WO2018196177A1 - 一种限位传感方法 - Google Patents

一种限位传感方法 Download PDF

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Publication number
WO2018196177A1
WO2018196177A1 PCT/CN2017/093187 CN2017093187W WO2018196177A1 WO 2018196177 A1 WO2018196177 A1 WO 2018196177A1 CN 2017093187 W CN2017093187 W CN 2017093187W WO 2018196177 A1 WO2018196177 A1 WO 2018196177A1
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motor
mobile device
real
contact block
characteristic parameter
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PCT/CN2017/093187
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French (fr)
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郭戈
唐果林
付腾飞
高明希
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北京太尔时代科技有限公司
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Publication of WO2018196177A1 publication Critical patent/WO2018196177A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/343—Testing dynamo-electric machines in operation

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  • the present invention relates to the field of industrial control technologies, and in particular, to a limit sensing method.
  • the characteristic electrical signals provided by the trip switch (limit switch), Hall switch, encoder and other trigger components are used to confirm the zero point design, and the zero point is used for industrial control design.
  • the method requires separately installing a sensing device such as a trigger type of travel switch in the device, and the device occupies the space of the workbench, which also causes interference to the normal operation of the workbench.
  • Motor stalling means that the motor still outputs torque when the speed is 0 rpm. Generally, the motor works normally, and each data has a rated value. When the motor is blocked, the characteristic parameters of the stall are generated, which are proportional to the rated data, and the proportional relationship changes according to the change of the motor parameters.
  • the object of the present invention is to provide a limit sensing method for detecting and judging the characteristic state when the motor itself is blocked by the prior art, and to save the use of the trigger component.
  • the present invention is achieved by the following technical solutions.
  • a limit sensing method characterized in that the method comprises the following steps:
  • the stall detection method based on the characteristic parameter threshold is used to detect the motor in real time
  • step (5) further comprises the following: determining whether the mobile device is running to the zero position when the motor is blocked: if yes, confirming that the mobile device reaches the zero position; if not, stopping the motor to eliminate the motor stall problem.
  • the method further includes the following steps, when confirming that the mobile device reaches the zero position, the motor Control the movement of the mobile device to the design coordinate point.
  • the real-time characteristic parameters of the above motor include current, voltage, magnetic moment, torque and inductance.
  • the limit method of the invention utilizes the characteristic state of the motor which is controllable by the motor, and uses the generated characteristic parameters such as the stall current, the locked voltage, the locked magnetic moment and the locked rotor inductance to perform the program judgment, and provides the zero point.
  • Design validation saves the use of triggered components by designing contact stops to optimize the spatial structure of the industrial design. Applying the stall characteristic parameters of the motor itself, the control system performs program judgment on the characteristic parameters, and the zero point confirmation on the industrial control equipment can be completed.
  • FIG. 1 is a schematic flow chart of a limit sensing method according to the present invention.
  • a limit sensing method as shown in FIG. 1 includes the following steps:
  • Step 1 The first contact block and the second contact block are respectively disposed at the fixed device zero point and the mobile device.
  • the first contact block and the second contact block are disposed, and the first contact block and the second contact block perform relative motion during the zero point design confirmation process of the overall structure of the control system, In this way, the zero point design confirmation of the mechanical structure is achieved.
  • Step 2 Run the motor that drives the mobile device to obtain the real-time characteristic parameters of the motor.
  • Step 3 According to the real-time characteristic parameters of the motor in step 2, the stall detection method based on the characteristic parameter threshold is used to detect the motor in real time.
  • Step 4 Monitor whether the real-time feature parameter is greater than a preset feature parameter threshold.
  • the first contact block is in contact with the second contact block, and the relative mechanical motion is stopped. At this time, the motor generates a characteristic parameter when the motor is blocked, and the stall characteristic parameter is fed back to the control system for program determination.
