Servo control method applied to servo system

Abstract

The invention relates to the technical field of servo control, and discloses a servo control method applied to a servo system, which comprises the following steps of: 1, initializing the servo system; 2, setting parameters of a connected servo motor shaft, and writing the parameters into a driver so that the driver can control the servo motor to work; 3, when the servo motor works, the state of the shaft is monitored; and 4, controlling the shaft to work according to the state of the shaft. According to the invention, the parameters of the shaft are written into the register, and the upper computer directly obtains and analyzes the data in the register and monitors the shaft, so that compared with the prior art, the servo working state can be monitored, various operations of the upper computer on the servo can be processed in real time according to the working state, and the servo control timeliness is high.

Description

Technical Field

[0001] The present invention relates to the technical field of servo control, and in particular to a servo control method applied to a servo system. Background Art

[0002] The servo system is an automatic control system that enables the output controlled quantities such as the position, orientation, and state of an object to follow any changes in the input target (or given value). At present, the servo control in the servo system mainly controls the servo motor by controlling the pulses sent to the servo driver through the PLC (Programmable Logic Controller). For example, if the servo motor is agreed to rotate once every 10,000 pulses, if the PLC sends 10,000 pulses in one minute, the servo motor will complete one circle at a speed of 1 r / min. If 10,000 pulses are sent in one second, the servo motor will complete one circle at a speed of 60 r / min.

[0003] However, the above method has the following problems: it is unable to monitor the working status of the servo; it is unable to process various operations of the host computer on the servo in real time, and the timeliness of controlling the servo is insufficient. Summary of the invention

[0004] The purpose of the present invention is to solve the problems existing in the prior art and to propose a servo control method applied to a servo system.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A servo control method applied to a servo system comprises the following steps:

[0007] Step 1, initialize the servo system;

[0008] Step 2: Set the parameters of the connected servo motor shaft and write the parameters to the driver so that the driver can control the servo motor to work;

[0009] Step 3: When the servo motor is working, monitor the state of the shaft;

[0010] Step 4: Control the axis operation according to the state of the axis.

[0011] Preferably, in step 1, initializing the servo system includes initializing the communication interface, which specifically includes the following steps:

[0012] Select the appropriate communication interface based on the requirements of the control system and the support of the servo motor driver;

[0013] Set the baud rate, data bit, stop bit, and check bit parameters of the communication interface to ensure accurate data transmission between the control system and the servo motor driver;

[0014] Connect the servo control system to the servo motor driver;

[0015] Send test instructions or data to the servo motor driver and receive its response to verify the reliability and accuracy of the communication connection.

[0016] Preferably, in step 1, initializing the servo system further includes initializing the servo motor shaft, which specifically includes the following steps:

[0017] Sending query instructions to the servo motor driver via the communication bus;

[0018] Wait for and receive a response from the drive, which contains the number of its axes;

[0019] Count all received responses and determine the total number of connected servo motor axes;

[0020] Assign a unique number (axis ID) to each axis, depending on the servo motor configuration and intended use;

[0021] According to actual needs, set the type for each axis (such as rotary axis, linear axis, etc.);

[0022] Enable each axis to ensure they are ready to receive control instructions;

[0023] Initialization is complete.

[0024] Preferably, the initialization of the servo motor shaft further includes:

[0025] Traverse each identified servo motor axis and send error clearing instructions to the corresponding drive;

[0026] Wait for and confirm the error clear confirmation information returned by the drive to ensure that all previous error states are reset;

[0027] If an error that cannot be cleared is encountered while clearing errors, the error code is recorded and handled or reported in subsequent steps.

[0028] Preferably, the specific process of setting the axis parameters and writing the parameters to the driver so that the driver can control the servo motor to work is:

[0029] Determine the axis parameters that need to be set based on the servo motor model, specifications, and application requirements. These parameters may include the axis's range of motion, speed, acceleration, position feedback type, control mode, etc.

[0030] Write the parameters into the MODBUS driver in the form of PDO to ensure that the driver can meet the usage requirements when driving the motor;

[0031] Among them, for special parameter axes, the values ​​of the corresponding object dictionary are modified separately through the SDO method to modify the slave parameters.

