CN202004710U - Alternating-current servo controller using electronic transmission ratio - Google Patents
Alternating-current servo controller using electronic transmission ratio Download PDFInfo
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- CN202004710U CN202004710U CN2011200306273U CN201120030627U CN202004710U CN 202004710 U CN202004710 U CN 202004710U CN 2011200306273 U CN2011200306273 U CN 2011200306273U CN 201120030627 U CN201120030627 U CN 201120030627U CN 202004710 U CN202004710 U CN 202004710U
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Abstract
The utility model relates to the field of electric control systems using output signals as pulse packets, in particular to an alternating-current servo controller using an electronic transmission ratio, which comprises an upper computer controller (1), a servo controller (2) and a motor (3). The alternating-current servo controller is characterized in that the alternating-current servo controller additionally comprises a decoding board (4), the decoding board (4) is respectively connected with the upper computer controller (1), the servo controller (2) and the motor (3) through signal lines, and the decoding board (4) comprises an electronic gear numerator input computation module (401), an electronic gear denominator input computation module (402), a position difference computation module (403), an accumulated sum register module (407), a quadruple-frequency generator module (408) and a zero-crossing processing module (409). The alternating-current servo controller using the electronic transmission ratio has the advantages of simple structure, accurate control, sensitive response and wide application scope.
Description
Technical field
The utility model relates to the electric control system field that output signal is the train of impulses, is specially a kind of AC servo controller that adopts electronic gear ratio.
Background technology
Encoder is the measuring component that relative shift is converted to the signal of telecommunication, is widely used in SERVO CONTROL.Encoder has increment type and absolute type, and incremental encoder can't be remembered the position of power-cut time when system cut-off, must seek initial point again after system powers up again, and it is convenient inadequately therefore to be used for SERVO CONTROL.By contrast, its initial point of absolute type encoder only need be set once and get final product, can when system cut-off, remember the position of power-cut time, position in the time of can then cutting off the power supply after system powers up again works on, therefore, in similar numerical control machine high accurate servo-control system, the high-resolution absolute type encoder of general now employing.Concerning The whole control system, if realize free from error closed-loop control, just necessarily require host computer to send the position signalling that also will receive behind the pulse control signal by encoder feedback in the performance element, yet absolute type encoder can only carry out digital communication, direct output pulse signal, this has just limited the application of absolute type encoder, has also limited the control precision of Digit Control Machine Tool.
The utility model content
In order to overcome the defective of prior art, a kind of wide electric control system of control precision height, the scope of application is provided, the utility model discloses a kind of AC servo controller that adopts electronic gear ratio.
The utility model reaches goal of the invention by following technical solution:
A kind of AC servo controller that adopts electronic gear ratio, comprise supervisory controller, servo controller and motor, servo controller comprises slave computer and at least one absolute type encoder, slave computer is connected with absolute type encoder by holding wire, supervisory controller is connected with servo controller by holding wire, servo controller is connected with motor by holding wire, it is characterized in that: also comprise decoding deck, decoding deck connects supervisory controller respectively by holding wire, servo controller and motor, decoding deck comprises electronic gear molecule input computing module, electronic gear denominator input computing module, the position difference calculating module, comparator module, the remainder processing module, the basis clock module, add up and register module, the quadruple generator module, the zero passage processing module, quadrature A/B pulse quadrature output module and Z be output module mutually
The signal output part of servo controller connects electronic gear molecule input computing module respectively by holding wire, the signal input part of electronic gear denominator input computing module and these three modules of position difference calculating module, the signal output part of electronic gear molecule input computing module is by the signal input part of holding wire difference link position difference calculating module and these two modules of remainder processing module, the signal output part of electronic gear denominator input computing module connects the signal input part of comparator module and these two modules of remainder processing module respectively by holding wire, add up and the signal input part of register module by holding wire link position difference calculating module respectively, comparator module, the signal output part of remainder processing module and these four modules of basic clock module, add up and be connected the signal input part of quadruple generator module and these two modules of zero passage processing module with the signal output part of register module by holding wire respectively, the signal output part of position difference calculating module is connected by the signal input part of holding wire with the quadruple generator module, the signal output part of quadruple generator module is connected by the signal input part of holding wire with quadrature A/B pulse quadrature output module, and the signal output part of zero passage processing module is connected by the signal input part of holding wire with Z phase output module.
