CN203562983U - Multi-motor synchronous control system - Google Patents
Multi-motor synchronous control system Download PDFInfo
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- CN203562983U CN203562983U CN201320728150.5U CN201320728150U CN203562983U CN 203562983 U CN203562983 U CN 203562983U CN 201320728150 U CN201320728150 U CN 201320728150U CN 203562983 U CN203562983 U CN 203562983U
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- 238000000034 method Methods 0.000 claims abstract description 7
- 230000008569 process Effects 0.000 claims abstract description 5
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- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
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- 230000006872 improvement Effects 0.000 description 2
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- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009897 systematic effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
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- 238000006243 chemical reaction Methods 0.000 description 1
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Abstract
The utility model discloses a multi-motor synchronous control system, which comprises an upper computer (1), a main shaft (2), a plurality of servo units composed of servo motors (6), controllers (4), a servo amplifier (5), an anti-interference regulator (7) and an observer (8). Each servo unit also comprises a detector (3). The detectors (3) receive signals transmitted from the main shaft (2) and the feedback signals of the servo motors (6) and then process the signals. The controllers receive signals transmitted from the detectors (3). The servo amplifier (5) amplifies signals transmitted from the controllers (4) and then outputs the amplified signals to the servo motors (6). The anti-interference regulator (7) regulates the input signals of the servo motors (6). The observer (8) observes the running states of the servo motors (6) and then feeds back the running states to the main shaft (2) and the controllers (4) in corresponding servo units. By means of the multi-motor synchronous control system, the disturbance can be better overcome, so that the synchronization performances of multiple motors are improved.
Description
Technical field
The utility model relates to a kind of control system, is specifically related to a kind of synchronous control system for multiple motors.
Background technology
High-precision synchronous control technique is widely used in printing, Aero-Space, weaving, steel rolling etc. and manufactures in industry.How designing good Strategy For Synchronization Control, make to guarantee high-precise synchronization in the production process that has interference, is the key that synchronous control technique is applied in process of production.
When requiring load change, multi-axial Simultaneous kinematic system still can keep synchronous between each axle, when there is larger unknown disturbance in system, likely make to produce between each axle nonsynchronous phenomenon, and can keep a constant deviate between main reference value and each axle.In actual field application, inevitably there is unknown disturbance, now due to the existence of constant deviation, cause the asynchronous of system.
Utility model content
Technical problem to be solved in the utility model is, thereby a kind of synchronous control system for multiple motors that can overcome better disturbance and improve the net synchronization capability of many motors is provided.
Technical solution of the present utility model is, a kind of synchronous control system for multiple motors with following structure is provided, and comprises that host computer, line shaft and several comprise the servo unit of servomotor, and each servo unit also comprises:
Detector, described detector receives the signal of line shaft conveying and the feedback signal of servomotor and processes;
Controller, receives the signal that detector is carried;
Servo amplifier, exports to servomotor after the signal that controller is carried amplifies;
Anti-interference adjuster, adjusts the input signal to servomotor; With
Observer, the operation conditions of observation servomotor also feeds back to the controller in line shaft and this servo unit, the output data of controller to detector and servomotor actual operation parameters is calculated and adjust more afterwards output, corresponding data be processed and be exported to described line shaft, with data processor, can to each servo unit to the data of the observer feedback of each servo unit.
Compared with prior art, synchronous control system for multiple motors of the present utility model has the following advantages: the theoretical parameter of the actual output parameter of the controller in each servo unit to servomotor and detector output contrasts the output of rear adjustment and correcting controller, this is control and the adjustment of each servo unit inside, by anti-interference adjuster, can adjust output for the interference of each servomotor, play dual internal adjustment effect.Outside feeds back to line shaft by observer by the actual output of servomotor, thus the output to each servo unit by total axial adjustment.By multiple feedbacks and repeatedly adjustment, can make system there is better antijamming capability, thereby can make the net synchronization capability of many motors better, reach more accurate net synchronization capability.
