CN117914223B - Control system of servo motor - Google Patents
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Abstract
The invention discloses a control system of a servo motor, which relates to the field of industrial production and solves the problem that the existing servo motor is difficult to automatically control a mode to adjust.
Description
Technical Field
The invention belongs to the field of industrial production, relates to an automatic control technology, and particularly relates to a control system of a servo motor.
Background
The servo motor is a precisely controlled motor, is generally used in applications requiring high-precision motion control, such as machine tools, robots, printing equipment, automatic production lines and the like, can realize precise position, speed and torque control by matching with a servo controller, has high dynamic response capability and stability, can quickly respond to control signals and realize precise motion control, and is widely applied in the field of industrial automation due to high performance and precise control capability, and the control modes of the existing servo motor generally comprise a position control mode, a speed control mode and a torque control mode;
in the prior art, when a servo motor is controlled, the following defects exist:
the existing servo motor comprises a position control mode, a speed control mode and a torque control mode, and the mode is switched by means of manpower aiming at the switching among the three controls in the existing control system, so that the switching efficiency is low, and the manual utilization rate is high;
the control mode of the servo motor is manually switched, so that the working mode of the servo motor cannot be accurately judged in the transition process of one three modes, the working efficiency of the servo motor is low, and even certain potential safety hazards exist.
To this end, we propose a control system for a servomotor.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a control system of a servo motor, which is based on a data acquisition module: obtaining a working signal of a servo motor, obtaining precision control data by carrying out precision analysis on the working signal to obtain a unit pulse quantity value, configuring a rotation angle value, acquiring a time length value and a working expected angle, obtaining expected stop speed value and a characteristic time length value by carrying out speed analysis on the working signal to obtain speed control data, defining the precision control data and the speed control data as basic control data, carrying out working precision monitoring on the servo motor according to the basic control data, obtaining a rotation angle error value, carrying out threshold judgment on the rotation angle error value to obtain precision judgment grading data, carrying out working response speed monitoring on the servo motor according to the basic control data, obtaining a rotation stop speed error value, carrying out threshold judgment on the rotation stop speed error value to obtain speed judgment grading data, and carrying out control mode switching on the servo motor according to the basic control data, the precision judgment grading data and the speed judgment grading data.
In order to achieve the above purpose, the invention adopts the following technical scheme, and the specific working process of each module of the control system of the servo motor is as follows:
And a data acquisition module: the method comprises the steps of obtaining a working signal of a servo motor, obtaining a unit pulse quantity value, a configuration rotation angle value, an acquisition duration time value and a working expected angle through precision analysis of the working signal, obtaining precision control data, obtaining an expected stop speed value and a characteristic moment duration value through speed analysis of the working signal, obtaining speed control data, and defining the precision control data and the speed control data as basic control data;
And the precision control module is used for: monitoring working accuracy of the servo motor according to the basic control data, acquiring a rotation angle error value, and judging a threshold value of the rotation angle error value to acquire accuracy judgment grading data;
and the speed control module is used for: monitoring the working response speed of the servo motor according to the basic control data, acquiring a rotation stop speed error value, and performing threshold judgment on the rotation stop speed error value to acquire speed judgment grading data;
and a mode adjusting module: and switching control modes of the servo motor according to the basic control data, the precision judgment grading data and the speed judgment grading data.
Further, the data acquisition module acquires basic control data, specifically as follows:
Acquiring a working signal transmitted to a servo motor by a PLC (programmable logic controller) control device, analyzing the working signal through an analysis encoder, and acquiring a control precision analysis and a control speed analysis of the working signal to the servo motor;
performing control precision analysis on the servo motor according to the working signal to obtain precision control data;
performing response speed analysis on the servo motor according to the working signal to obtain speed control data;
Defining precision control data and speed control data as basic control data;
the data acquisition module acquires basic control data and respectively transmits the basic control data to the precision control module and the speed control module.
Further, the data acquisition module acquires precision control data, which is specifically as follows:
Dividing a working signal into n different characteristic signal time points, respectively marking the n different characteristic signal time points as a first characteristic signal point to an nth characteristic signal point, respectively obtaining the number of pulse signals which need to be received by a servo motor of each characteristic signal point, and respectively marking the n different characteristic signal time points as a first characteristic pulse number to an nth characteristic pulse number;
Acquiring configuration rotation angles corresponding to the servo motors with the unit pulse numbers, and respectively acquiring expected rotation angles of the servo motors corresponding to the first to nth characteristic pulse numbers;
Specifically, calculating the first characteristic pulse number, the unit pulse number and the configuration rotation angle to obtain a servo motor expected rotation angle corresponding to the first characteristic pulse number, and marking the servo motor expected rotation angle as a first characteristic angle;
Repeating the calculation process of the first characteristic angle, respectively obtaining expected rotation angles of the servo motor corresponding to the second pulse quantity to the nth pulse quantity, and respectively marking the expected rotation angles as second characteristic angles to the nth characteristic angles;
Calculating the average of the first characteristic angle and the nth characteristic angle to obtain a characteristic angle average value, and marking the characteristic angle average value as a working expected angle;
Acquiring the acquisition time length corresponding to the characteristic signal time point, and marking the acquisition time length as an acquisition time length value;
The number of unit pulses, the configuration rotation angle, the acquisition time duration value and the work expected angle are defined as precision control data.
