TWI497239B - Synchronous control system and synchronous control method - Google Patents
Synchronous control system and synchronous control method Download PDFInfo
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Description
本發明係關於一種控制系統,特別是關於一種同步控制系統及同步控制方法。The present invention relates to a control system, and more particularly to a synchronous control system and a synchronous control method.
馬達的原理大致上是由一控制器產生一控制信號給一驅動器,再由驅動器根據控制信號透過一馬達控制旋轉軸的轉動。The principle of the motor is generally that a controller generates a control signal to a driver, and the driver controls the rotation of the rotating shaft through a motor according to the control signal.
在多個旋轉軸的系統中,例如生產線的輸送系統中,其包括複數個輸送單元,各輸送單元包括上述控制器、驅動器、馬達及旋轉軸,然而當各輸送單元需要同步時,亦即需要使各輸送單元的旋轉軸同步時,只能使所有輸送單元的旋轉軸同步,無法選擇部分旋轉軸同步,另一部分旋轉軸不同步。In a system of multiple rotating shafts, such as a conveyor system of a production line, which includes a plurality of conveying units, each conveying unit includes the above-mentioned controller, driver, motor and rotating shaft, however, when each conveying unit needs to be synchronized, that is, it is required When the rotation axes of the respective conveying units are synchronized, only the rotation axes of all the conveying units can be synchronized, and the partial rotation axes cannot be selected for synchronization, and the other part of the rotation axes are not synchronized.
此外,在一旋轉軸已處於旋轉而另一旋轉軸靜止的情況下,習知技術無法做到使該兩旋轉軸同步旋轉的作動,或者在該兩旋轉軸已經同步旋轉的情況下,就必須持續同步,無法中途切換為不同步,使得應用受到限制。In addition, in the case where one rotating shaft is already rotating and the other rotating shaft is stationary, the prior art cannot perform the operation of synchronously rotating the two rotating shafts, or in the case where the two rotating shafts have been synchronously rotated, it is necessary to Continuous synchronization, unable to switch to out of sync midway, so the application is limited.
因此,需要對上述多旋轉軸的同步問題提出解決方法。Therefore, it is necessary to propose a solution to the synchronization problem of the above-described multi-rotation axis.
本發明之目的在於提供一種同步控制系統及同步控制方法,其能隨時選擇進行同步或非同步作動。It is an object of the present invention to provide a synchronous control system and a synchronous control method that can select for synchronous or asynchronous operation at any time.
根據上述之目的,本發明揭露一種同步控制系統,其包括複數個旋轉軸、複數個馬達、複數個驅動器以及 複數個控制器。各旋轉軸用於產生一旋轉角度信號。各馬達耦接至該等旋轉軸之其一。各驅動器電性耦接至該等馬達之其一。各控制器用於產生一非同步旋轉指令或一同步旋轉指令。當各控制器產生非同步旋轉指令時,各對應之驅動器根據該非同步旋轉指令控制各對應之馬達與其它馬達作非同步旋轉,再由各對應之馬達帶動各對應之旋轉軸與其它旋轉軸作非同步轉動。當各控制器產生該同步旋轉指令時,各對應之驅動器根據該同步旋轉指令控制各對應之馬達與其它馬達作同步旋轉,再由各對應之馬達帶動各對應之旋轉軸與其它旋轉軸作同步轉動。In accordance with the above purposes, the present invention discloses a synchronous control system including a plurality of rotating shafts, a plurality of motors, a plurality of drivers, and Multiple controllers. Each axis of rotation is used to generate a rotation angle signal. Each motor is coupled to one of the rotating shafts. Each driver is electrically coupled to one of the motors. Each controller is operative to generate a non-synchronous rotation command or a synchronous rotation command. When each controller generates a non-synchronous rotation command, each corresponding driver controls the corresponding motor to rotate asynchronously with the other motor according to the asynchronous rotation command, and then the corresponding motor drives the corresponding rotating shaft and the other rotating shafts. Non-synchronous rotation. When the controller generates the synchronous rotation command, each corresponding driver controls the corresponding motor to rotate synchronously with the other motors according to the synchronous rotation command, and then the corresponding rotating shaft synchronizes with the other rotating shafts by the corresponding motors. Turn.
