CN114598190A - Multi-motor cooperative control system and control method thereof - Google Patents
Multi-motor cooperative control system and control method thereof Download PDFInfo
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- CN114598190A CN114598190A CN202011428609.0A CN202011428609A CN114598190A CN 114598190 A CN114598190 A CN 114598190A CN 202011428609 A CN202011428609 A CN 202011428609A CN 114598190 A CN114598190 A CN 114598190A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/68—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to the field of mechanical and electrical integration, in particular to a multi-motor cooperative control system and a control method thereof. The multi-shaft controller outputs a single-path PWM speed control signal to the pre-driver, and the pre-driver drives the direct current motor to operate at a desired speed; the pre-driver detects the actual speed of the current direct current motor, feeds back a PWM speed feedback signal to the multi-shaft controller, and the multi-shaft controller adjusts the PWM speed control signal according to the expected speed and the actual speed of the direct current motor to carry out closed-loop control on the direct current motor. A pre-driver and a single multi-shaft controller which are arranged in a direct current motor are adopted to form a control system, and a single-path PWM signal is used as a speed control signal and a speed feedback signal to form closed-loop control of the direct current motor. By using a single controller, the number of control chips required by the system is reduced; the closed-loop control calculation is centralized in a single controller, so that the number of system communication bus interfaces is reduced, and the implementation cost of the multi-motor cooperative control system is obviously reduced.
Description
Technical Field
The invention relates to the field of mechanical and electrical integration, in particular to a multi-motor cooperative control system and a control method thereof.
Background
With the development of science and technology, the operation of modern industrial equipment puts higher requirements on the motion control technology. Modern industrial fields, such as numerical control machine tool machining and robot joint coordination, often require multiple motors to work in coordination. This determines that modern control systems need to not only seek the position and speed accuracy of single-axis motion control, but also improve the control accuracy and cooperative work capability of multi-axis motion. In order to improve the product quality and ensure the safety of the production process, the position precision and the speed precision of the controller must be high enough, and the stability of the controller must be reliable enough to meet the requirements of industrial production or other specific applications. Therefore, a reliable multi-motor cooperative control system is necessary for modern industrial control.
In a conventional motor control method, a controller generally controls a motor, and the controller communicates with an upper controller through a communication interface, receives a command from the upper controller, and drives the motor to operate through a driving circuit. The communication between the controller and the upper computer is generally controlled by a bus, and a controller sends a control signal and broadcasts an instruction through the bus to form a communication network. The bus generally adopts a serial communication mode, because the speed of serial communication is slower than that of parallel communication, but the used interfaces and transmission lines are fewer, hardware resources can be saved, and the system cost is reduced.
Common serial communication protocols include MODBUS, CAN bus, etc., and these communication modes require specially designed interface circuits and more complex communication protocols. Because each motor is controlled by a single controller and real-time communication is needed between a plurality of controllers and the upper computer, when the number of the controlled motors is large, one controller must be added for each motor in the system, and each controller must have a communication interface connected to the bus, the cost of the control system is greatly increased along with the increase of the number of the controlled motors in the system.
Disclosure of Invention
The embodiment of the invention provides a multi-motor cooperative control system and a control method thereof, which at least solve the technical problem of high cost of the existing motor control system.
According to an embodiment of the present invention, there is provided a multi-motor cooperative control system including: the method comprises the following steps: a multi-axis controller, a plurality of direct current motors; a pre-driver is arranged in the direct current motor, and the multi-axis controller is connected and communicated with the pre-drivers through a single-path PWM signal;
the multi-shaft controller outputs a single-path PWM speed control signal to the pre-driver, and the pre-driver drives the direct current motor to operate at a desired speed; the pre-driver detects the actual speed of the current direct current motor, feeds back a PWM speed feedback signal to the multi-shaft controller, and the multi-shaft controller adjusts the PWM speed control signal according to the expected speed and the actual speed of the direct current motor to carry out closed-loop control on the direct current motor.
