CN107017804A - The control system and method for series direct current motor - Google Patents
The control system and method for series direct current motor Download PDFInfo
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- CN107017804A CN107017804A CN201710114799.0A CN201710114799A CN107017804A CN 107017804 A CN107017804 A CN 107017804A CN 201710114799 A CN201710114799 A CN 201710114799A CN 107017804 A CN107017804 A CN 107017804A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/68—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors
- H02P5/685—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors electrically connected in series, i.e. carrying the same current
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Abstract
The invention discloses a kind of control system and method for series direct current motor.Wherein, the control system includes：Communication unit, for the control information received to be sent into the control unit of control system, wherein, communication unit is additionally operable to send the status information of control information direct current generator corresponding with the control system at least one control system of series connection；Speed acquisition unit, is connected with direct current generator, the rotary speed information for gathering direct current generator, wherein, rotary speed information includes the pulse output parameter of direct current generator；Control unit, for generating rotational speed regulation parameter according to control information and rotary speed information；Driver element, is connected with control unit and direct current generator, for according to rotational speed regulation parameter regulation driving voltage.The present invention, which solves electric machine control system, to be needed while when controlling multiple motors, the big technical problem of resource occupation.
Description
Technical field
The present invention relates to Motor Control Field, in particular to a kind of control system and method for series direct current motor.
Background technology
Motor speed control technology applies quite varied in automation control area, and it can be used in all kinds of digital control systems
In the control unit of Tong Zhong executing agencies, accurately speed control is carried out to various intelligence machines, wherein, the intelligence machine includes
Robot, AGV dollies etc..But, it is necessary to control multiple motors in existing motor speed control system, such as system of robot
Need to be controlled multiple motors in system, when controlling multiple motor (such as direct current generators), it is necessary to gather multiple motors simultaneously
Rotary speed information, and multiple control information are sent into corresponding motor according to the rotary speed information, electric machine control system can be caused
Controller need simultaneously receive and dispatch multigroup motor information, can so take the ample resources of controller, control efficiency is low.Meanwhile,
The ample resources of controller can be taken to the rotational speed counting of motor by controller, now, if motor speed collecting unit can not
The rotating speed of motor is effectively collected, the operating efficiency of electric machine control system can be greatly reduced.
For it is above-mentioned control multiple motors at the same time when, the problem of resource occupation is big not yet proposes effective solve at present
Scheme.
The content of the invention
The embodiments of the invention provide a kind of control system and method for series direct current motor, at least to solve motor control
When system needs to control multiple motors simultaneously, the big technical problem of resource occupation.
There is provided a kind of control system of series direct current motor, control system for one side according to embodiments of the present invention
It is integrated in the driver of direct current generator, including：Communication unit, for the control information received to be sent to control system
In control unit, wherein, communication unit is additionally operable to the status information of control information direct current generator corresponding with the control system
Send at least one control system of series connection；Speed acquisition unit, is connected with direct current generator, for gathering direct current generator
Rotary speed information, wherein, rotary speed information includes the pulse output parameter of direct current generator；Control unit, for according to control information and
Rotary speed information generates rotational speed regulation parameter；Driver element, is connected with control unit and direct current generator, for being joined according to rotational speed regulation
Number regulation driving voltage.
Further, first control system at least one control system is connected with host computer, first control system
It is additionally operable to receive the control information that host computer is sent in system；Each control system at least one control system is to that should have
One direct current generator, direct current generator is used to be rotated according to driving voltage.
Further, speed acquisition module includes：Frequency multiplication control module, the pulse for being exported to direct current generator exports ginseng
Several times frequency；Decoder, for being decoded to the pulse output parameter Jing Guo frequency multiplication, obtains rotary speed information.
Further, control unit includes：PID controller, in a control unit, for what is exported to speed acquisition unit
The control information that rotary speed information and communication unit are sent carries out PID calculating, obtains rotational speed regulation parameter.
Further, driver element includes：PWM module, for rotational speed regulation parameter, carrying out PWM, obtaining
Driving voltage parameter；Voltage module, for according to driving voltage parameter to direct current generator outputting drive voltage.
Further, direct current generator includes：Encoder, for being encoded to the pulse signal that direct current generator is exported, is obtained
It is sent to pulse output parameter, and by pulse output parameter in speed acquisition unit.
