CN207994965U - A kind of rotary positioning apparatus of double PG controls - Google Patents
A kind of rotary positioning apparatus of double PG controls Download PDFInfo
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- CN207994965U CN207994965U CN201820459992.8U CN201820459992U CN207994965U CN 207994965 U CN207994965 U CN 207994965U CN 201820459992 U CN201820459992 U CN 201820459992U CN 207994965 U CN207994965 U CN 207994965U
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- encoder
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- power inverter
- positioning apparatus
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- 230000004907 flux Effects 0.000 claims abstract description 13
- 230000001105 regulatory effect Effects 0.000 claims abstract description 13
- 229910017313 Mo—Co Inorganic materials 0.000 claims abstract description 3
- 239000003426 co-catalyst Substances 0.000 claims abstract description 3
- 238000006073 displacement reaction Methods 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 230000009347 mechanical transmission Effects 0.000 abstract description 2
- 230000009467 reduction Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Abstract
The utility model discloses a kind of rotary positioning apparatus of double PG controls, including deviation calculator, flux regulating device, speed regulator, current regulator, power inverter, motor, load, the first encoder and second encoder；The deviation calculator, flux regulating device, speed regulator, current regulator, power inverter, motor are connected with Mo-Co catalyst；First encoder one end connects motor, and the other end connects speed regulator；Second encoder one end connection load, another connection offset counter；The output end of the power inverter is additionally coupled to the input terminal of current regulator.The utility model adds an encoder in load end, and the actual displacement for detecting load can overcome load orientation error caused by reduction box gap and other mechanical transmission errors, improve positioning accuracy, can also effectively eliminate mechanic transmission clearance.
Description
Technical field
The utility model belongs to the technical field of Industry Control, is related to a kind of rotary positioning apparatus of double PG controls.
Background technology
In industrial control field, it is often its important indicator that position and speed, which measures, therefore selection and the peace of encoder (PG)
Dress is just particularly important, and rotary encoder is usually used in motor positioning or velocity-measuring system, it has of low cost, interface simple etc. excellent
Point.The fast-developing requirement to positioning accuracy however as control industry is also higher and higher, and in the prior art, being substantially makes
It is controlled with single PG, single PG controls can only control displacement motor, and load actual displacement is influenced to exist by machine driving
Uncertainty, load orientation precision can not ensure.
Utility model content
The shortcomings that the main purpose of the utility model is to overcome the prior arts and deficiency provide a kind of rotation of double PG controls
Rotation positioning device, to improve the positioning accuracy of motor.
In order to achieve the above object, the utility model uses following technical scheme：
A kind of rotary positioning apparatus of double PG controls of the utility model, including deviation calculator, flux regulating device, rotating speed
Adjuster, current regulator, power inverter, motor, load, the first encoder and second encoder；The deviation calculates
Device, flux regulating device, speed regulator, current regulator, power inverter, motor are connected with Mo-Co catalyst；Described first compiles
Code device one end connects motor, and the other end connects speed regulator；Second encoder one end connection load, another connection deviation
Counter；The output end of the power inverter is additionally coupled to the input terminal of current regulator.
The output end of the flux regulating device is connected to the positive input of speed regulator as a preferred technical solution,
End, the positive output end of speed regulator are connected to the positive input of current regulator；The output end of the power inverter
It is connected to the reverse input end of current regulator.
First encoder one end is connected to electrode as a preferred technical solution, and the other end is connected to rotational speed regulation
The reverse input end of device.
Second encoder one end connection load, the other end are connected to deviation calculator as a preferred technical solution,
Reverse input end.
First encoder and second encoder are all made of incremental optical-electricity encoder as a preferred technical solution,.
The incremental optical-electricity encoder is BG series of incremental photoelectric encoders as a preferred technical solution,.
The utility model compared with prior art, has the following advantages that and advantageous effect：
1, the utility model is positioned by two encoders, greatly improves the precision of positioning.
2, the utility model adds an encoder in load end, and the actual displacement for detecting load can overcome
Load orientation error caused by reduction box gap and other mechanical transmission errors, can effectively eliminate mechanic transmission clearance.
3, the utility model is controlled using double PG, improves response speed, promotes working efficiency.
Description of the drawings
Fig. 1 is the structural schematic diagram of the double PG controls rotary positioning apparatus of the utility model.
Specific implementation mode
The present invention will be further described in detail with reference to the embodiments and the accompanying drawings, but the implementation of the utility model
Mode is without being limited thereto.
Embodiment
As shown in Figure 1, a kind of rotary positioning apparatus of double PG controls in the present embodiment, including deviation calculator, magnetic linkage tune
Save device APR, speed regulator ASR, current regulator ACR, power inverter, motor, load, the first encoder and the second volume
Code device；The deviation calculator, flux regulating device, speed regulator, current regulator, power inverter, motor and load are suitable
Sequence connects；First encoder one end connects motor, and the other end connects speed regulator；Second encoder one end connection
Load, another connection offset counter；The output end of the power inverter is additionally coupled to the input terminal of current regulator.
