor in an actual working state, and comprises useful work and idle work; rated output power P2 is the output power specified by the servo motor in design; and under the condition that the movement of the servo motor is in an operating state, the operating module acquires an evaluation value Mse of the operating state of the movement of the motor according to each parameter in the data set.
The motor movement operation state evaluation value Mse is obtained as follows: obtaining the movement running speed V, the servo motor running temperature T and the movement running parameter Nr, correlating to form a motor movement running state evaluation value Mse after dimensionless processing,
The meaning of the parameters is that alpha is more than or equal to beta is more than or equal to 0, alpha and beta are weights, the specific values of the weights are adjusted and set by a user, and C 1 is a constant correction coefficient; and under the running state of a plurality of groups of normal servo motors, acquiring an acquired motor movement running state evaluation value Mse, and taking the value with the most identical value as a fixed value, namely, representing the value as a preset threshold value.
Further, in the second judging module, when the motor movement operation state evaluation value Mse does not exceed the predetermined threshold value, the out-of-exceeded value indicates: if the motor movement running state evaluation value Mse is smaller than or equal to a preset threshold value, completing switching of different modes, wherein the switching modes comprise adjustment of input voltage and load of a servo motor; the motor movement operation state evaluation value Mse exceeding the predetermined threshold value indicates that the motor movement operation state evaluation value Mse is greater than the predetermined threshold value;
in the switched mode, the input voltage of the servo motor is adjusted based on the following relational formula:
The actual output power P1 of the servo motor is in direct proportion to the square of the input voltage F of the motor, so that the input voltage of the servo motor is increased, and the motor movement running state evaluation value Mse is increased until a state exceeding a preset threshold value is reached;
the actual output power P1 of the servo motor is related to the load of the motor, when the load is increased, the output power of the motor is correspondingly increased, and in a certain range, the actual output power P1 of the servo motor is increased by increasing the load of the motor, so that the motor movement running state evaluation value Mse is increased until the state exceeding a preset threshold value is reached;
It should be noted that: when the input voltage and the load of the servo motor are adjusted, the specification of the servo motor needs to be followed, so that the operation safety of the motor is ensured and the rated parameter range of the motor is not exceeded; when the motor movement operation state evaluation value Mse exceeds a predetermined threshold value, the larger the value thereof is, the more stable the working state of the servo motor is, and the higher the working efficiency is.
Further, setting a rated parameter range in the monitoring module, marking and realizing early warning when the existence parameters exceed the corresponding rated parameter range, and not responding when the existence parameters are all within the corresponding rated parameter range;
Specifically, the specific display conditions during marking are: the marked parameters are displayed on the display screen through red characters and early warning is carried out through the red characters, so that a warning effect is achieved, when the parameters are located in the corresponding limit parameter range, green characters are displayed, and the warning effect is further reflected after the parameters are compared with the red characters.
(III) beneficial effects
The invention provides a servo motor control system based on machine vision. The beneficial effects are as follows:
1. By setting up a servo motor control model, aiming at the situation of the deviation of the operation position of the inner core of the servo motor, the monitoring of the position of the inner core is completed by means of a machine vision recognition module, a curve data table corresponding to the deviation amount is provided when the position deviation occurs, and data support is provided for the overhaul operation of subsequent staff, so that the position of the subsequent staff can be adjusted according to the deviation amount information, the working efficiency during overhaul is improved, and the negative influence of the movement deviation operation on the whole motor is reduced;
2. If the deviation of the operation position of the inner core of the servo motor does not exist, but the problem of low working efficiency of the motor still exists, the judgment unit processes the deviation, the judgment of the operation state evaluation value Mse of the motor core is completed based on the second judgment module, the switching of the operation modules is synchronously realized, the adjustment of the operation state evaluation value Mse of the motor core is completed in the switching of each mode until the state exceeding the preset threshold value is reached, and the real-time adjustment is carried out, so that the servo motor is ensured to be in a stable working state, and the working efficiency of the motor is further improved.
