CN208969474U - A kind of motor operation control system - Google Patents
A kind of motor operation control system Download PDFInfo
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- CN208969474U CN208969474U CN201821990514.6U CN201821990514U CN208969474U CN 208969474 U CN208969474 U CN 208969474U CN 201821990514 U CN201821990514 U CN 201821990514U CN 208969474 U CN208969474 U CN 208969474U
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- motor
- servo controller
- motor operation
- terminal
- pulse
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- Control Of Electric Motors In General (AREA)
Abstract
The utility model discloses a kind of motor operation control systems, including motor and the servo controller being electrically connected, it is theed improvement is that: being further included one piece and is equipped with the control panel that single-chip microcontroller, light-coupled isolation module and RS232 serial ports turn TTL module, wherein single-chip microcontroller is electrically connected by light-coupled isolation module with the PORT COM of servo controller, RS232 serial ports turns one end and the monolithic mechatronics of TTL module, and the other end can then be connected with rs 232 serial interface signal line.Motor operation control system and control method disclosed in the utility model, the simple harmonic quantity that motor may be implemented is swung, the frequency that settable motor is swung, the amplitude of swing, the period of swing, the position of motor is finely adjusted, whether setting motor movement is damped motion, and when there is damping, motor amplitude is smaller and smaller until finally stopping.If also needing to start other acquisition equipment while motor operation and/or software carrying out related data sampling, synchronous averaging may be implemented, to guarantee the synchronism of acquisition.
Description
Technical field
The utility model belongs to motor operation control field, in particular to one of field motor operation control system
System.
Background technique
Servo motor generally comprises motor body and servo controller, and servo controller can control motor and simply transport
Row, but complicated movement, such as sinusoidal rule is swung and the sinusoidal rule with damping is swung, servo controller goes back nothing at present
Method is realized.
Utility model content
Technical problem to be solved in the utility model, which is just to provide one kind, can control motor progress sinusoidal rule swing
And the motor operation control system that the sinusoidal rule with damping is swung.
The utility model adopts the following technical solution:
A kind of motor operation control system is theed improvement is that including motor and the servo controller being electrically connected:
Further include one piece and the control panel that single-chip microcontroller, light-coupled isolation module and RS232 serial ports turn TTL module is installed, wherein single-chip microcontroller is logical
It crosses light-coupled isolation module to be electrically connected with the PORT COM of servo controller, RS232 serial ports turns one end and the monolithic electromechanics of TTL module
Connection, the other end can then be connected with rs 232 serial interface signal line.
Further, the terminal in control direction is set in the PORT COM of servo controller, is received the terminal of pulse and is made
Energy terminal, wherein the terminal in control direction determines that motor rotates forward or reversion, the terminal for receiving pulse determine according to low and high level
The operation angle and speed of motor, enabled terminal determine that motor operation is not still run according to low and high level.
A kind of motor operation control method, using above-mentioned control system, it is improved in that including following content:
The sine of a cycle is divided into several pieces according to control accuracy requirement, the pulse frequency in every part is identical,
But the pulse number between each part is with pulse frequency difference, undamped operational mode result being saved in array；Calculate 50
There is damping operational mode in a period and saves, and the amplitude of sine swing constantly changes in this mode；
Single-chip microcontroller receive turn the information that TTL module transfers from RS232 serial ports when, first determine whether that the information is operating parameter
Or operation order,
For example operating parameter then carries out data extraction, the content of extraction include but is not limited to individual pen umber of pulse, hunting frequency,
Swing period number, amplitude and damped coefficient then determine umber of pulse and frequency according to the data of extraction, and save to array
In；
Whether the damped coefficient that for example operation order is then extracted referring initially to above-mentioned data is 0, to servo controller if being 0
The undamped operational mode pulse information of a cycle saved in array is sent, is not then to be sent to servo controller if 0
There are damping operational mode pulse information in 50 periods saved in array；
It is finally sent again to servo controller and rotates forward, inverts or cease and desist order.
Further, the sequence of interruption is followed successively by operating parameter, operation order, rotates forward order, inverted command and stop life
It enables.
Further, individual pen umber of pulse is 200000, and the range of hunting frequency is 0.5-2HZ, swing period number takes
Integer between 0-15000, the range of damped coefficient are-0.1-0.1.
Further, when sending operation order to servo controller, can also start simultaneously other acquisition equipment and/or
Software.
The beneficial effects of the utility model are:
Motor operation control system and control method disclosed in the utility model, the simple harmonic quantity that motor may be implemented are swung,
The frequency that settable motor is swung, the amplitude of swing, the period of swing are finely adjusted the position of motor, and motor movement is arranged
It whether is damped motion, when there is damping, motor amplitude is smaller and smaller until finally stopping.If while motor operation also
Other acquisition equipment need to be started and/or software carries out related data sampling, then synchronous averaging may be implemented, to guarantee the same of acquisition
Step property.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of motor operation control system disclosed in the utility model embodiment 1；
Fig. 2 is the flow diagram of motor operation control method disclosed in the utility model embodiment 1；
Fig. 3 is the interruption flow chart of motor operation control method disclosed in the utility model embodiment 1.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Embodiment 1, as shown in Figure 1, present embodiment discloses a kind of motor operation control system, including motor 1 and therewith
The servo controller 2 of electrical connection further includes one piece and is equipped with single-chip microcontroller 31, light-coupled isolation module 32 and RS232 serial ports and turns TTL mould
The control panel 3 of block 33, wherein single-chip microcontroller is electrically connected by light-coupled isolation module with the PORT COM of servo controller, RS232 string
Mouth turns one end and the monolithic mechatronics of TTL module, and the other end can then be connected with rs 232 serial interface signal line.