The output end of the flux regulating device is connected to the positive input of speed regulator, and the forward direction of speed regulator is defeated
Outlet is connected to the positive input of current regulator；The output end of the power inverter is connected to the reversed of current regulator
Input terminal；First encoder one end is connected to electrode, and the other end is connected to the reverse input end of speed regulator；Described
The connection load of two encoder one end, the other end are connected to the reverse input end of deviation calculator.
In the present embodiment, when needing to carry out rotational positioning, the position command of pulse train is sent to offset counter,
Signal be transferred to successively through offset counter flux regulating device, speed regulator, current regulator, power inverter, motor and
Load, wherein flux regulating device and the first encoder (PG1) form speed ring, are used for governing speed, the second encoder and
Forming position ring between load is counted by the position of second encoder feedback load to which location information is fed back to deviation
Device is ensured to export suitable electric current to drive motor to be rotated, with sending suitable speed command to realize that rotation is fixed
Position.
Deviation calculator, flux regulating device in the present embodiment, speed regulator, current regulator, power inverter are equal
The common device of industrial control field is selected, measurement accuracy is such as further increased, the higher above-mentioned device of precision can be selected.
In the present embodiment, in order to reach better effect, first encoder and second encoder are all made of increment
The characteristics of formula photoelectric encoder, incremental optical-electricity encoder is that one output pulse signal of every generation then corresponds to an increment position
It moves, but the increment on which position cannot be distinguished by exporting pulse.It can generate the arteries and veins with displacement increment equivalence
Signal is rushed, effect is to provide a kind of sensing side to continuous dislocation amount discretization or quantitation and change in displacement (speed)
Method, it is the relative position increment relative to some datum mark, can not directly detect the absolute location information of shaft.This implementation
Incremental optical-electricity encoder described in example is BG series of incremental photoelectric encoders, can be used to the position of detection object movement, speed
Degree and acceleration, and the electric signal that these states are converted into being convenient for showing, transmit, amplify and comparing, according to for observing and detecting.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiment of the utility model is not by above-mentioned
The limitation of embodiment, under other any Spirit Essences and principle without departing from the utility model made by change, modify, replace
In generation, simplifies combination, should be equivalent substitute mode, is included within the scope of protection of the utility model.
Claims (6)
1. a kind of rotary positioning apparatus of double PG controls, which is characterized in that including deviation calculator, flux regulating device, rotating speed tune
Save device, current regulator, power inverter, motor, load, the first encoder and second encoder；The deviation calculator,
Flux regulating device, speed regulator, current regulator, power inverter, motor are connected with Mo-Co catalyst；First encoder
One end connects motor, and the other end connects speed regulator；Second encoder one end connection load, another connection deviation count
Device；The output end of the power inverter is additionally coupled to the input terminal of current regulator.
2. the rotary positioning apparatus of double PG controls according to claim 1, which is characterized in that the output of the flux regulating device
End is connected to the positive input of speed regulator, and the positive output end of speed regulator is connected to the positive defeated of current regulator
Enter end；The output end of the power inverter is connected to the reverse input end of current regulator.
3. the rotary positioning apparatus of double PG controls according to claim 1, which is characterized in that first encoder one end connects
It is connected to electrode, the other end is connected to the reverse input end of speed regulator.
4. the rotary positioning apparatus of double PG controls according to claim 1, which is characterized in that described second encoder one end connects
Load is connect, the other end is connected to the reverse input end of deviation calculator.
5. the rotary positioning apparatus of double PG controls according to claim 1, which is characterized in that first encoder and second
Encoder is all made of incremental optical-electricity encoder.
6. the rotary positioning apparatus of double PG controls according to claim 5, which is characterized in that the incremental optical-electricity encoder
For BG series of incremental photoelectric encoders.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820459992.8U CN207994965U (en) | 2018-03-30 | 2018-03-30 | A kind of rotary positioning apparatus of double PG controls |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820459992.8U CN207994965U (en) | 2018-03-30 | 2018-03-30 | A kind of rotary positioning apparatus of double PG controls |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207994965U true CN207994965U (en) | 2018-10-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820459992.8U Expired - Fee Related CN207994965U (en) | 2018-03-30 | 2018-03-30 | A kind of rotary positioning apparatus of double PG controls |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111198533A (en) * | 2020-01-10 | 2020-05-26 | 江苏森蓝智能系统有限公司 | EPOS double-closed-loop control device used for vertical warehouse stacker |
| CN112223822A (en) * | 2020-10-14 | 2021-01-15 | 王绍存 | Asynchronous micro-slip intelligent curve servo press and control method thereof |
| CN115781694A (en) * | 2023-01-29 | 2023-03-14 | 东南大学 | Joint module double feedforward composite control method based on double encoders |
-
2018
- 2018-03-30 CN CN201820459992.8U patent/CN207994965U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111198533A (en) * | 2020-01-10 | 2020-05-26 | 江苏森蓝智能系统有限公司 | EPOS double-closed-loop control device used for vertical warehouse stacker |
| CN112223822A (en) * | 2020-10-14 | 2021-01-15 | 王绍存 | Asynchronous micro-slip intelligent curve servo press and control method thereof |
| CN115781694A (en) * | 2023-01-29 | 2023-03-14 | 东南大学 | Joint module double feedforward composite control method based on double encoders |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181019 |