Servo system and motor control method

Abstract

The embodiment of the invention discloses a servo system and a control method of a motor. The servo system comprises a servo driver and a motor subsystem; wherein the motor subsystem comprises a motor, a processor and a control circuit, the control circuit is located on the motor side, the processor is electrically connected with the control circuit, the control circuit is electrically connected with the motor, and the servo driver is electrically connected with the processor and the motor; the processor is used for receiving a control instruction and controlling the working state of the control circuit according to the control instruction so as to control the working state of the motor, and the servo driver is used for receiving demand information transmitted by the processor, determining a target signal according to the demand information and driving the motor according to the target signal. According to the servo system and the motor control method provided by the embodiment of the invention, the control reliability can be ensured.

Description

Technical Field

[0001] The embodiments of the present invention relate to servo technology, and more particularly to a servo system and a motor control method. Background Art

[0002] The servo system is a feedback control system whose controlled quantity is mechanical displacement or displacement velocity or acceleration. Its function is to make the output mechanical displacement (or rotation angle) accurately track the input displacement (or rotation angle), and it is widely used in many fields of production and life.

[0003] At present, the existing servo system usually has the problem of low current control accuracy of the motor when controlling the motor, which affects the control reliability. Summary of the invention

[0004] The embodiment of the present invention provides a servo system and a control method of a motor to ensure control reliability.

[0005] In a first aspect, an embodiment of the present invention provides a servo system, comprising: a servo driver and a motor subsystem;

[0006] Wherein, the motor subsystem includes a motor, a processor and a control circuit, the control circuit is located on the motor side, the processor is electrically connected to the control circuit, the control circuit is electrically connected to the motor, and the servo drive is electrically connected to the processor and the motor;

[0007] The processor is used to receive control instructions, and control the working state of the control circuit according to the control instructions to control the working state of the motor; the servo driver is used to receive demand information transmitted by the processor, determine a target signal according to the demand information, and drive the motor according to the target signal.

[0008] Optionally, the control circuit includes a current feedback module, the processor is electrically connected to the current feedback module, and the current feedback module is electrically connected to the motor.

[0009] Optionally, the current feedback module is integrated on a circuit board, and the circuit board is located on the motor side.

[0010] Optionally, the servo system further includes an encoder, wherein the encoder is located on the motor and is electrically connected to the processor.

[0011] Optionally, the current feedback module is located at a connection terminal of the motor or inside the motor.

[0012] In a second aspect, an embodiment of the present invention provides a method for controlling a motor, the method being executed by a processor in the servo system according to the first aspect, the method comprising:

[0013] Receive control instructions;

[0014] The working state of the control circuit is controlled according to the control instruction to control the working state of the motor, and data transmitted by the control circuit is received; the processor transmits the required information to the servo driver.

[0015] Optionally, the servo driver determines a target signal according to the demand information, and drives the motor according to the target signal.

[0016] Optionally, the target signal is a target PWM waveform signal.

[0017] Optionally, the requirement information includes PWM requirement information of the motor.

[0018] The servo system and the control method of the motor provided by the embodiment of the present invention, the servo system includes: a servo drive and a motor subsystem; wherein the motor subsystem includes a motor, a processor and a control circuit, the control circuit is located on the motor side, the processor is electrically connected to the control circuit, the control circuit is electrically connected to the motor, and the servo drive is electrically connected to the processor and the motor; the processor is used to receive control instructions, and control the working state of the control circuit according to the control instructions to control the working state of the motor, and the servo drive is used to receive the demand information transmitted by the processor, determine the target signal according to the demand information, and drive the motor according to the target signal. The servo system and the control method of the motor provided by the embodiment of the present invention, the control circuit is located on the motor side, which solves the problem that the control circuit is on the servo drive side, and the wiring between the servo drive and the motor is long, and the long wiring brings current fluctuations, resulting in a decrease in current control accuracy, thereby ensuring control reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a structural block diagram of a servo system provided by Embodiment 1 of the present invention;

[0020] Figure 2 is a structural block diagram of a control circuit provided by Embodiment 2 of the present invention;

[0021] Figure 3 is a flow chart of a motor control method provided by Embodiment 3 of the present invention;

[0022] Figure 4 is a schematic diagram of a motor closed-loop control provided by Embodiment 3 of the present invention;

[0023] Figure 5 is a structural block diagram of a motor control device provided by a fourth embodiment of the present invention;