Drawings
FIG. 1 is a block diagram of a machine vision based servo motor control system of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples:
referring to fig. 1, the present invention provides a servo motor control system based on machine vision, comprising:
the acquisition unit acquires relevant basic information of the servo motor;
The operation unit builds a servo motor control model, connects the servo motor and the controller through an interface circuit, loads the CANopen protocol stack and the machine vision recognition module in the controller, and completes scanning treatment on the position of the rotating core in the servo motor after the CANopen protocol stack is initialized;
The machine vision recognition module is positioned in the corresponding servo motor, the scanning of the cross section of the inner core of the servo motor is finished from the overlooking view angle, the monitoring of the interval between the outer edge of the physical core and the standard frame can be finished in real time based on the standard frame originally recorded by the machine vision recognition module under the monitoring of the probe arranged in the machine vision recognition module, and the forming of the curve data table is finished at the equidistant time point; and then the scanning result is a curve data table, if the fluctuation value of the curve data table is within 0.1mm, the servo motor is normally operated, and the position deviation is not existed; if the fluctuation value of the curve data table is more than 0.1mm, the position deviation exists, the servo motor needs to be stopped for maintenance, and the part is the content required to be expressed in the second step;
The first judging module arranged in the controller is used for comparing the scanning processing result with the normal position;
If the position deviation exists, calculating and obtaining the deviation amount through a machine vision recognition module, and feeding back the deviation amount to a servo motor control model; if the position deviation does not exist, switching to an operation module established by the control system, executing operation on an operation mode, establishing a data set of operation parameters of the servo motor, obtaining an evaluation value Mse of the operation state of the motor core in a related manner, and completing the judgment of the evaluation value Mse of the operation state of the motor core through a second judgment module built in the operation module; if the motor movement running state evaluation value Mse does not exceed the preset threshold value, switching different modes to finish the adjustment of the servo motor; if the motor movement running state evaluation value Mse exceeds a preset threshold value, the servo motor works normally;
And the recording unit is used for continuously running a monitoring module for a data set required by the motor movement running state evaluation value Mse, recording each parameter in the data set, marking the parameter exceeding the standard range, and finally recording and backing up the running state of the servo motor.
For a servo motor control method based on machine vision, the method comprises the following specific steps:
step one, acquiring relevant basic information of a servo motor;
The first step comprises the following steps:
The relevant basic information of the servo motor at least comprises an interface circuit model, a selected controller model and a model of the servo motor;
Step two, a servo motor control model is built, a servo motor and a controller are connected through an interface circuit, a CANopen protocol stack and a machine vision recognition module are mounted in the controller, and after the CANopen protocol stack is initialized, the machine vision recognition module finishes scanning treatment on the position of a rotating core in the servo motor;
The main description is: the CANopen protocol stack is a communication protocol based on a CAN bus, and defines a series of rules and protocols for realizing communication among different devices; the CANopen protocol stack is a software implementation of the CANopen protocol, and is responsible for converting data on a CAN physical layer into information conforming to the format regulated by the CANopen protocol and completing communication among devices in the information;
The function of the CANopen protocol stack comprises the following aspects:
The first is data frame format conversion, wherein the CANopen protocol stack converts the CAN signal of the physical layer into a correct CANopen format, and the method at least comprises the following steps: device ID, data content;
secondly, the state machine realizes: the CANopen protocol stack comprises a group of state machines for managing all states and state transitions specified by the CANopen protocol, so that the accuracy and the reliability of communication are ensured;
Thirdly, processing an application layer protocol: the CANopen protocol stack supports all application layer protocols in the CANopen protocol, including SDO (service data object) and PDO (process data object), for handling data exchange between devices;
fourth, network management: the CANopen protocol stack CAN realize the functions of self-diagnosis, configuration, monitoring and management of equipment on the CAN bus, and plays an important role in the stability and reliability of a network;
In summary, the function of the CANopen protocol stack is to convert the CAN signal on the physical layer into information conforming to the format specified by the CANopen protocol, and complete communication and network management between devices in the information, so as to realize data exchange and communication between devices, and when the system is applied, multiple groups of servo motors CAN be controlled respectively, and the acquired data CAN be exchanged and communicated.
