A method for detecting position deviation of a driver based on speed feedback

Abstract

The present invention relates to the technical field of motor detection, and in particular to a driver position deviation detection method based on speed feedback; the present invention first detects a position instruction issued by a controller of a motor driver; then receives a signal of an actual feedback position issued by an encoder of the motor driver; furthermore, performs difference calculation between the position instruction and the actual feedback position to obtain a deviation value; receives a signal of feedback speed of the encoder of the motor driver, and simultaneously calculates a set value of the actual feedback position in real time according to the feedback speed; compares the deviation value with the set value, and if the deviation value is greater than the set value, issues an error alarm and stops the motor drive; the present invention calculates a dynamic set value in real time according to the feedback speed, and then compares the deviation value between the position instruction and the position feedback with the set value, and if it exceeds the set value, issues an error alarm and stops the motor drive.

Description

Technical Field

[0001] The present invention relates to the technical field of motor detection, and in particular to a driver position deviation detection method based on speed feedback. Background Art

[0002] Error alarm is a must-have function for mature drive products. Among them, the detection of position lag problems in motor control is particularly important, that is, detecting whether the deviation between the drive position control command and the actual feedback position exceeds the set value, in order to determine the position tracking accuracy of the servo system.

[0003] For existing drive products, this deviation setting value is often a fixed value. When a lag problem occurs, the drive will generate an alarm. However, because the deviation setting value is a fixed value, it will lead to the problem of being difficult to reconcile during low-speed operation and high-speed operation. During low-speed operation, higher position accuracy is required, and the deviation setting value should be as small as possible. A small position deviation value will lead to frequent position lag alarms during high-speed operation. If a larger position deviation value is used, the position accuracy during low-speed operation cannot be guaranteed. Summary of the invention

[0004] The main technical problem solved by the present invention is to provide a driver position deviation detection method based on speed feedback, which calculates a dynamic set value in real time according to the feedback speed, and then compares the deviation value between the position command and the position feedback with the set value. If it exceeds the set value, an error alarm occurs and the motor drive is stopped.

[0005] In order to solve the above technical problems, a technical solution adopted by the present invention is to provide a driver position deviation detection method based on speed feedback, which includes the following steps:

[0006] S1, detecting the position command issued by the controller of the motor driver;

[0007] S2, receiving the actual feedback position signal sent by the encoder of the motor driver;

[0008] S3, calculate the difference between the position command and the actual feedback position to obtain the deviation value;

[0009] S4, receiving the feedback speed signal of the encoder of the motor driver, and calculating the actual feedback position setting value in real time according to the feedback speed;

[0010] S5. Compare the deviation value with the set value. If the deviation value is greater than the set value, an error alarm is issued and the motor drive is stopped.

[0011] As an improvement of the present invention, in step S4, the calculation function of the set value is composed of a parabola function and a horizontal straight line function.

[0012] As a further improvement of the present invention, the function expression of the calculation function of the set value is:

[0013] P=aV 2 +Minimum set value (feedback speed < speed parameter);

[0014] P = maximum setting value (feedback speed > speed parameter);

[0015] Among them, P represents the feedback position; a is the parameter to be solved; and V is the feedback speed.

[0016] As a further improvement of the present invention, the maximum setting value, the minimum setting value, and the speed parameter can be adjusted and set according to the performance and application requirements of the servo system.

[0017] As a further improvement of the present invention, a running speed exceeding the speed parameter is a high-speed state; a running speed below the speed parameter is a low-speed state.

[0018] As a further improvement of the present invention, if precise position accuracy is required at a low speed, the minimum setting value is lowered.

[0019] As a further improvement of the present invention, if precise position accuracy is required at a high speed, the maximum setting value is lowered.

[0020] The beneficial effect of the present invention is that compared with the prior art, the present invention calculates a dynamic set value in real time based on the feedback speed, and then compares the deviation value between the position command and the position feedback with the set value. If the set value is exceeded, an error alarm occurs and the motor drive is stopped. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A flowchart of a method for detecting a position deviation of a driver based on speed feedback according to the present invention;

[0022] Figure 2 It is a flow chart of a method for detecting position deviation of a driver based on speed feedback of the present invention;

[0023] Figure 3 It is a schematic diagram of the coordinate system formula of the calculation function of the set value in the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0025] like Figures 1 to 3 , a method for detecting position deviation of a driver based on speed feedback of the present invention comprises the following steps:

[0026] S1, detecting the position command issued by the controller of the motor driver;

[0027] S2, receiving the actual feedback position signal sent by the encoder of the motor driver;

[0028] S3, calculate the difference between the position command and the actual feedback position to obtain the deviation value;

[0029] S4, receiving the feedback speed signal of the encoder of the motor driver, and calculating the actual feedback position setting value in real time according to the feedback speed;

[0030] S5. Compare the deviation value with the set value. If the deviation value is greater than the set value, an error alarm is issued and the motor drive is stopped.