Further, the multi-axis controller adjusts the PWM frequency or duty ratio in the PWM speed control signal in a PID control mode according to the deviation of the expected speed and the actual speed of the direct current motor, so that the deviation of the expected speed and the actual speed of the direct current motor is within +/-10 rpm.
Furthermore, the direct current motor is also internally provided with a driving circuit, and the driving circuit is connected between the predriver and the direct current motor.
Further, the number of the direct current motors is more than 6.
Further, the multi-axis controller uses the PWM frequency or duty cycle in the PWM speed control signal to characterize the desired speed of the dc motor.
Further, the multi-axis controller outputs a direction control signal to the pre-driver, and the pre-driver drives and controls the running direction of the direct current motor.
According to another embodiment of the present invention, there is provided a multi-motor cooperative control method applying the above multi-motor cooperative control system, including the steps of:
obtaining expected speed values of all direct current motors at all movement moments through the movement planning of the multi-axis controller;
the multi-shaft controller sends a PWM speed control signal to the pre-driver, and the pre-driver receives the signal and adjusts the rotating speed of the direct current motor;
the multi-shaft controller calculates the actual speed of the current direct current motor according to the PWM speed feedback signal returned by the pre-controller;
the multi-shaft controller calculates the difference between the actual speed and the expected speed of each direct current motor;
and the multi-axis controller adjusts the PWM speed control signal and controls the pre-driver to adjust the rotating speed of the direct current motor, so that the rotating speed of the direct current motor reaches an expected speed value.
Further, the multi-axis controller adjusts the PWM speed control signal, and controls the pre-driver to adjust the rotation speed of the dc motor, so that the rotation speed of the dc motor reaches the desired speed value, including:
and the multi-shaft controller adjusts the PWM frequency or the duty ratio in the PWM speed control signal in a PID control mode according to the deviation between the expected speed and the actual speed of the direct current motor, so that the deviation between the expected speed and the actual speed of the direct current motor is within +/-10 rpm.
Further, the multi-axis controller characterizes a desired speed of the dc motor using a PWM frequency or duty cycle in the PWM speed control signal.
Further, the multi-motor cooperative control method further comprises the following steps: the multi-shaft controller outputs a direction control signal to the pre-driver, and the pre-driver drives and controls the running direction of the direct current motor.
The multi-motor cooperative control system and the control method thereof in the embodiment of the invention adopt a pre-driver and a single multi-shaft controller which are arranged in a direct current motor to form a control system, and use a single-path PWM signal as a speed control signal and a speed feedback signal to form closed-loop control of the direct current motor. By using a single controller, the number of control chips required by the system is reduced; by concentrating closed loop control calculations on a single controller, the number of system communication bus interfaces is reduced. Based on the advantages, the realization cost of the multi-motor cooperative control system is obviously reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a multi-motor cooperative control system according to the present invention;
FIG. 2 is a schematic diagram of a pre-driver in the multi-motor cooperative control system according to the present invention;
FIG. 3 is a flow chart of the multi-motor cooperative control method of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In order to solve the defect of high cost of a multi-motor control system in the prior art, on the premise of meeting the control requirement, balance is made between the performance of a controller and the cost of the controller. The invention provides a multi-motor cooperative control system consisting of a single multi-shaft controller and a direct current motor using a built-in pre-driver, and a control method used by the system. The system and the control method can reduce the number of drivers used by a multi-motor control system, reduce the number of communication bus interfaces used by the system and reduce the number of control chips used in the system.
Example 1
According to an embodiment of the present invention, there is provided a multi-motor cooperative control system, referring to fig. 1, including: the method comprises the following steps: a multi-axis controller, a plurality of direct current motors; a pre-driver is arranged in the direct current motor, and the multi-axis controller is connected and communicated with the pre-drivers through a single-path PWM signal;
the multi-shaft controller outputs a single-path PWM speed control signal to the pre-driver, and the pre-driver drives the direct current motor to operate at a desired speed; the pre-driver detects the actual speed of the current direct current motor, feeds back a PWM speed feedback signal to the multi-shaft controller, and the multi-shaft controller adjusts the PWM speed control signal according to the expected speed and the actual speed of the direct current motor to carry out closed-loop control on the direct current motor.