  • Step 5 If yes, the motor is blocked.
  • the first reason is that the motor is blocked due to the belt jamming failure.
  • the second reason is that the first contact block is in contact with the second contact block.
  • Step 6 Continue to judge whether the mobile device is running to the zero position when the motor is stalled: if yes, confirm that the mobile device reaches the zero position.
  • Step 7 For the judgment of step 6, if not, stop the motor and eliminate the problem of motor stall, the first contact block is in contact with the second contact block, and the mobile device reaches the zero position. For the reason of the motor stall, the belt jam is eliminated, and the remaining condition is that the first contact block is in contact with the second contact block, and it can be confirmed that the mobile device is operated to the zero position.
  • Step 8 For the judgment of step 4, if not, the motor continues to run until a stall occurs. For the comparison program of the real-time characteristic data and the characteristic parameter threshold monitored in step 4, it is judged that the motor runs without abnormality, that is, no stall occurs.
  • Step 9 When it is confirmed that the mobile device reaches the zero position, the motor controls the mobile device to move to the design coordinate point.
  • the real-time characteristic parameters of the motor include any of current, voltage, magnetic moment, torque or inductance.
  • the test data selection method has a variety of options, various data parameters can be selected, and the data item characteristic curve parameters can be selected to achieve the optimal solution in the industrial control field.
  • the motor is a stepping motor.
  • a stepper motor is an actuator that converts electrical pulses into angular displacement.
  • the stepping motor adopts a pulse width modulation subdivision driving circuit, and adds a control voltage of the DPA output to the input end of the pulse width modulation circuit, and the pulse width modulation circuit converts the input control voltage into a rectangular wave of a corresponding pulse width, and passes the pair
  • the control of the on-off time of the power amplifier tube changes the average current output to the motor windings.
  • the rotation time of one step angle is the period T, the duty ratio of the output level in the detection period T, the duty ratio of the voltage outputted in the normal working state is not more than 95%, and the duty ratio in the stalled state is Greater than or equal to 99%.
  • the duty cycle of the voltage increases, which is greater than the normal state value, and the corresponding characteristic parameters such as torque, voltage, current, inductance and magnetic moment may change or deviate. normal range.
  • a trigger type electric signal component such as a limit switch is generally used, and the electric signal is fed back to the control system, and the control system performs the zero point design confirmation of the overall structure.
  • the method of the invention saves a type of trigger type electric signal component such as a limit switch, only needs to design a contact type block, applies a characteristic stall parameter of the motor itself, and the control system performs program judgment on the characteristic stall parameter, and can complete 3D.
  • the structure of the printer is zero-point design confirmed.
  • the control system controls the X-axis motor to drive the nozzle structure, and performs the X-direction test to confirm the X-direction working state; the first contact block XA is set at either end of the printer X-direction structure, and the nozzle end is set to the second.
  • Contact block XB when the motor drives the belt, the control nozzle starts to move from the initial position.
  • the first contact block XA is in contact with the second contact block XB, the relative mechanical motion stops, and the motor generates a characteristic stall current, and the current is fed back to The control system performs program judgment.
  • the control system gives a stop signal, the X-direction motor stops working, confirms the X-direction zero point, and the control system controls the nozzle movement to the design coordinate point position; the initialization is completed. ;
  • the return-to-zero design of the Y and Z directions is confirmed.
  • the control process is similar to the X-direction process. The difference is that the contact blocks can be placed on different structural devices according to different structures and control options.
  • the limit method of the invention utilizes the characteristic state parameters of the motor which is controllable by the motor, and uses the generated characteristic parameters such as the stall current, the locked voltage, the locked magnetic moment and the locked rotor inductance to perform the program judgment, and provides the zero point.
  • the design confirms that the use of triggered components is saved and the spatial structure of the industrial design is optimized.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