本發明之另一目的在於提供一種同步控制方 法,係用於一同步控制系統,該同步控制系統包括複數個旋轉軸、複數個馬達分別耦接至該等旋轉軸之其一、複數個驅動器分別電性耦接至該等馬達之其一、以及複數個控制器分別電性耦接至該等驅動器之其一,該同步控制方法包括:(A)初始化該等控制器;(B)各控制器選擇同步旋轉或非同步旋轉,選擇非同步旋轉時,進入步驟(C),選擇同步旋轉時,進入步驟(D);(C)各控制器產生一非同步旋轉指令,進入步驟(E);(D)各控制器選擇要同步的目標及產生一同步旋轉指令,進入步驟(F);(E)各控制器對應之驅動器根據該非同步旋轉指令控制對應之馬達與其它馬達作非同步旋轉,再由對應之馬達帶動對應之旋轉軸與其它旋轉軸作非同步轉動;以及(F)各控制器對應之驅動器根據該同步旋轉指令控制對應之馬達與其它馬達作同步旋轉,再由對應之馬達帶動對應之旋轉軸與其它旋轉軸作同步轉動。Another object of the present invention is to provide a synchronous controller The method is used for a synchronous control system. The synchronous control system includes a plurality of rotating shafts, and a plurality of motors are respectively coupled to one of the rotating shafts, and the plurality of drivers are electrically coupled to one of the motors. And a plurality of controllers are respectively electrically coupled to one of the drivers, the synchronization control method includes: (A) initializing the controllers; (B) selecting, by each controller, synchronous rotation or non-synchronous rotation, selecting non- When synchronously rotating, proceed to step (C), select synchronous rotation, enter step (D); (C) each controller generates a non-synchronous rotation command, enter step (E); (D) each controller selects to synchronize The target generates a synchronous rotation command, and proceeds to step (F); (E) the driver corresponding to each controller controls the corresponding motor to rotate asynchronously with the other motor according to the asynchronous rotation command, and then the corresponding motor drives the corresponding rotating shaft And (F) the corresponding driver of the controller controls the corresponding motor to rotate synchronously with the other motor according to the synchronous rotation command, and then drives the corresponding rotation by the corresponding motor. Axis and the other rotational shaft is rotated synchronously.
本發明之同步控制系統及同步控制方法能隨時 選擇進行同步或非同步作動,且能達成多個旋轉軸同時同步。The synchronous control system and the synchronous control method of the invention can be used at any time Select to perform synchronous or asynchronous operation, and achieve simultaneous synchronization of multiple rotating axes.
100、102、104‧‧‧控制器100, 102, 104‧‧‧ controller
110、112、114‧‧‧驅動器110, 112, 114‧‧‧ drive
120、122、124‧‧‧馬達120, 122, 124‧‧ ‧ motor
130、132、134‧‧‧旋轉軸130, 132, 134‧‧‧ rotating shaft
140、142、144‧‧‧負載140, 142, 144‧‧‧ load
180‧‧‧變速機構180‧‧‧Transmission mechanism
190‧‧‧信號感應器190‧‧‧Signal sensor
600‧‧‧四方輸送機600‧‧‧tetragonal conveyor
602、604、606、608‧‧‧輸送機602, 604, 606, 608‧‧‧ conveyor
1000‧‧‧同步選擇單元1000‧‧‧Synchronous selection unit
1002‧‧‧非同步旋轉指令產生單元1002‧‧‧ asynchronous rotation command generation unit
1004‧‧‧同步旋轉指令產生單元1004‧‧‧Synchronous rotation command generation unit
1006‧‧‧信號選擇單元1006‧‧‧Signal selection unit
1008‧‧‧虛擬記號產生單元1008‧‧‧virtual token generation unit
1010‧‧‧同步目標選擇單元1010‧‧‧Synchronous target selection unit
1012‧‧‧預處理邏輯單元1012‧‧‧Preprocessing logic unit
C1、C2、C3‧‧‧旋轉指令C1, C2, C3‧‧‧ rotation instructions
R1、R2、R3‧‧‧旋轉角度信號R1, R2, R3‧‧‧ rotation angle signal
R1’、R2’、R3’‧‧‧經過信號選擇單元後之旋轉角度信號R1', R2', R3'‧‧‧ rotation angle signal after signal selection unit
V1、V2、V3‧‧‧虛擬記號V1, V2, V3‧‧‧ virtual marks
S700-S770‧‧‧步驟S700-S770‧‧‧Steps
第1圖係顯示根據本發明一實施例之同步控制系統及該同步控制系統所帶動的負載。Fig. 1 is a diagram showing a synchronous control system and a load driven by the synchronous control system according to an embodiment of the present invention.
第2圖係顯示根據本發明之同步原理示意圖。Figure 2 is a schematic diagram showing the principle of synchronization in accordance with the present invention.
第3圖係顯示本發明一種產生虛擬記號之示意圖。Figure 3 is a schematic diagram showing the creation of a virtual token of the present invention.
第4圖係顯示本發明另一種產生虛擬記號之示意圖。Figure 4 is a diagram showing another generation of virtual tokens of the present invention.
第5圖係顯示第1圖之控制器的方塊圖及其與其它元件連接之示意圖。Figure 5 is a block diagram showing the controller of Figure 1 and its connection to other components.
第6圖係顯示本發明用於五個輸送機之控制例。Fig. 6 is a view showing a control example of the present invention for five conveyors.
