CN110365280A - Motor control system and method thereof - Google Patents

Abstract

A kind of motor control system and its method, motor control system is to transmit a driving signal a to driving device, to drive a motor, and includes an input module and a motion controller.Input module, to set multiple motion control parameters, and motion control parameter includes at least a target position and a target run duration.Motion controller, it is electrically connected input module, to receive motion control parameter, the unit motion amount for corresponding to the unit motion time is generated according to an at least operation rule, and the control command of a corresponding unit motion amount is generated according to an at least transformation rule, then generate the driving signal according to the control command.Wherein, the unit motion time is less than target run duration.

Description

Motor control system and method thereof

technical field

The present invention relates to a motor control system and its method, in particular to a motor control system and its method for driving a motor with a unit movement amount of a unit time.

Background technique

Most mechanical systems require motion trajectory planning, such as CNC machine tools, robotic arms, drilling machines, engraving machines, plotters, etc. The above-mentioned machines are basically multi-axis motion control. In the case of controlling multi-axis systems, The mutual movement of multiple motors, the generation of motion paths, the planning of moving speed and acceleration and deceleration are all very important. Therefore, in response to the above requirements, the motion controller naturally becomes the core control unit of the system. The motion controller mainly receives the motion information from the user, and converts the information into the input signal of the motor driver, and then controls the motion trajectory of the motor and the mechanical system.

A commonly used motion controller is a digital differential analyzer (DDA). The digital differential analyzer receives a target position and calculates and generates a pulse driving signal according to a target time to drive a motor.

However, the prior art uses a digital differential analyzer that requires a long operation time to generate pulses, and if there is a new target position within the operation time, it is also necessary to wait for the end of the previous operation time and wait for another operation time based on the new target position. Only when the target position is calculated can the pulse driving signal corresponding to the new target position be generated, which may easily lead to delay or error in the generated pulse driving signal when the command is switched.

Contents of the invention

In view of the fact that in the prior art, the digital differential analyzer requires a relatively long operation time, it is easy to cause a delay or error in the pulse driving signal when the command is switched. A main purpose of the present invention is to provide a motor control system and a motor control method to solve the problems arising from the prior art.

In order to solve the problems in the prior art, the necessary technical means adopted by the present invention is to provide a motor control system, which is used to transmit a drive signal to a drive device for driving a motor, and includes an input module and a motion control system device.

The input module is used for setting a plurality of motion control parameters, and the motion control parameters at least include a target position and a target motion time.

The motion controller is electrically connected to the above-mentioned input module to receive the above-mentioned motion control parameters, generate a unit motion amount corresponding to a unit motion time according to at least one operation rule, and generate a control command corresponding to a unit motion amount according to at least one conversion rule , and then generate the driving signal according to the control command.

Wherein, the above-mentioned unit exercise time is less than the above-mentioned target exercise time.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the above-mentioned unit movement amount smaller than the above-mentioned target position.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the above-mentioned at least one calculation rule be a jerk linear motion formula.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the above-mentioned at least one conversion rule a comparison table, and the comparison table shows the corresponding relationship between the above-mentioned unit movement amount and a pulse edge change amount.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to enable the motion controller to generate the above-mentioned control command according to the pulse edge change amount corresponding to the above-mentioned unit motion amount.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the motor control system further include: a conversion module, and the conversion module is electrically connected to the above-mentioned input module and the above-mentioned motion controller to receive the above-mentioned Motion control parameters, and convert the above motion control parameters into binary format.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is that the motion controller in the motor control system further includes: a storage module, and the storage module is used to store the above-mentioned operation rules and the above-mentioned conversion rules.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the motion controller in the motor control system further include: a pulse output module, and the pulse output module is used to generate the above-mentioned drive according to the above-mentioned control command signal, and the above-mentioned driving signal is a pulse driving signal.

The present invention also provides a motor control method, which uses an input module and a motion controller, and includes the following steps: (a) using the input module to set a plurality of motion control parameters, and the motion control parameters include at least a target position and a motion control parameter. A target exercise time; (b) using the motion controller to receive motion control parameters, and according to at least one operation rule, generate a unit amount of motion corresponding to a unit of exercise time; (c) using the motion controller, according to at least one conversion rule , generating a control command corresponding to the unit movement amount; (d) using the motion controller to generate a driving signal according to the control command; and (e) using the motion controller to transmit the driving signal to a driving device for driving a motor.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is a motor control method, which also includes the following steps: using the motion controller to judge that the driving signal is a driving signal with no variation, and generating a basic speed driving signal , and sent to the drive unit.

