CN106891080A - The wire feed control system and method for many motors - Google Patents
The wire feed control system and method for many motors Download PDFInfo
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- CN106891080A CN106891080A CN201710262175.3A CN201710262175A CN106891080A CN 106891080 A CN106891080 A CN 106891080A CN 201710262175 A CN201710262175 A CN 201710262175A CN 106891080 A CN106891080 A CN 106891080A
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- current
- motor
- wire feed
- electric
- motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/124—Circuits or methods for feeding welding wire
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
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- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The disclosure provides a kind of the wire feed control system and method for many motors.The wire feed control system of many motors includes：Multiple wire feed units, each wire feed unit includes motor respectively, velocity sensor, current sensor and wire feed drive mechanism, the velocity sensor is used to detect the rate signal of the motor, the current sensor is used to detect the current signal of the motor, wherein, the motor of each wire feed unit has the speed ring of itself respectively, and the speed ring of each wire feed unit runs according to same speed command, at least part of motor has the electric current loop of itself in the multiple wire feed unit, and at least part of electric current loop is associated with the current of electric of its own wire feed unit and the current of electric of other at least one wire feed units in the electric current loop；Controller, the current signal that the controller feeds back according to speed command, the rate signal of each speed sensor feedback and each current sensor controls the motor constant speed operation of each wire feed unit.This programme can realize the wire feed of stabilization.
Description
Technical field
This disclosure relates to welding technology field, in particular to the wire feed control system and method for a kind of many motors.
Background technology
Welding, as a kind of very conventional Joining Technology, plays a significant role in industrial production and manufacture.Welding wire is
As filling metal or simultaneously as conductive welded wire material during welding.Metal or make simultaneously as filling during welding
It is conductive welded wire material.In gas welding and shielded arc welding of tungsten electrode gas, welding wire is used as filling metal；In submerged arc
When weldering, electroslag welding and other melting pole gas shielded arc weldings, welding wire is both filling metal, while being also conductive electrode.
Welding wire is typically transported to welding wire the front end of welding torch using motor in welding procedure, for welding.But in some fields
Close, such as shipbuilding, special-purpose vehicle industry, the source of weld job position and welding wire conveying is farther out, it is therefore desirable to which long-distance sand transport is welded
Silk.In this case, due to welding wire transport path farther out, the driving of welding wire needs to overcome larger frictional resistance in path,
Now relying only on the pushing motor in welding wire source cannot realize the wire feed of stabilization.
It should be noted that information is only used for strengthening the reason of background of this disclosure disclosed in above-mentioned background section
Solution, therefore can include not constituting the information to prior art known to persons of ordinary skill in the art.
The content of the invention
The purpose of the disclosure is the wire feed control system and method for providing a kind of many motors, and then at least to a certain degree
On overcome due to one or more problem caused by the limitation of correlation technique and defect.
According to an aspect of this disclosure, there is provided a kind of wire feed control system of many motors, including：
Multiple wire feed units, each wire feed unit includes motor, velocity sensor, current sensor and wire feed driving machine respectively
Structure, the velocity sensor is used to detect the rate signal of the motor, and the current sensor is used to detect the motor
Current signal, wherein, the motor of each wire feed unit has a speed ring of itself respectively, and each wire feed unit speed ring according to same
One speed command runs, and at least part of motor is with the electric current loop of itself, and the electric current loop in the multiple wire feed unit
At least part of electric current loop is related to the current of electric of its own wire feed unit and the current of electric of other at least one wire feed units
Connection；
Controller, the controller is passed according to speed command, the rate signal of each speed sensor feedback and each electric current
The current signal of sensor feedback controls the motor constant speed operation of each wire feed unit.
In a kind of exemplary embodiment of the disclosure, the controller connects including control unit, driver element and feedback
Receive unit；Wherein,
The feedback reception unit is used to receive rate signal and each current sensor feedback of each speed sensor feedback
Current signal and export to described control unit；
Described control unit is used to receive the rate signal and the current signal of the feedback reception unit output
And the driver element is output control signals to according to the speed command；
The driver element is used to receive the operating of the control signal driving corresponding motor of described control unit.
In a kind of exemplary embodiment of the disclosure, another part electric current loop and its own wire feed list in the electric current loop
The current of electric of unit is associated.
In a kind of exemplary embodiment of the disclosure, another part part motor does not have in the multiple wire feed unit
The electric current loop of itself.
In a kind of exemplary embodiment of the disclosure, the multiple wire feed unit include 1 to N wire feed units, the 1st to
N wire feeds unit includes first to N motors, 1 to N velocity sensors, 1 to N current sensors, 1 to the N speed respectively
Degree sensor is respectively used to 1 to the N rate signals of output described first to N motors, 1 to the N current sensors point
Yong Yu not export first to N motors 1 to N current signals.
In a kind of exemplary embodiment of the disclosure, the described i-th -1 motor is according to the described i-th -1 current signal and described
I-th current signal controls its current of electric, 2≤i≤N；The N motors control its motor electricity according to the N current signals
Stream.
In a kind of exemplary embodiment of the disclosure, the described i-th -1 motor is according to the described i-th -1 current signal to described
N current signals control its current of electric, 2≤i≤N；The N motors control its motor electricity according to the N current signals
Stream.
In a kind of exemplary embodiment of the disclosure, i-th motor is according to the described i-th -1 current signal and described
I current signals control its current of electric, 2≤i≤N；1st motor controls its current of electric according to the 1st current signal.
In a kind of exemplary embodiment of the disclosure, i-th motor is according to i-th current signal to the described 1st
Current signal controls its current of electric, 2≤i≤N；1st motor controls its current of electric according to the 1st current signal.
