CN108646649A - A kind of closed loop control method and closed-loop control device - Google Patents
A kind of closed loop control method and closed-loop control device Download PDFInfo
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- CN108646649A CN108646649A CN201810857135.8A CN201810857135A CN108646649A CN 108646649 A CN108646649 A CN 108646649A CN 201810857135 A CN201810857135 A CN 201810857135A CN 108646649 A CN108646649 A CN 108646649A
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- loop control
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- 230000000875 corresponding effect Effects 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims description 27
- 239000003990 capacitor Substances 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims description 6
- 238000000151 deposition Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 3
- 230000002457 bidirectional effect Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012369 In process control Methods 0.000 description 1
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- 230000005611 electricity Effects 0.000 description 1
- 238000010965 in-process control Methods 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
- Feedback Control In General (AREA)
Abstract
The present invention relates to a kind of closed loop control method more particularly to a kind of closed loop control methods for servo-driver and a kind of closed-loop control device for servo-driver.A kind of closed loop control method, includes the following steps：Obtaining step, servo-driver execute instruction data by what III communications protocol of MECHATROLINK acquisition master controller was sent；Step is executed, servo-driver executes corresponding actions according to data-driven servo motor is executed instruction；The case where corresponding actions that servo motor executes, is fed back to master controller by feedback step, servo-driver by III communications protocol of MECHATROLINK.This closed loop control method can realize bidirectional data transfers between master controller and servo-driver, improve control accuracy and control effect.
Description
Technical field
The present invention relates to a kind of closed loop control method more particularly to a kind of closed loop control method for servo-driver,
And a kind of closed-loop control device for servo-driver.
Background technology
Existing servo-driver provides pulse direction signal by master controller, and control servomotor executes corresponding actions,
This kind of mode is only capable of that, from master controller to servo-driver one-way transmission information, closed loop feedback cannot be formed, and transmit information
It measures limited, it is difficult to realize increasingly complex, accurate motion control.
Invention content
In order to make up the defect of the above-mentioned prior art, the object of the present invention is to provide a kind of master controller and servo-drivers
Between be capable of the closed loop control method of two-way real-time transmission data.
A kind of closed loop control method, includes the following steps：
Obtaining step, servo-driver obtain the execution that master controller is sent by III communications protocol of MECHATROLINK-
Director data；
Step is executed, servo-driver executes corresponding actions according to data-driven servo motor is executed instruction；
Feedback step, servo-driver are executed servo motor by III communications protocol of MECHATROLINK- corresponding dynamic
As the case where feed back to master controller.
Further, the obtaining step is specially that servo-driver passes through III communications protocol of MECHATROLINK- and master
Controller connects, and then receives executing instruction byte and being stored in buffer area for master controller transmission.
Further, the execution step is specially that servo-driver first executes instruction byte to being stored in buffer area
Data requirement inspection is carried out, is then ranked up to executing instruction byte, last executed instruction.
Further, the feedback step is specially that servo-driver judges the instruction execution state of servo motor
Judge information to generate, then will determine that information copies to buffer area, will then be sentenced by III communications protocol of MECHATROLINK-
Disconnected information feeds back to master controller.
Further, it is additionally provided with the feedback cycle of servo-driver；It is watched when master controller does not receive in feedback cycle
When taking the judgement information of driver transmission, master controller, which re-emits, identical executes instruction data.
Further, described to execute instruction the speed control data, position data and operation shape that data include servo motor
State data.
Further, the servo-driver includes shell, and the first circuit board in shell and second circuit
Plate；The first circuit board is equipped with main control chip, and chip is controlled with the MECHATROLINK- III that main control chip is electrically connected, with
The network interface that main control chip is electrically connected, and the first interface terminal with main control chip electric connection；It is described
MECHATROLINK- III controls chip and is equipped with receiving circuit and transmission circuit；The second circuit board is equipped with capacitor, with capacitance
The second interface terminal that device is electrically connected, and the connection circuit with capacitor and main control chip electric connection respectively；The shell
Body includes upper cover, the lower cover of right-end openings after being fastened with upper cover, and is covered on the cover of upper cover and lower cover right end；The cover
Equipped with the first mounting hole for installing first interface terminal, and the second mounting hole for installing second interface terminal；Institute
It states and is equipped with the first elastic clamping block on the inside of upper cover；It is equipped with and matched second elastic card of the first elastic clamping block on the inside of the lower cover
Block；Upper cover right end both sides and lower cover right end two sides are equipped with clamping hole；The front end both sides of the cover are equipped with and fixing
The matched fixing bullet block in hole.