The AC servo controller of described employing electronic gear ratio is characterized in that: supervisory controller adopts microcomputer or single-chip microcomputer, and slave computer adopts Programmable Logic Controller.
The AC servo controller of described employing electronic gear ratio is characterized in that: the sampling frequency of absolute type encoder is 2000 times/commentaries on classics～3000 times/commentaries on classics, and the basic clock frequency that basic clock module provides is 300M.
When the utility model uses, carry out successively as follows:
The molecule and the denominator numerical value of the electronic gear that the slave computer input by servo controller is set are promptly imported the gearratio of electronic gear, and servo controller is gathered the positional information of motor by absolute type encoder;
Servo controller is with the molecule numerical value of electronic gear, the denominator numerical value of electronic gear and the positional information input decoding deck of motor, wherein, the molecule numerical value input electronic gear molecule input computing module of electronic gear, the denominator numerical value input electronic gear denominator input computing module of electronic gear, the positional information input position difference calculating module of motor;
Electronic gear molecule input computing module is the molecule numerical value input position difference calculating module and the remainder processing module of electronic gear, the position difference calculating module is used for the difference of the motor absolute position of absolute type encoder collection acquisition is calculated, the position difference calculating module is calculated the position difference of absolute type encoder at twice acquisition interval motor in the phase, again this position difference input is added up and register module the number of pulses of this position difference corresponding A/required output of B signal;
Electronic gear denominator input computing module is the denominator numerical value input comparator module and the remainder processing module of electronic gear, comparator module is used to set the comparison threshold of electronic gear gearratio, when the molecule of electronic gear and denominator numerical value change be the ratio changing of electronic gear after, comparator module produces the comparison threshold behind the A/B signal change, this comparison threshold input is added up and register module again;
Add up and register module the position difference of motor is done accumulation calculating, and calculating adding up and comparing of back acquisition with comparison threshold, as add up and greater than comparison threshold then add up and register module adding up and importing quadruple generator module and zero passage processing module, as add up and then add up and register module output signal not less than comparison threshold, the remainder processing module is used to handle and adds up and the remainder feedback of register module when the molecule denominator is not divided exactly when doing division arithmetic, and basic clock module is used to provide and adds up and the basic clock frequency of register module;
The quadruple generator module the motor position difference add up and convert quadruple orthogonal pulses signal to after import quadrature A/B pulse quadrature output module again, quadrature A/B pulse quadrature output module becomes quadruple orthogonal pulses conversion of signals serial signal or parallel signal to import supervisory controller again;
The zero passage processing module calculates the absolute zero position of absolute type encoder and with this absolute zero position information input Z phase output module, Z phase output module becomes the absolute zero position information translation serial signal or parallel signal to import supervisory controller again.
In the Digit Control Machine Tool servo-control system, during processing different parts, need to change different axles, different axles needs the umber of pulse of feedback just different, such as: when numerically controlled lathe 10mm leading screw, the motor mechanical mobile 10mm that turns around so, whenever mobile 0.001mm just needs motor rotation 1/10000 circle; If connect the 5mm leading screw and change into, and the diameter programming, then the amount of movement of every 0.001mm just needs motor rotation 1/5000 to change, and the umber of pulse that needs feedback like this is exactly that the multiple relation exists.When adopting the utility model to implement the Digit Control Machine Tool SERVO CONTROL, import the molecule and the denominator numerical value of the electronic gear of setting earlier by the slave computer of servo controller, promptly import the gearratio of electronic gear, the positional information that servo controller is gathered motor by absolute type encoder then will be exported corresponding A, B, Z orthogonal pulses signal feedback to supervisory controller on the decoding deck.
The beneficial effects of the utility model are: simple in structure, control accurately is quick on the draw, and is applied widely.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the structural representation of servo controller in the utility model;
Fig. 3 is the structural representation of decoding deck in the utility model.
