CN218675774U - ABZ pulse signal generating device, microcontroller chip and automatic control system - Google Patents
ABZ pulse signal generating device, microcontroller chip and automatic control system Download PDFInfo
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- CN218675774U CN218675774U CN202223542312.4U CN202223542312U CN218675774U CN 218675774 U CN218675774 U CN 218675774U CN 202223542312 U CN202223542312 U CN 202223542312U CN 218675774 U CN218675774 U CN 218675774U
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Abstract
The utility model discloses a ABZ pulse signal generates device, microcontroller chip, automatic control system, and this ABZ pulse signal generates device includes: the speed detection module is used for periodically acquiring actually measured discrete angle position information of the motor and calculating the speed of the motor in the current period; the angle generation module is used for simulating the code disc running rule and simulating and outputting continuous single-turn angle values and scale period values according to the current period motor speed; and the pulse signal output module is used for outputting the ABZ pulse signal according to the continuous single-circle angle value and the scale period value. The utility model discloses the scheme can effectively improve the real-time of ABZ signal, and then promotes the control accuracy to equipment.
Description
Technical Field
The utility model relates to an automatic control technology field, concretely relates to ABZ pulse signal generates device, automatic control system, microcontroller chip, automatic control system.
Background
As shown in fig. 1, in a conventional pulse type automatic control system, a motion control portion of the system is generally composed of a PLC (Programmable Logic Controller) 11, a servo driver 12 and a motor 13. The PLC11 sends a control instruction to the servo driver 12, after the servo driver 12 receives the control instruction, the servo driver drives the inverter to generate UVW three-phase alternating current to the motor 13 through motor control software equipped by the servo driver, and simultaneously reads the angle of an encoder equipped by the motor 13 through an encoder communication cable to complete the closed-loop control process of driving the motor 13 to rotate for specified angular displacement. The position displacement of the motor 13 is transmitted by communicating with the servo driver 12 through an encoder arranged on a motor shaft, the communication protocol has various formats, but the servo driver 12 needs to feed back the displacement of the motor 13 to the PLC11 in real time in the form of three pulse signals ABZ, and the servo driver 12 can form a closed loop with the PLC11 through the ABZ pulse to realize a complete closed loop position control process. Therefore, the degree of alignment between the set of ABZ pulse signals fed back to PLC11 and the actual position of motor 13 reflects the accuracy of the control error, and the magnitude of the error control accuracy determines the accuracy and error of the closed-loop control of the whole system. The timing sequence and the carried information of the ABZ three-phase pulse signal and the ABZ pulse signal of the incremental encoder are the same.
The ABZ pulse signal is shown in fig. 2. Each AB pulse period is as shown in FIG. 3 and can be divided into four phases a, B, c and d, and the rising edge of the A pulse leads the rising edge of the B pulse when the motor rotates positively; when the motor rotates reversely, the rising edge of the pulse B leads the rising edge of the pulse A.
In the existing engineering implementation, the servo is calculated by software and the motor is controlled according to a set period. In an automatic control system based on pulse signals, due to the delay of a calculation period of servo software, certain errors exist in the ABZ pulse signal position relative to the real motor rotor position. Therefore, the error of the position information reflected by the ABZ pulse relative to the position information of the real motor rotor is accurately compensated, and the control precision is improved. According to the scheme, the hardware calculation and the provision of the estimated value are performed through the speed detection module, the angle generation module and the pulse signal output module, the calculation real-time performance is improved, the control precision problem is effectively solved, and the control of a high-speed servo motor can be applied.
SUMMERY OF THE UTILITY MODEL
The utility model provides a ABZ pulse signal generates device, microcontroller chip, automatic control system to improve the real-time of ABZ signal, and then promote the control accuracy to equipment.
Therefore, the utility model provides a following technical scheme:
in one aspect, the utility model provides an ABZ pulse signal generates device, the device includes:
the speed detection module is used for periodically acquiring actually measured discrete angle position information of the motor and calculating the speed of the motor in the current period;
the angle generation module is used for simulating the code disc running rule and simulating and outputting continuous single-turn angle values and scale period values according to the current period motor speed;
and the pulse signal output module is used for outputting the ABZ pulse signal according to the continuous single-circle angle value and the scale period value.