第7圖係顯示根據本發明之同步控制方法的流程圖。Fig. 7 is a flow chart showing a synchronous control method according to the present invention.
以下結合附圖對本發明的技術方案進行詳細說明。The technical solution of the present invention will be described in detail below with reference to the accompanying drawings.
請參閱第1圖,其係顯示根據本發明一實施例之同步控制系統及該同步控制系統所帶動的負載。Please refer to FIG. 1 , which shows a synchronous control system and a load driven by the synchronous control system according to an embodiment of the invention.
同步控制系統包括複數個控制器100、102、104、複數個驅動器110、112、114、複數個馬達120、122、124、以及複數個旋轉軸130、132、134。The synchronous control system includes a plurality of controllers 100, 102, 104, a plurality of drivers 110, 112, 114, a plurality of motors 120, 122, 124, and a plurality of rotating shafts 130, 132, 134.
控制器100電性耦接至驅動器110,用於提供一控制指令,更明確地說,係提供一旋轉指令C1,旋轉指令C1可以為一同步旋轉指令或一非同步旋轉指令。驅動器110電性耦接至馬達120,用於根據旋轉指令C1為同步旋轉指令或非同步旋轉指令,控制馬達120與其它馬達122、124作同步或非同步旋轉,再由馬達120帶動旋轉軸130與其它旋轉軸132、134作同步或非同步的轉動,進而使旋轉軸130帶動一負載140與其它負載142、144作同步或非同步的作動。此外,驅動器110會將旋轉軸130所產生之一旋轉角度信號R1回授給控制器100。負載140例如但不限於生產線上的輸送機。The controller 100 is electrically coupled to the driver 110 for providing a control command. More specifically, a rotation command C1 is provided. The rotation command C1 can be a synchronous rotation command or a non-synchronous rotation command. The driver 110 is electrically coupled to the motor 120 for controlling the motor 120 to rotate synchronously or non-synchronously with the other motors 122 and 124 according to the rotation command C1 as a synchronous rotation command or a non-synchronous rotation command, and then the rotary shaft 130 is driven by the motor 120. Synchronous or non-synchronous rotation with the other rotating shafts 132, 134, thereby causing the rotating shaft 130 to actuate a load 140 in synchronism or non-synchronization with the other loads 142, 144. In addition, the driver 110 returns a rotation angle signal R1 generated by the rotation shaft 130 to the controller 100. Load 140 is, for example but not limited to, a conveyor on a production line.
同樣地,控制器102、104分別電性耦接至驅動 器112、114並分別提供旋轉指令C2、C3給驅動器112、114,驅動器112、114分別電性耦接至馬達122、124,並分別根據旋轉指令C2、C3控制馬達122、124的旋轉,再由馬達122、124帶動旋轉軸132、134的轉動,進而使旋轉軸132、134分別帶動負載142、144的作動。驅動器112、114會分別將旋轉軸132、134之旋轉角度信號R2、R3回授給控制器102、104。Similarly, the controllers 102 and 104 are electrically coupled to the driver respectively. The switches 112 and 114 respectively provide rotation commands C2 and C3 to the drivers 112 and 114. The drivers 112 and 114 are electrically coupled to the motors 122 and 124, respectively, and control the rotation of the motors 122 and 124 according to the rotation commands C2 and C3, respectively. The rotation of the rotating shafts 132, 134 is driven by the motors 122, 124, and the rotating shafts 132, 134 respectively actuate the loads 142, 144. The drivers 112, 114 will feedback the rotational angle signals R2, R3 of the rotating shafts 132, 134 to the controllers 102, 104, respectively.
請同時參閱第1圖及第2圖,第2圖係顯示根據 本發明之同步原理示意圖。Please also refer to Figure 1 and Figure 2, and Figure 2 shows Schematic diagram of the synchronization principle of the present invention.
旋轉軸130、132可以分別產生上述旋轉角度信號R1、R2,再由驅動器110、112分別回授給控制器100、102,旋轉角度信號R1、R2例如但不限於編碼器(encoder)信號。本發明之控制器100、102能分別產生一虛擬記號V1、V2,虛擬記號V1、V2分別對應於旋轉軸130、132之旋轉範圍中的一特定位置,藉由控制虛擬記號V1、V2達到同步,使旋轉軸130、132也達到同步。The rotation axes 130 and 132 respectively generate the rotation angle signals R1 and R2, and are respectively fed back to the controllers 100 and 102 by the drivers 110 and 112. The rotation angle signals R1 and R2 are, for example but not limited to, encoder signals. The controllers 100, 102 of the present invention can respectively generate a virtual mark V1, V2, and the virtual marks V1, V2 respectively correspond to a specific position in the rotation range of the rotating shafts 130, 132, and are synchronized by controlling the virtual marks V1, V2. The rotation axes 130, 132 are also synchronized.