As a modification of the present invention, described line shaft can adopt mechanical line-shaft or the line shaft simulator for alternative mechanical line-shaft.General scene is to adopt mechanical line-shaft, but for different mechanical line-shaft adjustment with install cumbersome.If adopt line shaft simulator to replace mechanical line-shaft, can reduce costs and reduce the set-up time, more convenient.
As another kind of improvement of the present invention, described controller adopts Sliding Mode Controller.Sliding Mode Controller, when control enters sliding formwork state, has better self adaptation and robustness, reaches better control effect.
As of the present invention, also have one to improve, between described detector and controller, controller and servo amplifier, servo amplifier and servomotor, servomotor and observer, observer and line shaft, all by fieldbus, carry out transfer of data.For fast transport and reaction provide safeguard.
Accompanying drawing explanation
It shown in Fig. 1, is a kind of specific embodiment of synchronous control system for multiple motors of the present utility model.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Fig. 1 is a kind of specific embodiment of synchronous control system for multiple motors of the present utility model.In this embodiment, dotted line frame 9,10,11 represents respectively the independently servo unit that comprises servomotor 6, described servo unit is two or more, adopts in the present embodiment three, and more than three servo unit principles is substantially the same with three servo units.Be input to the command signal of host computer 1 after the data processor processes of line shaft 2, respectively the input signal of each servo unit is flowed to detector 3, detector 3 flows to controller 4 with reference to signal after processing, be the controller 4 of each servo unit synchronous be reference-input signal, but not the command signal of host computer input, because this signal is through the signal after line shaft 2 effects, therefore more easily by the controller 4 of each servo unit is followed the tracks of, thereby improved net synchronization capability.
In servo unit 9,10,11, include detector 3(speed detector or position detector), controller 4, servo amplifier 5, servomotor 6, anti-interference adjuster 7 and observer 8, thereby form each independently servo unit.
Detector 3 is in order to the reference signal that detects line shaft 2 and send and the actual output parameter signal of corresponding servomotor 6.
The motor type of servomotor 6 can be DC servo motor, AC servo motor and permanent magnet synchronous servo motor.Anti-interference adjuster 7 gathers perturbation and the external loading disturbing signal of the parameter of servomotor 6, these disturbing signal unifications of collection are processed into after equivalent load disturbance, anti-interference adjuster 7 obtains, after interference signal size that servomotor 6 is subject to, exporting the antijamming capability that servomotor 6 is compensated to improve servomotor 6 by adjustment.During systematic steady state, the real output signal of the servomotor 6 of observing by observer 8 feeds back to the signal feedback of controller 4 and servomotor 6 and follows the tracks of elimination systematic error to detector 3, and coupling torque is now zero, there is no feedback moment.But, when system occurs compared with heavy load disturbances, due to the hysteresis in the calculating of coupling torque and feedback life period, this just makes to produce between each servo unit nonsynchronous phenomenon, and can keep a constant deviate between main reference value and each servo unit.The utility model feeds back to line shaft 2 using the real output signal of the servomotor of observation as feedback moment by observer 8.Line shaft 2, after data processing, is transferred to each servo unit by the signal data after regulating by fieldbus at a high speed, thereby has coordinated the synchronous operation between unit.
In reality, the general mechanical line-shaft that adopts of line shaft 2.When test and test, in order to reduce installation difficulty and convenient adjustment, can substitute mechanical line-shaft with line shaft simulator or electronics line shaft.
In the present embodiment, described controller 4 adopts Sliding Mode Controller.Replace traditional PID and control, reduced tracking error, improved the robust performance of system.
And in order to improve reaction speed, between described detector 3 and controller 4, controller 4 and servo amplifier 5, servo amplifier 5 and servomotor 6, servomotor 6 and observer 8, observer 8 and line shaft 2, all by fieldbus, carry out transfer of data.