The multi-motor cooperative control system in the embodiment of the invention adopts a pre-driver and a single multi-shaft controller which are arranged in a direct current motor to form a control system, and uses a single-path PWM signal as a speed control signal and a speed feedback signal to form closed-loop control of the direct current motor. By using a single controller, the number of control chips required by the system is reduced; by concentrating closed loop control calculations on a single controller, the number of system communication bus interfaces is reduced. Based on the advantages, the realization cost of the multi-motor cooperative control system is obviously reduced.
Preferably, the multi-axis controller adjusts the PWM frequency or duty ratio in the PWM speed control signal in a PID control manner according to a deviation between a desired speed and an actual speed of the dc motor so that the deviation between the desired speed and the actual speed of the dc motor is within ± 10 rpm.
Preferably, the dc motor further includes a driving circuit, and the driving circuit is connected between the pre-driver and the dc motor for driving.
Preferably, the number of the direct current motors is 6 or more.
As a preferred solution, the multi-axis controller uses the PWM frequency or duty cycle in the PWM speed control signal to characterize the desired speed of the dc motor.
Preferably, the multi-axis controller outputs a direction control signal to the pre-driver, and the pre-driver drives and controls the running direction of the direct current motor.
Specifically, fig. 1 is a schematic structural diagram of the system of the present invention, in which a multi-axis controller is used to plan a path and control a reference speed of each dc motor. The multi-axis controller can simultaneously output and receive more than 6 paths of PWM control signals, process more than 6 paths of PWM speed feedback signals and calculate the current speed of the direct current motor. The built-in driving chip in the figure is a pre-driver of the direct current motor, and each direct current motor is internally provided with an independent pre-driver which is used for receiving a PWM control signal of the multi-axis controller and returning a PWM speed feedback signal of the direct current motor. The direct current motor is controlled by the pre-controller, is the final control target of the control system of the invention, and is used as an actuator to complete the operation task.
The direct current motor control in the system adopts a closed-loop control mode, and when the direct current motors are started, the multi-shaft controller outputs reference speed control signals of the direct current motors to serve as control signals of the pre-controller. And in the process of starting the direct current motor, the pre-controller feeds back the current speed of the direct current motor in real time. The feedback speed and the reference speed can generate a deviation, and the multi-axis controller can adjust the output PWM duty ratio by using a PID control mode, so that the deviation is gradually eliminated, and finally, the deviation between the actual rotating speed of the direct current motor and the target rotating speed is ensured to be within +/-10 rpm.
Fig. 2 is a schematic structural diagram of a predriver, which may receive a PWM speed control signal of a multi-axis controller, calculate a reference current of a dc motor according to a frequency or a duty ratio of the PWM speed control signal, and drive the dc motor to operate through a driving circuit built in the dc motor, so as to control a rotation speed of the dc motor. The pre-driver simultaneously receives a direction control signal from the multi-axis controller to control the running direction of the direct current motor. When the DC motor is running, the pre-driver calculates the current speed of the DC motor and outputs a speed feedback signal, wherein the speed feedback signal is expressed by the frequency of the PWM pulse.
The system has the innovative technical points that:
1. a single multi-axis controller is used to control multiple dc motors (more than 6) simultaneously.
2. A pre-driver is arranged in the direct current motor, and a single-path PWM signal is adopted between the pre-driver and the multi-axis controller as a speed control signal and a speed feedback signal.
3. The pre-driver and the multi-axis controller form feedback, the direct current motor adopts a closed-loop control mode, and closed-loop control calculation of all the direct current motors is executed in the multi-axis controller.
4. The control signal represents the reference speed using a PWM frequency or duty cycle and the feedback signal represents the motor operating speed using the frequency of the PWM pulses.
