CN101902200A - Follow-up control method of servo mechanism - Google Patents
Follow-up control method of servo mechanism Download PDFInfo
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- CN101902200A CN101902200A CN2010102490261A CN201010249026A CN101902200A CN 101902200 A CN101902200 A CN 101902200A CN 2010102490261 A CN2010102490261 A CN 2010102490261A CN 201010249026 A CN201010249026 A CN 201010249026A CN 101902200 A CN101902200 A CN 101902200A
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Abstract
The invention relates to a follow-up control method of a servo mechanism, which comprises the following steps of: a, extracting a motor rotating direction signal Dir and a PWM wave of frequency generated regularly; b, generating a motor logic control signal by using a general array logic (GAL) circuit according to the signal; and c, controlling the turn-on and turn-off of two power tubes of upper and lower bridge arms by a driving signal amplification circuit and an H bridge power amplification circuit according to the motor logic control signal so as to drive the forward and backward rotation of the motor. The follow-up control method has the characteristics of static 'zero' power consumption, capability of realizing modulation by pulse width PWM from a duty ratio of between 0 and 100 percent, high servo control performance, wide bandwidth, simple realization of control principle, small noise and the like.
Description
Technical field
The present invention relates to the technical field of servomechanism, refer more particularly to a kind of follow-up control method of servo mechanism.
Background technology
In the existing servo following control system, the control mode of drive motors is controlled opening and shutting off of two power tubes of upper and lower bridge arm simultaneously by adopting with the square wave of pulse-width modulation frequently mostly, thus the forward and reverse of drive motors.When adopting this kind control mode, zero control condition is pulse duty cycle approximate 50% up and down, motor is in " static " state in theory, and the armature supply of this pattern PWM control is continuous, even motor does not rotate, motor two ends armature voltage instantaneous value also is not equal to zero, but the width of positive and negative pulse voltage equates that flow through the electric current of an alternation in the armature circuit, this electric current causes motor generation dither, though the favourable static friction that reduced has increased the no-load loss of motor simultaneously.
The shortcoming that this kind control mode exists:
1. the existence of motor two ends pressure reduction causes the static heat loss of motor;
2. the static heat loss of motor causes stream time to be restricted;
3. the interval of pulse width modulation duty only limits to 0～50% or 50%～100%;
4. the HF switch of power tube causes the device inside thermal losses to strengthen, and will reduce the device self performance greatly along with temperature raises, and temperature is floated thereupon;
5. static kwh loss has shortened battery working time;
Quiescent current and power tube high frequency are opened and are externally produced big noise jamming.
Summary of the invention
Technical problem to be solved by this invention provides the technical scheme of a kind of performance of effective raising control system, the stream time that prolongs motor, reduction noise.
For solving the problems of the technologies described above, the present invention includes following steps:
A extracts direction of motor rotation signal Dir and the fixing PWM wave of frequency that generates;
B produces the motor logic control signal with above-mentioned signal through GAL (GAL) circuit;
C controls opening and shutting off of two power tubes of upper and lower bridge arm with the motor logic control signal by drive signal amplifying circuit, H bridge power amplification circuit, thus the forward and reverse of drive motors.
In the such scheme, described driving loop and control loop electrical isolation.
In the such scheme, described motor logic control signal is input to described H bridge power amplification circuit after isolating, drive through photoelectricity.
Preferably, described method includes brush, brushless (AC and DC) control implementation.
Beneficial effect of the present invention:
1. according to operation principle, after direction signal participates in opening and shutting off of power tube, only when rotating, just carries out by motor opening and shutting off of power tube, do not cause the power tube unlatching under the zero control situation, therefore this type control mode has reduced frequently opening and shutting off of power tube, effectively reduces system noise;
2. control system is not when having deviation signal, the output of logical circuit does not cause the unlatching of power tube, the PWM duty ratio of this moment is approximately zero, and the busbar voltage that promptly is applied to the motor two ends is approximately zero, so the electrical consumption electric current under this status condition is zero;
3. under the zero control state, power tube has been avoided frequent opening and shutting off, and greatly reduces the power thermal losses of device, has prolonged the operating time of controller;
4. system is when distribution is worked, because the quiescent dissipation of motor is zero, motor all is in zero loss state after finishing servo instruction, has prolonged motor and has been interrupted the time of having a rest, and the whole system stream time has been prolonged greatly;
5. this kind control mode control motor rotates all the time and changes by high-low level, has realized 0～100% duty ratio pulse width conversion on the control theory, is more conducive to the performance of motor speed, has improved the dynamic characteristic of motor.
Description of drawings
Below in conjunction with the drawings and specific embodiments technical scheme of the present invention is further described in detail.
Fig. 1 is principle electrical circuit figure of the present invention;
Fig. 2 is a power amplification circuit.
