CN1688098A - Servo driver of direct current motor - Google Patents
Servo driver of direct current motor Download PDFInfo
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- CN1688098A CN1688098A CN 200510200087 CN200510200087A CN1688098A CN 1688098 A CN1688098 A CN 1688098A CN 200510200087 CN200510200087 CN 200510200087 CN 200510200087 A CN200510200087 A CN 200510200087A CN 1688098 A CN1688098 A CN 1688098A
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Abstract
The invention relates to a direct current motor servo driver, which is provided with a feedback unit arranged at the output end of a motor and used for detecting the rotating speed and the armature current of the motor; and a main control unit storing expected values of preset motor rotation speed, torque and position; and an execution unit controlled by the output signal of the main control unit and applied to the input end of the motor. The control mode can improve the response speed of the system, realize the omnibearing control of the position, the speed and the torque, ensure that the controlled motor can output expected speed, torque and position values, is very suitable for controlling occasions needing low rotating speed and large torque such as an elevator and the like, and can save electric energy.
Description
Technical field:
The present invention relates to a kind of Servocontrol device that is used to control motor speed and torque, particularly relate to a kind of servo-driver that is used for direct current machine.
Background technology:
Direct current machine should comprise main pole that can produce magnetic field and this two part of armature that produces electromagnetic torque and induced potential at least.Because direct current machine has the speed governing of convenience, start and braking convenient, and good characteristic such as the load that can withstand shocks is so be widely used in numerous areas such as industrial automation, robot, Digit Control Machine Tool.But, because the electromagnetic torque of motor and the relation big or small in direct ratio of armature supply and exciting current, and direct current machine will seek out the output of low speed and big torque, and prior art solutions just adopts exciting current and/or the armature supply mode that increases motor.Yet the increase of exciting current and armature supply must cause the increase of power consumption, the raising that also brings rotating speed simultaneously.And needed big torque and slow-revving occasion by driven equipment for some, and can only realizing dragging indirectly by equipment such as decelerators as using traditional approach control motor, this mode can further increase and drags cost.
In the prior art, a solution is to adopt the mode of adjusting electric current to solve rotating speed and torque problem, and advanced scheme is to adopt proportional plus integral plus derivative controller (PID) to control armature supply.This kind controlling schemes is to want by motor is imported constant electric current, so that rotating speed of motor increases gradually, be increased to after the desired value of setting and work as its rotating speed, again by the voltage change negative value of speed regulator with input, and make speed regulator begin to move back saturated, so that the input of electric current diminishes, thereby control armature or motor speed.But, in this kind control mode, as long as armature supply is bigger than the needed electric current of load, motor still can continue to quicken, and reach motor in a basic balance until armature supply and the required electric current of load and just can stop acceleration, so, even this kind control mode electric current can be controlled in the desired value, its velocity of rotation also must be again through one section adjustment process, and its adjusting time is longer relatively, and overshoot is bigger.Up to the present, the direct current motor system output characteristic still is a problem demanding prompt solution.
Summary of the invention:
Task of the present invention provides a kind of servo-driver that is used to drive direct current machine, and this driver can be realized Based Intelligent Control to position, speed and the torque of motor.
The servo-driver of direct current machine proposed by the invention has the feedback unit that is used to detect motor speed and armature supply that is arranged on motor output end; And main control unit, the desired value of this predefined motor speed of main control unit internal memory contain and torque and position is used to receive the detection data of described feedback unit and compares motor is sent the comparing unit of control command with described desired value; And by the output signal of main control unit performance element control and that be applied to the motor input.
Described feedback unit comprises the speed feedback assembly that is used to detect the current feedback of armature supply and is used to detect motor speed.Described current feedback can constitute by having the current sensor that self has amplification and analog-digital conversion function, perhaps by sample resistance and amplifier that the current signal that this sample resistance takes out is amplified, and the analog to digital converter that the current analog signal after amplifying converts digital signal to constituted.Described speed feedback assembly is by data preprocessing module constitutes in the described main control unit in order to the encoder of periodically described motor output speed being sampled with entering data into of joining of this encoder output.