Based on the above, the motor control system and method provided by the present invention use the motion controller to generate a driving signal corresponding to the unit motion time and the unit motion amount according to the operation rules and conversion rules, wherein the unit motion time is less than the target motion time. Therefore, the required calculation time can be shortened. If a new target position is received, the motion controller can immediately calculate, convert and generate a new drive signal to solve the problem of switching between new targets in the prior art. The target position may cause a delay or error in the drive signal.

Description of drawings

FIG. 1 is a system block diagram of a motor control system and method thereof provided by an embodiment of the present invention;

FIG. 2 is a position-time diagram of a motor control system and method thereof provided by an embodiment of the present invention;

FIG. 3 is a flow chart of a motor control system and its method provided by an embodiment of the present invention;

FIG. 4 is a system block diagram of a motor control system and its method provided by another embodiment of the present invention;

FIG. 5 is a flow chart of a motor control system and its method provided by another embodiment of the present invention;

6A and 6B are schematic diagrams of pulse driving signals of a motor control system and method thereof according to another embodiment of the present invention.

【Symbol Description】

1, 1a: Motor control system

11: Input module

12, 12a: motion controller

121a: Processing module

122a: storage module

123a: Pulse output module

13a: Conversion module

2: Drive device

3: Motor

S0: initial position

S1: first position

S2: second position

Sn: target position

T0: initial time

T1: the first time

T2: second time

Tn: target exercise time

ΔT: unit movement time

ΔS _i , ΔS ₁ , ΔS ₂ : Unit motion

Detailed ways

Please refer to Fig. 1 to Fig. 3, wherein Fig. 1 is a system block diagram of a motor control system and its method provided by an embodiment of the present invention; Fig. 2 is a diagram of a motor control system and its method provided by an embodiment of the present invention position-time diagram; and, FIG. 3 is a flow chart of a motor control system and method thereof provided by an embodiment of the present invention. As shown in the figure, a motor control system 1 is used to transmit a drive signal to a drive device 2, and drive a motor 3 through the drive device 2, and the motor control system 1 also includes an input module 11 and a motion controller 12 .

The input module 11 is used for setting a plurality of motion control parameters, and the motion control parameters at least include a target position S _n and a target motion time T _n . The input module 11 can be a computer, a mobile phone, a keyboard and other devices capable of inputting motion control parameters.

The motion controller 12 is electrically connected to the input module 11 to receive motion control parameters, and generate a unit motion amount ΔS _i corresponding to a unit motion time ΔT according to at least one operation rule, i=1~n, corresponding to different The movement time point, ΔS ₁ corresponds to a unit movement time ΔT of a first time T ₁ and an initial time T ₀ , and makes the motor 3 move from an initial position S ₀ to a first position S ₁ , and ΔS ₂ corresponds to a The second time T ₂ is the unit movement time ΔT of the first time T ₁ , and the motor 3 is moved from the first position S ₁ to a second position S ₂ . What needs to be explained here is that in fact, the unit exercise amount corresponding to each unit exercise time ΔT is not necessarily the same, and the unit exercise amount corresponding to different unit exercise time ΔT is distinguished by ΔS ₁ , ΔS ₂ ..., as shown in the figure 2, the unit motion amount ΔS _i is used as a general term to facilitate understanding of the present invention.

The motion controller 12 generates a control command corresponding to the unit motion amount ΔS _i according to at least one conversion rule, and then generates a driving signal according to the control command, and transmits the driving signal to the driving device 2 to drive the motor 3 . Because the control command is usually a digital signal, it cannot directly drive the motor. Therefore, in this embodiment, the control command is converted into a driving signal that the driving device 2 can interpret and transmits to the driving device 2 to drive the motor 3 to rotate. In one embodiment, the driving signal can be a pulse driving signal.

In the first embodiment, the motion controller 12 is a Field Programmable Gate Array (Field Programmable Gate Array; FPGA) chip, but not limited thereto. In another embodiment, the motion controller 12 may be a digital signal processor (Digital Signal Processor; DSP). The aforementioned operation rules and conversion rules can be built in the motion controller 12 or stored in a storage unit.

