CN217689820U - Multi-machine synchronous control system - Google Patents
Multi-machine synchronous control system Download PDFInfo
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- CN217689820U CN217689820U CN202221474226.1U CN202221474226U CN217689820U CN 217689820 U CN217689820 U CN 217689820U CN 202221474226 U CN202221474226 U CN 202221474226U CN 217689820 U CN217689820 U CN 217689820U
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Abstract
The utility model relates to a multimachine synchronous control system, which comprises a servo encoder, wherein the servo encoder is used for acquiring a rotating speed signal of a first servo motor; the pulse distributor is provided with a first part connected with the servo encoder, a second part connected with a servo driver of a second servo motor, and a third part connected with one part of the control module; and the other part of the control module is respectively connected with a frequency converter of at least one first servo motor and a servo driver of at least one second servo motor through a communication bus. The utility model discloses a set up twice closed-loop control, realize simultaneously, in step to each second servo motor independent, accurate control in the system, guarantee that it rotates with first servo motor is synchronous, improved the reliability of system.
Description
Technical Field
The utility model relates to a motor control technical field especially relates to multimachine synchronous control system.
Background
In the control of yarn feeding and cloth winding motions, a motor shaft of each yarn feeding servo motor and a motor shaft of each cloth winding servo motor are required to accurately follow up with a main servo motor synchronously, and the existing synchronous control system has the following defects.
The conventional synchronous control system only has a single closed-loop control loop, the speed of the servo motors is uniformly adjusted, when any one servo motor in the system breaks down, the operation of the whole system is influenced, and the fault position cannot be quickly diagnosed, so that the productivity is reduced.
The existing synchronous control system can realize independent and accurate control of each servo motor in the system simultaneously and synchronously by arranging a plurality of synchronous control systems, but has complex design and high cost.
SUMMERY OF THE UTILITY MODEL
In view of the above-discussed shortcomings of the prior art, it is an object of the present invention to provide a multiple machine synchronous control system to solve one or more problems of the prior art.
In order to achieve the above purpose, the technical scheme of the utility model is as follows:
a multi-machine synchronous control system comprises
The servo encoder is used for acquiring a rotating speed signal of the first servo motor;
the pulse distributor is provided with a first part connected with the servo encoder, a second part connected with a servo driver of a second servo motor, a third part connected with one part of the control module, and used for receiving a rotating speed signal of the servo encoder, converting the rotating speed signal into a control signal and sending the control signal to the servo driver so as to control the second servo motor to rotate;
and the other part of the control module is respectively connected with a frequency converter of at least one first servo motor and a servo driver of at least one second servo motor through a communication bus, and the control module is used for controlling the first servo motor and the second servo motor to rotate.
Furthermore, the pulse distributor is provided with a first pulse input interface connected with the servo encoder, a first pulse output interface connected with the servo driver, and a second pulse output interface connected with the control module.
Further, the control module has a processor and a memory connected to the processor, the memory is used for storing a computer program, the processor has a second pulse input interface connected to the second pulse output interface, and the processor has a first serial interface connected to the frequency converter and the servo driver.
Furthermore, the multi-machine synchronous control system also comprises a display module, and the display module is connected with the control module.
Further, the processor is provided with a second serial interface connected with the display module.
Furthermore, the multi-machine synchronous control system further comprises a sensing module, and the sensing module is respectively arranged on the first servo motor and the second servo motor.
Further, the processor is provided with an analog quantity input interface connected with the sensing module.
Further, the communication bus is an RS485 communication bus or a CAN communication bus.
Further, the rotating speed signal is a pulse signal, and the control signal is a differential signal.
Further, the control module is a PLC controller or an ESD controller.
Compared with the prior art, the utility model discloses a beneficial technological effect as follows:
(one) the utility model discloses a connection between servo encoder, pulse distributor, second servo motor's servo driver, the control module forms first closed-loop control, through the connection between control module, converter, the servo driver, forms the second and says closed-loop control, realizes simultaneously, in step to each second servo motor independent, accurate control in the system, guarantees that it rotates with first servo motor is synchronous, has improved the reliability of system.
