TWI656417B - A motor controlling system and method thereof - Google Patents
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Abstract
一種馬達控制系統，用以傳送一驅動信號至一驅動裝置，藉以驅動一馬達，並包含一輸入模組、一處理模組與一運動控制運算模組。輸入模組，係用以設定一最大輸出脈衝頻率與複數個運動控制參數。處理模組，係接收最大輸出脈衝頻率，依據一內建基礎時脈數與最大輸出脈衝頻率之比值，產生一單位脈衝時脈數，判斷單位脈衝時脈數與一內建運算時脈數之大小，並定義單位脈衝時脈數與內建運算時脈數中之大者係一實際運算時脈數。運動控制運算模組，係用以接收運動控制參數與實際運算時脈數，據以產生驅動信號。本發明亦揭露一種馬達控制方法。 A motor control system for transmitting a driving signal to a driving device for driving a motor, and comprising an input module, a processing module and a motion control computing module. The input module is used to set a maximum output pulse frequency and a plurality of motion control parameters. The processing module receives the maximum output pulse frequency, and generates a unit pulse clock number according to a ratio of a built-in basic clock number to a maximum output pulse frequency, and determines a unit pulse clock number and a built-in operation clock number. The size, and the number of the unit pulse clock and the number of built-in operation clocks are the actual number of clocks. The motion control computing module is configured to receive the motion control parameter and the actual operation clock number to generate a driving signal. The invention also discloses a motor control method.
Description
本發明係有關於一種馬達控制系統及其方法，尤其是指一種可調整實際運算時脈數之馬達控制系統及其方法。 The present invention relates to a motor control system and method thereof, and more particularly to a motor control system and method thereof that can adjust the actual number of clocks.
大多數的機械系統需要進行運動軌跡規劃，如CNC工具機、機械手臂、鑽孔機、雕刻機、繪圖機等。這些機具基本上都是多軸運動控制，需要規劃多顆馬達的互相移動、運動路徑的產生、移動速度及加減速的運算、同時移動同時停止所需路徑的插值都是相當重要。因此，運動控制器自然形成系統之核心控制單元。運動控制器主要接收了使用者傳來的運動資料，並將這些資料轉變成驅動信號傳送至馬達驅動器，進而驅動並控制馬達甚至是機械系統的運動軌跡。 Most mechanical systems require motion trajectory planning, such as CNC machine tools, robotic arms, drills, engraving machines, plotters, and more. These implements are basically multi-axis motion control. It is important to plan the mutual movement of multiple motors, the generation of motion paths, the movement speed and the calculation of acceleration and deceleration, and the simultaneous interpolation of the required paths. Therefore, the motion controller naturally forms the core control unit of the system. The motion controller mainly receives the motion data transmitted by the user and converts the data into a driving signal to the motor driver, thereby driving and controlling the motion track of the motor or even the mechanical system.
一般常見的運動控制器為數位差分分析器(Digital Differential Analyzer；DDA)。數位差分分析器是接收一目標位置，並依據一目標時間，運算產生一脈衝驅動信號，藉以驅動一馬達。 A common motion controller is the Digital Differential Analyzer (DDA). The digital difference analyzer receives a target position and generates a pulse driving signal according to a target time to drive a motor.
請參閱第一圖，第一圖係顯示先前技術中之馬達控制系統之系統方塊圖。馬達控制系統PA1係用以產生一驅動信號至一驅動裝置PA2，藉以驅動一馬達PA3，並包含一處理模組PA11與一運動控制運算模組PA12，在此馬達控制系統PA1係一數位差分分析器。處理模組PA11係接受一目標位置與一目標時間，並依據一內建運算時脈數(DDA Cycle Time)進行運算，計算出馬達PA3在內建運算時脈數內所需移動之格數。此數值經轉換產生一脈衝驅動信號，並傳送至驅動裝置PA2，以驅動馬達PA3在目標時間內等速走完所需移動的格數，而到達上述目標位置。 Referring to the first figure, the first figure shows a system block diagram of a prior art motor control system. The motor control system PA1 is configured to generate a driving signal to a driving device PA2, thereby driving a motor PA3, and includes a processing module PA11 and a motion control computing module PA12, wherein the motor control system PA1 is a digital difference analysis Device. The processing module PA11 receives a target position and a target time, and performs calculation based on a built-in DDA Cycle Time to calculate the number of cells required to move within the number of clocks of the built-in operation of the motor PA3. This value is converted to generate a pulse drive signal and transmitted to the drive unit PA2 to drive the motor PA3 to reach the target position at the same speed within the target time at the same speed.
