CN114268246B - Motor control method, device, system and computer readable storage medium - Google Patents
Motor control method, device, system and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses a motor control method, a device, a system and a computer readable storage medium, wherein the motor is connected with a speed reducer, an output shaft of the motor is connected with a motor encoder, and an output shaft of the speed reducer is connected with a speed reducer encoder, and the method comprises the following steps: acquiring first position information output by the motor encoder and second position information output by the speed reducer encoder; determining target position information according to the first position information and the second position information; and controlling the motor to run according to the control parameters corresponding to the target position information. The invention aims to solve the technical problem that the accuracy of position control is reduced along with the continuous operation of an alternating current servo system.
Description
Technical Field
The present invention relates to the field of motor technologies, and in particular, to a motor control method, apparatus, system, and computer readable storage medium.
Background
In the ac servo system, the position error is caused by factors such as reverse clearance, gear deformation and the like existing in the speed reducer. In order to compensate for the error, the currently adopted method is to measure the amplitude value of the speed reducer clearance in advance and correct the error according to the amplitude value. However, as the system is operated for a long time, the mechanical wear causes the gap to become larger gradually, and at this time, since the amplitude is measured in advance, in the case where the gap becomes larger, the error correction cannot be performed correspondingly for the larger gap. So that there is a phenomenon in which the accuracy of the position control is lowered as the ac servo system continues to operate.
Disclosure of Invention
The invention mainly aims to provide a motor control method, a motor control device, a motor control system and a computer readable storage medium, and aims to solve the technical problem that the accuracy of position control is reduced along with the continuous operation of an alternating current servo system.
In order to achieve the above object, the present invention provides a motor control method, wherein the motor is connected with a speed reducer, an output shaft of the motor is connected with a motor encoder, and an output shaft of the speed reducer is connected with a speed reducer encoder, the method comprising:
acquiring first position information output by the motor encoder and second position information output by the speed reducer encoder;
determining target position information according to the first position information and the second position information;
and controlling the motor to run according to the control parameters corresponding to the target position information.
Optionally, before the step of controlling the motor to operate according to the control parameter corresponding to the target position information, the method further includes:
and determining the target position information according to the running state of the motor, the first position information and the second position information, wherein the running state comprises a running state and an ending running state.
Optionally, the step of determining the target position information according to the running state of the motor, the first position information and the second position information includes:
determining a first weight and a second weight according to the running state of the motor;
determining a first product of the first weight and the first location information and a second product of the second weight and the second location information;
and determining the target position information according to the sum of the first product and the second product.
Optionally, the step of determining the first weight and the second weight according to the operation state of the motor includes:
when the motor is in the running state, taking a first preset value as the first weight, and taking a second preset value as the second weight, wherein the first preset value is larger than the second preset value;
and when the motor is in the ending running state, taking a third preset value as the first weight, taking a fourth preset value as the second weight, wherein the third preset value is smaller than the fourth preset value.
Optionally, the step of determining target position information according to the running state of the motor, the first position information and the second position information includes:
when the running state of the motor is in the running state, the first position information is used as the target position information;
and when the running state of the motor is an ending running state, the second position information is used as the target position information.
Optionally, before the step of according to the operation state of the motor, the first position information and the second position information, the method further includes:
if the position command is detected to be being sent, the running state is the running state;
and if the position instruction is detected to stop sending, the running state is the ending running state.
Optionally, before the step of controlling the motor to operate according to the control parameter corresponding to the target position information, the method further includes:
gain information corresponding to the target position information is obtained;
and determining the control parameters according to the gain information.
In addition, in order to achieve the above object, the present invention also provides a motor control device including a memory, a processor, and a motor control program stored on the memory and executable on the processor, the motor control program implementing the steps of the motor control method described in any one of the above when executed by the processor.
In addition, in order to achieve the above object, the present invention also provides a motor control system, the motor control system including a servo motor, a servo driver, a speed reducer, a motor encoder, and a speed reducer encoder, the servo motor being connected to the servo driver and the speed reducer, an output shaft of the servo motor being connected to the motor encoder, an output shaft of the speed reducer being connected to the speed reducer encoder, wherein:
the motor encoder is used for outputting first position information;
the speed reducer encoder is used for outputting second position information;
the servo driver is used for acquiring the first position information and the second position information, and determining target position information according to the first position information and the second position information.
