Integrated multi-axis synchronous motion control system and synchronous control method

A technology of motion control and multi-axis synchronization, applied in control systems, vector control systems, motor control, etc., can solve problems such as low degree of autonomy of core technologies, poor synchronization of response levels, and influence on system stability, and achieve core technology autonomy The effect of high degree of automation, strong versatility, and simple calculation

Active Publication Date: 2021-11-02
NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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  • Abstract
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  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide an integrated multi-axis synchronous motion control system and synchronous control method to solve the problems of poor synchronization performance and high cost in the above approximation technology (1), approximation technology (2) and approximation technology (3). , low degree of autonomy of core technology, non-whole-process timing-level synchronization, etc., as well as poor response-level synchronization in the above-mentioned approximate technology (2), approximate technology (3), and approximate technology (4), which seriously affect system stability , low versatility, complex calculations, etc.

Method used

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  • Integrated multi-axis synchronous motion control system and synchronous control method
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  • Integrated multi-axis synchronous motion control system and synchronous control method

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Embodiment 1

[0025] Example 1 as figure 1 As shown, an integrated multi-axis synchronous motion control system is mainly composed of a feedback sampling module and a main control module. The main control module is set on the main control circuit board, and the feedback sampling module is set on the amplification circuit board. The feedback sampling module samples the running current and running position of the multi-axis servo motor, and the sampling result is input into the main control module, which is used to realize multi-axis synchronous current loop control, multi-axis timing synchronous scheduling and multi-axis response synchronous control.

[0026] Wherein, the main control module includes IO interface circuit, DRAM memory, EEPROM memory, LED display module, serial port communication module, expansion communication module, wireless communication module, button module, isolation circuit and SoC system.

[0027] The IO interface circuit, LED display module, serial port communication...

Embodiment 2

[0031] Embodiment 2 A multi-axis synchronous motion control method includes the following steps:

[0032] Multi-axis synchronous current loop control, multi-axis timing synchronous scheduling, multi-axis response synchronous control.

[0033] Among them, multi-axis synchronous current loop control includes single-axis high-speed current loop control and multi-axis parallel pipeline synchronous current loop scheduling.

[0034] The single-axis high-speed current loop control adopts the space vector control method with PI regulator combined with parallel computing and serial computing. This method can maximize the computing speed of the controller and save computing resources, including:

[0035] Single-axis signal preprocessing stages, such as image 3 As shown, the entire current loop control sequence occupies the first-third time period (t 1 -t 3 ), including feedforward current reading, speed loop generated current reading, feedback current sampling, encoder position samp...

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Abstract

The invention discloses an integrated multi-axis synchronous motion control system and a synchronous control method. The control system includes a feedback sampling module and an active module, the feedback sampling module is used to sample the operating current and operating position of the multi-axis servo motor, the main control module includes a SoC system, and the SoC system receives the feedback The sampling results of the sampling module are used for the feedback position detection and calculation of the multi-axis servo motor, the feedback current detection and calculation, and the realization of multi-axis synchronous current loop control, multi-axis timing synchronous scheduling and multi-axis response synchronous control. The invention solves the problem of poor synchronization performance, high cost, low degree of autonomy of core technology, non-whole-process timing-level synchronization, poor response-level synchronization, serious impact on system stability, low versatility, and computational complexity of existing multi-axis synchronous motion control methods. complicated issues.

Description

technical field [0001] The invention belongs to the technical field of multi-axis synchronous motion control, and in particular relates to a novel integrated multi-axis synchronous motion control system and a synchronous control method. Background technique [0002] In the field of multi-axis synchronous motion control technology, the existing approximate technologies include: (1) Multi-axis integrated controller technology based on common bus technology, such as the SD20-D series dual-axis servo drive developed by Orui Transmission Electric Co., Ltd. , ADT-RC400 four-in-one servo drive machine developed by Shenzhen Zhongweixing Technology Co., Ltd.; (2) Integrated multi-axis synchronous controller technology based on high-performance synchronous industrial network bus, such as Zhejiang Hechuan Technology Co., Ltd. The X3E series four-in-one servo drive integrated machine developed by Qingneng Dechuang Electric Technology (Beijing) Co., Ltd. developed the RC6 series six-in-o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P5/50H02P21/22H02P21/18
CPCH02P5/50H02P21/0003H02P2205/01H02P2205/07H02P21/18H02P21/22
Inventor 张驰王宝磊
Owner NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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