CN206224153U - A kind of control device suitable for uneven torque servo system - Google Patents
A kind of control device suitable for uneven torque servo system Download PDFInfo
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- CN206224153U CN206224153U CN201621336704.7U CN201621336704U CN206224153U CN 206224153 U CN206224153 U CN 206224153U CN 201621336704 U CN201621336704 U CN 201621336704U CN 206224153 U CN206224153 U CN 206224153U
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Abstract
The utility model discloses a kind of control device suitable for uneven torque servo system, including servomotor execution unit, control terminal and the master control solving unit being connected with control terminal, described master control solving unit is connected to angular encoder angle measurement unit by serial ports, gyro angular velocity unit and driving current detection unit, torque-feedback speed ring compensation device is connected between described gyro angular velocity unit and driving current detection unit, described angular encoder angle measurement unit, gyro angular velocity unit and driving current detection unit are connected to servomotor execution unit by serial ports respectively, described master control solving unit is connected by D/A converter with servomotor execution unit；This patent adjusts servo-control system driving during exercise and compensates by measurement moment variations in real time, and when adjust driving output in fact, this disturbance is effectively suppressed using simple appropriate backoff algorithm, and do not increase hardware cost and reduce reliability.
Description
Technical field
The utility model belongs to the application technology of mechanical automation control, specially a kind of to be applied to uneven torque servo
The control device of system, it is adaptable to which the servo-control system of equipment is investigated in abnormal shape design photoelectric tracking.
Background technology
Servo control unit is the important component of photoelectric turntable kind equipment, is driving and the executive component of equipment, if
The functions such as standby stabilization, search, tracking are completed by servo unit, and whole equipment performance ensures by control system, because
This it be equipment key link.Servo control unit is main by load turntable, axial direction electric machine, and drive control module group
Into wherein turntable structure determines the number of axial direction electric machine, generally comprises two axial direction electric machines of azimuth pitch, makes the equipment can be with complete
Rotation under into polar coordinate system；Drive control module is made up of motor driver, driving power supply and servo-drive system integrated control panel.
Servo-drive system constitutes motor closed-loop control regulating system by position ring and speed ring and electric current loop.Position ring is by compiling
Code device angle measurement module or image processing board target survey deviator provide feedback, speed ring by gyroscope measurement or angle measurement and when
Between differential obtain angular speed feedback, electric current loop is sampled by comprehensive control plate DA and obtains driving current ring feedback, servo-control system root
According to specified angle and currently pointing to the speed amount that the deviation of device angle measurement obtains needing to reach by position ring PID arithmetic, speed ring
Result is tested the speed further according to current and speed preset surveys deviator to obtain driving current by speed ring PID arithmetic given, finally by electricity
Stream is driven output after PID adjusts.
Just can be with more satisfactory adjustment output torque by adjusting for electric current loop when table servo system counterweight basis equalization
And load matched, but, counterweight of the equipment in orientation and pitching both direction is all in comprehensive denial equipment due to limited conditions
Equilibrium is unable to reach so that generating uneven torque, can now there is unbalanced moments disturbance, particularly shaken when equipment is in
When in the working environment of pendulum, the component of the suffered gravity of load with rotation stress in the same direction, can produce the end moment of rotating shaft two obvious
Deviation, frictional force of the motor when this axial rotation commutates changes, while power consumption would also vary from, to make sensing
Device moves to specified location and stops, and servo controller control localizer can do near specified location and come and go commutation concussion, and pass
The PID adjusting methods of system cannot adapt to the respective change during commutation that this unbalanced moments brings using a set of control parameter,
Even aggravate so as to cause servo to shake time lengthening.Because the change of this torque is with installation pedestal rocking tendency and frequency
And change and change is quick and lack rule, this change cannot be met with many set pid parameters again, in order to improve control
Stability is, it is necessary to make up control defect using other algorithm improvements.
Utility model content
The purpose of this utility model is according to the deficiencies in the prior art, there is provided one kind is applied to uneven torque servo system
The control device of system.
The utility model solves the technical scheme that its technical problem used：One kind is applied to uneven torque servo system
The control device of system, including servomotor execution unit, control terminal and the master control solving unit that is connected with control terminal, institute
The master control solving unit stated is connected to angular encoder angle measurement unit, gyro angular velocity unit and drives electricity by serial ports
Stream detection unit, is connected with torque-feedback speed ring benefit between described gyro angular velocity unit and driving current detection unit
Repay device, described angular encoder angle measurement unit, gyro angular velocity unit and driving current detection unit are respectively by string
Mouth is connected to servomotor execution unit, and described master control solving unit is connected by D/A converter with servomotor execution unit
Connect.
