TWI662781B - A motor controlling system and method thereof - Google Patents

Abstract

A motor control system is used to transmit a driving signal to a driving device to drive a motor, and includes an input module and a motion controller. The input module is used to set a plurality of motion control parameters, and the motion control parameters include at least a target position and a target motion time. A motion controller is an electronically connected input module for receiving motion control parameters, generating a unit motion amount corresponding to a unit motion time according to at least one operation rule, and generating a control command corresponding to a unit motion amount according to at least one conversion rule. , And then generate the driving signal according to the control command. The unit exercise time is shorter than the target exercise time.

Description

Motor control system and method

The present invention relates to a motor control system and method, and more particularly to a motor control system and method for driving a motor by using a unit of motion per unit time and a unit of motion.

Most mechanical systems require motion trajectory planning, such as CNC machine tools, robot arms, drilling machines, engraving machines, plotters, etc. The above-mentioned tools are basically multi-axis motion control. In the case of controlling a multi-axis system, The mutual movement of multiple motors, the generation of motion paths, the speed of movement, and the planning of acceleration and deceleration are all very important. Therefore, in response to the above requirements, the motion controller naturally becomes the core control unit of the system. The motion controller mainly receives the motion data from the user, and converts these data into input signals of the motor driver, and then controls the motion trajectory of the motor and the mechanical system.

A common motion controller is a Digital Differential Analyzer (DDA). The digital differential analyzer receives a target position and calculates a pulse driving signal according to a target time to drive a motor.

However, the prior art uses a digital differential analyzer that requires a longer calculation time to generate a pulse, and if there is a new target position within the calculation time, it also needs to wait for the previous calculation time to end and wait for another calculation time according to the new target Only when the position is calculated, the pulse driving signal corresponding to the new target position can be generated. When the command is switched, the pulse driving signal generated will be delayed or error.

In view of the fact that in the prior art, the digital differential analyzer requires a long operation time, which may easily cause a delay or error in the pulse driving signal when the command is switched. One of the main objectives of the present invention is to provide a motor control system and a motor control method to solve the problems derived from the prior art.

In order to solve the problems of the prior art, the present invention adopts a necessary technical means to provide a motor control system for transmitting a driving signal to a driving device to drive a motor, and includes an input module and a motion controller.

The input module is used to set a plurality of motion control parameters, and the motion control parameters include at least a target position and a target motion time.

The motion controller is electrically connected to the input module to receive the motion control parameters, generate a unit motion amount corresponding to a unit motion time according to at least one operation rule, and generate a corresponding unit motion amount according to at least one conversion rule. The control command generates the driving signal according to the control command.

The unit exercise time is shorter than the target exercise time.

On the basis of the above-mentioned necessary technical means, one subsidiary technical means derived from the present invention is to make the above-mentioned unit movement amount smaller than the above-mentioned target position.

Based on the above-mentioned necessary technical means, one of the subsidiary technical means derived from the present invention is to make the above-mentioned at least one operation rule be a jerk linear motion formula.

Based on the above-mentioned necessary technical means, one of the subsidiary technical means derived from the present invention is to make the above at least one conversion rule a comparison table, and the comparison table shows the correspondence between the unit motion amount and a pulse edge change amount.

Based on the above-mentioned necessary technical means, one of the subsidiary technical means derived from the present invention is to enable the motion controller to generate the control command according to the pulse edge change amount corresponding to the unit motion amount.

Based on the above-mentioned necessary technical means, a subsidiary technical means derived from the present invention is to make the motor control system further include: a conversion module, and the conversion module is electrically connected to the input module and the motion controller. It is used to receive the motion control parameters and convert the motion control parameters into a binary format.

Based on the above-mentioned necessary technical means, a subsidiary technical means derived from the present invention is a motion controller in a motor control system, which further includes: a memory module, and the memory module is used to store the above-mentioned calculation rules and the above Conversion rules.

Based on the above-mentioned necessary technical means, a subsidiary technical means derived from the present invention is to make a motion controller in a motor control system, further including: a pulse output module, and the pulse output module is used to control the above-mentioned control commands. The driving signal is generated, and the driving signal is a pulse driving signal.

The invention also provides a motor control method, which uses an input module and a motion controller and includes the following steps: (a) using the input module to set a plurality of motion control parameters, and the motion control parameters include at least a target position and A target exercise time; (b) using a motion controller to receive motion control parameters and generating a unit amount of motion corresponding to a unit of motion time according to at least one operation rule; (c) using a motion controller according to at least one conversion rule To generate a control command corresponding to the amount of unit motion; (d) use a motion controller to generate a drive signal according to the control command; and (e) use the motion controller to transmit a drive number to a drive device to drive a motor.

