CN106773683A - The synchronisation control means and device of bilateral motor - Google Patents
The synchronisation control means and device of bilateral motor Download PDFInfo
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- CN106773683A CN106773683A CN201611111108.3A CN201611111108A CN106773683A CN 106773683 A CN106773683 A CN 106773683A CN 201611111108 A CN201611111108 A CN 201611111108A CN 106773683 A CN106773683 A CN 106773683A
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Abstract
The present invention is, on a kind of synchronisation control means and device of bilateral motor, to be related to bilateral motor control technology field, and main purpose is the synchronous control accuracy for improving bilateral motor to controlled device.Method includes：According at least to controlled device original position, the service condition in final position in target phase, planning independent variable is virtual main spindle's, dependent variable is the position given curve of controlled device position, and feedforward curve is calculated according to the position given curve, and the feedforward curve includes：Corresponding with position given curve velocity feed forward curve torque feedforward curve corresponding with the position given curve；The feedback parameter of bilateral motor is obtained respectively；The control signal of generation the first motor of control and the second motor rotation is calculated with the feedback parameter according to the position given curve, the feedforward curve.Relative to prior art, control accuracy is high, can improve synchronous control accuracy of the bilateral motor to controlled device.
Description
Technical field
The present invention relates to bilateral motor control technology field, more particularly to a kind of bilateral drives standard to be rigidly connected position
Put synchronous control technique.
Background technology
For in some plant equipment, it is necessary to configure bilateral motor by quasi- rigidity (that is, flexible connection, such as chain
Plus Hooks coupling universal coupling) connection transmission mechanism same controlled device is driven, wherein, the biography that main motor passes through main driving side
Motivation structure drives controlled device, and controlled device is driven by from the transmission mechanism of driving side from motor side.
It is fixed to be realized using optoelectronic switch positioning or position half-closed loop control as shown in figure 1, in main motor side, more than main motor side
Positional information, velocity information, current information are fed back to master controller z1 by position, main motor in real time, and master controller z1 is according to position
Confidence breath, velocity information, current information are corrected regulation and control to main motor, realize being precisely controlled for main motor side；
Direct torque follow the mode is used from motor side, in order that main motor side and from motor side Synchronization Control, by main electricity
Current information also feeds back to from controller c1 machine in real time, from controller c1 according to the current information conduct of main motor Real-time Feedback
Control is synchronized from motor torque is given.
In process of the present invention is realized, inventor has found that at least there are the following problems in the prior art：
The existing speed control of main motor side adds in optoelectronic switch position control method, receives the photoelectricity of optoelectronic switch
After signal, shut down through speed control (after reducing speed), the position of shutdown is influenceed larger, stops by the Process Precision of speed control
Machine precision is low；From motor side individually according to host implementation earth-current information realization synchronization, when main motor side load with from motor
When lateral load is different, the main motor side of controlled device and low from motor side synchronization accuracy can be caused.
The content of the invention
In view of this, the present invention provides a kind of synchronisation control means and device of bilateral motor, and main purpose is
Improve synchronous control accuracy of the bilateral motor to controlled device.
To reach above-mentioned purpose, present invention generally provides following technical scheme：
On the one hand, embodiments of the invention provide a kind of synchronisation control means of bilateral motor, including：
According at least to controlled device original position, the service condition in final position in target phase, planning independent variable is virtual
Main spindle's, dependent variable is the position given curve of controlled device position, and feedforward curve is calculated according to the position given curve,
The feedforward curve includes：Velocity feed forward curve corresponding with the position given curve is corresponding with the position given curve
Torque feedforward curve；
The feedback parameter of bilateral motor is obtained respectively, wherein, the first feedback parameter of the first motor side includes：First
Current feedback parameters, First Speed feedback parameter, first position feedback parameter, the second feedback parameter of the second motor side include：
Second current feedback parameters, second speed feedback parameter, second place feedback parameter；
According to the position given curve, the feedforward curve and the feedback parameter calculate generation the first motor of control and
The control signal of the second motor rotation.The object of the invention to solve the technical problems can also be further using following technical measures
Realize.
Optionally, the synchronisation control means of foregoing bilateral motor, the service condition is run including original position
Condition, final position service condition and at least one centre position service condition between original position and final position,
The virtual main spindle's curve between each two adjacent position is planned respectively.
Optionally, the synchronisation control means of foregoing bilateral motor, the service condition includes the every of controlled device
The position numerical value of individual planned position, speed values, acceleration value and acceleration numerical value.
Optionally, the synchronisation control means of foregoing bilateral motor, planning independent variable is virtual main spindle's, because becoming
The method for measuring the position given curve for controlled device position is：
Set the position given curve between two neighboring position
S=c0+c1x+c2x2+c3x3+c4x4+c5x5+c6x6+c7x7；
Feedforward curve is calculated according to controlled device position given curve：
Velocity feed forward curve v=c1+2c2x1+3c3x2+4c4x3+5c5x4+6c6x5+7c7x6；
Torque feedforward curve Tref=KpJa,
Feed forward of acceleration curve a=2c2+6c3x1+12c4x2+20c5x3+30c6x4+42c7x5；
X is virtual main spindle's given parameters, s is controlled device position feed-forward, v is velocity feed forward, a is for before acceleration
Feedback, KpFor torque feedforward proportionality coefficient, J are system rotary inertia, c0、c1、c2、c3、c4、c5、c6、c7It is according to controlled device
Set the constant depending on position, speed, acceleration and the acceleration of two neighboring position.