Example 2
According to another embodiment of the present invention, there is provided a multi-motor cooperative control method, referring to fig. 3, including the steps of:
s201, obtaining expected speed values of all the direct current motors at all movement moments through movement planning of a multi-axis controller;
s202, the multi-axis controller sends a PWM speed control signal to a pre-driver, and the pre-driver receives the signal and adjusts the rotating speed of the direct current motor;
s203, the multi-axis controller calculates the actual speed of the current direct current motor according to the PWM speed feedback signal returned by the pre-controller;
s204, calculating the difference between the actual speed and the expected speed of each direct current motor by the multi-shaft controller;
and S205, the multi-axis controller adjusts the PWM speed control signal and controls the pre-driver to adjust the rotating speed of the direct current motor so that the rotating speed of the direct current motor reaches a desired speed value.
According to the multi-motor cooperative control method in the embodiment of the invention, a control system is formed by adopting a pre-driver and a single multi-shaft controller which are arranged in a direct current motor, and a single-path PWM signal is used as a speed control signal and a speed feedback signal to form closed-loop control of the direct current motor. By using a single controller, the number of control chips required by the system is reduced; by concentrating closed loop control calculations on a single controller, the number of system communication bus interfaces is reduced. Based on the advantages, the realization cost of the multi-motor cooperative control system is obviously reduced.
As a preferred technical scheme, the multi-axis controller adjusts a PWM speed control signal, and controls the pre-driver to adjust the rotation speed of the dc motor, so that the rotation speed of the dc motor reaches a desired speed value, including:
and the multi-shaft controller adjusts the PWM frequency or the duty ratio in the PWM speed control signal in a PID control mode according to the deviation between the expected speed and the actual speed of the direct current motor, so that the deviation between the expected speed and the actual speed of the direct current motor is within +/-10 rpm.
As a preferred solution, the multi-axis controller uses the PWM frequency or duty cycle in the PWM speed control signal to characterize the desired speed of the dc motor.
As a preferable technical solution, the multi-motor cooperative control method further includes: the multi-shaft controller outputs a direction control signal to the pre-driver, and the pre-driver drives and controls the running direction of the direct current motor.
Specifically, the multi-motor cooperative control system comprises a multi-shaft controller and a plurality of direct current motors (more than 6) with built-in pre-drivers, wherein the multi-shaft controller and the pre-drivers are connected and communicated by using a single PWM signal line, and the pre-drivers drive the direct current motors to run through a driving circuit built in the direct current motors.
The direct current motor with a built-in predriver is a direct current motor with a drive circuit inside, the predriver detects a voltage signal from an external interface to control the rotation speed of the direct current motor, and returns a feedback signal reflecting the rotation speed of the direct current motor to an external control circuit, so that a closed-loop control system of the rotation speed of the motor is formed.
In the multi-motor cooperative control system, the pre-controller has three functions: first, the pre-controller receives a one-way PWM speed control signal from the multi-axis controller, the speed control signal representing a desired value of speed using a frequency or duty cycle of the PWM; secondly, the pre-controller receives a direction control signal from the multi-axis controller and controls the running direction of the direct current motor; thirdly, the pre-controller detects the current speed of the direct current motor and feeds back a PWM signal to the multi-axis controller as speed feedback; fourthly, the predriver adjusts the current of the direct current motor through the driving circuit to control the rotating speed of the direct current motor, and the predriver has an overcurrent protection function.
The control method comprises the following steps:
the expected speed values of all the direct current motors at all the movement moments are obtained through the movement planning of the multi-axis controller;
the multi-shaft controller sends a PWM speed control signal, and the pre-driver receives the signal and adjusts the rotating speed of the direct current motor;
the multi-shaft controller calculates the actual speed of the current direct current motor according to the PWM speed feedback signal returned by the pre-controller;
the multi-shaft controller calculates the difference between the actual speed and the expected speed of each direct current motor;
and the multi-shaft controller adjusts the PWM speed control signal and controls the pre-driver to adjust the rotating speed of the direct current motor so that the rotating speed of the direct current motor reaches an expected speed value.
The control method has the innovative technical points that:
1. using a pre-driver placed inside the dc motor and a single multi-axis controller, the multi-axis controller controls all the pre-drivers simultaneously.
2. And a single-path PWM signal is adopted between the pre-driver and the multi-axis controller as a speed control signal and a speed feedback signal.