Based on the above-mentioned necessary technical means, one of the subsidiary technical means derived from the present invention is a method for controlling a motor, which further includes the following steps: using a motion controller to determine that the driving signal is a drive signal without a change amount and generating a basic speed drive The signal is transmitted to the drive.

As mentioned above, the motor control system and method provided by the present invention use a motion controller to generate a driving signal corresponding to a unit motion time and a unit motion amount according to an operation rule and a conversion rule. The unit motion time is less than the target motion time . Therefore, the required calculation time can be shortened. If a new target position is received, the motion controller can immediately perform calculations, conversions and generate new target positions. The driving signal is used to solve the problem that in the prior art, switching to a new target position may cause a delay or error in the driving signal.

1.1a‧‧‧motor control system

11‧‧‧input module

12, 12a‧‧‧ Motion Controller

121a‧‧‧Processing Module

122a‧‧‧Memory Module

123a‧‧‧Pulse output module

13a‧‧‧ Conversion Module

2‧‧‧Drive

3‧‧‧ Motor

S ₀ ‧‧‧ initial position

S ₁ ‧‧‧ first position

S ₂ ‧‧‧ second position

S _n ‧‧‧ target position

T ₀ ‧‧‧ initial time

T ₁ ‧‧‧ the first time

T ₂ ‧‧‧ second time

T _n ‧‧‧ target exercise time

△ T‧‧‧Unit exercise time

△ S _i , △ S ₁ , △ S ₂ ‧‧‧Unit exercise amount

The first diagram is a system block diagram showing a motor control system and method provided by an embodiment of the present invention; the second diagram is a location-time diagram showing a motor control system and method provided by an embodiment of the present invention; The third diagram is a method flowchart of the motor control system and method provided by one embodiment of the present invention; the fourth diagram is a system block diagram of the motor control system and method provided by another embodiment of the present invention; FIG. 6 is a method flowchart showing a motor control system and a method thereof according to another embodiment of the present invention; and FIGS. 6A and 6B are a motor control system and a method thereof according to another embodiment of the present invention Schematic diagram of pulse drive signal.

Please refer to the first diagram to the third diagram, wherein the first diagram is a system block diagram showing a motor control system and method provided by an embodiment of the present invention; the second diagram is a motor diagram provided by an embodiment of the present invention A location-time diagram of the control system and its method; and the third diagram is a method flowchart of the motor control system and its method provided by an embodiment of the present invention. As shown, a motor control system 1 is used to transmit A driving signal is sent to a driving device 2, and a motor 3 is driven by the driving device 2. The motor control system 1 includes an input module 11 and a motion controller 12.

An input module 11 for setting a plurality of motion control parameters, and motion control parameters include at least a target position S _n and a target movement time T _n. The input module 11 may be a computer, a mobile phone, a keyboard and other devices that can input motion control parameters.

The motion controller 12 is electrically connected to the input module 11 for receiving motion control parameters and generating a unit motion amount ΔS _i corresponding to a unit motion time ΔT according to at least one operation rule, i = 1 to n, Corresponding to different time points of movement, ΔS ₁ corresponds to a unit movement time ΔT of a first time T ₁ and an initial time T ₀ , and moves the motor 3 from an initial position S ₀ to a first position S ₁ ΔS ₂ corresponds to a unit movement time ΔT of a second time T ₂ and a first time T ₁ , and the motor 3 is moved from the first position S ₁ to a second position S ₂ . It should be noted here that in fact, the unit exercise amount corresponding to each unit exercise time ΔT may not be the same. The unit exercise amount corresponding to different unit exercise time △ T is △ S ₁ , △ S ₂ … As a difference, as shown in the second figure, the unit movement amount ΔS _i is used as a collective term to facilitate understanding of the present invention.

The motion controller 12 generates a control command corresponding to the unit motion amount ΔS _i according to at least one conversion rule, generates a driving signal according to the control command, and transmits the driving signal to the driving device 2 to drive the motor 3. Because the control command is usually a digital signal, the motor cannot be driven directly. Therefore, in this embodiment, the driving signal that can be interpreted by the driving device 2 is transmitted to the driving device 2 according to the control command to drive the motor 3 to rotate. According to an embodiment, the driving signal may be a pulse driving signal.

In the first embodiment, the motion controller 12 is a Field Programmable Gate Array (FPGA) chip, but it is not limited thereto. In another embodiment, the motion controller 12 may be a digital signal processor (DSP). The foregoing calculation rules and conversion rules may be built in the motion controller 12 or stored in a memory unit.

