CN117040358B - Automatic motor data configuration method, device, equipment and readable storage medium - Google Patents
Automatic motor data configuration method, device, equipment and readable storage medium Download PDFInfo
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- 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 discloses a motor data automatic configuration method, a device, equipment and a readable storage medium, wherein the motor data automatic configuration method comprises the following steps: initializing a plurality of channels for converting motor data into control signals, wherein the channels correspond to different servo driving modes, and a data processing loop is arranged in each channel and comprises a position loop, a speed loop and a current loop; based on the servo driving mode, the motor data is sent to the corresponding channel; based on the motor data sent into the channel, the data processing loop calculates and outputs a corresponding control signal. The motor data automatic configuration method provided by the invention binds the motor data of a control mode in one channel, and then directly controls the motor through the binding of the channel and the motor. The complexity and inconvenience of setting motor parameters where the motion controller supports multiple motor control modes is avoided.
Description
Technical Field
The present invention relates to the field of motion control, and more particularly, to a method, apparatus, device and readable storage medium for automatically configuring motor data.
Background
The motion controller generally provides the concept of a motor, an axis and a coordinate system, wherein the motor refers to a servo motor which exists actually, the axis refers to a moving object under a certain coordinate system, and the coordinate system forms the concept of a plane and a space. The motion controller generally supports a plurality of servo driving modes, commonly known as a PWM driving mode, a PFM driving mode and a bus driving mode, PWM and PFM are generally bound with hardware, the bus driving mode is bound with a network card or an ASIC chip, and a large number of parameters are required to be set for the motion controller to configure data acquired by a motor due to inconsistent control and feedback modes. Where the motion controller supports multiple motor control modes, motor parameters tend to be more complex, such as the need to set a series of parameters such as the drive mode of the motor, the type of feedback of the motor, etc., which is very inconvenient for the user.
Accordingly, in view of the foregoing technical problems, it is desirable to provide a method, apparatus, device, and readable storage medium for automatically configuring motor data.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide a motor data automatic configuration method, a device, equipment and a readable storage medium, which can automatically configure motor parameters through simple mapping of channel data and motor data.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
in a first aspect, the present invention provides a method for automatically configuring motor data for a motion controller, comprising:
initializing a plurality of channels for converting motor data into control signals, wherein the channels correspond to different servo driving modes, and a data processing loop is arranged in each channel and comprises a position loop, a speed loop and a current loop;
based on the servo driving mode, the motor data is sent to the corresponding channel;
based on the motor data sent into the channel, the data processing loop calculates and outputs a corresponding control signal.
In one or more embodiments, the sending the motor data into the corresponding channel based on the servo driving mode includes:
when the servo driving mode is a PWM driving mode, the command PWM wave voltage, the feedback current, the actual feedback position and the command position data are sent to a PWM channel;
when the servo driving mode is a PFM driving mode, transmitting instruction PFM wave voltage, feedback current, actual feedback position and instruction position data to a PFM channel;
when the servo driving mode is a bus driving mode, reading ESI information of the servo driver, traversing PDO data in the ESI, and sending PDO and instruction position data related to motion control to a bus channel.
In one or more embodiments, the data processing loop calculates and outputs a corresponding control signal based on motor data sent into the channel, including:
based on motor data sent to the PWM channel, the data processing loop calculates and outputs a PWM control signal;
based on motor data sent to the PFM channel, the data processing loop calculates and outputs a PFM control signal;
based on the motor data sent to the bus channel, a bus control signal is output.
In one or more embodiments, the data processing loop calculates and outputs PWM control signals based on motor data sent to a PWM channel, comprising:
calculating an output speed signal based on the designated position and actual feedback position data by the position loop PID;
the speed signal calculates an output current signal through a speed loop PID;
and the current signal and the feedback current signal output PWM control signals through a current loop.
In one or more embodiments, the data processing loop calculates and outputs PFM control signals based on motor data sent to PFM channels, including:
calculating an output speed signal based on the designated position and actual feedback position data by the position loop PID;
the speed signal outputs a PFM control signal through speed loop PID calculation.
In one or more embodiments, the outputting a bus control signal based on motor data sent to the bus channel includes:
based on the instruction position, a bus control signal is output.
In one or more embodiments, the method further comprises:
establishing a coordinate system and an axis matched with the coordinate system;
and selecting a servo driving mode, binding a channel corresponding to the servo driving mode with a motor, and initializing the mapping relation between the motor and a channel, a shaft and a coordinate system.