According to an aspect of this disclosure, there is provided a kind of many motors of wire feed control system for above-mentioned many motors
Wire feed control method, including：
Receive speed command, the rate signal of each speed sensor feedback of each wire feed unit, each electricity of each wire feed unit
The current signal of flow sensor feedback；
The motor constant speed of each wire feed unit is controlled according to the speed command, the rate signal and the current signal
Operation.
In a kind of exemplary embodiment of the disclosure, the multiple wire feed unit include 1 to N wire feed units, the 1st to
N wire feeds unit includes first to N motors, 1 to N velocity sensors, 1 to N current sensors, 1 to the N speed respectively
Degree sensor is respectively used to 1 to the N rate signals of output described first to N motors, 1 to the N current sensors point
Yong Yu not export first to N motors 1 to N current signals, wherein described according to the speed command, the rate signal
And the motor constant speed operation of each wire feed unit of the current signal control includes：
The speed ring of the motor of each wire feed unit is controlled to be run according to same speed command；And
The current of electric of i-th -1 motor is controlled according to the described i-th -1 current signal and i-th current signal；Root
The current of electric of the N motors is controlled according to the N current signals；Or
The current of electric of i-th -1 motor is controlled according to the described i-th -1 current signal to the N current signals；Root
The current of electric of the N motors is controlled according to the N current signals；Or
The current of electric of i-th motor is controlled according to the described i-th -1 current signal and i-th current signal；According to
1st current signal controls the current of electric of the 1st motor；Or
The current of electric of i-th motor is controlled according to i-th current signal to the 1st current signal；According to institute
State the current of electric that the 1st current signal controls the 1st motor；2≤i≤N.
The wire feed control system and method for many motors in the disclosure some embodiments, the motor in multiple wire feed units lead to
Cross velocity sensor and current sensor and detect its rate signal and current signal respectively, and feed back to controller, by control
The control signal of device enables to the motor constant speed even running of each wire feed unit, such that it is able to realize the wire feed of stabilization.
It should be appreciated that the general description of the above and detailed description hereinafter are only exemplary and explanatory, not
The disclosure can be limited.
Brief description of the drawings
Accompanying drawing herein is merged in specification and constitutes the part of this specification, shows the implementation for meeting the disclosure
Example, and it is used to explain the principle of the disclosure together with specification.It should be evident that drawings in the following description are only the disclosure
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 schematically shows the schematic diagram of the wire feed control system of a kind of many motors in disclosure example embodiment.
Fig. 2 schematically shows showing for the wire feed control system that a kind of two motors in disclosure example embodiment are constituted
It is intended to.
Fig. 3 schematically shows a kind of signal of control mode of the wire feed control system that two motors shown in Fig. 2 are constituted
Figure.
Fig. 4 schematically shows showing for another control mode of the wire feed control system that two motors shown in Fig. 2 are constituted
It is intended to.
Fig. 5 schematically shows the of the wire feed control system that a kind of N number of motor in disclosure example embodiment is constituted
A kind of schematic diagram of control mode.
Fig. 6 schematically shows the of the wire feed control system that a kind of N number of motor in disclosure example embodiment is constituted
Two kinds of schematic diagrames of control mode.
Fig. 7 schematically shows the of the wire feed control system that a kind of N number of motor in disclosure example embodiment is constituted
Three kinds of schematic diagrames of control mode.
Fig. 8 schematically shows the of the wire feed control system that a kind of N number of motor in disclosure example embodiment is constituted
Four kinds of schematic diagrames of control mode.
Fig. 9 schematically shows showing for another control mode of the wire feed control system that two motors shown in Fig. 2 are constituted
It is intended to.
Figure 10 schematically shows showing for another control mode of the wire feed control system that two motors shown in Fig. 2 are constituted
It is intended to.
Figure 11 schematically shows the of the wire feed control system that a kind of N number of motor in disclosure example embodiment is constituted
Five kinds of schematic diagrames of control mode.
Figure 12 schematically shows the of the wire feed control system that a kind of N number of motor in disclosure example embodiment is constituted
Six kinds of schematic diagrames of control mode.
Figure 13 schematically shows the of the wire feed control system that a kind of N number of motor in disclosure example embodiment is constituted
Seven kinds of schematic diagrames of control mode.
Figure 14 schematically shows the of the wire feed control system that a kind of N number of motor in disclosure example embodiment is constituted
Eight kinds of schematic diagrames of control mode.
Figure 15 schematically shows the flow chart of the wire feed control method of a kind of many motors in disclosure example embodiment.
Specific embodiment
Example embodiment is described more fully with referring now to accompanying drawing.However, example embodiment can be with various shapes
Formula is implemented, and is not understood as limited to example set forth herein；Conversely, thesing embodiments are provided so that the disclosure will more
Fully and completely, and by the design of example embodiment those skilled in the art is comprehensively conveyed to.Described feature, knot
Structure or characteristic can be combined in one or more implementation methods in any suitable manner.In the following description, there is provided perhaps
Many details are so as to provide fully understanding for implementation method of this disclosure.It will be appreciated, however, by one skilled in the art that can
Omit one or more in the specific detail to put into practice the technical scheme of the disclosure, or other sides can be used
Method, constituent element, device, step etc..In other cases, be not shown in detail or describe known solution a presumptuous guest usurps the role of the host avoiding and
So that each side of the disclosure thickens.
Additionally, accompanying drawing is only the schematic illustrations of the disclosure, it is not necessarily drawn to scale.Identical accompanying drawing mark in figure
Note represents same or similar part, thus will omit repetition thereof.Some block diagrams shown in accompanying drawing are work(
Energy entity, not necessarily must be corresponding with physically or logically independent entity.These work(can be realized using software form
Energy entity, or these functional entitys are realized in one or more hardware modules or integrated circuit, or at heterogeneous networks and/or place
These functional entitys are realized in reason device device and/or microcontroller device.