As shown in the second figure, each small amount of unit motion amount ΔS _i calculated by the motion controller 12 (that is, ΔS ₁ , ΔS ₂ …) is all added up, which will cause the motor to move from an initial position at the target motion time T _n S ₀ is moved to the target position S _n. Since the unit exercise time ΔT (which can be regarded as the built-in calculation time of the motion controller 12) required to calculate the unit exercise amount ΔS _{i in} this embodiment is smaller than the target exercise time T _n , if there is within the target exercise time T _n , A new target position or a new motion control parameter is received. The motion controller 12 in this embodiment can perform a new calculation in real time to generate a new unit motion amount ΔS _i to match the new target position and the target motion time T. _n Reach the new target position. And not as the prior art, as the need to move the target movement time T _n S _n to the target position, again generates a drive signal S _n by the target position move to the new target position. Therefore, this embodiment helps to avoid problems such as delays or even errors in driving signals caused by conventional motor control systems and methods.

As shown in the third figure, an embodiment of the present invention provides a motor control method. The motor control method uses the motor control system 1 of the first figure. The motor control system 1 includes an input module 11 and a motion control.器 12。 12. This motor control method includes the following steps S101 to S105.

Step S101: Use the input module 11 to set a plurality of motion control parameters, and the motion control parameters include at least a target position and a target motion time.

Step S102: Use the motion controller 12 to receive the motion control parameters, and generate a unit motion amount corresponding to a unit motion time according to at least one operation rule.

Step S103: Use the motion controller 12 to generate a pair of control commands corresponding to the unit motion amount according to at least one conversion rule.

Step S104: Use the motion controller 12 to generate a driving signal according to the control command.

Step S105: Use the motion controller 12 to transmit the driving signal to a driving device to drive a motor.

Step S101 is to use the input module 11 to set a plurality of motion control parameters, and the motion control parameters include at least a target position (such as Sn in the second figure) and a target motion time (such as Tn in the second figure).

Step S102 is to use the motion controller 12 to calculate a unit motion amount (such as △ S _i , △ S ₁ , △) corresponding to a unit of exercise time (such as △ T in the second figure) according to the calculation rule. S ₂ …). The motion controller 12 may be an FPGA chip. Moreover, in a preferred embodiment, the motion controller 12 calculates a unit motion amount based on the jerk linear motion formula.

Step S103 is to use the motion controller 12 to generate a pair of control commands corresponding to the unit motion amount according to the conversion rule. The conversion rule may be built in the motion controller 12 or stored in a memory unit.

Step S104 uses the motion controller 12 to generate a driving signal according to the control command. Because the unit motion amount ΔSi and the control command calculated by the motion controller 12 cannot directly drive the motor 3, the motion controller 12 needs to convert the control command again. A driving signal that can be communicated with the driving device 2 is formed.

Finally, in step S105, the motion controller 12 is used to transmit a driving signal to the driving device 2 to drive the motor 3, thereby completing the motor control.

Please refer to FIGS. 4 to 6B, wherein the fourth diagram is a system block diagram showing a motor control system and method provided by another embodiment of the present invention; and the fifth diagram is a diagram showing another embodiment of the present invention. The method flowchart of the provided motor control system and method; and FIG. 6A and FIG. 6B are schematic diagrams showing pulse driving signals of the motor control system and method provided by another embodiment of the present invention. As shown in the figure, a motor control system 1a is used to transmit a driving signal to the driving device 2 as in the first embodiment to drive the motor 3 as in the first embodiment. The motor control system 1a includes an input mode. Group 11, a motion controller 12a, and a conversion module 13a. Among them, the input module 11 is the same as that in the first embodiment, so it will not be described in detail.

The conversion module 13a is electrically connected to the input module 11 and the motion controller 12a, and is used to convert the motion control parameters set by the input module 11 into a binary format to facilitate the calculation of the motion controller 12a. The conversion module 13a may be embedded in the input module 11, or may be embedded in the motion controller 12a, or may be a module block as shown in the fourth figure.

The motion controller 12a further includes a processing module 121a, a memory module 122a, and a pulse output module 123a. The memory module 122a is used to store at least one operation rule and at least one conversion rule. In this embodiment, the operation rule is a jerk linear motion formula, and the conversion rule is a look-up table showing the unit movement amount ΔS _i and the pulse edge change amount. Corresponding relationship. The memory module 122a may be a memory chip.

The processing module 121a receives the motion control parameters converted by the conversion module 13a, and generates a unit exercise amount △ S corresponding to a unit exercise time △ T (labeled in the second figure) according to the calculation rules in the memory module 122a. _i (labeled in the second figure). According to the conversion rule, the unit movement amount △ S _{i is} converted into a digital data, the digital data has a preset bit length, and then a control command corresponding to the unit movement amount △ S _{i is} generated according to the digital data. The amount of pulse edge change corresponding to the data.