In a second aspect, the present invention provides a motor data automatic configuration apparatus, comprising:
an initialization module: the system comprises a plurality of channels for initializing a plurality of channels for converting motor data into control signals, wherein the channels correspond to different servo driving modes, a data processing loop is arranged in each channel, and each data processing loop comprises a position loop, a speed loop and a current loop;
and (3) a configuration module: the servo driving method is used for sending motor data to the corresponding channel based on the servo driving mode;
and an output module: for calculating and outputting a corresponding control signal based on motor data sent into the channel.
In a third aspect, the present invention provides a computer device comprising: the automatic motor data configuration system comprises a memory and a processor, wherein the memory and the processor are in communication connection, the memory stores computer instructions, and the processor executes the computer instructions, so that the automatic motor data configuration method is executed.
In a fourth aspect, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the motor data auto-configuration method.
Compared with the prior art, the motor data automatic configuration method provided by the invention has the advantages that a plurality of channels for converting motor data into control signals are initialized, the channels correspond to different servo driving modes, a data processing loop is arranged in each channel, and each data processing loop comprises a position loop, a speed loop and a current loop; based on the servo driving mode, the motor data is sent to the corresponding channel; based on the motor data sent into the channel, the data processing loop calculates and outputs a corresponding control signal. According to the motor data automatic configuration method, motor data of a control mode is bound in a channel, and then the motor is directly controlled through the binding of the channel and the motor. The complexity and inconvenience of setting motor parameters where the motion controller supports multiple motor control modes is avoided.
Drawings
Fig. 1 is a schematic diagram of an application scenario of a method for automatically configuring motor data according to an embodiment of the present invention;
FIG. 2 is a flow chart of automatic configuration of motor data according to an embodiment of the invention;
FIG. 3 is a block diagram of an apparatus for automatically configuring motor data according to an embodiment of the present invention;
FIG. 4 is a block diagram of an electronic device in an embodiment of the invention;
FIG. 5 is a schematic diagram of a data processing loop processing motor data for different drive modes in accordance with one embodiment of the present invention;
FIG. 6 is a motion control related PDO in an embodiment of the invention;
FIG. 7 is a diagram of a motion controller servo topology in an embodiment of the present invention;
FIG. 8 is a schematic diagram of a topology map of a motion controller in accordance with an embodiment of the present invention;
FIG. 9 is a channel map of servo data and a motion controller in an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention is, therefore, to be taken in conjunction with the accompanying drawings, and it is to be understood that the scope of the invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the term "comprise" or variations thereof such as "comprises" or "comprising", etc. will be understood to include the stated element or component without excluding other elements or components.
In order to facilitate understanding of the technical solutions of the present application, the following first explains in detail the technical terms that may occur in the present invention.
A motor: refers to the servo motor which exists actually.
And (3) a shaft: refers to a moving object under a certain coordinate system.
Coordinate system: composing the concept of planes and spaces.
PWM (Pulse width modulation ): the pulse width modulation is an analog control mode, and the bias of the base electrode or the grid electrode of the transistor is modulated according to the change of corresponding load so as to change the on time of the transistor or the MOS transistor, thereby changing the output of the switching regulated power supply. This way, the output voltage of the power supply can be kept constant when the operating conditions change, and is a very effective technique for controlling the analog circuit by means of the digital signal of the microprocessor. Are widely used in many fields from measurement, communication to power control and conversion.
PFM (Pulse frequency modulation ): a pulse modulation technique, the frequency of the modulated signal varies with the amplitude of the input signal, and the duty cycle is unchanged. Since the modulated signal is typically a square wave signal of varying frequency, PFM is also called square wave FM. Are commonly applied to DC-DC converters to improve light load efficiency. A converter operating in a power saving mode uses a pulse frequency modulation mode under light load current conditions and a pulse width modulation mode under heavier load current conditions. This mode of operation allows the converter to maintain extremely high efficiency over a wide range of current outputs.
Bus: the bus of the computer can be divided into a data bus, an address bus and a control bus according to the information type transmitted by the computer, and the data bus, the address bus and the control bus are respectively used for transmitting data, data addresses and control signals. The bus is an internal structure, it is a public channel for CPU, memory, input and output devices to transfer information, all the components of the host are connected by means of bus, and the external device is connected with bus by means of correspondent interface circuit so as to form the computer hardware system. In a computer system, a common path for information to be transferred between components is called a bus, and a microcomputer connects the functional components in a bus structure.