Embodiment
Below further specify the utility model by specific embodiment.
Embodiment 1
A kind of AC servo controller that adopts electronic gear ratio comprises supervisory controller 1, servo controller 2, motor 3 and decoding deck 4, and as Fig. 1～shown in Figure 3, concrete structure is:
Supervisory controller 1 is connected with servo controller 2 by holding wire, and servo controller 2 is connected with motor 3 by holding wire, and decoding deck 4 connects supervisory controller 1, servo controller 2 and motor 3 respectively by holding wire.Supervisory controller 1 is selected microcomputer for use.
The signal output part of servo controller 2 connects electronic gear molecule input computing module 401 respectively by holding wire, the signal input part of electronic gear denominator input computing module 402 and position difference calculating module 403 these three modules, the signal output part of electronic gear molecule input computing module 401 is by the signal input part of holding wire difference link position difference calculating module 403 and remainder processing module 405 these two modules, the signal output part of electronic gear denominator input computing module 402 connects the signal input part of comparator module 404 and remainder processing module 405 these two modules respectively by holding wire, add up and the signal input part of register module 407 by holding wire link position difference calculating module 403 respectively, comparator module 404, the signal output part of remainder processing module 405 and basic clock module 406 these four modules, add up and be connected the signal input part of quadruple generator module 408 and zero passage processing module 409 these two modules with the signal output part of register module 407 by holding wire respectively, the signal output part of position difference calculating module 403 is connected by the signal input part of holding wire with quadruple generator module 408, the signal output part of quadruple generator module 408 is connected by the signal input part of holding wire with quadrature A/B pulse quadrature output module 410, and the signal output part of zero passage processing module 409 is connected by the signal input part of holding wire with Z phase output module 411.The sampling frequency of absolute type encoder 22 is 2000 times/commentaries on classics, and the basic clock frequency that basic clock module 406 provides is 300M.
Present embodiment carries out when using as follows successively:
The molecule and the denominator numerical value of the electronic gear that slave computer 21 inputs by servo controller 2 are set are promptly imported the gearratio of electronic gear, and servo controller 2 is gathered the positional information of motor 3 by absolute type encoder 22 with the 2000 times/sampling frequency of changeing.
Servo controller 2 is with the molecule numerical value of electronic gear, the denominator numerical value of electronic gear and the positional information input decoding deck 4 of motor 3, as shown in Figure 3, the molecule numerical value of electronic gear is from port I input electronic gear molecule input computing module 401, the denominator numerical value of electronic gear is from port II input electronic gear denominator input computing module 402, and the positional information of motor 3 is from port III input position difference calculating module 403.
Electronic gear molecule input computing module 401 is the molecule numerical value input position difference calculating module 403 and the remainder processing module 405 of electronic gear, position difference calculating module 403 is used for absolute type encoder 22 is gathered the difference calculating of motor 3 absolute positions that obtain, position difference calculating module 403 is calculated the position difference of absolute type encoder 22 at twice acquisition interval motor 3 in the phase, again this position difference input is added up and register module 407 number of pulses of this position difference corresponding A/required output of B signal.
Electronic gear denominator input computing module 402 is the denominator numerical value input comparator module 404 and the remainder processing module 405 of electronic gear, comparator module 404 is used to set the comparison threshold of electronic gear gearratio, when the molecule of electronic gear and denominator numerical value change be the ratio changing of electronic gear after, comparator module 404 produces the comparison threshold behind the A/B signal change, this comparison threshold input is added up and register module 407 again.
Add up and register module 407 the position difference of motor 3 is done accumulation calculating, and calculating adding up and comparing of back acquisition with comparison threshold, as add up and greater than comparison threshold then add up and register module 407 adding up and importing quadruple generator module 408 and zero passage processing module 409, as add up and then add up and register module 407 output signal not less than comparison threshold, remainder processing module 405 is handled and is added up and the remainder feedback of register module 407 when the molecule denominator is not divided exactly when doing division arithmetic, and basic clock module 406 provides the basic clock frequency of adding up of 300M and register module 407.