[0024] Figure 6It is a structural schematic diagram of an electronic device provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0025] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0026] Embodiment 1

[0027] Figure 1 is a structural block diagram of a servo system provided by Embodiment 1 of the present invention. Figure 1 The servo system includes: a servo driver 10 and a motor subsystem 20; wherein the motor subsystem 20 includes a motor 21, a processor 22 and a control circuit 23, the control circuit 23 is located on the motor side, the processor 22 is electrically connected to the control circuit 23, the control circuit 23 is electrically connected to the motor 21, and the servo driver 10 is electrically connected to the processor 22 and the motor 21; the processor 22 is used to receive control instructions, and control the working state of the control circuit 23 according to the control instructions to control the working state of the motor 21, and the servo driver 10 is used to receive demand information transmitted by the processor 22, determine the target signal according to the demand information, and drive the motor 21 according to the target signal.

[0028] Specifically, when the processor 22 receives a control instruction such as a control instruction for the operation of the motor, it generates the motor's demand information such as the PWM waveform information required for the operation of the motor according to the control instruction, and transmits the motor's demand information to the servo driver 10. The servo driver 10 generates a target signal such as the PWM signal required for the operation of the motor according to the demand information, and drives the motor 21 according to the PWM signal. The processor 22 controls the control circuit 23 to work, and the control circuit 23 continuously monitors the operation of the motor 10. If a deviation occurs, it is fed back to the processor 22 in time. The processor 22 readjusts the required PWM waveform information according to the deviation and feeds it back to the servo driver 10 to form a closed-loop control, so that the motor determines the PWM waveform required by itself, and transmits the PWM waveform information required for the operation of the motor to the servo driver through the communication between the processor and the servo driver, and then the servo driver generates the PWM waveform required by the motor to drive the motor. In addition, the control circuit 23 is located on the motor side, which solves the problem that the control circuit is on the servo driver side, and the wiring between the servo driver and the motor is long, and the long wiring brings current fluctuations, resulting in a decrease in current control accuracy.

[0029] It should be noted that the sizes of the above parameters can be determined according to actual control requirements and are not limited here.

[0030] The servo system provided in this embodiment includes: a servo drive and a motor subsystem; wherein the motor subsystem includes a motor, a processor and a control circuit, the control circuit is located on the motor side, the processor is electrically connected to the control circuit, the control circuit is electrically connected to the motor, and the servo drive is electrically connected to the processor and the motor; the processor is used to receive control instructions, and control the working state of the control circuit according to the control instructions to control the working state of the motor, and the servo drive is used to receive demand information transmitted by the processor, determine the target signal according to the demand information, and drive the motor according to the target signal. In the servo system provided in this embodiment, the control circuit is located on the motor side, which solves the problem that the control circuit is on the servo drive side, and the wiring between the servo drive and the motor is long, and the long wiring brings current fluctuations, resulting in a decrease in current control accuracy, thereby ensuring control reliability.

[0031] Embodiment 2

[0032] Figure 2 is a structural block diagram of a control circuit provided by Embodiment 2 of the present invention. Figure 2 Optionally, the control circuit 23 includes a current feedback module 231, the processor is electrically connected to the current feedback module 231, and the current feedback module 231 is electrically connected to the motor.

[0033] Among them, one end of the current feedback module 231 is electrically connected to the processor, and the other end of the current feedback module 231 is electrically connected to the motor. The processor controls the motor through the current feedback module 231, and servo control algorithms such as current loop, speed loop, and position loop run in the processor.

[0034] Optionally, the current feedback module 231 is integrated on a circuit board, and the circuit board is located on the motor side.

[0035] Specifically, the modules in the control circuit are integrated on the same circuit board, which can shorten the connection lines between modules, reduce the delay, attenuation and interference in the signal transmission process, and make the signal transmission faster, more accurate and more stable. In addition, the circuit board is located on the motor side, which solves the problem that the circuit board is on the servo drive side, and the wiring between the servo drive and the motor is long. The long wiring brings current fluctuations, resulting in reduced current control accuracy.

[0036] Optionally, the servo system further includes an encoder, which is located in the motor and electrically connected to the processor.