PDO (Process Data Object, flow data object): the function of periodically performing data interaction between the master station and the slave stations in the EtherCAT bus network can be regarded as a space of groups, each group of elements stores different function codes, and the PDO executes operations corresponding to the function codes in one period, wherein the function codes are called a data dictionary, and the data dictionary is expressed by 4-bit 16-system numbers.
ESI (EtherCAT Slave Information, slave device description file): is the configuration file of EtherCAT slave station equipment, and the file is in XML format. After the XML file is written, the XML file is downloaded into the EEPROM of the slave station equipment through a master station program or other programming tools. When the ESC is powered on, the EEPROM is read through the I2C bus, and a register inside the chip is configured. The main function of the slave station equipment description file is to describe the configuration information of the EtherCAT slave station, and the configuration information mainly comprises the following two parts: etherCAT slave manufacturer information and therCAT slave description information.
Current loop: when the required response time is high, current control is required, as is the case in many industrial servo applications. The primary objective of the current loop is to control the torque, which affects speed and thus position. The current loops are typically nested within the speed loops, with the current being the innermost loop, the middle speed loop, and the position loop being the outermost loop. The current loop is typically a PI controller with proportional and integral gains. The current control parameters are typically set by the manufacturer, thereby saving the user time and effort to adjust the current control loop.
Position ring: for applications requiring position control, position loops are added "around" the speed loop in a so-called cascade position/speed loop. The position loop determines a following error, i.e. a deviation between the actual position and the commanded position, and issues a speed command to reduce or eliminate the following error. In a cascaded system, the position loop typically uses only the proportional gain Kp. The servo system may use a position loop instead of a velocity loop, although velocity feedback provides additional stiffness and resists high frequency interference. If the position loop is used alone without a speed loop, the position loop would be a PID controller. The use of three gains, proportional, integral and derivative, while more complex, allows the system to be tuned for optimal performance.
Speed ring: the speed loop is the most common servo control loop. It compares the commanded speed with the actual speed via a tachometer or encoder and issues a command to increase or decrease the motor speed accordingly. The speed loop is also referred to as a PI controller because it typically uses a proportional gain (Kvp) and an integral gain (Kvi) to determine the correction command. As the name suggests, the magnitude of the proportional gain is proportional to the magnitude of the error, while the integral gain increases over time to "push" the motor to zero error at the end of the motion. The servo feedback gains, i.e., the proportional gain Kp, the integral gain Ki, and the differential gain Kd, determine the extent to which the servo attempts to correct or reduce the error between the commanded and actual values.
Fig. 1 is a schematic diagram of an application scenario of the motor data auto-configuration method according to the present invention. In the implementation scenario shown in fig. 1, it comprises a motor 101, a channel 102, a data processing loop 103. Specifically, the data processing loop 103 is disposed in the channel 102, and is configured to perform analysis and calculation on input data and output a control signal; the motor data under different driving modes are input into the channels, and after calculation by the data processing loop 103, control signals of the motor 101 under the corresponding driving modes are output, and the control signals are transmitted to the motor 101, so that control of the servo motor is realized.
Fig. 2 is a schematic flow chart of automatic configuration of motor data according to an embodiment of the invention. The motor data automatic configuration method specifically comprises the following steps:
s201: initializing a plurality of channels for converting motor data into control signals, wherein the channels correspond to different servo driving modes, and a data processing loop is arranged in each channel and comprises a position loop, a speed loop and a current loop;
it should be noted that, for the motion controller, it will periodically update its output signal, and the period time of updating the output signal is called the communication period.
Referring to fig. 5, a schematic diagram of processing motor data in different driving modes for the data processing loop is shown, after the PWM channel binds the motor, the data processing loop receives the actual feedback position, the ADC sampling data, and the motor command position output by the motion planner, and performs PID operation of the position loop, PID operation of the speed loop, and PID operation of the current loop sequentially. For the PFM channel, after the motor command position of the motion planner is acquired, position loop PID operation is performed, speed loop PID operation is performed, and then position increment data is output. For the bus drive channel, the position command obtained by the motor from the motion planner is directly transmitted to the bus drive channel.
