CN106547279B - A kind of localization method of the servo-driver with unidirectional positioning function - Google Patents
A kind of localization method of the servo-driver with unidirectional positioning function Download PDFInfo
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- CN106547279B CN106547279B CN201610862617.3A CN201610862617A CN106547279B CN 106547279 B CN106547279 B CN 106547279B CN 201610862617 A CN201610862617 A CN 201610862617A CN 106547279 B CN106547279 B CN 106547279B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000004807 localization Effects 0.000 title abstract 2
- 230000033001 locomotion Effects 0.000 claims abstract description 29
- 238000010586 diagram Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/14—Control of position or direction using feedback using an analogue comparing device
- G05D3/18—Control of position or direction using feedback using an analogue comparing device delivering a series of pulses
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- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a kind of localization methods of servo-driver with unidirectional positioning function, include the following steps: when needing to position block, determine unidirectional orientation, wherein, each unidirectional orientation corresponds to a direction of rotation of motor, and each direction of rotation of the motor corresponds to a default motions direction of the block；According to the relationship of the given position of the estimated positioning of block and its current location, unidirectional locating scheme is selected；According to selected unidirectional locating scheme, motor rotation and turnning circle are controlled, by the way that the block is accurately positioned onto given position by the screw rod of the motor control.Implement technical solution of the present invention, the precision of positioning can be improved.
Description
Technical Field
The invention relates to the field of positioning of servo drivers, in particular to a positioning method of a servo driver with a one-way positioning function.
Background
In the field of industrial control, a servo driver often drives a servo motor to realize industrial control, as shown in fig. 1, the servo motor drives a lower screw rod to rotate under the driving of the servo driver, so that a stop block moves rightwards; at this time, assuming that the position of the right movement stop is correct, when the left movement is performed, because a gap (L pulses) exists between the screw rods, when the motor rotates by a pulse number S, the actual leftward movement position pulse number of the stopper at this time is P = S-L (P > =0), and is not the given S, so that a deviation is caused, and thus, manual repositioning is often required. Therefore, in the prior art, the positioning precision has defects.
Disclosure of Invention
In view of the defects of the prior art, the invention provides a positioning method of a servo driver with a unidirectional positioning function, which can greatly improve the positioning precision of the servo driver.
In order to achieve the above object, an aspect of the embodiments of the present invention provides a positioning method for a servo driver with a unidirectional positioning function, including the following steps:
when the stop block needs to be positioned, determining unidirectional positioning directions, wherein each unidirectional positioning direction corresponds to one rotation direction of the motor, and each rotation direction of the motor corresponds to one default movement direction of the stop block;
selecting a one-way positioning scheme according to the relation between the preset position of the expected positioning of the stop block and the current position of the stop block;
and controlling the rotation of the motor and the number of rotation turns according to the selected one-way positioning scheme, and accurately positioning the stop block to a given position through a screw rod controlled by the motor.
Wherein, according to the relation between the given position of the estimated positioning of the block and the current position thereof, the step of selecting the unidirectional positioning scheme specifically comprises the following steps:
when the given position is positioned on the same side of the default movement direction of the stop block relative to the current position, selecting a first positioning scheme;
selecting a second positioning scheme when the given position is on a reverse side of the default direction of movement of the stop relative to the current position.
The method comprises the following steps of selecting a one-way positioning scheme, controlling a motor to rotate, and accurately positioning a stop block to a given position through a screw rod:
when the first positioning scheme is selected, determining a first pulse number corresponding to the distance between the given position and the current position, controlling the motor to rotate in the rotating direction corresponding to the unidirectional positioning direction, rotating the number of turns corresponding to the first pulse number, and accurately positioning the stop block to the given position through the screw rod.
The method comprises the following steps of selecting a one-way positioning scheme, controlling a motor to rotate, and accurately positioning a stop block to a given position through a screw rod:
when a second positioning scheme is selected, determining a first pulse number corresponding to the distance between the given position and the current position, and determining a second pulse number, wherein the second pulse number is larger than the reverse gap pulse amount between the screw rod and the stop block; controlling the motor to rotate in the opposite direction of the rotating direction corresponding to the unidirectional positioning direction, and rotating for the number of turns corresponding to the sum of the first pulse number and the second pulse number;
and then controlling the motor to rotate in a rotating direction corresponding to the unidirectional positioning direction, rotating the number of turns corresponding to the second pulse number, and accurately positioning the stop block to a given position through a screw rod.