[0031] In the present invention, a dynamic set value is calculated in real time according to the feedback speed, and then the deviation value between the position command and the position feedback is compared with the set value. If it exceeds the set value, an error alarm occurs and the motor drive is stopped; thereby achieving dynamic adjustment of the set value, solving the problem that the servo system is difficult to reconcile when running at low speed and high speed.

[0032] In step S4, the calculation function of the set value is composed of a parabola function and a horizontal straight line function.

[0033] Specifically, the function expression of the calculation function of the set value is:

[0034] P=aV 2 +Minimum set value (feedback speed < speed parameter);

[0035] P = maximum setting value (feedback speed > speed parameter);

[0036] Among them, P represents the feedback position; a is the parameter to be solved; and V is the feedback speed.

[0037] like Figure 3As shown, the theoretical position deviation value is linearly positively correlated with the speed. The greater the speed, the greater the theoretical position deviation value. If a fixed set value is used, it is inevitable that the low-speed operation state and the high-speed operation state of the servo system cannot be taken into account. By adopting the drive position deviation detection method based on speed feedback of the present invention, when the feedback speed is given, the deviation set value corresponding to the current feedback speed can be dynamically calculated, thereby solving the problem that the servo system is difficult to reconcile when running at low speed and high speed.

[0038] In the present invention, the maximum setting value, the minimum setting value, and the speed parameter can be adjusted and set according to the performance and application requirements of the servo system; the operating speed exceeding the speed parameter is a high-speed state; the operating speed below the speed parameter is a low-speed state; if precise position accuracy is required in the low-speed state, the minimum setting value is lowered; if precise position accuracy is required in the high-speed state, the maximum setting value is lowered. Specifically, the maximum setting value, the minimum setting value, and the speed parameter can be adjusted and set according to the performance and application requirements of the servo system:

[0039] a. If higher position accuracy is required at low speed, lower the minimum setting value, and vice versa;

[0040] b. If higher position accuracy is required at high speed, lower the maximum setting value, and vice versa;

[0041] c. The operating speed exceeding the speed parameter is considered to be a high speed state; the operating speed below the speed parameter is considered to be a low speed state.

[0042] The present invention has the following beneficial effects:

[0043] A. Ensure high-precision detection of position operation accuracy when the servo system is running at low speed;

[0044] B. Avoid frequent false alarms when the servo system is running at high speed.

[0045] The above description is only an implementation mode of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for detecting position deviation of a driver based on speed feedback, characterized in that: The steps include: S1, detecting the position command issued by the controller of the motor driver; S2, receiving the actual feedback position signal sent by the encoder of the motor driver; S3, calculate the difference between the position command and the actual feedback position to obtain the deviation value; S4, receiving the feedback speed signal of the encoder of the motor driver, and calculating the actual feedback position setting value in real time according to the feedback speed; The calculation function of the set value consists of a parabola function and a horizontal straight line function; The function expression of the calculation function of the set value is: P=aV 2 +Minimum set value (feedback speed < speed parameter); P = maximum setting value (feedback speed > speed parameter); Wherein, P represents the feedback position; a is the parameter to be solved; V is the feedback speed; The operating speed exceeding the speed parameter is the high speed state; the operating speed below the speed parameter is the low speed state; S5. Compare the deviation value with the set value. If the deviation value is greater than the set value, an error alarm is issued and the motor drive is stopped.

2. A method for detecting position deviation of a driver based on speed feedback according to claim 1, characterized in that: The maximum setting value, minimum setting value and speed parameters can be adjusted and set according to the performance and application requirements of the servo system.

3. The method for detecting position deviation of a driver based on speed feedback according to claim 1, characterized in that: If precise position accuracy is required at low speed, lower the minimum setting value.

4. The method for detecting position deviation of a driver based on speed feedback according to claim 1, characterized in that: If precise positioning accuracy is required at high speed, lower the maximum setting value.

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