一种限位传感方法，该方法包括分别在固定设备零点处和移动装置上设置第一接触块及第二接触块；运行驱动移动装置运转的电机，获取电机实时特征参数；根据电机实时特征参数，采用基于特征参数阈值的堵转检测方法对电机进行实时堵转检测；监测实时特征参数是否大于预设的特征参数阈值；判断是否到达零点位置等步骤。与现有技术相比较，本方法利用电机的自身可控的堵转时的特征状态，节省触发式元器件的使用，只需设计接触式挡块，优化工业设计的空间结构。本方法应用电机本身的堵转特征参数，控制系统针对特征参数进行程序判断，即可完成在工业控制设备上的零点确认。

Description

一种限位传感方法 技术领域
本发明涉及工业控制技术领域，尤其涉及一种限位传感方法。
背景技术
现有工业控制领域中，利用行程开关(限位开关)、霍尔开关、编码器等触发式元器件，提供的特征电信号进行归零点设计确认，以此归零点进行工业控制设计。该方法需要在设备中另外安装触发式行程开关等传感装置，其装置占据工作台空间，对工作台的正常操作也会造成干扰。
电机堵转是指电机在转速为0转时，仍然输出扭矩。一般电机正常工作，各项数据具有额定值，在电机堵转运动时，会产生堵转的特征参数，与额定数据成一定比例关系，比例关系根据电机参数的变化而变化。
发明内容
本发明的目的在于针对现有技术的不足而提供一种利用电机本身堵转时的特征状态进行检测判断的限位传感方法，节省触发式元器件的使用。
达到上述目的，本发明通过以下技术方案来实现。
一种限位传感方法，其特征在于，该方法包括以下步骤：
(1)分别在固定设备的零点处和移动装置上安装第一接触块及第二接触块；
(2)运行驱动移动装置运转的电机，获取电机实时特征参数；
(3)根据步骤(2)中的电机实时特征参数，采用基于特征参数阈值的堵转检测方法对电机进行实时堵转检测；
(4)监测实时特征参数是否大于预设的特征参数阈值；
(5)若是，即电机出现堵转，第一接触块与第二接触块相接触，移动装置到达零点位置；若否，电机继续运行直至出现堵转。
进一步地，步骤(5)还包括以下判断：电机出现堵转时移动装置是否运行至零点位置：若是，则确认移动装置到达零点位置；若否，停止电机，排除电机堵转问题。
进一步地，该方法还包括以下步骤，当确认移动装置到达零点位置，电机 控制移动装置运动至设计坐标点。
进一步地，上述电机的实时特征参数包括电流、电压、磁矩、转矩和电感。
本发明的限位方法利用电机的自身可控的堵转时的特征状态，利用产生的堵转电流、堵转电压、堵转磁矩和堵转电感等特征参数进行程序判断，提供归零点的设计确认，节省触发式元器件的使用，只需设计接触式挡块，优化工业设计的空间结构。应用电机本身的堵转特征参数，控制系统针对特征参数进行程序判断，即可完成在工业控制设备上的零点确认。
附图说明
图1为本发明所述限位传感方法的流程示意图。
具体实施方式
为了进一步描述本发明，下面结合附图进一步阐述一种限位传感方法的具体实施方式，以下实施例是对本发明的解释而本发明并不局限于以下实施例。
如图1所示一种限位传感方法，包括以下步骤：
步骤1：分别在固定设备零点处和移动装置上设置第一接触块及第二接触块。在工业设计中需要进行零点设计确认的结构上，设置第一接触块和第二接触块，第一接触块与第二接触块在控制系统进行整体结构的零点设计确认过程中，进行相对运动，以此实现机械结构的零点设计确认。
步骤2：运行驱动移动装置运转的电机，获取电机实时特征参数。
步骤3：根据步骤2中的电机实时特征参数，采用基于特征参数阈值的堵转检测方法对电机进行实时堵转检测。
步骤4：监测所述实时特征参数是否大于预设的特征参数阈值。第一接触块与第二接触块相接触，相对的机械运动停止，此时电机产生堵转时的特征参数，该堵转特征参数反馈到控制系统，进行程序判断。
步骤5：若是，即电机出现堵转。原因一为皮带卡死故障造成电机堵转，原因二为第一接触块与第二接触块相接触。
步骤6：继续判断电机出现堵转时移动装置是否运行至零点位置：若是，则确认移动装置到达零点位置。
步骤7：对于步骤6的判断，若否，停止电机，排除电机堵转问题，第一接触块与第二接触块相接触，移动装置到达零点位置。针对电机堵转的原因，排除皮带卡死的情况，剩余情况则为第一接触块与第二接触块相接触，此时可以确认移动装置运行至零点位置。
步骤8：对于步骤4的判断，若否，电机继续运行直至出现堵转。针对步骤4中监测的实时特征数据与特征参数阈值的比对程序，判断出电机运行无异常，即未出现堵转。