然而，先前技術中的馬達控制系統PA1並不會因為最大輸出脈衝頻率的不同，而調整其運算時脈數，都是用其內建運算時脈數進行運算。因此，會造成馬達控制系統PA1都是利用其內建運算時脈數進行運算而沒有彈性。簡單來說，要產生最大輸出脈衝頻率可能不需要馬達控制系統PA1利用其內建運算時脈數那麼快速的運算，也可能馬達控制系統PA1利用其內建運算時脈數運算還是無法產生最大輸出脈衝頻率，但是馬達控制系統PA1不會有任何調整運算時脈的作動，使用者也無法得知馬達控制系統PA1的內建運算時脈數是否足以負荷最大輸出脈衝頻率。 However, the motor control system PA1 of the prior art does not adjust the number of operating clocks due to the difference in the maximum output pulse frequency, and is calculated by the number of built-in operation clocks. Therefore, the motor control system PA1 is operated with its built-in operation clock number without flexibility. In short, to generate the maximum output pulse frequency may not require the motor control system PA1 to use the calculation of the built-in operation clock number as fast, or the motor control system PA1 can not generate the maximum output by using the built-in operation clock number operation. The pulse frequency, but the motor control system PA1 does not have any adjustment operation clock operation, and the user cannot know whether the built-in operation clock number of the motor control system PA1 is sufficient to load the maximum output pulse frequency.
有鑒於在先前技術中，馬達控制系統僅會 依照內建運算時脈數進行運算，而不會依照最大輸出脈衝頻率去調整內建運算時脈數。本發明之一主要目的係提供馬達控制系統及其方法，利用一處理模組依據一最大輸出脈衝頻率定義出一實際運算時脈數，並利用一運動控制運算模組，接收複數個運動控制參數，依據該實際運算時脈數，產生一驅動信號。 In view of the prior art, the motor control system only The calculation is performed according to the number of built-in operation clocks, and the number of built-in operation clocks is not adjusted according to the maximum output pulse frequency. A main object of the present invention is to provide a motor control system and method thereof, using a processing module to define an actual operation clock number according to a maximum output pulse frequency, and using a motion control computing module to receive a plurality of motion control parameters According to the actual operation clock number, a driving signal is generated.
本發明為解決先前技術之問題，所採用之必要技術手段為提供一種馬達控制系統，用以傳送一驅動信號至一驅動裝置，藉以驅動一馬達，並包含一輸入模組、一處理模組與一運動控制運算模組。 The present invention solves the problems of the prior art, and the necessary technical means is to provide a motor control system for transmitting a driving signal to a driving device, thereby driving a motor, and including an input module, a processing module and A motion control computing module.
輸入模組，係用以設定一最大輸出脈衝頻率與複數個運動控制參數。處理模組，係電性連接輸入模組，接收最大輸出脈衝頻率，依據一內建基礎時脈數與最大輸出脈衝頻率之比值，產生一單位脈衝時脈數，判斷單位脈衝時脈數與一內建運算時脈數之大小，並定義單位脈衝時脈數與內建運算時脈數中之大者係一實際運算時脈數。運動控制運算模組，係電性連接處理模組，用以接收運動控制參數與實際運算時脈，據以產生上述驅動信號。 The input module is used to set a maximum output pulse frequency and a plurality of motion control parameters. The processing module is electrically connected to the input module, receives the maximum output pulse frequency, and generates a unit pulse pulse number according to a ratio of a built-in basic clock number to a maximum output pulse frequency, and determines a unit pulse clock number and a The size of the built-in operation clock, and define the larger of the unit pulse clock number and the built-in operation clock number is the actual operation clock number. The motion control computing module is an electrical connection processing module for receiving the motion control parameter and the actual operation clock to generate the driving signal.
在上述必要技術手段的基礎下，本發明所衍生之一附屬技術手段為使馬達控制系統，更包含一時脈設定模組，時脈設定模組係電性連接上述處理模組與上述運動控制運算模組，用以接收上述實際運算時脈數，並使上述運動控制運算模組係依據上述實際運算時脈數進行運算。 On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived by the present invention is that the motor control system further includes a clock setting module, and the clock setting module is electrically connected to the processing module and the motion control operation. The module is configured to receive the actual operation clock number, and the motion control computing module performs the operation according to the actual operation clock number.
在上述必要技術手段的基礎下，本發明所衍生之一附屬技術手段為使馬達控制系統中之時脈設定模組，係一鎖相迴路(Phase Lock Loop；PLL)。 Based on the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make a clock setting module in the motor control system, which is a phase lock loop (PLL).
