CN105958882B - A kind of stepper motor double closed-loop control system for electronics guide - Google Patents
A kind of stepper motor double closed-loop control system for electronics guide Download PDFInfo
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- CN105958882B CN105958882B CN201610390130.XA CN201610390130A CN105958882B CN 105958882 B CN105958882 B CN 105958882B CN 201610390130 A CN201610390130 A CN 201610390130A CN 105958882 B CN105958882 B CN 105958882B
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- 238000005266 casting Methods 0.000 claims description 2
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- 230000000694 effects Effects 0.000 abstract description 5
- 238000004804 winding Methods 0.000 description 10
- 229920000742 Cotton Polymers 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000002360 preparation method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000009960 carding Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
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- 238000004134 energy conservation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
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- 230000007613 environmental effect Effects 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 238000002310 reflectometry Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
- 238000002834 transmittance Methods 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
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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
- 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 kind of stepper motor double closed-loop control systems for electronics guide, including control loop, driver and motor, the control loop includes direct torque component and timing control component, the direct torque component and timing control component are connected with driver, and the driver is connected to the motor；The motor is also respectively connected with position sensor and driving current zero-crossing comparator, and the position sensor is connected with timing control component, and the driving current zero-crossing comparator is connected with direct torque component.Using a kind of stepper motor double closed-loop control system for electronics guide of the invention, can satisfy the high speed start and stop and inversion effect required in electronics guide technique, the steady operation in high-speed motion, out-of-step free, not overshoot, realize high-accuracy distributed volume around；Stepper motor is easy to implement the start and stop and commutation movement of high speed；The technological level that electronics guide can be improved improves the job stability of system, increases economic efficiency.
Description
Technical field
The present invention relates to a kind of stepper motor double closed-loop control systems for electronics guide.
Background technique
Conventional textile equipment needs to carry out yarn various processing, including scutching cotton, cotton carding, combing, drafting, rove, spun yarn,
Winder twists thread, shakes the processes such as line one, scutching cotton, and modern crafts also need the processing such as to heat, stretch, be formed, in the mistake of yarn coiling
Cheng Zhong, feed carrier control position of the yarn on winder by traverse motion, realize and carry out precise alignment to yarn.It passes
Feed carrier on system is generally made of mechanical gearbox and cam mechanism, for the different winding process of various yarns, equipment
Adjust relatively difficult, winding speed is not high.The shortcomings that overcome traditional feed carrier, feed carrier mostly uses electronic gear at present
The electronic type constituted with electric cam carries out parameter setting realization by the movement relation between each motor and flexibly copes with various yarns
The needs of coil of wire winding technologe.
Currently, domestic feed carrier mainly realizes guide using the traversing gear by gear driving, according to guide feature, if
The reciprocating motion of high speed may be implemented under the drive of rotating wheel in the bilateral rotating wheel of meter ellipse, yarn guide head；But this mode master
Have the disadvantages that 1, using mechanical movement, easy to damage, the service life is short；2, mechanical guide is difficult to realize run at high speed, current
Speed is generally difficult to more than 1000M/min；3, the receipts side angle controllability of mechanical guide is smaller, and control flexibility is poor；4, mechanical
Guide, rotation radian are fixed, and can not achieve accurate distributed guide.For electronic type feed carrier, guide control technology
It is mainly realized using servo motor by the way of, but servo motor is in running at high speed, is difficult to realize accurate start and stop and instead
Turn control, and since inertia force is larger, there is a problem of winding speed control hardly possible.
Summary of the invention
To overcome above-mentioned technological deficiency, the present invention proposes a kind of stepper motor double-closed-loop control system for electronics guide
It unites, high-speed, high-precision control during realization electronics guide, so that it is guaranteed that motor steady operation in high-speed motion is accurate
Motor start and stop and reversion.
A kind of stepper motor double closed-loop control system for electronics guide of the invention, including control loop, driver
And motor, the control loop include direct torque component and timing control component, the direct torque component and timing control
Component is connected with the driver, and the driver is connected with the motor；Position biography is also respectively connected in the motor
Sensor and driving current zero-crossing comparator, the position sensor are connected with the timing control component, the driving current mistake
Zero comparator is connected with the direct torque component.
Further, increment type PID detector is also connected between the timing control component and the driver.
The increment type PID detector of the technical program, which is used to eliminate static error by pid control algorithm, avoids overshoot, to
High-precision control of stepping motor movement.