(two) the utility model discloses second servo motor's servo driver passes through communication bus and links to each other with control module, and arbitrary second servo motor breaks down and can not influence entire system's operation, and can in time discover the fault location, has improved the security and the stability of system operation.
(three) the utility model discloses multimachine synchronous control system adopts inching, long hybrid control that moves, and inching adopts the first servo motor rotational speed of 485 CAN communication control and second servo motor rotational speed, and long moving adopts pulse control second servo motor rotational speed, and 485 CAN communication control CAN read and write the inside more parameters of second servo motor servo driver, and pulse control transmission rate is fast, CAN avoid out of control behind the communication trouble, improves the system reliability.
Drawings
Fig. 1 is a connection diagram of a multi-machine synchronous control system according to an embodiment of the present invention.
Fig. 2 shows a schematic structural diagram of a control module in a multi-machine synchronous control system according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a pulse distributor in a multi-machine synchronous control system according to an embodiment of the present invention.
In the drawings, the reference numbers:
1. a servo encoder; 2. a pulse distributor; 21. a first pulse input interface; 22. a first pulse output interface; 23. a second pulse output interface; 3. a control module; 31. a processor; 301. a second pulse input interface; 302. a first serial interface; 303. a second serial interface; 304. an analog input interface; 32. a memory; 4. a display module; 5. a first servo motor; 6. a frequency converter; 7. a second servo motor; 8. a servo driver; 81. a third pulse input interface; 9. a communication bus; 10. and a sensing module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the following detailed description of the device according to the present invention is made with reference to the accompanying drawings and the detailed description of the present invention. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention. To make the objects, features and advantages of the present invention more comprehensible, please refer to the attached drawings. It should be understood that the structure, ratio, size and the like shown in the drawings attached to the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limitation of the implementation of the present invention, so that the present invention does not have the essential significance in the technology, and any modification of the structure, change of the ratio relationship or adjustment of the size should still fall within the scope of the technical content disclosed in the present invention without affecting the function and the achievable purpose of the present invention.
Example one
Referring to FIG. 1, a multi-machine synchronous control system includes
The servo encoder 1 is used for acquiring a rotating speed signal of the first servo motor 5;
the pulse distributor 2 is provided with a first part connected with the servo encoder 1, the pulse distributor 2 is provided with a second part connected with a servo driver 8 of a second servo motor 7, the pulse distributor 2 is provided with a third part connected with one part of a control module 3, and the pulse distributor 2 is used for receiving a rotating speed signal of the servo encoder 1, converting the rotating speed signal into a control signal and sending the control signal to the servo driver 8 so as to control the second servo motor 7 to rotate;
and the other part of the control module 3 is respectively connected with a frequency converter 6 of at least one first servo motor 5 and a servo driver 8 of at least one second servo motor 7 through a communication bus 9, and the control module 3 is used for controlling the first servo motor 5 and the second servo motor 7 to rotate.
The specific structures of the pulse distributor 2 and the control module 3 are described in detail below as follows:
with continuing reference to fig. 1, further, the pulse distributor 2 has a first pulse input interface 21 connected to the servo encoder 1, the pulse distributor 2 has a first pulse output interface 22 connected to the servo driver 8, and the pulse distributor 2 has a second pulse output interface 23 connected to the control module 3. The servo encoder 1 collects rotating speed information of a rotating shaft of the first servo motor 5, converts displacement of the rotating shaft into a pulse signal and transmits the pulse signal to the pulse distributor 2.