Further, the data acquisition module acquires speed control data, specifically as follows:
Acquiring working signals transmitted to a servo motor by plc control equipment, analyzing the working signals through an analysis encoder, randomly selecting m stop working signals, and respectively marking the m stop working signals as first stop signals to m stop signals;
respectively acquiring the servo motor rotating speeds at the characteristic moments before the first stop signal to the mth stop signal, and respectively marking the servo motor rotating speeds as the first stop rotating speed to the mth stop rotating speed;
Acquiring a characteristic time duration value;
Calculating the first stopping speed and the characteristic time duration value to obtain a first stopping speed value;
Repeating the calculation process of the first stopping speed value, and calculating the second stopping speed value to the mth stopping speed value respectively;
calculating the first stopping speed value to the mth stopping speed value to obtain an expected stopping speed value;
The desired stop speed value and the characteristic time duration value are defined as speed control data.
Further, the precision control module acquires precision judgment grading data, specifically as follows:
Adjusting the servo motor to a position control mode;
Basic control data are acquired, and the number of unit pulses, the configuration rotation angle, the acquisition duration time value and the working expected angle are acquired according to the basic control data;
Selecting i characteristic working points with the time length being the time length value of the acquisition in the working process of the servo motor, and marking the i characteristic working points as a first characteristic working point to an i characteristic working point respectively;
respectively acquiring pulse numbers corresponding to the first characteristic working point to the ith characteristic working point through pulse detection equipment;
calculating an average actual rotation angle corresponding to the servo motor;
calculating the average actual rotation angle and the work expected angle to obtain a rotation angle error value;
acquiring a rotation angle error threshold value, and performing numerical comparison on the rotation angle error value and the rotation angle error threshold value to obtain precision judgment grading data;
The numerical comparison process is specifically as follows:
When the rotating angle error value is larger than the rotating angle error threshold value, judging that the working accuracy of the servo motor is a disqualified interval;
And when the rotating angle error value is smaller than or equal to the rotating angle error threshold value, judging that the working accuracy of the servo motor is a qualified zone.
Further, the accuracy control module acquires an average actual rotation angle, which is specifically as follows:
calculating the pulse number, the unit pulse number and the configuration rotation angle corresponding to the first characteristic working point to obtain an actual rotation angle corresponding to the first characteristic working point;
marking the actual rotation angle corresponding to the first characteristic working point as a first actual rotation angle;
repeating the calculation process of the actual rotation angles corresponding to the first characteristic working points, respectively obtaining the actual rotation angles corresponding to the second characteristic working points to the ith characteristic working points, and respectively marking the actual rotation angles as the second actual rotation angles to the ith actual rotation angles;
And calculating the first to ith actual rotation angles to obtain an average actual rotation angle.
Further, the speed control module obtains speed judgment grading data, specifically as follows: acquiring precision judgment grading data and basic control data;
acquiring an expected stopping speed value and a characteristic time duration value through basic control data;
Randomly selecting a stop working process of the servo motor as a stop detection working process;
Acquiring an actual stop speed value corresponding to a stop detection working process;
Calculating the expected stopping speed value and the actual stopping speed value to obtain a rotation stopping speed error value;
And acquiring a rotation stopping speed error threshold value, and comparing the rotation stopping speed error value with the rotation stopping speed error threshold value to obtain speed judgment grading data.
Further, the speed control module obtains an actual stopping speed value, which is specifically as follows:
respectively marking a first stop detection time node and a second stop detection time node in the stop detection process;
acquiring a servo motor rotating speed value corresponding to a first stop detection time node through a first rotating speed sensor to obtain a first servo motor rotating speed value;
Obtaining a servo motor rotating speed value corresponding to a second stop detection time node through a second rotating speed sensor to obtain a second servo motor rotating speed value;
and calculating the rotating speed value of the first servo motor, the rotating speed value of the second servo motor and the characteristic time duration value to obtain an actual stopping speed value.
Further, the speed control module compares the rotation stop speed error value with a rotation stop speed error threshold value, specifically as follows:
If the value of the stopping speed error is larger than or equal to the rotation stopping speed error threshold value, judging that the speed error of the servo motor is unqualified;
And if the value of the stopping speed error is smaller than the threshold value of the rotation stopping speed error, judging that the speed error of the servo motor is qualified.
