Slave synchronisation control means and systemTechnical field
The invention belongs to technical field of servo control, particularly relate to a kind of slave synchronisation control means and system。
Background technology
Existing multiple-axis servo drive system contains multiple axle servo-driver, it is generally acknowledged that multiple-axis servo drive system jointly receives the instruction of controller and just can realize the synchronization between multiple-axis servo driver, but actually each axle driver exists asynchronous, causing nonsynchronous because have: each axle servo-driver powers on and enables start time point is random, therefore there is initial error in the control cycle of each axle servo-driver control loop；The clock base of each axle servo-driver is subject to the impact such as crystal oscillator precision, ambient temperature, and the physical length controlling the cycle of each axle servo-driver control loop is also not quite identical, and namely the control Cycle Length of each axle servo-driver control loop exists error。The error that multiple-axis servo drive system exists has influence on the precision adding man-hour to a certain extent。
At present, solving multiple-axis servo drive system error, it is achieved the phase locked scheme of slave mainly has two kinds: one to be dependent on lock unit to be directly realized by, two is by the subsidiary Synchronization Control of converter or SERVO CONTROL。The synchronization of above two scheme is all discrete correction, and discrete correction is easily caused correction not in time, it addition, degree of accuracy is not high yet, arranges manufacturing cost too high, and price is also costly。
Summary of the invention
For solving prior art Problems existing, the present invention provides a kind of slave synchronisation control means, it is possible to achieve the real-time deviation correcting to slave, is effectively improved synchronization degree of accuracy, and price is also only the half of prior art, is greatly saved manufacturing cost。
Slave synchronisation control means provided by the present invention, comprises the following steps:
(1) from machine zero signal processing module by obtaining the rate signal from machine from machine incremental encoder, and it is sent to from motor speed integration position module；
(2) from motor speed integration position module according to receive from motor speed signal, be integrated computing by integrator and draw the vector position from machine, and vector position is sent to position phase contrast comparison module；
(3) main frame zero signal processing module obtains the rate signal of main frame by main frame incremental encoder, and is sent to main frame speed no-load voltage ratio modular converter；
(4) main frame speed no-load voltage ratio modular converter is according to the main frame rate signal a received and main frame gearbox speed reduction ratio γ set in advance, calculates main frame actual feedback rotating speed V, wherein V=a × γ；Main frame actual feedback rotating speed is sent to main frame rate integrating position module；
(5) main frame rate integrating position module is according to the main frame actual feedback rotating speed received, and is integrated computing by integrator and draws the vector position of main frame, and vector position is sent to position phase contrast comparison module；
(6) phase contrast comparison module in position carries out difference operation by what receive from machine vector position and main frame vector position, draws main frame and from the alternate position spike between machine, and this alternate position spike is sent to position and speed modular converter；
(7) position and speed modular converter differentiating by differentiator, is converted to alternate position spike the acceleration/deceleration signal from machine, and this acceleration/deceleration signal is sent to motor control module；
(8) motor control module drives the respective change from motor speed according to the acceleration/deceleration signal received, it is achieved main frame is synchronization with from machine。
Further, described it is specially increment type 1000 line encoder from machine incremental encoder。Described main frame incremental encoder is specially increment type 2000 line encoder。
Further, for realizing more accurate slave Synchronization Control, in described step (8), motor control module is before driving and changing from motor speed, first by the acceleration/deceleration signal calculating through speed ring, position ring。
The present invention also provides for a kind of slave synchronous control system, including the main frame zero signal processing module being sequentially connected with, main frame speed no-load voltage ratio modular converter, main frame rate integrating position module；Be sequentially connected with from machine zero signal processing module, from motor speed integration position module；Position phase contrast comparison module, position and speed modular converter and the motor control module being sequentially connected with；Described main frame rate integrating position module, it is connected with described position phase contrast comparison module respectively from motor speed integration position module；
Described main frame zero signal processing module is connected with main frame incremental encoder, for obtaining the rate signal of main frame；
Described main frame speed no-load voltage ratio modular converter for being converted to the actual feedback rotating speed of main frame by main frame rate signal；
Described main frame rate integrating position module for being converted to the vector position of main frame by main frame actual feedback rotating speed；
Described it is connected from machine zero signal processing module with from machine incremental encoder, for obtaining the rate signal from machine；
The described vector position from motor speed integration position module for being converted to from motor speed signal from machine；
Described position phase contrast comparison module for carrying out difference operation by what receive from machine vector position and main frame vector position, draws main frame and from the alternate position spike between machine；
Described position and speed modular converter for being converted to the acceleration/deceleration signal from machine by alternate position spike；
Described motor control module is connected with from machine actuating device, for driving from machine actuating device according to the acceleration/deceleration signal received, thus realizing the change from motor speed and position, it is achieved main frame is synchronization with from machine。
