Processing method for speed feedforward and torque feedforward in CANopen servo system

Abstract

The invention relates to a processing method for speed feedforward and torque feedforward in a CANopen servo system, which comprises the steps that a trajectory planner receives a target control command and calculates the type of position instruction curves, the position of an acceleration turning point and the position of a deceleration turning point; the trajectory planner judges whether servo control is started or not; if not, a speed feedforward curve, a torque feedforward curve and the position instruction curves are all zero; if so, a position accumulated value planned up to the previous servo control period is compared with the acceleration turning point position, the deceleration turning point position and a target position, acceleration planning, deceleration planning, constant speed planning or non-execution planning is executed according to a comparison result so as to acquire a speed feedforward value and a torque feedforward value of the current servo control period; a position increment value of the current servo control period and a position accumulated value planned up to the current servo control period are calculated; a plurality of position increment values form a position increment instruction curve, a plurality of position accumulated values form a position accumulated value instruction curve, a plurality of speed feedforward values form a speed feedforward curve, and a plurality of torque feedforward values form a torque feedforward curve.

Description

technical field [0001] The invention relates to the technical field of servo motion control, in particular to a processing method for speed feedforward and torque feedforward in a CANopen servo system. Background technique [0002] In the field of servo motion control, traditional pulse-type servo systems can no longer meet market requirements, and bus-type servo systems have become the mainstream of the market, such as bus-type servo systems based on PROFIBUS, CANopen, and EtherCAT. [0003] Among them, the CANopen servo system has the advantages of simple wiring and fewer connections, less communication interference, improved motion performance, and fewer main control devices required for the same number of servo drives. Such as figure 1 As shown, the CANopen servo system is mainly composed of CANopen main control device, CANopen servo driver and servo motor. The CANopen master control device is generally a domestic mainstream industrial computer control card or a foreig...

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Problems solved by technology

[0006] The main purpose of the present invention is to propose a speed feed-forward and torque feed-forward processing method in CANopen servo system for the above-mentioned deficiencies in the prior art, the speed feed-forward curve and torque feed-forward curve planned by the processing method The curve is strictly synchronized with the position command curve to solve the delay problem existing in the speed feed-forward curve and torque feed-forward curve obtained by the traditional differential method of the existing CANopen servo system, and to eliminate the delay problem for the dynamic following performance The impact of the dynamic following performance of the CANopen servo system is better

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