Optionally, the synchronisation control means of foregoing bilateral motor, s0=0；v0=0；a0=0；j0=0；s0To rise
Beginning position, v0It is starting velocity, a0It is starting acceleration, j0It is initial acceleration；
s1=h；v1=0；a1=0；j1=0；s1It is final position, v1It is terminal velocity, a1It is terminal acceleration, j1It is end
Point acceleration；Then,
Position given curve s=h (35x4-84x5+70x6-20x7)
Velocity feed forward curve v=h (140x3-420x4+420x5-140x6)
Torque feedforward curve Tref=KpJa, a=h (420x2-1680x3+2100x4-840x5)。
Optionally, the synchronisation control means of foregoing bilateral motor, it is described according to the position given curve, it is described
Feedforward curve calculates the control signal of generation the first motor of control and the second motor rotation with the feedback parameter, specifically includes：
The position difference between first position feedback parameter and second place feedback parameter is calculated, to obtain the first motor side
And the second site error between motor side, using the site error between first motor side and the second motor side as regulation and control
The position of the second place ring output of the position compensation amount and/or the second motor side of the first position ring controller of the first motor side
Compensation rate regulates and controls parameter.
Optionally, the synchronisation control means of foregoing bilateral motor, the position of the first motor gives and first position
Error between feedback is sm=s+ θmerr-θmf, θmerr=Kmp(θmf-θsf), wherein θmerrFor the first motor side position is synchronously controlled
Position compensation amount, the θ of device regulation output processedmfIt is the first position feedback parameter of the first motor side Real-time Feedback, θsfIt is the second electricity
The second place feedback parameter of pusher side Real-time Feedback, KmpIt is the first motor side sync bit controller ratio more than 0 less than or equal to 1
Row coefficient；
The position of the second motor gives and the error between second place feedback is ss=s+ θserr-θsf, θserr=Ksp
(θsf-θmf), wherein θserrIt is position compensation amount, the K of the regulation output of the second motor side position synchronization control devicespIt is to be less than more than 0
The second motor side sync bit controller equal to 1 is than row coefficient.
Optionally, the synchronisation control means of foregoing bilateral motor, it is described according to the position given curve, it is described
Feedforward curve calculates the control signal of generation the first motor of control and the second motor rotation with the feedback parameter, specifically also wraps
Include：
By the first position ring controller output of first motor side and corresponding speed in the velocity feed forward curve
Feedforward sum as the first motor side First Speed ring speed preset, by the speed preset of first motor side and described the
The difference of one velocity feedback parameter is exported through the First Speed ring of first motor side, and as the first electricity of the first motor side
Stream ring is given, and corresponding torque in the given feedforward curve with the torque of first electric current loop is feedovered sum as the first electricity
First electric current loop of pusher side gives, by the given difference with first current feedback parameters of first electric current loop, by the
One the first motor of electric current loop output control is exported,
By the second place ring controller output of second motor side and corresponding speed in the velocity feed forward curve
Feedforward sum as the second motor side second speed ring speed preset, by the speed preset of second motor side and described the
The difference of two velocity feedback parameters is exported through the second speed ring of second motor side, and as the second electricity of the second motor side
Stream ring is given, and corresponding torque in the given feedforward curve with the torque of second electric current loop is feedovered sum as the second electricity
Second electric current loop of pusher side gives, by the given difference with second current feedback parameters of second electric current loop, by the
Two the second motors of electric current loop output control are exported,
Controlled device is set to be run according to position curve, rate curve, accelerating curve.
Optionally, the synchronisation control means of foregoing bilateral motor, the first position feedback parameter, described second
Position feedback parameter is the feedback parameter of controlled device.
On the other hand, embodiments of the invention provide a kind of sync control device of bilateral motor, including：
Controlled device；
First motor, the first end of the controlled device is driven by the first transmission mechanism；
Second motor, the second end of the controlled device is driven by the second transmission mechanism；
First transmission mechanism, second transmission mechanism include rigid connection or flexible connection mechanism；
Virtual main shaft planning unit, for the operation according at least to controlled device original position, final position in target phase
Condition, planning independent variable is virtual main spindle's, and dependent variable is the position given curve of controlled device position, according to the position
Given curve calculates feedforward curve, and the feedforward curve includes：Velocity feed forward curve corresponding with the position given curve and
The corresponding torque feedforward curve of the position given curve；
Feedback parameter collecting unit, the feedback parameter for obtaining bilateral motor respectively, wherein, the first motor side
First feedback parameter includes：First current feedback parameters, First Speed feedback parameter, first position feedback parameter, the second motor
Second feedback parameter of side includes：Second current feedback parameters, second speed feedback parameter, second place feedback parameter；
Driver element, its signal acquisition terminal connects the virtual main shaft planning unit respectively and feedback parameter collection is single
Unit, its signal output part and first motor and the second motor connection, for according to the position given curve, the feedforward
Curve calculates the control signal of generation the first motor of control and the second motor rotation with the feedback parameter.
The object of the invention to solve the technical problems can also be applied to the following technical measures to achieve further.
