CN102615550B - Alternating current servo control device adopting electronic gear and use method thereof - Google Patents
Alternating current servo control device adopting electronic gear and use method thereof Download PDFInfo
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Abstract
The invention relates to the field of electric control systems with output signals serving as a pulse series, in particular to an alternating current servo control device adopting an electronic gear and a use method thereof. The alternating current servo control device adopting the electronic gear comprises an upper computer controller (1), a servo controller (2) and a motor (3) and is characterized by further comprising a decoding deck (4) respectively connected with the upper computer controller (1), the servo controller (2) and the motor (3) through signal lines, the decoding deck (4) comprises an electronic gear numerator input calculation module (401), an electronic gear denominator input calculation module (402), a position difference calculation module (403), a accumulation and register module (407), a quadruple frequency generator module (408) and a zero-crossing processing module (409). The alternating current servo control device adopting the electronic gear is simple in structure, precise in control, sensitive in reaction and wide in application range.
Description
Technical field
The present invention relates to the electric control system field of output signal for the train of impulses, be specially a kind of AC servo controller and the using method thereof that adopt electronic gear.
Background technology
Encoder is measuring cell relative shift being converted to the signal of telecommunication, is widely used in SERVO CONTROL.Encoder has increment type and absolute type, and incremental encoder cannot remember the position of power-cut time when system cut-off, again must find initial point after system powers up again, therefore convenient not for SERVO CONTROL.By contrast, its initial point of absolute type encoder only need set once, the position of power-cut time can be remembered when system cut-off, after system powers up again can then power-off time position work on, therefore, in similar numerical control machine high accurate servo-control system, the high-resolution absolute type encoder of general employing now.Concerning whole control system, if realize free from error closed-loop control, also to receive by the position signalling of encoder feedback in performance element after just necessarily requiring host computer to send pulse control signal, but absolute type encoder can only carry out digital communication, can not direct output pulse signal, which limits the application of absolute type encoder, also limit the control accuracy of Digit Control Machine Tool.
Summary of the invention
In order to overcome the defect of prior art, providing a kind of electric control system that control accuracy is high, the scope of application is wide, the invention discloses a kind of AC servo controller and the using method thereof that adopt electronic gear.
The present invention reaches goal of the invention by following technical solution:
A kind of AC servo controller adopting electronic gear, comprise supervisory controller, servo controller and motor, servo controller comprises slave computer and at least one absolute type encoder, slave computer is connected with absolute type encoder by holding wire, supervisory controller is connected with servo controller by holding wire, servo controller is connected with motor by holding wire, it is characterized in that: also comprise decoding deck, decoding deck connects supervisory controller respectively by holding wire, servo controller and motor, decoding deck comprises electronic gear molecule input computing module, electronic gear denominator input computing module, position difference calculating module, comparator module, remainder processing module, Base clock module, cumulative sum register module, quadruple generator module, zero passage processing module, orthogonal A/B pulsed orthogonal output module and Z phase output module,
The signal output part of servo controller connects electronic gear molecule input computing module respectively by holding wire, the signal input part of electronic gear denominator input computing module and these three modules of position difference calculating module, the signal output part of electronic gear molecule input computing module distinguishes the signal input part of link position difference calculating module and these two modules of remainder processing module by holding wire, the signal output part of electronic gear denominator input computing module connects the signal input part of comparator module and these two modules of remainder processing module respectively by holding wire, the signal input part of cumulative sum register module is by holding wire link position difference calculating module respectively, comparator module, the signal output part of remainder processing module and these four modules of Base clock module, the signal output part of cumulative sum register module connects the signal input part of quadruple generator module and these two modules of zero passage processing module respectively by holding wire, the signal output part of position difference calculating module is connected by the signal input part of holding wire with quadruple generator module, the signal output part of quadruple generator module is connected by the signal input part of holding wire with orthogonal A/B pulsed orthogonal output module, the signal output part of zero passage processing module is connected by the signal input part of holding wire with Z phase output module.
The AC servo controller of described employing electronic gear, is characterized in that: supervisory controller adopts microcomputer or single-chip microcomputer, and slave computer adopts Programmable Logic Controller.
