CN106100479A - Changer multi-axis control system and method - Google Patents
Changer multi-axis control system and method Download PDFInfo
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- CN106100479A CN106100479A CN201610571703.9A CN201610571703A CN106100479A CN 106100479 A CN106100479 A CN 106100479A CN 201610571703 A CN201610571703 A CN 201610571703A CN 106100479 A CN106100479 A CN 106100479A
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- changer
- controller
- electric current
- signal
- current loop
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/26—Generation or transmission of movements for final actuating mechanisms
- F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
- F16H61/32—Electric motors actuators or related electrical control means therefor
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The invention discloses a kind of changer multi-axis control system and method, described system includes that the changer of at least two parallel connection, at least two are from controller and a master controller, each changer connects one from controller, respectively connect master controller from controller, wherein: master controller, for respectively sending electric current loop instruction from controller；From controller, being used for receiving electric current loop instruction, changer is carried out current sample, generate control signal according to the current data of electric current loop instruction and sampling, control signal is converted to drive pulse signal, output drive pulse signal is to changer.Thus, the basic vectors such as the speed ring of changer, electric current loop are controlled function and is respectively allocated to master controller and from controller, improve the motility of changer system application, weaken the function of single controller, reduce the requirement of single controller volume space, save system cost so that control mode is simpler flexibly, real-time is more preferable, cost performance is higher.
Description
Technical field
The present invention relates to technical field of electronic control, especially relate to a kind of changer multi-axis control system and method.
Background technology
Changer multi-axis control system is widely used in the combination drive system of common DC bus, in combination drive system
In, multiple changers hang under same rectification unit, and changer each controls respective motor and realizes different functions, as realized
The functions such as position control, speed controlling, Torque Control.Combination drive system be widely used in papermaking processing equipment, oil-well rig,
In boats and ships and steel rolling equipment.
Changer generally includes converter, inverter constant power device, as a example by inverter, and existing inverter multiaxis control
The basic structure of system processed is as it is shown in figure 1, include that multiple controller, multiple inverter and multiple motor are (with three controls in Fig. 1
As a example by device, three inverters and three motors), each motor connects an inverter, and each inverter connects a controller.Multiple
Controller use master-slave control method, multiple controllers are connected, and set one of them as master controller (controller 1), its
It is from controller (controller 2 and controller 3).This structural requirement is all of all possesses basic vector control from controller
Function, master controller also possesses the basic vector control function from controller, and, all controllers are it must also be ensured that enough is abundant
Amount is coordinated to control for multiaxis, requires the highest to controller volume space.During system work, master controller needs to pass through ring network
The work of other inverters all in combination drive system coordinated by network.
Therefore, the control mode of existing inverter multi-axis control system is complex, and real-time is poor, to single control
The volume space of device requires higher, and system cost is higher.
Summary of the invention
The main purpose of the embodiment of the present invention is to provide a kind of changer multi-axis control system and method, it is intended to simplify control
Mode processed, improves system real time, reduces system cost.
To achieve these objectives, on the one hand a kind of changer multi-axis control system is proposed, including the conversion that at least two is in parallel
Device, at least two are from controller and a master controller, and each described changer connects described in one from controller, respectively from controller
Connect described master controller, wherein:
Described master controller, for respectively sending electric current loop instruction from controller；
Described from controller, it is used for receiving the instruction of described electric current loop, described changer is carried out current sample, according to described
The current data of electric current loop instruction and sampling generates control signal, and described control signal is converted to drive pulse signal, output
Described drive pulse signal is to described changer.
Further, described include from controller:
Electric current loop modular converter, is used for receiving the instruction of described electric current loop, described changer is carried out current sample, according to institute
The current data stating electric current loop instruction and sampling generates control signal, and exports described control signal；
Vector module, for being converted to orthogonal vector letter by the control signal that described electric current loop modular converter exports
Number, and export described orthogonal vector signal；
Space vector generation module, vows for the orthogonal vector signal that described vector module exports is converted to space
Amount signal, and export described space vector signal；
Driving pulse generation module, for being converted to drive by the space vector signal that described space vector generation module exports
Moving pulse signal, and export described drive pulse signal to described changer.