Finally, the pulse output module 123a is used to generate a driving signal according to the control command. This driving signal is different from the first embodiment in that it is a pulse driving signal and is transmitted to the driving device 2 to drive the motor 3.

As shown in the fifth figure, another embodiment of the present invention provides a motor control method. The motor control method is used in the motor control system 1a of the fourth figure, and includes the following steps S201 to S207. Step S201 is the same as step S101 of the first embodiment, so it will not be described further.

Step S202 is to use the conversion module 13a to receive the motion control parameters, and convert the motion control parameters into a format that is convenient for the operation of the motion controller 12a, such as a binary format.

Steps S203 to S205 are the same as those in the first embodiment. Steps S102 and S103 are substantially the same, except that the motion controller 12 in the first embodiment is changed to the processing module 121a and the memory module 122a inside the motion controller 12a in the second embodiment to perform the steps.

Step S206 is to use the pulse output module 123a to receive the control command and generate a driving signal accordingly. The driving signal is different from the foregoing embodiment in that the driving signal is a pulse driving signal. The driving signal is transmitted to the driving device 2 to drive the motor 3, and step S207 is completed.

Next, the actual value will be used as an example to illustrate the setting of multiple motion control parameters including jerk = 1, acceleration = 10, speed = 100, target position = 1000, initial acceleration = 0, initial speed = 0, initial position = 0, unit Movement time = 2, QX, Y format = Q32,24 and maximum pulse edge change = 3. The QX, Y format is a binary format used to determine the number of bits after the unit amount of motion △ S _{i is} converted to a binary format, where X = 32 means the total number of bits is 32 bits, and Y = 24 means the decimal number The number of bits is 24 bits. Please refer to the second picture, the fourth picture to the sixth picture B together. Because we are familiar with the decimal format, but the motor control system actually uses the binary format, so the following description will use the decimal format and the binary format together. The binary format is to show the actual operation of the motor control system. The decimal format is to facilitate understanding of the present invention.

The conversion module 13a converts the above-mentioned motion control parameters into a binary format. In addition to the QX, Y format and the maximum pulse edge change amount, the processing module 121a calculates the above-mentioned motion control parameter to a unit amount of motion according to the jerk linear motion formula The decimal format is 221.333 Cyclic decimal. The value in Q32,24 format is 01101001001010101010101010101011.

The processing module 121a is based on the conversion rules. The conversion rules are as follows: 1. There can be at most (2 ⁿ -1) pulse edge changes. 2. In the QX, Y format, the dominant bit of the pulse edge change is the (Y-1) to (Y + (n-1)) bit. 3. The following table (1).

Table (1) is a comparison table between the corresponding value of the unit motion amount △ Si dominant bit and the pulse edge change amount. According to the above conversion rule, it can be known that because the maximum pulse edge change amount = 3, so n = 2, the bit that dominates the pulse edge change is the (24-1) to (24+ (2-1)) bit, that is, the 23rd bit To 25 bits, the unit movement amount △ S _i in Q32, 24 format is the 23rd to 25th bits (that is, the dominant bit) is 101, and the value corresponding to the decimal format is 5 (that is, 2 ² +1). The value corresponding to the change of the pulse edge is -3, which indicates that the control command is to control the motor 3 to rotate 3 spaces in the negative direction, and generate a pulse driving signal according to the control command, so that the driving device 2 drives the motor 3 to rotate 3 spaces in the negative direction, which is the first Pulse driving signal shown in Figure 6A. The pulse edge change amount indicates the number of pulse switching. As shown in the figure, the pulse driving signal is sequentially switched from the output logic 1 to 0, then from 0 to 1, and finally from 1 to 0. It is switched 3 times in total, indicating the pulse. The amount of edge change is 3, because the first switching is switched from large (1) to small (0), so it is negative. The sixth diagram B shows a pulse driving signal that rotates by 3 divisions in the positive direction. Since the first switching is switched from small (0) to large (1), it is a positive direction.

It should be particularly noted here that Table (1) is applicable when n = 2, but the present invention is not limited thereto. Basically, table (1) can be divided into three intervals. The corresponding value of the unit motion amount △ S _{i in the} first interval increases from 0, 1, 2 ... to (2 ⁿ -1), and the corresponding pulse edge The amount of change is from 0, +1, +2 ... to + (2 ⁿ -1). The corresponding value of the unit motion amount ΔS _{i in the} second interval is 2 ⁿ , and the corresponding pulse edge change amount is 0 at this time. The corresponding value of the unit motion amount △ S _{i in the} third interval increases from (2 ⁿ +1), (2 ⁿ +2) ... to (2 ⁿ +2 ⁿ -1). At this time, the corresponding pulse The amount of edge change increases from-(2 ⁿ -1) to -1.