Adopt a using method for the AC servo controller of electronic gear, carry out successively as follows:
By molecule and the denominator numerical value of the electronic gear of the slave computer input setting of servo controller, namely input the gearratio of electronic gear, servo controller gathers the positional information of motor by absolute type encoder;
Servo controller is by the positional information of the molecule numerical value of electronic gear, the denominator numerical value of electronic gear and motor input decoding deck, wherein, the molecule numerical value input electronic gear molecule input computing module of electronic gear, the denominator numerical value input electronic gear denominator input computing module of electronic gear, the positional information input position difference calculating module of motor;
Electronic gear molecule input computing module is the molecule numerical value input position difference calculating module of electronic gear and remainder processing module, position difference calculating module is used for the mathematic interpolation to the motor absolute position that absolute type encoder collection obtains, position difference calculating module calculates the position difference of absolute type encoder motor within twice acquisition interval phase, again this position difference input cumulative sum register module, the required number of pulses exported of this position difference corresponding A/B signal;
Electronic gear denominator input computing module is the denominator numerical value input comparator module of electronic gear and remainder processing module, comparator module is for setting the comparison threshold of electronic gear gearratio, when after the molecule of electronic gear and the ratio changing of the change of denominator numerical value and electronic gear, comparator module produces the comparison threshold after the change of A/B signal, then this comparison threshold input cumulative sum register module;
Cumulative sum register module does accumulation calculating the position difference of motor, and the cumulative sum and comparison threshold calculating rear acquisition is compared, as cumulative sum be greater than comparison threshold then cumulative sum register module cumulative sum input quadruple generator module and zero passage processing module, as cumulative sum be less than comparison threshold then cumulative sum register module do not output signal, remainder feedback when molecule denominator is not divided exactly when remainder processing module does division arithmetic for the treatment of cumulative sum register module, Base clock module is for providing the fundamental clock frequency of cumulative sum register module;
Quadruple generator module inputs orthogonal A/B pulsed orthogonal output module after the cumulative sum of motor position difference is converted to quadruple orthogonal pulses signal again, and quadruple orthogonal pulses signal is converted to serial signal with orthogonal A/B pulsed orthogonal output module or parallel signal inputs supervisory controller again;
Zero passage processing module calculates the absolute zero position of absolute type encoder and by this absolute zero position information input Z phase output module, absolute zero position information is converted to serial signal with Z phase output module or parallel signal inputs supervisory controller again.
The using method of the AC servo controller of described employing electronic gear, is characterized in that: the sampling frequency of absolute type encoder is 2000 times/turns ~ 3000 times/turns, and the fundamental clock frequency that Base clock module provides is 300MHz.
In Digit Control Machine Tool servo-control system, during processing different parts, need to change different axles, different axles needs the umber of pulse of feedback just different, such as: when numerically controlled lathe 10mm leading screw, so motor turns around Mechanical Moving 10mm, and often moving 0.001mm just needs motor to rotate 1/10000 circle; And if change into and connect 5mm leading screw, and diameter programming, then the amount of movement of every 0.001mm just needs motor to rotate 1/5000 turn, needs the umber of pulse of feedback to be exactly multiple proportion existence like this.When adopting the invention process Digit Control Machine Tool SERVO CONTROL, first by molecule and the denominator numerical value of the electronic gear of the slave computer input setting of servo controller, namely the gearratio of electronic gear is inputted, servo controller gathers the positional information of motor by absolute type encoder, then decoding deck will export corresponding A, B, Z orthogonal pulses signal feedback to supervisory controller.
The invention has the beneficial effects as follows: structure is simple, control accurately, to be quick on the draw, applied widely.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of servo controller in the present invention;
Fig. 3 is the structural representation of decoding deck in the present invention.
Detailed description of the invention
The present invention is further illustrated below by way of specific embodiment.
Embodiment 1
Adopt an AC servo controller for electronic gear, comprise supervisory controller 1, servo controller 2, motor 3 and decoding deck 4, as shown in FIG. 1 to 3, concrete structure is:
Supervisory controller 1 is connected with servo controller 2 by holding wire, and servo controller 2 is connected with motor 3 by holding wire, and decoding deck 4 connects supervisory controller 1, servo controller 2 and motor 3 respectively by holding wire.Supervisory controller 1 selects microcomputer.