[0032] Preferably, in the process of initializing all servo motors, when a unique number is assigned to each axis, each axis is numbered according to the connection sequence, and the parameters of each axis are written into different registers according to the number of each axis.

[0033] Preferably, the specific process of monitoring the state of the shaft when the servo motor is working is:

[0034] The host computer directly obtains data from different registers, processes and analyzes the obtained data in the host computer, and monitors each data in real time at the millisecond level, thereby achieving the purpose of real-time monitoring of each axis.

[0035] Preferably, when the state of the shaft is monitored, other safety states are also controlled, and the other safety states include:

[0036] The range of motion of the axis;

[0037] Environmental factors, including temperature, humidity, and vibration;

[0038] Preferably, when monitoring the state of the axis, the acceleration and deceleration of each axis are set. The specific process is as follows:

[0039] During the movement of each axis, a laser radar is installed in the direction of the axis. When the radar is triggered in different safety areas, different IO signals will be transmitted for three-stage triggering. The first stage is initial deceleration, the second stage is deceleration to crawling, and the third stage is direct stop operation. By real-time monitoring of different signals from different radars, the speed of the axis corresponding to the radar IO signal can be directly limited.

[0040] Preferably, the different security areas include:

[0041] Preliminary deceleration area: When the axis enters this area, it means that there is still a certain distance to the obstacle or danger area, but it is necessary to start decelerating to avoid potential danger;

[0042] Deceleration creeping area: When the axis enters this area, it means that it is very close to obstacles or dangerous areas and needs to be further decelerated to the creeping speed to ensure that it can stop quickly in an emergency;

[0043] Stop operation area: When the shaft enters this area, it means that it has touched an obstacle or is in an extremely dangerous environment and needs to stop operation immediately to prevent accidents.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] The present invention writes the parameters of the axis into a register, and the host computer directly obtains and analyzes the data in the register to monitor the axis. Compared with the prior art, the present invention can monitor the working status of the servo, and process various operations of the host computer on the servo in real time according to the working status, and the timeliness of the servo control is strong. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 The present invention is a flowchart of a servo control method applied to a servo system. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0048] Reference Figure 1 , a servo control method applied to a servo system, comprising the following steps:

[0049] Step 1, initialize the servo system;

[0050] Step 2: Set the parameters of the connected servo motor shaft and write the parameters to the driver so that the driver can control the servo motor to work;

[0051] Step 3: When the servo motor is working, monitor the state of the shaft;

[0052] Step 4: Control the axis operation according to the state of the axis.

[0053] The above process can be implemented in Basic language, which is relatively simple, has clear sentence structure, and is easy to understand and master. For beginners and non-professional developers, the entry threshold is low.

[0054] In this embodiment, in step 1, initializing the servo system includes initializing the communication interface, which specifically includes the following steps:

[0055] Select the appropriate communication interface based on the requirements of the control system and the support of the servo motor driver;

[0056] Set the baud rate, data bit, stop bit, and check bit parameters of the communication interface to ensure accurate data transmission between the control system and the servo motor driver;

[0057] Connect the servo control system to the servo motor driver;

[0058] Send test instructions or data to the servo motor driver and receive its response to verify the reliability and accuracy of the communication connection.

[0059] In this embodiment, in step 1, initializing the servo system also includes initializing the servo motor shaft, which specifically includes the following steps:

[0060] Sending query instructions to the servo motor driver via the communication bus;

[0061] Wait for and receive a response from the drive, which contains the number of its axes;

[0062] Count all received responses and determine the total number of connected servo motor axes;

[0063] According to the configuration and intended use of the servo motor, a unique number (i.e., axis ID) is assigned to each axis. Assigning a unique number to each axis and numbering them in the order of connection helps to simplify the parameter management and configuration process. For example, a unique number can be assigned to each axis according to the connection order or physical position of the axis. The number is set as an integer and increases from 1. For example, the first connected axis is numbered 1, the second connected axis is numbered 2, and so on.

[0064] According to actual needs, set the type for each axis (including rotary axis, linear axis, etc.);

[0065] Enable each axis to ensure they are ready to receive control instructions;

[0066] Initialization is complete.