Optionally, the speed detection module periodically obtains an actually measured motor single-turn angle, and calculates the current-period motor speed according to the motor single-turn angle and the motor angle compensation value; the angle generation module calculates and outputs a single-turn angle value and a scale period value according to the motor speed in the current period; the pulse signal output module outputs an A-phase pulse signal and a B-phase pulse signal according to the scale period value, and outputs a Z-phase pulse signal according to the single-circle angle value.
Optionally, the speed detection module periodically obtains an actual measured single-turn angle of the motor from a position sensor provided on the motor.
Optionally, the position sensor is any one of: the device comprises an encoder, a Hall array, a rotary transformer, a grating ruler, a magnetic grating ruler and a software position observer.
Optionally, the angle generating module includes:
the rotation angle calculation module is used for simulating the code wheel operation rule in real time and obtaining an internal single-turn angle through accumulation calculation according to the current periodic motor speed;
and the scale simulation module is used for calculating and determining the single-circle angle and the scale period value of the current position according to the internal single-circle angle and the set pulse resolution.
Optionally, the angle generating module is further configured to feed back the calculated internal single-turn angle to the speed detecting module; the speed detection module is specifically configured to form a closed-loop tracking calculation of the current-period motor speed according to the internal single-turn angle fed back by the angle generation module and the actually-measured motor single-turn angle.
Optionally, the pulse signal output module includes:
the first analog module is used for looking up a table according to the scale period value to obtain the A-phase pulse signal and the B-phase pulse signal;
and the second analog module is used for outputting the Z-phase pulse signal according to the single-turn angle value.
On the other hand, the utility model also provides a microcontroller chip, microcontroller chip includes preceding ABZ pulse signal generation device.
On the other hand, the utility model also provides an automatic control system, the system includes: a PLC controller, a servo driver, a motor and the ABZ pulse signal generating device; a position sensor is arranged on the motor;
the ABZ pulse signal generating device is used for periodically acquiring actually measured discrete angle position information of the motor through the position sensor and outputting an ABZ pulse signal to the PLC according to the discrete angle position information;
the PLC is used for sending a pulse instruction to the servo driver according to the ABZ pulse signal;
and the servo driver is used for generating a control signal according to the pulse instruction sent by the PLC controller and driving the motor to move.
Optionally, the position sensor is any one of: encoder, hall module, resolver, grating chi, magnetic grid chi.
Optionally, the ABZ pulse signal generating means is provided on the driver.
The embodiment of the utility model provides an ABZ pulse signal generates device, microcontroller chip, automatic control system, through the discrete angle positional information who periodically acquires actual measurement's motor, calculates current cycle motor speed, and simulation code wheel operation law is according to the continuous rotation angle positional information of current cycle motor speed analog output, according to the continuous rotation angle positional information output ABZ pulse signal that the simulation obtained. By using the scheme, the ABZ pulse signal can be generated simply and conveniently through hardware.
Furthermore, when the motor speed is calculated, a motor angle pre-estimation compensation value is introduced, the speed value to be operated and the angle value to be operated of the motor in the current period can be calculated in advance by one period, then the continuous angle value of the motor operation is calculated and simulated clock by clock, the ABZ pulse signal with the specified resolution can be sorted and output according to the continuous angle value, and the accuracy and the real-time performance of the output ABZ signal corresponding to the real position physical angle of the motor are greatly improved.
Drawings
FIG. 1 is a schematic diagram of a conventional pulse-type automated control system;
FIG. 2 is a schematic diagram of a conventional ABZ pulse signal output by an encoder;
FIG. 3 is a schematic diagram of the ABZ pulse signal period shown in FIG. 2;
FIG. 4 is a schematic diagram of a photoelectric encoder;
fig. 5 is a schematic block diagram of an ABZ pulse signal generating apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an ABZ pulse signal generating device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an automatic control system according to an embodiment of the present invention.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings.
The principle of the photoelectric encoder will be briefly explained below.
As shown in FIG. 4, the optical-electrical encoder is generally an optical-electrical code disc 30 with a shaft in the center, the optical-electrical code disc 30 is evenly engraved with an annular light-passing and dark-passing scribed line 31, the light beam emitted by the light emitting device 20 irradiates the optical-electrical code disc 30, the light signal reflected or transmitted by the optical-electrical code disc 30 is received by the receiving device 40, and a A, B two-phase square wave signal is output, the A, B two-phase square wave signal has different phases, and the two phases are different by half the width of the scribed line. In addition, the photoelectric code disc 30 outputs a Z-phase pulse every revolution to represent the passing of a zero reference position. Each scale mark of the code disc is in one-to-one correspondence with an absolute physical angle physically, the line width is also in one-to-one correspondence with a fixed angle value, the code disc is in rigid connection with the motor rotor, so that pulse signals after photoelectric conversion are in one-to-one correspondence with the physical angle position of the motor rotor, the width of the pulse directly reflects the rotating speed of the motor, and the faster the speed, the narrower the pulse width (the scheme relates to the speed which is the angular speed of the motor). Therefore, the normal rotation and the reverse rotation of the photoelectric coded disc 30 can be judged by comparing the phases of the A, B two-phase pulses, and the motor running speed can be calculated by the number of pulses generated in unit time or the output time of a single pulse.