Servo controller 2 as shown in Figure 2, comprise slave computer 21 and at least one absolute type encoder 22, the present embodiment servo controller 2 comprises three absolute type encoders 22, and slave computer 21 is connected with absolute type encoder 22 by holding wire, and slave computer 21 selects Programmable Logic Controller.
Decoding deck 4 as shown in Figure 3, comprises electronic gear molecule input computing module 401, the input of electronic gear denominator computing module 402, position difference calculating module 403, comparator module 404, remainder processing module 405, Base clock module 406, cumulative sum register module 407, quadruple generator module 408, zero passage processing module 409, orthogonal A/B pulsed orthogonal output module 410 and Z phase output module 411.
The signal output part of servo controller 2 connects electronic gear molecule input computing module 401 respectively by holding wire, the signal input part of electronic gear denominator input computing module 402 and these three modules of position difference calculating module 403, the signal output part of electronic gear molecule input computing module 401 distinguishes the signal input part of link position difference calculating module 403 and these two modules of remainder processing module 405 by holding wire, the signal output part of electronic gear denominator input computing module 402 connects the signal input part of comparator module 404 and these two modules of remainder processing module 405 respectively by holding wire, the signal input part of cumulative sum register module 407 is by holding wire link position difference calculating module 403 respectively, comparator module 404, the signal output part of remainder processing module 405 and these four modules of Base clock module 406, the signal output part of cumulative sum register module 407 connects the signal input part of quadruple generator module 408 and these two modules of zero passage processing module 409 respectively by holding wire, the signal output part of position difference calculating module 403 is connected by the signal input part of holding wire with quadruple generator module 408, the signal output part of quadruple generator module 408 is connected by the signal input part of holding wire with orthogonal A/B pulsed orthogonal output module 410, the signal output part of zero passage processing module 409 is connected by the signal input part of holding wire with Z phase output module 411.
The present embodiment carries out when using as follows successively:
Inputted molecule and the denominator numerical value of the electronic gear of setting by the slave computer 21 of servo controller 2, namely input the gearratio of electronic gear, servo controller 2 gathers the positional information of motor 3 with the sampling frequency of 2000 times/turns by absolute type encoder 22.
Servo controller 2 is by the positional information of the molecule numerical value of electronic gear, the denominator numerical value of electronic gear and motor 3 input decoding deck 4, as shown in Figure 3, the molecule numerical value of electronic gear inputs electronic gear molecule input computing module 401 from port I, the denominator numerical value of electronic gear inputs electronic gear denominator input computing module 402 from port II, and the positional information of motor 3 is from port III input position difference calculating module 403.
Electronic gear molecule input computing module 401 is the molecule numerical value input position difference calculating module 403 of electronic gear and remainder processing module 405, position difference calculating module 403 is for gathering the mathematic interpolation of motor 3 absolute position of acquisition to absolute type encoder 22, position difference calculating module 403 calculates the position difference of absolute type encoder 22 motor 3 within twice acquisition interval phase, again this position difference input cumulative sum register module 407, the required number of pulses exported of this position difference corresponding A/B signal.
Electronic gear denominator input computing module 402 is the denominator numerical value input comparator module 404 of electronic gear and remainder processing module 405, comparator module 404 is for setting the comparison threshold of electronic gear gearratio, when after the molecule of electronic gear and the ratio changing of the change of denominator numerical value and electronic gear, comparator module 404 produces the comparison threshold after the change of A/B signal, then this comparison threshold input cumulative sum register module 407.
Cumulative sum register module 407 does accumulation calculating the position difference of motor 3, and the cumulative sum and comparison threshold calculating rear acquisition is compared, as cumulative sum be greater than comparison threshold then cumulative sum register module 407 cumulative sum input quadruple generator module 408 and zero passage processing module 409, as cumulative sum be less than comparison threshold then cumulative sum register module 407 do not output signal, remainder feedback when remainder processing module 405 processes that when cumulative sum register module 407 does division arithmetic, molecule denominator is not divided exactly, Base clock module 406 provides the fundamental clock frequency of 300MHz to cumulative sum register module 407.
