CN202503470U - Speed control system of alternating current servo motor - Google Patents
Speed control system of alternating current servo motor Download PDFInfo
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- CN202503470U CN202503470U CN2012201199911U CN201220119991U CN202503470U CN 202503470 U CN202503470 U CN 202503470U CN 2012201199911 U CN2012201199911 U CN 2012201199911U CN 201220119991 U CN201220119991 U CN 201220119991U CN 202503470 U CN202503470 U CN 202503470U
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- VIEYMVWPECAOCY-UHFFFAOYSA-N 7-amino-4-(chloromethyl)chromen-2-one Chemical compound ClCC1=CC(=O)OC2=CC(N)=CC=C21 VIEYMVWPECAOCY-UHFFFAOYSA-N 0.000 claims abstract description 10
- 238000013461 design Methods 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000005355 Hall effect Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
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- 238000005259 measurement Methods 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
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Abstract
The utility model discloses an exchange servo motor speed control system, it is including forming motor, encoder, controller and the driver that the closed loop connects in proper order, and the signal of encoder is received to the controller, later output control signal to driver, and the driver is exported to the motor after enlargiing control signal. The controller adopts a single chip microcomputer with the model of STM32F103RBT6, and comprises a PID control module, a CMAC control module, a PI control module and an inversion module, wherein the PID control module and the CMAC control module are connected in parallel and then are sequentially connected with the PI control module and the inversion module. The speed control system of the alternating current servo motor is high in reliability, simple, easy to maintain, small in size, convenient and flexible to control different control precision requirements by selecting the clock parameters in a programmable mode, simple in system design and low in maintenance cost.
Description
Technical field
The utility model relates to a kind of servo system control that is used for, and can onlinely overcome the control system of motor disturbance.
Background technology
In industry, along with the requirement of control precision, the control of AC servo becomes main flow, and in order to improve the precision of AC servo motor, various novel control algorithm continue to bring out.At present; For wide variation and the effect of nonlinear that overcomes load, model parameter; Overcome the creeping phenomenon that when motor low speed, occurs, on the basis of traditional PI D-algorithm, fuzzy control, neural net, Sliding mode variable structure control, adaptive control or the like have occurred.The control chip of selecting has DSP, FPGA series.Operating cost is higher.
But these algorithms all are additional these control algolithms on the basis of tradition control, and defective is separately arranged.The FUZZY ALGORITHMS FOR CONTROL precision is not high, and the time of neural network learning training is longer, is difficult to On-line Control, and buffeting appears after getting into the slip attitude in Sliding-Mode Control Based, just in sliding surface annex dither.Adaptive control is for changing the control effect of difficult parameters to obtain faster.Some algorithm still only limits to emulation, because the time of on-line identification cost is long, is difficult to On-line Control.When low speed was controlled, creeping phenomenon can appear in motor, and creeping phenomenon will bring certain loss to motor, and control precision more is difficult to guarantee.
The utility model content
The purpose of the utility model is to provide a kind of AC servo motor speed control system, this control system novel structure, and result of use is better.
The utility model to achieve these goals, the technical solution of employing is:
The AC servo motor speed control system comprises forming motor, encoder, controller and the driver that closed loop connects successively that the signal of controller received code device outputs control signals to driver afterwards, and driver exports motor to after control signal is amplified.
Further, said controller employing model is the single-chip microcomputer of STM32F103RBT6.
Further, said controller comprises pid control module, CMAC control module, PI control module and inversion module, and said pid control module and CMAC control module are in parallel, and connects PI control module and inversion module afterwards successively.
The beneficial effect of the utility model:
This kind AC servo motor speed control system, reliability is higher, and control system is comparatively simple, is easy to safeguard; Volume is little, and for the Different control required precision, selection timing parameter able to programme is controlled; Convenient, flexible, system design is comparatively simple, has reduced maintenance cost.The PID controller that adopts the STM32F103RBT6 single-chip microcomputer to combine the fuzzy CMAC algorithm to realize, the parameter that can overcome PID is difficult for setting, and suppresses unexpected and disturbs, and has effectively improved the control performance of motor.Adopt STM32F103RBT6 as main control chip, required power consumption is little, and the speed of service is fast, and cost is lower.
Description of drawings
Fig. 1 is an AC servo motor speed control system hardware connection layout.
Fig. 2 is the block diagram of AC servo motor speed control system.
Embodiment
Below in conjunction with accompanying drawing the utility model is elaborated:
In conjunction with Fig. 1, Fig. 2, the AC servo motor speed control system comprises forming motor, encoder, controller and the driver that closed loop connects successively; The signal of controller received code device; Output control signals to driver afterwards, driver exports motor to after control signal is amplified.It is the single-chip microcomputer of STM32F103RBT6 that said controller adopts model; Controller comprises pid control module, CMAC control module, PI control module and inversion module; Said pid control module and CMAC control module are in parallel, and connect PI control module and inversion module afterwards successively.