Further, described it is specially increment type 1000 line encoder from machine incremental encoder。Described main frame incremental encoder is specially increment type 2000 line encoder。
Slave synchronisation control means provided by the present invention and synchronous control system, the correction mode adopted is different from the discrete correction of prior art, but adopt the mode of real-time deviation correcting, the phase error of encoder is typically in ± 5 pulses, therefore, slave synchronous error can be controlled within ± 5 pulses by the present invention, and the degree of accuracy that slave synchronizes not only is greatly improved, and spend the half being only prior art, save manufacturing cost greatly。
Accompanying drawing explanation
Fig. 1 is the method for the invention flow chart；
Fig. 2 is system construction drawing of the present invention。
Detailed description of the invention
As it is shown in figure 1, be slave synchronisation control means flow chart provided by the present invention, comprise the following steps:
(1) from machine zero signal processing module by obtaining the rate signal from machine from machine incremental encoder (can be increment type 1000 line encoder), and it is sent to from motor speed integration position module；
(2) from motor speed integration position module according to receive from motor speed signal, be integrated computing by integrator and draw the vector position from machine, and vector position is sent to position phase contrast comparison module；
(3) main frame zero signal processing module obtains the rate signal of main frame by main frame incremental encoder (can for increment type 2000 line encoder), and is sent to main frame speed no-load voltage ratio modular converter；
(4) main frame speed no-load voltage ratio modular converter is according to the main frame rate signal a received and main frame gearbox speed reduction ratio γ set in advance, calculate main frame actual feedback rotating speed V, wherein V=a × γ, this main frame gearbox speed reduction ratio is determined at boss rod and from the actual installation position arbor according to incremental encoder, and described main frame gearbox speed reduction ratio is equal with the speed ratio from machine mechanical reduction machine；Main frame actual feedback rotating speed is sent to main frame rate integrating position module；
(5) main frame rate integrating position module is according to the main frame actual feedback rotating speed received, and is integrated computing by integrator and draws the vector position of main frame, and vector position is sent to position phase contrast comparison module；
(6) phase contrast comparison module in position carries out difference operation by what receive from machine vector position and main frame vector position, draws main frame and from the alternate position spike between machine, and this alternate position spike is sent to position and speed modular converter；
(7) position and speed modular converter differentiating by differentiator, is converted to alternate position spike the acceleration/deceleration signal from machine, and this acceleration/deceleration signal is sent to motor control module；
(8) motor control module by the acceleration/deceleration signal received through speed ring, position ring calculate actual control parameter, according to reality control the driving parameter respective change from motor speed, it is achieved main frame is synchronization with from machine。
As in figure 2 it is shown, be slave synchronous control system structure chart of the present invention, including the main frame zero signal processing module being sequentially connected with, main frame speed no-load voltage ratio modular converter, main frame rate integrating position module；Be sequentially connected with from machine zero signal processing module, from motor speed integration position module；Position phase contrast comparison module, position and speed modular converter and the motor control module being sequentially connected with；Main frame rate integrating position module, it is connected with position phase contrast comparison module respectively from motor speed integration position module；
Main frame zero signal processing module is connected with main frame incremental encoder (can be increment type 2000 line encoder), for obtaining the rate signal of main frame；Main frame speed no-load voltage ratio modular converter for being converted to the actual feedback rotating speed of main frame by main frame rate signal；Main frame rate integrating position module for being converted to the vector position of main frame by main frame actual feedback rotating speed；It is connected from machine zero signal processing module with from machine incremental encoder (can be increment type 1000 line encoder), for obtaining the rate signal from machine；The vector position that will be converted to from machine it is used for from motor speed signal from motor speed integration position module；Position phase contrast comparison module for carrying out difference operation by what receive from machine vector position and main frame vector position, draws main frame and from the alternate position spike between machine；Position and speed modular converter for being converted to the acceleration/deceleration signal from machine by alternate position spike；Motor control module is connected with from machine actuating device, for the acceleration/deceleration signal received is carried out speed ring, position ring accurately calculates, obtain the actual control parameter from machine, driving parameter is controlled from machine actuating device according to reality, thus realizing the change from motor speed and position, it is achieved main frame is synchronization with from machine。
Control method provided by the present invention and system is adopted to realize real-time deviation correcting, the instruction of main motor is by externally input, it is controlled by the pattern set by system completely from dynamo-electric machine, system is by exporting high-frequency impulse to from machine motor driver, and Receiving Host and from motor photoelectric encoder pulse feedback signal, closed-loop speed and position control is carried out to from dynamo-electric machine, thus realizing the absolute synchronization of principal and subordinate's motor, encoder phase error is typically about ± 5 pulses, therefore the synchronous error of slave can be controlled in ± 5 encoder pulses within, slave is greatly improved and synchronizes degree of accuracy。