請參閱第3圖,其係顯示本發明一種產生虛擬記號之示意圖,當旋轉軸130與旋轉角度信號R1(例如但不限於編碼器信號)為1:1時,亦即表示旋轉軸130旋轉一圈時,旋轉角度信號R1也旋轉一圈,可以直接使用旋轉角度信號R1的Z信號(即每旋轉一圈產生一次的信號)作為一基準而產生虛擬記號V1,亦即控制器100以旋轉角度信號R1旋轉一圈時(等於旋轉軸130旋轉一圈時)對應至旋轉軸130的位置作為產生虛擬記號V1之參考,利用一計數器在Z信號產生後計數一特定值即可將虛擬記號V1位移至旋轉軸130之旋轉範圍的任意位置,再利用另一計數器計數旋轉一圈的1/N(N為整數),每計數到1/N就產生一個虛擬記號,即可在一圈產生N個平均分布的虛擬記號V1。要說明的是,Z信號為馬達控制領域所屬技術人員所熟知,此不多加贅述。Please refer to FIG. 3 , which is a schematic diagram showing the generation of a virtual mark according to the present invention. When the rotation axis 130 and the rotation angle signal R1 (such as but not limited to the encoder signal) are 1:1, that is, the rotation axis 130 rotates. When the circle is rotated, the rotation angle signal R1 is also rotated once, and the Z signal of the rotation angle signal R1 (that is, the signal generated once per rotation) can be directly used as a reference to generate the virtual mark V1, that is, the controller 100 rotates at an angle. When the signal R1 is rotated once (equal to one rotation of the rotating shaft 130), the position corresponding to the rotating shaft 130 is used as a reference for generating the virtual mark V1, and a counter is used to count a specific value after the Z signal is generated to set the virtual mark V1. Displaces to any position of the rotation range of the rotary shaft 130, and then counts 1/N (N is an integer) of one rotation by another counter, and generates a virtual mark every 1/N count, which can generate N in one turn. The evenly distributed virtual token V1. It should be noted that the Z signal is well known to those skilled in the art of motor control, and this is not to be described in detail.
請參閱第4圖,其係顯示本發明另一種產生虛擬 記號之示意圖,當旋轉軸130與旋轉角度信號R1(例如但不限於編碼器信號)不是1:1時,亦即旋轉軸130與旋轉角度信號R1之間具有一變速機構180(或是齒輪機構)進行增速或減速,表示旋轉軸130旋轉一圈時,旋轉角度信號R1不是旋轉一圈,因此不能直接使用旋轉角度信號R1的Z信號(即每旋轉一圈產生一次的信號)作為基準,本發明提出的方法是外加一信號感應器190,用於感應旋轉軸130每旋轉一圈時對應的位置,控制器100以旋轉軸130每旋轉一圈時對應的位置作為產生虛擬記號V1之參考,再利用如第3圖使用兩個計數器的方式即可將虛擬記號V1位移至旋轉軸130之旋轉範圍的任意位置,並可以在旋轉軸130上的旋轉範圍產生N個平均分布的虛擬記號V1。要說明的是,除了上述外加信號感應器190,其他能偵測並產生每圈一個信號的方法也可用於本發明。Please refer to FIG. 4, which shows another virtual generation of the present invention. A schematic diagram of the symbol, when the rotating shaft 130 and the rotation angle signal R1 (such as but not limited to the encoder signal) are not 1:1, that is, between the rotating shaft 130 and the rotation angle signal R1, there is a shifting mechanism 180 (or a gear mechanism) The speed increase or deceleration indicates that the rotation angle signal R1 does not rotate one revolution when the rotation shaft 130 rotates one rotation, and therefore the Z signal of the rotation angle signal R1 (that is, the signal generated once per rotation) cannot be directly used as a reference. The method proposed by the present invention is to add a signal sensor 190 for sensing the corresponding position when the rotating shaft 130 rotates once, and the controller 100 uses the corresponding position when the rotating shaft 130 rotates once as a reference for generating the virtual mark V1. The virtual mark V1 can be displaced to any position of the rotation range of the rotary shaft 130 by using two counters as shown in FIG. 3, and N average distributed virtual marks V1 can be generated in the rotation range on the rotary shaft 130. . It is to be noted that in addition to the above-described external signal sensor 190, other methods of detecting and generating one signal per revolution can be used in the present invention.
要說明的是,第3圖及第4圖產生虛擬記號的方 式也可應用於第1圖之控制器102、104。It should be noted that the figures of Figures 3 and 4 produce virtual tokens. The formula can also be applied to the controllers 102, 104 of Fig. 1.
請同時參閱第1圖及第5圖,第5圖係顯示第1 圖之控制器100的方塊圖及其與其它元件連接之示意圖。Please also refer to Figures 1 and 5, and Figure 5 shows the first A block diagram of the controller 100 of the figure and a schematic diagram of its connection to other components.
