Servo-driven resonance equipment acceleration closed-loop control system and method

Abstract

The present application relates to a servo-driven resonance device acceleration closed-loop control system, comprising: an acceleration sensor, an exciter, a high-speed signal synchronization acquisition card, a human-machine terminal, a central controller, a synchronous motion planning card and multiple servo drivers. The servo-driven resonance device acceleration closed-loop control system of the present application has at least one of the following beneficial technical effects: replacing the exciting force signal with the position analog signal of the eccentric block, realizing a unified interface between the vibration acceleration signal and the exciting force signal, and using a high-speed signal synchronization acquisition card to solve the problem of signal synchronization acquisition, with high sampling frequency and high precision.

Description

Technical Field

[0001] The present application relates to the field of vibration control, and in particular, to a servo-driven resonance device acceleration closed-loop control system and method. Background Art

[0002] Resonance machinery, also known as resonance equipment, is a vibrating mechanical equipment that works at a resonant frequency. Because it works in a resonant state, the system only needs a small excitation force to produce the required vibration conditions, so it is very energy-saving and has been widely used in powder screening, material mixing, process intensification and other fields. However, because the system works under resonant conditions, the system is very sensitive to its own load changes, resulting in fluctuations in the resonant frequency of the equipment, large changes in vibration acceleration, and difficulty in stably controlling the acceleration. From the vibration theory, it can be seen that the condition for the system to maintain resonance is that the phase of the excitation force is always 90° different from the phase of the vibration acceleration. Therefore, obtaining the phase of the excitation force and the vibration acceleration has become a key to stable control of acceleration. On the other hand, whether the actuator can quickly control the excitation force after obtaining the phase difference is a key to stable control of acceleration. For high-frequency vibration, the required data sampling speed is higher and the execution speed is faster. The general industrial controller has a long scanning cycle, cannot synchronously obtain data, cannot achieve high-speed synchronous acquisition of the excitation force and vibration acceleration, is difficult to execute high-speed commands, and is difficult to achieve stable control of acceleration. Summary of the invention

[0003] In order to overcome at least one deficiency in the prior art, an embodiment of the present application provides an acceleration closed-loop control system and method for a servo-driven resonance device.

[0004] In a first aspect, an embodiment of the present application provides a servo-driven resonance device acceleration closed-loop control system, comprising:

[0005] Acceleration sensor, vibration exciter, high-speed signal synchronous acquisition card, human-machine terminal, central controller, synchronous motion planning card and multiple servo drives, among which,

[0006] An acceleration sensor is mounted on a load stage of the resonance device and is used to sense the vibration intensity of the load stage to generate a vibration acceleration analog voltage signal;

[0007] The exciter includes an even number of excitation units, each of which includes an eccentric block, a servo motor and a rotary transformer. The eccentric block and the rotary transformer are both mounted on the rotating shaft of the servo motor. When the rotating shaft of the servo motor rotates, the rotary transformer can detect the position of the eccentric block and generate a position analog voltage signal, and the servo motor can generate a rotation position signal of the servo motor at the current moment.

[0008] A high-speed signal synchronous acquisition card is used to acquire any one of a plurality of position analog voltage signals and a vibration acceleration analog voltage signal. The plurality of acquisition channels of the high-speed signal synchronous acquisition card can realize the synchronous acquisition of any one of the position analog voltage signals and the vibration acceleration analog voltage signal.

[0009] A human-machine terminal is used to send an acceleration instruction to a central controller; the acceleration instruction is used to indicate the expected vibration acceleration that the resonant device is ultimately to achieve;

[0010] The central controller is used to determine the target rotation position of each servo motor according to the position analog voltage signal, vibration acceleration analog voltage signal and acceleration instruction collected by the high-speed signal synchronization acquisition card;

[0011] A synchronous motion planning card is used to determine the motion planning of each servo motor according to the target rotation position of each servo motor and the rotation position signal of each servo motor at the current moment;

[0012] A plurality of servo drives are used for driving the movement of each servo motor according to the movement plan of each servo motor so that the resonant device reaches the expected vibration acceleration.

