CN201854229U - Multi-motor synchronous control system for band conveyor - Google Patents
Multi-motor synchronous control system for band conveyor Download PDFInfo
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- CN201854229U CN201854229U CN2010205750425U CN201020575042U CN201854229U CN 201854229 U CN201854229 U CN 201854229U CN 2010205750425 U CN2010205750425 U CN 2010205750425U CN 201020575042 U CN201020575042 U CN 201020575042U CN 201854229 U CN201854229 U CN 201854229U
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- frequency converter
- communication interface
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Abstract
The utility model discloses a multi-motor synchronous control system for a band conveyor, which comprises a host computer, a synchronous controller, an RS-485 bus system, a frequency converter, and a motor, wherein the synchronous controller comprises a power supply module, a control module, a USB (universal serial bus) interface module and an RS-485 communication interface; the USB interface of the synchronous controller is connected to the host computer; the RS-485 communication interface is connected to the RS-485 communication interface of each frequency converter through the bus system; and the frequency converter is connected to the motor. The synchronous controller is used for collecting the running parameters of each motor in the system through the bus, analyzing the parameters and generating a control signal, adjusting the parameters of each frequency converter, and controlling the output rotation speed of the motor so as to realize that the rotation speeds of running motors tend to be consistent; and the host computer can read and write the relative parameters of the synchronous controller so as to on-line debug and fully monitor the system and reduce the operation intensity of debugging and running. The bus system has simplified structure, so that the mounting cost and maintenance cost are lowered.
Description
Technical field
The utility model relates to the electric machines control technology field, relates in particular to a kind of ribbon conveyer synchronous control system for multiple motors.
Background technology
Continuous haulage system is the element of material handling machinery, and ribbon conveyer is a kind of type most effective in the continuous transporter, that use is the most general.Before the eighties in 20th century, the drive unit of ribbon conveyer mostly is a motor, just can satisfy production requirement, to the eighties, single power that drives can't satisfy the power requirement of large belt transporter, and drive unit just begins that the multiple-motor driving has been arranged.Along with the use of large belt transporter, so stability of a system problem, energy consumption problem, security problems have occurred.Synchronous control technique for the driving motor of large-scale general band transporter mainly comprises parallel control, principal and subordinate's control, cross-coupling control, virtual line shaft control, deviation Coupling Control.The lotus root of wherein intersecting is closed this control strategy of control and is proposed in 1980 by Koren at first, it is exactly that speed or position signalling with two motors compares that the lotus root of intersecting is closed the topmost characteristics of control strategy, thereby obtain a difference as additional feedback signal, again that this is additional feedback signal is as tracking signal, system can reflect the load variations of any motor, thereby obtain good synchronous control accuracy, but this control strategy is not suitable for the Synchronization Control situation of two above motor.And the deviation lotus root to close the main thought of control be that the speed feedback of a certain motor is poor respectively with the speed feedback of other motor, with the deviation addition that the obtains velocity compensation signal as this motor, gain Kr is used for compensating the difference of the moment of inertia between each motor then.This deviation lotus root is closed the shortcoming that control strategy can overcome above various control strategies, realizes good net synchronization capability, but the setting of the Kr that gains is very difficult.Current ribbon conveyer control system mainly contains following deficiency mostly based on the PLC control system: system complex, and cost is higher; The reasons in structure of PLC control system itself can't realize senior control algolithm, thereby many motor synchronous kinematic error is big, precision is low, inaccurate coordination, and particularly during start and stop, the belt system vibrations are bigger, and synchronism is poorer.
Summary of the invention
The utility model has overcome shortcoming of the prior art, provide a kind of and detected each motor operating parameter by frequency converter, and the belt of each motor speed parameter being analyzed and being revised by isochronous controller transports motor synchronous control system.
In order to solve the problems of the technologies described above, the present invention is achieved through the following technical solutions: a kind of ribbon conveyer synchronous control system for multiple motors, comprise host computer, frequency converter, motor, isochronous controller and RS-485 bus system, described isochronous controller is included as power module, control module, USB interface and RS-485 communication interface, described power module respectively with control module, USB interface is connected with the RS-485 communication interface, described control module is connected with the RS-485 communication interface with USB interface respectively again, wherein USB interface links to each other with host computer, the RS-485 communication interface links to each other with the RS-485 communication interface end of each frequency converter by bus system, and each inverter output terminal is connected respectively to motor.