In the application, stepper motor is obtained in real time using driving current zero-crossing comparator and step motor position sensor
Revolving speed and torque, design current driving current zero-crossing comparator acquire in real time with position sensor, and the two close cycles of collaborative work are anti-
Present control system, high-speed, high-precision control during realization electronics guide, so that it is guaranteed that motor is stablized in high-speed motion
Work accurately motor start and stop and reversion.Meanwhile to improve the density of winding and fixed effect, the accurate row of yarn is effectively realized
Sequence, control method proposed by the invention use incremental PID control method in motor torque control, flexibly set linear speed
Degree, winding ratio and receive the winding parameters such as corner degree, realize high-accuracy distributed volume around.
Obtain the revolving speed of stepper motor in real time using electric current driving current zero-crossing comparator and step motor position sensor
With torque, wherein the torque of stepper motor eliminates static error by incremental timestamp algorithm and avoids overshoot, reaches high-precision
Control the purpose of stepper motor movement.Stepper motor used in electronics guide needs high speed reciprocating motion, in its control, using position
The position that sensor judges control loop is set, the timing of two-phase-region casting signal is controlled, reaches the ideal commutation time.Pass through driving
Current over-zero comparator judges the phase difference of electric current and voltage, calculates the size of equivalent impedance, and the pulse for adjusting driving is big
It is small, to obtain accurate direct torque.It is control target with the revolving speed of control loop, using increment in direct torque
Torque value after the output optimization of formula pid control algorithm.It is final to realize high speed, the control of high-precision electronics guide.
In a kind of stepper motor double closed-loop control system for electronics guide of the invention, electronics guide control system needle
Pair be stepper motor, the features such as stepper motor has control precision high, and mechanism design is relatively easy, can satisfy electronics guide
The high speed start and stop required in technique and inversion effect, the steady operation in high-speed motion, out-of-step free, not overshoot are controlled by number
System, can also flexibly set winding parameters, realize high-accuracy distributed volume around；Stepper motor has the spy of low rotor inertia
Point realizes the start and stop and commutation movement of high speed；The technological level that electronics guide can be improved improves the job stability of system,
It increases economic efficiency.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the stepper motor double closed-loop control system for electronics guide of the present invention；
Fig. 2 is the timing diagram of the driving pulse in the specific embodiment of the invention；
Fig. 3 is the simplified model figure of stepper motor in the present invention.
Specific embodiment
The present invention is explained with specific example below, it should be understood that example is for illustrating rather than
Limitation of the present invention, the scope of the present invention are determined with core content according to claims.
As shown in Figure 1, a kind of stepper motor double closed-loop control system for electronics guide provided in this embodiment, including
Control loop, driver 1 and motor 2, control loop include direct torque component 3 and timing control component 4, direct torque component
3 and timing control component 4 be connected with driver 1, be also connected with increment type PID between timing control component 4 and driver 1
Detector 5, driver 1 are connected with motor 2；Motor 2 is also respectively connected with position sensor 6 and driving current zero-crossing comparator 7,
Wherein, position sensor 6 is connected with timing control component 4, and driving current zero-crossing comparator 7 is connected with direct torque component 5.
In a kind of stepper motor double closed-loop control system for electronics guide that the present embodiment is proposed, electronics guide institute
High speed reciprocating motion is needed with stepper motor, in its control, the position of control loop, control two are judged using position sensor
The timing of phase driving signal reaches the ideal commutation time.By driving current zero-crossing comparator, the phase of electric current and voltage is judged
Potential difference calculates the size of equivalent impedance, adjusts the impulse magnitude of driving, to obtain accurate direct torque.In torque
It is control target with the revolving speed of control loop in control, using the torque value after the output optimization of incremental timestamp algorithm, most
High speed, the control of high-precision electronics guide are realized eventually.
A kind of stepper motor double closed-loop control system for electronics guide that the present embodiment is proposed controls target value
Revolving speed and torque for step motor control loop, realize electronics guide during high-speed, high-precision control, it is ensured that motor
Steady operation accurately motor start and stop and the reversion in high-speed motion.
For the system that the present embodiment uses for Dual-loop feedback control control system, implementation step is as follows:
(1) real-time position signal that control loop is obtained by position sensor, carrys out the revolving speed of closed-loop control stepper motor.
