KR100757747B1 - Step motor control system using memory index - Google Patents

Abstract

A system for controlling a step motor using a memory index is provided to reduce electric field wiring by controlling a motor driving unit using previously saved data. A system for controlling a step motor using a memory index includes an order process unit(100), a motor driving pulse generating unit(200), and a motor driving unit(300). The order process unit(100) calculates a cumulative step pulse by generating a moving pulse using an order unit synchronized with a sample clock. The motor driving pulse generating unit(200) outputs a full-step driving signal and an electric current limit signal by searching and loading the full-step driving signal and the electric current limit signal at a step motor excitation table(210) where the full-step driving signal and the electric current limit are saved in advance. The motor driving unit(300) drives a step motor by receiving the signal outputted from the motor driving pulse generating unit(200).

Description

Step Motor Control System Using Memory Index

1 is a block diagram of a control system of a desktop robot using a specific embodiment of the present invention.

2 is a block diagram of a control system using a conventional pulse train generator.

3 is a block diagram of a conventional pulse train generator.

4 shows in more detail the command processor, motor drive pulse generator and motor driver which are the main components of a specific embodiment of the present invention.

5 shows real-time location information appearing in the main process unit. That is, when the step motor rotates at a constant speed v, the relationship with the position information P1, P2, ,,,, Pn transmitted to the main process unit every time (T1, T2, ,,,, Tn) is shown. do.

6 illustrates a method of processing in the motor driver 300 according to the input position information.

<Description of the symbols for the main parts of the drawings>

100: command processing unit

110: an adder

120: counter

200: motor driving pulse generator

210: step motor woman table

300: motor drive part

Field of technology

The present invention relates to a step motor control system for generating an excitation signal and a current limit signal for controlling a step motor constituting a mechanical part of a robot by receiving position information on each axis in a real time communication method. A step motor excitation table in which the signal and the current limiting signal are stored in advance is used.

Prior art

2 is a block diagram of a control system using a conventional pulse train generator. A robot control apparatus equipped with a conventional step motor and performing a three-dimensional operation is provided by a teaching device 13 and a main process unit 11. The generated target position, acceleration, deceleration, and target speed are input to the pulse train generator 14. The main process unit 11 includes a motion planner for planning a three-dimensional motion to perform motion planning.

3 shows a specific example of a conventional pulse train generator. A pulse generated by the pulse generation timer 25 is generated by taking the values stored in each of the acceleration register 21, the deceleration register 22, the target speed register 23, and the target position register 24 of FIG. Is output to the step motor driving device 15 shown in FIG.

The step motor driving device 15 drives the step motor in proportion to the input pulse. The step motor driving device 15 applies a pulse train receiver, an excitation control unit for step angle control, and a voltage and a current to the motor. A power driver unit is included.

The pulses generated by the pulse generation timer 25 are accumulated by the pulse counter 28, and the accumulated values are compared in the comparator 927 with the value of the target position register. If these two values coincide, the pulse output prohibition signal is input to the pulse generation timer 25 and the pulse generation timer 25 stops the pulse output.

The conventional apparatus requires not only a pulse train generator 14 including a complicated algorithm to be added as shown in FIG. 3, but also requires careful attention to a connection method in order to transmit a high speed pulse train. In addition, in order to drive the mechanism for three-dimensional operation, a plurality of step motors and driving devices are required, and the pulse train generator 14 also needs to be configured to allow a plurality of output signals (pulse output signals). There is a problem that costs are increased.

In order to solve the above problems, the present invention eliminates an excessively generated control algorithm by connecting a main motor unit equipped with a step motor driving device and a motion planner in real time communication in a control device of a robot driven by a step motor. Its purpose is to simplify. In addition, the present invention stores the pre-excitation signal and current limit signal for each memory index in advance without using the encoder feedback information, generates a memory index from the position information for each axis transmitted by real-time communication, It is an object of the present invention to provide a means for controlling the motor drive unit using an excitation signal and a current limit signal.

Technical composition of the present invention created to achieve the above object is as follows.

The present invention relates to a step motor control system for generating an exciter signal and a current limit signal for controlling a step motor constituting a mechanical part of a robot by receiving position information on each axis in a real time communication method. A command processor 100 for receiving position information on an axis and converting the command unit into a command unit synchronized to a sample clock, generating a moving pulse using the same, and counting the accumulated step pulses; A step motor in which a memory index is generated by scaling the cumulative step pulse of the command processor 100, and the preliminary excitation signal and the current limiting signal corresponding to the generated memory index are stored in advance for each memory index. A motor driving pulse generator 200 for searching and loading the excitation table 210 and outputting the same; And a motor driver 300 receiving the signal output from the motor driving pulse generator 200 to drive the step motor.

As shown in FIG. 1, the command processing unit 100 receives position information for each axis from the main process unit through the serial communication unit as shown in FIG. 1 in a real time communication method, generates a moving pulse in the following process, and generates a accumulated step pulse. Count.

The position information received from the command processing unit 100 is converted into a command unit (digital value) synchronized to the sample clock. As shown in FIG. 4, the value of the command unit synchronized to the sample clock and the coefficient of the accumulated step pulse that are currently performed. The adder 110 calculates the difference between the values.

The difference value calculated by the adder 110 is multiplied by a preset gain value K, and for each sample clock in order to solve the difference between the value of the command unit synchronized with the sample clock and the coefficient value of the presently accumulated cumulative step pulse. Create a moving pulse to be processed.

