CN108919725A - A kind of adjustable servomotor controller of high-precision - Google Patents
A kind of adjustable servomotor controller of high-precision Download PDFInfo
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- CN108919725A CN108919725A CN201810900757.4A CN201810900757A CN108919725A CN 108919725 A CN108919725 A CN 108919725A CN 201810900757 A CN201810900757 A CN 201810900757A CN 108919725 A CN108919725 A CN 108919725A
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- input terminal
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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
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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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
- G05B2219/26—Pc applications
- G05B2219/2609—Process control
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
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Abstract
The adjustable servomotor controller of high-precision provided by the invention utilizes central processing unit, message input device, differential drive, motor servo driver, encoder, servo motor, image collecting device, image processing apparatus, communication device, remote monitoring center, display device and speed probe control and monitor the operation of servo motor, can not only servo motor be made accurately to run, and servo motor operating status can be monitored, so as to preferably ensure that servo motor is accurately run, image processing apparatus therein carries out image enhancement to the image of acquisition respectively, image smoothing, image denoising processing, it can be efficient, quickly extract the image information of image collecting device, the identification precision of the image information to servo motor operating status can be improved, effectively ensure that servo motor is accurately run.
Description
Technical field
The present invention relates to servo motor testing field more particularly to a kind of adjustable servomotor controllers of high-precision.
Background technique
Since servo motor has many advantages, such as small in size, light-weight, big torque output, low inertia and good controlling,
Therefore it has been widely used in automatic control system and automatic checkout system, in automatic control system, the work of servo motor
Control voltage signal is converted to Mechanical Moving with being, that is, the voltage signal received is transformed into the certain of the motor and is turned
Speed or angular displacement, therefore the control to servo motor can be realized with central processing unit.
Currently, the control to servo motor is electric only with the operating parameter control servo of central processing unit output servo motor
Machine operation, whether motor operating parameter unable to monitor is consistent with input parameter, therefore the mistake of servo motor is be easy to cause to run,
During servo motor is run, various interference are likely to encounter, it is wrong so as to cause servo motor operation, therefore, it is also desirable to supervise
It surveys in servo motor operation with the presence or absence of interference, so that staff debugs in time.
Summary of the invention
Therefore, to solve the above-mentioned problems, the present invention provides a kind of adjustable servomotor controller of high-precision, in utilization
Central processor, message input device, differential drive, motor servo driver, encoder, servo motor, image collecting device,
Image processing apparatus, communication device, remote monitoring center, display device and speed probe carry out the operation of servo motor
It controls and monitors, can not only servo motor be made accurately to run, but also servo motor operating status can be monitored, so as to
Preferably ensure that servo motor is accurately run.
The adjustable servomotor controller of a kind of high-precision according to the present invention comprising central processing unit, information input
Device, differential drive, motor servo driver, encoder, servo motor, image collecting device, image processing apparatus, communication
Device, remote monitoring center, display device and speed probe；
Wherein, the output end of message input device is connected with the output end of image processing apparatus with the input terminal of central processing unit,
The input terminal of differential drive, the input terminal of display device, the input terminal of communication device and the input terminal of remote monitoring center
It being connect respectively with the output end of central processing unit, the output end of differential drive and the input terminal of motor servo driver connect,
The output end of motor servo driver is connect with servo motor, and the output end of servo motor and the input terminal of encoder connect, and is compiled
The output end of code device and the input terminal of motor servo driver connect, and speed probe is used to acquire the revolving speed of servo motor, and
The revolving speed of acquisition is transmitted to central processing unit, the output end of image collecting device and the input terminal of image processing apparatus connect,
Image collecting device is used to acquire the operation image information of servo motor.
Preferably, image processing apparatus includes image enhancement module, image smoothing module and image denoising module；
Wherein, the input terminal of the output end of image collecting device and image enhancement module connects, the output end of image enhancement module
It is connect with the input terminal of image smoothing module, the output end of image smoothing module and the input terminal of image denoising module connect, figure
As the output end of denoising module and the input terminal of central processing unit connect.
Preferably, message input device is used to input the tachometer value of servo motor, and revolving speed value signal is transmitted to center
Processor.
Preferably, revolving speed value signal is converted to pulse signal by central processing unit, and by pulse signal transmission to differential
Driver.
Preferably, pulse signal is converted to difference pulse signal by differential drive, and difference pulse signal is transmitted to
Motor servo driver, motor servo driver control servo motor according to difference pulse signal and operate, motor servo driver
The feedback signal that encoder generates is received, and is compared based on the feedback signal with echo signal, to adjust servo motor rotation
Angle position, to realize closed-loop control to servo motor.