Further, described system also includes motor, and each described changer connects motor described in.
Further, described master controller is used for: send same or different electric current fourth finger to different from controller
Order.
Further, described changer is converter or inverter.
On the other hand, proposing a kind of changer multijoint control method, described changer is at least two in parallel, Mei Yibian
Parallel operation connection one, from controller, respectively connects a master controller from controller, said method comprising the steps of:
Described master controller is to respectively sending electric current loop instruction from controller；
Described from controller reception described electric current loop instruction, described changer is carried out current sample, according to described electric current
The current data of fourth finger order and sampling generates control signal, and described control signal is converted to drive pulse signal, and output is described
Drive pulse signal is to described changer.
Further, described described control signal be converted to drive pulse signal include:
Described from controller, described control signal is converted to orthogonal vector signal, described orthogonal vector signal is converted to
Space vector signal, is converted to drive pulse signal by described space vector signal.
Further, the described drive pulse signal of described output also includes after the step of described changer:
Described changer exports to described motor after processing described drive pulse signal.
Further, described master controller is to respectively including from controller transmission electric current loop instruction:
Described master controller sends the instruction of same or different electric current loop to different from controller.
The changer multi-axis control system of the embodiment of the present invention, by using each from controller and each changer in parallel
Connecting, the structure being respectively connected with master controller after controller parallel connection, by basic vector controls such as the speed ring of changer, electric current loops
Function processed is respectively allocated to master controller and from controller, improves the motility of changer system application, weakens single control
The function of device processed, reduces the requirement of single controller volume space, saves system cost.Use the change of the embodiment of the present invention
Parallel operation multi-axis control system carries out transmission control, has that control mode simple and flexible, real-time be good, cost performance advantages of higher.
Accompanying drawing explanation
Fig. 1 is the basic structure schematic diagram of inverter multi-axis control system in prior art；
Fig. 2 is the basic structure schematic diagram of changer multi-axis control system one embodiment of the present invention；
Fig. 3 is the module diagram from controller in Fig. 2；
Fig. 4 is the basic structure schematic diagram of inverter multi-axis control system in the embodiment of the present invention；
Fig. 5 is the basic vector controlling unit schematic diagram of inverter in the embodiment of the present invention；
Fig. 6 is the flow chart of changer multijoint control method one embodiment of the present invention.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further referring to the drawings.
Detailed description of the invention
Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Seeing Fig. 2, propose changer multi-axis control system one embodiment of the present invention, described system includes that at least two is also
The changer of connection, at least two, from controller and a master controller, are distributed in changer from controller, the most each changer
Connected one from controller by cable, optical fiber etc., after controller parallel connection, respectively connect master controller, master controller with each from control
Data interaction is carried out between device.Master controller is or/and can be digital signal processor (Digital Signal from controller
Processor, DSP), arm processor, micro-control unit (Microcontroller Unit, MCU), field-programmable gate array
Row (Field-Programmable Gate Array, FPGA) etc..Wherein:
Master controller: for respectively sending electric current loop instruction from controller, the instruction of this electric current loop is current signal.Main control
Device can send different electric current loop instructions to different from controller, it is also possible to sends identical electricity to different from controller
Stream fourth finger order.
From controller: for receiving the electric current loop instruction that master controller sends, changer is carried out current sample, according to electricity
The current data of stream fourth finger order and sampling generates control signal, and control signal is converted to drive pulse signal, and output drives arteries and veins
Rush signal to changer.
In the embodiment of the present invention, master controller is not connected with changer, only with respectively be connected from controller, with respectively from control
Carrying out data interaction between device, master controller need not possess electric current loop, vector, space vector generation, driving pulse life
One-tenth etc. control function, only have speed ring and control function.Master controller includes speed ring control module, this speed ring control module
For: realize speed regulator function, and the detection of speed or estimation, the estimation of magnetic linkage, the function such as logic control of system,
Can control to generate current signal with Negotiation speed ring, this current signal is handed down to as electric current loop instruction each from controller.Right
In application scenarios such as position controls, speed ring control module can be replaced by position ring control module, or increasingly complex position
Put and speed ring control module.