[0013] In a second aspect, an embodiment of the present application provides a servo-driven resonance device acceleration closed-loop control system, comprising:

[0014] Acceleration sensor, vibration exciter, high-speed signal synchronous acquisition card, human-machine terminal, central controller, synchronous motion planning card and multiple servo drives, among which,

[0015] An acceleration sensor is mounted on a load stage of the resonance device and is used to sense the vibration intensity of the load stage to generate a vibration acceleration analog voltage signal;

[0016] The exciter includes an even number of excitation units, each of which includes an eccentric block and a servo motor. The eccentric block is mounted on the rotating shaft of the servo motor. The servo motor includes a rotary transformer. When the rotating shaft of the servo motor rotates, the rotary transformer can detect the position of the eccentric block and generate a position analog voltage signal. The rotary transformer of the servo motor is also used to generate a rotation position signal of the servo motor at the current moment.

[0017] A high-speed signal synchronous acquisition card is used to acquire any one of a plurality of position analog voltage signals and a vibration acceleration analog voltage signal. The plurality of acquisition channels of the high-speed signal synchronous acquisition card can realize the synchronous acquisition of any one of the position analog voltage signals and the vibration acceleration analog voltage signal.

[0018] A human-machine terminal is used to send an acceleration instruction to a central controller; the acceleration instruction is used to indicate the expected vibration acceleration that the resonant device is ultimately to achieve;

[0019] The central controller is used to determine the target rotation position of each servo motor according to the position analog voltage signal, vibration acceleration analog voltage signal and acceleration instruction collected by the high-speed signal synchronization acquisition card;

[0020] A synchronous motion planning card is used to determine the motion planning of each servo motor according to the target rotation position of each servo motor and the rotation position signal of each servo motor at the current moment;

[0021] A plurality of servo drives are used for driving the movement of each servo motor according to the movement plan of each servo motor so that the resonant device reaches the expected vibration acceleration.

[0022] In a third aspect, an embodiment of the present application provides a closed-loop acceleration control method for a servo-driven resonance device, comprising:

[0023] Obtaining an acceleration instruction; the acceleration instruction is used to indicate the expected vibration acceleration that the resonance device is ultimately to achieve;

[0024] The vibration intensity of the load level of the sensing resonant device is generated to generate a vibration acceleration analog voltage signal;

[0025] Detecting the position of an eccentric block installed on any servo motor of the resonance device, and generating a position analog voltage signal of any servo motor;

[0026] Synchronously collect the vibration acceleration analog voltage signal and the position analog voltage signal of any servo motor;

[0027] Determine the rotation position signal of each servo motor at the current moment;

[0028] Determine the target rotation position of each servo motor according to the position simulation voltage signal, the vibration acceleration simulation voltage signal and the acceleration command;

[0029] Determine the motion plan of each servo motor according to the target rotation position of each servo motor and the rotation position signal of each servo motor at the current moment;

[0030] According to the motion plan of each servo motor, the motion of each servo motor is driven to make the resonant device reach the expected vibration acceleration.

[0031] Compared with the prior art, this application has the following beneficial effects:

[0032] (1) The present application replaces the exciting force signal with the position analog signal of the eccentric block, realizes a unified interface between the vibration acceleration signal and the exciting force signal, and solves the problem of signal synchronous acquisition by using a high-speed signal synchronous acquisition card, with high sampling frequency and high precision.

[0033] (2) Multi-axis position planning is achieved through the synchronous motion planning card, and rapid response control of the exciting force is achieved through the synchronous closed-loop control of the eccentric block position, thereby realizing acceleration closed-loop control, and converting the closed-loop control of vibration acceleration into a faster and more stable position closed-loop control. The exciting force has a fast response and the vibration acceleration control has a small fluctuation, which ensures the execution speed of the system, shortens the response time, and improves the accuracy of acceleration closed-loop control.

[0034] (3) The control system has a simple structure and high system stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present application may be better understood by referring to the following description given in conjunction with the accompanying drawings, which together with the following detailed description are included in this specification and form a part of this specification. In the drawings:

[0036] Figure 1 A schematic diagram of an acceleration closed-loop control system of a servo-driven resonance device according to an embodiment of the present application is shown.