In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a motor control program which, when executed by a processor, implements the steps of the motor control method of any one of the above.
According to the motor control method, the device, the system and the computer readable storage medium, the motor is connected with the speed reducer, the output shaft of the motor is connected with the motor encoder, the output shaft of the speed reducer is connected with the speed reducer encoder, the target position information is determined according to the first position information and the second position information output by the motor encoder, and the motor is controlled to operate according to the control parameters corresponding to the target position information, so that the position feedback information of the motor encoder and the position feedback information of the speed reducer encoder are combined, and the motor operation can be controlled adaptively according to the position fed back by the motor encoder and the position fed back by the speed reducer in the continuous operation process of the alternating current servo system. Based on the servo gear motor, the position feedback of the motor encoder and the position feedback signal of the output end of the speed reducer are utilized, the full closed loop and the semi-closed loop state are intelligently adjusted through a double-position feedback control strategy, and the position control with high response, high stability and high precision is realized, so that the accuracy of the position control can be improved.
Drawings
FIG. 1 is a schematic diagram of a hardware running environment device according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of the motor control method of the present invention;
FIG. 3 is a flow chart of a second embodiment of the motor control method of the present invention;
FIG. 4 is a flow chart of a third embodiment of the motor control method of the present invention;
FIG. 5 is a schematic diagram of an AC servo system according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a control architecture of a servo driver according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a semi-closed loop position control scheme employed by an exemplary technique according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a full closed loop position control scheme employed by an exemplary technique according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a two-position feedback position control method according to an embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic diagram of an apparatus structure of a hardware running environment according to an embodiment of the present invention.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, memory 1002, a communications bus 1003. Wherein the communication bus 1003 is used to enable connectivity communications between these components. The memory 1002 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1002 may alternatively be a storage device separate from the processor 1001 described above.
Optionally, the motor control device is a servo driver. The servo motor is connected with the servo driver and the speed reducer, an output shaft of the servo motor is connected with the motor encoder, and an output shaft of the speed reducer is connected with the speed reducer encoder. The servo motor is driven and controlled by a servo driver, and a motor encoder outputs position feedback of the servo motor. The speed reducer encoder is connected to the output end of the speed reducer and is used for outputting position feedback of the planetary speed reducer.
Optionally, the speed reducer is a planetary speed reducer.
Alternatively, the motor control device is applied to an ac servo system. As shown in fig. 5, fig. 5 shows a schematic diagram of an ac servo system, where the ac servo system includes a servo driver, a servo motor, a motor encoder, a speed reducer encoder and a speed reducer, the motor encoder is installed on an output shaft of the servo motor, the speed reducer encoder is installed on an output shaft of the speed reducer, and the servo driver performs position loop control through positions fed back by the motor encoder and the speed reducer encoder, so as to implement high-precision position control of the ac servo system.
It will be appreciated by those skilled in the art that the device structure shown in fig. 1 is not limiting of the device and may include more or fewer components than shown, or may be combined with certain components, or a different arrangement of components.
As shown in fig. 1, a motor control program may be included in a memory 1002 as a computer storage medium.
In the apparatus shown in fig. 1, a processor 1001 may be used to call a motor control program stored in a memory 1002 and perform the following operations:
acquiring first position information output by the motor encoder and second position information output by the speed reducer encoder;
determining target position information according to the first position information and the second position information;
and controlling the motor to run according to the control parameters corresponding to the target position information.
Further, the processor 1001 may call a motor control program stored in the memory 1002, and further perform the following operations:
and determining the target position information according to the running state of the motor, the first position information and the second position information, wherein the running state comprises a running state and an ending running state. Further, the processor 1001 may call a motor control program stored in the memory 1002, and further perform the following operations:
determining a first weight and a second weight according to the running state of the motor;
determining a first product of the first weight and the first location information and a second product of the second weight and the second location information;
and determining the target position information according to the sum of the first product and the second product.
Further, the processor 1001 may call a motor control program stored in the memory 1002, and further perform the following operations:
when the motor is in the running state, taking a first preset value as the first weight, and taking a second preset value as the second weight, wherein the first preset value is larger than the second preset value;
and when the motor is in the ending running state, taking a third preset value as the first weight, taking a fourth preset value as the second weight, wherein the third preset value is smaller than the fourth preset value.