Optionally, the sync control device of foregoing bilateral motor, wherein the driver element includes driving first
Second driver element of second motor of the first driver element and driving of motor；
First driver element includes first position ring controller, First Speed ring controller, the first current loop control
Device；
Second driver element includes second place ring controller, second speed ring controller, the second current loop control
Device；
The feedback parameter collecting unit includes the first position detection means of the detection motor side of controlled device first, detection
The second place detection means of the motor side of controlled device second.
Optionally, the sync control device of foregoing bilateral motor, wherein first driver element also includes the
One position synchronization control device, its signal incoming end is connected with the feedback parameter collecting unit, for obtaining first position feedback
Parameter, second place feedback parameter, its signal output part are connected with the first position ring controller；
Second driver element also includes second place isochronous controller, and its signal incoming end is adopted with the feedback parameter
Collection unit connection, for obtaining first position feedback parameter, second place feedback parameter, its signal output part and the second
Put ring controller connection.
The synchronisation control means and device of the bilateral motor provided by above-mentioned technical proposal, technical solution of the present invention
At least there are following advantages：
In technical scheme provided in an embodiment of the present invention, can be according at least to controlled device original position, terminal in target phase
The service condition of position, planning independent variable is virtual main spindle's, and dependent variable is the position given curve of controlled device position, root
Feedforward curve is calculated according to the position given curve, meanwhile, the feedback parameter of bilateral motor is obtained, according to the position of planning
The control that given curve, the feedforward curve calculate generation the first motor of control and the second motor rotation with the feedback parameter is believed
Number, i.e., COMPREHENSIVE CALCULATING is carried out to the position given curve planned, the curve that feedovers according to feedback parameter in practice in real time, will count
Control signal after calculation is controlled to the first motor and the second motor, and relative to prior art, control accuracy is high, can improve double
Synchronous control accuracy of the side motor to controlled device.
Described above is only the general introduction of technical solution of the present invention, in order to better understand technological means of the invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, various other advantages and benefit is common for this area
Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：
Fig. 1 is the control structure connection diagram of the sync control device of bilateral motor in the prior art；
A kind of schematic flow sheet of the synchronisation control means of bilateral motor that Fig. 2 embodiments of the invention are provided；
A kind of electric connection structure of the sync control device of bilateral motor that Fig. 3 embodiments of the invention are provided is illustrated
Figure；
The binding that is electrically connected of the sync control device of a kind of specific bilateral motor that Fig. 4 embodiments of the invention are provided
Structure schematic diagram；
The part-structure of the sync control device of a kind of specific bilateral motor that Fig. 5 embodiments of the invention are provided
Schematic diagram.
Specific embodiment
Further to illustrate the present invention to reach technological means and effect that predetermined goal of the invention is taken, below in conjunction with
Accompanying drawing and preferred embodiment, to its specific implementation of the synchronisation control means and device according to bilateral motor proposed by the present invention
Mode, structure, feature and its effect, describe in detail as after.In the following description, different " embodiment " or " embodiment " refers to
Be not necessarily same embodiment.Additionally, the special characteristic, structure or feature in one or more embodiments can be by any suitable
Form is combined.
Embodiment one
As shown in Fig. 2 a kind of synchronisation control means of bilateral motor that one embodiment of the present of invention is proposed, can answer
For (that is, accurate rigid synchronization on the sync control device of bilateral motor, especially accurate rigid sync control device
Control device refers to that to connect the transmission mechanism of two-side motor and controlled device be flexible gear)；Bilateral motor it is same
Bilateral motor in step control device is driven to same controlled device, during controlled device is powered, quilt
The position for controlling object is moved to final position by original position；
The synchronisation control means of the bilateral motor, comprises the following steps：
Step s1, according at least to controlled device original position, the service condition in final position in target phase, plan independent variable
It is virtual main spindle's, dependent variable is the position given curve of controlled device position, before being calculated according to the position given curve
Feedback curve, the feedforward curve includes：The given song of velocity feed forward curve corresponding with the position given curve and the position
The corresponding torque feedforward curve of line；
Wherein, the service condition includes position numerical value, speed values, the acceleration of each planned position of controlled device
Numerical value and acceleration numerical value, the position numerical value of each position, speed values, acceleration value and acceleration numerical value are
According to the setting numerical value depending on the need in each production process.
Tobacco bale slicing machine in the sync control device of bilateral motor, such as tobacco machine, cutting knife (controlled device)
Both sides connect the first motor and the second motor by quasi- rigid connection universal drive shaft respectively, in cigarette bag slicing processes, by
Original position is moved to final position according to the speed of design, the cutting to workpiece is completed, in movement, it may be possible to disposable rule
Draw and be directly moved to final position from original position, it is also possible to several times, i.e., be moved in first by original position planning
Between position, the second centre position ... is moved to by the planning of the first centre position, be moved to final position to last planning.
When using by several times plan when, the service condition include original position service condition, final position service condition with
And at least one centre position service condition between original position and final position, plan respectively each two adjacent position it
Between position given curve.Controlled device can be controlled corresponding by the position given curve between each two adjacent position
Movement between two positions.
