CN209014967U - A kind of bus-type speed full closed loop control structure - Google Patents
A kind of bus-type speed full closed loop control structure Download PDFInfo
- Publication number
- CN209014967U CN209014967U CN201821679319.1U CN201821679319U CN209014967U CN 209014967 U CN209014967 U CN 209014967U CN 201821679319 U CN201821679319 U CN 201821679319U CN 209014967 U CN209014967 U CN 209014967U
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- China
- Prior art keywords
- closed loop
- output end
- bus
- full closed
- axis joint
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Abstract
The utility model discloses a kind of bus-type speed full closed loop control structures, including PC control unit, driving unit, execution unit and closed loop feedback unit；The PC control unit includes operation interface and speed control；The driving unit includes servo amplifier and servo motor；The execution unit includes each axis joint and end effector；The closed loop feedback unit includes encoder；The operation interface output end connection speed controller；The output end of the speed control connects servo amplifier；The output end of the servo amplifier connects each axis servo motor；Each axis joint of the output end connection machine of the servo motor, the output end of axis joint connects end effector, and the output end of each axis joint is by passing through encoder connection speed controller；The utility model uses full closed loop control, can obtain higher positioning accuracy and preferable stability, and full closed loop control can reduce the burden of control system.
Description
Technical field
The utility model relates to a kind of control system, specially a kind of bus-type speed full closed loop control structure.
Background technique
Currently, the control mode of most machines for being applied to industrial circle has open loop, semiclosed loop and two close cycles etc., open
The apparatus control precision of ring control not can guarantee, and under most of industrial application, be no longer satisfied demand；And in industrial machine
Upper widely used semiclosed loop kinetic control system, machine system overall precision are heavily dependent on the essence of servo-system
Degree, due to the overlaying influence of mechanic transmission clearance and each interaxis error, apparatus control precision is lower, has also been difficult to meet the modern times
The needs that metaplasia produces；It would therefore be desirable to a kind of bus-type speed full closed loop control structure.
Utility model content
The purpose of this utility model is to provide a kind of bus-type speed full closed loop control structures, to solve above-mentioned background skill
The problem of being proposed in art.
To achieve the above object, the utility model provides the following technical solutions: a kind of bus-type speed full closed loop control knot
Structure, including PC control unit, driving unit, execution unit and closed loop feedback unit；The PC control unit includes
Operation interface and speed control；The driving unit includes servo amplifier and servo motor；The execution unit includes each
Axis joint and end effector；The closed loop feedback unit includes encoder；The operation interface output end connection speed control
Device；The output end of the speed control connects servo amplifier；The output end of the servo amplifier connects each axis servo electricity
Machine；Each axis joint of the output end connection machine of the servo motor, the output end of axis joint connect end effector, and described
The output end of each axis joint is by passing through encoder connection speed controller.
Further, the resolution ratio of the encoder is more than or equal to 28, and type selecting uses according to actual needs.
Further, the controller uses parallel processing control device.
Further, the axis joint is correspondingly provided with encoder, each encoder independent operating.
Further, the servo amplifier is electrically connected with triode current detection circuit, and triode current detecting electricity
Road is electrically connected with buzzer.
Further, the operation interface is specially touch screen type display screen and input keyboard.
Further, the speed control is specially electromagnetic relay
Compared with prior art, the utility model has the beneficial effects that it is extraneous by operation interface under machine controller
Movement instruction is sent out, machine controller calculates the moving target value of each axis servo motor according to corresponding movement instruction, and by target
Value is handed down to servo amplifier, and driving unit issues position or rate control instruction to servo motor according to its system performance, respectively
Axis servo motor drives each axis joint movement, and the encoder being mounted on each axis joint output end acquires the position of each axis joint in real time
Confidence breath, and machine controller is fed back to, the deviation of position real value and target value that machine controller calculates each axis joint obtains
To the kinematic error of each axis joint, the data of control servo motor movement are adjusted according to this error, so that each axis joint
Position real value approaches target value, realizes the full closed loop control of position, reduces location error, improves the control essence of bus-type speed
Degree.