Further, the processor 1001 may call a motor control program stored in the memory 1002, and further perform the following operations:
when the running state of the motor is in the running state, the first position information is used as the target position information;
and when the running state of the motor is an ending running state, the second position information is used as the target position information.
Further, the processor 1001 may call a motor control program stored in the memory 1002, and further perform the following operations:
if the position command is detected to be being sent, the running state is the running state;
and if the position instruction is detected to stop sending, the running state is the ending running state.
Further, the processor 1001 may call a motor control program stored in the memory 1002, and further perform the following operations:
gain information corresponding to the target position information is obtained;
and determining the control parameters according to the gain information.
Referring to fig. 2, a first embodiment of the present invention provides a motor control method including:
step S10, acquiring first position information output by the motor encoder and second position information output by the speed reducer encoder;
the first position information is the position information output by the motor encoder, and the second position information is the position information output by the speed reducer encoder.
Optionally, in this embodiment, the execution body is a servo driver. The control architecture of the servo driver is shown in fig. 6, wherein the servo driver receives the position feedback and implements the position loop control.
In one exemplary technique, motor control is achieved using a semi-closed loop position loop control as shown in FIG. 7. Where Kp represents the position loop control gain. Kv1+ (1/T) i s)]Indicating speed loop control. The connection of the speed reducer and the load may be a rigid connection. The motor and the speed reducer are equivalent to a double-inertia load model, and the position loop control is realized based on the feedback position of the motor encoder. The disadvantage of this method is that there is no deviation in control from the motor output shaft angle, and there is a positional deviation due to the gap from the load end angle, i.e., there is a problem in that the control accuracy is low.
In this case, the position loop transfer function without taking the gap into account is:
wherein P is M Feedback position for motor encoder, P ref For position instruction, J L For load inertia, J M K is the tube quantity of the motor body p For position loop proportional gain, K v For speed loop proportional gain, T i For speed loop integration time, ω a Anti-resonance point frequency, omega n Is the resonance point frequency.
In another exemplary technique, position control is achieved using a fully closed loop position control approach as shown in FIG. 8. The position feedback of the position control is derived from the position information of the speed reducer encoder. The disadvantage of this approach is that resonance is easily generated and the response speed is slow.
In this case, the position loop transfer function without taking the gap into account is as follows:
by measuring the bird's nest of the two exemplary techniques described above, one can analyze: using only speed reducer encoder position feedback is easier to resonate than using only motor encoder position feedback. If the loop gain is directly reduced to improve the system stability, the position tracking error of the servo system becomes large, and it is difficult to satisfy the response requirement of the servo system.
In order to avoid the problems in the above-mentioned exemplary technique, in this embodiment, referring to fig. 9, the motor encoder position feedback and the speed reducer encoder position feedback are fully utilized to form a two-position feedback system, so as to realize high-response and high-precision position control.
Step S20, determining target position information according to the first position information and the second position information;
alternatively, the first position information is taken as target position information or the second position information is taken as target position information in different operation states according to the operation state of the motor. Thus, the high-response position control and the high-precision position control are realized under different running states of the motor respectively.
Optionally, the target location information is obtained from the summation value by weighted summation of the first location information and the second location information. Thereby enabling a higher accuracy and higher response position control relative to the exemplary technique in combination with the first position information and the second position information at the same time.
And step S30, controlling the motor to operate according to the control parameters corresponding to the target position information.
Optionally, after the target position information is obtained, the motor is controlled to operate according to a preset PID control algorithm and the control parameters corresponding to the target position information.
In this embodiment, by acquiring the first position information output by the motor encoder and the second position information output by the speed reducer encoder, determining the target position information according to the first position information and the second position information, and controlling the motor to operate according to the control parameter corresponding to the target position information, the position feedback information of the motor encoder and the position feedback information of the speed reducer encoder are combined, and in the continuous operation process of the ac servo system, the motor operation can be controlled adaptively according to the position fed back by the motor encoder and the position fed back by the speed reducer, so that the accuracy of position control can be improved.
Referring to fig. 3, a second embodiment of the present invention provides a motor control method, based on the first embodiment shown in fig. 2, before step S30, further including:
and step S40, determining the target position information according to the running state of the motor, the first position information and the second position information, wherein the running state comprises a running state and an ending running state.