According to embodiments of the present invention on the other hand, a kind of control method of series direct current motor is additionally provided, including：Receive
The control information that host computer is sent, wherein, host computer is connected with first control system at least one control system, at least
One control system is connected in series；The rotary speed information of direct current generator is gathered, wherein, each control at least one control system
System is to that should have a direct current generator；The driving voltage of direct current generator is adjusted according to control information and rotary speed information, wherein, direct current
The status information and control information of motor are passed at least one control system of series connection successively.
Further, the rotary speed information of collection direct current generator includes：According to frequency parameter set in advance, to direct current generator
Pulse output parameter carry out frequency multiplication；Pulse output parameter Jing Guo frequency multiplication is decoded, rotary speed information is obtained.
Further, the driving voltage for adjusting direct current generator according to control information and rotary speed information includes：To rotary speed information
PID calculating is carried out with control information, rotational speed regulation parameter is obtained；According to the driving of rotational speed regulation parameter regulation direct current generator electricity
Pressure.
Further, included according to the driving voltage of rotational speed regulation parameter regulation direct current generator：Rotational speed regulation parameter is entered
Row PWM, obtains driving voltage parameter；According to the driving voltage of driving voltage parameter regulation direct current generator.
In embodiments of the present invention, it is possible to achieve the control list of control system is sent control information to using communication unit
In member, wherein, communication unit the status information of control information direct current generator corresponding with the control system can also be sent to
In at least one control system of series connection, while the rotary speed information of direct current generator can be gathered using speed acquisition unit, then,
Control unit can generate rotational speed regulation parameter according to control information and rotary speed information, and driver element can join according to rotational speed regulation
The driving voltage of number regulation direct current generator.According to the embodiment, the control system of motor can be connected in series, and control information can be with
In the control system for being sequentially delivered to series connection, it is not necessary to while sending multiple control information to the corresponding control system of direct current generator
In, save the control resource of host computer so that the control system of series connection can constantly adjust rotating speed according to control information, solve
When electric machine control system needs to control multiple motors simultaneously, the big technical problem of resource occupation.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, this hair
Bright schematic description and description is used to explain the present invention, does not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is a kind of schematic diagram of the control system of optional series direct current motor according to embodiments of the present invention；
Fig. 2 is the schematic diagram of the control system of another optional series direct current motor according to embodiments of the present invention；
Fig. 3 is a kind of signal of the closed-loop feedback control system of optional series direct current motor according to embodiments of the present invention
Figure；
Fig. 4 is a kind of schematic diagram of the series connection control net of optional many direct current generators according to embodiments of the present invention；And
Fig. 5 is a kind of flow chart of the control method of optional series direct current motor according to embodiments of the present invention.
Embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, should all belong to the model that the present invention is protected
Enclose.
It should be noted that term " first " in description and claims of this specification and above-mentioned accompanying drawing, "
Two " etc. be for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so using
Data can exchange in the appropriate case, so as to embodiments of the invention described herein can with except illustrating herein or
Order beyond those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
Lid is non-exclusive to be included, for example, the process, method, system, product or the equipment that contain series of steps or unit are not necessarily limited to
Those steps or unit clearly listed, but may include not list clearly or for these processes, method, product
Or the intrinsic other steps of equipment or unit.
For ease of understanding technical scheme that the application is provided, below the part term or name to occurring in the embodiment of the present invention
Word is explained：
Frequency multiplication (clock multiplier)：Refer to the frequency multiplication of motor feedback pulse, the resolution ratio of encoder can be improved.
Pulse width modulation (Pulse Width Modulation, be abbreviated as PWM), abbreviation pulsewidth modulation is using micro-
The numeral output of processor is come a kind of technology being controlled to analog circuit, and its control mode is exactly to inverter circuit derailing switch
The break-make of part is controlled, and output end is obtained a series of equal pulse of amplitudes, with these pulses come instead of sine wave or institute
The waveform needed, that is, multiple pulses are produced in the half period of output waveform, make each pulse waits threshold voltage to be sine
Waveform, the output smoothing obtained and harmonic wave is few is modulated, you can change inversion by certain rule to the width of each pulse
The size of circuit output voltage, can also change output frequency.