It preferably, is two-dimensional function f (x, y) by the image definition that image collecting device is transmitted to image processing apparatus,
Middle x, y are space coordinates, and image enhancement module carries out image enhancement processing to image f (x, y), the two-dimensional image after image enhancement
Function is p (x, y), wherein
。
Preferably, image smoothing module is smoothed above-mentioned image p (x, y), image two after smoothing processing
Tieing up function is h (x, y), and wherein smooth function is g (x, y),
,
, ﹡ is convolution symbol,For customized adjustable constant, smooth effect is to pass throughCome
Control.
Preferably, image denoising module carries out denoising, image two after denoising to above-mentioned image h (x, y)
Tieing up function is u (x, y), wherein
。
Preferably, image processing apparatus is transmitted to center after being handled by the image information of image acquisition device
Processor, central processing unit control display device and show image information, and image information is transmitted to long-range monitoring by central processing unit
Center, and image information is transmitted to user's mobile device, the tach signal that central processing unit will receive by communication device
It is transmitted to display device to be shown, tach signal is transmitted to remote monitoring center by central processing unit, and tach signal is led to
It crosses communication device and is transmitted to user's mobile device.
Preferably, central processing unit is connect with remote monitoring center by wireless communication networks.
Compared with prior art, the present invention has following beneficial effect：
（1）The adjustable servomotor controller of high-precision provided by the invention utilizes central processing unit, message input device, differential
It is driver, motor servo driver, encoder, servo motor, image collecting device, image processing apparatus, communication device, long-range
Monitoring center, display device and speed probe control and monitor the operation of servo motor, can not only make servo
Motor is accurately run, and can be monitored to servo motor operating status, so as to preferably ensure that servo motor is accurately transported
Row；
（2）The adjustable servomotor controller of high-precision provided by the invention, image of the image processing apparatus therein to acquisition
Image enhancement, image smoothing, image denoising processing are carried out respectively, can efficiently, quickly extract the image letter of image collecting device
Breath, can be improved the identification precision of the image information to servo motor operating status, effectively ensure that servo motor is accurately run.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of the adjustable servomotor controller of high-precision of the invention；
Fig. 2 is the schematic diagram of image processing apparatus of the invention.
Appended drawing reference
1- central processing unit；2- message input device；3- differential drive；4- motor servo driver；5- encoder；6- servo
Motor；7- image collecting device；8- image processing apparatus；9- communication device；10- remote monitoring center；11- display device；12-
Speed probe.
Specific embodiment
The adjustable servomotor controller of high-precision provided by the invention is carried out with reference to the accompanying drawings and examples detailed
Explanation.
As shown in Figure 1, the adjustable servomotor controller of high-precision provided by the invention includes central processing unit（1）, letter
Cease input unit（2）, differential drive（3）, motor servo driver（4）, encoder（5）, servo motor（6）, Image Acquisition
Device（7）, image processing apparatus（8）, communication device（9）, remote monitoring center（10）, display device（11）And revolution speed sensing
Device（12）；
Wherein, message input device（2）Output end and image processing apparatus（8）Output end and central processing unit（1）It is defeated
Enter end connection, differential drive（3）Input terminal, display device（11）Input terminal, communication device（9）Input terminal and remote
Range monitoring center（10）Input terminal respectively with central processing unit（1）Output end connection, differential drive（3）Output end with
Motor servo driver（4）Input terminal connection, motor servo driver（4）Output end and servo motor（6）Connection, servo
Motor（6）Output end and encoder（5）Input terminal connection, encoder（5）Output end and motor servo driver（4）'s
Input terminal connection, speed probe（12）For acquiring servo motor（6）Revolving speed, and the revolving speed of acquisition is transmitted to centre
Manage device（1）, image collecting device（7）Output end and image processing apparatus（8）Input terminal connection, image collecting device（7）
For acquiring servo motor（6）Operation image information.
As shown in Fig. 2, image processing apparatus（8）Including image enhancement module, image smoothing module and image denoising mould
Block；
Wherein, image collecting device（7）Output end and image enhancement module input terminal connect, the output of image enhancement module
End is connect with the input terminal of image smoothing module, and the output end of image smoothing module and the input terminal of image denoising module connect,
The output end and central processing unit of image denoising module（1）Input terminal connection.
Specifically, message input device（2）For inputting servo motor（6）Tachometer value, and revolving speed value signal is transmitted
To central processing unit（1）.
Specifically, central processing unit（1）Revolving speed value signal is converted into pulse signal, and by pulse signal transmission to difference
Dynamic driver（3）.