As shown in FIG. 2 , the addition of each small unit movement amount ΔS _i (ie ΔS ₁ , ΔS ₂ . . . _{) calculated by the motion controller 12 will cause the motor to move from an initial position S 0 to} Target position S _n . Since the unit movement time ΔT (which can be regarded as the built-in calculation time of the motion controller 12) required for calculating the unit movement amount ΔS _i in this embodiment is less than the target movement time T _n , therefore, if within the target movement time T _n , there is a new target position or receive new motion control parameters, the motion controller 12 of this embodiment can immediately perform new calculations to generate a new unit motion amount ΔS _i to match the new target position and arrive at the target motion time T _n new target location. Unlike the prior art, it is not necessary to generate a driving signal for moving from the target position S _n to a new target position after the target movement time T _n moves to the target position S _n . Therefore, this embodiment helps to avoid problems such as delay or even error of the driving signal caused by the conventional motor control system and its method.

As shown in FIG. 3 , an embodiment of the present invention provides a motor control method. The motor control method uses the motor control system 1 shown in FIG. 1 . The motor control system 1 includes an input module 11 and a motion controller 12 . The motor control method includes the following steps S101 to S105.

Step S101: Use the input module 11 to set a plurality of motion control parameters, and the motion control parameters at least include a target position and a target motion time.

Step S102: Utilize the motion controller 12 to receive the motion control parameters, and generate a unit amount of exercise corresponding to a unit exercise time according to at least one operation rule.

Step S103: Utilize the motion controller 12 to generate a control command corresponding to the unit motion according to at least one conversion rule.

Step S104: Utilize the motion controller 12 to generate a driving signal according to the control command.

Step S105: Utilize the motion controller 12 to transmit the driving signal to a driving device for driving a motor.

Step S101 utilizes the input module 11 to set a plurality of motion control parameters, and the motion control parameters at least include a target position (Sn in FIG. 2 ) and a target motion time (Tn in FIG. 2 ).

Step S102 utilizes the motion controller 12 to calculate a unit movement amount (such as ΔS _i , ΔS ₁ , ΔS ₂ . The motion controller 12 can be an FPGA chip. Furthermore, in a preferred embodiment, the motion controller 12 calculates the motion control parameters to calculate the unit motion amount according to the jerk linear motion formula.

Step S103 utilizes the motion controller 12 to generate a control command corresponding to the unit amount of motion according to the conversion rule. The conversion rule can be built in the motion controller 12 or stored in a storage unit.

Step S104 utilizes the motion controller 12 to generate a drive signal according to the control command. Because the unit motion amount ΔSi calculated by the motion controller 12 and the control command cannot directly drive the motor 3, the motion controller 12 needs to convert the control command into a The driving signal communicated with the driving device 2.

Finally, in step S105 , the motion controller 12 transmits a driving signal to the driving device 2 to drive the motor 3 , thereby completing the motor control.

Please refer to FIG. 4 to FIG. 6B, wherein, FIG. 4 is a system block diagram of a motor control system and its method provided by another embodiment of the present invention; FIG. 5 is a motor control system and its method provided by another embodiment of the present invention The method flow chart of the method; and, FIG. 6A and FIG. 6B are schematic diagrams of pulse driving signals of the motor control system and the method thereof provided by another embodiment of the present invention. As shown in the figure, a motor control system 1a is used to transmit a driving signal to the driving device 2 in the first embodiment to drive the motor 3 in the first embodiment, and the motor control system 1a also includes an input module 11. A motion controller 12a and a conversion module 13a, wherein the input module 11 is the same as that in the first embodiment, so it will not be repeated here.

The conversion module 13a is electrically connected to the input module 11 and the motion controller 12a, and is used for converting the motion control parameters set by the input module 11 into a binary format for operation of the motion controller 12a. The conversion module 13a can be embedded in the input module 11, can also be embedded in the motion controller 12a, and can also form a modular block as shown in FIG. 4 .

The motion controller 12a further includes a processing module 121a, a storage module 122a and a pulse output module 123a. The storage module 122a is used to store at least one operation rule and at least one conversion rule. In this embodiment, the operation rule is a jerk linear motion formula, and the conversion rule is a comparison table showing the correspondence between the unit motion amount ΔS _i and the pulse edge variation relation. The memory module 122a can be a memory chip.

The processing module 121a receives the motion control parameters converted by the conversion module 13a, and generates a unit exercise amount ΔS _i (indicated in FIG. 2 ) corresponding to a unit exercise time ΔT (indicated in FIG. 2 ) according to the operation rules in the storage module 122a. . And according to the conversion rule, the unit movement amount ΔS _i is converted into a digital information, and the digital information has a preset bit length, and then a control command corresponding to the unit movement amount ΔS _i is generated according to the digital information, and the control command is corresponding to the digital information to the amount of pulse edge variation.