[0067] In this embodiment, the initialization of the servo motor shaft also includes:

[0068] Traverse each identified servo motor axis and send error clearing instructions to the corresponding drive;

[0069] Wait for and confirm the error clear confirmation information returned by the drive to ensure that all previous error states are reset;

[0070] If an error that cannot be cleared is encountered while clearing errors, the error code is recorded and handled or reported in subsequent steps.

[0071] In this embodiment, the specific process of setting the axis parameters and writing the parameters to the driver so that the driver can control the servo motor to work is as follows:

[0072] According to the model, specification and application requirements of the servo motor, determine the axis parameters that need to be set. The axis parameters include the axis's range of motion, speed, acceleration, position feedback type, control mode, etc. By accurately setting the axis parameters, such as position, speed, acceleration, etc., it can be ensured that the servo motor achieves the expected accuracy and performance during the motion process. By adjusting the parameters according to the application requirements, the performance of the servo motor can be optimized, such as reducing energy consumption and improving response speed.

[0073] Writing parameters to the MODBUS driver in the form of PDO ensures that the driver can meet the use requirements when driving the motor. Writing parameters to the driver through PDO (Process Data Object) and SDO (Service Data Object) can ensure the consistency of parameters between the driver and the control system. In the MODBUS driver, specific registers or commands can be set as needed to configure PDO;

[0074] Among them, for special parameter axes, the values ​​of the corresponding object dictionary are modified through SDO alone to modify the slave parameters. The special parameter axes include the torque, current speed value, alarm information and other parameters of the walking axis: the alarm information and control mode and other parameters of the remaining axes.

[0075] In this embodiment, during the process of initializing all servo motors, when a unique number is assigned to each axis, each axis is numbered according to the connection sequence, and the parameters of each axis are written into different registers according to the number of each axis.

[0076] In this embodiment, the specific process of monitoring the state of the shaft when the servo motor is working is:

[0077] The host computer directly obtains data from different registers, processes and analyzes the obtained data in the host computer, and monitors each data in real time at the millisecond level, thereby achieving the purpose of real-time monitoring of each axis.

[0078] In this embodiment, when the state of the shaft is monitored, other safety states are also controlled, and the other safety states include:

[0079] The range of motion of the axis;

[0080] Environmental factors, including temperature, humidity, and vibration;

[0081] By setting safety zones and corresponding control measures, the safety of the servo motor system can be further enhanced to prevent accidents caused by external factors. For example, when the temperature, humidity, or vibration is abnormal, or the axis's range of motion exceeds the standard, the servo control can be stopped in time.

[0082] In this embodiment, the monitoring of the state of the axis also includes setting the acceleration and deceleration of each axis. The specific process is as follows:

[0083] During the movement of each axis, a laser radar is installed in the direction of the axis. When the radar is triggered in different safety areas, different IO signals will be transmitted for three-stage triggering. The first stage is initial deceleration, the second stage is deceleration to crawling, and the third stage is direct stop operation. By real-time monitoring of different signals from different radars, the speed of the axis corresponding to the radar IO signal is directly limited. The laser radar can realize real-time monitoring, which helps to ensure that the servo motor runs in a safe state, such as detecting obstacles through the laser radar and triggering deceleration or stop commands.

[0084] When the radar is triggered in different safety areas, different IO signals will be transmitted for three-stage triggering, which can optimize motion control. According to real-time status information, the motion control strategy can be adjusted, such as changing acceleration and deceleration, to optimize the operation effect of the servo motor. Reasonable acceleration and deceleration settings can make the servo motor move more smoothly and reduce impact and vibration. Reasonable acceleration and deceleration settings can help protect the load from excessive impact force, thereby extending the service life of the load.

[0085] In this embodiment, the different security areas include:

[0086] Preliminary deceleration area: When the axis enters this area, it means that there is still a certain distance to the obstacle or danger area, but it is necessary to start decelerating to avoid potential danger;

[0087] Deceleration creeping area: When the axis enters this area, it means that it is very close to obstacles or dangerous areas and needs to be further decelerated to the creeping speed to ensure that it can stop quickly in an emergency;

[0088] Stop operation area: When the shaft enters this area, it means that it has touched an obstacle or is in an extremely dangerous environment and needs to stop operation immediately to prevent accidents.