Can realize that welding wire is defeated using front end motor and rear end motor driving wire feeder independently in the prior art
Send, but in welding process, the two motor speeds are likely to occur change or uncoordinated, so as to cause welding arc unstable,
Influence welding quality.So that optimization wire feed control system, solves the problems, such as that wire feed is unstable.
Embodiment of the present invention provide firstly a kind of wire feed control system of many motors, can include：Multiple wire feed lists
Unit, each wire feed unit includes motor, velocity sensor, current sensor and wire feed drive mechanism, the velocity sensor respectively
Rate signal for detecting the motor, the current sensor is used to detect the current signal of the motor, wherein, respectively send
The motor of silk unit has the speed ring of itself respectively, and the speed ring of each wire feed unit runs according to same speed command, institute
State in multiple wire feed units at least partly motor have in the electric current loop of itself, and the electric current loop at least partly electric current loop and its
The current of electric of the current of electric of itself wire feed unit and other at least one wire feed units is associated；Controller, the control
Device is each according to the current signal control that speed command, the rate signal of each speed sensor feedback and each current sensor feed back
The motor constant speed operation of wire feed unit.It is possible thereby to wire feed stable under realizing many motor conditions.
Fig. 1 schematically shows the schematic diagram of the wire feed control system of a kind of many motors in disclosure example embodiment.
As shown in figure 1, the wire feed control system 10 of many motors can include that the first wire feed unit, the second wire feed unit are straight
To N wire feeds unit and controller, the controller can receive the speed command of outside input.Here N is more than or equal to 2
Positive integer.
Wherein, the first wire feed unit can include the first current sensor, First Speed sensor, the first motor and
First wire feed drive mechanism.The second wire feed unit can include the second current sensor, second speed sensor, the second electricity
Machine and the second wire feed drive mechanism.... N wire feeds unit can include N current sensors, N velocity sensors, N electricity
Machine and N wire feed drive mechanisms.
Wherein, 1 to the N velocity sensors may be respectively used for 1 to the N speed of output described first to N motors
Degree signal；1 to the N current sensors may be respectively used for 1 to the N current signals of output first to N motors.
In the embodiment of the present invention, it is assumed that the first wire feed unit is the rear end for extracting welding wire from wire reel or welding wire cylinder
One wire feed unit.Welding wire disk material is generally divided into two kinds of metal and plastics (ABS+PC).Wire reel refers to store, collect weldering
The instrument of silk.Second is used to realize being separated by one section between long range wire feed, and each wire feed unit to N wire feeds unit and controller
Distance.
In the exemplary embodiment, the first wire feed unit, the second wire feed unit until N wire feed units the first motor,
Second motor until N motors respectively have the speed ring of itself, and each wire feed unit speed ring according to same speed command
Operation.
In the exemplary embodiment, the first wire feed unit, the second wire feed unit are until at least partly electric in N wire feed units
Machine have in the electric current loop of itself, and the electric current loop at least partly current of electric of electric current loop and its own wire feed unit and its
The current of electric of his at least one wire feed unit is associated.
In the exemplary embodiment, the first wire feed unit, the second wire feed unit are until at least partly electric in N wire feed units
Another part electric current loop (removes the current of electric with its own wire feed unit during machine has the electric current loop of itself, and the electric current loop
Other electric current loops beyond described at least part of electric current loop associated with the current of electric of other at least one wire feed units) with
The current of electric of its own wire feed unit is associated.For example, another part electric current loop only with the motor of its own wire feed unit
It is current related.
In the exemplary embodiment, the first wire feed unit, the second wire feed unit are until another part is electric in N wire feed units
Machine (other motors in addition to described at least part of motor of the wire feed unit of the electric current loop with itself) does not have itself
Electric current loop.
In the exemplary embodiment, the described i-th -1 motor can be according to the described i-th -1 current signal and i-th electric current
Signal controls its current of electric, 2≤i≤N；The N motors control its current of electric according to the N current signals.
In the exemplary embodiment, the described i-th -1 motor can be according to the described i-th -1 current signal to the N electric currents
Signal controls its current of electric, 2≤i≤N；The N motors control its current of electric according to the N current signals.
In the exemplary embodiment, i-th motor can be believed according to the described i-th -1 current signal and i-th electric current
Number control its current of electric, 2≤i≤N；1st motor controls its current of electric according to the 1st current signal.
In the exemplary embodiment, i-th motor can be according to i-th current signal to the 1st current signal
Control its current of electric, 2≤i≤N；1st motor controls its current of electric according to the 1st current signal.
The wire feed control system of many motors of embodiment of the present invention, by the current signal and speed that gather multiple motors
Signal realizes multiple feedback loop as feedback using the rate signal and current signal of feedback, realizes accurate multi- drive synchronization,
And then reached the purpose of stable wire feed.Avoid in the prior art due to wire feed path length, resistance is big or wire feed path is not smooth
Caused wire feed is unstable.
Above-described embodiment is illustrated by Fig. 2-Fig. 8 separately below.
Fig. 2 schematically shows showing for the wire feed control system that a kind of two motors in disclosure example embodiment are constituted
It is intended to.
Here illustrated by taking the wire feed control system that two motors are constituted as an example.
As shown in Fig. 2 the wire feed control system 20 can include the first wire feed unit and the second wire feed unit and control
Device.
First wire feed unit can include the first current sensor, First Speed sensor (or referred to as First Speed compile
Code device), the first motor and the first wire feed drive mechanism for being made up of two wire feed rolls.In the embodiment of the present invention, can be by
Two wire feed rolls of one wire feed drive mechanism extract welding wire.
Second wire feed unit can include the second current sensor, second speed sensor (or referred to as second speed compile
Code device), the second motor and the second wire feed drive mechanism for being made up of two wire feed rolls.
With continued reference to shown in Fig. 2, the controller can include feedback reception unit, control unit and driver element, institute
State the operating that controller can be used for controlling first motor and second motor.Wherein, described control unit respectively with
The feedback reception unit and the driver element are connected.
