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Method for shorting servo period of motion controller and motion controller

A motion controller and servo controller technology, applied in the direction of electric controllers, etc., can solve the problems affecting the control performance of the motion controller, the planning speed of the servo controller is not smooth, etc., to achieve shortened servo cycle, short servo time, and planning speed smooth effect

Inactive Publication Date: 2010-07-21
GOOGOL TECH SHENZHEN LTD GUANGDONG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, after the planner and servo controller are separated, because the planning period is greater than the servo period, the planning speed of the servo controller will become extremely uneven, which will seriously affect the control performance of the motion controller.

Method used

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  • Method for shorting servo period of motion controller and motion controller
  • Method for shorting servo period of motion controller and motion controller
  • Method for shorting servo period of motion controller and motion controller

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Embodiment Construction

[0021] Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0022] Such as figure 1 As shown, in the method for shortening the servo cycle of the motion controller and the embodiment of the motion controller thereof in the present invention, the method for shortening the servo cycle of the motion controller includes the following steps:

[0023] Step S11 generates the first timing interrupt signal: in this step, the first timing interrupt signal generating unit of the above-mentioned motion controller generates the first timing interrupt signal; in this embodiment, the above-mentioned first timing interrupt signal generating unit can be any An existing clock generation unit can also be converted from the system clock or the existing clock of the system. Of course, in this case, the above-mentioned first timing interrupt signal generating unit is actually a clock conversion unit.

[0024] Step S12 Generating a s...

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Abstract

The invention relates to a method for shortening the servo period of a motion controller, which comprises the following steps: generating mutually independent first and second time interruption signals which have a certain phase difference and avoid mutual interrupting; and transmitting the first time interruption signal and the second time interruption signal to a servo controller and a planner of the motion controller respectively to control the calculations of the servo controller and the planner. The invention also relates to a motion controller. The method for shortening the servo periodof the motion controller and the motion controller of the embodiment of the invention have the advantage that as the servo controller and the planner are controlled by different time interruption signals generated by a time interruption generation unit, the phases of the time interruption signals are related and the period of the time interruption signals is an integral multiple, the motion controller has a short servo time period and a smooth planning speed.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a method for shortening the servo period of a motion controller and the motion controller thereof. Background technique [0002] Both the planner and the servo controller are core components of a motion controller. In the motion controller, the planner calculates the planning position and planning speed in real time according to the set motion mode and motion parameters, and generates the required speed curve and motion trajectory. The servo controller calculates the control amount in real time according to the set control algorithm and control parameters. For the servo control system, the servo cycle is a very important performance index, the shorter the servo cycle, the better the performance of the servo control. Usually, the above-mentioned planner and servo controller share a timing interrupt, since the time for the planner to complete path generation and speed planning is...

Claims

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Application Information

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IPC IPC(8): G05B11/32
Inventor 王瑞马力
Owner GOOGOL TECH SHENZHEN LTD GUANGDONG