As preferably, described control module is selected microcontroller STM32F103V8T6 for use, as the signal processing unit of isochronous controller.
As preferably, described power module is selected low-dropout regulator LD1086D2M33 for use, for isochronous controller provides working power.
Compared with prior art, the beneficial effects of the utility model are: select the RS-485 bus system for use, make field connection very simple, and the system configuration of simplification, cost saving, the digital data transmission mode has improved the functional reliability of system; The USB interface of isochronous controller selecting for use realizes that controller and host computer information interaction and while can obtain the working power of isochronous controller from USB interface of computer, further simplify the structure; The running status of convenient each motor of inquiry is convenient to early stage analysis, is fixed a breakdown, and has shortened and has safeguarded downtime; The commissioning test of whole system all carries out on host computer, need not the scene, has alleviated the labour intensity of system debug, operation; Programming has easily overcome the shortcoming that the PLC control system can't realize advance control algorithm; This isochronous controller can be given full play to the performance of frequency converter simultaneously, and system's running stable state accuracy and dynamic accuracy height make each motor with stable rotating speed run-in synchronism.
Description of drawings
Fig. 1 is that a kind of ribbon conveyer synchronous control system for multiple motors connects block diagram;
Fig. 2 is a kind of ribbon conveyer synchronous control system for multiple motors motor synchronous control block diagram;
Fig. 3 is a kind of ribbon conveyer synchronous control system for multiple motors control program FB(flow block);
Fig. 4 is an isochronous controller interrupt routine FB(flow block);
Fig. 5 connects schematic block diagram for isochronous controller.
Embodiment
Below in conjunction with accompanying drawing, the utility model is done detailed explanation.
In order to make the purpose of this utility model, technical scheme and advantage clearer,, the utility model is further elaborated below in conjunction with drawings and Examples.Should be appreciated that specific embodiment described herein only in order to explanation the utility model, and be not used in qualification the utility model.
As shown in Fig. 1 and Fig. 5, a kind of ribbon conveyer synchronous control system for multiple motors, comprise host computer, isochronous controller, frequency converter, motor and RS-485 bus system, described isochronous controller comprises power module, control module, USB interface and RS-485 communication interface, power module respectively with control module, USB interface is connected with the RS-485 communication interface, described control module is connected with the RS-485 communication interface with USB interface respectively again, wherein power module can obtain the isochronous controller working power by the USB interface of isochronous controller from main frame, also can be from independently obtaining the isochronous controller working power the power supply, power module is converted to the working power voltage that is fit to isochronous controller with the supply voltage that obtains, and ensures the power supply supply; The USB interface of isochronous controller is connected with host computer, USB is connected with and is beneficial to the message transmission rate that has improved between host computer and the isochronous controller, the RS-485 communication interface of isochronous controller links to each other with the RS-485 communication interface end of each frequency converter by bus system, each inverter output terminal connects motor respectively again, each frequency converter links to each other with a motor respectively, the motor number of control is different according to different ribbon conveyers, be not limited to the motor number shown in the figure, described host computer, isochronous controller, frequency converter, a kind of ribbon conveyer synchronous control system for multiple motors of the common formation of motor and bus system.
As shown in Figure 3, have in advance with the deviation lotus root in the program storage as the control module of isochronous controller core component and close the control program that control combines with FUZZY ALGORITHMS FOR CONTROL, initialization system at first, USB is set, register such as serial ports and timer, the isochronous controller parameter is provided with and is kept in the Flash internal memory of control module by host computer, host computer sends instruction to isochronous controller, send operational factor and start-up command via the RS-485 bus system to each frequency converter again after the control module parsing by isochronous controller, the operation of frequency converter starter motor, and periodically gather each motor operating parameter signal and comprise the rotating speed of motor parameter signal, the control module of isochronous controller receives the motor operating parameter information that each frequency converter is gathered by the RS-485 bus system, and the trip information of collecting analyzed, handle, and generation control signal, transmit control signal to each frequency converter by the RS-485 bus system, control each motor output speed respectively by each frequency converter, make each rotating speed of motor trend towards unanimity earlier, synchronously close again to given rotating speed, when isochronous controller is adjusted the parameter of each frequency converter, control module is uploaded the control signal that the control module of isochronous controller produces and the operating parameter signal of each motor by USB interface to host computer, and is shown in host computer.Wherein, the control module of isochronous controller is operated in the single task real-time status of no operating system, and its sampling period is interrupted determining by timer.