Fig. 1 is a kind of schematic diagram of the control system of optional series direct current motor according to embodiments of the present invention, such as Fig. 1
Shown, the control system includes：
Communication unit 11, for the control information received to be sent into the control unit of control system, wherein, communication
Unit is additionally operable to send the status information of control information direct current generator corresponding with the control system at least one of series connection
In control system；
Speed acquisition unit 13, is connected with direct current generator 19, the rotary speed information for gathering direct current generator, wherein, rotating speed
Information includes the pulse output parameter of direct current generator；
Control unit 15, for generating rotational speed regulation parameter according to control information and rotary speed information；
Driver element 17, is connected with control unit and direct current generator, for according to rotational speed regulation parameter regulation driving voltage.
Pass through above-described embodiment, it is possible to achieve send the control information received to control system using communication unit 11
Control unit in, wherein, communication unit can also be by the state of control information direct current generator 19 corresponding with the control system
Information is sent at least one control system of series connection, while turning for direct current generator can be gathered using speed acquisition unit 13
Fast information, then, control unit 15 can generate rotational speed regulation parameter according to control information and rotary speed information, and driver element 17 can
With the driving voltage according to rotational speed regulation parameter regulation direct current generator.According to the embodiment, the control system of motor can connect
Connection, control information can be sequentially delivered in the control system of series connection, it is not necessary to while sending multiple control information to direct current
In the corresponding control system of motor, the control resource of host computer is saved so that the control system of series connection can be according to control information
Rotating speed is constantly adjusted, when solution electric machine control system needs to control multiple motors simultaneously, the big technical problem of resource occupation.
Meanwhile, rotary speed information can be shared between the control system of the direct current generator of series connection, effective saving motor has been reached
Resource is controlled, the effect of control accuracy and efficiency is improved.
Optionally, above-described embodiment can apply in each direct current generator, and above-mentioned control system is used to control direct current
The rotation of motor, the direct current generator can be DC servo motor.Above-mentioned described control system can be integrated in direct current
In the driver of machine.Be can be understood as to control system transmission control information to direct current generator pair described in the present embodiment
The driver answered sends control information.The control system can pass through corresponding communication protocol and the control system of other direct current generators
System carries out data transfer.
Optionally, first control system at least one control system is connected with host computer, first control system
In be additionally operable to receive host computer send control information；Each control system at least one control system is to that should have one
Individual direct current generator, direct current generator is used to be rotated according to driving voltage.
Another optional embodiment, the host computer at least one control system send control information before, its
The rotary speed parameter of direct current generator can be prestored, the rotary speed parameter prestored can be the standard ginseng that direct current generator is rotated
Number.Optionally, host computer can be various control terminals, for example, PC, single-chip microcomputer etc..
Optionally, above-mentioned communication unit can be serial communication unit, wherein, the communication unit of first motor can be with
Host computer and next control system are connected, the communication unit is used for the control information for receiving host computer transmission, and this is controlled
Information and the status information of direct current generator are sent in the control system of at least one other direct current generator.Wherein, status information
The rotary speed parameter of direct current generator and the rotational speed regulation parameter of control system generation can be included.
Another optional embodiment, speed acquisition unit can be connected with the control unit of control system, will be adopted
The rotary speed information of the DC servo motor collected is sent in control unit so that control unit can give birth to according to the rotary speed information
Into the rotational speed regulation parameter of motor.
For above-mentioned control unit, it can be microcontroller, what the control unit can be sent with receiving communication unit
Control information, and the rotary speed information that speed acquisition unit is sent is calculated accordingly, adjusted with the rotating speed of adjusted motor
Parameter is saved, the rotational speed regulation parameter can be data signal, and it is single that the rotational speed regulation parameter can be sent to driving by control unit
Member.
Another optional embodiment, speed acquisition module includes：Frequency multiplication control module, for being exported to direct current generator
Pulse output parameter frequency multiplication；Decoder, for being decoded to the pulse output parameter Jing Guo frequency multiplication, obtains rotary speed information.
By above-mentioned embodiment, speed acquisition unit can be improved when gathering the pulse output parameter of direct current generator
The resolution ratio of decoder, using frequency multiplication control module, can pre-set frequency parameter, for example, 4 times in frequency multiplication control module.