The second step comprises the following steps:
S201, selecting an interface circuit of an adaptation type to connect a corresponding servo motor and a controller, and entering a CANopen protocol stack into initialization after a power supply is switched on;
s202, initializing and activating each module in a control system by a controller, wherein the machine vision recognition module finishes scanning processing, the scanning outputting action is based on a high-definition probe arranged in the machine vision recognition module, the function of the probe comprises shooting of the internal structure of a servo motor, and the deviation amount formed between the outer edge of a movement in the servo motor and a standard frame is determined;
s203, obtaining the deviation amount of the edge of the movement in the running state compared with the movement in the static state after the scanning process is completed, forming a curve data table, and feeding back to the servo motor control model;
S204, the first judging module is a curve data table according to the scanning processing result, if the fluctuation value of the curve data table is within 0.1mm, the servo motor is normal in operation, and no position deviation exists; if the fluctuation value of the curve data table is more than 0.1mm, the position deviation exists, and the servo motor needs to be shut down for maintenance; the step and the step III have intersection, and the judgment unit in the step III is used.
When in use, the contents in S201 and S204 are combined:
According to the construction of the servo motor control model, aiming at the situation of the deviation of the operation position of the inner core of the servo motor, the monitoring of the position of the inner core is completed by means of the machine vision recognition module, a curve data table corresponding to the deviation amount is provided when the position deviation occurs, and data support is provided for the overhaul operation of subsequent staff, so that the position of the servo motor control model can be adjusted according to the deviation amount information, the working efficiency of overhaul is improved, and the negative influence of the movement deviation operation on the whole motor is reduced;
Step three, a first judging module built in the controller is used for comparing the scanning processing result with the normal position;
If the position deviation exists, calculating and obtaining the deviation amount through a machine vision recognition module, and feeding back the deviation amount to a servo motor control model; if the position deviation does not exist, switching to an operation module established by the control system, executing operation on an operation mode, establishing a data set of operation parameters of the servo motor, obtaining an evaluation value Mse of the operation state of the motor core in a related manner, and completing the judgment of the evaluation value Mse of the operation state of the motor core through a second judgment module built in the operation module; if the motor movement running state evaluation value Mse does not exceed the preset threshold value, switching different modes to finish the adjustment of the servo motor; if the motor movement running state evaluation value Mse exceeds a preset threshold value, the servo motor works normally;
the second to third steps use two groups of judging modules to realize the segmentation of the movement deviation parameter and the related parameters of other servo motors, and then carry out subsequent judging operation under the condition that the state of the servo motor is not good due to movement deviation is determined, so that the load of a control system can be reduced to a certain extent, and the problem point can be found efficiently.
The third step comprises the following steps:
S301, establishing a data set of servo motor operation parameters including a movement operation speed V, a servo motor operation temperature T and a movement operation parameter Nr;
the method comprises the steps that when a servo motor is in an operating state, the average speed of a movement is recorded through a rotating speed sensor, and the movement operating speed V in unit time is obtained; detecting and acquiring the running temperature T of the servo motor through a temperature sensor; movement operating parameter nr=actual output power p1++rated output power P2; the actual output power P1 refers to the power output by the servo motor in an actual working state, and comprises useful work and idle work; rated output power P2 is the output power specified by the servo motor in design;
And under the condition that the movement of the servo motor is in an operating state, the operating module acquires an evaluation value Mse of the operating state of the movement of the motor according to each parameter in the data set.
S302, the motor movement running state evaluation value Mse is obtained as follows: obtaining the movement running speed V, the servo motor running temperature T and the movement running parameter Nr, correlating to form a motor movement running state evaluation value Mse after dimensionless processing,
The meaning of the parameters is that alpha is more than or equal to beta is more than or equal to 0, alpha and beta are weights, the specific values of the weights are adjusted and set by a user, and C 1 is a constant correction coefficient; and under the running state of a plurality of groups of normal servo motors, acquiring the acquired motor movement running state evaluation value Mse, and taking the value with the most identical value as a fixed value, namely, representing the value as a preset threshold value.
