KR100732509B1 - Motor velocity control apparatus and method - Google Patents

Abstract

The present invention relates to a motor speed control device, and to generate a speed profile that calculates a pulse movement amount at every network transmission cycle so that the motor can be operated precisely. For this purpose, the present invention provides command data for controlling the speed of the motor. Command data generating means for generating a; Analyzing the command data generated by the command data generating means, and including the speed profile generating means for generating the speed profile data based on the analysis result for each network transmission period, wherein the speed profile generating means generates the command data. Parameter extracting means for extracting a parameter from command data generated by the means; Section number calculation means for calculating the number of acceleration / deceleration / constant speed sections using parameters (speed, position, acceleration time, deceleration time) of the parameter extraction means; Position compensation value calculating means for calculating a position compensation value of the deceleration section by using the constant speed section number and the deceleration section number calculated by the section number calculating section; And a movement amount calculating means for calculating the movement amount for each section by using the number of acceleration / deceleration / constant speed sections of the section number calculating means and the position compensation value of the position compensation value calculating means.

Description

Motor Speed Control Device and Method {MOTOR VELOCITY CONTROL APPARATUS AND METHOD}

1 is a schematic view showing the configuration of a motor control apparatus using a conventional network.

2 is a waveform diagram to which a method of controlling a motor by a conventional software method is applied.

Figure 3 is a block diagram showing the configuration of an embodiment of the present invention motor speed control apparatus.

4 is an operation flowchart showing the configuration of an embodiment of the present invention motor speed control method.

FIG. 5 is a waveform diagram showing position compensation in a deceleration section when the first decimal place of the constant velocity section number is less than 0.5 in FIG. 3; FIG.

6 is a waveform diagram showing position compensation in a deceleration section in the case where the first decimal place of the constant velocity section number is 0.5 or more in FIG. 3;

*** Explanation of symbols for main parts of drawing ***

100: command data generating means 200: velocity profile generating means

210: parameter extraction means 220: section number calculation means

230: position compensation value calculation means 240: movement amount calculation means

241: deceleration section movement amount calculation means 242: acceleration section movement amount calculation means

243: calculating means for moving the constant speed section

The present invention relates to a motor speed control apparatus for controlling a motor using a network, and more particularly, to an apparatus and a method for precisely driving a motor by generating a speed profile for calculating a pulse movement amount at every network transmission cycle. .

In general, the motor speed controller outputs pulses directly to the motor driver. This method has a limitation in the number of motors that can be connected to each controller, and also requires a lot of wiring because it is a direct pulse output method.

In recent years, in order to solve the above problems, motor control using a network has become common. By connecting a network between a controller and each motor driver using a network, wiring can be simplified, and as many as the speed band of the network allows. Motor control is also possible.

1 is a schematic view showing the configuration of a motor control apparatus using a conventional network.

As shown in FIG. 1, a pulse train is directly output to a motor driver using a dedicated ASIC for generating a speed profile, thereby transmitting a target position to each motor driver every network communication time.

That is, when the CPU (not shown) transmits the speed, position, acceleration time, and deceleration time to the dedicated ASIC generating the speed profile, the dedicated ASIC calculates a position to be moved at a predetermined sampling time and pulses each driver. Output

FIG. 2 is a waveform diagram illustrating a speed profile generated by a software method. After calculating the number of acceleration sections and the number of deceleration sections using a speed, a position, an acceleration time, and a deceleration time, the number of acceleration sections and a deceleration section is shown. We use the number to calculate the constant velocity interval, which can be a real number rather than an integer.

At this time, when the number of constant velocity sections is rounded up to an integer, an error occurs between the command position value and the position value calculated by the velocity waveform, and the value is compensated by lowering the designated velocity value.

Since the above-described conventional technology uses a dedicated ASIC, it is impossible to upgrade a function after the product is released, and there is a limit on the number of axes that can be controlled per ASIC when the number of axes to be controlled is increased.

In addition, the method of generating the speed profile by software can always make the movement amount of the acceleration section and the deceleration section the same, but it is necessary to change the speed of the constant velocity section to compensate for the error occurring in the constant velocity section. There is a problem that you cannot drive accurately at speed.

Accordingly, the present invention relates to a motor speed control apparatus for controlling a motor using a network, and provides an apparatus and method for generating a speed profile for calculating a pulse movement amount at every network transmission cycle to precisely operate a motor. Has its purpose.

Apparatus according to an embodiment of the present invention for achieving the above object,

Command data generating means for generating command data for controlling the speed of the motor;

Analyze the command data generated by the command data generating means,

The speed profile data based on the analysis result is configured to include a speed profile generating means generated every network transmission cycle,
The velocity profile generating means,
Parameter extracting means for extracting a parameter from the command data generated by said command data generating means;
Section number calculation means for calculating the number of acceleration / deceleration / constant speed sections using parameters (speed, position, acceleration time, deceleration time) of the parameter extraction means;
Position compensation value calculating means for calculating a position compensation value of the deceleration section by using the constant speed section number and the deceleration section number calculated by the section number calculating section;
And a movement amount calculating means for calculating the movement amount for each section using the number of acceleration / deceleration / constant speed sections of the section number calculating means and the position compensation value of the position compensation value calculating means.

