Motor controlling device

A technology of motor control and motor position, applied in the direction of electrical program control, motor speed or torque control, control system, etc., to achieve the effect of improving the accuracy of the actual trajectory

Inactive Publication Date: 2007-02-07
杭州中科赛思伺服电机有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0009] The purpose of the present invention is to utilize the NC controller 1, the first mechanical axis servo current controller 4, the second mechanical axis servo current controller 5, the first mechanical axis servo motor 6, the The software and hardware conditions of the two-axis servo motor 7 and the two-axis mechanical platform 8 are provided by adding the integrated contro

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specific Embodiment approach 1

[0066] Specific implementation plan one: the following combination figure 1 This embodiment will be specifically described. It is generated according to the first torque command fr1 and the first motor position xm1 by the NC controller 1 with the ability to generate the first NC position command r1 and the second NC position command r2 and monitor the first position feedback x1 and the second position feedback x2 The first mechanical axis servo current controller 4 of the first power signal V1 and the first position feedback x1 generates the second power signal V2 and the second position feedback x2 according to the second torque command fr2 and the second motor position xm2 The mechanical axis servo current controller 5 generates the first mechanical drive power f1 according to the above-mentioned first electric power signal V1 and provides the first mechanical axis servo motor 6 with the first motor position xm1, and generates the second mechanical drive according to the ab...

specific Embodiment approach 2

[0070] Specific implementation scheme two: combine below image 3 This embodiment will be described in detail. It consists of an NC controller 1 that generates the first NC position command r1 and the second NC position command r2 and monitors the first position feedback x1 and the second position feedback x2, and generates the second position command according to the first power signal V1. A first mechanical axis servo motor 6 with mechanical driving power f1 and providing the first motor position xm1, a second mechanical axis servo motor 7 generating the second mechanical driving power f2 and providing the second motor position xm2 according to the second electric signal V2, The two-axis mechanical platform 8 that generates mechanical motion under the action of the first mechanical driving power f1 and the second mechanical driving power f2, according to the above-mentioned first NC position command r1, second NC position command r2, first position feedback x1 and second Thr...

specific Embodiment approach 3

[0071] Specific implementation scheme three: the following combination Figure 8 This embodiment will be specifically described. The difference between this embodiment and Embodiment 1 or 2 is that the integrated controller 9 in the motor control device includes: generating the first real-time position command rt1 and the second NC position command r2 according to the above-mentioned first NC position command r1 The command restorer 10 of the second real-time position command rt2; according to the first real-time position command rt1, the second real-time position command rt2, the first position feedback x1, and the second position feedback x2, the first real-time acceleration command ft1 is generated, and the second real-time acceleration command ft1 is generated. Two-axis mechanical controller 11 for real-time acceleration command ft2; command distributor 12 for generating first real-time acceleration command ft1, second real-time acceleration command ft2, first torque comma...

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PUM

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Abstract

The invention discloses motor (including synchro motor, DC motor, asynchronous motor, linear motor etc.) controlling device applicable to drive and control for machine, semiconductor manufacture equipment and robot. The device includes NC (numerical control) controller (1), servo current controller (4) of first mechanical axis, servo current controller (5) of second mechanical axis, servo motor (6), (7) for first, second mechanical axis respectively, mechanical platform (8). Characters of the device are as following: based on first NC position instruction r1, second NC position instruction r2, feed back x1 at first position and feed back x2 at second position, first and second torque instruction ft1 and ft2, combination controller (9) makes platform (8) produce mechanical motion according to NC controller. the invention improves issues of vibration, weak capability of anti interference and slow mechanical response etc. so as to raise precision of actual locus of platform.

Description

technical field [0001] The invention relates to a control device for motors (including synchronous motors, DC motors, asynchronous motors, linear motors, etc.), which can be used for driving and controlling machine tools, semiconductor manufacturing equipment, and robots. Background technique [0002] At present, when using motors (including synchronous motors, DC motors, asynchronous motors, linear motors, etc.) Position command, and then the servo controls the servo motor according to this command. figure 2 It is a structural schematic diagram of the current motor control device. In the composition of the mechanical structure, such as Figure 9 As shown, the first mechanical axis mechanical controller 2 and the first mechanical axis servo current controller 4 are constituted as an independent unit, generally called the first mechanical axis servo controller 17 . Similarly, if Figure 10 As shown, the second mechanical axis mechanical controller 3 and the second mechani...

Claims

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Application Information

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IPC IPC(8): G05B19/18H02P5/00H02P5/46
Inventor 郝双晖郝明晖
Owner 杭州中科赛思伺服电机有限公司
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