[0089] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A servo control method applied to a servo system, characterized in that: The following steps are involved: Step 1, initialize the servo system; Step 2: Set the parameters of the connected servo motor shaft and write the parameters to the driver so that the driver can control the servo motor to work; Step 3: When the servo motor is working, monitor the state of the shaft; Step 4: Control the axis operation according to the state of the axis.

2. The servo control method applied to a servo system according to claim 1, characterized in that: In the step 1, initializing the servo system includes initializing the communication interface, which specifically includes the following steps: Select the appropriate communication interface based on the requirements of the control system and the support of the servo motor driver; Set the baud rate, data bit, stop bit, and check bit parameters of the communication interface to ensure accurate data transmission between the control system and the servo motor driver; Connect the servo control system to the servo motor driver; Send test instructions or data to the servo motor driver and receive its response to verify the reliability and accuracy of the communication connection.

3. The servo control method applied to a servo system according to claim 1, characterized in that: In the step 1, initializing the servo system also includes initializing the servo motor shaft, which specifically includes the following steps: Sending query instructions to the servo motor driver via the communication bus; Wait for and receive a response from the drive, which contains the number of its axes; Count all received responses and determine the total number of connected servo motor axes; Assign a unique number to each axis based on the servo motor's configuration and intended use; Set the type for each axis according to actual needs; Enable each axis to ensure they are ready to receive control instructions; Initialization is complete.

4. The servo control method applied to a servo system according to claim 2, characterized in that: When the servo motor shaft is initialized, it also includes: Traverse each identified servo motor axis and send error clearing instructions to the corresponding drive; Wait for and confirm the error clear confirmation information returned by the drive to ensure that all previous error states are reset; If an error that cannot be cleared is encountered while clearing errors, the error code is recorded and handled or reported in subsequent steps.

5. The servo control method applied to a servo system according to claim 1, characterized in that: The specific process of setting the axis parameters and writing the parameters to the driver so that the driver can control the servo motor is as follows: Determine the axis parameters that need to be set according to the servo motor model, specifications and application requirements; Write the parameters into the MODBUS driver in the form of PDO to ensure that the driver can meet the usage requirements when driving the motor; Among them, for special parameter axes, the values ​​of the corresponding object dictionary are modified separately through the SDO method to modify the slave parameters.

6. The servo control method applied to a servo system according to claim 3, characterized in that: During the process of initializing all servo motors, when a unique number is assigned to each axis, each axis is numbered according to the connection sequence, and the parameters of each axis are written into different registers according to the number of each axis.

7. The servo control method applied to a servo system according to claim 4, characterized in that: The specific process of monitoring the state of the shaft when the servo motor is working is as follows: The host computer directly obtains data from different registers, processes and analyzes the obtained data in the host computer, and monitors each data in real time at the millisecond level, thereby achieving the purpose of real-time monitoring of each axis.

8. The servo control method applied to a servo system according to claim 5, characterized in that: When the state of the shaft is monitored, other safety states may also be controlled. The other safety states may include: The range of motion of the axis; Environmental factors, including temperature, humidity, and vibration.

9. The servo control method applied to a servo system according to claim 5, characterized in that: When the state of the axis is monitored, the acceleration and deceleration of each axis are set. The specific process is as follows: During the movement of each axis, a laser radar is installed in the direction of the axis. When the radar is triggered in different safety areas, different IO signals will be transmitted for three-stage triggering. The first stage is initial deceleration, the second stage is deceleration to crawling, and the third stage is direct stop operation. By real-time monitoring of different signals from different radars, the speed of the axis corresponding to the radar IO signal can be directly limited.

10. The servo control method applied to a servo system according to claim 9, characterized in that: The different security areas include: Preliminary deceleration area: When the axis enters this area, it means that there is still a certain distance to the obstacle or danger area, but it is necessary to start decelerating to avoid potential danger; Deceleration creeping area: When the axis enters this area, it means that it is very close to obstacles or dangerous areas and needs to be further decelerated to the creeping speed to ensure that it can stop quickly in an emergency; Stop operation area: When the shaft enters this area, it means that it has touched an obstacle or is in an extremely dangerous environment and needs to stop operation immediately to prevent accidents.

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