Method according to an embodiment of the present invention for achieving the above object,

Generating command data for motor control;

Extracting parameters (speed, position, acceleration time, deceleration time) from the command data;

Calculating a constant speed section number, an acceleration section number, a deceleration section number, and a position compensation value using the extracted parameters;

And calculating a movement amount for each section by using the number of acceleration sections, the number of deceleration sections, the number of constant speed sections, and the position compensation value.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that in the following description, only parts necessary for understanding the operation and operation according to the present invention will be described, and descriptions of other parts will be omitted so as not to distract from the gist of the present invention.

In an embodiment of the present invention, a motor speed control apparatus for performing positioning and interpolation operations of a servo motor using a network is described as an example, and the speed profile data for the positioning and interpolation operations is described in every network period. Each time, it is generated as pulse movement amount by acceleration section, deceleration section and constant speed section.

3 is a block diagram showing a configuration of a motor speed control apparatus according to an embodiment of the present invention.

As shown in FIG. 3, the present invention includes command data generating means 100 and speed profile generating means 200.

The command data generating means 100 generates command data for controlling the speed of the motor.

The speed profile generating means 200 analyzes the command data generated by the command data generating means and generates speed profile data for each network transmission period based on the analysis result.

The speed profile data indicates the amount of motor movement for each constant speed section, acceleration section, and deceleration section of the motor.

The velocity profile generating means includes a parameter extracting means 210, a section number calculating means 220, a position compensation value calculating means 230, and a movement amount calculating means 240.

The parameter extracting means 210 extracts a parameter from the command data, that is, extracts data related to the speed, position, acceleration time, and deceleration time of the motor from the command data.

The section number calculating means 220 calculates the number of acceleration / deceleration / constant speed sections using the parameters (speed, position, acceleration time, deceleration time) of the parameter extraction means 210.

The number of acceleration sections is obtained by dividing the acceleration time by a network transmission period, and the number of deceleration sections is obtained by dividing the deceleration time by a network transmission period.

In addition, the constant velocity section number is calculated by calculating the constant velocity section with the movement amount of the constant velocity section minus the movement amount in the acceleration section and the deceleration section from the total movement amount.

[Equation]

Nu = (S / VelTs)-0.5 x (1 + Na)-0.5 x (1 + Nd)

Where Nu is the number of constant speed sections, S is the total amount of movement, Na is the number of acceleration sections, and Nd is the number of deceleration sections.

        VelTs: Movement amount per network transmission cycle

The position compensation value calculating means 230 calculates the position compensation value of the deceleration section by using the constant speed section number and the deceleration section number calculated by the section number calculating section 220.

The position compensation value calculating means 230 analyzes the number of constant speed sections and rounds off the first decimal place of the number of constant speed sections when the number of constant speed sections is not calculated as an integer, and decelerates the rounded error. The position compensation value for compensating in the section is calculated, that is, the first position of the decimal point of the constant speed section number is divided by the number of deceleration sections, and the divided value is calculated as the position compensation value.

The movement amount calculating means 240 calculates the movement amount for each section by using the number of acceleration / deceleration / constant speed sections of the section number calculating section 220 and the position compensation value of the position compensation value calculating section 230.

The movement amount calculation means 240 includes a deceleration section movement amount calculation means 241, an acceleration section movement amount calculation means 242, and a constant speed section movement amount calculation means 243.

The constant speed section moving amount calculating means 243 multiplies the speed extracted from the command data by the network transmission period and the number of constant speed sections and outputs the multiplication value as the constant speed section moving amount.

The acceleration section movement amount calculation unit 242 calculates the acceleration section movement amount using the number of acceleration sections calculated by the section number calculating unit 220 and the movement amount per network transmission period in the constant velocity section.

The deceleration section movement amount calculating means 241 calculates the deceleration period movement amount by using the deceleration period number calculated by the section number calculation means 220 and the movement amount per network transmission period and the position compensation value in the constant velocity section.

Such operation of the present invention will be described with reference to FIGS. 4 to 7.

First, the command data generating means 100 generates command data for controlling the speed of the motor (SP1).

Accordingly, the speed profile generating means 200 analyzes the command data generated by the command data generating means 100 and generates speed profile data based on the analysis result for each network transmission period (SP11 to SP14).

That is, the parameter extracting means 210 of the speed profile generating means 200 extracts a parameter from the command data, that is, extracts data related to the speed, position, acceleration time and deceleration time of the motor from the command data ( SP11).

