Dynamic sampling method of motor encoder
A dynamic sampling and encoder technology, applied in the estimation/correction of motor parameters, etc., can solve problems such as insufficient display of the state of motor rotation speed, vibration of the robot arm, and the precision affecting the movement of the robot arm.
Active Publication Date: 2020-09-01
TECHMAN ROBOT INC
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[0004] However, the motors in the prior art use a fixed sampling time t. In a slow-rotating motor, only a small amount of coded signals can be extracted from a synchronously rotating encoder, and a small amount of barcode signals is not enough to display the real motor rotation speed. state
Also using a fixed sampling time t, in a fast-rotating motor, although a large number of coded signals can be extracted by a synchronously rotating encoder, the sampling frequency is insufficient, and the rotation speed of the motor details cannot be displayed after averaging a large number of coded signals. Failure to correctly feedback and control the rotation speed of the motor will cause the vibration of the robot arm and affect the precision of the movement of the robot arm
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[0032] In order to achieve the above object, the present invention adopts the technical means and the effects thereof, the preferred embodiments are given now, and are described as follows in conjunction with the accompanying drawings.
[0033] Please also see figure 1 , figure 2 , image 3 and Figure 4 , figure 1 Be the control system of the motor of robot arm of the present invention, figure 2 is a schematic diagram of the command speed of the present invention, image 3 It is a comparison table of the command speed switching interval and the encoding sampling time of the present invention, Figure 4 It is a comparison table of command speed switching range and weight. figure 1 Among them, the control system 10 of the motor 11 of the present invention includes a position controller 12, a speed controller 13 and a current controller 14, etc., and the control system 10 is input with an external command pulse 15, and the position controller 12 uses the set command s...
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The invention provides a dynamic sampling method of a motor encoder. The method comprises the steps of calculating the rotation speed of a motor according to the switching interval of the input command speed and the corresponding coding sampling time; multiplying the average rotation speed of the motor by the corresponding weight to form a dynamic threshold value, determining that the rotation speed of the motor is normal when the rotation speed of the motor is not less than the dynamic threshold value, and determining that the rotation speed of the motor is abnormal when the rotation speed ofthe motor is less than the dynamic threshold value, and entering a compensation mode to control the motor.
Description
technical field [0001] The invention relates to a motor, in particular to a method for sampling an encoder by dynamically switching the sampling time according to the speed of the control command when the motor executes the control command. Background technique [0002] With the characteristics of flexible movement, precise positioning and continuous operation, the robot arm has become the best tool for manufacturing and assembling on the product line. To reduce the vibration when the robot arm moves and improve the control accuracy of the robot arm, it is necessary to control the motor correctly. [0003] Such as Figure 8 As shown, the motor in the prior art is controlled by an external input command pulse (Pulse), and the command pulse is obtained at a fixed sampling time t, and the command speed of processing is calculated by dividing the obtained command pulse number by the sampling time t (Vcmd). At the same time, the speed calculator of the motor control system will...
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Login to View More IPC IPC(8): H02P23/14
CPCH02P23/14
Inventor 赖俊文夏绍基
Owner TECHMAN ROBOT INC