In the embodiment of the present invention, the feedback reception unit is used to receiving the rate signal of each speed sensor feedback and each
The current signal of current sensor feedback is simultaneously exported to described control unit.Described control unit is used to receive the feedback reception
The rate signal and the current signal of unit output simultaneously output control signals to the driving according to the speed command
Unit.The driver element is used to receive the operating of the control signal driving corresponding motor of described control unit.
It should be noted that, although a controller is only depicted in the embodiment of the present invention and diagram, but the disclosure is to this
It is not construed as limiting, in other embodiments, it would however also be possible to employ multiple controllers.
Specifically, the feedback reception unit is used to receive the first motor and the velocity feedback and electric current of the second motor are anti-
Feedback, output to described control unit；The driver element receives PWM (the Pulse Width of described control unit
Modulation, pulse width modulation) signal drives the operating of first motor and second motor；Described control unit
Rate signal and current signal from the feedback reception unit are received so as to be arrived according to the speed command output pwm signal
The driver element, motor operating.Wherein, two operatings of motor of first motor and second motor are by oneself
Speed ring and current loop control, the speed ring be outer shroud, the electric current loop be inner ring.
Fig. 3 schematically shows a kind of signal of control mode of the wire feed control system that two motors shown in Fig. 2 are constituted
Figure.
As shown in figure 3, speed ring (or Voltage loop) and electric current loop (or moment of torsion of the operating of two of which motor by oneself
Ring) control, speed ring (or Voltage loop) is outer shroud, and electric current loop (or torsion loop) is inner ring.
Electric current loop is the controlling unit using current signal as feedback signal.Speed ring is using rate signal as feedback letter
Number controlling unit.Electric current loop is inner ring, and it primarily serves the effect of the mechanical property of raising system.Its feedback element is generally
Current transformer.Outside electric current loop, it primarily serves the effect of control rotating speed to speed ring.Its feedback element is generally simulation and surveys
Fast machine or encoder.
The input of electric current loop is speed ring PID (Proportion Integration Differentiation, ratio product
Point differential) that output after regulation, the input value of electric current loop and the value of feedback of electric current loop be compared after difference in electric current
PID regulation outputs are done in ring to motor, " feedback of electric current loop " is to be arranged on the Hall element (magnetic field per phase in internal drive
Sensing is changed into current and voltage signals) feed back to electric current loop.Electric current loop is exactly controlled motor torque, so under torque mode
The computing of driver is minimum, and dynamic response is most fast.System is also carrying out electric current/torque while system carries out speed control
Control to reach the corresponding control to speed.
The input of speed ring is exactly the velocity feedback of the speed command and motor, speed ring input value and loop feedback
Value be compared after difference speed ring be PID regulations (mainly proportional gain and Integral Processing) afterwards output to electric current loop.
The feedback of speed ring comes from the velocity feedback of motor.Speed ring control contains speed ring and electric current loop.
Wherein, the speed ring of first motor is transported using the motor speed of itself according to the speed command as feedback
OK, electric current loop realizes control using the current of electric of the current of electric of itself and the second motor as feedback simultaneously.Second electricity
, according to same speed command using the motor speed of itself as back-to-back running, electric current loop is with the current of electric of itself for the speed ring of machine
Control is realized as feedback.
Specifically, the speed ring of the first motor is outer shroud, using the speed command and the first motor output as feedback
The difference of speed, is input to First Speed control, is exported after PID control as the given of the first current control, at the same with work
For feedback the second motor current of electric and the current of electric of itself through PID arithmetic after, be input to the first current control, pass through
Exported after PID arithmetic to the first driver element and control the operating of the first motor.
The speed ring of the second motor is outer shroud, using same speed command and the difference as the second motor output speed fed back
Value, is input to second speed control, is exported after PID control as the given of the second current control, at the same with as feedback
After the current of electric computing of itself, the second current control is input to, is exported after PID arithmetic to the second driver element control second
The operating of motor.
Concrete principle is as follows：During operating, the first motor and the second motor are operated according to the speed command, the second motor
Load be mainly derived from the above resistance in wire feed path and the below resistance in wire feed path, due to welding when before wire feed path
Resistance be basically unchanged, therefore the fluctuation of load of the second motor is mainly caused by the change of the resistance in wire feed path below.When
When two motor loads become big, cause the second motor speed slack-off, the current of electric of the second motor increases, and it is by the speed of itself
Speed returns to speed value operating after ring adjustment, meanwhile, by the use of this electric current as the current feedback of the first motor, make first
The output torque of motor increases, so that the first motor helps the second motor to overcome the load of increase；When the second motor load becomes
Hour, cause the second motor speed to accelerate, the current of electric of the second motor reduces, its speed after the speed ring of itself is adjusted
Command value is operated, meanwhile, by the use of this electric current as the current feedback of the first motor, reduce the output torque of the first motor, from
And the second motor is shared the load of a part of first motor, final first motor and the second motor constant speed even running.
Fig. 4 schematically shows showing for another control mode of the wire feed control system that two motors shown in Fig. 2 are constituted
It is intended to.
As shown in figure 4, it is that only the first motor has certainly with the difference part of the embodiment shown in above-mentioned Fig. 3 simultaneously
The speed ring and electric current loop of body；And the second motor only has the speed ring of itself, the electric current loop without itself.Specifically, the
Same speed command and the difference as the second motor output speed fed back are input to second speed by the speed ring of two motors
Control, exports to the second driver element after PID control and controls the operating of the second motor.
Wherein, the speed ring of first motor according to the speed command using the motor speed of itself as back-to-back running,
The current of electric of the current of electric of itself and second motor is realized control by the electric current loop of first motor.