The core of control system is stm32f429 type single-chip microcontroller, RS232 serial ports turn TTL module major function be will be electric
Brain is converted into TTL signal by the signal that USB RS 232 Serial Port Line transmits, to match with the signal form of single-chip microcontroller；It is single
The low and high level of piece machine is 3.3 and 0V, and the low and high level of servo controller PORT COM is 24V and 0V, light-coupled isolation module
Not only the interference of different circuit signals can have been prevented but also can solve the problem of level not etc..
Corresponding motor operating parameter is set by computer software, data are sent to monolithic by computer RS232 serial ports
Machine, single-chip microcontroller extract relevant parameter by resolve command, and data and the preservation of control servo controller are obtained by calculating,
After single-chip microcontroller receives operation order, the data of preservation are disposably sent to servo controller, control motor operation.
Servo controller one pulse of every reception, motor correspondingly rotates certain angle, when there is no pulse generation, electricity
Machine is motionless, and motor receives the faster of the more fast then motor rotation of frequency of pulse.The sine swing of motor is realized it is necessary to change constantly
Become the frequency (changing according to cosine rule) that pulse is sent, and also to turn in position, if to have realized
The amplitude that the sine swing of damping, i.e. motion process are swung constantly changes, then needing or else to break on the basis of above, it is each to change
The pulse number in period.
The rotational angle of each pulse determines as follows: having electronics gear ratio and individual pen umber of pulse in servo controller
Two parameters, wherein electronics gear ratio is similar with the gear ratio in real life, and only electronics gear ratio is to pass through
What internal processes changed；When individual pen umber of pulse assumes that electronics gear ratio is 1, umber of pulse required for motor rotation one is enclosed.Cause
, when electronics gear ratio is 1, the angle of each pulse rotation is 360 °/individual pen umber of pulse for this.
As shown in Fig. 2-3, the present embodiment also discloses a kind of motor operation control method, and this method includes following content:
Single-chip microcontroller receives the external data or order transmitted, wherein data, and main includes the amplitude swung, frequency, individual pen umber of pulse, resistance
Buddhist nun's coefficient, and the number swung；Order mainly includes running, stopping, rotating forward, inverting.
It is first that data or order will if it is data according to the judgement of the agreement of agreement when receiving external information
Data parsing calculates the feature of pulse signal according to parsing data, and calculating process is as follows:
The sine of a cycle is divided into 200 parts first, identical (the i.e. pulse frequency phase of the pulse characteristics in every part
Together), but the pulse number between each part and frequency are different.The result calculated is saved in array.It is ordered when receiving operation
Afterwards, single-chip microcontroller will send low and high level according to array and give servo controller (one high level, one low level of pulse here
Instead of the frequency of pulse is realized by the conversion speed of low and high level) control motor operation.
There are two types of operational modes, and when damped coefficient is 0, i.e. undamped motion, each recurrent pulse feature is identical, only protects
A cycle pulse information is deposited, is repeated to determine to swing how many times according to cycle of operation number；It is sinusoidal when damped coefficient is not zero
The amplitude of swing constantly changes, and when calculating, calculates the data in 50 periods and preservation, has run preservation in this case
50 periods data after i.e. stop.
It receives and rotates forward the rotating forward of order motor, receive inverted command motor reversal, receive and cease and desist order, motor stops
Only.
Claims (2)
1. a kind of motor operation control system, including motor and the servo controller being electrically connected, it is characterised in that: further include
One piece is equipped with the control panel that single-chip microcontroller, light-coupled isolation module and RS232 serial ports turn TTL module, and wherein single-chip microcontroller passes through optocoupler
Isolation module is electrically connected with the PORT COM of servo controller, and RS232 serial ports turns one end and the monolithic mechatronics of TTL module,
The other end can then be connected with rs 232 serial interface signal line.
2. motor operation control system according to claim 1, it is characterised in that: set in the PORT COM of servo controller
It controls the terminal in direction, receive the terminal and enabled terminal of pulse, wherein the terminal in control direction is determined according to low and high level
Motor is rotated forward or is inverted, and the terminal for receiving pulse determines the operation angle and speed of motor, enables terminal according to low and high level
Determine that motor operation is not still run.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821990514.6U CN208969474U (en) | 2018-11-30 | 2018-11-30 | A kind of motor operation control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821990514.6U CN208969474U (en) | 2018-11-30 | 2018-11-30 | A kind of motor operation control system |
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| Publication Number | Publication Date |
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| CN208969474U true CN208969474U (en) | 2019-06-11 |
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| CN201821990514.6U Active CN208969474U (en) | 2018-11-30 | 2018-11-30 | A kind of motor operation control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109407588A (en) * | 2018-11-30 | 2019-03-01 | 中国海洋大学 | A kind of motor operation control system and control method |
-
2018
- 2018-11-30 CN CN201821990514.6U patent/CN208969474U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109407588A (en) * | 2018-11-30 | 2019-03-01 | 中国海洋大学 | A kind of motor operation control system and control method |
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