Specifically, referring to fig. 2, in the multiple-machine synchronous control system according to the embodiment, the pulse input interfaces are PTI interfaces, the pulse output interfaces are PTO interfaces, the first pulse output interface 22 is connected to the third pulse input interface 81 of the servo driver 8 of the second servo motor 7, specifically, the received rotation speed signal is distributed into a plurality of groups of mutually isolated differential signals to be transmitted to the servo driver 8 of the second servo motor 7, the servo driver 8 determines the rotation speed through the pulse frequency of the input differential signal, determines the rotation angle through the pulse number of the differential signal, and then the servo driver 8 feeds the analog quantity of the motor shaft position signal back to the processor 31 of the control module 3, so as to realize the closed-loop control of the rotation speed of the second servo motor 7. The second pulse output interface 23 is connected to the second pulse input interface 301 of the control module 3, and specifically, transmits the received rotation speed signal to the control module 3, the control module 3 receives the rotation speed signal and reads the pulse number through the function of the counter inside the control module 3, and the processor 31 calculates the actual rotation speed and determines whether the rotation speed is normal.
With continued reference to fig. 1, the control module 3 has a processor 31 and a memory 32 connected to the processor 31, the memory 32 is used for storing a computer program for the processor 31 to call, the processor 31 has a second pulse input interface 301 connected to the second pulse output interface 23, and the processor 31 has a first serial interface 302 connected to the frequency converter 6 and the servo driver 8. Specifically, the first serial interface 302 of the processor 31 is connected to the frequency converter 6 of the first servo motor 5 and the servo driver 8 of the second servo motor 7 through the communication bus 9, the processor 31 outputs an analog signal through the first serial interface 302 to control the output frequency of the frequency converter 6, and then the analog output corresponding to the frequency of the frequency converter 6 is fed back to the processor 31, so as to realize the closed-loop control of the rotation speed of the first servo motor 5, the processor 31 sets the torque of the motor shaft by outputting the analog signal through the first serial interface 302, and then the servo driver 8 feeds back the analog of the motor shaft position signal to the processor 31 of the control module 3, so as to realize the closed-loop control of the rotation speed of the second servo motor 7. Preferably, the communication bus 9 is an RS485 communication bus or a CAN communication bus, and the serial port is an RS485 interface or a CAN interface. The control module 3 is preferably a PLC controller or an ESD controller.
Preferably, in the multi-machine synchronous control system of the first embodiment, the servo driver 8 employs a standing grain HCFA-SV-6EA500T-a, the first servo motor 5 and the second servo motor 7 employ a standing grain SV-X2MG300A-N4LA, the control module 3 employs 1212C-6ES7214-1AG40-0XB0 and CM1241-RS485-6ES7241-1CH32-0XB0, the pulse distributor 2 employs an HSZSS7, and the servo encoder 1 employs a TRD-N1024-RZVW-5M-K001.
Referring to fig. 1, further, the multi-machine synchronous control system further includes a display module 4, where the display module 4 is connected to the control module 3, and is configured to display the detection value, issue a control instruction to a processor 31 of the control module 3 through a selectable graphical interface, and execute the corresponding instruction through the processor 31. The processor 31 has a second serial interface 303 connected to the display module 4. Preferably, in the multi-machine synchronous control system of this embodiment, the display module 4 is an HMI human-machine interface, the HMI human-machine interface feeds back the rotation speed of the first servo motor 5, the rotation speed of the second servo motor 7, and the detection value of the sensor in real time, and the HMI human-machine interface can issue a control instruction through a selectable graphical interface.
Referring to fig. 1, further, the multi-machine synchronous control system further includes a sensing module 10, where the sensing module 10 is respectively disposed on the first servo motor 5 and the second servo motor 7, and is configured to detect a temperature value and a pressure value of the first servo motor 5 and the second servo motor 7.
Specifically, the processor 31 has an analog input interface 304 connected to the sensing module 10. Preferably, the analog input interface 304 is an AI interface.
The following describes a specific working process of the first embodiment of the present invention as follows:
the servo encoder 1 acquires rotating speed information of a rotating shaft of the first servo motor 5, converts displacement of the rotating shaft into pulse signals and transmits the pulse signals to the pulse distributor 2, the pulse distributor 2 distributes the received pulse signals into a plurality of groups of differential signals which are isolated from each other and transmits the differential signals to the servo driver 8 of the second servo motor 7, the servo driver 8 of the second servo motor 7 determines rotating speed through pulse frequency of input differential signals, determines rotating angle through pulse number of the differential signals, and then the servo driver 8 feeds analog quantity of motor shaft position signals back to the processor 31 of the control module 3, so that the rotating speed of the second servo motor 7 is controlled in a closed loop mode.