The embodiment of the invention has the following beneficial effects:
according to the technical scheme provided by the embodiment of the invention, each rotation direction of the motor is determined to correspond to one default movement direction of the stop block; when the given position is positioned on the same side of the default movement direction of the stop block relative to the current position, the stop block is controlled to move leftwards to be directly positioned in place; if the given position is positioned at the opposite side of the default movement direction of the block relative to the current position, the block is controlled to move reversely for a distance of L' beyond the given position, and then the block moves reversely to the given position; therefore, the reverse clearance error of the screw rod can be completely eliminated, and accurate positioning is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of the operation of a prior art servo drive motor;
FIG. 2 is a schematic main flow chart of an embodiment of a positioning method for a servo driver with unidirectional positioning function according to the present invention;
FIG. 3 is a detailed flow diagram corresponding to the one embodiment of FIG. 2;
FIG. 4 is a schematic view of the working principle of FIG. 3;
FIG. 5 is a detailed schematic flow diagram of another embodiment corresponding to FIG. 2;
fig. 6 is a schematic view of the working principle of fig. 5.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
FIG. 2 is a schematic main flow chart of an embodiment of a positioning method for a servo driver with a unidirectional positioning function according to the present invention; in this embodiment, the method mainly comprises the steps of:
step S10, when a stopper needs to be positioned, determining unidirectional positioning directions, wherein each unidirectional positioning direction corresponds to a rotation direction of a motor, and each rotation direction of the motor corresponds to a default movement direction of the stopper;
step S12, according to the relation between the preset position of the estimated positioning of the block and the current position, selecting a one-way positioning scheme;
and step S14, controlling the rotation of the motor and the number of rotation turns according to the selected one-way positioning scheme, and accurately positioning the stop block to a given position through the screw rod controlled by the motor.
Specifically, as shown in fig. 3 and fig. 4, a detailed flow diagram corresponding to one embodiment of fig. 2 is shown. Wherein,
step S20, when a stopper needs to be positioned, determining unidirectional positioning directions, wherein each unidirectional positioning direction corresponds to a rotation direction of a motor, and each rotation direction of the motor corresponds to a default movement direction of the stopper; for example, the unidirectional positioning direction may be a counterclockwise unidirectional positioning, that is, positioning is performed when the motor rotates counterclockwise; at this time, if the stopper moves to the right when the motor rotates in the counterclockwise direction, in this step, the default movement direction of the stopper corresponding to the counterclockwise rotation direction of the motor is to the right; similarly, the unidirectional positioning direction may also be the clockwise unidirectional positioning, and the default movement direction of the stopper corresponding to the clockwise rotation direction of the motor is the leftward movement. It is to be understood that the above-mentioned corresponding relations are only examples, and other corresponding relations may exist in other embodiments;
in the example, the one-way positioning direction is determined to be anticlockwise one-way positioning, and the default movement direction of the corresponding stop block is rightward movement; this determination step may be implemented by identifying the content of the field contained in the positioning command, for example, when the content in the field is "10", it indicates that counterclockwise unidirectional positioning is to be performed; when the content in the field is '11', indicating that clockwise one-way positioning is to be carried out; when the content in the field is '00', the unidirectional positioning is not required to be carried out;
step S22, selecting a unidirectional positioning scheme according to the relationship between the given position of the expected positioning of the stopper and the current position thereof, specifically: when the given position is positioned on the same side of the default movement direction of the stop block relative to the current position, selecting a first positioning scheme; in fig. 3, since the given position is on the right side of the current position, i.e., on the same side as the default moving direction (rightward movement) of the stopper;
step S24 is to determine a first pulse number (S) corresponding to the distance between the given position and the current position when the first positioning scheme is selected, control the motor to rotate in the rotation direction (counterclockwise direction) corresponding to the unidirectional positioning direction, rotate the number of turns corresponding to the first pulse number (S), and move the stopper to the right by the distance (S) through the lead screw, thereby accurately positioning the stopper to the given position.