The frequency parameter that i.e. frequency multiplication control module can be pre-set, frequency multiplication is carried out to the pulse output parameter of the direct current generator of collection,
And decoded accordingly, obtain corresponding rotary speed information.For example, in electric machine the encoders of 1000 lines, do not setting
When putting the situation of frequency parameter, motor, which turns around, can gather 1000 pulses, and control mould to frequency multiplication in the embodiment of the present invention
Block sets frequency parameter to be 4 times, then motor, which turns around, can gather the output of 4000 pulses, and the resolution ratio of pulse improves 4
Times.
Optionally, the decoder in above-mentioned speed acquisition module can be decoded to pulse output parameter, obtain correspondence
Rotary speed information, and the rotary speed information is sent to the control unit of the control system of motor.
For above-mentioned control unit, it can include：PID controller, in a control unit, for speed acquisition list
The control information that the rotary speed information and communication unit of member output are sent carries out PID calculating, obtains rotational speed regulation parameter.
It should be noted that, PID in the present invention is ratio (P), the abbreviation for integrating (I) and differential (D).Excessively program control
In system, the PID controller being controlled by deviation ratio (P), integration (I) and differential (D) is a kind of widely used automatic control
Device processed.
Optionally, driver element includes：PWM module, for rotational speed regulation parameter, carrying out PWM, being driven
Dynamic voltage parameter；Voltage module, for according to driving voltage parameter to direct current generator outputting drive voltage.
It should be noted that direct current generator can also include：Encoder, for entering to the pulse signal that direct current generator is exported
Row coding, obtains pulse output parameter, and pulse output parameter is sent in speed acquisition unit.
I.e. driver element can carry out PWM, control to the data signal (i.e. rotational speed regulation parameter) that control unit is sent
PWM duty cycle signal can be included in the data signal that unit processed is sent, driver element is adjusted to the PWM duty cycle signal
System, obtains corresponding PWM ripples, the PWM ripples can be a kind of drive signal, for adjusting corresponding voltage parameter, to export phase
The driving voltage answered drives the rotation of direct current generator into direct current generator.
Optionally, above-mentioned direct current generator can be a variety of, and in the present embodiment, direct current generator can be DC servo electricity
Machine, the DC servo motor makes corresponding rotation according to voltage parameter, and the rotating speed that its rotating speed can be sent with control unit is adjusted
It is consistent to save parameter.
For above-mentioned control system, it can also include power subsystem and memory cell, and the power subsystem can be with control
Unit and driver element connection processed, to provide electric energy to other units of the control system；, can be at interval of for memory cell
One predetermined amount of time stores the rotary speed information of a direct current generator, wherein, the predetermined amount of time can be pre-set, such as
1 minute.
By above-mentioned embodiment, control system receives the control information that host computer is sent, adopted with reference to speed acquisition unit
The rotary speed information of the direct current generator collected, generates corresponding rotational speed regulation parameter, to control the rotation of direct current generator.So, may be used
To save the control resource of direct current generator so that the control system of each motor of series connection can export corresponding driving voltage,
Drive the rotation of corresponding direct current generator.
Here is the specifically embodiment according to the application.
Fig. 2 is the schematic diagram of the control system of another optional series direct current motor according to embodiments of the present invention, such as
Shown in Fig. 2, system is mainly used for many DC servo motor rotating speed controls, and system includes serial communication unit 22, control unit
23rd, driver element 24, speed acquisition unit 26, power subsystem 29, memory cell 28, the control system can with host computer 21 and
The control system connection of series electric motor 27, the exportable corresponding driving voltage of the control system, to control DC servo motor 25
Rotation.As shown in Fig. 2 control unit can use STM32F407 chips, as the control centre of control system, realize logical
The functions such as letter, PID control, decision-making；Serial communication unit can use RS232 communication modes, connection host computer and other series connection
Motor, to receive motor control information, and sends oneself state information；Driver element can include dual H-bridge, fast according to STM32
The PWM input voltage of fast PWM output modes output, with the data signal of output control servomotor；Speed acquisition unit
Rotating speed coded pulse can be gathered by HCTL2032, meanwhile, speed acquisition unit can pre-set frequency parameter, to carry out
Pulse frequency multiplication is controlled.
By above-mentioned embodiment, whole system formation speed ring can be caused, DC servo motor is carried out accurate
Control.