In summary：In above-mentioned closed loop control method, servo-driver passes through MECHATROLINK- III with master controller
Communications protocol connects, and servo-driver receives executing instruction for master controller, then drives servo motor to execute corresponding actions, also
The executive condition of corresponding actions is fed back into master controller, realizes the closed-loop control to servo-driver, two-way real-time Transmission
Data improve control accuracy and control effect.
In III communications protocol of MECHATROLINK-, 62 websites can be connected, to which the wiring expense of system be greatly lowered
With and the time, and in process control, factory automation field connection terminal and cable match；In addition,
MECHATROLINK- III can construct highly reliable, inexpensive, multi-functional control system；In addition, using MECHATROLINK- III
Alternative D/A converter and impulse generator, thus the design of kinetic control system can be simplified.
The servo-driver of above structure is electrically connected due to being equipped in first circuit board with main control chip
MECHATROLINK- III controls chip, and the communicating circuit includes receiving circuit and transmission circuit；Make this servo-driver
It is executed instruction by what receiving circuit reception master controller was sent out, drives servo motor to make corresponding actions by transmission circuit,
Give master controller feedback by transmission circuit, realizes the closed loop feedback of this servo-driver.
In addition, the shell of this servo-driver has been divided into upper cover, lower cover and cover, and the first elastic card is equipped on the inside of upper cover
Block, lower cover inside is equipped with and matched second elastic clamping block of the first elastic clamping block, upper cover right end both sides and lower cover right end both sides
Face is equipped with clamping hole, and the front end both sides of cover are equipped with and the matched fixing bullet block of clamping hole.The design of the structure so that this
The assembling of servo-driver is very convenient, after only the component in shell need to be positioned on lower lid, then covers upper cover, waits for the first bullet
Property fixture block and the second elastic clamping block card it is good after, then cover is covered on to the right end of upper cover and lower cover so that fix bullet block and be fastened in
Clamping hole completes the assembling of this servo-driver immediately.
The present invention also provides a kind of closed-loop control devices, include the following steps：
Acquiring unit executes instruction data by what III communications protocol of MECHATROLINK- acquisition master controller was sent；Institute
State the speed control data, position data and running state data for executing instruction that data include servo motor；
Execution unit executes corresponding actions according to data-driven servo motor is executed instruction；
The case where feedback unit, the corresponding actions for being executed servo motor by III communications protocol of MECHATROLINK-, is anti-
It feeds master controller.
Further, the acquiring unit is connect by III communications protocol of MECHATROLINK- with master controller, is then connect
Receive executing instruction byte and being stored in buffer area for master controller transmission.
Further, the execution unit first carries out data requirement inspection to the byte that executes instruction being stored in buffer area
It looks into, is then ranked up to executing instruction byte, last executed instruction.
Further, the feedback unit judges the instruction execution state of servo motor to generate judgement information,
Then it will determine that information copies to buffer area, then will determine that information feeds back to master by III communications protocol of MECHATROLINK-
Controller；The feedback unit is provided with feedback cycle；When master controller does not receive feedback unit transmission in feedback cycle
When judging information, master controller, which re-emits, identical executes instruction data.
The invention will be further described in the following with reference to the drawings and specific embodiments.
Description of the drawings
Fig. 1 is a kind of flow chart of 1 closed loop control method specific embodiment of the embodiment of the present invention；
Fig. 2 is the particular flow sheet for the obtaining step that the embodiment of the present invention 1 provides；
Fig. 3 is the particular flow sheet for the execution step that the embodiment of the present invention 1 provides；
Fig. 4 is the particular flow sheet for the feedback step that the embodiment of the present invention 1 provides；
Fig. 5 is a kind of control principle block diagram of 2 closed-loop control device specific embodiment of the embodiment of the present invention.
Fig. 6 is a kind of configuration schematic diagram of 3 servo-driver of the embodiment of the present invention.
Specific implementation mode
In order to more fully understand the present invention technology contents, with reference to specific embodiment to technical scheme of the present invention into
One step introduction and explanation, but not limited to this.