Described performance element have power drive unit and drive by this power drive unit and be applied to being used on the motor and handle the inverter circuit of motor speed.
Be provided with the fuzzy control unit in the described main control unit and the control unit of adjusting certainly, after the feedback signal of main control unit inbound pacing output valve and by comparing unit and desired speed output valve, compare, differ predetermined value by the adjustment of fuzzy control unit as both, and it differs less predetermined value by the controller adjustment of adjusting certainly.The described controller of adjusting certainly is made up of the proportion integration differentiation control unit.
Described main control unit is made of field programmable logic module or single-chip microcomputer, and this programmed logical module is provided with the interface that can join with keyboard, display, communication.
Also be provided with current regulator in the described main control unit, and this current regulator adopts ratio and integral control unit controls.
The servo-driver that is used for direct current machine proposed by the invention is gathered the rate signal of motor output in real time by feedback unit, if the desired value of this signal and setting adopts the fuzzy control unit controls when differing big, and differ the response speed that hour employing ratio and this kind of integral control unit controls control mode can improve system; Simultaneously, this kind servo-driver can be realized the comprehensive control in position and speed and torque, make controlled motor can export desired speed and torque and positional value, this kind motor is very suitable for controlling the occasion that needs the big torque of the slow-speed of revolution as elevator etc., not only can reduce parts such as gearbox, but also can saves energy; In addition, this kind type of drive adopts the prior function module just can realize, so how many costs this driver can't increase.
Description of drawings:
Accompanying drawing 1 is the theory diagram of an embodiment of servo-driver proposed by the invention;
Accompanying drawing 2 is servo-driver interface block diagrams proposed by the invention;
Accompanying drawing 3 is SERVO CONTROL principle schematic of main control unit among Fig. 1;
Accompanying drawing 4 is controlling schemes figure of Fig. 3 medium velocity ring;
Accompanying drawing 5 is control principle schematic diagrames of fuzzy control unit among Fig. 4;
Accompanying drawing 6 is the control principle schematic diagrames from the proportion integration differentiation control unit of adjusting.
Embodiment:
Referring to Fig. 1 and Fig. 2, these two figure provide the control principle block diagram of an embodiment of direct current machine servo-driver proposed by the invention.Servo-driver among this embodiment comprises rectification module 1, filter capacitor 2, feedback unit and main control unit FPGA.Feedback unit comprises current feedback 3 and speed feedback assembly 5.
The amplifier 32 that sample resistance 31 that current feedback 3 is connected by the armature supply with motor 4 and the current signal that this sample resistance 31 is taken out amplify, the modulus converter A/D that will convert digital signal again through the current analog signal after amplifying to constitutes.Current feedback 3 also can constitute by having the current sensor that self has amplification and analog-digital conversion function.Speed feedback assembly 5 comprises encoder 51 that is installed in motor output end and the data preprocessing module CPLD that is used to receive these encoder 51 output signals.This encoder 51 is in order to sampling to described motor 4 output speeds periodically, and data preprocessing module CPLD is made of programmed logical module, also can become the part of main control unit FPGA.Performance element 6 is by power drive unit 61 and be applied to the inverter circuit 62 that being used on the motor handle motor speed and constitute, and power drive unit 61 can adopt existing power model, and it can amplify the FPLA output signal with the input power supply as inverter circuit 62.Inverter circuit 62 can be the electric energy that motor 4 provides both direction to rotate.
Main control unit FPLA can be made of field programmable logic module or single-chip microcomputer, it has a plurality of interfaces such as speed setting, torque settings, set positions, communication module, keyboard input and display module, wherein, 1 and 2 pin at main control unit FPLA are respectively speed setting and torque settings interface, and between is equipped with A/D converter, 3,4,5 pin are the set positions interface, 6 pin are the warning output interface, 7 pin are forward and reverse interface of forbidding, 8 pin are communication interface, 9 pin are digital I/O interface, and 10 pin are Simulation with I/O interface.
