CN110165949A - A kind of continuous vegetable transfer machine system motor open-loop control method - Google Patents
A kind of continuous vegetable transfer machine system motor open-loop control method Download PDFInfo
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- CN110165949A CN110165949A CN201910402614.5A CN201910402614A CN110165949A CN 110165949 A CN110165949 A CN 110165949A CN 201910402614 A CN201910402614 A CN 201910402614A CN 110165949 A CN110165949 A CN 110165949A
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- motor
- actual speed
- target velocity
- machine system
- control method
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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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
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- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The present invention provides a kind of continuous vegetable transfer machine system motor open-loop control method, belongs to motor control technology field.The continuous vegetable transfer machine system motor open-loop control method includes the following steps: S1: obtaining the target velocity of motor；S2: the actual speed of motor is adjusted；S3: travel distance is obtained.Main controller in the present invention obtains the real-time control duty ratio of motor, then by formula v=2*p it can be concluded that the target velocity of motor, motor driver adjusts the actual speed of motor until actual speed is equal to target velocity according to target velocity, then by being integrated within a preset time to actual speed it can be concluded that travel distance, error is smaller, and accuracy is higher.
Description
Technical field
The invention belongs to motor control technology fields, are related to a kind of continuous vegetable transfer machine system motor open-loop control method.
Background technique
Tradition to the control of motor be write for motor one individually driving, the inside realize motor start and stop, commutation and
Speed regulation in the case where no feedback, needs to know the distance that motor is advanced with animal body, is mostly by being simply delayed, when delay
Between arrive, then it is assumed that motor rotation distance reaches requirement.But this control mode needs motor to stop not in soft starter for motor
It can timely respond to, it is in addition not easy to control to the acceleration and deceleration curves of motor operation, so that motor use is there are biggish unreliability,
Conventional open-loop measurement distance is only more accurate in motor even running, if motor constantly stops in the process, opens, by
It is slow compared with normal running speed in speed in electric motor starting and dwell time section, using this method calculate travel distance will generate compared with
Big deviation, the strong influence reliability of system, system cisco unity malfunction when serious.
Summary of the invention
The present invention addresses the above problems in the prior art, provides a kind of continuous vegetable transfer machine system motor open loop control
A kind of method processed, the technical problems to be solved by the present invention are: how to provide available continuous vegetable transfer machine system motor
The open-loop control method of operating range.
Object of the invention can be realized by the following technical scheme:
A kind of continuous vegetable transfer machine system motor open-loop control method, includes the following steps:
S1: main controller obtains the real-time control duty ratio of motor and obtains the target velocity of motor by formula v=2*p, wherein v
For target velocity, p is real-time control duty ratio；
S2: motor driver adjusts the actual speed of motor until actual speed is equal to target velocity according to target velocity；
S3: travel distance is obtained by carrying out integral within a preset time to actual speed.
It preferably, further include the initial distance for obtaining motor operation before step S1.
It preferably, further include being added travel distance with initial distance to obtain operating range after S3.
Preferably, it is specifically included in step S2:
S21: the actual speed of motor is obtained；
S22: judging whether target velocity is 0, judges whether actual speed is 0 if target velocity is 0, if target velocity
Do not judge whether actual speed is equal to target velocity for 0；
S23: motor driver control motor stops if actual speed is not 0, if actual speed thens follow the steps for 0
S22；
S24: judge whether actual speed is greater than target velocity if actual speed is not equal to target velocity, if actual speed
S22 is thened follow the steps equal to target velocity；
S25: motor driver control motor makees adjustment of slowing down if actual speed is greater than target velocity, if actual speed is small
In target velocity, then motor driver control motor is made to accelerate adjustment.
It preferably, further include being initialized to motor before step S21.
Preferably, the preset time is 18 ~ 22ms.
It preferably, further include that motor driver control motor is made to hold after accelerating adjustment or adjustment of slowing down after step S25
Row step S22.
Preferably, the motor is direct current generator.
Preferably, further include velocity measuring part to measure the actual speed of motor.
Preferably, the alarm alarmed when further include to the actual speed that is detected in velocity measuring part being pre-set velocity
Device.