Based on the above principle, the embodiment of the utility model provides a ABZ pulse signal generates device, through simulation code wheel operation law, utilizes hardware circuit to realize motor rotation angle accurate calculation, and the operation of real-time tracking motor generates ABZ pulse signal.
As shown in fig. 5, it is a schematic block diagram of an ABZ pulse signal generating device according to an embodiment of the present invention.
The ABZ pulse signal generating device comprises the following modules:
the speed detection module 51 is configured to periodically obtain actually measured discrete angle position information of the motor according to the periodic control signal, and calculate a current periodic motor speed;
the angle generating module 52 is used for simulating the code disc running rule and simulating and outputting continuous single-turn angle values and scale period values according to the current period motor speed;
and the pulse signal output module 53 is configured to output an ABZ pulse signal with a set resolution according to the continuous single-turn angle value and the scale period value information.
In a non-limiting embodiment, the speed detection module 51 may calculate the current periodic motor speed value according to the periodically obtained single-turn angle value of the motor actually measured by the position sensor and the motor angle compensation value. The position sensor may be, but is not limited to, any of the following: the device comprises an encoder, a Hall array, a rotary transformer, a grating ruler, a magnetic grating ruler, a software position observer and the like. Wherein the encoder may be any type of encoder capable of measuring the angle of the motor.
Accordingly, the angle generating module 52 may calculate and output a single-turn angle value and a scale period value according to the current period motor speed.
Accordingly, the pulse signal output module 53 may output an a-phase pulse signal and a B-phase pulse signal according to the scale period value, and output a Z-phase pulse signal according to the single-turn angle value.
The embodiment of the utility model provides a ABZ pulse signal generates device, through the discrete angle positional information who periodically acquires actual measurement's motor, calculates current cycle motor speed, and simulation code wheel traffic law is according to current cycle motor speed analog output continuous single circle angle value and scale periodic value information, according to the continuous single circle angle value that the simulation obtained and scale periodic value information output ABZ pulse signal. By using the scheme, the ABZ pulse signal can be generated simply and conveniently.
Fig. 6 shows a specific structural schematic diagram of an ABZ pulse signal generating device according to an embodiment of the present invention.
In this embodiment, the angle generation module 52 includes: a rotation angle calculation module 521 and a scale simulation module 522. Wherein:
the rotation angle calculation module 521 is used for simulating the code wheel operation rule in real time, and obtaining an internal single-turn angle value through accumulation calculation according to the motor speed in the current period.
The scale simulation module 522 is configured to calculate and determine a single-turn angle and a scale period value of the current position according to the internal single-turn angle and the set resolution.
It should be noted that, in practical applications, the resolution of the ABZ pulse signal may be set according to practical requirements, and accordingly, the set resolution needs to be considered when determining the single-turn angle and the scale period value of the current position according to the output signal of the scale simulation module 522. That is, the resolution of the output signal of the scale simulation module 522 is determined by the set resolution.
As shown in fig. 6, in this embodiment, the angle generation module 521 is further configured to feed back the calculated inner single-turn angle to the speed detection module 51.
Correspondingly, the speed detection module 51 forms a closed loop to track and calculate the motor speed in the current period according to the internal single-turn angle fed back by the angle generation module 521 and the actually measured motor single-turn angle.
The embodiment of the utility model provides a ABZ pulse signal generates device, when calculating motor speed, through introducing motor angle compensation value, can calculate the angle value that current cycle motor will move in advance a cycle time, and then can confirm the speed that the motor is about to move, compensation calculation time delay and signal of telecommunication transmission time delay. Further, the current motion state of the motor, such as the state of uniform speed, acceleration, deceleration, etc., can be determined according to the speed at which the motor is going to operate.