S303, in the second judging module, when the motor movement running state evaluation value Mse does not exceed a preset threshold value, switching of different modes is completed, and the switched modes comprise adjustment of input voltage and load of the servo motor;
specifically, in the switching mode, the input voltage of the servo motor is adjusted based on the following relational formula:
The actual output power P1 of the servo motor is in direct proportion to the square of the input voltage F of the motor, so that the input voltage of the servo motor is increased, and the motor movement running state evaluation value Mse is increased until a state exceeding a preset threshold value is reached;
the actual output power P1 of the servo motor is related to the load of the motor, when the load is increased, the output power of the motor is correspondingly increased, and in a certain range, the actual output power P1 of the servo motor is increased by increasing the load of the motor, so that the motor movement running state evaluation value Mse is increased until the state exceeding a preset threshold value is reached;
When the input voltage and the load of the servo motor are adjusted, the specification of the servo motor needs to be followed, so that the operation safety of the motor is ensured and the rated parameter range of the motor is not exceeded; after the motor movement running state evaluation value Mse exceeds a preset threshold value, the larger the value is, the more stable the working state of the servo motor is, and the higher the working efficiency is; in addition, by adjusting parameters of the controller, such as acceleration and rotation speed parameters of the servo motor, the output power of the servo motor can be influenced, so that the adjustment of the motor movement running state evaluation value Mse is completed, and the operation can be performed according to specific conditions.
When in use, the contents in S301 and S303 are combined:
Aiming at the situation that the deviation of the running position of the inner core of the servo motor does not exist, but the situation that the working efficiency of the motor is low still exists, the situation needs to be processed in a judging unit, the judgment of the running state evaluation value Mse of the motor core is completed based on a second judging module, the switching of the running modules is synchronously realized, the adjustment of the running state evaluation value Mse of the motor core is completed in the switching of each mode until the state exceeding a preset threshold value is reached, and the real-time adjustment is carried out, so that the servo motor is in a stable working state, and the working efficiency of the motor is further improved;
Continuously running a monitoring module for a data set required by the motor movement running state evaluation value Mse, recording each parameter in the data set, marking the parameter exceeding a standard range, and finally recording and backing up the running state of the servo motor, wherein when the servo motor is backed up, a cloud disk can be adopted for autonomous backup, and a plurality of mobile hard disks can be used for backup according to the requirement, so that the purpose of storage can be achieved;
The fourth step comprises the following steps:
Setting a rated parameter range in the monitoring module, marking and realizing early warning when the existing parameters exceed the corresponding rated parameter ranges, and not responding when the existing parameters are all within the corresponding rated parameter ranges;
when in use, the content in the fourth step is combined to know that:
The specific display conditions when marking are as follows: the marked parameters are displayed on the display screen through red characters and early warning is carried out through the red characters, so that a warning effect is achieved, when the parameters are located in the corresponding limit parameter range, green characters are displayed, and the warning effect is further reflected after the parameters are compared with the red characters.
The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application.