Quadruple generator module 408 inputs orthogonal A/B pulsed orthogonal output module 410 after the cumulative sum of motor 3 position difference is converted to quadruple orthogonal pulses signal again, and quadruple orthogonal pulses signal is converted to serial signal with orthogonal A/B pulsed orthogonal output module 410 or parallel signal inputs supervisory controller 1 again.
Zero passage processing module 409 calculates the absolute zero position of absolute type encoder 22 and absolute zero position information is converted this absolute zero position information input Z phase output module 411, Z phase output module 411 to serial signal or parallel signal inputs supervisory controller 1 again.
In Digit Control Machine Tool servo-control system, during processing different parts, need to change different axles, different axles needs the umber of pulse of feedback just different, such as: when numerically controlled lathe 10mm leading screw, so motor turns around Mechanical Moving 10mm, and often moving 0.001mm just needs motor to rotate 1/10000 circle; And if change into and connect 5mm leading screw, and diameter programming, then the amount of movement of every 0.001mm just needs motor to rotate 1/5000 turn, needs the umber of pulse of feedback to be exactly multiple proportion existence like this.When adopting the present embodiment to implement Digit Control Machine Tool SERVO CONTROL, molecule and the denominator numerical value of the electronic gear of setting is first inputted by the slave computer 21 of servo controller 2, namely the gearratio of electronic gear is inputted, servo controller 2 gathers the positional information of motor 3 by absolute type encoder 22, then decoding deck 4 will export corresponding A, B, Z orthogonal pulses signal feedback to supervisory controller 1.
Embodiment 2
Adopt an AC servo controller for electronic gear, comprise supervisory controller 1, servo controller 2, motor 3 and decoding deck 4, supervisory controller 1 selects single-chip microcomputer, and other structures are all same with embodiment 1.
When the present embodiment uses, servo controller 2 gathers the positional information of motor 3 with the sampling frequency of 2500 times/turns by absolute type encoder 22.Other steps are all same with embodiment 1.
Embodiment 3
Adopt an AC servo controller for electronic gear, comprise supervisory controller 1, servo controller 2, motor 3 and decoding deck 4, other structures are all same with embodiment 1.
When the present embodiment uses, servo controller 2 gathers the positional information of motor 3 with the sampling frequency of 3000 times/turns by absolute type encoder 22.Other steps are all same with embodiment 1.
Claims (4)
1. one kind adopts the AC servo controller of electronic gear, comprise supervisory controller (1), servo controller (2) and motor (3), servo controller (2) comprises slave computer (21) and at least one absolute type encoder (22), slave computer (21) is connected with absolute type encoder (22) by holding wire, supervisory controller (1) is connected with servo controller (2) by holding wire, servo controller (2) is connected with motor (3) by holding wire, it is characterized in that: also comprise decoding deck (4), decoding deck (4) connects supervisory controller (1) respectively by holding wire, servo controller (2) and motor (3), decoding deck (4) comprises electronic gear molecule input computing module (401), electronic gear denominator input computing module (402), position difference calculating module (403), comparator module (404), remainder processing module (405), Base clock module (406), cumulative sum register module (407), quadruple generator module (408), zero passage processing module (409), orthogonal A/B pulsed orthogonal output module (410) and Z phase output module (411),
The signal output part of servo controller (2) connects electronic gear molecule input computing module (401) respectively by holding wire, the signal input part of electronic gear denominator input computing module (402) and position difference calculating module (403) these three modules, the signal output part of electronic gear molecule input computing module (401) distinguishes the signal input part of link position difference calculating module (403) and remainder processing module (405) these two modules by holding wire, the signal output part of electronic gear denominator input computing module (402) connects the signal input part of comparator module (404) and remainder processing module (405) these two modules respectively by holding wire, the signal input part of cumulative sum register module (407) is by holding wire link position difference calculating module (403) respectively, comparator module (404), the signal output part of remainder processing module (405) and Base clock module (406) these four modules, the signal output part of cumulative sum register module (407) connects the signal input part of quadruple generator module (408) and zero passage processing module (409) these two modules respectively by holding wire, the signal output part of position difference calculating module (403) is connected by the signal input part of holding wire with quadruple generator module (408), the signal output part of quadruple generator module (408) is connected by the signal input part of holding wire with orthogonal A/B pulsed orthogonal output module (410), the signal output part of zero passage processing module (409) is connected by the signal input part of holding wire with Z phase output module (411).