As shown in Fig. 2 and Fig. 4, the control module of isochronous controller prestores the deviation lotus root and closes the control program that control combines with FUZZY ALGORITHMS FOR CONTROL, having under the degenerative vector control effect of tachometric survey, frequency converter guarantees that each rotating speed of motor follows set-point ω, a certain motor n is when rotating speed changes maximum under interference effect, other rotating speed of motor also will temporarily be followed the rotating speed of this motor n and be changed, each motor is more synchronously near set-point ω afterwards, each motor is consistent in whole service in real time, realizes the synchronous operation of each motor.Concrete interrupt service routine flow process is as follows: when timer interrupted, the control module of isochronous controller read each rotating speed of motor that each frequency converter is gathered by the bus system that links to each other, as ω
1, ω
2..., ω
n, control module is calculated the variable quantity of each rotating speed of motor with reference to each motor at the tachometer value of previous moment, as d
1, d
2..., d
n, and the motor #n of definite maximum (top) speed variable quantity, wherein motor is counted n and is not limited to the motor number shown in Fig. 1, and the driving motor number that different ribbon conveyers adopts is different.The fuzzy algorithm that isochronous controller prestores by control module is determined the synchronous coefficient k of each motor and motor #n
n, according to each rotating speed of motor, synchronous coefficient k
nWith set-point ω, controlled quentity controlled variable by each motor of PI algorithm computation, output to each frequency converter by the RS-485 bus system, simultaneously by usb interface unit with each rotating speed of motor with controlled quentity controlled variable outputs to host computer so that demonstration, analysis etc. are regularly interrupted returning then.
As shown in Fig. 1 and Fig. 5, described control module is selected microcontroller STM32F103V8T6 for use, its communication interface links to each other with the RS-485 communication interface of each frequency converter by the physical interface of bus, STM32F103x is based on the microcontroller of ARMCortex-M3 processor core, has low-power consumption, short interruptions postpones, numerous advantages such as low debugging cost, simplified the complexity of programming, the collection high-performance, low-power consumption, low-cost in one, and have peripheral hardware on the outstanding sheet of abundant performance, comprise 12 A/D converters of 16 passages, the dma controller of 7 passages, 16 bit timing devices, the USART interface, CAN interface and USB2.0 full speed interface etc.Described power module is selected low-dropout regulator LD1086D2M33 for use, is connected with host computer by USB interface, can obtain the power supply of entire controller circuit from host computer, thereby has simplified the wiring of control system, reduces system cost.Export the voltage of 3.3v by low-dropout regulator LD1086D2M33 from the 5v voltage of USB interface, STM32F103V8T6 provides working power for microcontroller, can be operated in subzero 40 degrees centigrade to 125 degrees centigrade, and the output voltage precision is ± 1%, applied widely, the precision height.Described USB interface can use at the USB development kit of STM32F chip series finish to the configuration of USB interface and with host computer between communicate by letter, because microcontroller STM32F103R8T6 chip self is integrated abundant communication interface, there is multiple communication modes available, add that the peripheral circuit communication mode of just can choosing any one kind of them finishes communication function, since microcontroller STM32F103R8T6 inner integrated three independently synchronously and asynchronous serial ports, each serial ports can both be worked in the mode of interruption or DMA, one of them UART interface communication speed can reach 4.5 megabit per seconds, other UART interface communication speed can reach 2.25M/S, the USART interface of control module 22 can be assigned to the RS-485 communication interface, the RS-485 interface is the combination of adopting balance driver and differential receiver, adopted photoelectric isolation technology, anti-common mode disturbances ability is strong, be that noise immunity is good, improve the antijamming capability of isochronous controller, thereby improved the stability of system.Transmission line can adopt the Shielded Twisted Pair transmission can reach the 1.5km transmission range, transmission range is when greater than 0.5km, in order to guarantee traffic rate, optional is propagation medium with optical fiber, transmitting-receiving two-end respectively adds an optical-electrical converter again, the transmission range of multimode fiber is 5～10km, and adopts monomode fiber can reach 50 kilometers propagation distance.