The corresponding relationship of the third interval is explained in more detail. When the corresponding numerical system of the unit motion amount △ S _i is (2 ⁿ +1), the corresponding pulse edge change is-(2 ⁿ -1) Here, (2 ⁿ +1) can be equated to (2 ^{n + 1} -2 ⁿ +1), and then equal to (2 ^{n + 1-} (2 ⁿ -1)). Therefore, the pulse edge change amount of-(2 ⁿ -1) corresponds to the second half of the corresponding value of the dominant bit of the unit motion amount ΔS _i . The corresponding relationship between the other unit motion amount ΔS _i and the pulse edge change amount can be deduced by analogy.

The actual value is used as an example to illustrate that the motion control parameters are the same as the above values, and the calculation rules and conversion rules are also the same. The only difference is that the unit motion time = 1. The unit movement amount ΔS _i calculated based on this unit movement time is 100, and the corresponding value is 4, and the corresponding table (1) The pulse edge change is 0, which means that the pulse driving signal will not cause the driving device 2 to drive the motor 3, When the motion controller 12a determines that the pulse change amount is 0, a basic speed driving signal is generated, so that the driving device 2 drives the motor 3 to rotate at a minimum speed corresponding to the basic speed driving signal.

In summary, the motor control system and method provided by the present invention use an input module to set motion control parameters, and the motion controller generates driving signals according to calculation rules and conversion rules, and transmits the driving signals to the driving device to Drive motor.

Compared with the prior art, the motor control system and method provided by the present invention will not cause the delay or error of the driving signal due to the change of the motion control parameters, and instead use the relationship that the unit motion time is less than the target motion time. The real-time calculation corresponding to the new motion control parameters is achieved, so there will be no delay or error in the drive signal.

With the above detailed description of the preferred embodiments, it is hoped that the features and spirit of the present invention can be more clearly described, and the scope of the present invention is not limited by the preferred embodiments disclosed above. On the contrary, the intention is to cover various changes and equivalent arrangements within the scope of the patents to be applied for in the present invention.

Claims (9)

A motor control system is used to transmit a driving signal to a driving device to drive a motor, and includes: an input module for setting a plurality of motion control parameters, the motion control parameters include at least a target position and A target motion time; and a motion controller electrically connected to the input module for receiving the motion control parameters, generating a unit motion amount corresponding to a unit motion time according to a jerk linear motion formula, and based on At least one conversion rule generates a pair of control commands corresponding to the unit motion amount, and then generates the driving signal according to the control command; wherein the unit motion time is shorter than the target motion time. The motor control system according to item 1 of the scope of patent application, wherein the unit motion amount is smaller than the target position. The motor control system according to item 1 of the scope of patent application, wherein the at least one conversion rule is a comparison table, and the comparison table shows a correspondence relationship between the unit motion amount and a pulse edge change amount. The motor control system according to item 3 of the scope of patent application, wherein the motion controller generates the control command according to the pulse edge change amount corresponding to the unit motion amount. The motor control system described in item 1 of the scope of patent application, further includes: a conversion module, and the conversion module is electrically connected to the input module and the motion controller to receive the motion control parameters, The motion control parameters are converted into a binary format. The motor control system according to item 1 of the scope of patent application, wherein the motion controller further includes: a memory module, and the memory module is used to store the at least one operation rule and the at least one conversion rule. The motor control system according to item 1 of the scope of patent application, wherein the motion controller further includes: a pulse output module, the pulse output module is used to generate the driving signal according to the control command, and the driving signal A pulse drive signal. A motor control method uses an input module and a motion controller and includes the following steps: using the input module to set a plurality of motion control parameters, and the motion control parameters include at least a target position and a target motion Time; using the motion controller to receive the motion control parameters and generating a unit motion amount corresponding to a unit motion time according to a jerk linear motion formula; using the motion controller to generate a unit motion according to at least one conversion rule A control command corresponding to a unit motion amount uses the motion controller to generate a driving signal according to the control command; and uses the motion controller to transmit the driving signal to a driving device to drive a motor. According to the motor control method described in item 8 of the scope of patent application, the method further includes the following steps: using the motion controller to determine that the driving signal is a non-changing driving signal, generating a basic speed driving signal, and transmitting the driving signal to the driving device; .