Specifically, differential drive（3）Pulse signal is converted into difference pulse signal, and difference pulse signal is transmitted
To motor servo driver（4）, motor servo driver（4）Servo motor is controlled according to difference pulse signal（6）Operating, servo
Motor driver（4）Receive encoder（5）The feedback signal of generation, and be compared based on the feedback signal with echo signal, with
Adjust servo motor（6）The angle position of rotation, to realize the closed-loop control to servo motor.
Specifically, by image collecting device（7）It is transmitted to image processing apparatus（8）Image definition be two-dimensional function f (x,
Y), wherein x, y are space coordinates, and image enhancement module carries out image enhancement processing to image f (x, y), the figure after image enhancement
As two-dimensional function is p (x, y), wherein
。
Specifically, image smoothing module is smoothed above-mentioned image p (x, y), image two after smoothing processing
Tieing up function is h (x, y), and wherein smooth function is g (x, y),
,
, ﹡ is convolution symbol,For customized adjustable constant, smooth effect is to pass throughCome
Control.
Specifically, image denoising module carries out denoising, image two after denoising to above-mentioned image h (x, y)
Tieing up function is u (x, y), wherein
。
Specifically, image processing apparatus（8）It will be by image collecting device（7）The image information of acquisition is transmitted after being handled
To central processing unit（1）, central processing unit（1）Control display device（11）Show image information, central processing unit（1）By image
Information is transmitted to remote monitoring center（10）, and image information is passed through into communication device（9）It is transmitted to user's mobile device, center
Processor（1）The tach signal received is transmitted to display device（11）It is shown, central processing unit（1）By tach signal
It is transmitted to remote monitoring center（10）, and tach signal is passed through into communication device（9）It is transmitted to user's mobile device.
Specifically, central processing unit（1）With remote monitoring center（10）It is connected by wireless communication networks.
It should be noted last that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting.Although ginseng
It is described the invention in detail according to embodiment, those skilled in the art should understand that, to technical side of the invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Scope of the claims in.
Claims (10)
1. a kind of adjustable servomotor controller of high-precision, which is characterized in that the adjustable Serve Motor Control of high-precision
Device includes central processing unit（1）, message input device（2）, differential drive（3）, motor servo driver（4）, encoder
（5）, servo motor（6）, image collecting device（7）, image processing apparatus（8）, communication device（9）, remote monitoring center（10）,
Display device（11）And speed probe（12）；
Wherein, the message input device（2）Output end and described image processing unit（8）Output end and the centre
Manage device（1）Input terminal connection, the differential drive（3）Input terminal, the display device（11）Input terminal, described logical
Interrogate device（9）Input terminal and the remote monitoring center（10）Input terminal respectively with the central processing unit（1）It is defeated
Outlet connection, the differential drive（3）Output end and the motor servo driver（4）Input terminal connection, it is described to watch
Take motor driver（4）Output end and the servo motor（6）Connection, the servo motor（6）Output end and the volume
Code device（5）Input terminal connection, the encoder（5）Output end and the motor servo driver（4）Input terminal connection,
The speed probe（12）For acquiring the servo motor（6）Revolving speed, and the revolving speed of acquisition is transmitted to the center
Processor（1）, described image acquisition device（7）Output end and described image processing unit（8）Input terminal connection, the figure
As acquisition device（7）For acquiring the servo motor（6）Operation image information.
2. the adjustable servomotor controller of high-precision according to claim 1, which is characterized in that described image processing dress
It sets（8）Including image enhancement module, image smoothing module and image denoising module；
Wherein, described image acquisition device（7）The input terminal of output end and described image enhancing module connect, described image increasing
The output end of strong module is connect with the input terminal of described image Leveling Block, the output end of described image Leveling Block and the figure
As the input terminal connection of denoising module, described image denoises the output end and the central processing unit of module（1）Input terminal connect
It connects.
3. the adjustable servomotor controller of high-precision according to claim 1, which is characterized in that the information input dress
It sets（2）For inputting the servo motor（6）Tachometer value, and the revolving speed value signal is transmitted to the central processing unit
（1）.
4. the adjustable servomotor controller of high-precision according to claim 3, which is characterized in that the central processing list
Member（1）The revolving speed value signal is converted into pulse signal, and by the pulse signal transmission to the differential drive（3）.
5. the adjustable servomotor controller of high-precision according to claim 4, which is characterized in that the differential drive
（3）The pulse signal is converted into difference pulse signal, and the difference pulse signal is transmitted to the servo motor and is driven
Dynamic device（4）, the motor servo driver（4）The servo motor is controlled according to the difference pulse signal（6）Operating, it is described
Motor servo driver（4）Receive the encoder（5）The feedback signal of generation, and according to the feedback signal and echo signal
It is compared, to adjust the servo motor（6）The angle position of rotation, to realize the closed loop control to the servo motor
System.