控制器100包括一同步選擇單元1000、一非同 步旋轉指令產生單元1002、一同步旋轉指令產生單元1004、一信號選擇單元1006、一虛擬記號產生單元1008、一同步目標選擇單元1010以及一預處理邏輯單元1012。The controller 100 includes a synchronization selection unit 1000, which is different. The step rotation instruction generation unit 1002, a synchronous rotation instruction generation unit 1004, a signal selection unit 1006, a virtual token generation unit 1008, a synchronization target selection unit 1010, and a preprocessing logic unit 1012.
非同步旋轉指令產生單元1002與同步旋轉指令 產生單元1004電性耦接至同步選擇單元1000,同步選擇單元1000用於選擇旋轉指令C1的來源,選擇非同步旋轉指令產生單元1002時,表示旋轉指令C1為非同步旋轉指令,驅動器110驅動旋轉軸130獨立運轉不受其他旋轉軸132、134的影響,同步選擇單元1000選擇同步旋轉指令產生單元1004時,表示旋轉指令C1為同步旋轉指令,旋轉軸130要與旋轉 軸132、134之至少一者同步,至於要同步的目標則是根據同步目標選擇單元1010來決定,同步目標選擇單元1010電性耦接至同步旋轉指令產生單元1004,用於選擇欲同步之旋轉軸。同步旋轉指令產生單元1004除了根據同步目標選擇單元1010決定同步目標為旋轉軸132、134之至少一者外,並根據經過信號選擇單元1006後之旋轉角度信號R1’、虛擬記號V1(由虛擬記號產生單元1008所產生)及欲同步之旋轉軸(例如旋轉軸132)的旋轉角度信號及虛擬記號來計算一角度差以及一速度差,再根據角度差以及速度差產生旋轉指令C1,經由同步選擇單元1000將旋轉指令C1傳送給驅動器110,進而使旋轉軸130與欲同步之旋轉軸(例如旋轉軸132)同步旋轉。上述角度差可以藉由比較虛擬記號而得,速度差可以藉由比較旋轉角度信號而得,藉由透過同步旋轉指令使欲同步之旋轉軸進行追隨動作,使角度差與速度差等於零,即達到同步。要說明的是,旋轉角度信號R1為驅動器110輸入至信號選擇單元1006的信號,旋轉角度信號R1’為經過信號選擇單元1006後的信號,事實上兩者相同,以不同標號僅用以區別輸入至信號選擇單元1006與經過信號選擇單元1006之後。Asynchronous rotation instruction generation unit 1002 and synchronous rotation instruction The generating unit 1004 is electrically coupled to the synchronization selecting unit 1000. The synchronization selecting unit 1000 is configured to select a source of the rotation command C1. When the asynchronous rotation command generating unit 1002 is selected, the rotation command C1 is a non-synchronous rotation command, and the driver 110 drives the rotation. The independent operation of the shaft 130 is not affected by the other rotating shafts 132 and 134. When the synchronous selecting unit 1000 selects the synchronous rotating command generating unit 1004, it indicates that the rotating command C1 is a synchronous rotating command, and the rotating shaft 130 is to be rotated. At least one of the axes 132, 134 is synchronized, and the target to be synchronized is determined according to the synchronization target selection unit 1010. The synchronization target selection unit 1010 is electrically coupled to the synchronous rotation instruction generation unit 1004 for selecting the rotation to be synchronized. axis. The synchronous rotation command generating unit 1004 determines the synchronization target as at least one of the rotation axes 132, 134 according to the synchronization target selection unit 1010, and according to the rotation angle signal R1' after the signal selection unit 1006, the virtual symbol V1 (by the virtual mark) The rotation angle signal and the virtual mark of the rotation axis (for example, the rotation axis 132) to be synchronized are calculated by the generating unit 1008 to calculate an angular difference and a speed difference, and then the rotation command C1 is generated according to the angle difference and the speed difference, and the synchronization command is selected. The unit 1000 transmits the rotation command C1 to the driver 110, thereby rotating the rotation shaft 130 in synchronization with the rotation axis to be synchronized (for example, the rotation shaft 132). The angle difference can be obtained by comparing the virtual symbols, and the speed difference can be obtained by comparing the rotation angle signals, and the tracking axis to be synchronized is followed by the synchronous rotation command, so that the angle difference and the speed difference are equal to zero, that is, Synchronize. It should be noted that the rotation angle signal R1 is a signal input by the driver 110 to the signal selection unit 1006, and the rotation angle signal R1' is a signal after passing through the signal selection unit 1006, in fact, the two are the same, and different labels are only used to distinguish the input. After the signal selection unit 1006 and the signal selection unit 1006 are passed.