Zero passage processing module 409 calculates the absolute zero position of absolute type encoder 22 and with this absolute zero position information input Z phase output module 411, Z phase output module 411 becomes the absolute zero position information translation serial signal or parallel signal to import supervisory controller 1 again.
In the Digit Control Machine Tool servo-control system, during processing different parts, need to change different axles, different axles needs the umber of pulse of feedback just different, such as: when numerically controlled lathe 10mm leading screw, the motor mechanical mobile 10mm that turns around so, whenever mobile 0.001mm just needs motor rotation 1/10000 circle; If connect the 5mm leading screw and change into, and the diameter programming, then the amount of movement of every 0.001mm just needs motor rotation 1/5000 to change, and the umber of pulse that needs feedback like this is exactly that the multiple relation exists.When adopting present embodiment to implement the Digit Control Machine Tool SERVO CONTROL, import the molecule and the denominator numerical value of the electronic gear of setting earlier by the slave computer 21 of servo controller 2, promptly import the gearratio of electronic gear, the positional information that servo controller 2 is gathered motor 3 by absolute type encoder 22 then will be exported corresponding A, B, Z orthogonal pulses signal feedback to supervisory controller 1 on the decoding deck 4.
A kind of AC servo controller that adopts electronic gear ratio comprises supervisory controller 1, servo controller 2, motor 3 and decoding deck 4, and supervisory controller 1 is selected single-chip microcomputer for use, and the sampling frequency of absolute type encoder 22 is 2500 times/commentaries on classics.Other structures are all same with embodiment 1.
When present embodiment used, servo controller 2 was gathered the positional information of motor 3 by absolute type encoder 22 with the 2500 times/sampling frequency of changeing.Other steps are all same with embodiment 1.
Embodiment 3
A kind of AC servo controller that adopts electronic gear ratio comprises supervisory controller 1, servo controller 2, motor 3 and decoding deck 4, and the sampling frequency of absolute type encoder 22 is 3000 times/commentaries on classics.Other structures are all same with embodiment 1.
When present embodiment used, servo controller 2 was gathered the positional information of motor 3 by absolute type encoder 22 with the 3000 times/sampling frequency of changeing.Other steps are all same with embodiment 1.
Claims (3)
1. AC servo controller that adopts electronic gear ratio, comprise supervisory controller (1), servo controller (2) and motor (3), servo controller (2) comprises slave computer (21) and at least one absolute type encoder (22), slave computer (21) is connected with absolute type encoder (22) by holding wire, supervisory controller (1) is connected with servo controller (2) by holding wire, servo controller (2) is connected with motor (3) by holding wire, it is characterized in that: also comprise decoding deck (4), decoding deck (4) connects supervisory controller (1) respectively by holding wire, servo controller (2) and motor (3), decoding deck (4) comprises electronic gear molecule input computing module (401), electronic gear denominator input computing module (402), position difference calculating module (403), comparator module (404), remainder processing module (405), basis clock module (406), add up and register module (407), quadruple generator module (408), zero passage processing module (409), quadrature A/B pulse quadrature output module (410) and Z be output module (411) mutually
The signal output part of servo controller (2) connects electronic gear molecule input computing module (401) respectively by holding wire, the signal input part of electronic gear denominator input computing module (402) and these three modules of position difference calculating module (403), the signal output part of electronic gear molecule input computing module (401) is by the signal input part of holding wire difference link position difference calculating module (403) and these two modules of remainder processing module (405), the signal output part of electronic gear denominator input computing module (402) connects the signal input part of comparator module (404) and these two modules of remainder processing module (405) respectively by holding wire, add up and the signal input part of register module (407) by holding wire link position difference calculating module (403) respectively, comparator module (404), the signal output part of remainder processing module (405) and these four modules of basic clock module (406), add up and be connected the signal input part of quadruple generator module (408) and these two modules of zero passage processing module (409) with the signal output part of register module (407) by holding wire respectively, the signal output part of position difference calculating module (403) is connected by the signal input part of holding wire with quadruple generator module (408), the signal output part of quadruple generator module (408) is connected by the signal input part of holding wire with quadrature A/B pulse quadrature output module (410), and the signal output part of zero passage processing module (409) is connected by the signal input part of holding wire with Z phase output module (411).
