CN105958882A - Stepping motor double closed loop control system for electronic yarn guiding - Google Patents
Stepping motor double closed loop control system for electronic yarn guiding Download PDFInfo
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- CN105958882A CN105958882A CN201610390130.XA CN201610390130A CN105958882A CN 105958882 A CN105958882 A CN 105958882A CN 201610390130 A CN201610390130 A CN 201610390130A CN 105958882 A CN105958882 A CN 105958882A
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- Prior art keywords
- motor
- control system
- assembly
- double closed
- stepping motor
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- 238000012163 sequencing technique Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 10
- 230000000694 effects Effects 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000004804 winding Methods 0.000 description 10
- 230000005611 electricity Effects 0.000 description 4
- 229920000742 Cotton Polymers 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000005266 casting Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 238000004513 sizing Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
- H02P8/20—Arrangements for controlling speed or speed and torque characterised by bidirectional operation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/005—Arrangements for controlling dynamo-electric motors rotating step by step of linear motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/05—Torque loop, i.e. comparison of the motor torque with a torque reference
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The invention discloses a stepping motor double closed loop control system for electronic yarn guiding. The stepping motor double closed loop control system for electronic yarn guiding includes a control loop, a driver and a motor, wherein the control loop includes a torque control assembly and a sequential control assembly; both the torque control assembly and the sequential control assembly are connected with the driver; the driver is connected with the motor; the motor is also connected with a position sensor and a drive current zero-crossing comparator; the position sensor is connected with the sequential control assembly; and the drive current zero-crossing comparator is connected with the torque control assembly. The stepping motor double closed loop control system for electronic yarn guiding can satisfy the high-speed starting-stopping and reversion effect required by the electronic yarn guiding technology, can stably work during the high speed moving process without step loss and overshooting, and can realize distributed reeling with high precision. The stepping motor is convenient for realizing high-speed starting-stopping and the reversing movement. The stepping motor double closed loop control system can improve the technological level of electronic yarn guiding, the working stability of the system and the economic benefit.
Description
Technical field
The present invention relates to a kind of motor double closed-loop control system for electronics guide.
Background technology
Conventional textile equipment needs yarn is carried out various process, including scutching cotton, comb and parallel cotton fibers prior to spinning, combing, drafting,
Rove, spun yarn, winder, twisting thread, shake the operations such as line one, scutching cotton, modern crafts also need to heating, draw
Stretch, sizing etc. processes, and during yarn coiling, feed carrier controls yarn by traverse motion
Line position on winder, it is achieved yarn is carried out precise alignment.Feed carrier traditionally is typically by machine
Tool gear-box and cam mechanism are constituted, and for the winding process that various yarns are different, equipment adjusts more tired
Difficulty, winding speed is the highest.For overcoming the shortcoming of conventional pilot yarn feeding device, current feed carrier many employings electronics tooth
The electronic type that wheel is constituted with electric cam, carries out parameter by the movement relation between each motor and arranges realization
Tackle the needs of various Yarn winding technologes flexibly.
Currently, domestic feed carrier mainly uses the traversing gear driven by gear to realize guide, according to leading
Yarn feature, designs oval bilateral rotation wheel, and yarn guide head is under the drive rotating wheel, it is possible to achieve at a high speed
Reciprocating motion；But this mode mainly has the disadvantages that 1, uses mechanical movement, fragile, the longevity
Order short；2, machinery guide is difficult to run up, and current speed is typically difficult to more than 1000M/min；
3, the receipts limit angle controllability of machinery guide is less, controls very flexible；4, machinery guide, rotary arc
Degree is fixing, it is impossible to realize accurate distributed guide.For electronic type feed carrier, its guide controls skill
Art mainly uses the mode of servomotor to realize, but servomotor is in running up, and is difficulty with
Accurate start and stop and reversion control, and owing to inertia force is relatively big, there is winding speed and control difficult problem.