Correspondingly, the speed detection module 51 calculates the current period motor speed according to the internal single-turn angle fed back by the rotation angle calculation module 521, and the actually measured motor single-turn angle and the motor angle compensation value, and the calculation formula is as follows:
the motor speed value = (motor angle compensation value + actually measured motor single-turn angle-inner single-turn angle)/T, and T is the calculation cycle time.
It should be noted that the calculation period of the speed detection module 51 for the motor speed is related to the detection period of the corresponding detection device for the motor angle or the position control period of the driver for the motor, and the calculation period needs to be synchronized with the detection period or the control period.
In different applications, the motor angle compensation value can be obtained or calculated in different manners. For example, in the application scenario of the ABZ pulse signal generating device for position pulse feedback of the servo driver, the motor angle compensation value may be directly from an incremental position command of the position loop; for another example, in a scenario where the ABZ pulse signal generating apparatus of the present application is used in a magnetic encoder, the motor angle compensation value may be derived from current motor speed and acceleration. The inner single turn angle can be derived from a calculated angle of rotation of the hall array in the magnetic field of the magnet.
The motor angle compensation value can compensate the calculation delay and the time delay of the electric signal output by the ABZ, so that the final output ABZ pulse signal is aligned with the actual angle of the motor more accurately in real time.
With continued reference to fig. 6, in this embodiment, the pulse signal output module 53 may include: a first simulation module 531 and a second simulation module 532. Wherein:
the first simulation module 531 is configured to obtain the a-phase pulse signal and the B-phase pulse signal according to a table look-up of the scale period value.
The second simulation module 532 is configured to output a Z-phase pulse signal according to the single-turn angle value.
Further, the second analog module 532 may adjust and output the corresponding Z-phase pulse signal according to the set Z-pulse offset position and the Z-pulse width.
According to the ABZ pulse signal generating device provided by the embodiment of the application, the rotation angle of the motor can be accurately calculated by simulating the running rule of the encoder code wheel and utilizing a hardware circuit, and the ABZ pulse signal is generated according to the calculation result, so that the microcontroller can track the operation of the motor in real time.
Further, a motor angle compensation value is introduced when the motor speed is calculated, and the distance to be operated of the motor can be calculated one cycle in advance through the compensation value, so that the operation position of the motor can be accurately tracked.
The ABZ pulse signal generating device provided by the embodiment of the application has the following characteristics:
1. by utilizing the ABZ pulse signal generating device provided by the embodiment of the application, the pulse width and the edge of the AB pulse signal are automatically aligned with the internal simulation angle, and the angle value and the time value when each edge jumps do not need to be strictly calculated.
2. By utilizing the ABZ pulse signal generating device provided by the embodiment of the application, because the jump moment of the AB signal edge does not need to be strictly calculated, other uncontrollable factors can be avoided being introduced, and all errors are concentrated on two variables of a motor single-turn angle and a motor angle compensation value. If adopt photoelectric encoder, photoelectric encoder and motor rigid connection do not have mechanical position error, and motor single round angle value directly comes from position sensor, can regard as not having the physical error, and then simplifies to all errors and has only concentrated on one variable of motor angle compensation value.
Correspondingly, the embodiment of the present application further provides a microcontroller chip, and the microcontroller chip includes the above-mentioned ABZ pulse signal generation device.
Correspondingly, an automatic control system is further provided in the embodiments of the present application, as shown in fig. 7, which is a schematic structural diagram of the system.
The automatic control system includes: a PLC Controller (PLC) 71, a servo driver 72, and a motor 73, wherein the driver 72 is provided with a Micro Controller Unit (MCU) having the ABZ pulse signal generating device 50 as described above built therein; a position sensor is provided to the motor 73.
The position sensor may be, but is not limited to, any of the following: encoder, hall module, resolver, grating chi, magnetic grid chi etc..
The CPU core of the MCU may be, but is not limited to, any of the following: ARM, RISC-V, X, MIPS, 8051, etc.
In the automatic control system of this embodiment, the working process of each module is as follows:
the ABZ pulse signal generating device 50 is configured to periodically acquire actually measured discrete angular position information of the motor 73 through the position sensor, and output an ABZ pulse signal to the PLC controller 71 according to the discrete angular position information;
the PLC controller 71 is configured to send a pulse command to the servo driver 72 according to the ABZ pulse signal, such as SIGN and PULS signals shown in fig. 7;
the servo driver 72 is configured to generate a control signal according to a pulse command sent by the PLC controller 71, and drive the motor 73 to move.