Further, the mode adjustment module performs mode adjustment on the servo motor, specifically as follows:
respectively acquiring speed judgment grading data and precision judgment grading data;
The precision judgment grading data comprise a servo motor working precision judgment unqualified interval and a servo motor working precision judgment qualified interval, and the speed judgment grading data comprise a servo motor speed error judgment qualification and a servo motor speed error judgment unqualified;
When the servo motor is in a failure zone judged by the working precision of the servo motor, automatically switching the servo motor to a torque control mode;
when the servo motor is in the condition that the speed error of the servo motor is judged to be unqualified, the servo motor is automatically switched to a speed control mode;
when the servo motor is simultaneously in a failure zone of the servo motor working accuracy judgment and the servo motor speed error judgment, stopping working of the servo motor;
when the servo motor is in the qualified area of the servo motor working accuracy judgment or the servo motor speed error judgment is qualified, the servo motor works normally.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. according to the invention, the control mode judgment is carried out on the servo motor by acquiring the precision judgment grading data and the speed judgment grading data, and compared with the control mode judgment according to the working purpose of the servo motor, the switching accuracy of the control mode is improved;
2. according to the invention, the servo motor control mode is switched in real time by utilizing the working data, so that the efficiency of mode switching is ensured, and the working efficiency of the servo motor is improved.
Drawings
The present invention is further described below with reference to the accompanying drawings for the convenience of understanding by those skilled in the art.
FIG. 1 is an overall system block diagram of the present invention;
Fig. 2 is a diagram of the steps for implementing the present invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is obvious that the described embodiments are only some embodiments of the present invention, 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.
Example 1
Referring to fig. 1, the present invention provides a technical solution: the control system of the servo motor comprises a data acquisition module, an accuracy control module, a speed control module, a mode adjustment module and a server, wherein the data acquisition module, the accuracy control module, the speed control module and the mode adjustment module are respectively connected with the server;
The data acquisition module acquires basic control data;
Acquiring a working signal transmitted to a servo motor by a PLC (programmable logic controller) control device, analyzing the working signal through an analysis encoder, and acquiring a control precision analysis and a control speed analysis of the working signal to the servo motor;
the control precision analysis is carried out on the servo motor according to the working signal, and precision control data are obtained, specifically as follows:
Dividing a working signal into n different characteristic signal time points, respectively marking the n different characteristic signal time points as a first characteristic signal point to an nth characteristic signal point, respectively obtaining the number of pulse signals which need to be received by a servo motor of each characteristic signal point, and respectively marking the n different characteristic signal time points as a first characteristic pulse number to an nth characteristic pulse number;
What needs to be explained here is:
The corresponding acquisition time length of each characteristic signal time point is the same;
Acquiring configuration rotation angle values corresponding to the servo motors with the unit pulse number values, and respectively acquiring expected rotation angles of the servo motors corresponding to the first to nth characteristic pulse numbers;
specifically, calculating the first characteristic pulse quantity, the unit pulse quantity value and the configuration rotation angle value to obtain a servo motor expected rotation angle corresponding to the first characteristic pulse quantity, and marking the servo motor expected rotation angle as a first characteristic angle;
calculating the expected rotation angle of the servo motor, wherein the specific formula is configured as follows:
Wherein Zd1 is the expected rotation angle of the servo motor corresponding to the first characteristic pulse quantity, mcs1 is the first characteristic pulse quantity, mcj is the unit pulse quantity value, and Zdp is the configuration rotation angle value;
What needs to be explained here is:
In the present embodiment, the PLC control device refers to a Programmable Logic Controller (PLC), which is an electronic device for controlling and monitoring an automation system, and in a servo motor system, the PLC device is generally used to control the operation of a servo motor, monitor the state thereof, and perform various motion control functions
Because the rotation angle of a single pulse to the servo motor is smaller, in order to facilitate the measurement of the rotation angle of the servo motor, a unit pulse number value is used for measuring the rotation angle of the servo motor, and in the embodiment, one unit pulse number value corresponds to 200 pulses, and the configuration rotation angle value is specifically limited to 10mm;
Repeating the calculation process of the first characteristic angle, respectively obtaining expected rotation angles of the servo motor corresponding to the second pulse quantity to the nth pulse quantity, and respectively marking the expected rotation angles as second characteristic angles to the nth characteristic angles;
Calculating the average of the first characteristic angle and the nth characteristic angle to obtain a characteristic angle average value, and marking the characteristic angle average value as a working expected angle;
Acquiring the acquisition time length corresponding to the characteristic signal time point, and marking the acquisition time length as an acquisition time length value;
Defining a unit pulse quantity value, a configuration rotation angle value, an acquisition duration time value and a working expected angle as precision control data;
and (3) carrying out response speed analysis on the servo motor according to the working signal to obtain speed control data, wherein the speed control data comprises the following specific steps:
Acquiring working signals transmitted to a servo motor by plc control equipment, analyzing the working signals through an analysis encoder, randomly selecting m stop working signals, and respectively marking the m stop working signals as first stop signals to m stop signals;
respectively acquiring the servo motor rotating speeds at the characteristic moments before the first stop signal to the mth stop signal, and respectively marking the servo motor rotating speeds as the first stop rotating speed to the mth stop rotating speed;
Acquiring a characteristic time duration value;
Calculating the first stopping speed and the characteristic time duration value to obtain a first stopping speed value;
