Motor speed control method and control system

Abstract

The invention provides a motor speed control method and control system, and the speed control method employs an asymmetric S-shaped speed curve, and comprises: determining an acceleration curve equation through calculation according to a preset parabola curve equation at an acceleration stage of a motor, and controlling acceleration operation of the motor through the acceleration curve equation; in the motor constant-speed stage, controlling the motor to operate at a constant speed according to the speed corresponding to the acceleration termination moment in the acceleration stage; and in themotor deceleration stage, adopting a preset S-shaped speed curve with constant jerk, and controlling the motor to decelerate according to the S-shaped speed curve with the constant jerk. According tothe invention, an acceleration curve of a quadratic parabola with a downward opening is designed, the motor torque in the acceleration stage meets the load torque requirement, the running stroke of the motor is greatly improved within the same acceleration time, then the acceleration efficiency is improved, and in addition, by conducting reasonable trajectory planning on the whole movement process, connection between all movement stages is smooth and free of impact.

Description

Technical field [0001] The invention belongs to the technical field of motion control, and specifically relates to a speed control method of a motor and a speed control system of the motor. Background technique [0002] In mechanical motion control, motors and machinery are often unable to directly start and stop at high speed. Therefore, it is necessary to design a reasonable acceleration and deceleration curve to make the starting and stopping processes fast and smooth. Especially in the process of acceleration and deceleration, it is hoped to achieve a given maximum speed. The shorter the acceleration and deceleration time, the better, and the more stable the operation of the controlled motor, the better. At the same time, in the microprocessor-based digital control, The realizability of the control algorithm is also required to be good. At present, common acceleration and deceleration curves include trapezoidal acceleration and deceleration and symmetric S-shaped acceleratio...

AI Technical Summary

Problems solved by technology

The S-shaped speed curve is commonly used, and the acceleration and deceleration stages are very smooth, which can meet the requirements of smooth shutdown under high-speed operation; but the speed response of the S-shaped curve is not fast enough in the acceleration and deceleration stages, resulting in the relative travel of the motor in the same time Not high, or at the same expected speed, it takes longer to move the same distance, which causes the processing speed and efficiency of the equipment to fail to meet the requirements

[0005] Therefore, in order to solve the problem of insufficient speed response and low acceleration efficiency in the acceleration stage of the common S-shaped curve, it is necessary to develop a speed curve to improve the processing speed and efficiency of the equipment without affecting the stability of high-speed shutdown

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