It should be noted that, for bus control, only the position data is transferred, so the bus here may be any type of field bus, for example: CAN bus, I2C bus, etheCat bus, etc., and the embodiment of the invention is not limited thereto.
S202: based on the servo driving mode, the motor data is sent to the corresponding channel;
the configuration of the motor data in each driving mode is realized by using software. The signal acquisition and generation units in the PWM driving mode and the PFM driving mode can be realized by using an FPGA, and the bus driving is realized by a network card driving and a master station protocol station.
In an exemplary embodiment, the sending the motor data to the corresponding channel based on the servo driving mode includes: when the servo driving mode is a PWM driving mode, the command PWM wave voltage, the feedback current, the actual feedback position and the command position data are sent to a PWM channel; when the servo driving mode is a PFM driving mode, transmitting instruction PFM wave voltage, feedback current, actual feedback position and instruction position data to a PFM channel; when the servo driving mode is a bus driving mode, reading ESI information of the servo driver, traversing PDO data in the ESI, and sending PDO and instruction position data related to motion control to a bus channel.
For example, the feedback of the grating ruler is collected as an actual feedback position; sampling PWM wave voltage and feedback current from an analog-to-digital converter of a servo driver; the planner outputs the position data as instructions; the PWM wave voltage, the feedback current, the actual feedback position and the instruction position data are packaged by hardware and sent to a DMA register; and taking out the data in the DMA register and mapping the data into a channel corresponding to the PWM driving mode.
Collecting feedback of the grating ruler as an actual feedback position; sampling PFM wave voltage and feedback current from an analog-to-digital converter of the servo driver; the planner outputs the position data as instructions; the PFM wave voltage, the feedback current, the actual feedback position and the instruction position data are packaged by hardware and sent to a DMA register; and taking out the data in the DMA register and mapping the data into a channel corresponding to the PFM driving mode.
By traversing the data of PDOs in ESI and configuring the data of PDOs related to motion control therein to form the data in the bus driving channel, please refer to fig. 6 for the motion control related PDOs, the motion controller automatically scans all PDOs in ECT servo driver, and configures all PDOs related to motion control, 0x6040,0x6060,0x 603 a,0x6041,0x06064,0x6061,0x6077, into the bus driving channel.
S203: based on the motor data sent into the channel, the data processing loop calculates and outputs a corresponding control signal.
The data processing loop calculates and outputs a corresponding control signal based on the motor data sent into the channel, and includes: based on motor data sent to the PWM channel, the data processing loop calculates and outputs a PWM control signal; based on motor data sent to the PFM channel, the data processing loop calculates and outputs a PFM control signal; based on the motor data sent to the bus channel, a bus control signal is output.
Specifically, the data processing loop calculates and outputs a PWM control signal based on the motor data sent to the PWM channel, including: calculating an output speed signal based on the designated position and actual feedback position data by the position loop PID; the speed signal calculates an output current signal through a speed loop PID; and the current signal and the feedback current signal output PWM control signals through a current loop. The data processing loop calculates and outputs a PFM control signal based on motor data sent to the PFM channel, comprising: calculating an output speed signal based on the designated position and actual feedback position data by the position loop PID; the speed signal outputs a PFM control signal through speed loop PID calculation. The outputting a bus control signal based on motor data sent to the bus channel, comprising: based on the instruction position, a bus control signal is output.
It should be noted that, the method for automatically configuring motor data further includes: establishing a coordinate system and an axis matched with the coordinate system; and selecting a servo driving mode, binding a channel corresponding to the servo driving mode with a motor, and initializing the mapping relation between the motor and a channel, a shaft and a coordinate system.
For example, please refer to fig. 7, which shows a motion controller servo topology diagram, wherein 9 servo motors are connected in total, wherein the servo motors comprise 3 PWM motors, 3 PFM motors, and 3 ECT bus motors, so that the channels are provided with 101, 102, 103, 201, 202, 203, 301, 302, and 303. Referring to fig. 8, a topology map of a motion controller is shown, and since the motion controller essentially generates multi-axis interpolation motion to spatially form a specific motion trajectory, all axes must be mapped into a coordinate system.
