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Control system for multi-axis servo motor

A servo motor and control system technology, applied in the field of control, can solve problems such as inability to synchronize, and achieve the effects of minimized size, fast performance, and low power consumption

Active Publication Date: 2010-06-16
SHENZHEN ACAD OF AEROSPACE TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide a multi-axis control system that synchronously controls multiple axes at the same time, aiming at the defect of being unable to synchronize when the single-axis servo motor control system in the prior art is used to drive multiple axes independently. Servo Motor Control System

Method used

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  • Control system for multi-axis servo motor
  • Control system for multi-axis servo motor
  • Control system for multi-axis servo motor

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Embodiment Construction

[0045] Such as figure 1 As shown, the system model consists of two parts: the forward channel and the feedback channel. The model description of the forward channel is as follows figure 2 shown. figure 2The port description of the model shown is

[0046] model

[0047] Input[11:0]PRef;

[0048] Input[14:0]IFdb;

[0049] Input[14:0] VFdb;

[0050] Input[11:0]PFdb;

[0051] Output[15:0]CLOut;

[0052] Figure 1-2 KpP, KiP, KdP, PbitsP, IbitsP, DbitsP, PlimitP, PlimitN, KpV, KiV, PbitsV, IbitsV, VlimitP, VlimitN, KpI, KiI, PbitsI, IbitsI, IlimitP, and ILimitN are parameters that can be set. CLUpdate, VLUpdate, PLUpdate are used to control the calculation of current loop, speed loop and position loop respectively.

[0053] Can be figure 2 described in language

[0054] If PLUpdate then

[0055] Do 'PositionLoop';

[0056] Do 'VelocityLoop';

[0057] Do 'CurrentLoop';

[0058] Else if VLUpdate then

[0059] Do 'VelocityLoop';

[0060] Do 'CurrentLoop';

[0061...

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Abstract

The invention relates to a control system for a multi-axis servo motor which comprises a position ring module for receiving a position ring set value and a position feedback value of each axis and calculating a speed ring set value, a speed ring module for receiving a speed ring set value and a speed feedback value of each axis and calculating a current ring set value, a current ring module for receiving a current ring set value and a current feedback value of each axis and outputting a current ring output value, a pulse width modulation signal generating module for receiving the current ring output value from the current ring module and generating a pulse width modulation signal for controlling the servo motor of each axis, and a multi-axis sequential control module for controlling the signal receiving and processing of the position ring module, the speed ring module, the current ring module and the pulse width modulation signal generating module. The control system for a multi-axis servo motor of the invention solves the problem that a single axis servo controlling each axis to separately drive can not be synchronous and the electromagnetic interference between axes is efficiently decreased.

Description

technical field [0001] The invention relates to the control field, and more specifically, relates to a multi-axis servo motor control system. Background technique [0002] Motors are the main components of motion control. With the development of science and technology, it is usually necessary to control multi-axis servo motors at the same time, such as the spindle drive of the CNC lathe and the X, Y axis drive feed; the spindle drive of the CNC milling machine and the X, Y, Z axis drive feed, and for the robot And manipulators need to control multiple axes. [0003] Multi-axis servo motor control chips have not been seen in the prior art, so single-axis servo motor control chips are often used to control each axis separately, among which LM628 and LM629 square wave brushless motor position control chips, IR2102 positive rotation wave brushless motor speed Control chips, they perform well and are the most representative. [0004] The LM628 motion control chip launched by N...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/18G05B11/32
Inventor 周兆勇刘亚静李铁才张岩杨贵杰王鸿鹏
Owner SHENZHEN ACAD OF AEROSPACE TECH
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