虛擬記號產生單元1008電性耦接至信號選擇單 元1006,可以根據第3圖所示之方法產生虛擬記號V1,或是根據第4圖所示之方法透過信號感應器190產生虛擬記號V1。當產生多個虛擬記號V1時,只要出現虛擬記號即可重新計算角度差及速度差,達成多點同步。The virtual token generating unit 1008 is electrically coupled to the signal selection list Element 1006, virtual token V1 can be generated according to the method shown in FIG. 3, or virtual token V1 can be generated by signal sensor 190 according to the method shown in FIG. When a plurality of virtual marks V1 are generated, the angular difference and the speed difference can be recalculated as long as the virtual mark appears, and multi-point synchronization is achieved.
信號選擇單元1006電性耦接至同步選擇單元 1000、驅動器110與控制器102、104,可以選擇旋轉角度信號R1或選擇同步選擇單元1000所傳送之旋轉指令C1以供同步旋轉指令產生單元1004、虛擬記號產生單元1008及控制器102、104使用,進而以不同方式達到同步效果。The signal selection unit 1006 is electrically coupled to the synchronization selection unit 1000, the driver 110 and the controllers 102, 104, may select the rotation angle signal R1 or select the rotation command C1 transmitted by the synchronization selection unit 1000 for use by the synchronous rotation instruction generation unit 1004, the virtual token generation unit 1008, and the controllers 102, 104. And then achieve synchronization in different ways.
預處理邏輯單元1012電性耦接至同步目標選擇單元1010,可以對控制器102、104所傳送之經過信號選擇單 元後之旋轉角度信號R2’、R3’及虛擬記號V2、V3作預先處理,例如但不限於未同步前記憶欲同步的相關資訊,以便選擇同步時可以迅速進行同步動作。The pre-processing logic unit 1012 is electrically coupled to the synchronization target selection unit 1010, and can pass the signal selection list transmitted by the controllers 102 and 104. The rotation angle signals R2', R3' and the virtual symbols V2, V3 after the element are pre-processed, for example, but not limited to, related information to be synchronized before being synchronized, so that synchronization can be quickly performed when synchronization is selected.
控制器102、104與控制器100具有相同之元件, 此不多加贅述。The controllers 102, 104 have the same components as the controller 100, This is not to be repeated.
要說明的是,第1圖及第5圖係以三個控制器為 例,然而本發明可以應用至兩個控制器及超過三個控制器之情況。此外,第1圖中,控制器100電性耦接至控制器102,控制器102電性耦接至控制器104,第5圖中,控制器100則是電性耦接至控制器102、104,實際應用中,控制器100、102、104可以如第1圖之一對一的關係,也可以如第5圖所示之一對多(如星型)的關係,所以不僅能達成兩個同步,也可以達成多個同步。第5圖中,控制器100電性耦接至兩個控制器102及104,然而本發明可以應用至超過2個以上之控制器,以達成一對多的同步應用。例如第6圖中的四方輸送機600因為要對應輸送機602、604、606、608共四個輸送機,故四方輸送機600的控制器就需要可連接四個輸送機602、604、606、608的控制器以達成同步應用(將於稍後詳述)。It should be noted that Figures 1 and 5 are based on three controllers. For example, the invention can be applied to both controllers and more than three controllers. In addition, in FIG. 1 , the controller 100 is electrically coupled to the controller 102 , and the controller 102 is electrically coupled to the controller 104 . In FIG. 5 , the controller 100 is electrically coupled to the controller 102 , 104. In practical applications, the controllers 100, 102, and 104 may have a relationship of one to one as shown in FIG. 1 or a pair of multiple (such as a star) as shown in FIG. 5, so that not only two can be achieved. Synchronization can also achieve multiple synchronizations. In FIG. 5, the controller 100 is electrically coupled to the two controllers 102 and 104. However, the present invention can be applied to more than two controllers to achieve a one-to-many synchronization application. For example, the quadrilateral conveyor 600 in FIG. 6 needs to be connected to four conveyors 602, 604, 606, because it has four conveyors corresponding to the conveyors 602, 604, 606, and 608. The controller of 608 is used to achieve a synchronous application (which will be detailed later).
本發明可應用在多節輸送機之間的傳送,因為各 節輸送機皆有各自馬達帶動,習知技術為當要傳送通過兩節輸送機時,必須預留足夠長度,使輸送機可以轉動至穩定速度後再通過,否則會有速差造成不必要的摩擦現象,且因為多節串接,只有在傳送或接收時需啟動,若已傳送離開即可停止,並非所有時間皆需要同步,而本發明可以自由進行同步,適用於此類應用,且因為可以參考相鄰輸送機的旋轉角度信號,所以可以保持同速,不需要為了穩速而預留多餘的長度,在加減速期間仍可保持無速差,節省成本及增加應用之彈性。The invention can be applied to the transfer between multi-section conveyors, as each The conveyors are driven by their own motors. The conventional technology is to reserve enough length when the conveyors are to be conveyed through the two conveyors, so that the conveyor can be rotated to a stable speed before passing, otherwise there will be unnecessary speed difference. Friction phenomenon, and because of the multi-section tandem connection, it only needs to be activated when transmitting or receiving, if it has been transmitted away, it can be stopped, not all time needs to be synchronized, and the invention can be freely synchronized, suitable for such applications, and because It can refer to the rotation angle signal of the adjacent conveyor, so it can maintain the same speed, no need to reserve excess length for steady speed, and can maintain no speed difference during acceleration and deceleration, saving cost and increasing application flexibility.