Fig. 5 schematically shows the wire feed control that the individual motors of a kind of N (N >=3 here) in disclosure example embodiment are constituted
The schematic diagram of the first control mode of system processed.The wire feed control system that N number of motor is constituted can include the first wire feed list
Unit, including the first motor, First Speed sensor/encoder, the first current sensor and the first wire feed drive mechanism；Second send
Silk unit, including the second motor, second speed sensor/encoder, the second current sensor and the second wire feed driving machine
Structure；... (N-1) wire feed unit, passed comprising (N-1) motor, (N-1) velocity sensor/encoder, (N-1) electric current
Sensor and (N-1) wire feed drive mechanism；N wire feed units, comprising N motors, N velocity sensors/encoder, N electricity
Flow sensor and N wire feed drive mechanisms；Controller, comprising control unit, feedback reception unit and driver element.Wherein, institute
Feedback reception unit is stated for receiving the velocity feedback and current feedback of motor, output to described control unit；It is described to drive list
Unit receives the operating of the pwm signal motor of described control unit；Described control unit is received and comes from the feedback reception list
The signal of unit is so as to according to speed command output pwm signal to the driver element, motor operating.Wherein, 1 to N
By the speed ring and current loop control of oneself, speed ring is outer shroud for the operating of motor, and electric current loop is inner ring.
Fig. 5 is that the wire feed control system that two motors of Fig. 2 are constituted is expanded into multiple (more than or equal to 3) motors, should
System include for from wire reel or welding wire cylinder extract welding wire the motor of rear end first, for realize long range wire feed from first
Second motor of the segment distance of motor one, the 3rd motor from the segment distance of the second motor one for realizing long range wire feed, with this
Analogize, until N motors and controller from the segment distance of (N-1) motor one for realizing long range wire feed.Controller bag
Containing control unit, driver element and feedback reception unit, the operating for controlling all motors.The running of wherein all motors by
Oneself speed ring (or Voltage loop) and electric current loop (or torsion loop) control, speed ring (or Voltage loop) be outer shroud, electric current loop (or
Torsion loop) it is inner ring.The speed ring of all motors runs according to same speed command, and the electric current loop of each motor is except will be from
Body current of electric is outer as feedback, also using the electric current of above closest motor as feedback, such as electric current of N-1 motors
Ring is controlled except using oneself motor electric current as feedback, also using the electric current of N motors as feedback, to realize all motors
Even running.
Specifically, the speed ring of the first motor is outer shroud, using speed command and the first motor output speed as feedback
Difference, be input to First Speed control, exported after PID control as the given of the first current control, while with as anti-
After the current of electric of the second motor of feedback and the current of electric computing of itself, the first current control is input to, it is defeated after PID arithmetic
Go out to the first driver element to control the operating of the first motor.
The speed ring of the second motor is outer shroud, using same speed command and the difference as the second motor output speed fed back
Value, is input to second speed control, is exported after PID control as the given of the second current control, at the same with as feedback
After the current of electric computing of itself of the current of electric sum of the 3rd motor, the second current control is input to, is exported after PID arithmetic
The operating of the second motor is controlled to the second driver element.
By that analogy, the speed ring of (N-1) motor is outer shroud, using speed command and (N-1) motor as feedback
The difference of output speed, is input to (N-1) speed control, exported after PID control as (N-1) current control to
It is fixed, at the same with the current of electric of the N motors as feedback and the current of electric computing of itself after, be input to (N-1) electric current
Control, exports to (N-1) driver element after PID arithmetic and controls the operating of (N-1) motor.
Specifically, the speed ring of N motors is outer shroud, speed is exported using same speed command and as the N motors of feedback
The difference of degree, is input to N speed controls, is exported after PID control as the given of N current controls, at the same with as anti-
After the current of electric computing of itself of feedback, N current controls are input to, are exported after PID arithmetic to N driver elements control the
The operating of N motors.
Concrete principle is：When the change of N motor loads is big, cause N motor speeds slack-off, electric current increases, and it passes through certainly
Speed returns to speed value operating after the speed ring adjustment of body, meanwhile, by the use of this electric current as the electric current of (N-1) motor
Feedback, making the output torque of (N-1) motor increases, so that (N-1) motor helps N motors to overcome the load of increase；
When N motor loads become hour, N motor speeds are caused to accelerate, N current of electric reduces, the speed ring that it passes through itself is adjusted
Whole rear speed returns to speed value operating, meanwhile, by the use of this electric current as the current feedback of (N-1) motor, make (N-
1) output torque of motor reduces, so that N motors share the load of a part of (N-1) motor, by that analogy, final the
One motor, the second motor, the speed sync until N motors, operate steadily.
Fig. 6 schematically shows the of the wire feed control system that a kind of N number of motor in disclosure example embodiment is constituted
Two kinds of schematic diagrames of control mode.
As shown in fig. 6, it is with the difference part of the embodiment shown in Fig. 5, the 1st to N-1 motors has itself
Electric current loop and speed ring；And N motors only have the speed ring of itself, the electric current loop without itself.Specifically, N motors
Speed ring using same speed command and as feedback N motor output speeds difference, be input to N speed controls, pass through
Exported after PID control to N driver elements and control the operating of N motors.
Wherein, first to N-1 motors speed ring respectively using speed command and as feedback first to N-1 motors
The difference of output speed, is input to first to N-1 speed controls, is exported after PID control as the first to N-1 electric current control
System it is given, while second to after the current of electric of N motors and the current of electric computing of itself, distinguishing defeated with as feedback
Enter to first to N-1 current controls, first to N-1 driver elements control the first to N-1 is respectively outputted to after PID arithmetic
The operating of motor.
Fig. 7 schematically shows the of the wire feed control system that a kind of N number of motor in disclosure example embodiment is constituted
Three kinds of schematic diagrames of control mode.