Main controller in the present invention obtains the real-time control duty ratio of motor, then by formula v=2*p it can be concluded that electricity
The target velocity of machine, motor driver adjust the actual speed of motor until actual speed is equal to target speed according to target velocity
Degree, then by being integrated within a preset time to actual speed it can be concluded that travel distance, error is smaller, accuracy compared with
It is high.
Detailed description of the invention
Fig. 1 is flow diagram of the invention；
Fig. 2 is the flow diagram in the step S2 in the present invention；
Fig. 3 is the structural schematic diagram of the motor control in the present invention.
Specific embodiment
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
Fig. 1, Fig. 2 and Fig. 3 are please referred to, the continuous vegetable transfer machine system motor open-loop control method in the present embodiment, including
Following steps:
S1: main controller obtains the real-time control duty ratio of motor and obtains the target velocity of motor by formula v=2*p, wherein v
For target velocity, p is real-time control duty ratio；
S2: motor driver adjusts the actual speed of motor until actual speed is equal to target velocity according to target velocity；
S3: travel distance is obtained by carrying out integral within a preset time to actual speed.
Herein, main controller obtains the real-time control duty ratio of motor, then by formula v=2*p it can be concluded that the mesh of motor
Speed is marked, motor driver adjusts the actual speed of motor until actual speed is equal to target velocity, then according to target velocity
By being integrated within a preset time to actual speed it can be concluded that travel distance, error is smaller, accuracy is higher.Practical speed
Degree and control duty ratio are in a linear relationship.
It can also include the initial distance for obtaining motor operation before step S1.
It can also include being added travel distance with initial distance to obtain operating range after S3.
It can specifically include in step S2:
S21: the actual speed of motor is obtained；
S22: judging whether target velocity is 0, may determine that whether actual speed is 0 if target velocity is 0, if target
Speed is not 0 and judges whether actual speed is equal to target velocity；
S23: motor driver can control motor stopping if actual speed is not 0, can hold if actual speed is 0
Row step S22；
S24: may determine that whether actual speed is greater than target velocity if actual speed is not equal to target velocity, if practical
Speed, which is equal to target velocity, can then execute step S22；
S25: motor driver can control motor work deceleration adjustment if actual speed is greater than target velocity, if practical speed
Degree is less than target velocity, and then motor driver can control motor work acceleration adjustment.
Motor is controlled by step S21 ~ S25, when motor task detects related target component and current reality
When border parameter is inconsistent, corresponding adjustment is made according to motor current state, to realize that the soft stop of motor is soft in task and open, prevent suddenly
Starting causes inclining for related article to spread and shake.In addition, can set apart and system is allowed to go to execute during motor task execution
Other tasks, when other tasks need to be changed motor status, it is only necessary to which the target component for changing motor again returns to
After motor task, it can first look at whether these target components have change, if it find that change, then it is vertical to the current state of motor
Horse is made adjustment, and to meet system needs, guarantees that motor is timely and effectively controlled.Motor speed is controlled using PWM,
PWM is slowly improved, to reduce the inertia of motor operation, so that PWM is bonded the two with the actual relationship of actual speed as far as possible
Between theory relation, until motor reach setting speed.Actual speed v(mm/s)=PWM*100*2-10 is controlled, surveyed error is small
In 1cm.It solves the problems, such as that motor is unable to emergency stop during startup, can change the speed change curves of motor in addition with suitable
Answer it is various under the conditions of motor operation.Operating range is measured compared with time-delay method common before, considerably increases no feedback
Under the conditions of test motor operating range accuracy, greatly improve the reliability of system.
It can also include being initialized to motor before step S21.
Preset time can be 18 ~ 22ms, avoid the too long increase error of preset time.
It can also include that motor driver control motor is made to execute step after accelerating adjustment or adjustment of slowing down after step S25
Rapid S22.
Motor can be direct current generator.Motor can be DC speed-reducing.
It can also include to measure electricity as the continuous vegetable transfer machine system motor open-loop control method in the present embodiment
The velocity measuring part of the actual speed of machine.Velocity measuring part can be velocity sensor.