Alternating current is input to direct current the input of motor 4 behind rectification module 1 and filter capacitor 2 rectifying and wave-filterings, send command signal by main control unit FPLA to power drive unit 61, and detect rotating speed and the position and the dtc signal of motor 4 in real time by feedback unit, again this feedback signal is input in the main control unit FPLA with its in predefined desired value compare, and the result after will being compared by main control unit FPLA exports to performance element 6 after handling again.
Referring to Fig. 3, this figure provides the SERVO CONTROL principle schematic of main control unit FPLA.As can be seen from Figure 3, this servo-driver is disposed with these three control rings of position ring, speed ring and electric current loop, and wherein, current feedback signal is connected with the input of position ring, and feedback speed signal is connected with the input of speed ring.
Referring to Fig. 4, this figure provides the controlling schemes of an embodiment of speed ring.Speed ring comprises comparing unit SS fuzzy control unit and the control unit of adjusting certainly, after the feedback signal of main control unit FPLA inbound pacing, compare by comparing unit SS and desired speed output valve, when differing big with predetermined desired value as both difference e, by adjusting the fuzzy control unit, and its to differ hour be that PID adjusts by the controller of adjusting certainly.
Referring to Fig. 5, this figure provides the control principle schematic diagram of fuzzy control unit among Fig. 4.This fuzzy control unit adopts single argument control, controls by the control of proportional integral PI controller or by two-dimensional fuzzy controller after the deviation e of the rate signal that feeds back enters the fuzzy control unit.Adopt two-dimensional fuzzy controller, two input variables are selected controlled variable and given margin of error e and the error variable quantity ec of input for use, comparatively the dynamic characteristic of output variable in the reflection controlled process of strictness.Its deviation variation rate equals the ratio in deviation e and sampling period.
Referring to Fig. 6, it is PID that this figure gives the control principle schematic diagram that comes from setting ratio example integral differential control unit.The inbound pacing feedback signal enters the fuzzy control unit behind transducer from the Tuning PID Controller unit, and the static person artificial neural networks of 3 input nodes and 1 output point is arranged from the Tuning PID Controller unit.First of neural net is input as X
1(k) set-point r (k) and real output value y (k) error, X
2(k) be first input X
1(k) integration, X
3(k) be first input X
1(k) differential.
Claims (9)
1. direct current machine servo-driver is characterized in that having:
Be arranged on the feedback unit that is used to detect motor speed and armature supply of motor output end; And main control unit, the desired value of this predefined motor speed of main control unit internal memory contain and torque and position is used to receive the detection data of described feedback unit and compares motor is sent the comparing unit of control command with described desired value; And by the output signal of main control unit performance element control and that be applied to the motor input.
2. servo-driver according to claim 1 is characterized in that: described feedback unit comprises the speed feedback assembly that is used to detect the current feedback of armature supply and is used to detect motor speed.
3. servo-driver according to claim 2, it is characterized in that: described current feedback can constitute by having the current sensor that self has amplification and analog-digital conversion function, perhaps by sample resistance and amplifier that the current signal that this sample resistance takes out is amplified, and the analog to digital converter that the current analog signal after amplifying converts digital signal to constituted.
4. servo-driver according to claim 2 is characterized in that: described speed feedback assembly is by data preprocessing module constitutes in the described main control unit in order to the encoder of periodically described motor output speed being sampled with entering data into of joining of this encoder output.
5. servo-driver according to claim 1 is characterized in that: described performance element have power drive unit and drive by this power drive unit and be applied to being used on the motor and handle the inverter circuit of motor speed.
6. servo-driver according to claim 1, it is characterized in that: be provided with the fuzzy control unit in the described main control unit and the control unit of adjusting certainly, after the feedback signal of main control unit inbound pacing output valve and by comparing unit and desired speed output valve, compare, differ predetermined value by the adjustment of fuzzy control unit as both, and it differs less predetermined value by the controller adjustment of adjusting certainly.
7. servo-driver according to claim 6 is characterized in that: the described controller of adjusting certainly is made up of the proportion integration differentiation control unit.
8. servo-driver according to claim 1 is characterized in that: described main control unit is made of field programmable logic module or single-chip microcomputer, and this programmed logical module is provided with the interface that can join with keyboard, display, communication.