Detailed description of the invention
Fig. 1 is the utility model of the whole structure diagram；
In figure: 1, operation interface, 2, speed control, 3, servo amplifier, 4, servo motor, 5, axis joint, 6, end
Actuator, 7, encoder.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Referring to Fig. 1, the utility model provides a kind of technical solution, a kind of bus-type speed full closed loop control structure, packet
Include PC control unit, driving unit, execution unit and closed loop feedback unit；The PC control unit includes operation circle
Face 1 and speed control 2；The driving unit includes servo amplifier 3 and servo motor 4；The execution unit includes each axis
Joint 5 and end effector 6；The closed loop feedback unit includes encoder 7；The 1 output end connection speed control of operation interface
Device 2 processed；The output end of the speed control 2 connects servo amplifier 3；The output end of the servo amplifier 3 connects each axis
Servo motor 4；It holds the output end connection end of each axis joint 5 of the output end connection machine of the servo motor 4, axis joint 5
Row device 6, and the output end of each axis joint 5 is by passing through 7 connection speed controller 2 of encoder；Point of the encoder 7
Resolution is more than or equal to 28, and type selecting uses according to actual needs, reduces and uses while to meet actual demand precision
Cost；The controller 2 uses parallel processing control device, and parallel processing can be improved processing speed, share watching to the greatest extent
Take the operation burden of driving unit；The axis joint 5 is correspondingly provided with encoder 7, each 7 independent operating of encoder, between each other
Noiseless, conducive to information collection accuracy and precision is further increased, the servo amplifier 3 is electrically connected with the inspection of triode electric current
Slowdown monitoring circuit, and triode current detection circuit is electrically connected with buzzer, the operation interface 1 are specially touch screen type display screen and defeated
Enter keyboard, the speed control 2 is specially electromagnetic relay.
Specific work process: when in use, the external world issues movement instruction, machine to machine controller 2 by operation interface 1
Controller 2 calculates the moving target value of each axis servo motor 4 according to corresponding movement instruction, and target value is handed down to servo and is put
Big device 3, driving unit issue position or rate control instruction, each 4 band of axis servo motor to servo motor 4 according to its system performance
Each axis joint 5 is moved to move, the encoder 7 being mounted on each 5 output end of axis joint acquires the location information of each axis joint 5 in real time,
And machine controller 2 is fed back to, the deviation of position real value and target value that machine controller 2 calculates each axis joint 5 obtains respectively
The kinematic error of axis joint adjusts the data that control servo motor 4 acts according to this error, so that the position of each axis joint 5
It sets real value and approaches target value, realize the full closed loop control of position, reduce location error, improve the control essence of bus-type speed
Degree.
Although the utility model is described in detail with reference to the foregoing embodiments, come for those skilled in the art
Say, it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of technical characteristic into
Row equivalent replacement, within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on should all
It is included within the scope of protection of this utility model.
Claims (7)
1. a kind of bus-type speed full closed loop control structure, including PC control unit, driving unit, execution unit and closed loop
Feedback unit, it is characterised in that: the PC control unit includes operation interface (1) and speed control (2)；The driving
Unit includes servo amplifier (3) and servo motor (4)；The execution unit includes each axis joint (5) and end effector
(6)；The closed loop feedback unit includes encoder (7)；Operation interface (1) the output end connection speed controller (2)；It is described
The output end of speed control (2) connects servo amplifier (3)；The output end of the servo amplifier (3) connects each axis servo
Motor (4)；Each axis joint (5) of the output end connection machine of the servo motor (4), the output end of axis joint (5) connect end
It holds actuator (6), and the output end of each axis joint (5) is by passing through encoder (7) connection speed controller (2).
2. a kind of bus-type speed full closed loop control structure according to claim 1, it is characterised in that: the encoder
(7) resolution ratio is more than or equal to 28, and type selecting uses according to actual needs.
3. a kind of bus-type speed full closed loop control structure according to claim 1, it is characterised in that: the speed control
Device (2) uses parallel processing control device.
4. a kind of bus-type speed full closed loop control structure according to claim 1, it is characterised in that: the axis joint
(5) it is correspondingly provided with encoder (7), each encoder (7) independent operating.
5. a kind of bus-type speed full closed loop control structure according to claim 1, it is characterised in that: the servo amplification
Device (3) is electrically connected with triode current detection circuit, and triode current detection circuit is electrically connected with buzzer.
6. a kind of bus-type speed full closed loop control structure according to claim 1, it is characterised in that: the operation interface
It (1) is specially touch screen type display screen and input keyboard.
7. a kind of bus-type speed full closed loop control structure according to claim 1, it is characterised in that: the speed control
Device (2) is specially electromagnetic relay.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821679319.1U CN209014967U (en) | 2018-10-16 | 2018-10-16 | A kind of bus-type speed full closed loop control structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821679319.1U CN209014967U (en) | 2018-10-16 | 2018-10-16 | A kind of bus-type speed full closed loop control structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209014967U true CN209014967U (en) | 2019-06-21 |
Family
ID=66838860
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821679319.1U Expired - Fee Related CN209014967U (en) | 2018-10-16 | 2018-10-16 | A kind of bus-type speed full closed loop control structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209014967U (en) |
-
2018
- 2018-10-16 CN CN201821679319.1U patent/CN209014967U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20190621 Termination date: 20201016 |