The man-machine interface of host computer 1 has shown the synchronous operation situation of each servo unit, by regulating hand push button, can people be the synchronous fine setting of carrying out each servo unit.
Although in conjunction with specific embodiments the utility model is described, but is appreciated that in the situation that not departing from scope of the present utility model, can carry out various improvement or replacement to it.Especially, only otherwise have structural conflict, the feature in each embodiment all can mutually combine, and the composite type feature forming still belongs in scope of the present utility model.The utility model is not limited to disclosed specific embodiment in literary composition, but comprises all technical schemes in the scope that falls into claim.
Claims (4)
1. a synchronous control system for multiple motors, comprises that host computer (1), line shaft (2) and several comprise the servo unit of servomotor (6), it is characterized in that, each servo unit also comprises:
Detector (3), described detector (3) receives the signal of line shaft (2) conveying and the feedback signal of servomotor (6) and processes;
Controller (4), receives the signal that detector (3) is carried;
Servo amplifier (5), exports to servomotor (6) after the signal that controller (4) is carried amplifies;
Anti-interference adjuster (7), adjusts the input signal to servomotor (6); With
Observer (8), the operation conditions of observation servomotor (6) also feeds back to the controller (4) in line shaft (2) and this servo unit, the output data of controller (4) to detector (3) and servomotor (6) actual operation parameters is calculated and adjust more afterwards output, corresponding data be processed and be exported to described line shaft (2), with data processor, can to each servo unit to the data of the observer of each servo unit (8) feedback.
2. synchronous control system for multiple motors according to claim 1, is characterized in that, described line shaft (2) can adopt mechanical line-shaft or the line shaft simulator for alternative mechanical line-shaft.
3. synchronous control system for multiple motors according to claim 1, is characterized in that, described controller (4) adopts Sliding Mode Controller.
4. synchronous control system for multiple motors according to claim 1, it is characterized in that, between described detector (3) and controller (4), controller (4) and servo amplifier (5), servo amplifier (5) and servomotor (6), servomotor (6) and observer (8), observer (8) and line shaft (2), all by fieldbus, carry out transfer of data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320728150.5U CN203562983U (en) | 2013-11-18 | 2013-11-18 | Multi-motor synchronous control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320728150.5U CN203562983U (en) | 2013-11-18 | 2013-11-18 | Multi-motor synchronous control system |
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| CN203562983U true CN203562983U (en) | 2014-04-23 |
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| CN201320728150.5U Expired - Lifetime CN203562983U (en) | 2013-11-18 | 2013-11-18 | Multi-motor synchronous control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104362908A (en) * | 2014-10-29 | 2015-02-18 | 湖南工业大学 | System and method for synchronously controlling multiple motors in real time |
| CN105245133A (en) * | 2015-10-28 | 2016-01-13 | 湖南工业大学 | Multi-axis cooperative control system and control method |
| CN107994834A (en) * | 2017-10-16 | 2018-05-04 | 浙江工业大学 | The adaptive fast terminal Sliding mode synchronization control method of multi-machine system based on average coupling error |
-
2013
- 2013-11-18 CN CN201320728150.5U patent/CN203562983U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104362908A (en) * | 2014-10-29 | 2015-02-18 | 湖南工业大学 | System and method for synchronously controlling multiple motors in real time |
| CN105245133A (en) * | 2015-10-28 | 2016-01-13 | 湖南工业大学 | Multi-axis cooperative control system and control method |
| CN105245133B (en) * | 2015-10-28 | 2018-07-24 | 湖南工业大学 | A kind of multiaxis cooperative control system and control method |
| CN107994834A (en) * | 2017-10-16 | 2018-05-04 | 浙江工业大学 | The adaptive fast terminal Sliding mode synchronization control method of multi-machine system based on average coupling error |
| CN107994834B (en) * | 2017-10-16 | 2020-01-10 | 浙江工业大学 | Sliding mode synchronous control method for multi-motor system self-adaptive fast terminal |
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| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140423 |