Method for compensating inflection point error of linear acceleration to deceleration based on DSP (Digital Signal Processor)
An error compensation, acceleration and deceleration technology, applied in the field of motor control, can solve problems such as linear acceleration and deceleration limitations, motor errors, actual pulse number and theoretical pulse number error, etc., to achieve the effect of solving asymmetry problems and strong scalability
Inactive Publication Date: 2015-05-06
HARBIN ENG UNIV
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Problems solved by technology
In this way, in the last interpolation sampling period of the acceleration section, there is an error between the actual displacement of the motor and the theoretical displacement.
This error will always exist in the subsequent deceleration process, causing when the actual displacement is greater than the theoretical displacement, the speed curve will have a large impact when the deceleration is zero.
When the actual displacement is less than the theoretical displacement, it will cause the displacement required by the control information when the motor stops.
[0005] The crux of the problem is that this method cannot maintain the symmetry of the speed curve in the acceleration phase and deceleration phase. The most critical point is that there is an error between the actual pulse number and the theoretical pulse number at the inflection point of the transition from the acceleration phase to the deceleration phase. The application of linear acceleration and deceleration caused certain restrictions
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[0035] The present invention will be further described below in conjunction with accompanying drawing:
[0036] The first step is to obtain the control information required for acceleration and deceleration:
[0037] The control information required for linear acceleration and deceleration is input by the host computer, and its control information includes: given pulse number, acceleration constant value, maximum speed, interpolation sampling period;
[0038] The linear acceleration and deceleration refers to the acceleration and deceleration process in which the acceleration is constant and the acceleration derivative is zero during the acceleration and deceleration process. For the non-uniform velocity section, the required conditions are shown in (1):
[0039] ent[S / (v max T)]≤n s (1)
[0040] Where T is the interpolation sampling period, n s The number of sampling cycles required for acceleration (deceleration), S is the number of given pulses, v max is the maxim...
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The invention belongs to the field of motor control and particularly relates to a method for compensating the inflection point error of linear acceleration to deceleration based on a DSP (Digital Signal Processor). The method comprises the following steps of (1) obtaining control information required for acceleration to deceleration; (2) calculating the respective duration of acceleration, deceleration and constant speed according to the obtained control information; (3) calculating a pulse error between a theoretical inflection point and an actual inflection point; (4) distributing pulses; and (5) generating pulses required by a motor by a timer of the DSP according to a pulse distribution scheme. According to the method for compensating the inflection point error of the linear acceleration to deceleration based on the DSP, compensation sampling periods are increased, an asymmetry problem of a curvilinear acceleration stage and a curvilinear deceleration stage is effectively solved; therefore, the problem of greater impact which occurs after the motor works along an overall curve under the condition of failing to reach finally-required pulse number due to the early coming of a deceleration sampling period or coming into a deceleration adoption period due to hysteresis is solved; and additionally, the method has the advantage of strong expandability.
Description
technical field [0001] The invention belongs to the field of motor control, and in particular relates to an inflection point error compensation method for linear acceleration and deceleration based on DSP. Background technique [0002] The control of acceleration and deceleration is a necessary part of motor control, and most of them are controlled by single-chip microcomputer. The process can generally be divided into two types: linear acceleration and deceleration process and exponential change acceleration and deceleration process. Among them, the linear acceleration and deceleration process is more widely used in engineering than the exponential change acceleration and deceleration process because of its simple design, small calculation amount and easy realization. [0003] For the linear acceleration and deceleration process, one is the acceleration and deceleration process with a constant velocity section, and the other is the acceleration and deceleration process wit...
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IPC IPC(8): H02P8/18
Inventor韩云涛任韦孙尧
OwnerHARBIN ENG UNIV