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Bus-based servo motor synchronous control method

A servo motor, synchronous control technology, applied in the direction of a single motor speed/torque control, can solve the problem of complex control procedures, achieve the effects of high control accuracy, simple and efficient control procedures, and improve synchronous control accuracy

Inactive Publication Date: 2019-02-19
广东旭展科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The present invention provides a method for synchronous control of servo motors based on the bus to solve the existing problems of eliminating the delay difference between different servo motors and improving the synchronous control accuracy of different servo motors in the control system or the control program is complicated

Method used

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specific Embodiment approach 1

[0021] Specific implementation mode one: combine figure 1 This embodiment is described, a bus-based servo motor synchronous control method provided in this embodiment specifically includes the following steps:

[0022] Step 1. The control system sends a dry run command to each servo driver, and obtains the response delay time of each servo motor corresponding to each servo driver by bus measurement; the bus control itself can detect the response delay time.

[0023] With the development of digital communication technology, field bus technology has been successfully introduced into the field of control, and has become a means of data exchange between functional modules such as computer numerical controllers (Computer Numerical Controller, CNC) and servo drives. Fieldbus has many advantages such as anti-interference, flexible communication, easy connection, and low cost, and it is the future development trend. At present, a situation in which multiple buses compete with each ot...

specific Embodiment approach 2

[0030] Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is that the specific steps of using the bus measurement to obtain the response delay time of each servo motor corresponding to each servo driver in step 1 include:

[0031] Step 11. The dry run command sent by the control system to each servo driver is sent in the form of a CAN message through the bus, and the servo drive returns a response after receiving the message, and the response field in the returned response determines that the servo drive has received the dry run The moment t1 of the instruction, and the moment t2 when the servo motor generates a response signal at the same time;

[0032] Step 1 and 2, the difference between t2 and t1 is the response delay time of the servo motor. like figure 2 As shown, the time between the two dotted lines is the response delay time Ti of the servo motor.

[0033] CAN is the abbreviation of Controller Area Network (CAN). It is an ISO in...

specific Embodiment approach 3

[0035] Embodiment 3: This embodiment is different from Embodiment 1 or Embodiment 2 in that in this embodiment, Y=X is selected.

[0036] The overall delay time of the control system is Y, and Y must be greater than or equal to X. Therefore, when Y=X is selected, the overall delay of the system is the smallest and the response effect is the best.

[0037] Other steps and parameters are the same as those in Embodiment 1 or 2.

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Abstract

The invention provides a bus-based servo motor synchronous control method and belongs to the technical field of automatic control. The bus-based servo motor synchronous control method comprises: allowing a control system to send dry running commands to servo drivers, and acquiring response delay time Ti of a corresponding servo motor of each servo driver by bus measuring; comparing the response delay times of the servo motors, and selecting the maximum value; setting overall delay value Y greater than or equal to the maximum value; allowing the control system to delay for Y-Ti time and then send commands to the servo drivers. The bus-based servo motor synchronous control method helps solve the problem that the prior structure or control program is complex. The bus-based servo motor synchronous control method is suitable for synchronous control of servo motors in a system.

Description

technical field [0001] The invention relates to a synchronous control method of a servo motor, which belongs to the technical field of automatic control. Background technique [0002] With the continuous development of industrial automation and robotics industries, the requirements for the response performance of motion control systems are getting higher and higher. The terminal pose of a motion control system (such as industrial robots, numerical control equipment, etc.) is usually produced by the combined motion of multiple components, and the synchronous control accuracy of the servo motors of each component is a key factor affecting the accuracy of the terminal motion trajectory. Because each servo motor driver (controller) has a local clock that runs independently, and there will be a certain delay when the instruction data is transmitted between each servo driver, the system main control module and the servo driver, multiple servo motors The unevenness of the response...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P6/08
CPCH02P6/08
Inventor 程利军
Owner 广东旭展科技有限公司
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