The processor 31 outputs an analog quantity signal through the first serial interface 302 to control the output frequency of the frequency converter 6, then the analog quantity corresponding to the frequency of the frequency converter 6 is output and fed back to the processor 31 of the control module 3, so that the rotating speed of the first servo motor 5 is controlled in a closed loop mode, the processor 31 outputs the analog quantity signal through the first serial interface 302 to set the torque of the motor shaft, and then the servo driver 8 feeds back the analog quantity of the motor shaft position signal to the processor 31, so that the rotating speed of the second servo motor 7 is controlled in a closed loop mode.
When the system is in a jog and long-acting hybrid control circuit, the jog adopts 485/CAN communication to control the rotating speed of the first servo motor 5 and the rotating speed of the second servo motor 7, and the long-acting adopts pulse to control the rotating speed of the second servo motor 7.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which all fall within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. Multimachine synchronous control system, its characterized in that: comprises that
The servo encoder is used for acquiring a rotating speed signal of the first servo motor;
the pulse distributor is provided with a first part connected with the servo encoder, a second part connected with a servo driver of at least one second servo motor, a third part connected with one part of the control module, and used for receiving a rotating speed signal of the servo encoder, converting the rotating speed signal into a control signal and sending the control signal to the servo driver so as to control the second servo motor to rotate;
and the other part of the control module is respectively connected with a frequency converter of at least one first servo motor and a servo driver of at least one second servo motor through a communication bus, and the control module is used for controlling the first servo motor and the second servo motor to rotate.
2. The multi-machine synchronous control system as in claim 1, wherein: the pulse distributor is provided with a first pulse input interface connected with the servo encoder, a first pulse output interface connected with the servo driver, and a second pulse output interface connected with the control module.
3. The multi-machine synchronous control system as in claim 2, wherein: the control module has a processor and a memory connected to the processor, the memory being used to store a computer program, the processor having a second pulse input interface connected to the second pulse output interface, the processor having a first serial interface connected to the frequency converter and the servo drive.
4. The multi-machine synchronization control system according to claim 3, wherein: the multi-machine synchronous control system also comprises a display module, and the display module is connected with the control module.
5. The multi-machine synchronization control system according to claim 4, wherein: the processor is provided with a second serial interface connected with the display module.
6. The multi-machine synchronous control system of claim 3, wherein: the multi-machine synchronous control system further comprises a sensing module, and the sensing module is respectively arranged on the first servo motor and the second servo motor.
7. The multi-machine synchronization control system according to claim 6, wherein: the processor is provided with an analog quantity input interface connected with the sensing module.
8. The multi-machine synchronous control system as in claim 1, wherein: the communication bus is an RS485 communication bus or a CAN communication bus.
9. The multi-machine synchronous control system as in claim 1, wherein: the rotating speed signal is a pulse signal, and the control signal is a differential signal.
10. The multi-machine synchronous control system as in claim 1, wherein: the control module is a PLC controller or an ESD controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202221474226.1U CN217689820U (en) | 2022-06-13 | 2022-06-13 | Multi-machine synchronous control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202221474226.1U CN217689820U (en) | 2022-06-13 | 2022-06-13 | Multi-machine synchronous control system |
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| CN217689820U true CN217689820U (en) | 2022-10-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115685887A (en) * | 2022-11-02 | 2023-02-03 | 深圳市威德克科技有限公司 | CAN bus type servo and pulse type servo mixed-matched control system and method |
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2022
- 2022-06-13 CN CN202221474226.1U patent/CN217689820U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115685887A (en) * | 2022-11-02 | 2023-02-03 | 深圳市威德克科技有限公司 | CAN bus type servo and pulse type servo mixed-matched control system and method |
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