[0037] Reference numerals:

[0038] 1-exciter, 2-rotating transformer, 3-drive stage, 4-load stage, 5-acceleration sensor, 6-high-speed signal synchronous acquisition card, 7-synchronous motion planning card, 8-central controller, 9-servo drive, 10-human-machine terminal, 11-eccentric block, 12-excitation unit, 13-servo motor. DETAILED DESCRIPTION

[0039] The exemplary embodiments of the present application will be described below in conjunction with the accompanying drawings. For the sake of clarity and conciseness, not all features of the actual embodiments are described in the specification. However, it should be understood that many implementation-specific decisions can be made in the process of developing any such actual embodiments in order to achieve the specific goals of the developer, and these decisions may vary from embodiment to embodiment.

[0040] Figure 1 Schematic diagram of a servo-driven resonance device acceleration closed-loop control system according to an embodiment of the present application is shown. Figure 1 The resonance device includes a drive level 3 and a load level 4. The servo-driven resonance device acceleration closed-loop control system includes: an acceleration sensor 5, an exciter 1, a high-speed signal synchronization acquisition card 6, a human-machine terminal 10, a central controller 8, a synchronous motion planning card 7 and multiple servo drivers 9. The specific implementation functions of each module of the control system are described in detail below.

[0041] The acceleration sensor 5 is fixedly mounted on the load stage 4 of the resonance device and is used to sense the vibration intensity of the load stage 4 to generate a vibration acceleration analog voltage signal. For example, a CA-YD series unidirectional acceleration sensor produced by Jiangsu Lianneng Electronics Co., Ltd. can be used.

[0042] The exciter 1 is fixedly mounted on the driving stage 3 of the resonance device. The exciter 1 includes an even number of excitation units, wherein every two excitation units can form a mutually canceling pair, or a mutually synthesizing pair. Here, 2, 4, 6 or more excitation units can be set. It should be noted that the more the number of excitation units, the stronger the driving capability that can be achieved, and accordingly, the more complex the system structure. Preferably, the embodiment of the present application can set 4 excitation units to ensure that a stronger driving capability can be obtained while avoiding the system being too complex.

[0043] In one implementation, the excitation unit includes a servo motor 13, an eccentric block 11 and a rotary transformer 2, and the eccentric block 11 and the rotary transformer 2 are fixedly mounted on the rotating shaft of the servo motor 13. The eccentric block 11 generates centrifugal force during the rotation of the rotating shaft. The vibrator 1 generates synchronous motion through the servo motor 13, so that the centrifugal forces of the eccentric block 11 in the distribution direction of the excitation unit cancel each other out, thereby generating a resultant force perpendicular to the distribution direction of the excitation unit to drive the resonance device to vibrate; the rotary transformer 2 can detect the position of the eccentric block 11 and generate a position analog voltage signal. In this embodiment, the use of the rotary transformer 2 can convert the position information of the eccentric block 11 into a position analog voltage signal, so as to be consistent with the analog voltage signal of the acceleration sensor 5, and unify the acquisition interface. Here, the rotary transformer 2 can use the YH series brushless, reluctance rotary transformer of Changchun Yuheng Company, and the eccentric block 11 can be processed and customized according to the required excitation force. In this embodiment, the servo motor 13 also includes a feedback element, which is an absolute position type and can memorize the zero point position of the exciting force after power failure. An ordinary industrial servo motor with an absolute position type can be selected, and a special type with enhanced shock resistance can also be customized. The feedback element is used to accurately control the speed and angular position of the servo motor; here the feedback element can generate a rotational position signal of each servo motor 13 at the current moment and output it to the servo driver 9.