Embodiment 1
As shown in Figure 1 to 4, a kind of closed loop control method is applied particularly to lathe, industrial robot, chip mounter or biography
The servo-driver of transfer device, includes the following steps：
S1 obtaining steps, servo-driver obtain holding for master controller transmission by III communications protocol of MECHATROLINK-
Row director data；It is described to execute instruction the speed control data, position data and running state data that data include servo motor.
Specifically, S1 obtaining step detailed processes are as follows：
S11 servo-drivers are connect by III communications protocol of MECHATROLINK- with master controller；
What S12 servo-drivers reception master controller was sent executes instruction byte；
The byte that executes instruction received is stored in buffer area by S13 servo-drivers.
S2 executes step, and servo-driver executes corresponding actions according to data-driven servo motor is executed instruction；
Specifically, S2 execution step detailed process is as follows：
S21 servo-drivers carry out data requirement inspection to the byte that executes instruction being stored in buffer area；
S22 servo-drivers are ranked up to executing instruction byte；
S23 servo-drivers execute instruction, and driving servo motor carries out corresponding actions.
S3 feedback steps, servo-driver are executed servo motor by III communications protocol of MECHATROLINK- corresponding
The case where action, feeds back to master controller.
Specifically, S3 feedback step detailed processes are as follows：
S31 servo-drivers judge the instruction execution state of servo motor to generate judgement information；
S32 servo-drivers will determine that information copies to buffer area；
S33 servo-drivers will determine that information feeds back to master controller by III communications protocol of MECHATROLINK-.
More specifically, in S3 feedback steps, it is also provided with the feedback cycle of servo-driver；
S34 when master controller does not receive the judgement information of servo-driver transmission in feedback cycle, think highly of by main control
It newly sends out and identical executes instruction data.
Further, in order to improve the amount of storage of servo-driver, servo-driver is obtaining holding for master controller transmission
Empty the cache area before row director data.
In summary：In above-mentioned closed loop control method, servo-driver passes through MECHATROLINK- III with master controller
Communications protocol connects, and servo-driver receives executing instruction for master controller, then drives servo motor to execute corresponding actions, also
The executive condition of corresponding actions is fed back into master controller, realizes the closed-loop control to servo-driver, two-way real-time Transmission
Data improve control accuracy and control effect.
In III communications protocol of MECHATROLINK-, 62 websites can be connected, it therefore, at most can be with 62 servo-drives
Device is connect with master controller simultaneously, in addition can also be greatly lowered wiring expense and the time of system, and with process control, work
Connection terminal and cable in factory's automatic field match；In addition, MECHATROLINK- III can construct it is highly reliable, low
Cost, multi-functional control system；In addition, using III alternative D/A converters of MECHATROLINK- and impulse generator, because
And the design of kinetic control system can be simplified.
Embodiment 2
As shown in figure 5, a kind of closed-loop control device, includes the following steps：
Acquiring unit 20 executes instruction number by what III communications protocol of MECHATROLINK- acquisition master controller 10 was sent
According to；It is described to execute instruction the speed control data, position data and running state data that data include servo motor 40.
Specifically, the acquiring unit is connect by III communications protocol of MECHATROLINK- with master controller 10, then connect
Receive executing instruction byte and being stored in buffer area for the transmission of master controller 10.
Execution unit 30 executes corresponding actions according to data-driven servo motor 40 is executed instruction.
Specifically, the execution unit 30 first carries out data requirement inspection to the byte that executes instruction being stored in buffer area
It looks into, is then ranked up to executing instruction byte, last executed instruction.
Feedback unit 50 passes through the feelings for the corresponding actions that III communications protocol of MECHATROLINK- executes servo motor 40
Condition feeds back to master controller 10.
Specifically, the feedback unit 50 judges the instruction execution state of servo motor 40 to judge letter to generate
Breath, then will determine that information copies to buffer area, then will determine that information is fed back to by III communications protocol of MECHATROLINK-
Master controller 10.
Further, in other embodiments, the feedback unit 50 is provided with feedback cycle；When master controller 10 does not exist
When receiving the judgement information of the transmission of feedback unit 50 in feedback cycle, master controller 10, which re-emits, identical executes instruction number
According to.