The first stopping speed value is calculated, and the specific formula is configured as follows:
wherein Tzv1 is a first stop speed value, tzj1 is a first stop rotating speed, and Ttz is a characteristic time duration value;
Repeating the calculation process of the first stopping speed value, and calculating the second stopping speed value to the mth stopping speed value respectively;
calculating the first stopping speed value to the mth stopping speed value to obtain an expected stopping speed value;
the expected stopping speed value is calculated, and the specific formula is configured as follows:
Wherein Tzvp is a desired stop speed value, tzv1 to Tzvm are first to mth stop speed values, respectively;
Defining a desired stopping speed value and a characteristic time duration value as speed control data;
Defining precision control data and speed control data as basic control data;
What needs to be explained here is:
The characteristic time duration value referred to in the present embodiment is specifically defined as 0.1 seconds;
the data acquired here are all in a position control mode based on the servo motor;
the data acquisition module acquires basic control data and respectively transmits the basic control data to the precision control module and the speed control module;
The precision control module carries out precision judgment on the servo motor according to the basic control data to obtain precision judgment grading data;
Basic control data are acquired, and a unit pulse quantity value, a configuration rotation angle value, an acquisition duration time value and a working expected angle are acquired according to the basic control data;
Adjusting the servo motor to a position control mode;
Selecting i characteristic working points with the time length being the time length value of the acquisition in the working process of the servo motor, and marking the i characteristic working points as a first characteristic working point to an i characteristic working point respectively;
respectively acquiring pulse numbers corresponding to the first characteristic working point to the ith characteristic working point through pulse detection equipment;
Calculating the pulse number, the unit pulse number value and the configuration rotation angle value corresponding to the first characteristic working point to obtain an actual rotation angle corresponding to the first characteristic working point;
the actual rotation angle corresponding to the first characteristic working point is calculated, and the specific formula is configured as follows:
wherein Tds1 is an actual rotation angle corresponding to the first characteristic working point, gmc1 is a pulse number corresponding to the first characteristic working point, mcj is a unit pulse number value, and Zdp is a configuration rotation angle value;
marking the actual rotation angle corresponding to the first characteristic working point as a first actual rotation angle;
repeating the calculation process of the actual rotation angles corresponding to the first characteristic working points, respectively obtaining the actual rotation angles corresponding to the second characteristic working points to the ith characteristic working points, and respectively marking the actual rotation angles as the second actual rotation angles to the ith actual rotation angles;
Calculating the first to ith actual rotation angles to obtain an average actual rotation angle;
the average actual rotation angle is calculated, and the specific formula is configured as follows:
wherein Tdsp is an average actual rotation angle, tds1 to Tdsi are first to i-th actual rotation angles;
calculating the average actual rotation angle and the work expected angle to obtain a rotation angle error value;
the rotation angle error value is calculated, and the specific formula is configured as follows:
Wherein Wci is a rotation angle error value, tdsp is an average actual rotation angle, qwjd is a working expected angle;
acquiring a rotation angle error threshold value, and performing numerical comparison on the rotation angle error value and the rotation angle error threshold value to obtain precision judgment grading data;
what needs to be explained here is: the rotating angle error referred to here is an error value between the actually occurring rotating angle of the servo motor and the expected angle of plc equipment signal in the current working state, the common error angle of the servo motor is 0.1-1 degree, the error threshold value here takes the average value of the common error angle, in this embodiment, the average value is specifically set to 0.5 degree, and specific adjustment can be performed in different working states of the servo motor;
The numerical comparison process is specifically as follows:
When the rotating angle error value is larger than the rotating angle error threshold value, judging that the working accuracy of the servo motor is a disqualified interval;
When the rotating angle error value is smaller than or equal to the rotating angle error threshold value, judging that the working accuracy of the servo motor is a qualified zone;
The precision control module acquires precision judgment grading data and transmits the precision judgment grading data to the speed control module;
The speed control module performs speed analysis according to the basic control data to obtain speed judgment grading data;
the speed control module comprises a first rotating speed sensor and a second rotating speed sensor;
Acquiring precision judgment grading data and basic control data;
acquiring an expected stopping speed value and a characteristic time duration value through basic control data;
Randomly selecting a stop working process of the servo motor as a stop detection working process;
respectively marking a first stop detection time node and a second stop detection time node in the stop detection process;
The first stop detection time node is a time point corresponding to the stop moment of the servo motor, the second stop detection time node is a time point corresponding to a characteristic moment of the stop moment of the servo motor, and the first stop detection time node and the second stop detection time node are different by one characteristic moment;
acquiring a servo motor rotating speed value corresponding to a first stop detection time node through a first rotating speed sensor to obtain a first servo motor rotating speed value;
Obtaining a servo motor rotating speed value corresponding to a second stop detection time node through a second rotating speed sensor to obtain a second servo motor rotating speed value;
calculating the rotating speed value of the first servo motor, the rotating speed value of the second servo motor and the characteristic time duration value to obtain an actual stopping speed value;
the actual stopping speed value is calculated, and the specific formula is configured as follows:
wherein Ztsj is an actual stop speed value, zs1 is a first servo motor rotating speed value, zs2 is a second servo motor rotating speed value, and Ttz is a characteristic time duration value;
Calculating the expected stopping speed value and the actual stopping speed value to obtain a rotation stopping speed error value;
The rotation stop speed error value is calculated, and the specific formula is configured as follows:
Wherein Zwc is a rotation stop speed error value, tzvp is a desired stop speed value, and Ztsj is an actual stop speed value;