[0044] In other implementations, the excitation unit includes a servo motor 13 and an eccentric block 11. The eccentric block 11 is fixedly mounted on the rotating shaft of the servo motor 13. The servo motor 13 includes a coil and a rotary transformer. The rotary transformer here is integrated inside the servo motor 13. As a feedback element of the servo motor 13, the eccentric block 11 generates centrifugal force during the rotation of the rotating shaft. The exciter 1 uses the synchronous movement generated by the servo motor 13 to offset the centrifugal force of the eccentric block 11 in the distribution direction of the excitation unit, thereby generating a resultant force perpendicular to the distribution direction of the excitation unit to drive the resonance device to vibrate; the rotary transformer 2 can detect the position of the eccentric block 11 and generate a position analog voltage signal. In this embodiment, the use of the rotary transformer 2 can convert the position information of the eccentric block 11 into a position analog voltage signal, thereby keeping consistent with the analog voltage signal of the acceleration sensor 5, and unifying the acquisition interface. Here, the rotary transformer 2 can use the YH series brushless, magnetic resistance rotary transformer of Changchun Yuheng Company, and the eccentric block 11 can be processed and customized according to the required excitation force. In this implementation, the rotary transformer of the servo motor 13 can also generate a rotation position signal of each servo motor 13 at the current moment and output it to the servo driver 9 .

[0045] The high-speed signal synchronous acquisition card 6 can perform high-speed synchronous acquisition of the vibration acceleration analog voltage signal generated by the acceleration sensor 5 and the position analog voltage signal generated by any one of the even-numbered excitation units, and transmit them to the central controller 8. The multiple acquisition channels of the high-speed signal synchronous acquisition card can realize the synchronous acquisition of voltage signals, ensure the acquisition accuracy of the signal, and reduce the acquisition error. Here, the high-speed signal synchronous acquisition card 6 can adopt the NI 9234 Ethernet high-speed data acquisition card of National Instruments or the DAQ industrial-grade data PCI card of Advantech, with a single-channel sampling rate of up to 50k per second, supporting multi-channel synchronous acquisition, and a resolution of not less than 24 bits. Here, any one of the even-numbered excitation units can generate a position analog voltage signal. When the excitation unit that transmits the position analog voltage signal to the high-speed signal synchronous acquisition card 6 fails, the high-speed signal synchronous acquisition card 6 can use the position analog voltage signal generated by other excitation units.

[0046] The human-machine terminal 10 is used to send acceleration instructions to the central controller 8; the acceleration instructions are used to indicate the expected vibration acceleration that the resonance device will eventually achieve; the human-machine terminal 10 can use an ordinary keyboard, mouse, display or touch screen, etc., can accept the acceleration instructions input by the operator, and transmit the acceleration instructions to the central controller 8.

[0047] The central controller 8 is used to determine the rotation speed of each servo motor 13 and the target rotation position of each servo motor 13 according to the position analog voltage signal, vibration acceleration analog voltage signal and acceleration instruction collected by the high-speed signal synchronization acquisition card 6. Here, the central controller 8 calculates the phase difference between the vibration acceleration analog voltage signal and the position analog voltage signal to determine the resonant frequency, determines the magnitude of the exciting force by the difference between the acceleration instruction and the current acceleration, and determines the target rotation position of each servo motor 13 according to the resonant frequency and the magnitude of the exciting force. In addition, the central controller 8 also transmits the determined target rotation position of each servo motor 13 to the synchronous motion planning card 7, realizing the conversion of the closed-loop control of the vibration acceleration into a more responsive and stable position closed-loop control. Here, the central controller 8 can adopt an ordinary industrial PC or an embedded controller.

[0048] The synchronous motion planning card 7 is used to determine the motion planning of each servo motor 13 according to the target rotation position of each servo motor 13 and the rotation position signal of each servo motor 13 at the current moment, and send the motion planning of each servo motor 13 to the corresponding servo driver 9. Here, the synchronous motion planning card 7 plans the rotation angle of the servo motor 13 in each subsequent clock cycle according to the target rotation position of each servo motor 13 and the rotation position signal of each servo motor 13 at the current moment so that the resonant device reaches the expected vibration acceleration. Here, the synchronous motion planning card 7 can use the 4-axis network motion control card of Shenzhen Zhengdong Technology Co., Ltd. The synchronous motion control card 7 is used to perform position closed-loop control, which ensures the execution speed of the system, shortens the response time, and improves the accuracy of acceleration closed-loop control.