In the embodiment of the present invention, respectively connect from controller and corresponding changer, be in parallel connection, simultaneously and main control
Device carries out data interaction.From controller, there are electric current loop, vector, space vector generation, driving pulse generation etc. and control merit
Energy.
As it is shown on figure 3, from controller include electric current loop modular converter, vector module, space vector generation module and
Driving pulse generation module, wherein:
Electric current loop modular converter: be used for realizing electric current loop regulator function, and the rotation transformation of electric current and sampling functions.
Concrete, in the present embodiment, electric current loop modular converter receives the electric current loop instruction that master controller sends, and changer is carried out electricity
Stream sampling, generates control signal, and outputs control signals to vow after the current data of electric current loop instruction and sampling being compared
Change of variable module.
Vector module: for the control signal that electric current loop modular converter exports is converted to orthogonal vector signal, and
Output orthogonal vector signal is to space vector generation module.
Space vector generation module: for the orthogonal vector signal that vector module exports being transformed to space vector letter
Number, and space vector signal is exported to driving pulse generation module.
Driving pulse generation module: for being converted to drive arteries and veins by the space vector signal that space vector generation module exports
Rush signal, and export drive pulse signal to changer.
Concrete, driving pulse generation module generates after comparing space vector signal and the high frequency carrier of self can
To drive the drive pulse signal of power device, and export drive pulse signal to changer, it is achieved the control to changer.
Changer can connect various load (such as motor), and each changer connects a load, and changer is to driving arteries and veins
Rush signal and carry out output extremely load after respective handling, it is achieved the control to load.When master controller is to respectively sending not from controller
With electric current loop instruction time, can be achieved with the control to each different vector of load, as realize respectively the position control to each load,
Speed controlling, Torque Control etc..
Further, in certain embodiments, the detection of speed or estimation, the estimating of magnetic linkage can also be included from controller
Calculate, the function such as the logic control of system.
The changer multi-axis control system of the embodiment of the present invention, by using each from controller and each changer in parallel
Connecting, the structure being respectively connected with master controller after controller parallel connection, by basic vector controls such as the speed ring of changer, electric current loops
Function processed is respectively allocated to master controller and from controller, improves the motility of changer system application, weakens single control
The function of device processed, reduces the requirement of single controller volume space, saves system cost.Use the change of the embodiment of the present invention
Parallel operation multi-axis control system carries out transmission control, has that control mode simple and flexible, real-time be good, cost performance advantages of higher.
The changer of the embodiment of the present invention, can be converter or inverter, it is also possible to be other power device.Below
As a example by changer is as inverter, inverter multi-axis control system is described in detail.
As shown in Figure 4, inverter multi-axis control system includes three inverters in parallel, three from controller, three electricity
Machine and a master controller, be distributed in inverter from controller, and the most each inverter connects one from control by cable, optical fiber etc.
Device processed, three connect master controllers after controller parallel connection, master controller and respectively carry out data interaction between controller, three
Inverter connects three motors respectively.The inverter of the present embodiment, from controller and motor be three, can essentially be according to need
Increase and decrease, such as two, four, eight etc..
As it is shown in figure 5, master controller has speed ring controls function, for application scenarios such as position controls, speed ring can
To be replaced by position ring, or increasingly complex position and speed ring.From controller, there is electric current loop, vector, space arrow
The functions such as amount generation, driving pulse generation.In Fig. 5, with three from controller (from controller 1, from controller 2 with from controller
3) as a example by and three some motors (motor 1, motor 2 and motor 3), master controller have accordingly three speed rings (speed ring 1,
Speed ring 2 and speed ring 3), each speed ring and one connect from the electric current loop of controller.