As shown in fig. 7, for many motors (being more than or equal to 3), it is also possible to take in the following manner：The speed of all motors
Ring runs according to same speed command, and the electric current loop of each motor is by the current of electric of itself and the above motor of all motors
Electric current as feedback, i.e. (N-1) motor current ring control using oneself motor electric current and N current of electric as feedback, for
The control of (N-2) motor current ring using oneself motor electric current, (N-1) current of electric and N current of electric as feedback, successively
Analogize, for the 1st current of electric current loop control with oneself motor electric current, the 2nd current of electric, the 3rd current of electric ... and N electricity
Electromechanics stream conduct feedback, to realize the even running of all motors.
Fig. 8 schematically shows the of the wire feed control system that a kind of N number of motor in disclosure example embodiment is constituted
Four kinds of schematic diagrames of control mode.
As shown in figure 8, it is with the difference part of the embodiment shown in Fig. 7, the 1st to N-1 motors has itself
Electric current loop and speed ring；And N motors only have the speed ring of itself, without electric current loop.Specifically, the speed of N motors
Same speed command and the difference as the N motor output speeds fed back are input to N speed controls, through PID control by ring
Export afterwards to N driver elements and control the operating of N motors.
Fig. 9 schematically shows showing for another control mode of the wire feed control system that two motors shown in Fig. 2 are constituted
It is intended to.
As shown in figure 9, still being illustrated by taking two motors as an example.The wire feed control system that two motors are constituted includes
For extracting the motor of rear end first of welding wire from wire reel or welding wire cylinder, for realize long range wire feed one section from the first motor
Second motor and controller of distance.Controller includes control unit, driver element and feedback reception unit, for controlling two
The operating of motor, the operating of two of which motor is controlled by the speed ring (or Voltage loop) and electric current loop (or torsion loop) of oneself,
Speed ring (or Voltage loop) is outer shroud, and electric current loop (or torsion loop) is inner ring.
Wherein, the speed ring of the first motor according to speed command using the motor speed of itself as back-to-back running, electric current loop
Control is realized as feedback using oneself motor electric current.The speed ring of the second motor is according to same speed using the speed of itself as anti-
The current of electric of itself and the first current of electric are realized control by feedback operation, electric current loop as feedback simultaneously.
Specifically, the speed ring of the first motor is outer shroud, using speed command and the first motor output speed as feedback
Difference, be input to second speed control, exported after PID control as the given of the first current control, while with as anti-
After the current of electric computing of itself of feedback, the first current control is input to, is exported after PID arithmetic to the control of the first driver element
The operating of the first motor.
The speed ring of the second motor is outer shroud, using speed command and the difference as the second motor output speed fed back,
Be input to second speed control, exported after PID control as the given of the second current control, at the same with as the first of feedback
After current of electric and the current of electric computing of itself, the second current control is input to, is exported after PID arithmetic to second and drive list
Unit's the second motor rotation of control.
Concrete principle is as follows：During operating, the first motor and the second motor are operated according to speed command, first electrode it is negative
Load be mainly derived from the above resistance in wire feed path and the below resistance of wire reel, due to weld when behind wire reel resistance base
This is constant, therefore the fluctuation of load of the first motor is mainly caused by the change of the above resistance in wire feed path.When the first motor is negative
When load becomes big, cause the first motor speed slack-off, the first current of electric increases, its speed after the speed ring of itself is adjusted is extensive
Operated to speed value again, meanwhile, by the use of this electric current as the current feedback of the second motor, make the output torque of the second motor
Increase, so that the second motor helps the first motor to overcome the load of increase；When the first motor load becomes hour, cause the first electricity
Machine speed accelerates, and the first current of electric reduces, and its speed after the speed ring of itself is adjusted returns to speed value and operates,
Meanwhile, by the use of this electric current as the current feedback of the second motor, reduce the output torque of the second motor, so that the first motor
Share the load of a part of second motor, final first motor and the second motor constant speed even running.
Figure 10 schematically shows showing for another control mode of the wire feed control system that two motors shown in Fig. 2 are constituted
It is intended to.
As shown in Figure 10, itself and the difference part of the embodiment shown in Fig. 9 are that the first motor only has the speed of itself
Ring, without electric current loop；And the second motor has the speed ring and electric current loop of itself.Specifically, the speed ring of the first motor will
The difference of same speed command and the first motor output speed as feedback, is input to First Speed control, after PID control
Export to the first driver element and control the operating of the first motor.
Figure 11 schematically shows the of the wire feed control system that a kind of N number of motor in disclosure example embodiment is constituted
Five kinds of schematic diagrames of control mode.
Figure 11 is that the wire feed control system shown in Fig. 2 is expanded into multiple (more than or equal to 3) motors, and the system includes using
In extracted from wire reel or welding wire cylinder welding wire the motor of rear end first, for realize one section from the first motor of long range wire feed away from
From the second motor, the 3rd motor from the segment distance of the second motor one for realizing long range wire feed, by that analogy, for reality
The existing N motors and controller from the segment distance of (N-1) motor one of long range wire feed.Controller includes control unit, driving
Unit and feedback reception unit, the operating for controlling all motors, wherein the operating of all motors by oneself speed ring (or
Voltage loop) and electric current loop (or torsion loop) control, speed ring (or Voltage loop) is outer shroud, and electric current loop (or torsion loop) is inner ring.
The speed ring of all motors runs according to same speed command, and each current of electric is except using oneself motor electric current as feedback
Outward, also using the electric current of closest motor below as feedback, such as N motor current rings control is with (N-1) current of electric
Used as feedback, then such as (N-1) motor current ring control is using (N-2) current of electric as feedback, by that analogy, so as to reality
The now even running of all motors.
Figure 12 schematically shows the of the wire feed control system that a kind of N number of motor in disclosure example embodiment is constituted
Six kinds of schematic diagrames of control mode.