請參閱第6圖,其係顯示本發明用於五個輸送機 之控制例。Please refer to Fig. 6, which shows the invention for five conveyors. Control example.
四方輸送機600具有旋轉功能,可以對四個輸送 機602、604、606、608進行傳送動作,四方輸送機600之箭頭方向表示可以對輸送機602或輸送機604進行傳送,若要對輸送機606或輸送機608傳送,四方輸送機600轉90度後即可,本例之同步為一對多的情況,本發明藉由四方輸送機600與輸送機602、604、606、608作旋轉角度信號與虛擬記號的資訊交換,可達成選擇性的同步。The square conveyor 600 has a rotating function and can transport four The machines 602, 604, 606, 608 perform the transfer operation, and the direction of the arrow of the quadrilateral conveyor 600 indicates that the conveyor 602 or the conveyor 604 can be transported. If the conveyor 606 or the conveyor 608 is to be transported, the square conveyor 600 turns 90. After the degree is synchronized, in this case, the synchronization is one-to-many. The present invention can realize the selective exchange of the rotation angle signal and the virtual mark by the square conveyor 600 and the conveyors 602, 604, 606, and 608. Synchronize.
請參閱第7圖,其係顯示根據本發明之同步控制 方法的流程圖,用於一同步控制系統,該同步控制系統包括複數個旋轉軸、複數個馬達分別耦接至該等旋轉軸之其一、複數個驅動器分別電性耦接至該等馬達之其一、以及複數個控制器分別電性耦接至該等驅動器之其一,該同步控制方法包括下列步驟。Please refer to FIG. 7, which shows the synchronous control according to the present invention. The flow chart of the method is used for a synchronous control system. The synchronous control system includes a plurality of rotating shafts, and a plurality of motors are respectively coupled to one of the rotating shafts, and the plurality of drivers are electrically coupled to the motors respectively. The first and the plurality of controllers are electrically coupled to one of the drivers, and the synchronization control method includes the following steps.
步驟S700中,初始化該等控制器。由於控制器 為電子電路,在供給電源給控制器後,可經由初始化使控制器運作正常,上述初始化包括但不限於重置、檢查或設定參數等等,以使後續之運算能正確執行。In step S700, the controllers are initialized. Due to the controller For the electronic circuit, after the power is supplied to the controller, the controller can be operated normally through initialization, including but not limited to resetting, checking or setting parameters, etc., so that subsequent operations can be performed correctly.
步驟S710中,各控制器可依需求選擇同步旋轉 或非同步旋轉。當控制器選擇非同步旋轉時,進入步驟S720,當控制器選擇同步旋轉時,進入步驟S730。In step S710, each controller can select synchronous rotation according to requirements. Or asynchronous rotation. When the controller selects the asynchronous rotation, the process proceeds to step S720, and when the controller selects the synchronous rotation, the process proceeds to step S730.
步驟S720中,各控制器產生一非同步旋轉指 令,接著進入步驟S740。In step S720, each controller generates an asynchronous rotation finger Then, the process proceeds to step S740.
步驟S730中,各控制器選擇要同步的目標及產 生一同步旋轉指令,接著進入步驟S750。於該步驟中,各控制器產生至少一虛擬記號,該虛擬記號位於對應之旋轉軸之旋轉範圍中的一特定位置,各控制器根據對應之旋轉軸之一旋轉角度信號、對應之虛擬記號、其它旋轉軸之一旋轉角度信號與其它控制器所產生之虛擬記號產生該同步旋轉指令。In step S730, each controller selects a target to be synchronized and produces A synchronous rotation command is issued, and then proceeds to step S750. In this step, each controller generates at least one virtual mark, the virtual mark is located at a specific position in the rotation range of the corresponding rotation axis, and each controller rotates the angle signal according to one of the corresponding rotation axes, the corresponding virtual mark, The rotation angle signal of one of the other rotation axes and the virtual mark generated by the other controllers generate the synchronous rotation command.
當各旋轉軸與旋轉角度信號為1:1時,各控制 器以旋轉角度信號旋轉一圈時對應至各旋轉軸的位置作為產生該虛擬記號之參考。When each rotation axis and rotation angle signal is 1:1, each control The position corresponding to each rotation axis when the rotation of the rotation angle signal is one rotation is used as a reference for generating the virtual mark.