在上述必要技術手段的基礎下，本發明所衍生之一附屬技術手段為使馬達控制系統中之運動控制運算模組，更包含一補間軸選擇運算單元、一補間模式選擇運算單元與一輸出單元。補間軸選擇運算單元，係用以決定一補間軸控制演算法，並依據該補間軸控制演算法運算出一運動控制數值。補間模式選擇運算單元，係電性連接該補間軸選擇運算單元，用以決定一補間演算法，並依據該補間演算法與該運動控制數值運算出一補間控制數值。輸出單元係電性連接該補間模式選擇運算單元，用以依據該實際運算時脈數、該些運動控制參數、該主軸運算數值與該補間運算數值產生該驅動信號，且該驅動信號係一脈衝驅動信號。 On the basis of the above-mentioned necessary technical means, one of the auxiliary technical means derived from the present invention is that the motion control computing module in the motor control system further comprises a tween axis selection operation unit, a tween mode selection operation unit and an output unit. . The tween axis selection operation unit is used to determine a tween axis control algorithm, and a motion control value is calculated according to the tween axis control algorithm. The tween mode selection operation unit is electrically connected to the tween axis selection operation unit for determining a tween algorithm, and calculating a tween control value according to the tween algorithm and the motion control value. The output unit is electrically connected to the tween mode selection operation unit for generating the driving signal according to the actual operation clock number, the motion control parameters, the spindle operation value and the tween operation value, and the driving signal is a pulse Drive signal.
在上述必要技術手段的基礎下，本發明所衍生之一附屬技術手段為使馬達控制系統中之補間軸控制演算法，係一X軸運動控制演算法、一Y軸運動控制演算法、一Z軸運動控制演算法、一U軸運動控制演算法以及一θ軸運動控制演算法中之一者。 Based on the above-mentioned necessary technical means, one of the subsidiary technical means derived from the present invention is an inter-axis control algorithm in the motor control system, which is an X-axis motion control algorithm, a Y-axis motion control algorithm, and a Z. One of the axis motion control algorithm, a U-axis motion control algorithm, and a θ-axis motion control algorithm.
本發明並提供一種馬達控制方法，使用一馬達控制系統，此馬達控制系統包含一輸入模組、一處理模組與一運動控制運算模組，此馬達控制方法包含以下步驟：(a)利用輸入模組，設定一最大輸出脈衝頻率與複數個運動控制參數；(b)利用處理模組，接收最大 輸出脈衝頻率，並依據一內建基礎時脈數與最大輸出脈衝頻率之比值，產生一單位脈衝時脈數；(c)利用處理模組，判斷單位脈衝時脈數與一內建運算時脈數之大小，並定義單位脈衝時脈數與內建運算時脈數中之大者係一實際運算時脈數；以及(d)利用運動控制運算模組，接收運動控制參數與實際運算時脈數，據以產生一驅動信號，並將驅動信號傳送至一驅動裝置，藉以驅動一馬達。 The present invention also provides a motor control method using a motor control system including an input module, a processing module and a motion control computing module. The motor control method comprises the following steps: (a) using input The module sets a maximum output pulse frequency and a plurality of motion control parameters; (b) utilizes the processing module to receive the maximum Output pulse frequency, and generate a unit pulse pulse number according to a ratio of a built-in basic clock pulse to a maximum output pulse frequency; (c) use a processing module to determine a unit pulse clock number and a built-in operation clock The size of the number, and define the largest of the unit pulse clock number and the built-in operation clock number is the actual operation clock number; and (d) use the motion control computing module to receive the motion control parameters and the actual operation clock The number is generated to generate a driving signal, and the driving signal is transmitted to a driving device to drive a motor.
在上述必要技術手段的基礎下，本發明所衍生之一附屬技術手段為使馬達控制方法中之步驟(c)，更使用一時脈設定模組，且時脈設定模組係用以接收並設定上述實際運算時脈數，並使上述運動控制運算模組係依據上述實際運算時脈數進行運算。 Based on the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to use step (c) in the motor control method, and further use a clock setting module, and the clock setting module is used for receiving and setting. The actual operation clock number is calculated, and the motion control computing module is operated according to the actual operation clock number.
承上所述，本發明所提供之馬達控制系統及其方法，係利用處理模組依據最大輸出脈衝頻率定義出實際運算時脈數，並利用運動控制運算模組，接收複數個運動控制參數，依據實際運算時脈數，產生驅動信號，因實際運算時脈數係依據最大輸出脈衝頻率的不同而會有所改變，故解決了先前技術中，馬達控制系統僅依照其內建運算時脈數運算的問題。 According to the above description, the motor control system and the method thereof are provided by the processing module to define the actual operation clock number according to the maximum output pulse frequency, and use the motion control computing module to receive a plurality of motion control parameters. According to the actual operation clock number, the driving signal is generated. Because the actual operation clock number is changed according to the maximum output pulse frequency, the prior art, the motor control system only depends on the built-in operation clock number. The problem of computing.