Embodiment
As Fig. 1, shown in Figure 2, when system's closed loop is worked, work as control signal
The time, there is deviation in the two ends duty ratio of motor, at first detect the rotor direction of rotation of motor, extract direction signal Dir and be changed to high level, and with fixing frequency domain PWM ripple through generic logic array conversion back output high-low level clock signal: M11 is that high level, M22 are that low level, M33 are that low level, M44 are high level, after amplifying field effect transistor M1, M4 are opened through light-coupled isolation, driving simultaneously again, and being in continuous saturation condition, Ci Shi pair of pipes is opened drive motors simultaneously and is rotated to positive direction so; In like manner, work as control signal
The time, direction signal Dir is that low level and PWM ripple are exported the high-low level clock signal through generic logic array conversion back: M11 is that low level, M22 are that high level, M33 are that high level, M44 are low level, cause that field effect transistor M2 and M3 open simultaneously, drive motors is to opposite spin.When motor two ends control deviation signal was zero, this moment, the output of logic array can not be opened a pair of power tube simultaneously, avoided taking place the logical phenomenon of mistake.
Power amplification circuit is made up of 4 power switch pipes and 4 fly-wheel diodes.4 power switch pipes are divided into two groups, and M1 and M4 are one group, and M2 and M3 are another group.Through the drive signal amplifying circuit, drive H bridge power driving circuit then and drive opening and shutting off of H bridge power tube, reach the servo purpose of motor.Wherein M11～M44 through photoelectricity isolate, drive back control (conducting of the power tube of M1～M4) with end.
It should be noted last that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (4)
1. follow-up control method of servo mechanism may further comprise the steps:
A extracts direction of motor rotation signal Dir and the fixing PWM wave of frequency that generates;
B produces the motor logic control signal with above-mentioned signal through GAL (GAL) circuit;
C controls opening and shutting off of two power tubes of upper and lower bridge arm with the motor logic control signal by drive signal amplifying circuit, H bridge power amplification circuit, thus the forward and reverse of drive motors.
2. follow-up control method of servo mechanism according to claim 1 is characterized in that, described driving loop and control loop electrical isolation.
3. follow-up control method of servo mechanism according to claim 1 and 2 is characterized in that, described motor logic control signal is input to described H bridge power amplification circuit after isolating, drive through photoelectricity.
4. follow-up control method of servo mechanism according to claim 3 is characterized in that, described method includes brush, brushless (AC and DC) control implementation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102490261A CN101902200A (en) | 2010-08-10 | 2010-08-10 | Follow-up control method of servo mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102490261A CN101902200A (en) | 2010-08-10 | 2010-08-10 | Follow-up control method of servo mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN101902200A true CN101902200A (en) | 2010-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010102490261A Pending CN101902200A (en) | 2010-08-10 | 2010-08-10 | Follow-up control method of servo mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102624307A (en) * | 2011-01-26 | 2012-08-01 | 山东朗进科技股份有限公司 | Constant torque driving method and driving circuit of stepping motor |
| CN103325522A (en) * | 2013-06-19 | 2013-09-25 | 浙江大学 | Electric magnet bi-directional driving circuit |
| CN108306560A (en) * | 2018-02-07 | 2018-07-20 | 北京执未来科技有限公司 | A kind of motor driven systems and method |
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| JPS6162382A (en) * | 1984-08-31 | 1986-03-31 | Hitachi Ltd | Speed controller of motor |
| JPH01209975A (en) * | 1988-02-16 | 1989-08-23 | Murata Mach Ltd | Speed controller |
| JPH02241384A (en) * | 1989-03-10 | 1990-09-26 | Sony Corp | Controller for motor |
| CN1654800A (en) * | 2004-02-09 | 2005-08-17 | 株式会社日立制作所 | Driving apparatus and control method for electric actuator |
| CN101075799A (en) * | 2006-06-23 | 2007-11-21 | 魏晓龙 | Digital intelligent controlling module for DC electric motor |
-
2010
- 2010-08-10 CN CN2010102490261A patent/CN101902200A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6162382A (en) * | 1984-08-31 | 1986-03-31 | Hitachi Ltd | Speed controller of motor |
| JPH01209975A (en) * | 1988-02-16 | 1989-08-23 | Murata Mach Ltd | Speed controller |
| JPH02241384A (en) * | 1989-03-10 | 1990-09-26 | Sony Corp | Controller for motor |
| CN1654800A (en) * | 2004-02-09 | 2005-08-17 | 株式会社日立制作所 | Driving apparatus and control method for electric actuator |
| CN101075799A (en) * | 2006-06-23 | 2007-11-21 | 魏晓龙 | Digital intelligent controlling module for DC electric motor |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102624307A (en) * | 2011-01-26 | 2012-08-01 | 山东朗进科技股份有限公司 | Constant torque driving method and driving circuit of stepping motor |
| CN103325522A (en) * | 2013-06-19 | 2013-09-25 | 浙江大学 | Electric magnet bi-directional driving circuit |
| CN103325522B (en) * | 2013-06-19 | 2015-08-19 | 浙江大学 | Electromagnet drive circuit in bi-directional |
| CN108306560A (en) * | 2018-02-07 | 2018-07-20 | 北京执未来科技有限公司 | A kind of motor driven systems and method |
| CN108306560B (en) * | 2018-02-07 | 2020-08-07 | 世纪执一（北京）科技有限公司 | Motor driving system and method |
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Application publication date: 20101201 |