當各旋轉軸與旋轉角度信號不是1:1時,各控 制器以各旋轉軸旋轉一圈時對應的位置作為產生該虛擬記號之參考。When each rotation axis and rotation angle signal is not 1:1, each control The corresponding position when the controller rotates one rotation of each rotation axis is used as a reference for generating the virtual mark.
各控制器產生複數個虛擬記號時,該等虛擬記號 係平均分布在對應之旋轉軸之旋轉範圍中。The virtual tokens when each controller generates a plurality of virtual tokens The average distribution is in the range of rotation of the corresponding rotation axis.
步驟S740,各控制器對應之旋轉軸根據非同步 旋轉指令進行非同步轉動,更明確地說,對應之驅動器根據該非同步旋轉指令控制對應之馬達與其它馬達作非同步旋轉,再由對應之馬達帶動對應之旋轉軸與其它旋轉軸作非同步轉動,接著進入步驟S760。Step S740, the rotation axis corresponding to each controller is not synchronized. The rotation command performs non-synchronous rotation. More specifically, the corresponding driver controls the corresponding motor to rotate asynchronously with other motors according to the asynchronous rotation command, and then the corresponding motor drives the corresponding rotation axis to rotate asynchronously with the other rotation axes. Then, the process proceeds to step S760.
步驟S750,各控制器對應之旋轉軸根據同步旋 轉指令進行同步轉動,更明確地說,對應之驅動器根據該同步旋轉指令控制對應之馬達與其它馬達作同步旋轉,再由對應之馬達帶動對應之旋轉軸與其它旋轉軸作同步轉動,接著進入步驟S770。Step S750, the rotation axis corresponding to each controller is rotated according to the synchronization The rotation command performs synchronous rotation, more specifically, the corresponding driver controls the corresponding motor to rotate synchronously with the other motors according to the synchronous rotation command, and then the corresponding motor rotates the corresponding rotation shaft to rotate synchronously with the other rotation shafts, and then enters Step S770.
步驟S760,是否改為同步旋轉,若是,進入步 驟S730,若否,進入步驟S740。Step S760, whether to change to synchronous rotation, and if so, enter the step At step S730, if no, the process proceeds to step S740.
步驟S770,是否改為非同步旋轉,若是,進入 步驟S720,若否,進入步驟S750。Step S770, whether it is changed to asynchronous rotation, if yes, enter Step S720, if no, the process proceeds to step S750.
要說明的是,於上述步驟S740中,控制器可隨 時更改為同步旋轉需求,亦即進入步驟S760判斷是否更改為同步旋轉或維持非同步旋轉,同樣地,於上述步驟S750中,控制器可隨時更換為非同步旋轉需求,亦即進入步驟S770判斷是否更改為非同步旋轉或維持同步旋轉。It should be noted that, in the above step S740, the controller can follow The time is changed to the synchronous rotation demand, that is, the process proceeds to step S760 to determine whether to change to the synchronous rotation or to maintain the asynchronous rotation. Similarly, in the above step S750, the controller can be replaced with the asynchronous rotation requirement at any time, that is, the process proceeds to step S770. Whether to change to asynchronous rotation or to maintain synchronous rotation.
各控制器產生複數個虛擬記號時,該等虛擬記號 係平均分布在對應之旋轉軸之旋轉範圍中。The virtual tokens when each controller generates a plurality of virtual tokens The average distribution is in the range of rotation of the corresponding rotation axis.
雖然本發明已用較佳實施例揭露如上,然其並非 用以限定本發明,本發明所屬技術領域中具有通常知識者, 在不脫離本發明之精神和範圍內,當可作各種之更動與潤飾,因此本發明之保護範圍當視後附之申請專利範圍所界定者為準。Although the present invention has been disclosed above with preferred embodiments, it is not To define the invention, and those of ordinary skill in the art to which the invention pertains, The scope of the present invention is defined by the scope of the appended claims, unless otherwise claimed.
100、102、104‧‧‧控制器100, 102, 104‧‧‧ controller
110、112、114‧‧‧驅動器110, 112, 114‧‧‧ drive
120、122、124‧‧‧馬達120, 122, 124‧‧ ‧ motor
130、132、134‧‧‧旋轉軸130, 132, 134‧‧‧ rotating shaft
140、142、144‧‧‧負載140, 142, 144‧‧‧ load
C1、C2、C3‧‧‧旋轉指令C1, C2, C3‧‧‧ rotation instructions
R1、R2、R3‧‧‧旋轉角度信號R1, R2, R3‧‧‧ rotation angle signal
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TW201205216A (en) * | 2010-01-12 | 2012-02-01 | Yaskawa Denki Seisakusho Kk | Synchronous control apparatus |
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