Wherein, decoder can be set in the control system of the DC servo motor, wherein, encoder can be using again
The mode of frequency improves resolution ratio, and the resolution ratio can be the resolution ratio of the umber of pulse of the DC servo motor collected.Optionally,
The rotational speed regulation of direct current generator may range from 50-60000min-1, the supply voltage of control unit may range from 6V-
40V；0V-40V is may range from for the supply voltage of motor.
Optionally, host computer, which is sent to the control information of the serial communication unit of motor, can an information transfer speed
The transmission speed of control information in degree, the present embodiment can be a variety of, for example, can be 115200BAUD.
By above-mentioned embodiment, DC motor speed control error can be reduced, the control accuracy of motor is improved.
Fig. 3 is a kind of signal of the closed-loop feedback control system of optional series direct current motor according to embodiments of the present invention
Figure, as shown in figure 3, the system can realize many DC servo motor rotating speed controls, system can include PID controller, driving
Circuit, encoder, decoder etc., the control system can control the rotating speed of direct current generator.Optionally, the system can also include
Serial communication unit, speed acquisition unit, control unit, power subsystem, memory cell, wherein, counted by PID controller
Calculate, corresponding PID corrected parameters can be obtained；Encoder can be photoelectric encoder, and it can be used for collecting direct current
The rotary speed information of machine is encoded；Decoder is used to decode the pulse parameter that encoder is exported, and obtains being available for control single
The rotary speed information that member is calculated；The rotary speed data of direct current generator can be obtained by speed acquisition unit, and direct current generator is exported
Pulse signal carry out frequency multiplication, can so improve speed acquisition unit collection pulse output signals, improve pulse resolution
Rate.Control unit can be calculated the control information that the rotary speed information and host computer collected is sent, and obtain speed error,
And PID amendments are carried out to speed error.
Optionally, the control system in above-mentioned embodiment can be realized in series connection net, as shown in figure 4, host computer will turn
Fast control information and parameter of electric machine information are sent to by communication unit in the control system of first direct current generator, and first straight
Stream motor sends control information to the control system for lower two direct current generators being cascaded according to corresponding communication protocol,
Control information and the corresponding parameter of electric machine are sent one by one by that analogy into the control system of motor, to control turning for direct current generator
Dynamic, information flow carries out serial transmission, can so save the control resource of host computer.Meanwhile, the control system of each motor,
During the control information that transmission state information and host computer are sent, data sharing between each motor can be caused, improve control accuracy and
Efficiency.
Optionally, in the control system connection of the host computer shown in Fig. 4 and motor communicated to connect by RS232, wherein,
RXD can carry out read operation, and TXD can carry out write operation, and each control system can drive a corresponding motor to rotate.
Optionally, above-mentioned control unit can use various control chip, for example, STM32F407ZET6 chips.Pass through
The control unit can realize the functions such as communication, PID control, decision-making.
Another optional embodiment, power subsystem can use a variety of voltage stabilizing chips, such as LM2596T-3.3 voltage stabilizings
Chip, can be with larger to unit input voltage by the supply voltage, and the electric current of output is 3A to the maximum.Pass through the electricity
Source unit, it is possible to achieve the low-power consumption of motor control, high efficiency.
Optionally, above-mentioned electric-motor drive unit can realize that the control signal transmitted to motor is isolated, while can be with
Motor works.Wherein, driving chip can be included in driver element, e.g., TLP521-4 chips, the chip is controllable
LMDS Light Coupled Device, light emitting diode and photosensitive tube can be packaged together by it, and light emitting diode changes the electric signal of input
Photosensitive tube, which is transmitted to, for optical signal is converted to electric signal output.By the chip, it can also isolate outer with the signal of coupled transfer
Carry out the interference of signal, it is therefore intended that PWM ripples signal and associated control signal between isolation control unit and driving chip, to subtract
The interference of small voltage, strengthens the security of circuit.
Optionally, the electric-motor drive unit in the embodiment of the present invention can also use LMD18200 chips, and the chip is special
For direct current motor driven H axle assembles, on the chip can with integral control circuit and power device, using the chip,
A complete kinetic control system can be constituted with master controller, motor and encoder.Optionally, driver element output current
Peak value can be 6A, continuous output current can be 3A.