Wherein, to be virtual main spindle's given parameters corresponding with the position given parameters of controlled device for position given curve
Function relation curve, the process to the position given curve planning between two adjacent positions can be：
By two the position numerical value of adjacent two position, speed values, acceleration value, acceleration numerical value, 8 set
Fixed service condition numerical value, sets the virtual main spindle's numerical curve between two neighboring position,
Set the position given curve between two neighboring position (planned position)
S=c0+c1x+c2x2+c3x3+c4x4+c5x5+c6x6+c7x7；
Velocity feed forward curvilinear function is obtained by position given curve function derivation
V=c1+2c2x1+3c3x2+4c4x3+5c5x4+6c6x5+7c7x6；
Feed forward of acceleration curvilinear function is obtained by velocity feed forward curvilinear function derivation
A=2c2+6c3x1+12c4x2+20c5x3+30c6x4+42c7x5；
Torque feedforward curve Tref=KpJa；
Acceleration feedforward curvilinear function j=6c is obtained by feed forward of acceleration curvilinear function derivation3+244x1+60c5x2+
120c6x3+210c7x4；
X is virtual main spindle's given parameters, s is controlled device position feed-forward, v is velocity feed forward, a is for before acceleration
Feedback, KpFor torque feedforward proportionality coefficient, J are system rotary inertia, c0、c1、c2、c3、c4、c5、c6、c7It is according to controlled device
Set the constant depending on position, speed, acceleration and the acceleration of two neighboring position.
By 8 service condition numerical value of setting (the position numerical value s of two positions, speed values v, acceleration value a, plus
Acceleration value j) bring into respectively position given curve function, velocity feed forward curvilinear function, feed forward of acceleration curvilinear function, plus plus
Velocity feed forward curvilinear function, solves, and can obtain c0、c1、c2、c3、c4、c5、c6、c7Numerical value is solved, according to the c after solution0、c1、c2、
c3、c4、c5、c6、c7Numerical value, can cook up：
Controlled device position given parameters
S=c0+c1x+c2x2+c3x3+c4x4+c5x5+c6x6+c7x7；
Velocity feed forward curve
V=c1+2c2x1+3c3x2+4c4x3+5c5x4+6c6x5+7c7x6；
Torque feedforward curve
Tref=KpJa, a=2c2+6c3x1+12c4x2+20c5x3+30c6x4+42c7x5；
KpFor torque feedforward proportionality coefficient can be according to use environment setting such as, value 0.5,0.6,0.7,0.8,0.9 or 1；J
It is system rotary inertia, concrete numerical value is joined according to the system rotary inertia of the sync control device of the bilateral motor for being used
Depending on number.
So that the primary system plan completes from the original position to terminal operation of position as an example, the start bit of controlled device is controlled
Put, final position is all in static：
s0=0；v0=0；a0=0；j0=0；s0It is original position, v0It is starting velocity, a0It is starting acceleration, j0To rise
Beginning acceleration；
s1=h；v1=0；a1=0；j1=0；s1It is final position, v1It is terminal velocity, a1It is terminal acceleration, j1It is end
Point acceleration, h is the distance between original position and final position value, such as 4cm, 10cm or 50cm；Then,
c0=c1=c2=c3=0
c4=35h
c5=-84h
c6=70h
c7=-20h
Position given curve s=h (35x4-84x5+70x6-20x7)
Velocity feed forward curve v=h (140x3-420x4+420x5-140x6)
Torque feedforward curve Tref=KpJa, a=h (420x2-1680x3+2100x4-840x5)。
Step s2, the feedback parameter for obtaining bilateral motor respectively, wherein, the first feedback parameter bag of the first motor side
Include：First current feedback parameters, First Speed feedback parameter, first position feedback parameter, the second feedback ginseng of the second motor side
Number includes：Second current feedback parameters, second speed feedback parameter, second place feedback parameter；
Wherein the first current feedback parameters, First Speed feedback parameter directly take from the first motor, first position feedback ginseng
Number can read the umber of pulses of the first motor tail end encoder to work as physical location pulse, may make up semiclosed loop.In the prior art, position
Putting half-closed loop control mode can only realize the Accurate Position Control of motor, and in practice by transmission mechanism and load-strap
Influence, stop position error is uncontrollable, shuts down precision low；In order to obtain control accuracy higher, the first position is anti-
Feedforward parameter is the feedback parameter of controlled device, and first position feedback parameter is retrieved from reading the actual range parameter of controlled device,
Screw mandrel grating scale physical location pulse is such as read to obtain the actual range parameter of controlled device.
Wherein the second current feedback parameters, second speed feedback parameter directly take from the second motor, second place feedback ginseng
Number can read the umber of pulses of the second motor tail end encoder to work as physical location pulse, may make up semiclosed loop.It is higher in order to obtain
Control accuracy, the second place feedback parameter for controlled device feedback parameter, second place feedback parameter be retrieved from read
The actual range parameter of controlled device is taken, such as reads screw mandrel grating scale physical location pulse to obtain the actual range of controlled device
Parameter.
Step s3, generation control the is calculated according to the position given curve, the feedforward curve and the feedback parameter
The control signal of one motor and the second motor rotation.Such as, according to the position given curve, feedforward curve and the feedback parameter
Generation the first motor of control is calculated through position ring controller, speed ring controller, current loop controller and sync bit controller
With the control signal of the second motor rotation, specific calculating parameter may include：Respectively position corresponding with virtual main spindle's it is given,
Velocity feed forward, torque feedforward, the first current feedback parameters, First Speed feedback parameter, first position feedback parameter, the second electric current
Feedback parameter, second speed feedback parameter, second place feedback parameter.