Summary of the invention
For overcoming above-mentioned technological deficiency, the present invention proposes a kind of motor two close cycles for electronics guide
Control system, it is achieved two-forty, high accuracy during electronics guide control, so that it is guaranteed that motor is at height
Steady operation motor start and stop accurately and reversion in speed motion.
A kind of motor double closed-loop control system for electronics guide of the present invention, including control loop,
Driver and motor, described control loop includes direct torque assembly and sequencing contro assembly, described torque
Control assembly to be all connected with described driver with sequencing contro assembly, described driver and described motor phase
Even；Described motor is also respectively connected with position sensor and drives current over-zero comparator, and described position passes
Sensor is connected with described sequencing contro assembly, described driving current over-zero comparator and described direct torque group
Part is connected.
Further, increment type PID inspection it is also associated with between described sequencing contro assembly and described driver
Survey device.
The increment type PID detector of the technical program is avoided for being eliminated static error by pid control algorithm
Overshoot, moves in order to high-precision control of stepping motor.
In the application, use and drive current over-zero comparator and step motor position sensor to obtain step in real time
Entering rotating speed and the torque of motor, design current drives current over-zero comparator and position sensor Real-time Collection,
The Dual-loop feedback control control system of collaborative work, it is achieved the two-forty during electronics guide, high accuracy control
System, so that it is guaranteed that motor steady operation motor start and stop accurately and reversion in high-speed motion.Meanwhile, for
Improve density and the fixed effect of winding, effectively realize the accurate sequence of yarn, control proposed by the invention
Method processed uses incremental PID control method in motor torque control, sets linear velocity, winding flexibly
Than and receive the winding parameters such as corner degree, it is achieved high-accuracy distributed volume around.
Electric current is used to drive current over-zero comparator and step motor position sensor to obtain motor in real time
Rotating speed and torque, wherein the torque of motor by incremental timestamp algorithm eliminate static error
Avoid overshoot, reach the purpose of high-precision control of stepping motor motion.Motor used by electronics guide needs
To move back and forth at a high speed, in it controls, to use position sensor to judge to control the position of loop, control
The sequential of two-phase-region casting signal, reaches the preferable commutation time.By driving current over-zero comparator, sentence
Power-off stream and the phase contrast of voltage, calculate the size of equiva lent impedance, regulates the impulse magnitude driven, with
Obtain accurate direct torque.In direct torque, with the rotating speed that controls loop for controlling target,
Torque value after using the output of incremental timestamp algorithm to optimize.Finally realize high speed, high-precision electricity
Sub-guide controls.
The present invention's is a kind of in the motor double closed-loop control system of electronics guide, electronics guide control
System processed is directed to motor, and it is high that motor has control accuracy, and mechanism's design is relatively easy
Feature, can meet the high speed start and stop and inversion effect required in electronics guide technique, in high-speed motion
Steady operation, out-of-step free, not overshoot, by digital control, it is also possible to sets winding parameters flexibly, real
The most high-accuracy existing distributed volume around；Motor has the feature of low rotor inertia, it is achieved start and stop at a high speed
With commutation motion；The technological level of electronics guide can be improved, improve the job stability of system, improve
Economic benefit.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of motor double closed-loop control system for electronics guide of the present invention
Figure；
Fig. 2 is the sequential chart of the driving pulse in the specific embodiment of the invention；
Fig. 3 is the simplified model figure of motor in the present invention.
Detailed description of the invention
It is explained the present invention below, it should be understood that example is for this is described with instantiation
Bright rather than limitation of the present invention, the scope of the present invention and core content are in addition true according to claims
Fixed.
As it is shown in figure 1, a kind of motor double-closed-loop control for electronics guide that the present embodiment provides
System, including controlling loop, driver 1 and motor 2, control loop include direct torque assembly 3 and time
Sequence controls assembly 4, and direct torque assembly 3 is all connected with driver 1 with sequencing contro assembly 4, sequential
Control to be also associated with between assembly 4 and driver 1 increment type PID detector 5, driver 1 and motor 2
It is connected；Motor 2 is also respectively connected with position sensor 6 and drives current over-zero comparator 7, wherein, position
Put sensor 6 to be connected with sequencing contro assembly 4, drive current over-zero comparator 7 and direct torque assembly 5
It is connected.