PA1‧‧‧馬達控制系統 PA1‧‧‧Motor Control System
PA11‧‧‧處理模組 PA11‧‧‧Processing Module
PA12‧‧‧運動控制運算模組 PA12‧‧‧ Motion Control Computing Module
PA2‧‧‧驅動裝置 PA2‧‧‧ drive unit
PA3‧‧‧馬達 PA3‧‧‧ motor
1、1a‧‧‧馬達控制系統 1, 1a‧‧ ‧ motor control system
11‧‧‧輸入模組 11‧‧‧Input module
12、12a‧‧‧處理模組 12, 12a‧‧‧ processing module
13、13a‧‧‧運動控制運算模組 13, 13a‧‧‧ Motion Control Computing Module
131a‧‧‧補間軸選擇運算單元 131a‧‧‧Tween axis selection unit
132a‧‧‧補間模式選擇運算單元 132a‧‧‧Tween mode selection arithmetic unit
133a‧‧‧輸出單元 133a‧‧‧Output unit
14a‧‧‧時脈設定模組 14a‧‧‧clock setting module
2‧‧‧驅動裝置 2‧‧‧ drive
3‧‧‧馬達 3‧‧‧Motor
第一圖係顯示先前技術中之馬達控制系統之系統方塊圖； 第二圖係顯示本發明一實施例所提供之馬達控制系統及其方法之系統方塊圖；第三圖係顯示本發明一實施例所提供之馬達控制系統及其方法之方法流程圖；第四圖係顯示本發明另一實施例所提供之馬達控制系統及其方法之系統方塊圖；以及第五圖係顯示本發明另一實施例所提供之馬達控制系統及其方法之方法流程圖。 The first figure shows a system block diagram of a prior art motor control system; 2 is a system block diagram showing a motor control system and a method thereof according to an embodiment of the present invention; and a third is a flowchart showing a method of a motor control system and a method thereof according to an embodiment of the present invention; The figure shows a system block diagram of a motor control system and method thereof according to another embodiment of the present invention; and a fifth figure shows a method flow chart of a motor control system and method thereof according to another embodiment of the present invention.
請參閱第二圖至第三圖，其中，第二圖係顯示本發明一實施例所提供之馬達控制系統及其方法之系統方塊圖；以及，第三圖係顯示本發明一實施例所提供之馬達控制系統及其方法之方法流程圖。如圖所示，一馬達控制系統1係用以傳送一驅動信號至一驅動裝置2，藉以驅動一馬達3，並包含一輸入模組11、一處理模組12與一運動控制運算模組13。 Referring to the second to third figures, wherein the second drawing shows a system block diagram of a motor control system and a method thereof according to an embodiment of the present invention; and the third figure shows an embodiment of the present invention. A flow chart of a method of a motor control system and method therefor. As shown in the figure, a motor control system 1 is configured to transmit a driving signal to a driving device 2, thereby driving a motor 3, and includes an input module 11, a processing module 12 and a motion control computing module 13. .
輸入模組11，係用以設定一最大輸出脈衝頻率與複數個運動控制參數，最大輸出脈衝頻率是指要輸出給馬達3的驅動信號的最大頻率，因應馬達的種類、一使用者的需求而會有所不同，運動控制參數可包含：目標位置、目標運動時間、速度、加速度、加加速度、初始位置、初始速度、初始加速度等。輸入模組11可為一電腦、一手機或是其他可用以輸入的裝置。 The input module 11 is configured to set a maximum output pulse frequency and a plurality of motion control parameters, and the maximum output pulse frequency refers to the maximum frequency of the driving signal to be output to the motor 3, according to the type of the motor and the needs of a user. The motion control parameters may include: target position, target motion time, speed, acceleration, jerk, initial position, initial velocity, initial acceleration, and so on. The input module 11 can be a computer, a mobile phone or other device that can be used for input.
處理模組12，係電性連接輸入模組11，接 收最大輸出脈衝頻率，依據一內建基礎時脈數與最大輸出脈衝頻率的比值，產生一單位脈衝時脈數，判斷單位脈衝時脈數與一內建運算時脈數的大小關係，並且定義單位脈衝時脈數與內建運算時脈數兩者中的大者為一實際運算時脈數。若單位脈衝時脈數大於內建運算時脈數，處理模組12係定義單位脈衝時脈數為實際運算時脈數；同理，若內建運算時脈數大於單位脈衝時脈數，則定義內建運算時脈數為實際運算時脈數。 The processing module 12 is electrically connected to the input module 11 and connected Receiving the maximum output pulse frequency, according to the ratio of the number of built-in basic clocks to the maximum output pulse frequency, generating a unit pulse pulse number, determining the magnitude relationship between the unit pulse clock number and a built-in operation clock number, and defining The larger of the number of unit pulse clocks and the number of built-in operation clocks is the actual number of clocks. If the number of pulse pulses per unit pulse is greater than the number of clocks in the built-in operation, the processing module 12 defines the number of clock pulses per unit pulse as the actual number of clocks; similarly, if the number of pulses in the built-in operation is greater than the number of pulses per unit pulse, then Define the number of clocks in the built-in operation as the actual number of clocks.
運動控制運算模組13，係電性連接處理模組12，用以接收實際運算時脈數與運動控制參數，並依實際運算時脈數去運算運動控制參數，並據以產生驅動信號。而隨著實際運算時脈數的改變，運動控制運算模組13運算的時間也隨之改變，藉以解決先前技術中，馬達控制系統PA1僅會依照其內建運算時脈數進行運算的問題。 The motion control computing module 13 is electrically connected to the processing module 12 for receiving the actual operation clock number and the motion control parameter, and calculating the motion control parameter according to the actual operation clock number, and generating a driving signal accordingly. As the number of actual operation clocks changes, the operation time of the motion control computing module 13 also changes, thereby solving the problem in the prior art that the motor control system PA1 only operates according to the number of built-in operation clocks.