As shown in figure 12, itself and the difference part of the embodiment shown in Figure 11 are that the first motor only has the speed of itself
Degree ring, the electric current loop without itself；And second to N motors simultaneously there is the speed ring and electric current loop of itself.Specifically, the
Same speed command and the difference as the first motor output speed fed back are input to First Speed by the speed ring of one motor
Control, exports to the first driver element after PID control and controls the operating of the first motor.
Figure 13 schematically shows the of the wire feed control system that a kind of N number of motor in disclosure example embodiment is constituted
Seven kinds of schematic diagrames of control mode.
As shown in figure 13, for many motors, it is also possible to take in the following manner：The speed ring of all motors is according to same
Speed command runs, and each motor current ring using oneself motor electric current and below the electric current of all motors as feedback, for example
The control of N motor current rings with oneself motor and (N-1) current of electric, (N-2) current of electric, (N-3) current of electric,
Until the first current of electric is used as feedback, by that analogy, to realize the even running of all motors.
Figure 14 schematically shows the of the wire feed control system that a kind of N number of motor in disclosure example embodiment is constituted
Eight kinds of schematic diagrames of control mode.
As shown in figure 14, itself and the difference part of the embodiment of Figure 13 are that the first motor only has the speed ring of itself,
Electric current loop without itself；And second to N motors simultaneously there is the speed ring and electric current loop of itself.Specifically, the first electricity
Same speed command and the difference as the first motor output speed fed back are input to First Speed control by the speed ring of machine
System, exports to the first driver element after PID control and controls the operating of the first motor.
In summary, the motor that will can not associated with the current of electric of other wire feed units in first to N motors
The electric current loop removal of (such as the first motor or N motors), and only retain first to the electricity in N motors with other wire feed units
The electric current loop of the motor (such as first to N-1 motors or the 2nd to N motors) that electromechanics stream is associated.
It should be noted that be in above-described embodiment with this in first to N motors one (such as the first motor or
N motors) electric current loop of motor is not produced with the current of electric of other wire feed units and associated, but the disclosure is not limited to this.
In other embodiments, this first to the electric current loop that can have multiple (two or more) motors in N motors not with other wire feeds
The current of electric of unit produces association, at this time it is also possible to retain first in N motors not with the motor electricity of other wire feed units
The electric current loop of part motor that stream is associated, and in removal first to N motors not with the current of electric of other wire feed units
The electric current loop of another part motor for associating.
In addition, although in above-described embodiment, the 1st motor of selection or N motors have independent electric current loop, i.e., the 1st
The electric current loop of motor or the N motors is only associated with its own current of electric, and without reference to the motor of other wire feed units
Electric current, but the disclosure is not limited to this, in other embodiments, the 1st to N motors electric current loop can with other one
The current of electric of individual or multiple wire feed units is associated, or the 1st to the electric current loop of some in N motors and other
The current of electric of one or more wire feed unit is associated, and the electric current loop (being more than 1) of another part only and its own
Current of electric it is relevant.
Figure 15 schematically shows the flow chart of the wire feed control method of a kind of many motors in disclosure example embodiment.
The wire feed control method of many motors can apply to the wire feed control system of many motors in foregoing invention embodiment.
As shown in figure 15, the wire feed control method of many motors may comprise steps of.
In the step s 100, speed command, the rate signal of each speed sensor feedback of each wire feed unit are received, is respectively sent
The current signal of each current sensor feedback of silk unit.
In step s 110, each wire feed is controlled according to the speed command, the rate signal and the current signal
The motor constant speed operation of unit.
In the exemplary embodiment, the multiple wire feed unit includes 1 to N wire feed units, 1 to N wire feeds unit point
Bao Kuo not be first to N motors, 1 to N velocity sensors, 1 to N current sensors, 1 to the N velocity sensors point
Yong Yu not export described first to N motors 1 to N rate signals, 1 to the N current sensors be respectively used to output
First to N motors 1 to N current signals, wherein described according to the speed command, the rate signal and the electricity
Stream signal controls the motor constant speed of each wire feed unit to run to be included：
The speed ring of the motor of each wire feed unit is controlled to be run according to same speed command；And
The current of electric of i-th -1 motor is controlled according to the described i-th -1 current signal and i-th current signal；Root
The current of electric of the N motors is controlled according to the N current signals；Or
The current of electric of i-th -1 motor is controlled according to the described i-th -1 current signal to the N current signals；Root
The current of electric of the N motors is controlled according to the N current signals；Or
The current of electric of i-th motor is controlled according to the described i-th -1 current signal and i-th current signal；According to
1st current signal controls the current of electric of the 1st motor；Or
The current of electric of i-th motor is controlled according to i-th current signal to the 1st current signal；According to institute
State the current of electric that the 1st current signal controls the 1st motor；2≤i≤N.
Each step implements details sending in corresponding many motors in the wire feed control method of above-mentioned many motors
It is described in detail in silk control system, therefore here is omitted.
Although it should be noted that being referred to some modules or list of the equipment for action executing in above-detailed
Unit, but this division is not enforceable.In fact, according to embodiment of the present disclosure, it is above-described two or more
The feature and function of module or unit can embody in a module or unit.Conversely, an above-described mould
The feature and function of block or unit can be further divided into being embodied by multiple modules or unit.
Additionally, although each step of method in the disclosure is described with particular order in the accompanying drawings, this does not really want
Asking or imply must perform these steps according to the particular order, or the step having to carry out shown in whole could be realized
Desired result.It is additional or alternative, it is convenient to omit some steps, multiple steps are merged into a step and is performed, and/
Or a step is decomposed into execution of multiple steps etc..
Through the above description of the embodiments, those skilled in the art is it can be readily appreciated that example described herein is implemented
Mode can be realized by software, it is also possible to be realized by way of software is with reference to necessary hardware.Therefore, according to the disclosure
The technical scheme of implementation method can be embodied in the form of software product, and the software product can store non-volatile at one
Property storage medium (can be CD-ROM, USB flash disk, mobile hard disk etc.) in or network on, including some instructions are causing a calculating
Equipment (can be personal computer, server, mobile terminal or network equipment etc.) is performed according to disclosure implementation method
Method.