In the prior art, from motor side individually according to host implementation earth-current information realization synchronization, when bearing for main motor side
Carry from from motor lateral load it is different when, the main motor side of controlled device and low from motor side synchronization accuracy can be caused, in order to adapt to
The difference of bilateral load, improves the synchronization accuracy of bilateral, can calculate first position feedback parameter and second place feedback parameter it
Between position difference, to obtain the site error between the first motor side and the second motor side, by first motor side and
Site error between two motor sides is used as the position compensation amount of the first position ring controller of the first motor side of regulation and control and/or the
The regulation and control parameter of the position compensation amount of the second place ring of two motor sides.By by between the first motor side and the second motor side
Site error includes the first motor of control, the regulation and control parameter of the second motor, it is possible to decrease the motor side of controlled device first and the second electricity
The distance difference of pusher side, makes distance difference controlled within controlled range.
The first position ring controller output for regulating and controlling the first motor side at the same time is defeated with the second place ring of the second motor side
During the regulation and control parameter for going out：
The error calculated between the given feedback with first position in position of the first motor is sm=s+ θmerr-θmf, θmerr=
Kmp(θmf-θsf), wherein θmerrIt is position compensation amount, the θ of the regulation output of the first motor side position synchronization control devicemfIt is the first electricity
The first position feedback parameter of pusher side Real-time Feedback, θsfIt is the second place feedback parameter of the second motor side Real-time Feedback, KmpFor
The first motor side sync bit controller more than 0 less than or equal to 1 is than row coefficient；KmpIt is according to first position feedback parameter and
What two position feedback parameter position deviation sizes were artificially set, such as it is set as 0.6,0.7,0.8,0.9 or 1；
The error calculated between the given feedback with the second place in position of the second motor is ss=s+ θserr-θsf, θserr=
Ksp(θsf-θmf), wherein θserrIt is position compensation amount, the K of the regulation output of the second motor side position synchronization control devicespIt is small more than 0
In the second motor side sync bit controller equal to 1 than row coefficient.KspIt is according to first position feedback parameter and the second place
Feedback parameter position deviation size is artificially set, and is such as set as 0.6,0.7,0.8,0.9 or 1；That is Kmp、KspNumerical value
Depending on synchronism deviation value that can be controlled according to required for controlled device.Value mode is given by above-mentioned position, can be in bilateral load not
Meanwhile, the position deviation of the first motor side of controlled device and the second motor side can be controlled in controlled range, further carry
The synchronization accuracy driven to controlled device bilateral high.
The first position ring controller is exported into the speed preset value with velocity feed forward sum as the first motor, first
The speed preset value of motor exports given as the first motor torque with the difference of First Speed feedback through speed ring controller, the
One motor torque is given given as the first current of electric with torque feedforward sum, and the first current of electric is given with described the
Position curve, speed song that the difference of one current feedback parameters is completed through the first motor current controller controlled motor by planning
The operation of line, accelerating curve and jerk curve；
The second place ring controller is exported into the speed preset value with velocity feed forward sum as the second motor, second
The speed preset value of motor exports given as the second motor torque with the difference of second speed feedback through speed ring controller, the
Two motor torques are given given as the second current of electric with torque feedforward sum, and the second current of electric is given with described the
Position curve, speed song that the difference of two current feedback parameters is completed through the second motor current controller controlled motor by planning
The operation of line, accelerating curve and jerk curve；
Controlled device is set to be run according to position curve, rate curve, accelerating curve.
In the embodiment that the present invention is provided, position given curve, velocity feed forward curve, the torque feedforward curve that will can be planned
With the control parameter after the first feedback parameter COMPREHENSIVE CALCULATING of the first motor side as the first motor, the given song in position that will be planned
As the second motor after second feedback parameter COMPREHENSIVE CALCULATING of line, velocity feed forward curve, torque feedforward curve and the second motor side
Control parameter, relative to prior art, so as to ensure that each there is outstanding dynamic to ring for the first motor side and the second motor side
Should and stable state accuracy.
In simultaneously for the sync control device of the bilateral motor that controlled device is driven by flexible joining mechanism,
In the prior art, because flexible connection mechanism is from transmission process, certain relative displacement is had, controlled device can be caused
Relatively lag behind so that in the case that principal and subordinate's motor side is subject to load difference, it may occur that larger position deviation, and the present invention can be by
The deviation control of two-side motor side within the specific limits, improves synchronism.
Embodiment two
As shown in Fig. 3, Fig. 4 and Fig. 5, a kind of Synchronization Control of bilateral motor that one embodiment of the present of invention is proposed
Device, can be controlled, the present embodiment two by the synchronisation control means of the bilateral motor described in above-described embodiment one
Described in bilateral motor synchronisation control means can directly using above-described embodiment one provide the bilateral drive electricity
The synchronisation control means of machine, concrete implementation method can be found in the related content described in above-described embodiment one, no longer go to live in the household of one's in-laws on getting married herein
State.