It is a kind of in the motor double closed-loop control system of electronics guide that the present embodiment is proposed, electricity
Motor used by sub-guide needs to move back and forth at a high speed, in it controls, uses position sensor to judge
Control the position of loop, control the sequential of two-phase-region casting signal, reach the preferable commutation time.By driving
Streaming current zero-crossing comparator, it is judged that electric current and the phase contrast of voltage, calculates the size of equiva lent impedance, adjusts
The impulse magnitude that joint drives, to obtain accurate direct torque.In direct torque, to control ring
The rotating speed on road, for controlling target, uses the torque value after the output optimization of incremental timestamp algorithm, finally
Realize high speed, high-precision electronics guide controls.
A kind of motor double closed-loop control system for electronics guide that the present embodiment is proposed, its control
Desired value processed is rotating speed and the torque of step motor control loop, it is achieved two-forty during electronics guide,
High accuracy controls, it is ensured that motor is steady operation motor start and stop accurately and reversion in high-speed motion.
The system that the present embodiment uses is Dual-loop feedback control control system, and implementation step is as follows:
(1) obtained the real-time position signal of control loop by position sensor, carry out closed loop control stepping electricity
The rotating speed of machine.Motor controls the position of loop according to the signal acquisition motor that position sensor transmits.
Control four kinds of different states being presented of position of loop as in figure 2 it is shown, adjust driving pulse time
Sequence, generally uses the commutation moment of 45 degree to control, can obtain more satisfactory commutation effect.Can also
Loop degree of rotation is controlled, it is judged that motor walks either with or without the rotation completing to give according to position judgment motor
Number.
(2) current over-zero comparator is driven by each phase current, it is thus achieved that the phase of Current calculation and known voltage
Potential difference, it is judged that the changing value of torque, realizes the accurate control of torque by increment type PID algorithm.Turning
During square controls, need to use motor equivalent model, convenient control computing, the stepping of present invention application
Motor is turbo-tray motor, and the rotary inertia of motor is smaller, and the work model of motor can enter
Row simplifies, and traditional step motor control loop Mathematical Models is more complicated, letter as shown in Figure 3
Change model.
Inductance is the magnetizing inductance controlling loop winding, under the effect of magnetizing inductance, produces electromagnetic torque,
In electric machine rotation, magnetizing inductance is held essentially constant；Equivalent resistance is output and the energy consumption controlling loop torque,
Represent the size of electronics output energy, and square being directly proportional of electric current；Under different rotating speeds and torque,
Under the phase angle θ of voltage and current is
According to the change at phase angle, when can extrapolate current k, inscribe size U (k) controlling loop torque.
The control accuracy higher for realizing motor torque, the feature that the present invention is directed to motor uses increment type double
Closed loop control method, to realize, anti-windup is saturated and reliable stability, the wherein discrete shape of PID controller
Formula such as following formula.In formula, T is the sampling period, TdFor derivative time constant, TiFor integration time constant, KpFor
Proportionality coefficient, then Ki=Kp/TiFor integral coefficient, Kd=Td/KpFor differential coefficient, e (k) is the electricity in kth moment
Machine speed error, Δ U (k) is the increment of kth moment motor torque.
This control system by the integral element in pid control algorithm, differentiation element, proportional component, right
Before and after motor, the torque error of moment output is adjusted, to realize the accurate direct torque of motor.
Use a kind of ATO coating prepared for the motor double closed-loop control system of electronics guide of the present invention
Overcome many deficiencies of conventional wet preparation technology, have high permeability, highly reflective, high rigidity,
Low resistance, antistatic, good weatherability, well-insulated feature, and the technique of preparation method repeat stable
Property is good, production efficiency is high, energy-conserving and environment-protective, it is easy to large-scale industrial production.