The above only is preferred embodiment of the present utility model; not in order to restriction the utility model; all any modifications of within spirit of the present utility model and principle, being done, be equal to and replace and improvement etc., all should be included within the protection range of the present utility model.
Claims (3)
1. ribbon conveyer synchronous control system for multiple motors, comprise host computer, frequency converter and motor, it is characterized in that: also comprise isochronous controller and RS-485 bus system, described isochronous controller comprises power module, control module, USB interface and RS-485 communication interface, described power module respectively with control mould, USB interface is connected with the RS-485 communication interface, described control module is connected with the RS-485 communication interface with USB interface respectively again, wherein USB interface links to each other with host computer, the RS-485 communication interface is connected with the RS-485 communication interface of each frequency converter by bus, and each inverter output terminal is connected with motor respectively.
2. a kind of ribbon conveyer synchronous control system for multiple motors according to claim 1, it is characterized in that: described control module is selected microcontroller STM32F103V8T6 for use, as the signal processing unit of isochronous controller.
3. a kind of ribbon conveyer synchronous control system for multiple motors according to claim 1, it is characterized in that: described power module is selected low-dropout regulator LD1086D2M33 for use, for isochronous controller provides working power.
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| CN2010205750425U CN201854229U (en) | 2010-10-25 | 2010-10-25 | Multi-motor synchronous control system for band conveyor |
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| CN2010205750425U CN201854229U (en) | 2010-10-25 | 2010-10-25 | Multi-motor synchronous control system for band conveyor |
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| CN201854229U true CN201854229U (en) | 2011-06-01 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101976997A (en) * | 2010-10-25 | 2011-02-16 | 四川省安普瑞自动化设备有限公司 | Multi-motor synchronous control system of belt conveyor |
| CN103457522A (en) * | 2013-08-30 | 2013-12-18 | 任敏 | Continuous strip dyeing machine device synchronization system |
| CN104440910A (en) * | 2014-11-07 | 2015-03-25 | 绵阳市维博电子有限责任公司 | Robot double-arm synchronizing control method and system |
| CN108494293A (en) * | 2018-05-30 | 2018-09-04 | 天地科技股份有限公司上海分公司 | Principal and subordinate's communication circuit between mine-used frequency-converter and motor load balance control system |
| WO2021184581A1 (en) * | 2020-03-15 | 2021-09-23 | 天津理工大学 | Fuzzy/master-slave/feedback cooperation-based multi-motor closed-loop coupling cooperative control system and method |
-
2010
- 2010-10-25 CN CN2010205750425U patent/CN201854229U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101976997A (en) * | 2010-10-25 | 2011-02-16 | 四川省安普瑞自动化设备有限公司 | Multi-motor synchronous control system of belt conveyor |
| CN101976997B (en) * | 2010-10-25 | 2012-08-08 | 四川省安普瑞自动化设备有限公司 | Multi-motor synchronous control system of belt conveyor |
| CN103457522A (en) * | 2013-08-30 | 2013-12-18 | 任敏 | Continuous strip dyeing machine device synchronization system |
| CN104440910A (en) * | 2014-11-07 | 2015-03-25 | 绵阳市维博电子有限责任公司 | Robot double-arm synchronizing control method and system |
| CN104440910B (en) * | 2014-11-07 | 2016-05-04 | 绵阳市维博电子有限责任公司 | A kind of method and system that realize robot both hands arm Synchronization Control |
| CN108494293A (en) * | 2018-05-30 | 2018-09-04 | 天地科技股份有限公司上海分公司 | Principal and subordinate's communication circuit between mine-used frequency-converter and motor load balance control system |
| WO2021184581A1 (en) * | 2020-03-15 | 2021-09-23 | 天津理工大学 | Fuzzy/master-slave/feedback cooperation-based multi-motor closed-loop coupling cooperative control system and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110601 Termination date: 20151025 |
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| EXPY | Termination of patent right or utility model |