如第三圖所示，一種馬達控制方法係用於第二圖之馬達控制系統1，此馬達控制系統1包含一輸入模組11、一處理模組12與一運動控制運算模組13。此馬達控制方法包含以下步驟S101至S107。 As shown in the third figure, a motor control method is used for the motor control system 1 of the second figure. The motor control system 1 includes an input module 11, a processing module 12 and a motion control computing module 13. This motor control method includes the following steps S101 to S107.
步驟S101：利用輸入模組11，設定一最大輸出脈衝頻率與複數個運動控制參數。 Step S101: Using the input module 11, setting a maximum output pulse frequency and a plurality of motion control parameters.
步驟S102：利用處理模組12，接收最大輸出脈衝頻率，並依據一內建基礎時脈數與最大輸出脈衝頻率之比值，產生一單位脈衝時脈數。 Step S102: The processing module 12 is configured to receive the maximum output pulse frequency, and generate a unit pulse clock number according to a ratio of a built-in basic clock number to a maximum output pulse frequency.
步驟S103：利用處理模組12，判斷單位脈 衝時脈數是否大於一內建運算時脈數，若判斷為是，則進入步驟S104；若判斷為否，則進入步驟S107。 Step S103: Using the processing module 12, determining the unit pulse Whether the number of clocks is greater than the number of built-in operation clocks, if the determination is yes, the process proceeds to step S104; if the determination is no, the process proceeds to step S107.
步驟S104：利用處理模組12，定義單位脈衝時脈數係一實際運算時脈數。 Step S104: Using the processing module 12, the number of clocks per unit pulse is defined as the number of actual operation clocks.
步驟S105：利用運動控制運算模組13，接收運動控制參數與實際運算時脈數，據以產生一運動控制指令。 Step S105: The motion control calculation module 13 is used to receive the motion control parameter and the actual operation clock number, thereby generating a motion control instruction.
步驟S106：利用運動控制運算模組13，將運動控制指令轉換成一驅動信號，並將驅動信號傳送至一驅動裝置2，藉以驅動一馬達3。 Step S106: The motion control computing module 13 converts the motion control command into a driving signal, and transmits the driving signal to a driving device 2, thereby driving a motor 3.
步驟S107：利用處理模組12，定義內建運算時脈數係一實際運算時脈數，並進入步驟105。 Step S107: Using the processing module 12, the number of clocks of the built-in operation is defined as an actual operation clock number, and the process proceeds to step 105.
步驟S101係利用輸入模組11設定最大輸出脈衝頻率與運動控制參數，最大輸出脈衝頻率會依照馬達的種類或是使用者的需求而有所改變，運動控制參數係用以供運動控制運算參數運算並產生驅動信號。 Step S101 uses the input module 11 to set the maximum output pulse frequency and the motion control parameter, and the maximum output pulse frequency is changed according to the type of the motor or the user's needs, and the motion control parameter is used for the motion control operation parameter calculation. And generate a drive signal.
步驟S102係利用處理模組12接收最大輸出脈衝頻率，並依據內建基礎時脈數與最大輸出脈衝頻率之比值，產生單位脈衝時脈數。一般而言，馬達控制系統1都會有一內建基礎時脈數，若馬達控制系統1的一內建基礎頻率為50MHz，則內建基礎時脈數就是50M。單位脈衝時脈數係內建基礎時脈數與最大輸出脈衝頻率之比值，意即：產生最大輸出脈衝頻率之脈衝信號所需要的時脈數。 In step S102, the processing module 12 receives the maximum output pulse frequency, and generates a unit pulse clock number according to the ratio of the built-in basic clock number to the maximum output pulse frequency. In general, the motor control system 1 will have a built-in base clock number. If the built-in base frequency of the motor control system 1 is 50 MHz, the built-in base clock number is 50M. The unit pulse clock number is the ratio of the built-in base clock number to the maximum output pulse frequency, which is the number of clocks required to generate the pulse signal of the maximum output pulse frequency.
步驟S103係利用處理模組12，判斷單位脈 衝時脈數是否大於一內建運算時脈數，若判斷為是，則進入步驟S104；若判斷為否，則進入步驟S107。 Step S103 is to use the processing module 12 to determine the unit pulse. Whether the number of clocks is greater than the number of built-in operation clocks, if the determination is yes, the process proceeds to step S104; if the determination is no, the process proceeds to step S107.