9. servo-driver according to claim 1 is characterized in that: also be provided with current regulator in the described main control unit, and this current regulator adopts ratio and integral control unit controls.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005102000878A CN100347946C (en) | 2005-02-08 | 2005-02-08 | Servo driver of direct current motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005102000878A CN100347946C (en) | 2005-02-08 | 2005-02-08 | Servo driver of direct current motor |
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| CN1688098A true CN1688098A (en) | 2005-10-26 |
| CN100347946C CN100347946C (en) | 2007-11-07 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102400912A (en) * | 2010-09-17 | 2012-04-04 | 深圳市汇川技术股份有限公司 | Shutdown braking system and method for screw pump |
| CN102437800A (en) * | 2011-12-23 | 2012-05-02 | 中国科学院自动化研究所 | Direct current motor servo driver |
| CN103064408A (en) * | 2012-12-21 | 2013-04-24 | 兰州飞行控制有限责任公司 | Airplane steering engine servo system fault detection method |
| CN103501143A (en) * | 2013-10-11 | 2014-01-08 | 昆山市润苏物资有限公司 | Direct-current motor control system |
| CN106712652A (en) * | 2017-01-25 | 2017-05-24 | 北京鸿智电通科技有限公司 | Adaptive hardware PID controller for controlling motor and control method of adaptive hardware PID controller |
| CN106788006A (en) * | 2017-03-30 | 2017-05-31 | 西京学院 | A kind of DC motor speed-regulating control system and control method based on PI controls |
| CN110460293A (en) * | 2019-08-23 | 2019-11-15 | 杭州宝协机电有限公司 | A kind of servo control system and its control method with monitoring function |
| CN116317733A (en) * | 2023-05-19 | 2023-06-23 | 小神童创新科技(广州)有限公司 | Position control type direct current brush motor control method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1065562A (en) * | 1991-04-02 | 1992-10-21 | 北京工业大学电子厂 | Dc velocity servosystem |
| JPH11202942A (en) * | 1998-01-14 | 1999-07-30 | Oriental Motor Co Ltd | Control circuit for servo motor using encoder feedback |
-
2005
- 2005-02-08 CN CNB2005102000878A patent/CN100347946C/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102400912A (en) * | 2010-09-17 | 2012-04-04 | 深圳市汇川技术股份有限公司 | Shutdown braking system and method for screw pump |
| CN102400912B (en) * | 2010-09-17 | 2014-12-24 | 深圳市汇川技术股份有限公司 | Shutdown braking system and method for screw pump |
| CN102437800A (en) * | 2011-12-23 | 2012-05-02 | 中国科学院自动化研究所 | Direct current motor servo driver |
| CN103064408A (en) * | 2012-12-21 | 2013-04-24 | 兰州飞行控制有限责任公司 | Airplane steering engine servo system fault detection method |
| CN103064408B (en) * | 2012-12-21 | 2015-09-16 | 兰州飞行控制有限责任公司 | A kind of aircraft Rudder Servo System fault detection method |
| CN103501143A (en) * | 2013-10-11 | 2014-01-08 | 昆山市润苏物资有限公司 | Direct-current motor control system |
| CN106712652A (en) * | 2017-01-25 | 2017-05-24 | 北京鸿智电通科技有限公司 | Adaptive hardware PID controller for controlling motor and control method of adaptive hardware PID controller |
| CN106712652B (en) * | 2017-01-25 | 2019-03-26 | 北京鸿智电通科技有限公司 | A kind of hardware self-adapting PID controller and its control method controlling motor |
| CN106788006A (en) * | 2017-03-30 | 2017-05-31 | 西京学院 | A kind of DC motor speed-regulating control system and control method based on PI controls |
| CN110460293A (en) * | 2019-08-23 | 2019-11-15 | 杭州宝协机电有限公司 | A kind of servo control system and its control method with monitoring function |
| CN116317733A (en) * | 2023-05-19 | 2023-06-23 | 小神童创新科技(广州)有限公司 | Position control type direct current brush motor control method |
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| CN100347946C (en) | 2007-11-07 |
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