By utilizing the ABZ pulse signal output by the ABZ pulse signal generating device provided by the embodiment of the application, the microcontroller can accurately track the operation of the motor in real time, and the motor can be accurately controlled.
It should be noted that, in practical applications, the ABZ pulse signal generating device 50 may be disposed inside or outside the MCU of the servo driver 72, or may be independent of the above modules, which is not limited in this embodiment. In addition, the MCU also communicates with the motor 73 via an encoder communication line, e.g., the MCU sends a read command to a position sensor in the motor 73, which returns position information to the MCU upon receiving the read command. Of course, the interaction between the MCU and the position sensor may also be in other manners, and the embodiment of the present invention is not limited thereto.
It should be noted that the "plurality" appearing in the embodiments of the present application means two or more.
The descriptions of the first, second, etc. appearing in the embodiments of the present application are only for illustrating and differentiating the objects, and do not represent the order or the particular limitation of the number of the devices in the embodiments of the present application, and do not constitute any limitation to the embodiments of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and system may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative; for example, the division of the unit is only a logic function division, and there may be another division manner in actual implementation; for example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be separately and physically included, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
While the present application is disclosed above, the present application is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present disclosure, and it is intended that the scope of the present disclosure be defined by the appended claims.
Claims (11)
1. An ABZ pulse signal generating apparatus, comprising:
the speed detection module is used for periodically acquiring actually measured discrete angle position information of the motor and calculating the current periodic motor speed;
the angle generating module is used for simulating the running rule of the code disc and simulating and outputting continuous single-turn angle values and scale period values according to the speed of the motor in the current period;
and the pulse signal output module is used for outputting the ABZ pulse signal according to the continuous single-circle angle value and the scale period value.
2. The apparatus of claim 1,
the speed detection module periodically obtains an actually measured motor single-turn angle, and calculates the motor speed in the current period according to the motor single-turn angle and a motor angle compensation value;
the angle generation module simulates the code disc running rule and calculates and outputs continuous single-turn angle values and scale period values according to the current period motor speed;
and the pulse signal output module outputs an ABZ pulse signal with set resolution according to the continuous single-turn angle value and the scale period value information.
3. The apparatus of claim 2,
the speed detection module periodically acquires an actually measured single-turn angle of the motor from a position sensor provided on the motor.
4. The apparatus of claim 3, wherein the position sensor is any one of: the device comprises an encoder, a Hall array, a rotary transformer, a grating ruler, a magnetic grating ruler and a software position observer.
5. The apparatus of claim 2, wherein the angle generation module comprises:
the rotation angle calculation module is used for simulating the code wheel operation rule in real time and obtaining an internal single-turn angle through accumulation calculation according to the current periodic motor speed;
and the scale simulation module is used for calculating and determining the single-circle angle and the scale period value of the current position according to the internal single-circle angle and the set pulse resolution.
6. The apparatus of claim 5,
the angle generating module is also used for feeding back the calculated internal single-circle angle to the speed detecting module;
the speed detection module is specifically configured to form a closed-loop tracking calculation of the current-period motor speed according to the internal single-turn angle fed back by the angle generation module and the actually-measured motor single-turn angle.
7. The apparatus of any one of claims 2 to 6, wherein the pulse signal output module comprises:
the first analog module is used for looking up a table according to the scale period value to obtain an A-phase pulse signal and a B-phase pulse signal;
and the second analog module is used for outputting the Z-phase pulse signal according to the single-turn angle value.
8. A microcontroller chip characterized in that it comprises an ABZ pulse signal generating device according to any of claims 1 to 7.
9. An automatic control system, characterized in that the system comprises: a PLC controller, a servo driver, a motor, and the ABZ pulse signal generating apparatus according to any one of claims 1 to 7; a position sensor is arranged on the motor;
the ABZ pulse signal generating device is used for periodically acquiring actually measured discrete angle position information of the motor through the position sensor and outputting an ABZ pulse signal to the PLC according to the discrete angle position information;
the PLC is used for sending a pulse instruction to the servo driver according to the ABZ pulse signal;
and the servo driver is used for generating a control signal according to the pulse instruction sent by the PLC controller and driving the motor to move.
10. The system of claim 9, wherein the position sensor is any one of: encoder, hall module, resolver, grating chi, magnetic grid chi.
11. The system of claim 9, wherein the ABZ pulse signal generating means is disposed on the driver.
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