The sync control device of bilateral motor includes：
Controlled device 10；
First motor 20, the first end of the controlled device 10 is driven by the first transmission mechanism 21；
Second motor 30, the second end of the controlled device 10 is driven by the second transmission mechanism 31；
First transmission mechanism 21, second transmission mechanism 31 include rigid connection or flexible connection mechanism；
In flexible connection mechanism, the relation of relative connector both Constrained or transmission power can have a certain degree of relative position again
Move.As common flexible coupling, chain pitch wheel are connected.In flexible coupling, between two parts of flexible coupling, use
Sliding block, spring column pin, dowel or universal joint etc., that is, deliver power, also meets the use requirement of equipment.Belong to rigid shaft coupling
Device has box coupling, clamping coupling and flange-face coupling etc..
Virtual main shaft planning unit 40, for according at least to controlled device original position, the fortune in final position in target phase
Row condition, planning independent variable is virtual main spindle's, and dependent variable is the position given curve of controlled device position, according to the quilt
Control object's position given curve calculates feedforward curve, and the feedforward curve includes：Speed corresponding with the position given curve
Feedforward curve torque feedforward curve corresponding with the position given curve；
Feedback parameter collecting unit 50, the feedback parameter for obtaining bilateral motor respectively, wherein, the first motor 20
First feedback parameter of side includes：First current feedback parameters, First Speed feedback parameter, first position feedback parameter, second
Second feedback parameter of motor side includes：Second current feedback parameters, second speed feedback parameter, second place feedback parameter；
Driver element 60, its signal acquisition terminal connects the virtual main shaft planning unit 40 respectively and the feedback parameter is adopted
Collection unit 50, its signal output part is connected with the motor 30 of first motor 20 and second, for according to the given song in the position
Line, feedforward curve calculate the control signal that generation the first motor 20 of control and the second motor 30 are operated with the feedback parameter.
The first end of controlled device 10, the second end, represent arbitrary two external force controlled ends in controlled device 10, can be located at
On the different optional positions of two of controlled device body.
In technical scheme provided in an embodiment of the present invention, can be according at least to two, controlled device original position, final position
The service condition of position, cooks up the independent variable between each two adjacent position for virtual main spindle's, and dependent variable is controlled right
As the position given curve of position, feedforward curve is calculated according to the position given curve planned between each two adjacent position, meanwhile,
The feedback parameter of bilateral motor is obtained, according to the feedforward curve and feedback parameter of planning, to the first motor and the second electricity
Machine is controlled, and can carry out COMPREHENSIVE CALCULATING to the position given curve planned, the curve that feedovers according to feedback parameter in practice in real time,
Control signal after calculating is controlled to the first motor and the second motor, relative to prior art, control accuracy is high, can carry
Synchronous control accuracy of the dual drive motor high to controlled device.
Wherein, the first transmission mechanism, the second transmission mechanism can respectively include chain；In the output shaft of the first motor and second
Flexible coupling can be also connected between the output shaft of motor.
In the specific sync control device for implementing central, above-mentioned bilateral motor, the driver element includes driving
Second driver element of second motor 30 of the first driver element and driving of dynamic first motor 20；First driver element includes
First position ring controller 611, First Speed ring controller 612, the first current loop controller 613；Second driver element
Including second place ring controller 621, second speed ring controller 622, the second current loop controller 623；The feedback parameter
Collecting unit includes the first position detection means of the detection motor side of controlled device first, detection controlled device the and motor side
Second place detection means.First position detection means, second place detection means can be grating scale etc..
In the specific sync control device for implementing central, above-mentioned bilateral motor, first driver element is also
Including first position isochronous controller, its signal incoming end is connected with the feedback parameter collecting unit, for obtaining first
Feedback parameter, second place feedback parameter are put, its signal output part is connected with the first position ring controller；Described second drives
Moving cell also includes second place isochronous controller, and its signal incoming end is connected with the feedback parameter collecting unit, for obtaining
First position feedback parameter, second place feedback parameter are taken, its signal output part is connected with the second place ring controller.
The position of the first motor gives and the error between the feedback of position is sm=s+ θmerr-θmf, θmerr=Kmp(θmf-
θsf), wherein θmerrIt is position compensation amount, the θ of the regulation output of the first motor side position synchronization control devicemfFor the first motor side is real-time
The first position feedback parameter of feedback, θsfIt is the second place feedback parameter of the second motor side Real-time Feedback, KmpIt is small more than 0
In the first motor side sync bit controller equal to 1 than row coefficient；
The position of the second motor gives and the error between the feedback of position is ss=s+ θserr-θsf, θserr=Ksp(θsf-
θmf), wherein θserrIt is position compensation amount, the K of the regulation output of the second motor side position synchronization control devicespIt is that 1 is less than or equal to more than 0
The second motor side sync bit controller than row coefficient.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and does not have the portion described in detail in certain embodiment
Point, may refer to the associated description of other embodiment.
It is understood that the correlated characteristic in said apparatus can be referred to mutually.In addition, in above-described embodiment " the
One ", " second " etc. is, for distinguishing each embodiment, and not represent the quality of each embodiment.
In specification mentioned herein, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be put into practice in the case of without these details.In some instances, known structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this description.