acquiring a rotation stopping speed error threshold value, and comparing the rotation stopping speed error value with the rotation stopping speed error threshold value to obtain speed judgment grading data;
The numerical comparison process is specifically as follows:
If the value of the stopping speed error is larger than or equal to the rotation stopping speed error threshold value, judging that the speed error of the servo motor is unqualified;
if the value of the stopping speed error is smaller than the threshold value of the rotation stopping speed error, judging that the speed error of the servo motor is qualified;
What needs to be explained here is:
The rotation stopping speed error value is the difference between the actual stopping speed value and the expected stopping speed value, the rotation stopping speed error value is judged by the rotation stopping speed error threshold value, the working response speed of the servo motor is judged, the normal rotation stopping speed error interval of the normal servo motor is 5-20 in a characteristic moment, the stopping speed error normal interval is taken as the rotation stopping speed error threshold value, the rotation stopping speed error threshold value is set to be 12.5 in the embodiment, and the rotation stopping speed error threshold value is set specifically according to the actual production environment;
The speed judgment grading module acquires the speed judgment grading data and transmits the speed judgment grading data to the mode adjusting module;
The mode adjusting module carries out mode adjustment on the servo motor according to the speed judging grading data and the precision judging grading data;
respectively acquiring speed judgment grading data and precision judgment grading data;
The precision judgment grading data comprise a servo motor working precision judgment unqualified interval and a servo motor working precision judgment qualified interval, and the speed judgment grading data comprise a servo motor speed error judgment qualification and a servo motor speed error judgment unqualified;
When the servo motor is in a failure zone judged by the working precision of the servo motor, automatically switching the servo motor to a torque control mode;
when the servo motor is in the condition that the speed error of the servo motor is judged to be unqualified, the servo motor is automatically switched to a speed control mode;
when the servo motor is simultaneously in a failure zone of the servo motor working accuracy judgment and the servo motor speed error judgment, stopping working of the servo motor;
When the servo motor is in a qualified area of the servo motor working accuracy judgment or the servo motor speed error judgment is qualified, the servo motor works normally;
What needs to be explained here is: the servo motor commonly used at the present stage comprises a position control mode, a speed control mode and a torque control mode, the servo motor is also freely switched among the three control modes, and the working mode of the servo motor is the position control mode under the default working condition;
In the application, if a corresponding calculation formula appears, the calculation formulas are all dimensionality-removed and numerical calculation, and the weight coefficient, the proportion coefficient and other coefficients in the formulas are set to be a result value obtained by quantizing each parameter, so long as the proportion relation between the parameter and the result value is not influenced.
Example two
Referring to fig. 2, based on another concept of the same invention, a control method of a servo motor is now provided, which includes the following steps:
Step S1: the data acquisition module acquires basic control data;
Step S11: acquiring a working signal transmitted to a servo motor by a PLC (programmable logic controller) control device, analyzing the working signal through an analysis encoder, and acquiring a control precision analysis and a control speed analysis of the working signal to the servo motor;
Step S12: the control precision analysis is carried out on the servo motor according to the working signal, and precision control data are obtained, specifically as follows:
Step S121: dividing a working signal into n different characteristic signal time points, respectively marking the n different characteristic signal time points as a first characteristic signal point to an nth characteristic signal point, respectively obtaining the number of pulse signals which need to be received by a servo motor of each characteristic signal point, and respectively marking the n different characteristic signal time points as a first characteristic pulse number to an nth characteristic pulse number;
Step S122: acquiring configuration rotation angle values corresponding to the servo motors with the unit pulse number values, and respectively acquiring expected rotation angles of the servo motors corresponding to the first to nth characteristic pulse numbers;
Step S123: specifically, calculating the first characteristic pulse quantity, the unit pulse quantity value and the configuration rotation angle value to obtain a servo motor expected rotation angle corresponding to the first characteristic pulse quantity, and marking the servo motor expected rotation angle as a first characteristic angle;
step S124: repeating the calculation process of the first characteristic angle, respectively obtaining expected rotation angles of the servo motor corresponding to the second pulse quantity to the nth pulse quantity, and respectively marking the expected rotation angles as second characteristic angles to the nth characteristic angles;
step S125: calculating the average of the first characteristic angle and the nth characteristic angle to obtain a characteristic angle average value, and marking the characteristic angle average value as a working expected angle;
step S126: acquiring the acquisition time length corresponding to the characteristic signal time point, and marking the acquisition time length as an acquisition time length value;
step S127: defining a unit pulse quantity value, a configuration rotation angle value, an acquisition duration time value and a working expected angle as precision control data;
Step S13: and (3) carrying out response speed analysis on the servo motor according to the working signal to obtain speed control data, wherein the speed control data comprises the following specific steps:
Step S131: acquiring working signals transmitted to a servo motor by plc control equipment, analyzing the working signals through an analysis encoder, randomly selecting m stop working signals, and respectively marking the m stop working signals as first stop signals to m stop signals;
Step S132: respectively acquiring the servo motor rotating speeds at the characteristic moments before the first stop signal to the mth stop signal, and respectively marking the servo motor rotating speeds as the first stop rotating speed to the mth stop rotating speed;
step S133: acquiring a characteristic time duration value;
Step S134: calculating the first stopping speed and the characteristic time duration value to obtain a first stopping speed value;
Step S135: repeating the calculation process of the first stopping speed value, and calculating the second stopping speed value to the mth stopping speed value respectively;