3. The direct current motors adopt a closed-loop control mode, and closed-loop control calculation of all the direct current motors is executed in the multi-axis controller.
The invention provides a low-cost multi-motor cooperative control system and a control method thereof. By using a single controller, the number of control chips required by the system is reduced; the control of the multiple direct current motors is realized by changing the frequency or duty ratio of the PWM, so that hardware interfaces required by a control system are reduced; by concentrating closed loop control calculations on a single controller, the number of system communication bus interfaces is reduced. Based on the advantages, the realization cost of the multi-motor cooperative control system is obviously reduced.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described in detail in a certain embodiment.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described system embodiments are merely illustrative, and for example, a division of a unit may be a logical division, and an actual implementation may have another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A multi-motor cooperative control system characterized by comprising: a multi-axis controller, a plurality of direct current motors; a pre-driver is arranged in the direct current motor, and the multi-axis controller is connected and communicated with the pre-drivers through a single-path PWM signal;
the multi-axis controller outputs a single-path PWM speed control signal to the pre-driver, and the pre-driver drives the direct current motor to run at a desired speed; the pre-driver detects the current actual speed of the direct current motor and feeds back a PWM speed feedback signal to the multi-shaft controller, and the multi-shaft controller adjusts the PWM speed control signal according to the expected speed and the actual speed of the direct current motor to carry out closed-loop control on the direct current motor.
2. The multi-motor cooperative control system according to claim 1, wherein the multi-shaft controller adjusts a PWM frequency or a duty ratio in the PWM speed control signal using a PID control manner according to a deviation of a desired speed from an actual speed of the dc motor so that the deviation of the desired speed from the actual speed of the dc motor is within ± 10 rpm.
3. The multi-motor cooperative control system according to claim 1, wherein a drive circuit is further built in the dc motor, and the drive circuit is connected between the pre-driver and the dc motor.
4. The multi-motor cooperative control system according to claim 1, wherein the number of the direct current motors is 6 or more.
5. The multi-motor cooperative control system according to claim 1, wherein the multi-axis controller characterizes a desired speed of the dc motor using a PWM frequency or duty cycle in a PWM speed control signal.
6. The multi-motor cooperative control system according to claim 1, wherein the multi-shaft controller outputs a direction control signal to the pre-driver, and the pre-driver drives and controls the operation direction of the dc motor.
7. A multi-motor cooperative control method to which the multi-motor cooperative control system according to claim 1 is applied, characterized by comprising the steps of:
obtaining expected speed values of the direct current motors at all movement moments through the movement planning of the multi-axis controller;
the multi-axis controller sends a PWM speed control signal to the pre-driver, and the pre-driver receives the signal and adjusts the rotating speed of the direct current motor;
the multi-axis controller calculates the actual speed of the direct current motor according to the PWM speed feedback signal returned by the pre-controller;
the multi-shaft controller calculates the difference between the actual speed and the expected speed of each direct current motor;
and the multi-axis controller adjusts the PWM speed control signal and controls the pre-driver to adjust the rotating speed of the direct current motor, so that the rotating speed of the direct current motor reaches a desired speed value.
8. The multi-motor cooperative control method according to claim 7, wherein the multi-shaft controller adjusts a PWM speed control signal to control the pre-driver to adjust the dc motor rotation speed such that the dc motor rotation speed reaches a desired speed value comprises:
and the multi-shaft controller adjusts the PWM frequency or the duty ratio in the PWM speed control signal in a PID control mode according to the deviation between the expected speed and the actual speed of the direct current motor, so that the deviation between the expected speed and the actual speed of the direct current motor is within +/-10 rpm.
9. The multi-motor cooperative control method according to claim 7, wherein the multi-axis controller characterizes a desired speed of the DC motor using a PWM frequency or a duty ratio in a PWM speed control signal.
10. The multi-motor cooperative control method according to claim 7, further comprising: the multi-axis controller outputs a direction control signal to the pre-driver, and the pre-driver drives and controls the running direction of the direct current motor.
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