Then, the section number calculating means 220 calculates the number of acceleration / deceleration / constant speed sections using the parameters (speed, position, acceleration time, deceleration time) of the parameter extraction means 210 (SP12).

That is, the section number calculating means 220 obtains the number of acceleration sections by dividing the acceleration time by the network transmission period, and obtains the number of deceleration sections by dividing the deceleration time by the network transmission period.

The constant velocity section number is calculated by calculating the constant velocity section with the movement amount of the constant velocity section minus the movement amount in the acceleration section and the deceleration section from the total movement amount.

Then, the position compensation value calculating means 230 analyzes the number of constant speed sections and rounds off the first decimal place of the number of constant speed sections when the number of constant speed sections is not calculated as an integer. The position compensation value for compensating the error in the deceleration section is calculated, that is, the position compensation value is divided by the number of deceleration sections of the first decimal place of the constant speed section number, and the divided value is calculated as the position compensation value (SP13).

Next, the movement amount calculating means 240 calculates the movement amount for each section using the number of acceleration / deceleration / constant speed sections of the section number calculating section 220 and the position compensation value of the position compensation value calculating section 230. (SP14)

Here, the movement amount calculation for each section will be described in detail.

First, the constant velocity section moving amount calculating means 243 multiplies the speed extracted from the command data by the network transmission period and the constant velocity section number, and calculates and outputs the multiplication value as the constant velocity section moving amount.

In addition, the acceleration section movement amount calculating means 242 calculates and outputs the acceleration period movement amount by the acceleration period number calculated by the section number calculating means 220 and the movement amount per network transmission period in the constant speed section, that is, the network transmission period. The acceleration period (current acceleration section number / acceleration section number) is multiplied by the movement amount (the value obtained by adding the speed in the constant speed section to the network transmission cycle) to calculate and output the movement amount of the acceleration section.

In addition, the deceleration section movement amount calculation unit 241 calculates and outputs the deceleration period movement amount based on the deceleration interval number calculated by the section number calculation unit 220 and the movement amount per position and the network compensation period in the constant velocity section.

That is, the deceleration section movement amount calculating means 241 multiplies the deceleration ratio (current deceleration section number / deceleration section number) by the movement amount per network transmission period (the value obtained by adding the speed in the constant speed section to the network transmission cycle). After calculating the, the number of constant velocity sections is analyzed, and as a result of the analysis, when the first decimal place of the constant speed section number is less than 0.5, the position compensation value is added to the movement amount of the deceleration section, as shown in FIG. 6. If the first decimal place of the constant speed section number is 0.5 or more, the position compensation value is subtracted from the deceleration section movement amount and output.

At this time, the deceleration section movement amount calculating means 241 at this time, if the position compensation value is added from the first of the deceleration section, the value is larger than the movement amount at the constant speed section, so that the smooth deceleration is not performed. Will add up the compensation value.

That is, the present invention transmits the pulse movement amount in every network transmission period, that is, the deceleration section movement amount, the constant velocity section movement amount, and the acceleration section movement amount as the speed profile information for each network transmission period, so that the motor can be operated precisely.

Meanwhile, in the detailed description of the present invention, specific embodiments have been described, but various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined not only by the scope of the following claims, but also by the equivalents of the claims.

As described above, the present invention controls the motor speed through a network, and after calculating the acceleration time and deceleration time speed, the motor can be precisely operated at a given acceleration time, deceleration time, and speed by adjusting the number of constant speed sections. It works.

In addition, in controlling the motor speed, the position compensation amount in the deceleration section is always minimized by using a method of rounding the decimal point when the number of constant velocity sections is not calculated as an integer.

In addition, when the first decimal place of the constant speed section is less than 0.5, the position compensation value is added to each deceleration section. At this time, if the position compensation value is added from the first section, the value becomes larger than the movement amount at the constant speed section, so it does not become smooth deceleration. In addition, by adding the position compensation value from the second deceleration section, there is an effect of minimizing the speed variation during deceleration.

Claims (15)