step S136: calculating the first stopping speed value to the mth stopping speed value to obtain an expected stopping speed value;
step S137: defining a desired stopping speed value and a characteristic time duration value as speed control data;
step S14: defining precision control data and speed control data as basic control data;
the data acquisition module acquires basic control data and respectively transmits the basic control data to the precision control module and the speed control module;
step S2: performing accuracy judgment on the servo motor according to the basic control data to obtain accuracy judgment grading data;
step S21: adjusting the servo motor to a position control mode;
Step S22: basic control data are acquired, and a unit pulse quantity value, a configuration rotation angle value, an acquisition duration time value and a working expected angle are acquired according to the basic control data;
Step S23: selecting i characteristic working points with the time length being the time length value of the acquisition in the working process of the servo motor, and marking the i characteristic working points as a first characteristic working point to an i characteristic working point respectively;
step S24: respectively acquiring pulse numbers corresponding to the first characteristic working point to the ith characteristic working point through pulse detection equipment, and calculating the pulse number, the unit pulse number value and the configuration rotation angle value corresponding to the first characteristic working point to obtain an actual rotation angle corresponding to the first characteristic working point;
step S25: marking the actual rotation angle corresponding to the first characteristic working point as a first actual rotation angle;
Step S26: repeating the step S24 and the step S25, respectively obtaining the actual rotation angles corresponding to the second characteristic working point to the ith characteristic working point, and respectively marking the actual rotation angles as the second actual rotation angle to the ith actual rotation angle;
Step S27: calculating the first to ith actual rotation angles to obtain an average actual rotation angle;
step S28: calculating the average actual rotation angle and the work expected angle to obtain a rotation angle error value;
Step S29: acquiring a rotation angle error threshold value, and performing numerical comparison on the rotation angle error value and the rotation angle error threshold value to obtain precision judgment grading data;
The numerical comparison process is specifically as follows:
step S291: when the rotating angle error value is larger than the rotating angle error threshold value, judging that the working accuracy of the servo motor is a disqualified interval;
Step S292: when the rotating angle error value is smaller than or equal to the rotating angle error threshold value, judging that the working accuracy of the servo motor is a qualified zone;
Step S3: performing speed analysis according to the basic control data to obtain speed judgment grading data;
Step S31: acquiring precision judgment grading data and basic control data;
step S32: acquiring an expected stop speed value and a characteristic time duration value through basic control data, and randomly selecting any stop working process of the servo motor as a stop detection process;
step S33: the method comprises the steps of marking a first stop detection time node and a second stop detection time node in the stop detection process respectively, wherein the first stop detection time node is a time point corresponding to the stop moment of the servo motor, the second stop detection time node is a time point corresponding to the last characteristic moment of the stop moment of the servo motor, and the first stop detection time node and the second stop detection time node are different by one characteristic moment;
Step S34: acquiring a servo motor rotating speed value corresponding to a first stop detection time node through a first rotating speed sensor to obtain a first servo motor rotating speed value;
step S35: obtaining a servo motor rotating speed value corresponding to a second stop detection time node through a second rotating speed sensor to obtain a second servo motor rotating speed value;
Step S36: calculating the rotating speed value of the first servo motor, the rotating speed value of the second servo motor and the characteristic time duration value to obtain an actual stopping speed value;
step S37: calculating the expected stopping speed value and the actual stopping speed value to obtain a rotation stopping speed error value;
Step S38: acquiring a rotation stopping speed error threshold value, and comparing the rotation stopping speed error value with the rotation stopping speed error threshold value to obtain speed judgment grading data;
The numerical comparison process is specifically as follows:
step S381: if the value of the stopping speed error is larger than or equal to the rotation stopping speed error threshold value, judging that the speed error of the servo motor is unqualified;
Step S382: if the value of the stopping speed error is smaller than the threshold value of the rotation stopping speed error, judging that the speed error of the servo motor is qualified;
step S4: performing mode adjustment on the servo motor according to the speed judgment grading data and the precision judgment grading data;
Step S41: respectively acquiring speed judgment grading data and precision judgment grading data;
Step S42: when the servo motor is in a failure zone judged by the working precision of the servo motor, automatically switching the servo motor to a torque control mode;
step S43: when the servo motor is in the condition that the speed error of the servo motor is judged to be unqualified, the servo motor is automatically switched to a speed control mode;
Step S44: when the servo motor is simultaneously in a failure zone of the servo motor working accuracy judgment and the servo motor speed error judgment, stopping working of the servo motor;
Step S45: when the servo motor is in the qualified area of the servo motor working accuracy judgment or the servo motor speed error judgment is qualified, the servo motor works normally.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (5)
1. A control system for a servo motor, comprising:
And a data acquisition module: the method comprises the steps of obtaining a working signal of a servo motor, obtaining a unit pulse quantity value, a configuration rotation angle value, an acquisition duration time value and a working expected angle through precision analysis of the working signal, obtaining precision control data, obtaining an expected stop speed value and a characteristic moment duration value through speed analysis of the working signal, obtaining speed control data, and defining the precision control data and the speed control data as basic control data;
And the precision control module is used for: monitoring working accuracy of the servo motor according to the basic control data, acquiring a rotation angle error value, and judging a threshold value of the rotation angle error value to acquire accuracy judgment grading data;