In this example, a first coordinate system (CS 1) and a second coordinate system (CS 2) are provided, and the axes mapped to the same coordinate system can perform interpolation motion. In this example, 18 axes are defined in total, that is, X, Y, Z, A, B, C, U, V, W, X1, Y1, Z1, A1, B1, C1, U1, V1, and W1, and according to the definition in CNC, XYZ is set as a linear axis, ABC is an axis rotating around XYZ, and UVW is a parallel axis parallel to XYZ. Wherein axes without subscripts are allowed to map only into CS1 and axes with subscripts are allowed to map only into CS2. The motors and shafts have a one-to-one correspondence, so the motors and shafts will be mapped one-to-one, and the channels and motors will be mapped one-to-one as well.
Because of the use of channels, details associated with the underlying hardware can be masked. For example 101 can be used to map to motor 1, to X, to CS1, 201, to motor 2 to Y, to CS1, 301 to motor 3 to CS1, so that 3 different physically driven motors can be mapped to the same coordinate system using a simple mapping, after which the motion controller can use the planning function to interpolate them.
Referring to fig. 9, a channel mapping relationship between servo data and a motion controller is shown, wherein the channel data and physical servo data in the motion controller have a one-to-one binding relationship, wherein a PWM driving mode corresponds to a 1XX channel, a PFM driving mode corresponds to a 2XX channel, and an ECT driving mode corresponds to a 3XX channel. The interfaces of PWM and PFM are directly arranged on the motion controller, so that the interfaces are directly bound with the 1XX channel and the 2XX channel, and the ECT channel is bound by the physical topological order of the ECT driver.
Referring to fig. 3, based on the same inventive concept as the motor data auto-configuration method, an embodiment of the invention provides a motor data auto-configuration device 300, which includes: an initialization module, a configuration module and an output module.
Specifically, the initialization module is used for initializing a plurality of channels for converting motor data into control signals, the channels correspond to different servo driving modes, a data processing loop is arranged in each channel, and each data processing loop comprises a position loop, a speed loop and a current loop; the configuration module is used for sending motor data to the corresponding channel based on the servo driving mode; the output module is used for calculating and outputting corresponding control signals based on motor data sent into the channel.
It should be noted that, the configuration module is configured to send motor data to a corresponding channel based on the servo driving mode, and includes: when the servo driving mode is a PWM driving mode, the command PWM wave voltage, the feedback current, the actual feedback position and the command position data are sent to a PWM channel; when the servo driving mode is a PFM driving mode, transmitting instruction PFM wave voltage, feedback current, actual feedback position and instruction position data to a PFM channel; when the servo driving mode is a bus driving mode, reading ESI information of the servo driver, traversing PDO data in the ESI, and sending PDO and instruction position data related to motion control to a bus channel.
The output module is used for calculating and outputting corresponding control signals based on motor data sent into the channel, and the data processing loop comprises: based on motor data sent to the PWM channel, the data processing loop calculates and outputs a PWM control signal; based on motor data sent to the PFM channel, the data processing loop calculates and outputs a PFM control signal; based on the motor data sent to the bus channel, a bus control signal is output.
Specifically, the data processing loop calculates and outputs a PWM control signal based on the motor data sent to the PWM channel, including: calculating an output speed signal based on the designated position and actual feedback position data by the position loop PID; the speed signal calculates an output current signal through a speed loop PID; and the current signal and the feedback current signal output PWM control signals through a current loop. The data processing loop calculates and outputs a PFM control signal based on motor data sent to the PFM channel, comprising: calculating an output speed signal based on the designated position and actual feedback position data by the position loop PID; the speed signal outputs a PFM control signal through speed loop PID calculation. The outputting a bus control signal based on motor data sent to the bus channel, comprising: based on the instruction position, a bus control signal is output.
The output module is also used for establishing a coordinate system and an axis matched with the coordinate system; and selecting a servo driving mode, binding a channel corresponding to the servo driving mode with a motor, and initializing the mapping relation between the motor and a channel, a shaft and a coordinate system.
Referring to fig. 4, an embodiment of the present invention further provides an electronic device 400, where the electronic device 400 includes at least one processor 401, a memory 402 (e.g., a nonvolatile memory), a memory 403, and a communication interface 404, and the at least one processor 401, the memory 402, the memory 403, and the communication interface 404 are connected together via a bus 405. The at least one processor 401 is operative to invoke the at least one program instruction stored or encoded in the memory 402 to cause the at least one processor 401 to perform the various operations and functions of the motor data auto-configuration method described in various embodiments of the present specification.