Embodiment 3
As shown in fig. 6, a kind of servo-driver, including rectangular shell 60, and the first electricity in shell 60
Road plate 70 and second circuit board 80.
Specifically, the first circuit board 70 is equipped with main control chip 71, it is electrically connected with main control chip 71
MECHATROLINK- III controls chip 72, the network interface 73 being electrically connected with main control chip 71, and electric with main control chip 71
Property connection first interface terminal 74；The MECHATROLINK- III controls chip 72 and is equipped with receiving circuit and transmission circuit.
Specifically, the second circuit board 80 is equipped with capacitor 81, the second interface terminal being electrically connected with capacitor 81
82, and the connection circuit with capacitor 81 and the electric connection of main control chip 71 respectively.
Specifically, the shell 60 includes upper cover 61, the lower cover 62 of right-end openings after being fastened with upper cover 61, and be covered on
The cover 63 of 62 right end of upper cover 61 and lower cover；The cover 63 is equipped with the first mounting hole for installing first interface terminal 74
631, and the second mounting hole 632 for installing second interface terminal 82.
More specifically, 61 inside of the upper cover is equipped with the first elastic clamping block 611；62 inside of the lower cover is equipped with and the first bullet
Property 611 matched second elastic clamping block 621 of fixture block.
61 right end both sides of the upper cover and 62 right end two sides of lower cover are equipped with clamping hole；The front end both sides of the cover 63
Equipped with the matched fixing bullet block of clamping hole.
Further, the shell 60 is equipped with thermal vias.
Further, further include the radiator fan being electrically connected with main control chip 71.
In summary：Above-mentioned servo-driver is electrically connected due to being equipped in first circuit board with main control chip
MECHATROLINK- III controls chip, and the communicating circuit includes receiving circuit and transmission circuit；Make this servo-driver
What can be sent out by receiving circuit reception master controller executes instruction, and drives servo motor to make by transmission circuit corresponding dynamic
Make, moreover it is possible to master controller feedback be given by transmission circuit, realize the closed loop feedback of this servo-driver.
In addition, the shell of this servo-driver has been divided into upper cover, lower cover and cover, and the first elastic card is equipped on the inside of upper cover
Block, lower cover inside is equipped with and matched second elastic clamping block of the first elastic clamping block, upper cover right end both sides and lower cover right end both sides
Face is equipped with clamping hole, and the front end both sides of cover are equipped with and the matched fixing bullet block of clamping hole.The design of the structure so that this
The assembling of servo-driver is very convenient, after only the component in shell need to be positioned on lower lid, then covers upper cover, waits for the first bullet
Property fixture block and the second elastic clamping block card it is good after, then cover is covered on to the right end of upper cover and lower cover so that fix bullet block and be fastened in
Clamping hole completes the assembling of this servo-driver immediately
The technology that the present invention is done extends or recreation, is protected by the present invention.Protection scope of the present invention is with right
Subject to claim.
Claims (10)
1. a kind of closed loop control method, which is characterized in that include the following steps：
Obtaining step, servo-driver obtain executing instruction for master controller transmission by III communications protocol of MECHATROLINK-
Data；
Step is executed, servo-driver executes corresponding actions according to data-driven servo motor is executed instruction；
Feedback step, the corresponding actions that servo-driver is executed servo motor by III communications protocol of MECHATROLINK-
Situation feeds back to master controller.
2. closed loop control method according to claim 1, which is characterized in that the obtaining step is specially servo-driver
It is connect with master controller by III communications protocol of MECHATROLINK-, then receive master controller transmission executes instruction byte
And it is stored in buffer area.
3. closed loop control method according to claim 2, which is characterized in that the execution step is specially servo-driver
Data requirement inspection first is carried out to the byte that executes instruction being stored in buffer area, is then ranked up to executing instruction byte,
Last executed instruction.
4. closed loop control method according to claim 1, which is characterized in that the feedback step is specially servo-driver
The instruction execution state of servo motor is judged, to generate judgement information, then to will determine that information copies to buffer area, connects
It and will determine that information feeds back to master controller by III communications protocol of MECHATROLINK-.
5. closed loop control method according to claim 4, which is characterized in that be additionally provided with the feedback week of servo-driver
Phase；When master controller does not receive the judgement information of servo-driver transmission in feedback cycle, master controller re-emits phase
Same executes instruction data.