and the speed control module is used for: monitoring the working response speed of the servo motor according to the basic control data, acquiring a rotation stop speed error value, and performing threshold judgment on the rotation stop speed error value to acquire speed judgment grading data;
And a mode adjusting module: performing control mode adjustment on the servo motor according to the basic control data, the precision judgment grading data and the speed judgment grading data;
The data acquisition module acquires precision control data, and the method comprises the following steps:
Dividing a working signal into n different characteristic signal time points, respectively marking the n different characteristic signal time points as a first characteristic signal point to an nth characteristic signal point, respectively obtaining the number of pulse signals which need to be received by a servo motor of each characteristic signal point, and respectively marking the n different characteristic signal time points as a first characteristic pulse number to an nth characteristic pulse number;
Acquiring configuration rotation angles corresponding to the servo motors with the unit pulse numbers, and respectively acquiring expected rotation angles of the servo motors corresponding to the first to nth characteristic pulse numbers;
Specifically, calculating the first characteristic pulse number, the unit pulse number and the configuration rotation angle to obtain a servo motor expected rotation angle corresponding to the first characteristic pulse number, and marking the servo motor expected rotation angle as a first characteristic angle;
Repeating the calculation process of the first characteristic angle, respectively obtaining expected rotation angles of the servo motor corresponding to the second pulse quantity to the nth pulse quantity, and respectively marking the expected rotation angles as second characteristic angles to the nth characteristic angles;
Calculating the average of the first characteristic angle and the nth characteristic angle to obtain a characteristic angle average value, and marking the characteristic angle average value as a working expected angle;
Acquiring the acquisition time length corresponding to the characteristic signal time point, and marking the acquisition time length as an acquisition time length value;
Defining the number of unit pulses, the configuration rotation angle, the acquisition time length value and the working expected angle as precision control data;
The data acquisition module acquires speed control data, and the speed control data comprises the following specific steps:
Acquiring working signals transmitted to a servo motor by plc control equipment, analyzing the working signals through an analysis encoder, randomly selecting m stop working signals, and respectively marking the m stop working signals as first stop signals to m stop signals;
respectively acquiring the servo motor rotating speeds at the characteristic moments before the first stop signal to the mth stop signal, and respectively marking the servo motor rotating speeds as the first stop rotating speed to the mth stop rotating speed;
Acquiring a characteristic time duration value;
Calculating the first stopping speed and the characteristic time duration value to obtain a first stopping speed value;
Repeating the calculation process of the first stopping speed value, and calculating the second stopping speed value to the mth stopping speed value respectively;
calculating the first stopping speed value to the mth stopping speed value to obtain an expected stopping speed value;
Defining a desired stopping speed value and a characteristic time duration value as speed control data;
the precision control module acquires precision judgment grading data, and the precision judgment grading data comprises the following specific steps:
Adjusting the servo motor to a position control mode;
Basic control data are acquired, and the number of unit pulses, the configuration rotation angle, the acquisition duration time value and the working expected angle are acquired according to the basic control data;
Selecting i characteristic working points with the time length being the time length value of the acquisition in the working process of the servo motor, and marking the i characteristic working points as a first characteristic working point to an i characteristic working point respectively;
respectively acquiring pulse numbers corresponding to the first characteristic working point to the ith characteristic working point through pulse detection equipment;
calculating an average actual rotation angle corresponding to the servo motor;
calculating the average actual rotation angle and the work expected angle to obtain a rotation angle error value;
acquiring a rotation angle error threshold value, and performing numerical comparison on the rotation angle error value and the rotation angle error threshold value to obtain precision judgment grading data;
The numerical comparison process is specifically as follows:
When the rotating angle error value is larger than the rotating angle error threshold value, judging that the working accuracy of the servo motor is a disqualified interval;
When the rotating angle error value is smaller than or equal to the rotating angle error threshold value, judging that the working accuracy of the servo motor is a qualified zone;
The speed control module acquires speed judgment grading data, and the speed judgment grading data comprises the following specific steps: acquiring precision judgment grading data and basic control data;
acquiring an expected stopping speed value and a characteristic time duration value through basic control data;
Randomly selecting a stop working process of the servo motor as a stop detection working process;
Acquiring an actual stop speed value corresponding to a stop detection working process;
Calculating the expected stopping speed value and the actual stopping speed value to obtain a rotation stopping speed error value;
acquiring a rotation stopping speed error threshold value, and comparing the rotation stopping speed error value with the rotation stopping speed error threshold value to obtain speed judgment grading data;
the mode adjustment module is used for carrying out mode adjustment on the servo motor, and the mode adjustment module is specifically as follows:
respectively acquiring speed judgment grading data and precision judgment grading data;
The precision judgment grading data comprise a servo motor working precision judgment unqualified interval and a servo motor working precision judgment qualified interval, and the speed judgment grading data comprise a servo motor speed error judgment qualification and a servo motor speed error judgment unqualified;
When the servo motor is in a failure zone judged by the working precision of the servo motor, automatically switching the servo motor to a torque control mode;
when the servo motor is in the condition that the speed error of the servo motor is judged to be unqualified, the servo motor is automatically switched to a speed control mode;
when the servo motor is simultaneously in a failure zone of the servo motor working accuracy judgment and the servo motor speed error judgment, stopping working of the servo motor;
when the servo motor is in the qualified area of the servo motor working accuracy judgment or the servo motor speed error judgment is qualified, the servo motor works normally.