步驟S104與步驟S107係利用處理模組12定義一實際運算時脈數。若單位脈衝時脈數大於內建運算時脈數，表示產生一個最大輸出脈衝所需要的時脈數大於內建運算的時脈數，此時，處理模組12係定義單位脈衝時脈數為實際運算時脈數，以增加馬達控制系統1的運算彈性；若內建運算時脈數大於單位脈衝時脈數，表示內建運算的時脈數無法達到產生一個最大輸出脈衝所需要的時脈數，此時，處理模組12係定義內建運算時脈數為實際運算時脈數。 In step S104 and step S107, the actual operation clock number is defined by the processing module 12. If the number of pulse pulses per unit pulse is greater than the number of clocks in the built-in operation, it indicates that the number of clocks required to generate one maximum output pulse is greater than the number of clocks of the built-in operation. At this time, the processing module 12 defines the number of clock pulses per unit pulse. Actually calculate the number of clocks to increase the operational flexibility of the motor control system 1; if the number of pulses in the built-in operation is greater than the number of pulses per unit pulse, it means that the number of clocks of the built-in operation cannot reach the clock required to generate a maximum output pulse. In this case, the processing module 12 defines the number of built-in operation clocks as the actual operation clock number.
步驟S105與步驟S106係利用運動控制運算模組13依據運動控制參數與處理模組12定義出的實際運算時脈數進行運算，並產生驅動信號至驅動裝置2，以驅動馬達3。 Step S105 and step S106 are performed by the motion control computing module 13 according to the motion control parameter and the actual operation clock number defined by the processing module 12, and generate a driving signal to the driving device 2 to drive the motor 3.
以實際數值舉例說明，馬達控制系統1的內建基礎時脈數為50M，內建運算時脈數為6，最大輸出脈衝頻率為5MHz。經由處理模組12的運算得到單位脈衝時脈數為10，並判斷單位脈衝時脈數為10大於內建運算時脈數為6，因此，處理模組12係定義單位脈衝時脈數為實際運算時脈數為6。 The actual numerical example shows that the built-in basic clock of the motor control system 1 is 50M, the built-in operation clock number is 6, and the maximum output pulse frequency is 5MHz. The calculation of the processing module 12 results in a unit pulse number of 10, and determines that the unit pulse number is 10 is greater than the built-in operation clock number is 6, so the processing module 12 defines the unit pulse clock number as the actual The number of operation clocks is 6.
較易於理解的說法，可以等同為馬達控制系統1的內建運算時間為6微秒(microsecond；μs)，但是產生一個最大輸出脈衝的時間只需要在10微秒內(含10微秒)即可，故處理模組12決定不讓馬達控制系統1 那麼快就產生最大輸出脈衝，而將實際運算時間調整成10微秒。實際上，只要將實際運算時間調整至6微秒至10微秒間，含上限(10微秒)不含下限(6微秒)，即可增加馬達控制系統1的運算彈性，而較佳者為10微秒。此外，不可將實際運算時間調整至超過10微秒，因為超過10微秒則無法達成最大輸出脈衝頻率。 It is easier to understand that the built-in operation time of the motor control system 1 is 6 microseconds (μs), but the time to generate a maximum output pulse only needs to be within 10 microseconds (including 10 microseconds). Yes, so the processing module 12 decides not to let the motor control system 1 The maximum output pulse is generated as soon as possible, and the actual operation time is adjusted to 10 microseconds. In fact, as long as the actual calculation time is adjusted to between 6 microseconds and 10 microseconds, the upper limit (10 microseconds) does not contain the lower limit (6 microseconds), which increases the operational flexibility of the motor control system 1, and preferably 10 microseconds. In addition, the actual computation time cannot be adjusted to more than 10 microseconds because the maximum output pulse frequency cannot be achieved beyond 10 microseconds.
另一舉例說明，馬達控制系統1的內建基礎時脈數為50M，內建運算時脈數為6，最大輸出脈衝頻率為10MHz。經由處理模組12的運算得到單位脈衝時脈數為5，並判斷內建運算時脈數6大於內建脈衝時脈數5，因此，處理模組12係定義內建脈衝時脈數為實際運算時脈數為6。 For another example, the built-in base clock number of the motor control system 1 is 50M, the built-in operation clock number is 6, and the maximum output pulse frequency is 10 MHz. The number of clock pulses per unit pulse is 5 by the operation of the processing module 12, and it is determined that the clock number 6 of the built-in operation is greater than the number of clocks of the built-in pulse. Therefore, the processing module 12 defines the number of built-in pulse clocks as actual. The number of operation clocks is 6.