As shown in Figure 2, the power supply input is the civil power of 220V, and rectification circuit is made up of transformer, rectification main circuit and filter etc.The size of transformer is selected to change according to the big I of power of motor, and what rectification circuit was selected is full-wave rectification.Filtering is the electric capacity of selecting 3300uF, plays the effect of bypass, logical low frequency.The MOSIRF540 that three-phase inverter is selected for use, this element 30A of anti-the current maxima, withstand voltage is 100V, has 6 MOSIRF540, their switch is to be controlled by the signal of controller PWM output.
Mainly be to select two types of transducers in protective circuit; Be respectively current sensor ACS712ELC-20A linear current transducer; This current sensor is based on the linear current transducer of Hall effect, and its current path made of copper is near the surface of wafer, and 5.0 volts of single supplies are operated; 66 to 185mVA output sensitivities, output voltage with exchange or direct current proportional.The output area of current sensor signal is transformed between the 0-3.3V, and through 12 inner bit A/D converters of STM32F103RBT6, it is 3.3 power supplies, and the AD two paths is selected in two phases or three-phase current input for use.
The module that voltage sensor is selected can be measured single-phase voltage, and the model of selecting for use is SPT204A, and input range is 50-1000V, is output as 0.05-8V (amplifier output).This voltage transformer connects a current-limiting resistance at the back, makes electric current in the scope of instrument transformer regulation, and the back connects the OP07 discharge circuit; Use single power supply, power supply is 15V, for corresponding with master chip voltage; It is carried out circuit carry out range conversion, convert the circuit of 0-3.3V into.
The output of the controller of selecting is SVPWM; Be the space vector control algolithm, its output is through the inner PWM output signal of STM32F103RBT6, between itself and power amplifier, adds glazing at a distance from 6N137; The 5V power supply, this is the photoelectric isolated chip of a switching rate to 10M.
Motor speed is to measure through photoelectric encoder, and encoder is an incremental, and 1000 lines are isolated through photoelectricity, get into main control chip, and what select for use is that counter tests the speed to it, uses the capturing function of chip.
Rate of current is to get into AD converter through current sensor, gets into master controller again.
For motor drive block design, i.e. PWM output is separated through light, selects power amplifier again, lets its signal be amplified to drive IRF540 get final product.
For controller, use be two closed loop control methods, outer shroud is a speed ring, interior ring is an electric current loop.The input signal of outer shroud is the speed difference signal, and promptly the motor speed of normal speed and actual measurement is poor, through corresponding algorithm computing, exports, and this output signal is the input signal of electric current loop.Current input signal can carry out normalization to be handled, and electric current loop passes through corresponding algorithm computing equally, gives an output, and the output signal is exported as the space vector conversion through inverse transformation.
This kind AC servo motor speed control system, reliability is higher, and control system is comparatively simple, is easy to safeguard that volume is little, and for the Different control required precision, selection timing parameter able to programme is controlled, and is convenient, flexible.System design is comparatively simple, has reduced maintenance cost.The PID controller that adopts the STM32F103RBT6 single-chip microcomputer to combine the fuzzy CMAC algorithm to realize, the parameter that can overcome PID is difficult for setting, and suppresses unexpected and disturbs, and has effectively improved the control performance of motor.Adopt STM32F103RBT6 as main control chip, required power consumption is little, and the speed of service is fast, and cost is lower.
Certainly; Above-mentioned explanation is not to be the restriction to the utility model; The utility model also be not limited in above-mentioned for example, variation, remodeling, interpolation or replacement that the technical staff in present technique field is made in the essential scope of the utility model also should belong to the protection range of the utility model.
Claims (3)
1. AC servo motor speed control system; It is characterized in that: comprise forming motor, encoder, controller and the driver that closed loop connects successively, the signal of controller received code device outputs control signals to driver afterwards; Driver exports motor to after control signal is amplified.
2. AC servo motor speed control system according to claim 1 is characterized in that: it is the single-chip microcomputer of STM32F103RBT6 that said controller adopts model.
3. AC servo motor speed control system according to claim 1; It is characterized in that: said controller comprises pid control module, CMAC control module, PI control module and inversion module; Said pid control module and CMAC control module are in parallel, and connect PI control module and inversion module afterwards successively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201199911U CN202503470U (en) | 2012-03-27 | 2012-03-27 | Speed control system of alternating current servo motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201199911U CN202503470U (en) | 2012-03-27 | 2012-03-27 | Speed control system of alternating current servo motor |
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| Publication Number | Publication Date |
|---|---|
| CN202503470U true CN202503470U (en) | 2012-10-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012201199911U Expired - Fee Related CN202503470U (en) | 2012-03-27 | 2012-03-27 | Speed control system of alternating current servo motor |
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| Country | Link |
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| CN (1) | CN202503470U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103868548A (en) * | 2014-03-17 | 2014-06-18 | 哈尔滨理工大学 | Wind-light converting technology-based wind energy information detection controller |
-
2012
- 2012-03-27 CN CN2012201199911U patent/CN202503470U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103868548A (en) * | 2014-03-17 | 2014-06-18 | 哈尔滨理工大学 | Wind-light converting technology-based wind energy information detection controller |
| CN103868548B (en) * | 2014-03-17 | 2017-05-10 | 哈尔滨理工大学 | Wind-light converting technology-based wind energy information detection controller |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121024 Termination date: 20130327 |