Command data generating means for generating command data for controlling the speed of the motor; Analyze the command data generated by the command data generating means, The speed profile data based on the analysis result is configured to include a speed profile generating means generated every network transmission cycle, The velocity profile generating means, Parameter extracting means for extracting a parameter from the command data generated by said command data generating means; Section number calculation means for calculating the number of acceleration / deceleration / constant speed sections using parameters (speed, position, acceleration time, deceleration time) of the parameter extraction means; Position compensation value calculating means for calculating a position compensation value of the deceleration section by using the constant speed section number and the deceleration section number calculated by the section number calculating section; And a movement amount calculating means for calculating a movement amount for each section by using the number of acceleration / deceleration / constant speed sections of the section number calculating means and the position compensation value of the position compensation value calculating means. delete The method of claim 1, wherein the section number calculating means, Calculate the number of acceleration sections by dividing the acceleration time by the network transmission period, A motor speed control device characterized by calculating the number of deceleration sections by dividing the deceleration time by a network transmission period. The method of claim 1, wherein the number of section calculating means, A motor speed control apparatus characterized by calculating the constant speed section number by the following equation. [Equation] Nu = (S / VelTs)-0.5 x (1 + Na)-0.5 x (1 + Nd) Where Nu is the number of constant speed sections, S is the total amount of movement, Na is the number of acceleration sections, and Nd is the number of deceleration sections.         VelTs: Movement amount per network transmission cycle The method of claim 1, wherein the position compensation value calculating means, When the number of constant speed sections is analyzed and the number of constant speed sections is not calculated as an integer, Rounding off the first decimal place of the constant velocity section number, And a position compensation value for compensating the rounded error in the deceleration section. The method of claim 5, wherein the position compensation value calculation means, A motor speed control device characterized by dividing the first decimal place of the constant speed section number by the number of deceleration sections, and calculating the divided value as a position compensation value. The method of claim 1, wherein the movement amount calculating means, Constant velocity section movement amount calculating means for multiplying the speed extracted from the command data by the network transmission period and the constant velocity section number and outputting the multiplication value as the constant velocity section moving amount; Acceleration section movement amount calculation means for calculating an acceleration section movement amount by using the acceleration section number calculated by the section number calculating means and the movement amount per network transmission period in the constant velocity section; And a deceleration section movement amount calculating means for calculating a deceleration section movement amount by using the deceleration section number calculated by the section number calculating means and the amount of movement per network transmission period and the position compensation value in the constant speed section.  The method of claim 7, wherein the acceleration section movement amount calculating means, A motor speed control device comprising calculating the movement amount of the acceleration section by multiplying the acceleration ratio (current acceleration section number / acceleration section number) by the movement amount per network transmission period (the value obtained by adding the speed in the constant speed section to the network transmission cycle). . According to claim 7, wherein the deceleration section movement amount calculating means, A motor speed control device comprising: calculating the movement amount of the deceleration section by multiplying the movement amount per network transmission period (the value obtained by adding the speed in the constant speed section to the network transmission period) to the reduction ratio (current deceleration section number / deceleration section number). According to claim 7, wherein the deceleration section movement amount calculating means, Analyzing the number of constant speed sections, and if the first decimal place of the number of constant speed sections is less than 0.5, add the position compensation value to the movement amount of the deceleration section; And if the first decimal place of the constant speed section number is 0.5 or more, output the motor by subtracting the position compensation value to the movement amount of the deceleration section. Generating command data for motor control; Extracting parameters (speed, position, acceleration time, deceleration time) from the command data; Calculating a constant speed section number, an acceleration section number, a deceleration section number, and a position compensation value using the extracted parameters; And calculating a movement amount for each section by using the acceleration section number, the deceleration section number, the constant speed section number, and the position compensation value. The method of claim 11, wherein the calculating of the position compensation value comprises: Calculating the number of acceleration sections by dividing the acceleration time by a network transmission period; Calculating the number of deceleration sections by dividing the deceleration time by a network transmission period; Calculating the number of constant speed sections by applying the number of deceleration sections and the number of acceleration sections to the following equation; When the number of constant speed sections is analyzed and the number of constant speed sections is not calculated as an integer, Rounding off the first decimal place of the constant velocity section number, And calculating a position compensation value for compensating the rounded error in the deceleration section. [Equation] Nu = (S / VelTs)-0.5 x (1 + Na)-0.5 x (1 + Nd) Where Nu is the number of constant speed sections, S is the total amount of movement, Na is the number of acceleration sections, and Nd is the number of deceleration sections.         VelTs: Movement amount per network transmission cycle The method of claim 12, wherein the position compensation value, A motor speed control method, characterized in that the first digit of the decimal point of the constant speed section divided by the number of deceleration sections. The method of claim 11, wherein the calculating of the movement amount for each section comprises: Multiplying the speed extracted from the command data by the network transmission period and the number of constant speed sections and outputting the multiplication value as a constant speed section movement amount; Calculating an amount of acceleration period movement by using the number of acceleration periods and the amount of movement per network transmission period in the constant velocity period; And calculating the amount of movement of the deceleration section by using the amount of movement per network transmission period and the position compensation value in the constant speed section and the number of deceleration sections. The method of claim 14, wherein the calculating of the movement amount of the deceleration section comprises: Analyzing the number of constant velocity sections, and if the first decimal place of the number of constant velocity sections is less than 0.5, adding the position compensation value to the movement amount of the deceleration section; And subtracting the position compensation value to the movement amount of the deceleration section when the first decimal place of the constant speed section number is 0.5 or more as a result of the analysis.

Images