[0049] The servo driver 9 is used to drive the movement of each servo motor 13 according to the movement plan of each servo motor 13 so that the resonance device reaches the expected vibration acceleration. The servo driver 9 can be a common industrial servo driver that supports the feedback element of the servo motor 13.

[0050] The embodiment of the present application further provides a servo-driven resonance device acceleration closed-loop control method, which is applied to the servo-driven resonance device acceleration closed-loop control system in the above embodiment, comprising:

[0051] Obtaining an acceleration instruction; the acceleration instruction is used to indicate the expected vibration acceleration that the resonance device is ultimately to achieve;

[0052] The vibration intensity of the load level of the sensing resonant device is generated to generate a vibration acceleration analog voltage signal;

[0053] Detecting the position of an eccentric block installed on any servo motor of the resonance device, and generating a position analog voltage signal of any servo motor;

[0054] Synchronously collect the vibration acceleration analog voltage signal and the position analog voltage signal of any servo motor;

[0055] Determine the rotation position signal of each servo motor at the current moment;

[0056] Determine the target rotation position of each servo motor according to the position simulation voltage signal, the vibration acceleration simulation voltage signal and the acceleration command;

[0057] Determine the motion plan of each servo motor according to the target rotation position of each servo motor and the rotation position signal of each servo motor at the current moment;

[0058] According to the motion plan of each servo motor, the motion of each servo motor is driven to make the resonant device reach the expected vibration acceleration.

[0059] In summary, the servo-driven resonance device acceleration closed-loop control system and method of the present application have the following technical effects:

[0060] (1) The present application replaces the exciting force signal with the position analog signal of the eccentric block, realizes a unified interface between the vibration acceleration signal and the exciting force signal, and solves the problem of signal synchronous acquisition by using a high-speed signal synchronous acquisition card, with high sampling frequency and high precision.

[0061] (2) Multi-axis position planning is achieved through the synchronous motion planning card, and rapid response control of the exciting force is achieved through the synchronous closed-loop control of the eccentric block position, thereby realizing acceleration closed-loop control, and converting the closed-loop control of vibration acceleration into a faster and more stable position closed-loop control. The exciting force has a fast response and the vibration acceleration control has a small fluctuation, which ensures the execution speed of the system, shortens the response time, and improves the accuracy of acceleration closed-loop control.

[0062] (3) The control system has a simple structure and high system stability.

[0063] It is also necessary to explain here that, in order to avoid obscuring the present application due to unnecessary details, only the device structure closely related to the scheme according to the present application is shown in the drawings, while other details that are not closely related to the present application are omitted.

[0064] It should be understood that the present application is not limited to the described implementation forms due to the following description with reference to the accompanying drawings. In this article, where feasible, the embodiments can be combined with each other, features between different embodiments can be replaced or borrowed, and one or more features can be omitted in one embodiment.

[0065] The above are only various implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A servo-driven resonance device acceleration closed-loop control system, characterized in that: include: Acceleration sensor, vibration exciter, high-speed signal synchronous acquisition card, human-machine terminal, central controller, synchronous motion planning card and multiple servo drives, among which, The acceleration sensor is mounted on the load level of the resonance device and is used to sense the vibration intensity of the load level to generate a vibration acceleration analog voltage signal; The exciter comprises an even number of excitation units, each of which comprises an eccentric block, a servo motor and a rotary transformer, wherein the eccentric block and the rotary transformer are both mounted on the rotating shaft of the servo motor, and when the rotating shaft of the servo motor is rotating, the rotary transformer can detect the position of the eccentric block and generate a position analog voltage signal, and the servo motor can generate a rotation position signal of the servo motor at the current moment; The high-speed signal synchronous acquisition card is used to acquire any one of the plurality of position analog voltage signals and the vibration acceleration analog voltage signal, and the plurality of acquisition channels of the high-speed signal synchronous acquisition card can realize the synchronous acquisition of any one of the position analog voltage signals and the vibration acceleration analog voltage signal; The human-machine terminal is used to send an acceleration instruction to the central controller; the acceleration instruction is used to indicate the expected vibration acceleration that the resonance device is ultimately to achieve; The central controller is used to determine the target rotation position of each of the servo motors according to the position analog voltage signal, the vibration acceleration analog voltage signal and the acceleration instruction collected by the high-speed signal synchronization acquisition card; the central controller calculates the phase difference between the vibration acceleration analog voltage signal and the position analog voltage signal to determine the resonance frequency; determines the magnitude of the exciting force by the difference between the acceleration instruction and the current acceleration; and determines the target rotation position of each of the servo motors according to the resonance frequency and the magnitude of the exciting force; The synchronous motion planning card is used to determine the motion planning of each servo motor according to the target rotation position of each servo motor and the rotation position signal of each servo motor at the current moment; The multiple servo drivers are used to drive the movement of each of the servo motors according to the motion plan of each of the servo motors so that the resonance device reaches the expected vibration acceleration.

