Double-code-disc motor control system

A motor control, dual-code technology, applied in the field of control, can solve problems such as surge of current command and uneven motor control

Inactive Publication Date: 2018-06-05
SHENYANG SIASUN ROBOT & AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But this control method may cause unsmooth motor control
In the traditional single code disc, when the gap is passed, the output of the position loop reaches the upper limit, and the speed feedback is 0, so the speed closed loop will cause the current command to surge to the upper limit, resulting in "speeding"

Method used

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  • Double-code-disc motor control system
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Embodiment Construction

[0018] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0019] The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, components and arrangements of specific examples are described below. Of course, they are only examples and are not intended to limit the invention. Furthermore, the present invention may repeat reference numerals and / or letters in different instances. This repetition is for the purpose of simplicity and clarity and does not in itself indicat...

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Abstract

The invention discloses a double-code-disc motor control system which comprises a first code disc which is arranged on the motor and is used for calculating speed feedback of a speed ring, a second code disc which is arranged on an external execution mechanism and is used as position feedback of a motor control position ring. Three-ring control is used by the motor control system, and the positionring, the speed ring and a current ring are arranged from the outside to the inside. According to the double-code-disc motor control system provided by the invention, the double code discs are used to achieve the full-closed-loop control of a motor, when the execution mechanism has a problem of a transmission gap, elastic deformation or the like, a short-time 'galloping' phenomenon of the motor can be eliminated, and a vibration phenomenon of the motor in passing the transmission gap is greatly improved.

Description

technical field [0001] The invention relates to the field of control technology, in particular to a dual code disc motor control system. Background technique [0002] With the rapid development of automation technology, more and more robots appear in people's field of vision. Robots are mainly used in industrial production lines to replace humans to complete some simple, tedious and repetitive tasks. The action mechanisms of robots are generally driven by cylinders, hydraulic pressure, motors, etc. Among them, the motor drive is being more and more applied to the driving mechanism of the robot because of its advantages of strong dynamics and high safety. [0003] Generally, the driving robot uses a servo motor system, which means that the motor, sensor and controller form a closed loop, which can complete the position control or speed control of the motor. Usually, the sensor used to collect the rotational position or speed of the motor is an encoder. A position closed-l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P29/00
Inventor 邹风山杨奇峰刘世昌姜铁程栾显烨宋吉来孙秉斌
Owner SHENYANG SIASUN ROBOT & AUTOMATION
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