Further, described torque-feedback speed ring compensation device includes that velocity feedback loop, position feedback loop and electric current are anti-
Feedback ring, is also connected in parallel to torque compensation ring, the output end connection speed ring regulation of the current feedback ring on current feedback ring
Unit, is connected, the connection of speed ring adjustment unit front after speed ring adjustment unit connection electric current loop adjustment unit with servomotor
There is a position ring adjustment unit, the output end of the torque compensation ring and velocity feedback loop is connected to position ring adjustment unit and speed
Between ring adjustment unit, position ring adjustment unit front is connected with position input block, and the output end of the position feedback loop connects
It is connected between position input block and position ring adjustment unit.
The beneficial effects of the utility model are：Torque-feedback speed ring compensation device gathers motor and drives by current feedback ring
The current feedback of dynamic device, while gathering turntable angle velocity feedback by velocity feedback loop, sets up caching and preserves current feedback and speed
Degree feedback sequence；Analysis current feedback and the relational sequence of velocity feedback and time, when current feedback increases suddenly in same direction
Big and velocity feedback reduces suddenly, illustrates that torque changes at this moment and generates disturbance, now obtains power by gain coefficient
Square compensating for variations, this compensation shows as magnitude of current compensation；The benefit at next time point is compensated this with three point prediction methods simultaneously
Repay to make and estimate, then this compensation rate is added to current feedback ring specified rate after speed closed loop is adjusted and compensate and participate in electricity
Stream feedback loop closed loop computing.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of the utility model torque-feedback speed ring compensation device；
Fig. 3 is the control flow chart of the utility model torque-feedback speed ring compensation device.
Each reference is entitled in figure：1-control terminal, 2-master control solving unit, the angle measurement of 3-angular encoder
Unit, 4-gyro angular velocity unit, 5-driving current detection unit, 6-torque-feedback speed ring compensation device, 7-watch
Take motor execution unit.
Specific embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
Shown in reference picture 1, Fig. 2, the utility model discloses a kind of new torque collection, analysis, the control mould for compensating
Type, can effectively suppress influence of the unbalanced moments disturbance to servo-drive system, and raising servo-drive system is under uneven torque conditions
Control accuracy, realize comprehensive defence servo-control system counterweight is unbalanced cause rotating torque unbalanced under the conditions of it is steady
It is fixed, including servomotor execution unit 7, control terminal 1 and the master control solving unit 2 that is connected with control terminal 1, described master
Control solving unit 2 is connected to angular encoder angle measurement unit 3, gyro angular velocity unit 4 and driving current by serial ports
Detection unit 5, torque-feedback speed ring is connected between described gyro angular velocity unit 4 and driving current detection unit 5
Compensation device 6, described angular encoder angle measurement unit 3, gyro angular velocity unit 4 and driving current detection unit 5 are distinguished
Servomotor execution unit 7 is connected to by serial ports, described master control solving unit 2 is performed by D/A converter with servomotor
Unit 7 is connected.
Wherein, described torque-feedback speed ring compensation device 6 includes velocity feedback loop, position feedback loop and current feedback
Ring, is also connected in parallel to torque compensation ring on current feedback ring, the output end connection speed ring regulation of the current feedback ring is single
Unit, is connected after speed ring adjustment unit connection electric current loop adjustment unit with servomotor, and speed ring adjustment unit front is connected with
The output end of position ring adjustment unit, the torque compensation ring and velocity feedback loop is connected to position ring adjustment unit and speed simultaneously
Between degree ring adjustment unit, position ring adjustment unit front is connected with position input block, the output end of the position feedback loop
It is connected between position input block and position ring adjustment unit.
Torque-feedback speed ring compensation device 6 is currently corresponding by the input analytical calculation of Real-time Collection current feedback ring
Rotating torque, and corresponding torque compensation is calculated according to the change of torque, coordinate velocity feedback loop, position feedback loop and electricity
Flow the pid control algorithm of feedback loop so that servo-drive system is under unbalanced moments disturbance, it can be ensured that the stability of control is not received
Its influence；The feedback of current feedback ring torque can produce time delay, reality output compensation to add Prediction Control algorithm, solve system
The problem of response lag, makes Controlling model more level off to real movement environment, so as to take into account stability and the response of control
It is swiftness.
Used as a kind of application technology of the SERVO CONTROL control algolithm method for uneven torque, it carries and holds this patent
Row main body is one piece of servo integrated control panel, and the control panel is by D/A converter and motor driver exchange data, including receives
Response current and motor to motor driver feedback drive output voltage, and Comprehensive Control receives all kinds of controls of response and biography in addition
Sensor information is realizing the closed-loop control to servomotor.
This patent is directed to the uneven direct torque problem that the unbalanced counterweight of comprehensive denial equipment turntable load is caused, and carries
Go out it is a kind of adjust servo-control system driving during exercise by measurement moment variations in real time and compensate, and when adjust driving in fact
The control algolithm of output；Sampling analysis calculating is carried out to uneven rotating torque using relatively simple method；And can use
Simple appropriate backoff algorithm is effectively suppressed to this disturbance, and is not increased hardware cost and reduced reliability.The implementation
Scheme is mainly software overhead, and realization need not increase any additional devices and hardware cost.