6. closed loop control method according to claim 1, which is characterized in that the servo-driver includes shell, and
First circuit board in shell and second circuit board；The first circuit board is equipped with main control chip, electrical with main control chip
The MECHATROLINK- III of connection controls chip, the network interface being electrically connected with main control chip, and electrical with main control chip
The first interface terminal of connection；The MECHATROLINK- III controls chip and is equipped with receiving circuit and transmission circuit；Described second
Circuit board is equipped with capacitor, the second interface terminal being electrically connected with capacitor, and electric with capacitor and main control chip respectively
Property connection connection circuit；The shell includes upper cover, with upper cover fasten after right-end openings lower cover, and be covered on upper cover and
The cover of lower cover right end；The cover is equipped with the first mounting hole for installing first interface terminal, and for installing second
Second mounting hole of Interface Terminal；The first elastic clamping block is equipped on the inside of the upper cover；It is equipped on the inside of the lower cover and the first elasticity
Matched second elastic clamping block of fixture block；Upper cover right end both sides and lower cover right end two sides are equipped with clamping hole；The face
The front end both sides of lid are equipped with and the matched fixing bullet block of clamping hole.
7. a kind of closed-loop control device, which is characterized in that include the following steps：
Acquiring unit executes instruction data by what III communications protocol of MECHATROLINK- acquisition master controller was sent；It is described to hold
Row director data includes speed control data, position data and the running state data of servo motor；
Execution unit executes corresponding actions according to data-driven servo motor is executed instruction；
Feedback unit is fed back to the case where corresponding actions that servo motor executes by III communications protocol of MECHATROLINK-
Master controller.
8. closed-loop control device according to claim 7, which is characterized in that the acquiring unit passes through
III communications protocol of MECHATROLINK- is connect with master controller, then receives executing instruction byte and depositing for master controller transmission
It is stored in buffer area.
9. closed-loop control device according to claim 7, which is characterized in that the execution unit is first to being stored in buffer area
In execute instruction byte carry out data requirement inspection, be then ranked up to executing instruction byte, last executed instruction.
10. closed-loop control device according to claim 7, which is characterized in that finger of the feedback unit to servo motor
Execution state is enabled to be judged, to generate judgement information, then to will determine that information copies to buffer area, then pass through
III communications protocol of MECHATROLINK- will determine that information feeds back to master controller；The feedback unit is provided with feedback cycle；When
When master controller does not receive the judgement information of feedback unit transmission in feedback cycle, master controller re-emits identical execution
Director data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810857135.8A CN108646649A (en) | 2018-07-31 | 2018-07-31 | A kind of closed loop control method and closed-loop control device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810857135.8A CN108646649A (en) | 2018-07-31 | 2018-07-31 | A kind of closed loop control method and closed-loop control device |
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| CN108646649A true CN108646649A (en) | 2018-10-12 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102540982A (en) * | 2011-12-30 | 2012-07-04 | 北京配天大富精密机械有限公司 | Motion control card and motion control method |
| CN102929171A (en) * | 2012-08-16 | 2013-02-13 | 常州市翔云测控软件有限公司 | Network warp knitting machine control system and method |
| CN107991941A (en) * | 2017-12-27 | 2018-05-04 | 北京卫星制造厂 | A kind of II bus-type driving control systems of MECHATROLINK- |
| CN207457812U (en) * | 2017-11-03 | 2018-06-05 | 大族激光科技产业集团股份有限公司 | Numerical control communication apparatus |
-
2018
- 2018-07-31 CN CN201810857135.8A patent/CN108646649A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102540982A (en) * | 2011-12-30 | 2012-07-04 | 北京配天大富精密机械有限公司 | Motion control card and motion control method |
| CN102929171A (en) * | 2012-08-16 | 2013-02-13 | 常州市翔云测控软件有限公司 | Network warp knitting machine control system and method |
| CN207457812U (en) * | 2017-11-03 | 2018-06-05 | 大族激光科技产业集团股份有限公司 | Numerical control communication apparatus |
| CN107991941A (en) * | 2017-12-27 | 2018-05-04 | 北京卫星制造厂 | A kind of II bus-type driving control systems of MECHATROLINK- |
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