The counter 120 counts the generated moving pulses as cumulative step pulses. The counting of these cumulative step pulses eliminates the difference between the value of the command unit synchronized with the sample clock and the count value of the accumulated step pulses. The motor drive pulse generator 200 generates a memory index by scaling the count value of the accumulated step pulses until the difference is resolved.

In the step motor excitation table 210 of the motor driving pulse generator 200, the exciter signal and the current limit signal corresponding to each memory index are stored in advance, and the memory generated by the position information received from the command processor 100 is used. Search for and retrieve the excitation signal and the current limit signal corresponding to the index, and load (loading) it to output to the motor drive unit 300.

The motor driver 300 includes a transistor (TR) switch or a field effect transistor (FET) switch, and the corresponding transistor (TR) of the motor driver 300 in accordance with the excitation signal output from the motor drive pulse generator 200. The switch or the field effect transistor (FET) switch is turned on or off, the corresponding transistor (TR) switch or electric field of the motor driver 300 according to the current limit signal output from the motor drive pulse generator 200. The motor driver 300 is controlled in such a manner that a current flowing through the effect transistor (FET) switch is limited to a predetermined value or less.

5 shows real-time location information appearing in the main process unit. That is, when the step motor rotates at a constant speed v, the relationship with the position information P1, P2, ,,,, Pn transmitted to the main process unit every time (T1, T2, ,,,, Tn) is shown. The command processing unit 100 receives the position information P1, P2, ,,, Pn corresponding to each time (T1, T2, ,,,, Tn) by a real time communication method from the main process unit. In the motor driving pulse generator 200, the command position increases every step T1, T2, ,,, and Tn in a step shape as shown in the left figure of FIG. Will adversely affect.

Therefore, as shown in the right figure of FIG. 6, the command processing unit 100 receives time-specific position information for each axis and converts it to a command unit synchronized to the sample clock in a real time communication method, but a time unit having a shorter interval than the received time unit. Apply sample clocks (t1, t2, ,,, tm) and give position information (p1, p2, ,,, pm) on the intermediate path to newly applied sample clocks to realize smoother and smoother motion characteristics. do.

For example, by dividing m between T2 and T3 to apply a more detailed sample clock and for each subdivided time (t1, t2, ,,, tm), location information (p1, p2) on an intermediate route corresponding to an intermediate waypoint , ,,, pm), the motor driving pulse generating unit 200 generates a moving pulse corresponding to a more detailed sample clock, thereby more precisely controlling the motor driving unit 300.

Although the present invention has been described with reference to specific embodiments of the present invention as described above, the scope of protection of the present invention is not limited to the specific embodiments, and the addition or deletion of the technology for the main pipe within the scope of the technical idea of the present invention. , Simple design changes, etc. are obvious to fall within the protection scope of the present invention.

According to the present invention having the above-described configuration, in the control device of the robot driven by the step motor, connecting the step motor driving device and the main processor unit equipped with the motion planner in real time communication, without using the encoder feedback information, for each memory index By storing the pre-excitation signal and current limit signal in advance, generating a memory index from the position information of each axis transmitted by real-time communication, and controlling the motor driver using the pre-stored data (the excitation signal and current limit signal), Simplify by eliminating excessively generated control algorithms, and dramatically reduce the length of electrical wiring, saving the time and cost of configuring a robotic system.

Claims (4)

The present invention relates to a step motor control system for generating an exciter signal and a current limit signal for controlling a step motor constituting a mechanical part of a robot by receiving position information on each axis through a real-time communication method. A command processor 100 receiving position information on each axis by a real time communication method and converting the command unit into a command unit synchronized to a sample clock, generating a moving pulse using the same, and counting the accumulated step pulses; A step motor in which a memory index is generated by scaling the cumulative step pulse of the command processor 100, and the preliminary excitation signal and the current limiting signal corresponding to the generated memory index are stored in advance for each memory index. A motor driving pulse generator 200 for searching and loading the excitation table 210 and outputting the same; And, A motor driver 300 receiving the signal output from the motor driving pulse generator 200 and driving the step motor; Step motor control system using a memory index, characterized in that comprises a. The method of claim 1, wherein the command processing unit 100, The adder 110 calculates a difference value between the value of the command unit synchronized to the sample clock and the count value of the accumulated step pulse, and the gain value K is multiplied by the difference value calculated by the adder 110. In order to resolve the difference value, a process of generating a moving pulse to be performed for each sample clock and counting the generated movement pulse as a cumulative step pulse is repeatedly performed until the difference value is resolved. Step motor control system using a memory index characterized by. In claim 2, the command processing unit 100, Receives the positional information of each axis by real time communication method and converts it into the command unit synchronized to the sample clock, applies the sample clock of the time unit shorter than the received time unit, and applies the newly applied sample clock on the intermediate path. Step motor control system using a memory index, characterized in that to give the position information. According to claim 3, The motor driving unit 300, Transistor (TR) switch or field effect transistor (FET) switch, The corresponding transistor (TR) switch or corresponding field effect transistor (FET) switch of the motor driving unit 300 is turned on or off according to the excitation signal output from the motor driving pulse generator 200, and the motor The current flowing through the corresponding transistor (TR) switch or corresponding field effect transistor (FET) switch of the motor driving unit 300 is limited to a predetermined value or less according to the current limit signal output from the driving pulse generator 200. Step motor control system using a memory index.

Images