6. the adjustable servomotor controller of high-precision according to claim 2, which is characterized in that acquire described image
Device（7）It is transmitted to described image processing unit（8）Image definition be two-dimensional function f (x, y), wherein x, y be space sit
Mark, described image enhance module and carry out image enhancement processing to image f (x, y), and the two-dimensional image function after image enhancement is p
(x, y), wherein
。
7. the adjustable servomotor controller of high-precision according to claim 6, which is characterized in that the smooth mould of described image
Block is smoothed above-mentioned image p (x, y), and two-dimensional image function is h (x, y) after smoothing processing, wherein smooth letter
Number is g (x, y),
,
, ﹡ is convolution symbol,For customized adjustable constant, smooth effect is to pass throughCome
Control.
8. the adjustable servomotor controller of high-precision according to claim 7, which is characterized in that described image denoises mould
Block carries out denoising to above-mentioned image h (x, y), and two-dimensional image function is u (x, y) after denoising, wherein
。
9. the adjustable servomotor controller of high-precision according to claim 1, which is characterized in that described image processing dress
It sets（8）It will be by described image acquisition device（7）The image information of acquisition is transmitted to the central processing unit after being handled（1）,
The central processing unit（1）Control the display device（11）Show image information, the central processing unit（1）By image information
It is transmitted to the remote monitoring center（10）, and image information is passed through into the communication device（9）It is transmitted to user's mobile device,
The central processing unit（1）The tach signal received is transmitted to the display device（11）It is shown, the centre
Manage device（1）Tach signal is transmitted to the remote monitoring center（10）, and tach signal is passed through into the communication device（9）It passes
Transport to user's mobile device.
10. the adjustable servomotor controller of high-precision according to claim 1, which is characterized in that the central processing
Device（1）With the remote monitoring center（10）It is connected by wireless communication networks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810900757.4A CN108919725A (en) | 2018-08-09 | 2018-08-09 | A kind of adjustable servomotor controller of high-precision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810900757.4A CN108919725A (en) | 2018-08-09 | 2018-08-09 | A kind of adjustable servomotor controller of high-precision |
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| Publication Number | Publication Date |
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| CN108919725A true CN108919725A (en) | 2018-11-30 |
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| CN201810900757.4A Withdrawn CN108919725A (en) | 2018-08-09 | 2018-08-09 | A kind of adjustable servomotor controller of high-precision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112637451A (en) * | 2020-12-09 | 2021-04-09 | 武汉茂格科技有限公司 | Based on AI image recognition sensor probe mends limit control system |
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| CN102969949A (en) * | 2012-10-31 | 2013-03-13 | 中国科学院长春光学精密机械与物理研究所 | Servo controller of high-precision permanent magnet synchronous motor |
| CN205334836U (en) * | 2015-12-31 | 2016-06-22 | 苏州工业职业技术学院 | Servo motor speed control's teaching experiment device |
| CN106067744A (en) * | 2016-05-18 | 2016-11-02 | 陕西科技大学 | A kind of novel intelligent motor controller |
| CN106199429A (en) * | 2016-07-08 | 2016-12-07 | 天津工业大学 | Motor on-Line Monitor Device and monitoring method thereof |
| CN106443444A (en) * | 2016-09-27 | 2017-02-22 | 北海益生源农贸有限责任公司 | Motor operation state monitoring and management system |
| CN108107868A (en) * | 2017-11-30 | 2018-06-01 | 杭州威衡科技有限公司 | A kind of motor remote monitoring system |
-
2018
- 2018-08-09 CN CN201810900757.4A patent/CN108919725A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102969949A (en) * | 2012-10-31 | 2013-03-13 | 中国科学院长春光学精密机械与物理研究所 | Servo controller of high-precision permanent magnet synchronous motor |
| CN205334836U (en) * | 2015-12-31 | 2016-06-22 | 苏州工业职业技术学院 | Servo motor speed control's teaching experiment device |
| CN106067744A (en) * | 2016-05-18 | 2016-11-02 | 陕西科技大学 | A kind of novel intelligent motor controller |
| CN106199429A (en) * | 2016-07-08 | 2016-12-07 | 天津工业大学 | Motor on-Line Monitor Device and monitoring method thereof |
| CN106443444A (en) * | 2016-09-27 | 2017-02-22 | 北海益生源农贸有限责任公司 | Motor operation state monitoring and management system |
| CN108107868A (en) * | 2017-11-30 | 2018-06-01 | 杭州威衡科技有限公司 | A kind of motor remote monitoring system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112637451A (en) * | 2020-12-09 | 2021-04-09 | 武汉茂格科技有限公司 | Based on AI image recognition sensor probe mends limit control system |
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Application publication date: 20181130 |