Optionally, speed acquisition unit can use various chips, and such as HCTL2032 chips can be entered by the chip
Row high speed, high-precision quadrature decoder, its maximum clock frequency can reach 4 times up to 33MHz, highest frequency multiplication；Optionally, the speed
Degree collecting unit can carry out 32 reversible countings of binary system, while can be carried out data transmission by 8 BITBUS networks, convenient operation；
Internal to enter Row noise filtering by schmidt trigger, the anti-noise ability of the speed acquisition unit is strong.
By above-mentioned embodiment, the control system of motor can be controlled by the way of series connection, and host computer will turn
Fast control information and parameter of electric machine information, first control system is sent to by communication unit, first control system according to
Corresponding communication protocol is sent to second DC servo motor control system being cascaded, and sends control one by one by that analogy
Information processed and the corresponding parameter of electric machine, carry out serial transmission by information flow, can so save the control resource of host computer, together
When share the data between each motor, improve control accuracy and efficiency.Meanwhile, can be using independent in the embodiment of the present application
Decoding coded pulse unit, while the unit can carry out frequency multiplication control to the tacho-pulse of collection, pass through speed acquisition list
Member can reduce the mechanical requirements of rotating speed collection, improve control accuracy.Finally, the control system of motor can be using the side connected
Formula, multiple direct current generators of connecting, is convenient for extension.
According to embodiments of the present invention there is provided a kind of control method embodiment of series direct current motor, it is necessary to explanation,
It can be performed the step of the flow of accompanying drawing is illustrated in the computer system of such as one group computer executable instructions, and
And, although logical order is shown in flow charts, but in some cases, can be with different from order execution institute herein
The step of showing or describe.
Fig. 5 is a kind of flow chart of the control method of optional series direct current motor according to embodiments of the present invention, such as Fig. 5
Shown, this method comprises the following steps：
Step S501, receives the control information that host computer is sent, wherein, the in host computer and at least one control system
One control system connection, at least one control system is connected in series.
Step S503, gathers the rotary speed information of direct current generator, wherein, each control system at least one control system
To that should have a direct current generator.
Step S505, the driving voltage of direct current generator is adjusted according to control information and rotary speed information, wherein, direct current generator
Status information and control information are passed at least one control system of series connection successively.
By above-described embodiment, the control system of motor can receive the control information of host computer transmission, wherein, host computer
It is connected with first control system at least one control system, at least one control system is connected in series, while collection is straight
The rotary speed information of motor is flowed, wherein, each control system at least one control system is to that should have a direct current generator, so
Afterwards, the control system of motor can adjust the driving voltage of direct current generator according to control information and rotary speed information, and by direct current
The status information and control information of machine are passed at least one control system of series connection successively.According to the embodiment, motor
Control system can be connected in series, and control information can be sequentially delivered in the control system of series connection, it is not necessary to while sending many
Individual control information saves the control resource of host computer into the corresponding control system of direct current generator so that the control system of series connection
System can constantly adjust rotating speed according to control information, and solving electric machine control system needs while when controlling multiple motors, resource is accounted for
With big technical problem.
Meanwhile, rotary speed information can be shared between the control system of the motor of series connection, the effect of control accuracy and efficiency is improved
Really.
Optionally, the rotary speed information of collection direct current generator includes：According to frequency parameter set in advance, to direct current generator
Pulse output parameter carries out frequency multiplication；Pulse output parameter Jing Guo frequency multiplication is decoded, rotary speed information is obtained.
Another optional embodiment, the driving voltage bag of direct current generator is adjusted according to control information and rotary speed information
Include：PID calculating is carried out to rotary speed information and control information, rotational speed regulation parameter is obtained；According to rotational speed regulation parameter regulation direct current
The driving voltage of motor.
Optionally, included according to the driving voltage of rotational speed regulation parameter regulation direct current generator：Rotational speed regulation parameter is carried out
PWM, obtains driving voltage parameter；According to the driving voltage of driving voltage parameter regulation direct current generator.
For above-mentioned embodiment, before the rotary speed information of collection direct current generator, method also includes：To direct current generator
Pulse signal encoded, obtain pulse output parameter.
The embodiments of the present invention are for illustration only, and the quality of embodiment is not represented.