Finally, the pulse output module 123a is used to generate a driving signal according to the control command. The driving signal is different from the first embodiment in that it is a pulse driving signal, and is sent to the driving device 2 to drive the motor 3 .

As shown in FIG. 5 , another embodiment of the present invention provides a motor control method, which is used in the motor control system 1 a of FIG. 4 , and includes the following steps S201 to S207 . Step S201 is the same as step S101 of the first embodiment, so further description is omitted.

Step S202 utilizes the conversion module 13a to receive the motion control parameters, and converts the motion control parameters into a format that is convenient for the motion controller 12a to perform calculations, for example, a binary format.

Steps S203 to S205 are roughly the same as steps S102 and S103 in the first embodiment, the difference is that the motion controller 12 in the first embodiment is replaced by the processing module 121a inside the motion controller 12a in the second embodiment, The storage module 122a performs the steps.

In step S206, the pulse output module 123a is used to receive the control command and generate a driving signal accordingly. The difference between the driving signal and the previous embodiment is that the driving signal is a pulse driving signal. And transmit the driving signal to the driving device 2 to drive the motor 3, completing step S207.

Next, the actual values will be used as examples to set multiple motion control parameters including jerk = 1, acceleration = 10, speed = 100, target position = 1000, initial acceleration = 0, initial speed = 0, initial position = 0, Unit motion time = 2, QX, Y format = Q32, 24 and maximum pulse edge variation = 3. The QX, Y format is a binary format, which is used to determine the number of bits after the unit motion ΔS _i is converted into a binary format, where X=32 means that the total number of bits is 32 bits, and Y=24 means that the number of bits representing decimals has 24 bits . Please also refer to FIG. 2 , FIG. 4 to FIG. 6B . Because we are more familiar with the decimal format, but the motor control system actually uses the binary format for operations, so the following description will use both the decimal format and the binary format. The binary format is for presenting the actual operation of the motor control system, and the decimal format is for Facilitate understanding of the present invention.

The conversion module 13a converts the above-mentioned motion control parameters into a binary format. In addition to the QX, Y format and the maximum pulse edge variation, the processing module 121a calculates the above-mentioned motion control parameters according to the jerk linear motion formula. The decimal format of a unit motion amount ΔSi is as follows: 221.333 recurring decimals, the value in Q32,24 format is 01101001001010101010101010101011.

The processing module 121a is based on the conversion rule, which is as follows: 1. There can only be (2 ⁿ −1) pulse edge variations at most. 2. In the QX, Y format, the leading bits of pulse edge changes are the (Y-1) to (Y+(n-1))th bits. 3. The following table (1).

Table I)

Table (1) is a comparison table between the corresponding value of the dominant bit of a unit movement amount ΔSi and the change amount of the pulse edge. According to the above conversion rules, it can be seen that because the maximum amount of pulse edge change=3, so n=2, the bits that dominate the pulse edge change are the (24-1) to (24+(2-1)) bits, that is, the 23rd to 25th Bit, the unit movement amount ΔS _i in the Q32,24 format, the 23rd to 25th bits (that is, the dominant bit) is 101, corresponding to the value in decimal format is 5 (that is, 2 ² +1), the pulse edge change amount corresponding to this value If it is -3, it means that the control command is to control the motor 3 to rotate 3 grids in the negative direction, and generate a pulse driving signal according to the control command, so that the driving device 2 drives the motor 3 to rotate 3 grids in the negative direction, which is the pulse driving signal shown in Figure 6A . The amount of change in the pulse edge indicates the switching times of the pulse. As shown in the figure, the pulse driving signal switches from the output logic 1 to 0, then switches from 0 to 1, and finally switches from 1 to 0, switching 3 times in total, indicating the pulse edge The amount of change is 3, because the first switch is from large (1) to small (0), so it is in the negative direction. However, FIG. 6B shows the pulse driving signal of 3 divisions in the positive direction, because the first switching is from small (0) to large (1), so it is in the positive direction.

It should be noted here that Table (1) is applicable when n=2, however, the present invention is not limited thereto. Basically, Table (1) can be divided into three intervals. In the first interval, the corresponding value of the unit movement amount ΔS _i dominant bit increases from 0, 1, 2... to (2 ⁿ -1), and the corresponding pulse edge variation from 0, +1, +2... increments to +(2 ⁿ -1). The unit movement amount ΔS _i of the second interval corresponds to a dominant bit value of 2 ⁿ , and the corresponding pulse edge change amount is 0 at this time. The corresponding value of the unit movement amount ΔS _i dominant bit in the third interval increases from (2 ⁿ +1), (2 ⁿ +2)... to (2 ⁿ +2 ⁿ -1), at this time, the corresponding pulse edge variation Increments from -(2 ⁿ -1) to -1.