Claims (7)
1. A servo motor control system based on machine vision is characterized in that: comprising the steps of (a) a step of,
The acquisition unit acquires relevant basic information of the servo motor;
The operation unit builds a servo motor control model, connects the servo motor and the controller through an interface circuit, loads the CANopen protocol stack and the machine vision recognition module in the controller, and completes scanning treatment on the position of the rotating core in the servo motor after the CANopen protocol stack is initialized;
The first judging module arranged in the controller is used for comparing the scanning processing result with the normal position;
If the position deviation exists, calculating and obtaining the deviation amount through a machine vision recognition module, and feeding back the deviation amount to a servo motor control model; if the position deviation does not exist, switching to an operation module established by the control system, executing operation on an operation mode, establishing a data set of operation parameters of the servo motor, obtaining an evaluation value Mse of the operation state of the motor core in a related manner, and completing the judgment of the evaluation value Mse of the operation state of the motor core through a second judgment module built in the operation module; if the motor movement running state evaluation value Mse does not exceed the preset threshold value, switching different modes to finish the adjustment of the servo motor; if the motor movement running state evaluation value Mse exceeds a preset threshold value, the servo motor works normally;
the recording unit continuously runs a monitoring module for a data set required by the motor movement running state evaluation value Mse, records each parameter in the data set, marks the parameter exceeding a standard range, and finally records and backs up the running state of the servo motor;
In the operation module, a data set of servo motor operation parameters is established, wherein the data set comprises a movement operation speed V, a servo motor operation temperature T and a movement operation parameter Nr;
the method comprises the steps that when a servo motor is in an operating state, the average speed of a movement is recorded through a rotating speed sensor, and the movement operating speed V in unit time is obtained; detecting and acquiring the running temperature T of the servo motor through a temperature sensor; movement operating parameter nr=actual output power p1++rated output power P2; the actual output power P1 refers to the power output by the servo motor in an actual working state, and comprises useful work and idle work; rated output power P2 is the output power specified by the servo motor in design;
when the movement of the servo motor is in an operating state, the operation module acquires an evaluation value Mse of the operating state of the movement of the motor according to each parameter in the data set;
The motor movement operation state evaluation value Mse is obtained as follows: obtaining the movement running speed V, the servo motor running temperature T and the movement running parameter Nr, correlating to form a motor movement running state evaluation value Mse after dimensionless processing,
The meaning of the parameters is that alpha is more than or equal to beta is more than or equal to 0, alpha and beta are weights, the specific values of the weights are adjusted and set by a user, and C 1 is a constant correction coefficient;
and under the running state of a plurality of groups of normal servo motors, acquiring an acquired motor movement running state evaluation value Mse, and taking the value with the most identical value as a fixed value, namely, representing the value as a preset threshold value.
2. A machine vision based servo motor control system as set forth in claim 1 wherein: in the acquisition unit, the relevant basic information of the servo motor at least comprises an interface circuit model, a selected controller model and a model of the servo motor.
3. A machine vision based servo motor control system as set forth in claim 2 wherein: and in the operation unit, an interface circuit of an adaptation type is selected to be connected with a corresponding servo motor and a controller, after a power supply is switched on, a CANopen protocol stack enters initialization, the controller initializes and activates each module in a control system, a machine vision recognition module finishes scanning processing at the moment, the deviation amount of the edge of the movement in an operation state compared with the movement in a static state is obtained, and a curve data table is formed and fed back to a servo motor control model.
4. A machine vision based servo motor control system as set forth in claim 3 wherein: in the judging unit, the scanning processing result according to the first judging module is a curve data table, if the fluctuation value of the curve data table is within 0.1mm, the position deviation does not exist, and the servo motor operates normally; if the fluctuation value of the curve data table is more than 0.1mm, the position deviation exists, and the servo motor needs to be shut down for maintenance.
5. A machine vision based servo motor control system as set forth in claim 1 wherein: in the second judging module, when the motor movement running state evaluation value Mse does not exceed a preset threshold value, the switching of different modes is completed, and the switching modes comprise the adjustment of the input voltage and the load of the servo motor.
6. A machine vision based servo motor control system as set forth in claim 5 wherein: in the switched mode, the input voltage of the servo motor is adjusted based on the following relational formula:
The actual output power P1 of the servo motor is in direct proportion to the square of the input voltage F of the motor, so that the input voltage of the servo motor is increased, and the motor movement running state evaluation value Mse is increased until a state exceeding a preset threshold value is reached;
The actual output power P1 of the servo motor is related to the load of the motor, when the load is increased, the output power of the motor is correspondingly increased, and in a certain range, the actual output power P1 of the servo motor is increased by increasing the load of the motor, so that the motor movement running state evaluation value Mse is increased until a state exceeding a preset threshold value is reached.
7. A machine vision based servo motor control system as set forth in claim 1 wherein: setting a rated parameter range in the monitoring module, marking and realizing early warning when the existing parameters exceed the corresponding rated parameter ranges, and not responding when the existing parameters are all within the corresponding rated parameter ranges.
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