Master controller Negotiation speed ring controls to respectively sending electric current loop instruction from controller.Master controller can be to different
Different electric current loop instructions is sent, it is also possible to send identical electric current loop instruction to different from controller from controller.
Receive the electric current loop instruction of master controller from controller, changer is carried out current sample, instructs according to electric current loop
Generating control signal with the current data of sampling, control signal is converted to drive pulse signal, output drive pulse signal is extremely
Inverter.
Drive pulse signal is processed by inverter, and direct current signal is converted to AC signal, the driving after processing
Output of pulse signal is to motor, it is achieved the control to motor.When master controller is to respectively sending different electric current fourth fingers from controller
When making, can be achieved with the control to each motor difference vector, as realized the position control to each motor, speed controlling, power respectively
Square control etc..
In the present embodiment, the basic vectors such as the speed ring of inverter, electric current loop are controlled function and is respectively allocated to main control
Device and from controller, improves the motility of changer system application, weakens the function of single controller, reduce single control
The requirement of device volume space processed, saves system cost so that control mode is simpler flexibly, and real-time is more preferable, cost performance
Higher.
See Fig. 6, propose changer multijoint control method one embodiment of the present invention, in the embodiment of the present invention, changer
For at least two in parallel, the connection one of each changer, from controller, respectively connects a master controller, described method bag from controller
Include following steps:
S11, master controller Negotiation speed ring control to respectively sending electric current loop instruction from controller.
Master controller can send different electric current loop instructions to different from controller, it is also possible to different from control
Device sends identical electric current loop instruction.
In the embodiment of the present invention, master controller is or/and can be DSP, ARM, MCU, FPGA etc. from controller.
S12, from controller receive electric current loop instruction, changer is carried out current sample, according to electric current loop instruction and sampling
Current data generate control signal.
Concrete, carry out current loop control from controller, by the electric current number of electric current loop instruction (i.e. current signal) with sampling
According to generating control signal after comparing.
In the embodiment of the present invention, changer can be converter or inverter, it is also possible to is other power device.
S13, control signal being converted to from controller drive pulse signal, output drive pulse signal is to changer.
Concrete, by victor chan ge control, control signal is converted to orthogonal vector signal from controller, passes through space
Vector generates and controls orthogonal vector signal is converted to space vector signal, is generated by driving pulse and controls to believe space vector
Number be converted to drive pulse signal.Then respectively from controller, drive pulse signal is exported to corresponding changer, it is achieved to change
The control of parallel operation.
Further, changer can connect various load (such as motor), and each changer connects a load, changer
After drive pulse signal carries out respective handling, output is to load, it is achieved the control to load.When master controller to each from control
When device sends different electric current loop instructions, can be achieved with the control of vector different to each load, as realized respectively each load
Position control, speed controlling, Torque Control etc..
The changer multijoint control method of the embodiment of the present invention, by by respectively from controller with each changer in parallel even
Connect, be respectively connected with master controller after controller parallel connection, the basic vectors such as the speed ring of changer, electric current loop are controlled function and divides
Do not distribute to master controller and from controller, improve the motility of changer system application, weaken the merit of single controller
Can, reduce the requirement of single controller volume space, save system cost so that control mode is simpler flexibly, real
Time property is more preferable, cost performance is higher.
It should be understood that the changer parallel method of above-described embodiment offer and changer multi-axis control system embodiment
Belonging to same design, the technical characteristic in system embodiment is the most corresponding in embodiment of the method to be suitable for, and repeats no more here.
Through the above description of the embodiments, those skilled in the art is it can be understood that arrive above-described embodiment side
Method can add the mode of required general hardware platform by software and realize, naturally it is also possible to by hardware, but a lot of in the case of
The former is more preferably embodiment.Based on such understanding, prior art is done by technical scheme the most in other words
The part going out contribution can embody with the form of software product, and this computer software product is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), including some instructions with so that a station terminal equipment (can be mobile phone, computer, take
Business device, or the network equipment etc.) perform the method described in each embodiment of the present invention.