As shown in figure 3, the algorithm show that current torque becomes by the linear ratio relation of system power feedback loop and torque
Change, and go out current driving according to this change calculations and the compensation to be provided is provided, make up single pid control parameter meter during commutation
The deficiency of matching is calculated, realizing can be continual and steady under small error condition in servo-drive system, shortens the overshoot time, improves tracking essence
Degree, realizes the motion control of stabilization.
This patent based on pid control algorithm, by current feedback ring Real-time Feedback electric current and response torque between
Proportional relation obtains torque change and the functional relation between the time, and subsequent time torque is estimated according to this functional relation
Computing simultaneously solves the compensation of subsequent time torque differences, the result quantities that the compensation of this torque differences is resolved according to the PID of velocity feedback loop
It is added to after change among the input of current feedback ring, current feedback ring carries out PID and resolves that to obtain final result defeated further according to this input
Go out to motor driver and perform.
Experiment proves that this algorithm can effectively suppress the disturbing influence that uneven torque is produced to servo-drive system, abatement servo electricity
The disturbance that the static friction properties and moment variations that machine is produced in commutation are produced to servo-drive system, improves control stability and essence
Degree.
Above-described embodiment only illustrative principle of the present utility model and its effect, and the embodiment that part uses,
For the person of ordinary skill of the art, on the premise of the utility model creation design is not departed from, if can also make
Dry deformation and improvement, these belong to protection domain of the present utility model.
Claims (2)
1. a kind of control device suitable for uneven torque servo system, it is characterised in that：Including servomotor execution unit
（7）, control terminal（1）And and control terminal（1）The master control solving unit of connection（2）, described master control solving unit（2）It is logical
Cross serial ports and be connected to angular encoder angle measurement unit（3）, gyro angular velocity unit（4）With driving current detection unit
（5）, described gyro angular velocity unit（4）With driving current detection unit（5）Between be connected with torque-feedback speed ring benefit
Repay device（6）, described angular encoder angle measurement unit（3）, gyro angular velocity unit（4）With driving current detection unit
（5）Servomotor execution unit is connected to by serial ports respectively（7）, described master control solving unit（2）By D/A converter with
Servomotor execution unit（7）Connection.
2. a kind of control device suitable for uneven torque servo system according to claim 1, it is characterised in that institute
The torque-feedback speed ring compensation device stated（6）Including velocity feedback loop, position feedback loop and current feedback ring, current feedback ring
On be also connected in parallel to torque compensation ring, the output end connection speed ring adjustment unit of the current feedback ring, speed ring regulation
It is connected with servomotor after unit connection electric current loop adjustment unit, it is single that speed ring adjustment unit front is connected with position ring regulation
The output end of unit, the torque compensation ring and velocity feedback loop be connected to position ring adjustment unit and speed ring adjustment unit it
Between, position ring adjustment unit front is connected with position input block, and the output end of the position feedback loop is connected to position input
Between unit and position ring adjustment unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621336704.7U CN206224153U (en) | 2016-12-07 | 2016-12-07 | A kind of control device suitable for uneven torque servo system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621336704.7U CN206224153U (en) | 2016-12-07 | 2016-12-07 | A kind of control device suitable for uneven torque servo system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109245664A (en) * | 2017-11-22 | 2019-01-18 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of adjustment method of transmission mechanism turntable |
| CN113296447A (en) * | 2021-06-07 | 2021-08-24 | 玉环天润航空机械制造有限公司 | Vehicle-mounted detection instrument control system |
| CN114123894A (en) * | 2021-11-19 | 2022-03-01 | 九江精密测试技术研究所 | Indexing mechanism three-loop control method based on Kalman |
| CN117075482A (en) * | 2023-10-13 | 2023-11-17 | 深圳市正弦电气股份有限公司 | Servo self-adaptive feedforward control system |
-
2016
- 2016-12-07 CN CN201621336704.7U patent/CN206224153U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109245664A (en) * | 2017-11-22 | 2019-01-18 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of adjustment method of transmission mechanism turntable |
| CN109245664B (en) * | 2017-11-22 | 2021-07-16 | 中国航空工业集团公司北京航空精密机械研究所 | Debugging method for rotary table of transmission mechanism |
| CN113296447A (en) * | 2021-06-07 | 2021-08-24 | 玉环天润航空机械制造有限公司 | Vehicle-mounted detection instrument control system |
| CN113296447B (en) * | 2021-06-07 | 2023-03-07 | 玉环天润航空机械制造有限公司 | Vehicle-mounted detection instrument control system |
| CN114123894A (en) * | 2021-11-19 | 2022-03-01 | 九江精密测试技术研究所 | Indexing mechanism three-loop control method based on Kalman |
| CN117075482A (en) * | 2023-10-13 | 2023-11-17 | 深圳市正弦电气股份有限公司 | Servo self-adaptive feedforward control system |
| CN117075482B (en) * | 2023-10-13 | 2024-01-05 | 深圳市正弦电气股份有限公司 | Servo self-adaptive feedforward control system |
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