Similarly, it will be appreciated that in order to simplify one or more that the disclosure and helping understands in each inventive aspect, exist
Above to the description of exemplary embodiment of the invention in, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the device of the disclosure should be construed to reflect following intention：I.e. required guarantor
The application claims of shield features more more than the feature being expressly recited in each claim.More precisely, such as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, and wherein each claim is in itself
All as separate embodiments of the invention.
Those skilled in the art are appreciated that can be carried out adaptively to the part in the device in embodiment
Change and they are arranged in one or more devices different from the embodiment.Can be the component combination in embodiment
Into a part, and multiple subassemblies can be divided into addition.At least some in except such feature are mutual
Outside repulsion, can be using any combinations to the institute disclosed in this specification (including adjoint claim, summary and accompanying drawing)
There are feature and all parts of so disclosed any device to be combined.Unless expressly stated otherwise, this specification (including
Adjoint claim, summary and accompanying drawing) disclosed in each feature can or similar purpose identical, equivalent by offer replacement
Feature replaces.
Although additionally, it will be appreciated by those of skill in the art that some embodiments described herein include other embodiments
In included some features rather than further feature, but the combination of the feature of different embodiments means in of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment required for protection is appointed
One of meaning mode can be used in any combination.All parts embodiment of the invention can realize with hardware, or
Realized with combinations thereof.
It should be noted that above-described embodiment the present invention will be described rather than limiting the invention, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol being located between bracket should not be configured to limitations on claims.Word "comprising" is not excluded the presence of not
Part or component listed in the claims.Word "a" or "an" before part or component does not exclude the presence of multiple
Such part or component.The present invention can be realized by means of the device for including some different parts.It is some listing
In the claim of part, several in these parts can be embodied by same part.Word first,
Second and third use do not indicate that any order.These words can be construed to title.
The above, is only presently preferred embodiments of the present invention, and any formal limitation is not made to the present invention, according to
Any simple modification, equivalent variations and the modification made to above example according to technical spirit of the invention, still fall within this hair
In the range of bright technical scheme.
Claims (13)
1. a kind of synchronisation control means of bilateral motor, it is characterised in that including：
According at least to controlled device original position, the service condition in final position in target phase, planning independent variable is virtual main shaft
Position, dependent variable is the position given curve of controlled device position, and feedforward curve is calculated according to the position given curve, described
Feedforward curve includes：Corresponding turn of velocity feed forward curve corresponding with the position given curve and the position given curve
Square feedforward curve；
The feedback parameter of bilateral motor is obtained respectively, wherein, the first feedback parameter of the first motor side includes：First electric current
Feedback parameter, First Speed feedback parameter, first position feedback parameter, the second feedback parameter of the second motor side include：Second
Current feedback parameters, second speed feedback parameter, second place feedback parameter；
Generation control the first motor and second are calculated according to the position given curve, the feedforward curve and the feedback parameter
The control signal of motor rotation.
2. the synchronisation control means of bilateral motor according to claim 1, it is characterised in that
The service condition includes original position service condition, final position service condition and in original position and final position
Between at least one centre position service condition, the virtual main spindle's curve between each two adjacent position is planned respectively.
3. the synchronisation control means of bilateral motor according to claim 1, it is characterised in that
The position numerical value of each planned position of the service condition including controlled device, speed values, acceleration value and
Acceleration numerical value.
4. the synchronisation control means of bilateral motor according to claim 3, it is characterised in that
Planning independent variable is virtual main spindle's, and dependent variable is for the method for the position given curve of controlled device position：
Set the position given curve s=c between two neighboring position0+c1x+c2x2+c3x3+c4x4+c5x5+c6x6+c7x7；
Feedforward curve is calculated according to controlled device position given curve：
Velocity feed forward curve v=c1+2c2x1+3c3x2+4c4x3+5c5x4+6c6x5+7c7x6；
Torque feedforward curve Tref=KpJa,
Feed forward of acceleration curve a=2c2+6c3x1+12c4x2+20c5x3+30c6x4+42c7x5；
X is virtual main spindle's given parameters, s is controlled device position feed-forward, v is velocity feed forward, a is feed forward of acceleration, KpFor
Torque feedforward proportionality coefficient, J are system rotary inertia, c0、c1、c2、c3、c4、c5、c6、c7It is to set adjacent according to controlled device
Constant depending on two positions of position, speed, acceleration and accelerations.
5. the synchronisation control means of bilateral motor according to claim 4, it is characterised in that s0=0；v0=0；a0
=0；j0=0；s0It is original position, v0It is starting velocity, a0It is starting acceleration, j0It is initial acceleration；
s1=h；v1=0；a1=0；j1=0；s1It is final position, v1It is terminal velocity, a1It is terminal acceleration, j1For terminal plus
Acceleration；Then,
Position given curve s=h (35x4-84x5+70x6-20x7)
Velocity feed forward curve v=h (140x3-420x4+420x5-140x6)
Torque feedforward curve Tref=KpJa, a=h (420x2-1680x3+2100x4-840x5)。
6. the synchronisation control means of bilateral motor according to claim 4, it is characterised in that
It is described according to the position given curve, the feedforward curve and the feedback parameter calculate generation the first motor of control and
The control signal of the second motor rotation, specifically includes：
The position difference between first position feedback parameter and second place feedback parameter is calculated, to obtain the first motor side and the
Site error between two motor sides, using the site error between first motor side and the second motor side as regulation and control first
The position compensation of the second place ring output of the position compensation amount and/or the second motor side of the first position ring controller of motor side
Amount regulation and control parameter.