2. the AC servo controller of employing electronic gear ratio as claimed in claim 1 is characterized in that: supervisory controller (1) adopts microcomputer or single-chip microcomputer, and slave computer (21) adopts Programmable Logic Controller.
3. the AC servo controller of employing electronic gear ratio as claimed in claim 1 or 2 is characterized in that: the sampling frequency of absolute type encoder (22) is 2000 times/commentaries on classics～3000 times/commentaries on classics, and the basic clock frequency that basic clock module (406) provides is 300M.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011200306273U CN202004710U (en) | 2011-01-28 | 2011-01-28 | Alternating-current servo controller using electronic transmission ratio |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011200306273U CN202004710U (en) | 2011-01-28 | 2011-01-28 | Alternating-current servo controller using electronic transmission ratio |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102615550A (en) * | 2011-01-28 | 2012-08-01 | 上海御能动力科技有限公司 | Alternating current servo control device adopting electronic gear and use method thereof |
| CN105915129A (en) * | 2016-05-03 | 2016-08-31 | 杭州电子科技大学 | Decoding method of absolute value encoder for industrial robot |
| CN108512472A (en) * | 2018-05-11 | 2018-09-07 | 重庆谱思机器人控制系统有限公司 | A kind of follow-up control method and its system based on electronic gear |
| CN110764439A (en) * | 2018-07-25 | 2020-02-07 | 上海英威腾工业技术有限公司 | Servo drive pulse output frequency divider and use method thereof |
| CN111106765A (en) * | 2019-12-30 | 2020-05-05 | 中国科学院长春光学精密机械与物理研究所 | Brushless motor driving system and method |
-
2011
- 2011-01-28 CN CN2011200306273U patent/CN202004710U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102615550A (en) * | 2011-01-28 | 2012-08-01 | 上海御能动力科技有限公司 | Alternating current servo control device adopting electronic gear and use method thereof |
| CN102615550B (en) * | 2011-01-28 | 2015-07-08 | 上海英威腾工业技术有限公司 | Alternating current servo control device adopting electronic gear and use method thereof |
| CN105915129A (en) * | 2016-05-03 | 2016-08-31 | 杭州电子科技大学 | Decoding method of absolute value encoder for industrial robot |
| CN108512472A (en) * | 2018-05-11 | 2018-09-07 | 重庆谱思机器人控制系统有限公司 | A kind of follow-up control method and its system based on electronic gear |
| CN108512472B (en) * | 2018-05-11 | 2021-03-12 | 重庆谱思机器人控制系统有限公司 | Electronic gear-based following control method and system |
| CN110764439A (en) * | 2018-07-25 | 2020-02-07 | 上海英威腾工业技术有限公司 | Servo drive pulse output frequency divider and use method thereof |
| CN111106765A (en) * | 2019-12-30 | 2020-05-05 | 中国科学院长春光学精密机械与物理研究所 | Brushless motor driving system and method |
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Legal Events
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| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: INVT INDUSTRIAL TECHNOLOGY (SHANGHAI) CO., LTD. Free format text: FORMER NAME: SHANGHAI KINWAY TECHNOLOGIES LNC. |
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| CP01 | Change in the name or title of a patent holder |
Address after: 200120 Shanghai Guo Shou Jing Road, Zhangjiang High Tech Park of Pudong New Area No. 351 Building No. 2 room 690-18 Patentee after: SHANGHAI INVT INDUSTRY TECHNOLOGY CO., LTD. Address before: 200120 Shanghai Guo Shou Jing Road, Zhangjiang High Tech Park of Pudong New Area No. 351 Building No. 2 room 690-18 Patentee before: Shanghai Kinway Technologies lnc. |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20111005 Effective date of abandoning: 20150708 |
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| AV01 | Patent right actively abandoned |
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| RGAV | Abandon patent right to avoid regrant |