2. The control system of claim 1, wherein the data acquisition module acquires basic control data, specifically as follows:
Acquiring a working signal transmitted to a servo motor by a PLC (programmable logic controller) control device, analyzing the working signal through an analysis encoder, and acquiring a control precision analysis and a control speed analysis of the working signal to the servo motor;
performing control precision analysis on the servo motor according to the working signal to obtain precision control data;
performing response speed analysis on the servo motor according to the working signal to obtain speed control data;
Defining precision control data and speed control data as basic control data;
the data acquisition module acquires basic control data and respectively transmits the basic control data to the precision control module and the speed control module.
3. The control system of a servo motor according to claim 1, wherein the accuracy control module obtains an average actual rotation angle, specifically as follows:
calculating the pulse number, the unit pulse number and the configuration rotation angle corresponding to the first characteristic working point to obtain an actual rotation angle corresponding to the first characteristic working point;
marking the actual rotation angle corresponding to the first characteristic working point as a first actual rotation angle;
repeating the calculation process of the actual rotation angles corresponding to the first characteristic working points, respectively obtaining the actual rotation angles corresponding to the second characteristic working points to the ith characteristic working points, and respectively marking the actual rotation angles as the second actual rotation angles to the ith actual rotation angles;
And calculating the first to ith actual rotation angles to obtain an average actual rotation angle.
4. The control system of claim 1, wherein the speed control module obtains an actual stopping speed value, specifically as follows:
respectively marking a first stop detection time node and a second stop detection time node in the stop detection process;
acquiring a servo motor rotating speed value corresponding to a first stop detection time node through a first rotating speed sensor to obtain a first servo motor rotating speed value;
Obtaining a servo motor rotating speed value corresponding to a second stop detection time node through a second rotating speed sensor to obtain a second servo motor rotating speed value;
and calculating the rotating speed value of the first servo motor, the rotating speed value of the second servo motor and the characteristic time duration value to obtain an actual stopping speed value.
5. The control system of claim 1, wherein the speed control module compares the rotational stop speed error value with a rotational stop speed error threshold value by:
If the value of the stopping speed error is larger than or equal to the rotation stopping speed error threshold value, judging that the speed error of the servo motor is unqualified;
And if the value of the stopping speed error is smaller than the threshold value of the rotation stopping speed error, judging that the speed error of the servo motor is qualified.
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| CN102946222A (en) * | 2011-09-06 | 2013-02-27 | 北京理工大学 | High-precision positioning method for permanent magnet synchronous motor servo system |
| CN109546922A (en) * | 2018-12-05 | 2019-03-29 | 张洋 | Control method of servo motor and system |
| CN115514292A (en) * | 2022-10-21 | 2022-12-23 | 苏州金钥匙自动化设备有限公司 | Servo motor rotating speed control system and method |
| CN116224891A (en) * | 2023-05-06 | 2023-06-06 | 苏州海卓伺服驱动技术有限公司 | Dynamic control method and system for servo motor |
| CN117555292A (en) * | 2024-01-11 | 2024-02-13 | 南京德克威尔自动化有限公司 | Servo drive control method, system, equipment and medium based on cooperative control |
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- 2024-03-20 CN CN202410317586.8A patent/CN117914223B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102946222A (en) * | 2011-09-06 | 2013-02-27 | 北京理工大学 | High-precision positioning method for permanent magnet synchronous motor servo system |
| CN109546922A (en) * | 2018-12-05 | 2019-03-29 | 张洋 | Control method of servo motor and system |
| CN115514292A (en) * | 2022-10-21 | 2022-12-23 | 苏州金钥匙自动化设备有限公司 | Servo motor rotating speed control system and method |
| CN116224891A (en) * | 2023-05-06 | 2023-06-06 | 苏州海卓伺服驱动技术有限公司 | Dynamic control method and system for servo motor |
| CN117555292A (en) * | 2024-01-11 | 2024-02-13 | 南京德克威尔自动化有限公司 | Servo drive control method, system, equipment and medium based on cooperative control |
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