In embodiments of the present description, electronic device 400 may include, but is not limited to: personal computers, server computers, workstations, desktop computers, laptop computers, notebook computers, mobile electronic devices, smart phones, tablet computers, cellular phones, personal Digital Assistants (PDAs), handsets, messaging devices, wearable electronic devices, consumer electronic devices, and the like.
Embodiments of the present invention also provide a computer-readable medium having computer-executable instructions carried thereon that, when executed by a processor, are operable to implement the various operations and functions of the motor data auto-configuration method described in the various embodiments of the present specification.
The computer readable medium in the present invention may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus, systems, and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing descriptions of specific exemplary embodiments of the present invention are presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application to thereby enable one skilled in the art to make and utilize the invention in various exemplary embodiments and with various modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (9)
1. A method for automatically configuring motor data for a motion controller, comprising:
initializing a plurality of channels for converting motor data into control signals, wherein the channels correspond to different servo driving modes, and a data processing loop is arranged in each channel and comprises a position loop, a speed loop and a current loop;
based on the servo driving mode, the motor data is sent to the corresponding channel, and the method specifically comprises the following steps: when the servo driving mode is a PWM driving mode, the command PWM wave voltage, the feedback current, the actual feedback position and the command position data are sent to a PWM channel; when the servo driving mode is a PFM driving mode, transmitting instruction PFM wave voltage, feedback current, actual feedback position and instruction position data to a PFM channel; when the servo driving mode is a bus driving mode, reading ESI information of a servo driver, traversing PDO data in the ESI, and sending PDO and instruction position data related to motion control to a bus channel;
based on the motor data sent into the channel, the data processing loop calculates and outputs a corresponding control signal.
2. The method of claim 1, wherein the data processing loop calculates and outputs a corresponding control signal based on the motor data sent into the channel, comprising:
based on motor data sent to the PWM channel, the data processing loop calculates and outputs a PWM control signal;
based on motor data sent to the PFM channel, the data processing loop calculates and outputs a PFM control signal;
based on the motor data sent to the bus channel, a bus control signal is output.
3. The automatic motor data configuration method according to claim 2, wherein the data processing loop calculates and outputs a PWM control signal based on the motor data transmitted to the PWM channel, comprising:
calculating an output speed signal by the position loop PID based on the instruction position and the actual feedback position data;
calculating an output current signal via a speed loop PID based on the speed signal;
and outputting a PWM control signal through a current loop based on the current signal and the feedback current signal.
4. The method of automatic configuration of motor data according to claim 2, wherein the data processing loop calculates and outputs PFM control signals based on motor data sent to PFM channels, comprising:
calculating an output speed signal by the position loop PID based on the instruction position and the actual feedback position data;
the speed signal outputs a PFM control signal through speed loop PID calculation.
5. The automatic motor data configuration method according to claim 2, wherein the outputting a bus control signal based on the motor data sent to the bus channel includes:
based on the instruction position, a bus control signal is output.
6. The motor data auto-configuration method according to claim 1, characterized in that the method further comprises:
establishing a coordinate system and an axis matched with the coordinate system;
and selecting a servo driving mode, binding a channel corresponding to the servo driving mode with a motor, and initializing the mapping relation between the motor and a channel, a shaft and a coordinate system.
7. A motor data automatic configuration apparatus, comprising:
the system comprises an initialization module, a control module and a control module, wherein the initialization module is used for initializing a plurality of channels for converting motor data into control signals, the channels correspond to different servo driving modes, a data processing loop is arranged in the channels, and the data processing loop comprises a position loop, a speed loop and a current loop;
the configuration module is used for sending the motor data to the corresponding channel based on the servo driving mode, and specifically comprises the following steps: when the servo driving mode is a PWM driving mode, the command PWM wave voltage, the feedback current, the actual feedback position and the command position data are sent to a PWM channel; when the servo driving mode is a PFM driving mode, transmitting instruction PFM wave voltage, feedback current, actual feedback position and instruction position data to a PFM channel; when the servo driving mode is a bus driving mode, reading ESI information of a servo driver, traversing PDO data in the ESI, and sending PDO and instruction position data related to motion control to a bus channel;
and the output module is used for calculating and outputting a corresponding control signal by the data processing loop based on the motor data sent into the channel.
8. A computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the motor data auto-configuration method of any one of claims 1-6.
9. A computer-readable storage medium storing computer instructions for causing a computer to execute the motor data auto-configuration method according to any one of claims 1 to 6.
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