In the above embodiment of the present invention, the description to each embodiment all emphasizes particularly on different fields, and does not have in some embodiment
The part of detailed description, may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents, others can be passed through
Mode is realized.Wherein, device embodiment described above is only schematical, such as division of described unit, Ke Yiwei
A kind of division of logic function, can there is other dividing mode when actually realizing, such as multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be the INDIRECT COUPLING or communication link of unit or module by some interfaces
Connect, can be electrical or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On unit.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is realized using in the form of SFU software functional unit and as independent production marketing or used
When, it can be stored in a computer read/write memory medium.Understood based on such, technical scheme is substantially
The part contributed in other words to prior art or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are to cause a computer
Equipment (can for personal computer, server or network equipment etc.) perform each embodiment methods described of the invention whole or
Part steps.And foregoing storage medium includes：USB flash disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can be with store program codes
Medium.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of control system of series direct current motor, the control system integration is in the driver of direct current generator, its feature
It is, including：
Communication unit, for the control information received to be sent into the control unit of control system, wherein, the communication unit
Member is additionally operable to send the status information of control information direct current generator corresponding with the control system at least the one of series connection
In individual control system；
Speed acquisition unit, is connected with the direct current generator, the rotary speed information for gathering the direct current generator, wherein, it is described
Rotary speed information includes the pulse output parameter of the direct current generator；
Described control unit, for generating rotational speed regulation parameter according to the control information and the rotary speed information；
Driver element, is connected with described control unit and the direct current generator, for being driven according to the rotational speed regulation parameter regulation
Dynamic voltage.
2. control system according to claim 1, it is characterised in that
First control system at least one described control system is connected with host computer, in first control system also
The control information for receiving host computer transmission；
Each control system at least one described control system is to that should have a direct current generator, and the direct current generator is used
Rotated according to the driving voltage.
3. control system according to claim 2, it is characterised in that the speed acquisition module includes：
Frequency multiplication control module, for the pulse output parameter frequency multiplication exported to the direct current generator；
Decoder, for being decoded to the pulse output parameter Jing Guo frequency multiplication, obtains the rotary speed information.
4. control system according to claim 1, it is characterised in that described control unit includes：
PID controller, in described control unit, for the rotary speed information exported to the speed acquisition unit and the communication
The control information that unit is sent carries out PID calculating, obtains the rotational speed regulation parameter.
5. control system according to claim 3, it is characterised in that the driver element includes：
PWM module, for the rotational speed regulation parameter, carrying out PWM, obtaining driving voltage parameter；
Voltage module, for according to the driving voltage parameter to the direct current generator outputting drive voltage.
6. control system according to claim 5, it is characterised in that the direct current generator includes：
Encoder, for being encoded to the pulse signal that direct current generator is exported, obtains pulse output parameter, and by the pulse
Output parameter is sent in the speed acquisition unit.
7. a kind of control method of series direct current motor, it is characterised in that including：
The control information that host computer is sent is received, wherein, the host computer and first control at least one control system
System is connected, and at least one described control system is connected in series；
The rotary speed information of direct current generator is gathered, wherein, each control system at least one described control system is to that should have one
Individual direct current generator；
The driving voltage of the direct current generator is adjusted according to the control information and the rotary speed information, wherein, the direct current
The status information of machine and the control information are passed at least one described control system of series connection successively.
8. control method according to claim 7, it is characterised in that the rotary speed information of collection direct current generator includes：
According to frequency parameter set in advance, frequency multiplication is carried out to the pulse output parameter of the direct current generator；
The pulse output parameter Jing Guo frequency multiplication is decoded, the rotary speed information is obtained.
9. control method according to claim 7, it is characterised in that adjusted according to the control information and the rotary speed information
Saving the driving voltage of the direct current generator includes：
PID calculating is carried out to the rotary speed information and the control information, rotational speed regulation parameter is obtained；
The driving voltage of direct current generator according to the rotational speed regulation parameter regulation.
10. control method according to claim 9, it is characterised in that straight according to the rotational speed regulation parameter regulation
The driving voltage of stream motor includes：
PWM is carried out to the rotational speed regulation parameter, driving voltage parameter is obtained；
The driving voltage of direct current generator according to the driving voltage parameter regulation.
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| CN201710114799.0A CN107017804A (en) | 2017-02-28 | 2017-02-28 | The control system and method for series direct current motor |
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