Stepper motor obtains the position of motor control loop according to the signal that position sensor transmits.What the position of control loop was presented
Four kinds of different states as shown in Fig. 2, adjustment driving pulse timing, generally use 45 degree of commutation moment to control, can
Obtain more satisfactory commutation effect.The degree that the rotation of motor control loop can also be judged according to position, judges that motor has not
Have and completes given rotation step number.
(2) by each phase current driving current zero-crossing comparator, the phase difference of electric current calculating and known voltage, judgement are obtained
The changing value of torque realizes that the accurate of torque controls by increment type PID algorithm.In direct torque, need to use stepping electricity
Machine equivalent model, facilitates control operation, and the stepper motor that the present invention applies is turbo-tray stepper motor, the rotary inertia of motor
Smaller, the working model of motor can be simplified, traditional step motor control loop mathematical model establish it is more complicated,
Simplified model as shown in Figure 3.
Inductance is the magnetizing inductance of control loop winding, under the action of magnetizing inductance, generates electromagnetic torque, motor rotation
Middle magnetizing inductance is held essentially constant；Equivalent resistance is the output and energy consumption of control loop torque, represents electronics output energy
Size and electric current it is square directly proportional；Under different revolving speeds and torque, under the phase angle θ of voltage and current is
According to the variation at phase angle, the size U (k) of control loop torque is inscribed when can extrapolate current k.To realize electricity
The characteristics of higher control precision of machine torque, the present invention is directed to stepper motor, uses increment type double-closed-loop control method, to realize
Anti-windup is saturated and reliable stability, wherein PID controller discrete form such as following formula.In formula, T is sampling period, TdIt is micro-
Divide time constant, TiFor integration time constant, KpFor proportionality coefficient, then Ki=Kp/TiFor integral coefficient, Kd=Td/KpFor differential system
Number, e (k) are the motor revolution error at kth moment, and Δ U (k) is the increment of kth moment motor torque.
The control system passes through the integral element in pid control algorithm, differentiation element, proportional component, when to before and after motor
The torque error for carving output is adjusted, to realize the accurate direct torque of stepper motor.Using one kind of the invention for electricity
The ATO coating of the stepper motor double closed-loop control system preparation of sub- guide overcomes many deficiencies of conventional wet preparation process,
With high transmittance, high reflectivity, high rigidity, low resistance, antistatic, good weatherability, well-insulated feature, and preparation method
Technique repetition stability is good, high production efficiency, energy conservation and environmental protection, be easy to large-scale industrial production.
In a kind of stepper motor double closed-loop control system for electronics guide of the present embodiment, electronics guide control system
It is directed to stepper motor, stepper motor has control precision high, and mechanism designs the features such as relatively easy, can satisfy electronics and leads
The high speed start and stop required in yarn process and inversion effect, the steady operation in high-speed motion is out-of-step free, and not overshoot passes through number
Control, can also flexibly set winding parameters, realize high-accuracy distributed volume around；Stepper motor has the spy of low rotor inertia
Point realizes the start and stop and commutation movement of high speed；The technological level that electronics guide can be improved improves the job stability of system,
It increases economic efficiency.
Embodiment described above is preferable scheme of the invention, not makees limit in any form to the present invention
System, there are also other variations and modifications on the premise of not exceeding the technical scheme recorded in the claims.
Claims (2)
1. a kind of stepper motor double closed-loop control system for electronics guide, it is characterised in that: including control loop, driver
And motor, the control loop include direct torque component and timing control component, the direct torque component and timing control
Component is connected with the driver, and the driver is connected with the motor；Position biography is also respectively connected in the motor
Sensor and driving current zero-crossing comparator, the position sensor are connected with the timing control component, the driving current mistake
Zero comparator is connected with the direct torque component, and the position sensor judges the position of control loop, controls two-phase-region casting
The timing of signal, the driving current zero-crossing comparator, judges the phase difference of electric current and voltage, calculates the big of equivalent impedance
It is small, the impulse magnitude of driving is adjusted, to obtain accurate direct torque.
2. a kind of stepper motor double closed-loop control system for electronics guide according to claim 1, it is characterised in that:
Increment type PID detector is also connected between the timing control component and the driver.
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 |
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| Publication Number | Publication Date |
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| CN105958882A CN105958882A (en) | 2016-09-21 |
| CN105958882B true CN105958882B (en) | 2019-03-12 |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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 |
| 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 |
|---|
| "基于交流步进的PMSLM 位置控制***";董砚等;《微电机》;20141031;第47卷(第10期);第51-57页 |
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