Specifically, as shown in fig. 5 and fig. 6, a detailed flow diagram corresponding to one embodiment of fig. 2 is shown. Wherein,
step S30, when the stopper needs to be positioned, determining a unidirectional positioning direction, wherein in this example, the unidirectional positioning direction is determined to be counterclockwise unidirectional positioning, and the default movement direction of the corresponding stopper is rightward movement;
step S32, selecting a unidirectional positioning scheme according to the relationship between the given position of the expected positioning of the stopper and the current position thereof, specifically: selecting a second positioning scheme when the given position is located on a reverse side of the default movement direction of the dog with respect to the current position; in fig. 5, since the given position is on the left side of the current position, i.e., on the opposite side of the default moving direction (rightward movement) of the stopper;
step S34, when a second positioning scheme is selected, determining a first pulse number (S) corresponding to the distance between the given position and the current position, and determining a second pulse number (L '), wherein the second pulse number (L') is larger than the reverse gap pulse amount (L) between the screw rod and the stop block; controlling the motor to rotate in the opposite direction (namely clockwise) relative to the rotating direction corresponding to the unidirectional positioning direction, and rotating for the number of turns corresponding to the sum (P = S + L ') of the first pulse number and the second pulse number to enable the stop block to move to the left (P = S + L');
and step S36, controlling the motor to rotate in a rotation direction corresponding to the one-way positioning direction (i.e. counterclockwise rotation), rotating for a number of turns corresponding to the second pulse number (P = L '), and moving the stopper to the right by a distance (P = L') through the lead screw, thereby accurately positioning the stopper to a given position.
It is understood that the above only provides two examples, and similarly, when the content in a specific field in the received positioning command is "11"; if the given position is on the left side of the current position, the stop block is controlled to move leftwards to be directly positioned in place; if the given position is at the right side of the current position, the stop block is controlled to move rightwards for a distance of L' beyond the given position, and then the stop block is inverted to return to the given position;
therefore, no matter which direction the motor moves, the moving direction of the stop block is one direction at the moment when the motor stops, and meanwhile, the reverse gap error of the screw rod can be completely eliminated because L' > = L.
The embodiment of the invention has the following beneficial effects:
according to the technical scheme provided by the embodiment of the invention, each rotation direction of the motor is determined to correspond to one default movement direction of the stop block; when the given position is positioned on the same side of the default movement direction of the stop block relative to the current position, the stop block is controlled to move leftwards to be directly positioned in place; if the given position is positioned at the opposite side of the default movement direction of the block relative to the current position, the block is controlled to move reversely for a distance of L' beyond the given position, and then the block moves reversely to the given position; therefore, the reverse clearance error of the screw rod can be completely eliminated, and accurate positioning is achieved.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (1)
1. A positioning method of a servo driver with a unidirectional positioning function is characterized by comprising the following steps:
when the stop block needs to be positioned, determining unidirectional positioning directions, wherein each unidirectional positioning direction corresponds to one rotation direction of the motor, and each rotation direction of the motor corresponds to one default movement direction of the stop block;
selecting a one-way positioning scheme according to the relation between the preset position of the expected positioning of the stop block and the current position of the stop block; when the given position is positioned on the same side of the default movement direction of the stop block relative to the current position, selecting a first positioning scheme; selecting a second positioning scheme when the given position is located on a reverse side of the default movement direction of the dog with respect to the current position;
controlling the rotation of the motor and the number of turns of the rotation according to the selected one-way positioning scheme, and accurately positioning the stop block to a given position through a screw rod controlled by the motor;
when a first positioning scheme is selected, determining a first pulse number corresponding to the distance between a given position and the current position, controlling the motor to rotate in the rotating direction corresponding to the unidirectional positioning direction, rotating the number of turns corresponding to the first pulse number, and accurately positioning the stop block to the given position through a screw rod;
when a second positioning scheme is selected, determining a first pulse number corresponding to the distance between the given position and the current position, and determining a second pulse number, wherein the second pulse number is larger than the reverse gap pulse amount between the screw rod and the stop block; controlling the motor to rotate in the opposite direction of the rotating direction corresponding to the unidirectional positioning direction, and rotating for the number of turns corresponding to the sum of the first pulse number and the second pulse number; and then controlling the motor to rotate in a rotating direction corresponding to the unidirectional positioning direction, rotating the number of turns corresponding to the second pulse number, and accurately positioning the stop block to a given position through a screw rod.
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| CN101298884A (en) * | 2008-03-07 | 2008-11-05 | 南京航空航天大学 | A method for eliminating backlash by micro-differential drive of dual DC torque motors on a stable platform |
| CN102320193A (en) * | 2011-08-17 | 2012-01-18 | 华南理工大学 | Motion deviation compensation device and method for eliminating gap of parallel platform mechanisms |
| CN103008772A (en) * | 2012-12-13 | 2013-04-03 | 南京埃斯顿自动化股份有限公司 | Positioning method and positioning system for back barrier material of sheet shear or bending machine |
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