When the motor is in different running states, the control tendency for high response and high precision is different. Wherein, when the motor is in the running state, a higher response speed is required, so that the high response can be realized by adopting the position fed back by the motor encoder. When the motor is in the end operation state, the motor control can be performed by adopting the feedback position of the speed reducer encoder in order to realize high precision.
In an embodiment, before the step of determining the operation state of the motor, the first position information and the second position information, the method further includes:
if the position command is detected to be being sent, the running state is the running state;
and if the position instruction is detected to stop sending, the running state is the ending running state.
In the process of motor control, the control device needs to send a position instruction to perform position control, and in order to accurately determine the running state of the motor, the running state can be determined according to whether the state of the position instruction is sent, wherein the running state is the running state when the control device is sending the position instruction, and the running state is the ending state when the control device stops sending the position instruction.
In one embodiment, step S40 includes:
determining a first weight and a second weight according to the running state of the motor;
determining a first product of the first weight and the first location information and a second product of the second weight and the second location information;
and determining the target position information according to the sum of the first product and the second product.
To determine the target location information, the first location information and the second location information may be weighted summed. The first weight is the weight corresponding to the first position information, and the second weight is the weight corresponding to the second position information.
The target position information is P fbk The first position information is P M The second position information is P L The target location information is:
P fbk ＝αP M +βP L ；
where α+β=1. The alpha and beta can be adjusted according to the change of the operation state of the motor.
In one embodiment, the step of determining the first weight and the second weight according to the operation state of the motor includes:
when the motor is in the running state, taking a first preset value as the first weight, and taking a second preset value as the second weight, wherein the first preset value is larger than the second preset value;
and when the motor is in the ending running state, taking a third preset value as the first weight, taking a fourth preset value as the second weight, wherein the third preset value is smaller than the fourth preset value.
The first preset value is a preset weight corresponding to the first position information when the motor is in an operating state. The second preset value is a preset weight corresponding to the second position information when the motor is in the running state. The third preset value is a preset weight corresponding to the first position information when the motor is in an end running state. And the fourth preset value is a preset weight corresponding to the second position information when the motor is in the ending running state.
Optionally, the first position information and the second position information are combined simultaneously in different running states of the motor to calculate the target position information. In order to achieve high response when the motor is in an operating state, the first preset value can be larger than the second preset value, so that position feedback of the motor encoder is considered more. In order to more consider the position feedback of the speed reducer encoder when the motor is in the end running state, the position feedback of the speed reducer encoder is more considered.
Optionally, the first preset value is in a value range of [0.9,1 ], and the second preset value is in a value range of (0,0.1), wherein the sum of the first preset value and the second preset value is 1.
Optionally, the third preset value is in a range (0,0.1), and the fourth preset value is in a range [0.9,1 ], where the sum of the third preset value and the fourth preset value is 1.
The first preset value, the second preset value, the third preset value, and the fourth preset value may be set to other values, which are not limited herein.
Optionally, the first preset value, the second preset value, the third preset value and the fourth preset value may be updated according to the received weight setting instruction.
In one embodiment, the step of determining the target position information according to the operation state of the motor, the first position information, and the second position information includes:
when the running state of the motor is in the running state, the first position information is used as the target position information;
and when the running state of the motor is an ending running state, the second position information is used as the target position information.
In order to realize high-response or high-precision position control under different running states of the motor to the maximum extent. The first position information can be used as target position information when the motor is in an operating state, so that high-response position control can be realized. And when the motor is in the ending running state, the second position information is used as target position information, so that high-precision position control is realized.
In this embodiment, the target position information is determined according to the running state of the motor, the first position information and the second position information, and the running state includes a running state and an ending running state, so that based on different running states of the motor, the motor control with dual-position feedback can be realized by adopting the first position information and the second position information, and high-precision control and high-response control can be realized.
Referring to fig. 4, a third embodiment of the present invention provides a motor control method, based on the first embodiment shown in fig. 2, before the step S30, the method further includes:
step S50, gain information corresponding to the target position information is obtained;
and step S60, determining the control parameters according to the gain information.
In an embodiment, before step S30, the method further comprises:
after the target position information is obtained, position loop control is performed based on the target position information. Wherein, when the position loop control is performed, the gain information needs to be adjusted to determine the control parameters.