The present embodiment a kind of in the motor double closed-loop control system of electronics guide, electronics guide
Control system is directed to motor, and it is high that motor has control accuracy, and mechanism's design is relatively easy
Etc. feature, the high speed start and stop and inversion effect required in electronics guide technique can be met, at high-speed motion
Middle steady operation, out-of-step free, not overshoot, by digital control, it is also possible to sets winding parameters flexibly,
Realize high-accuracy distributed volume around；Motor has the feature of low rotor inertia, it is achieved opening of high speed
Stop and commutate motion；The technological level of electronics guide can be improved, improve the job stability of system, carry
High economic benefit.
Embodiment described above is the preferably scheme of the present invention, and the present invention not makees any form
On restriction, on the premise of without departing from the technical scheme described in claim also have other variant and
Remodeling.
Claims (2)
1. the motor double closed-loop control system for electronics guide, it is characterised in that: include controlling
Loop, driver and motor, described control loop includes direct torque assembly and sequencing contro assembly, institute
Stating direct torque assembly to be all connected with described driver with sequencing contro assembly, described driver is with described
Motor is connected；Described motor is also respectively connected with position sensor and drives current over-zero comparator, described
Position sensor is connected with described sequencing contro assembly, described driving current over-zero comparator and described torque
Control assembly to be connected.
A kind of motor double closed-loop control system for electronics guide the most according to claim 1,
It is characterized in that: between described sequencing contro assembly and described driver, be also associated with increment type PID detection
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610390130.XA CN105958882B (en) | 2016-06-02 | 2016-06-02 | A kind of stepper motor double closed-loop control system for electronics guide |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610390130.XA CN105958882B (en) | 2016-06-02 | 2016-06-02 | A kind of stepper motor double closed-loop control system for electronics guide |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105958882A true CN105958882A (en) | 2016-09-21 |
| CN105958882B CN105958882B (en) | 2019-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610390130.XA Active CN105958882B (en) | 2016-06-02 | 2016-06-02 | A kind of stepper motor double closed-loop control system for electronics guide |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109371557A (en) * | 2018-11-21 | 2019-02-22 | 杭州之山智控技术有限公司 | Straight-bar machines plays plate control system and its method |
Citations (4)
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|---|---|---|---|---|
| CN1945964A (en) * | 2005-10-08 | 2007-04-11 | 王有元 | Square-wave permanent magnet multiple frequency speed regulating synchronous cage motor |
| CN201545551U (en) * | 2009-12-01 | 2010-08-11 | 北京和利时电机技术有限公司 | Numerical control winding control unit |
| CN101835980A (en) * | 2007-10-24 | 2010-09-15 | Lg电子株式会社 | Reciprocating compressor |
| CN103219934A (en) * | 2012-01-18 | 2013-07-24 | 凌通科技股份有限公司 | Optimum phase position fine adjustment method of driving voltages of direct current brushless motor and motor |
-
2016
- 2016-06-02 CN CN201610390130.XA patent/CN105958882B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1945964A (en) * | 2005-10-08 | 2007-04-11 | 王有元 | Square-wave permanent magnet multiple frequency speed regulating synchronous cage motor |
| CN101835980A (en) * | 2007-10-24 | 2010-09-15 | Lg电子株式会社 | Reciprocating compressor |
| CN201545551U (en) * | 2009-12-01 | 2010-08-11 | 北京和利时电机技术有限公司 | Numerical control winding control unit |
| CN103219934A (en) * | 2012-01-18 | 2013-07-24 | 凌通科技股份有限公司 | Optimum phase position fine adjustment method of driving voltages of direct current brushless motor and motor |
Non-Patent Citations (1)
| Title |
|---|
| 董砚等: ""基于交流步进的PMSLM 位置控制***"", 《微电机》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109371557A (en) * | 2018-11-21 | 2019-02-22 | 杭州之山智控技术有限公司 | Straight-bar machines plays plate control system and its method |
| CN109371557B (en) * | 2018-11-21 | 2024-02-20 | 杭州之山智控技术有限公司 | Flat knitting machine lifting plate control system and method thereof |
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| CN105958882B (en) | 2019-03-12 |
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