步骤9：当确认移动装置到达零点位置，电机控制移动装置运动至设计坐标点。
电机的实时特征参数包括电流、电压、磁矩、转矩或电感中的任一参数。在数据采集和程序判断中，测试数据选用方法具有多种，可选各种数据参数，也可选择数据项特征曲线参数，以便达到工业控制领域中的最优方案。
实施例
以现有的3D打印机设备为例，电机为步进电机。步进电机，是一种将电脉冲转化为角位移的执行机构。
步进电机采用脉宽调制式细分驱动电路，是把DPA输出的控制电压加在脉宽调制电路的输入端,脉宽调制电路将输入的控制电压转换成相应脉冲宽度的矩形波,通过对功放管通断时间的控制,改变输出到电机绕组上的平均电流。以一个步距角的转动时间为周期T，检测周期T内，输出的电平的占空比，正常工作状态输出的电压的占空比不大于95％，堵转状态下的占空比要大于等于99％。
为达到一个周期内进行检测的目的，检测环境电机转速在10r/s至100r/s，电机的负载小于电机的保持转矩的20％；n＝θb*υ/(360*D)；n，电机转速(r/s)，θb，电机固有步距角(度)，υ脉冲频率(Hz)，D细分数；步进电机的保持转矩与电压、电流、自身电阻的设计有关，功率＝K×扭矩×转速，其中K是转换系数。
当步进电机运行出现堵转时，其电压的占空比增加，大于正常状态值，相应的转矩、电压、电流、电感和磁矩等可检测或计算的特征参数均会发生变化，偏离正常范围。
现有的3D打印机，对于三维打印的各个方向，一般使用限位开关等触发式电信号元器件，此电信号反馈到控制系统，控制系统进行整体结构的归零点设计确认。本发明的方法节省限位开关等一类触发式电信号元器件，只需设计接触式挡块，应用电机本身的特征堵转参数，控制系统针对特征堵转参数进行程序判断，即可完成3D打印机的结构上归零点设计确认。
工作过程：
1、打开电源；
2、打印机初始化：控制系统进行整体结构的归零点设计确认；
3、X方向零点设计确认：控制系统控制X轴电机驱动喷头结构，进行X方向的测试，确认X方向工作状态；在打印机X方向结构的任一端设置第一接触块XA，喷头端设置第二接触块XB，当电机驱动皮带，控制喷头自初始位置开始运动，当第一接触块XA与第二接触块XB相接触，相对的机械运动停止，此时电机产生特征堵转电流，电流反馈到控制系统，进行程序判断，判断值若为X方向零点设计确认值，控制系统给出停止信号，X方向电机停止工作，确认X方向零点，进而控制系统控制喷头运动到设计坐标点位置；初始化完成；
4、Y方向和Z方向的归零点设计确认，控制过程类似于X方向的过程，不同的是，根据不同的结构和控制选择，接触块可以设置在不同的结构器件上。
本发明的限位方法利用电机的自身可控的堵转时的特征状态参数，利用产生的堵转电流、堵转电压、堵转磁矩和堵转电感等特征参数进行程序判断，提供归零点的设计确认，节省触发式元器件的使用，优化工业设计的空间结构。
显然，本发明的上述实施方式仅仅是为清楚地说明本发明所作的举例，而并非是对本发明的实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无法对所有的实施方式予以穷举。凡是属于本发明的技术方案所引伸出的显而易见的变化或变动仍处于本发明的保护范围之列。

Claims (4)

  1. 一种限位传感方法，其特征在于，该方法包括以下步骤：
    (1)分别在固定设备的零点处和移动装置上安装第一接触块及第二接触块；
    (2)运行驱动移动装置运转的电机，获取电机实时特征参数；
    (3)根据步骤(2)中的电机实时特征参数，采用基于特征参数阈值的堵转检测方法对电机进行实时堵转检测；
    (4)监测电机实时特征参数是否大于预设的特征参数阈值；
    (5)若是，即电机出现堵转，第一接触块与第二接触块相接触，移动装置到达零点位置；若否，电机继续运行直至出现堵转。
  2. 根据权利要求1所述的限位传感方法，其特征在于，步骤(5)还包括以下判断：电机出现堵转时移动装置是否运行至零点位置：若是，则确认移动装置到达零点位置；若否，停止电机，排除电机堵转问题。
  3. 根据权利要求1所述的限位传感方法，其特征在于，该方法还包括以下步骤：当确认移动装置到达零点位置时，电机控制移动装置运动至设计的坐标点。
  4. 根据权利要求1所述的限位传感方法，其特征在于，所述电机实时特征参数包括电流、电压、磁矩、转矩或电感中的任一参数。
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