2. the AC servo controller adopting electronic gear as claimed in claim 1, it is characterized in that: supervisory controller (1) adopts microcomputer or single-chip microcomputer, slave computer (21) adopts Programmable Logic Controller.
3. the using method adopting the AC servo controller of electronic gear as claimed in claim 1 or 2, is characterized in that: carry out successively as follows:
By molecule and the denominator numerical value of the electronic gear of slave computer (21) the input setting of servo controller (2), namely input the gearratio of electronic gear, servo controller (2) gathers the positional information of motor (3) by absolute type encoder (22);
Servo controller (2) is by the positional information of the molecule numerical value of electronic gear, the denominator numerical value of electronic gear and motor (3) input decoding deck (4), wherein, molecule numerical value input electronic gear molecule input computing module (401) of electronic gear, denominator numerical value input electronic gear denominator input computing module (402) of electronic gear, the positional information input position difference calculating module (403) of motor (3);
Electronic gear molecule input computing module (401) is molecule numerical value input position difference calculating module (403) of electronic gear and remainder processing module (405), position difference calculating module (403) calculates the position difference of absolute type encoder (22) motor (3) within twice acquisition interval phase, then the required number of pulses exported of this position difference input cumulative sum register module (407) this position difference corresponding A/B signal;
Electronic gear denominator input computing module (402) is denominator numerical value input comparator module (404) of electronic gear and remainder processing module (405), when after the molecule of electronic gear and the ratio changing of the change of denominator numerical value and electronic gear, comparator module (404) produces the comparison threshold after the change of A/B signal, then this comparison threshold input cumulative sum register module (407);
Cumulative sum register module (407) does accumulation calculating the position difference of motor (3), and the cumulative sum and comparison threshold calculating rear acquisition is compared, as cumulative sum be greater than comparison threshold then cumulative sum register module (407) cumulative sum input quadruple generator module (408) and zero passage processing module (409), as cumulative sum be less than comparison threshold then cumulative sum register module (407) do not output signal, remainder feedback when molecule denominator is not divided exactly when remainder processing module (405) process cumulative sum register module (407) does division arithmetic, Base clock module (406) provides the fundamental clock frequency of cumulative sum register module (407),
Quadruple generator module (408) inputs orthogonal A/B pulsed orthogonal output module (410) after the cumulative sum of motor (3) position difference is converted to quadruple orthogonal pulses signal again, and quadruple orthogonal pulses signal is converted to serial signal to orthogonal A/B pulsed orthogonal output module (410) or parallel signal inputs supervisory controller (1) again;
Zero passage processing module (409) calculates the absolute zero position of absolute type encoder (22) and by this absolute zero position information input Z phase output module (411), absolute zero position information is converted to serial signal with Z phase output module (411) or parallel signal inputs supervisory controller (1) again.
4. the using method adopting the AC servo controller of electronic gear as claimed in claim 3, it is characterized in that: the sampling frequency of absolute type encoder (22) is 2000 times/turns ~ 3000 times/turns, and the fundamental clock frequency that Base clock module (406) provides is 300MHz.
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Families Citing this family (4)
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| CN108512472B (en) * | 2018-05-11 | 2021-03-12 | 重庆谱思机器人控制***有限公司 | Electronic gear-based following control method and system |
| CN110764439B (en) * | 2018-07-25 | 2022-09-06 | 上海英威腾工业技术有限公司 | Servo drive pulse output frequency divider and use method thereof |
| CN110365274B (en) * | 2019-07-17 | 2021-01-22 | 四川大学 | Electronic gear adjusting method and device and servo motor |
| CN113156839A (en) * | 2020-01-22 | 2021-07-23 | 科德数控股份有限公司 | Electronic gear of servo system |
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