7. the synchronisation control means of bilateral motor according to claim 6, it is characterised in that the position of the first motor
Error between the feedback of given and first position is sm=s+ θmerr-θmf, θmerr=Kmp(θmf-θsf), wherein θmerrIt is the first electricity
Position compensation amount, the θ of pusher side position synchronization control device regulation outputmfFor ginseng is fed back in the first position of the first motor side Real-time Feedback
Number, θsfIt is the second place feedback parameter of the second motor side Real-time Feedback, KmpBe more than 0 less than or equal to 1 the first motor side it is same
Step positioner is than row coefficient；
The position of the second motor gives and the error between second place feedback is ss=s+ θserr-θsf, θserr=Ksp(θsf-
θmf), wherein θserrIt is position compensation amount, the K of the regulation output of the second motor side position synchronization control devicespIt is that 1 is less than or equal to more than 0
The second motor side sync bit controller than row coefficient.
8. the synchronisation control means of bilateral motor according to claim 6, it is characterised in that
It is described according to the position given curve, the feedforward curve and the feedback parameter calculate generation the first motor of control and
The control signal of the second motor rotation, specifically also includes：
By the first position ring controller output of first motor side and corresponding velocity feed forward in the velocity feed forward curve
Sum as the first motor side First Speed ring speed preset, by the speed preset of first motor side and described first speed
The difference for spending feedback parameter is exported through the First Speed ring of first motor side, and as the first electric current loop of the first motor side
Given, corresponding torque in the given feedforward curve with the torque of first electric current loop is feedovered sum as the first motor side
The first electric current loop give, by the given difference with first current feedback parameters of first electric current loop, by the first electricity
The the first motor output of stream ring output control,
By the second place ring controller output of second motor side and corresponding velocity feed forward in the velocity feed forward curve
Sum as the second motor side second speed ring speed preset, by the speed preset of second motor side and described second speed
The difference for spending feedback parameter is exported through the second speed ring of second motor side, and as the second electric current loop of the second motor side
Given, corresponding torque in the given feedforward curve with the torque of second electric current loop is feedovered sum as the second motor side
The second electric current loop give, by the given difference with second current feedback parameters of second electric current loop, by the second electricity
The the second motor output of stream ring output control,
Controlled device is set to be run according to position curve, rate curve, accelerating curve.
9. according to the synchronisation control means of any described bilateral motor in claim 1-8, it is characterised in that
The first position feedback parameter, the second place feedback parameter are the feedback parameter of controlled device.
10. a kind of sync control device of bilateral motor, it is characterised in that including：
Controlled device；
First motor, the first end of the controlled device is driven by the first transmission mechanism；
Second motor, the second end of the controlled device is driven by the second transmission mechanism；
First transmission mechanism, second transmission mechanism include rigid connection or flexible connection mechanism；
Virtual main shaft planning unit, for according at least to controlled device original position, the service condition in final position in target phase,
Planning independent variable is virtual main spindle's, and dependent variable is the position given curve of controlled device position, given according to the position
Curve calculates feedforward curve, and the feedforward curve includes：Velocity feed forward curve corresponding with the position given curve and described
The corresponding torque feedforward curve of position given curve；
Feedback parameter collecting unit, the feedback parameter for obtaining bilateral motor respectively, wherein, the first of the first motor side
Feedback parameter includes：First current feedback parameters, First Speed feedback parameter, first position feedback parameter, the second motor side
Second feedback parameter includes：Second current feedback parameters, second speed feedback parameter, second place feedback parameter；
Driver element, its signal acquisition terminal connects the virtual main shaft planning unit and the feedback parameter collecting unit respectively,
Its signal output part and first motor and the second motor connection, for bent according to the position given curve, the feedforward
Line calculates the control signal of generation the first motor of control and the second motor rotation with the feedback parameter.
The sync control device of 11. bilateral motors according to claim 10, it is characterised in that
The driver element includes driving the first driver element of the first motor and drives the second driver element of the second motor；
First driver element includes first position ring controller, First Speed ring controller, the first current loop controller；
Second driver element includes second place ring controller, second speed ring controller, the second current loop controller；
The feedback parameter collecting unit includes that the first position detection means of the detection motor side of controlled device first, detection are controlled
The second place detection means of the motor side of object second.
The sync control device of 12. bilateral motors according to claim 11, it is characterised in that
First driver element also includes first position isochronous controller, and its signal incoming end gathers single with the feedback parameter
Unit's connection, for obtaining first position feedback parameter, second place feedback parameter, its signal output part and the first position ring
Controller is connected；
Second driver element also includes second place isochronous controller, and its signal incoming end gathers single with the feedback parameter
Unit's connection, for obtaining first position feedback parameter, second place feedback parameter, its signal output part and the second place ring
Controller is connected.
The sync control device of 13. bilateral motors according to claim 10, it is characterised in that
The sync control device of described bilateral motor is controlled by any described method in the claims 1-9.
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| CN116683811A (en) * | 2023-05-23 | 2023-09-01 | 深圳市杰美康机电有限公司 | Synchronous control method and device for double-shaft integrated driver |
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