For a more detailed description of the corresponding relationship in the third interval, when the corresponding value of the dominant bit of the unit motion ΔS _i is (2 ⁿ +1), the corresponding pulse edge change is -(2 ⁿ -1), in This equates (2 ⁿ +1) to (2 ⁿ⁺¹ -2 ⁿ +1), which then equates to (2 ⁿ⁺¹ -(2 ⁿ -1)). Therefore, the change amount of the pulse edge is -(2 ⁿ -1) corresponding to the second half of the value corresponding to the dominant bit of the unit motion amount ΔS _i . The corresponding relationship between other unit motion amounts ΔS _i and the pulse edge variation can be deduced by analogy.

Taking the actual numerical value as an example again, the motion control parameters are the same as the above numerical values, and the operation rules and conversion rules are also the same, the only difference is that the unit motion time=1. The unit motion amount ΔS _i calculated based on this unit motion time is 100, the corresponding value is 4, and the corresponding table (1) pulse edge variation is 0, which means that the pulse drive signal will not make the drive device 2 drive the motor 3, when the motion When the controller 12a judges that the pulse variation is 0, it generates a basic speed driving signal, so that the driving device 2 drives the motor 3 to rotate at a minimum speed corresponding to the basic speed driving signal.

In summary, the motor control system and method provided by the present invention use the input module to set motion control parameters, and the motion controller generates drive signals according to the operation rules and conversion rules, and transmits the drive signals to the drive device for drive motor.

Compared with the prior art, the motor control system and method provided by the present invention will not cause the delay or error of the drive signal due to the change of the motion control parameters, and instead use the relationship that the unit motion time is less than the target motion time , so as to achieve the real-time operation corresponding to the new motion control parameters, so it will not cause the delay or error of the driving signal.

Through the detailed description of the preferred specific embodiments above, it is hoped that the characteristics and spirit of the present invention can be described more clearly, rather than the scope of the present invention is limited by the preferred specific embodiments disclosed above. On the contrary, the intention is to cover various modifications and equivalent arrangements within the scope of the appended claims.

Claims (10)

1. A motor control system, characterized in that it is used to transmit a driving signal to a driving device for driving a motor, and includes: The input module is used to set a plurality of motion control parameters, and the plurality of motion control parameters at least include a target position and a target motion time; and A motion controller, electrically connected to the input module, for receiving the plurality of motion control parameters, generating a unit motion amount corresponding to a unit motion time according to at least one operation rule, and generating a unit motion amount corresponding to the unit motion time according to at least one conversion rule the control command, and then generate the driving signal according to the control command; Wherein, the unit exercise time is less than the target exercise time. 2. The motor control system of claim 1, wherein the unit movement amount is smaller than the target position. 3. The motor control system according to claim 1, wherein the at least one algorithm is a jerk linear motion formula. 4. The motor control system according to claim 1, wherein the at least one conversion rule is a look-up table, and the look-up table shows the corresponding relationship between the unit movement amount and the pulse edge change amount. 5. The motor control system according to claim 4, wherein the motion controller generates the control command according to the pulse edge change amount corresponding to the unit motion amount. 6. The motor control system according to claim 1, further comprising: a conversion module, and the conversion module is electrically connected to the input module and the motion controller to receive the plurality of motion control parameters, and Converting the plurality of motion control parameters to a binary format. 7. The motor control system according to claim 1, wherein the motion controller further comprises: a storage module, and the storage module is configured to store the at least one operation rule and the at least one conversion rule. 8. The motor control system according to claim 1, wherein the motion controller further comprises: a pulse output module, the pulse output module is used to generate the driving signal according to the control command, and the driving signal is the pulse drive signal. 9. A motor control method, characterized in that, using an input module and a motion controller, and comprising the following steps: Using the input module to set a plurality of motion control parameters, and the plurality of motion control parameters include at least a target position and a target motion time; Using the motion controller to receive the plurality of motion control parameters, and generate a unit motion amount corresponding to a unit motion time according to at least one operation rule; using the motion controller to generate a control command corresponding to the unit motion amount according to at least one conversion rule, using the motion controller to generate a driving signal according to the control command; and The motion controller is used to transmit the driving signal to the driving device for driving the motor. 10. The motor control method as claimed in claim 9, further comprising the steps of: The motion controller is used to judge that the driving signal is a driving signal with no variation, and a basic speed driving signal is generated and sent to the driving device.