2. A servo-driven resonance device acceleration closed-loop control system, characterized in that: include: Acceleration sensor, vibration exciter, high-speed signal synchronous acquisition card, human-machine terminal, central controller, synchronous motion planning card and multiple servo drives, among which, The acceleration sensor is mounted on the load level of the resonance device and is used to sense the vibration intensity of the load level to generate a vibration acceleration analog voltage signal; The exciter includes an even number of excitation units, each of which includes an eccentric block and a servo motor, wherein the eccentric block is mounted on the rotating shaft of the servo motor, and the servo motor includes a rotary transformer. During the rotation of the rotating shaft of the servo motor, the rotary transformer can detect the position of the eccentric block and generate a position analog voltage signal, and the rotary transformer of the servo motor is also used to generate a rotation position signal of the servo motor at the current moment; The high-speed signal synchronous acquisition card is used to acquire any one of the plurality of position analog voltage signals and the vibration acceleration analog voltage signal, and the plurality of acquisition channels of the high-speed signal synchronous acquisition card can realize the synchronous acquisition of any one of the position analog voltage signals and the vibration acceleration analog voltage signal; The human-machine terminal is used to send an acceleration instruction to the central controller; the acceleration instruction is used to indicate the expected vibration acceleration that the resonance device is ultimately to achieve; The central controller is used to determine the target rotation position of each of the servo motors according to the position analog voltage signal, the vibration acceleration analog voltage signal and the acceleration instruction collected by the high-speed signal synchronization acquisition card; the central controller calculates the phase difference between the vibration acceleration analog voltage signal and the position analog voltage signal to determine the resonance frequency; determines the magnitude of the exciting force by the difference between the acceleration instruction and the current acceleration; and determines the target rotation position of each of the servo motors according to the resonance frequency and the magnitude of the exciting force; The synchronous motion planning card is used to determine the motion planning of each servo motor according to the target rotation position of each servo motor and the rotation position signal of each servo motor at the current moment; The multiple servo drivers are used to drive the movement of each of the servo motors according to the motion plan of each of the servo motors so that the resonance device reaches the expected vibration acceleration.

3. A closed-loop control method for acceleration of a servo-driven resonance device, characterized in that: include: Obtaining an acceleration instruction; the acceleration instruction is used to indicate the expected vibration acceleration that the resonance device is ultimately to achieve; Sensing the vibration intensity of the load level of the resonant device to generate a vibration acceleration analog voltage signal; Detecting the position of an eccentric block installed on any one of the servo motors of the resonance device, and generating a position analog voltage signal of the any one of the servo motors; Synchronously collecting the vibration acceleration analog voltage signal and the position analog voltage signal of any one of the servo motors; Determine the rotation position signal of each of the servo motors at the current moment; Determining a target rotation position of each of the servo motors according to the position simulation voltage signal, the vibration acceleration simulation voltage signal and the acceleration instruction; Calculate the phase difference between the vibration acceleration analog voltage signal and the position analog voltage signal to determine the resonance frequency; determine the magnitude of the exciting force by the difference between the acceleration command and the current acceleration; and determining a target rotation position of each of the servo motors according to the resonant frequency and the magnitude of the exciting force; Determine the motion plan of each servo motor according to the target rotation position of each servo motor and the rotation position signal of each servo motor at the current moment; According to the motion plan of each of the servo motors, each of the servo motors is driven to move so that the resonance device reaches the expected vibration acceleration.

Images