依據上述的解釋，產生一個最大輸出脈衝的時間需要在5微秒內(含5微秒)，但是馬達控制系統1的內建運算時間為6微秒，雖然前例的解釋是說實際運算時間不能超過產生一個最大輸出脈衝的時間，此舉會無法達成最大輸出脈衝頻率。然而，馬達控制系統1的內建運算時間為6微秒表示最快至少要6微秒才可以運算完，因此就算產生最大輸出脈衝的時間為5微秒，馬達控制系統1也無法達到，故定義內建脈衝時脈數為實際運算時脈數為6。 According to the above explanation, the time for generating a maximum output pulse needs to be within 5 microseconds (including 5 microseconds), but the built-in operation time of the motor control system 1 is 6 microseconds, although the explanation of the previous example is that the actual operation time cannot be Exceeding the time to generate a maximum output pulse will not achieve the maximum output pulse frequency. However, the built-in operation time of the motor control system 1 is 6 microseconds, which means that it can be calculated at least 6 microseconds at the fastest, so even if the time for generating the maximum output pulse is 5 microseconds, the motor control system 1 cannot be reached. Define the number of built-in pulse clocks to be 6 for the actual operation.
也就是說，馬達控制系統1無法達到最大輸出脈衝頻率，但馬達控制系統1仍依照其內建脈衝時脈數運算(視同全速運算)，並同時告訴使用者，全速運算仍然無法達到最大輸出脈衝頻率，端看使用者是否要 修改最大輸出脈衝頻率。 That is to say, the motor control system 1 cannot reach the maximum output pulse frequency, but the motor control system 1 still operates according to its built-in pulse clock number (which is regarded as full-speed operation), and simultaneously tells the user that the full-speed operation still cannot reach the maximum output. Pulse frequency, see if the user wants Modify the maximum output pulse frequency.
請參閱第四圖與第五圖，其中，第四圖係顯示本發明另一實施例所提供之馬達控制系統及其方法之系統方塊圖；以及，第五圖係顯示本發明另一實施例所提供之馬達控制系統及其方法之方法流程圖。如圖所示，本發明另一實施例之馬達控制系統1a係用以產生一驅動信號至一驅動裝置2，藉以驅動一馬達3，並包含一輸入模組11、一處理模組12a、一運動控制運算模組13a與一時脈設定模組14a。其中，輸入模組11與前一實施例中相同，故不多加贅述。 Please refer to the fourth and fifth figures, wherein the fourth figure shows a system block diagram of a motor control system and a method thereof according to another embodiment of the present invention; and the fifth figure shows another embodiment of the present invention. A flow chart of a method of providing a motor control system and method therefor. As shown in the figure, a motor control system 1a according to another embodiment of the present invention is configured to generate a driving signal to a driving device 2, thereby driving a motor 3, and includes an input module 11, a processing module 12a, and a The motion control computing module 13a and a clock setting module 14a. The input module 11 is the same as in the previous embodiment, so it will not be described again.
處理模組12a與前一實施例中大致相同，係接收最大輸出脈衝頻率，依據一內建基礎時脈數與最大輸出脈衝頻率之比值，產生一單位脈衝時脈數。判斷單位脈衝時脈數與一內建運算時脈數之大小關係，並傳送出單位脈衝時脈數與內建運算時脈數中之大者。 The processing module 12a is substantially the same as the previous embodiment, and receives the maximum output pulse frequency, and generates a unit pulse clock number according to a ratio of a built-in basic clock number to a maximum output pulse frequency. The magnitude relationship between the number of unit pulse clocks and the number of clocks of a built-in operation is determined, and the larger of the number of unit pulse clocks and the number of built-in operation clocks is transmitted.
時脈設定模組14a係電性連接處理模組12a，接收單位脈衝時脈數與內建運算時脈數中之大者，並定義單位脈衝時脈數與內建運算時脈數中之大者為一實際運算時脈數。在本實施例中，時脈設定模組14a係一鎖相迴路(Phase Lock Loop；PLL)。 The clock setting module 14a is electrically connected to the processing module 12a, and receives the largest of the unit pulse clock number and the built-in operation clock number, and defines the unit pulse number and the built-in operation clock number. The actual number of clocks is an actual operation. In this embodiment, the clock setting module 14a is a phase lock loop (PLL).
運動控制運算模組13a係電性連接處理模組12a與時脈設定模組14a，並接收運動控制參數與實際運算時脈述。運動控制運算模組13a更包含一補間軸選擇運算單元131a、一補間模式選擇運算單元132a與一輸出單元133a。在本實施例中，運動控制運算模組13a與處理 模組12a係一現場可程式閘陣列(Field Programmable Gate Array)晶片。另外，此晶片也可包含時脈設定模組14a。 The motion control computing module 13a is electrically connected to the processing module 12a and the clock setting module 14a, and receives the motion control parameters and the actual operation time. The motion control computing module 13a further includes a tween axis selection operation unit 131a, a tween mode selection operation unit 132a, and an output unit 133a. In this embodiment, the motion control computing module 13a and processing The module 12a is a Field Programmable Gate Array (DRAM) wafer. In addition, the wafer may also include a clock setting module 14a.