To obtain gain information, one of the following ways may be adopted:
optionally, searching preset gain information corresponding to the target position information in a preset library, and taking the preset gain information as the target position information.
Optionally, outputting target position information to the user terminal, and receiving gain information corresponding to the target position information returned by the user terminal.
Optionally, the control parameter comprises gain information.
In this embodiment, the control parameter is determined by the gain information corresponding to the target position information, so that the position control with high response and high accuracy can be realized.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising several instructions for causing a control device to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (9)
1. A motor control method, characterized in that the motor is connected with a speed reducer, an output shaft of the motor is connected with a motor encoder, and an output shaft of the speed reducer is connected with a speed reducer encoder, the method comprising:
acquiring first position information output by the motor encoder and second position information output by the speed reducer encoder;
determining target position information according to the running state of the motor, the first position information and the second position information, wherein the running state comprises a running state and an ending running state;
and controlling the motor to run according to the control parameters corresponding to the target position information.
2. The method of claim 1, wherein the step of determining target position information based on the operating state of the motor, the first position information, and the second position information comprises:
determining a first weight and a second weight according to the running state of the motor;
determining a first product of the first weight and the first location information and a second product of the second weight and the second location information;
and determining the target position information according to the sum of the first product and the second product.
3. The method of claim 2, wherein the step of determining the first weight and the second weight based on the operating state of the motor comprises:
when the motor is in the running state, taking a first preset value as the first weight, and taking a second preset value as the second weight, wherein the first preset value is larger than the second preset value;
and when the motor is in the ending running state, taking a third preset value as the first weight, taking a fourth preset value as the second weight, wherein the third preset value is smaller than the fourth preset value.
4. The method of claim 1, wherein the step of determining target position information based on the operating state of the motor, the first position information, and the second position information comprises:
when the running state of the motor is in the running state, the first position information is used as the target position information;
and when the running state of the motor is an ending running state, the second position information is used as the target position information.
5. The method of claim 1, wherein prior to the step of based on the operating state of the motor, the first position information, and the second position information, the method further comprises:
if the position command is detected to be being sent, the running state is the running state;
and if the position instruction is detected to stop sending, the running state is the ending running state.
6. A motor control method, characterized in that the motor is connected with a speed reducer, an output shaft of the motor is connected with a motor encoder, and an output shaft of the speed reducer is connected with a speed reducer encoder, the method comprising:
acquiring first position information output by the motor encoder and second position information output by the speed reducer encoder;
determining target position information according to the first position information and the second position information;
gain information corresponding to the target position information is obtained;
determining control parameters corresponding to the target position information according to the gain information;
and controlling the motor to run according to the control parameters corresponding to the target position information.
7. A motor control device comprising a memory, a processor and a motor control program stored on the memory and executable on the processor, the motor control program when executed by the processor implementing the steps of the motor control method of any one of claims 1 to 6.
8. The utility model provides a motor control system, its characterized in that, motor control system includes servo motor, servo driver, speed reducer, motor encoder and speed reducer encoder, servo motor with servo driver with the speed reducer is connected, servo motor's output shaft with motor encoder connects, the output shaft of speed reducer with speed reducer encoder connects, wherein:
the motor encoder is used for outputting first position information;
the speed reducer encoder is used for outputting second position information;
the servo driver is used for acquiring the first position information and the second position information, and determining target position information according to the running state of the motor, the first position information and the second position information, wherein the running state comprises a running state and an ending running state; and controlling the servo motor to operate according to the control parameters corresponding to the target position information.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a motor control program which, when executed by a processor, implements the steps of the motor control method according to any one of claims 1 to 6.
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| JP2014065097A (en) * | 2012-09-25 | 2014-04-17 | Canon Inc | Robot device, robot control method, program and recording medium |
| JP2017108602A (en) * | 2015-11-30 | 2017-06-15 | 日本電産シンポ株式会社 | Output control device for reducer system, reducer system, and method for controlling output of reducer system |
| JP2017113867A (en) * | 2015-12-25 | 2017-06-29 | 株式会社ダイヘン | Robot control device |
| CN113741350A (en) * | 2021-08-24 | 2021-12-03 | 珠海格力电器股份有限公司 | Servo control system and method based on double-encoder feedback and electric equipment |
| CN113799169A (en) * | 2021-10-22 | 2021-12-17 | 广东天太机器人有限公司 | Double-encoder joint module |
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