Those skilled in the art will readily occur to its of the disclosure after considering specification and putting into practice invention disclosed herein
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modifications, purposes or
Person's adaptations follow the general principle of the disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.Description and embodiments are considered only as exemplary, and the true scope of the disclosure and spirit are by appended
Claim is pointed out.
Claims (11)
1. a kind of wire feed control system of many motors, it is characterised in that including：
Multiple wire feed units, each wire feed unit includes motor, velocity sensor, current sensor and wire feed drive mechanism respectively,
The velocity sensor is used to detect the rate signal of the motor, and the current sensor is used to detect the electric current of the motor
Signal, wherein, the motor of each wire feed unit has a speed ring of itself respectively, and each wire feed unit speed ring according to same speed
Degree instruction operation, in the multiple wire feed unit at least part of motor with the electric current loop of itself, and the electric current loop at least
Portion of electrical current ring is associated with the current of electric of its own wire feed unit and the current of electric of other at least one wire feed units；
Controller, the controller is according to speed command, the rate signal of each speed sensor feedback and each current sensor
The current signal of feedback controls the motor constant speed operation of each wire feed unit.
2. the wire feed control system of many motors according to claim 1, it is characterised in that the controller includes that control is single
Unit, driver element and feedback reception unit；Wherein,
The feedback reception unit is used to receive the electricity of rate signal and each current sensor feedback of each speed sensor feedback
Stream signal is simultaneously exported to described control unit；
Described control unit is used to receive the rate signal and the current signal and root of the feedback reception unit output
The driver element is output control signals to according to the speed command；
The driver element is used to receive the operating of the control signal driving corresponding motor of described control unit.
3. the wire feed control system of many motors according to claim 1, it is characterised in that another part in the electric current loop
Electric current loop is associated with the current of electric of its own wire feed unit.
4. the wire feed control system of many motors according to claim 1, it is characterised in that another in the multiple wire feed unit
A part of motor does not have the electric current loop of itself.
5. the wire feed control system of many motors according to claim 1, it is characterised in that the multiple wire feed unit includes
1 to N wire feed units, 1 to N wire feeds unit includes first to N motors, 1 to N velocity sensors, 1 to N electricity respectively
Flow sensor, 1 to the N velocity sensors are respectively used to 1 to the N rate signals of output described first to N motors, institute
State 1 to the N current signals that 1 to N current sensors are respectively used to output first to N motors.
6. the wire feed control system of many motors according to claim 5, it is characterised in that the described i-th -1 motor is according to institute
State the i-th -1 current signal and i-th current signal controls its current of electric, 2≤i≤N；The N motors are according to the N
Current signal controls its current of electric.
7. the wire feed control system of many motors according to claim 5, it is characterised in that the described i-th -1 motor is according to institute
State the i-th -1 current signal to the N current signals and control its current of electric, 2≤i≤N；The N motors are according to the N
Current signal controls its current of electric.
8. the wire feed control system of many motors according to claim 5, it is characterised in that i-th motor is according to
I-th -1 current signal and i-th current signal control its current of electric, 2≤i≤N；1st motor is according to the described 1st electricity
Stream signal controls its current of electric.
9. the wire feed control system of many motors according to claim 5, it is characterised in that i-th motor is according to
I-th current signal to the 1st current signal controls its current of electric, 2≤i≤N；1st motor is according to the 1st electric current
Signal controls its current of electric.
10. the wire feed control method of many motors of a kind of wire feed control system for many motors as claimed in claim 1, its
It is characterised by, including：
Speed command, the rate signal of each speed sensor feedback of each wire feed unit, each electric current of each wire feed unit is received to pass
The current signal of sensor feedback；
The motor constant speed fortune of each wire feed unit is controlled according to the speed command, the rate signal and the current signal
OK.
The wire feed control method of 11. many motors according to claim 10, it is characterised in that the multiple wire feed unit bag
1 to N wire feed units are included, 1 to N wire feeds unit includes first to N motors, 1 to N velocity sensors, 1 to N respectively
Current sensor, 1 to the N velocity sensors are respectively used to 1 to the N rate signals of output described first to N motors,
1 to the N current sensors are respectively used to 1 to the N current signals of output first to N motors, wherein described according to institute
The motor constant speed operation for stating speed command, the rate signal and the current signal each wire feed unit of control includes：
The speed ring of the motor of each wire feed unit is controlled to be run according to same speed command；And
The current of electric of i-th -1 motor is controlled according to the described i-th -1 current signal and i-th current signal；According to institute
State the current of electric that N current signals control the N motors；Or
The current of electric of i-th -1 motor is controlled according to the described i-th -1 current signal to the N current signals；According to institute
State the current of electric that N current signals control the N motors；Or
The current of electric of i-th motor is controlled according to the described i-th -1 current signal and i-th current signal；According to described
1st current signal controls the current of electric of the 1st motor；Or
The current of electric of i-th motor is controlled according to i-th current signal to the 1st current signal；According to the described 1st
Current signal controls the current of electric of the 1st motor；2≤i≤N.
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| CN110076412A (en) * | 2019-04-16 | 2019-08-02 | 深圳市麦格米特焊接技术有限公司 | A kind of bi-motor cooperative control method, device, electric machine controller and wire feed system |
| CN110270740A (en) * | 2018-03-15 | 2019-09-24 | 株式会社达谊恒 | Welding wire feeding system and welding system |
| CN110640269A (en) * | 2018-06-26 | 2020-01-03 | 依赛彼集团公司 | Push-pull wire feeding control system |
| CN113732451A (en) * | 2021-09-22 | 2021-12-03 | 唐山松下产业机器有限公司 | Welding method and system, electronic device, and storage medium |
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