補間軸選擇運算單元131a，係用以決定一補間軸及其對應的補間軸控制演算法，其中，補間軸為主軸與從軸，補間軸控制演算法可為X軸運動控制演算法、Y軸運動控制演算法、Z軸運動控制演算法、U軸運動控制演算法或θ軸運動控制演算法。並且，運算出一運動控制數值。 The tween axis selection operation unit 131a is used to determine a tween axis and its corresponding tween axis control algorithm, wherein the tween axis is a master axis and a slave axis, and the tween axis control algorithm can be an X axis motion control algorithm, a Y axis Motion control algorithm, Z-axis motion control algorithm, U-axis motion control algorithm or θ-axis motion control algorithm. And, a motion control value is calculated.
補間模式選擇運算單元132a，係電性連接補間軸選擇運算單元131a，並依照該運動控制數值，決定一補間演算法，補間演算法可為直線補間演算法、圓弧補間演算法、螺旋補間演算法或位元補間演算法。再利用該補間演算法與運動控制數值，產生一補間控制數值。相較於先前技術中，補間軸幾乎都是以X軸作為主軸，本實施例可自行決定主軸與從軸，因為有些情況下使用X軸以外的軸向作為主軸更適合。此外，還新增了θ軸運動控制演算法，以加速圓弧、螺旋等補間演算。而運動控制數值與補間控制數值係形成一運動控制指令。 The tween mode selection operation unit 132a is electrically connected to the tween axis selection operation unit 131a, and determines a tween algorithm according to the motion control value. The tween algorithm can be a linear tween algorithm, an arc tween algorithm, or a spiral tween algorithm. Method or bit tween algorithm. The tween algorithm and the motion control value are used to generate a tween control value. Compared with the prior art, the tween axis almost always uses the X axis as the main axis. In this embodiment, the main axis and the slave axis can be determined by themselves, because in some cases, the axial direction other than the X axis is more suitable as the main axis. In addition, the θ-axis motion control algorithm has been added to accelerate the tween calculation of arcs and spirals. The motion control value and the tween control value form a motion control command.
輸出單元133a，係電性連接補間模式選擇運算單元132a，接收運動控制數值與補間控制數值，也就是接收運動控制指令，並據以產生驅動信號，且驅動信號係一脈衝驅動信號。 The output unit 133a is electrically connected to the tween mode selection operation unit 132a, and receives the motion control value and the tween control value, that is, receives the motion control command, and accordingly generates a drive signal, and the drive signal is a pulse drive signal.
如第五圖所示，本發明之另一實施例提供一種馬達控制方法，此馬達控制方法係用於第四圖之馬 達控制系統1a，並包含以下步驟S201至S209。其中，步驟S201至S203與步驟S101至S103相同，故不再贅述。 As shown in the fifth figure, another embodiment of the present invention provides a motor control method, which is used in the fourth figure. The control system 1a is reached and includes the following steps S201 to S209. The steps S201 to S203 are the same as the steps S101 to S103, and therefore will not be described again.
在本實施例中，步驟S204與步驟S208係利用處理模組12a傳送單位脈衝時脈數與內建基礎時脈數中之大者，步驟S205與步驟S209係利用時脈設定模組14a接收單位脈衝時脈數與內建基礎時脈數中之大者，並定義該單位脈衝時脈數與內建基礎時脈數中之大者為一實際運算時脈數，藉以使運動控制運算模組13a依照實際運算時脈數進行運算。 In this embodiment, steps S204 and S208 use the processing module 12a to transmit the largest of the unit pulse clock number and the built-in basic clock number, and steps S205 and S209 use the clock setting module 14a to receive the unit. The number of pulse clocks and the number of built-in basic clocks, and define the larger of the unit pulse clock number and the built-in base clock number as an actual operation clock number, so that the motion control computing module 13a operates according to the actual number of clocks.
步驟S206至步驟207與步驟S105至步驟S106相同，故不多作說明。 Steps S206 to 207 are the same as steps S105 to S106, and therefore will not be described.
綜上所述，本發明所提供之馬達控制系統及其方法，係利用最大輸出脈衝頻率所對應的單位脈衝時脈數與內建運算時脈數進行比較，取較大者作為實際運算時脈數，因此，可解決先前技術都是利用內建運算時脈數進行運算的情形，增加了馬達控制系統的運算彈性。 In summary, the motor control system and method provided by the present invention compares the number of unit pulse clocks corresponding to the maximum output pulse frequency with the number of built-in operation clocks, and takes the larger one as the actual operation clock. Therefore, it can solve the situation that the prior art uses the built-in operation clock number to calculate the operation, and increases the calculation flexibility of the motor control system.
藉由以上較佳具體實施例之詳述，係希望能更加清楚描述本發明之特徵與精神，而並非以上述所揭露的較佳具體實施例來對本發明之範疇加以限制。相反地，其目的是希望能涵蓋各種改變及具相等性的安排於本發明所欲申請之專利範圍的範疇內。 The features and spirit of the present invention will be more apparent from the detailed description of the preferred embodiments. On the contrary, the intention is to cover various modifications and equivalents within the scope of the invention as claimed.
Claims (7)
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