It can also include in speed as the continuous vegetable transfer machine system motor open-loop control method in the present embodiment
The alarm that the actual speed of detection piece detection is alarmed when being pre-set velocity.It is default that alarm, which can be in actual speed,
The combined aural and visual alarm to pipe with feux rouges is issued when speed, is prevented motor actual speed excessively high, is damaged to motor.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (10)
1. a kind of continuous vegetable transfer machine system motor open-loop control method, which comprises the steps of:
S1: main controller obtains the real-time control duty ratio of motor and obtains the target velocity of motor by formula v=2*p, wherein v
For target velocity, p is real-time control duty ratio；
S2: motor driver adjusts the actual speed of motor until actual speed is equal to target velocity according to target velocity；
S3: travel distance is obtained by carrying out integral within a preset time to actual speed.
2. a kind of continuous vegetable transfer machine system motor open-loop control method as described in claim 1, it is characterised in that: step S1
It before further include the initial distance for obtaining motor operation.
3. a kind of continuous vegetable transfer machine system motor open-loop control method as claimed in claim 2, it is characterised in that: after S3
It further include being added travel distance with initial distance to obtain operating range.
4. a kind of continuous vegetable transfer machine system motor open-loop control method as described in claims 1 or 2 or 3, which is characterized in that
It is specifically included in step S2:
S21: the actual speed of motor is obtained；
S22: judging whether target velocity is 0, judges whether actual speed is 0 if target velocity is 0, if target velocity
Do not judge whether actual speed is equal to target velocity for 0；
S23: motor driver control motor stops if actual speed is not 0, if actual speed thens follow the steps for 0
S22；
S24: judge whether actual speed is greater than target velocity if actual speed is not equal to target velocity, if actual speed
S22 is thened follow the steps equal to target velocity；
S25: motor driver control motor makees adjustment of slowing down if actual speed is greater than target velocity, if actual speed is small
In target velocity, then motor driver control motor is made to accelerate adjustment.
5. a kind of continuous vegetable transfer machine system motor open-loop control method as claimed in claim 4, it is characterised in that: step
It further include being initialized to motor before S21.
6. a kind of continuous vegetable transfer machine system motor open-loop control method as claimed in claim 1 or 2, it is characterised in that: institute
Stating preset time is 18 ~ 22ms.
7. a kind of continuous vegetable transfer machine system motor open-loop control method as claimed in claim 4, it is characterised in that: step
It further include that motor driver control motor is made to execute step S22 after accelerating adjustment or adjustment of slowing down after S25.
8. a kind of continuous vegetable transfer machine system motor open-loop control method as claimed in claim 1 or 2, it is characterised in that: institute
Stating motor is direct current generator.
9. a kind of continuous vegetable transfer machine system motor open-loop control method as claimed in claim 1 or 2, it is characterised in that: also
Velocity measuring part including the actual speed to measure motor.
10. a kind of continuous vegetable transfer machine system motor open-loop control method as claimed in claim 9, it is characterised in that: also wrap
Include the alarm alarmed when the actual speed to detect in velocity measuring part is pre-set velocity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910402614.5A CN110165949B (en) | 2019-05-15 | 2019-05-15 | Open-loop control method for motor of continuous dish conveying machine system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910402614.5A CN110165949B (en) | 2019-05-15 | 2019-05-15 | Open-loop control method for motor of continuous dish conveying machine system |
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| CN110165949A true CN110165949A (en) | 2019-08-23 |
| CN110165949B CN110165949B (en) | 2021-03-02 |
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| CN201910402614.5A Active CN110165949B (en) | 2019-05-15 | 2019-05-15 | Open-loop control method for motor of continuous dish conveying machine system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022267483A1 (en) * | 2021-06-21 | 2022-12-29 | 青岛海尔生物医疗科技有限公司 | Control method and apparatus for direct-current motor, and motor control system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106787986A (en) * | 2017-02-28 | 2017-05-31 | 广东顺德工业设计研究院(广东顺德创新设计研究院) | Motor Acceleration-deceleration Control Method and three-dimensional liquid-transfering device |
-
2019
- 2019-05-15 CN CN201910402614.5A patent/CN110165949B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106787986A (en) * | 2017-02-28 | 2017-05-31 | 广东顺德工业设计研究院(广东顺德创新设计研究院) | Motor Acceleration-deceleration Control Method and three-dimensional liquid-transfering device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022267483A1 (en) * | 2021-06-21 | 2022-12-29 | 青岛海尔生物医疗科技有限公司 | Control method and apparatus for direct-current motor, and motor control system |
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| Publication number | Publication date |
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| CN110165949B (en) | 2021-03-02 |
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