It should be appreciated that these are only the preferred embodiments of the present invention, it is impossible to therefore limit the scope of the claims of the present invention,
Every equivalent structure utilizing description of the invention and accompanying drawing content to be made or equivalence flow process conversion, or be directly or indirectly used in
Other relevant technical fields, are the most in like manner included in the scope of patent protection of the present invention.
Claims (10)
1. a changer multi-axis control system, it is characterised in that include that the changer of at least two parallel connection, at least two are from control
Device processed and a master controller, each described changer connects described in one from controller, respectively connects described main control from controller
Device, wherein:
Described master controller, for respectively sending electric current loop instruction from controller；
Described from controller, it is used for receiving the instruction of described electric current loop, described changer is carried out current sample, according to described electric current
The current data of fourth finger order and sampling generates control signal, and described control signal is converted to drive pulse signal, and output is described
Drive pulse signal is to described changer.
Changer multi-axis control system the most according to claim 1, it is characterised in that described include from controller:
Electric current loop modular converter, is used for receiving the instruction of described electric current loop, described changer is carried out current sample, according to described electricity
The current data of stream fourth finger order and sampling generates control signal, and exports described control signal；
Vector module, for the control signal that described electric current loop modular converter exports is converted to orthogonal vector signal, and
Export described orthogonal vector signal；
Space vector generation module, for being converted to space vector letter by the orthogonal vector signal that described vector module exports
Number, and export described space vector signal；
Driving pulse generation module, for being converted to drive arteries and veins by the space vector signal that described space vector generation module exports
Rush signal, and export described drive pulse signal to described changer.
Changer multi-axis control system the most according to claim 1, it is characterised in that described system also includes motor, often
Changer described in one connects motor described in.
4. according to the changer multi-axis control system described in any one of claim 1-3, it is characterised in that described master controller is used
In: send the instruction of same or different electric current loop to different from controller.
5. according to the changer multi-axis control system described in any one of claim 1-3, it is characterised in that described changer is for becoming
Frequently device or inverter.
6. a changer multijoint control method, it is characterised in that described changer is at least two in parallel, each changer
Connection one, from controller, respectively connects a master controller from controller, said method comprising the steps of:
Described master controller is to respectively sending electric current loop instruction from controller；
Described from controller reception described electric current loop instruction, described changer is carried out current sample, according to described electric current fourth finger
The current data of order and sampling generates control signal, described control signal is converted to drive pulse signal, exports described driving
Pulse signal is to described changer.
Changer multijoint control method the most according to claim 6, it is characterised in that described described control signal is changed
Include for drive pulse signal:
Described from controller, described control signal is converted to orthogonal vector signal, described orthogonal vector signal is converted to space
Vector signal, is converted to drive pulse signal by described space vector signal.
Changer multijoint control method the most according to claim 6, it is characterised in that the described driving pulse of described output is believed
Number to described changer step after also include:
Described changer exports to described motor after processing described drive pulse signal.
9. according to the changer multijoint control method described in any one of claim 6-8, it is characterised in that described master controller to
Respectively send electric current loop instruction from controller to include:
Described master controller sends the instruction of same or different electric current loop to different from controller.
10. according to the changer multijoint control method described in any one of claim 6-8, it is characterised in that described changer is
Converter or inverter.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111118823A (en) * | 2019-12-27 | 2020-05-08 | 无锡飞翎电子有限公司 | Washing machine and control device thereof |
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| US20150303851A1 (en) * | 2011-12-22 | 2015-10-22 | Sanofi-Aventis Deutschland Gmbh | Apparatus with a Main Control Unit, A Control Unit and an Electromechanical Device and a method for Operating Such and Apparatus |
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| US20150303851A1 (en) * | 2011-12-22 | 2015-10-22 | Sanofi-Aventis Deutschland Gmbh | Apparatus with a Main Control Unit, A Control Unit and an Electromechanical Device and a method for Operating Such and Apparatus |
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