[0037] Specifically, the encoder is used to accurately measure the rotational position of the motor shaft and provide accurate information about the current position of the motor. This is very important for applications that require high-precision positioning, such as CNC machine tools and robot arms. The servo system can adjust the motion trajectory of the motor in real time based on the information from the encoder to ensure accurate positioning. By measuring the pulse frequency output by the encoder, the real-time speed of the motor can be accurately calculated to dynamically adjust the input power of the motor so that the motor runs at a constant speed, or quickly respond to speed changes when necessary. For example, in equipment such as fans and pumps, it can ensure that the motor maintains the appropriate speed under different loads. The encoder can indicate the direction of rotation of the motor, which is very important for applications that require control of the direction of rotation, such as agitators and fans. The direction information of the encoder ensures that the motor rotates in the required direction. The position and speed information provided by the encoder is used to adjust the control parameters of the motor, such as voltage, current, frequency, etc., to achieve more efficient and stable operation, ensuring that the motor can operate in the optimal state under different working conditions. The actual position of the motor is compared with the expected position, and the running state of the motor is adjusted to gradually approach the expected position. This closed-loop control method can greatly improve the control accuracy and stability of the motor. The encoder can monitor the speed, position and direction of the motor in real time, and send out signals if there are any abnormalities, which helps to promptly discover and deal with potential safety hazards and prevent accidents. The encoder can detect abnormal conditions of the motor, such as overspeed, stagnation, reversal, etc., and send out early warning signals, which helps operators take timely measures to avoid further development of the fault and cause serious consequences. Through the information fed back by the encoder, the servo system can optimize the operating status of the motor and avoid the motor running under unnecessary high load or low efficiency, thereby reducing energy waste. The setting of the encoder can extend the life of the motor, accurately control the operating parameters and status of the motor, and avoid the motor running under harsh conditions such as overload and overheating, thereby extending the service life of the motor and reducing the cost of replacing the motor and problems caused by motor failure.

[0038] Optionally, the current feedback module is located at the terminal of the motor or inside the motor.

[0039] Specifically, the current feedback module is installed at the terminal of the motor or inside the motor, and can directly measure the actual input current of the motor, taking into account the influence of factors such as the motor cable resistance and inductance on the current. The current feedback is more accurate and the corresponding current loop control is more precise. Directly measuring the actual input current of the motor can more timely and accurately reflect the current changes of the motor in the dynamic process, so that the control algorithm based on current feedback can more accurately calculate the motor's torque, flux and other parameters.

[0040] Optionally, the motor is a servo motor.

[0041] Among them, the servo motor is an engine that controls the operation of mechanical elements in the servo system. It is an auxiliary motor indirect speed change device that can make the output controlled quantities such as the position, orientation, and state of the object follow any changes in the input target (or given value), and can accurately control the speed and position accuracy. The servo motor adopts closed-loop control. During the operation of the motor, the actual current and speed of the motor are fed back to the control circuit in real time. According to the error between the target current and the actual current, and the error between the target speed and the actual speed, real-time adjustments are made until the motor reaches the expected state. Servo motors include DC servo motors and AC servo motors. DC servo motors are divided into brushed and brushless motors. AC servo motors are also brushless motors, which are divided into synchronous and asynchronous motors. Servo motors have the characteristics of high precision, high efficiency, high responsiveness, programmability, and strong adaptability. Specifically, servo motors have high output accuracy, can provide higher accuracy and stability in accurately controlling position, speed and acceleration, and are suitable for high-precision applications; servo motors have high efficiency, can provide higher efficiency and performance at a smaller power output, and save energy costs; servo motors have the ability to respond quickly, can change speed and position in a short time, thereby improving production efficiency; servo motors can be programmed to control their motion path and speed, can be automatically controlled as needed, reduce manual operation, and improve production efficiency; servo motors are suitable for a variety of application scenarios, including robots, automated production lines, medical equipment and other fields, and have broad application prospects. For example, on industrial automated production lines, servo motors can accurately control the position and movement speed of industrial machinery, ensure efficient operation of the production line, and improve production efficiency. In CNC machine tools, servo motors are used to control the movement and rotation of tools, and can achieve high-precision engraving and cutting processing. Servo motors are the power source of industrial robot joints, and can achieve precise motion control and flexible robotic arm operation. Servo motors are used in medical imaging equipment, surgical robots and other equipment to ensure accurate diagnosis and surgical operations of medical equipment. Servo motors are used in aerospace equipment such as aircraft, missiles, and satellites to achieve precise flight control and navigation functions, ensuring the safety and stability of the aircraft.

[0042] The servo system provided in this embodiment includes: a servo drive and a motor subsystem; wherein the motor subsystem includes a motor, a processor and a control circuit, the control circuit includes a current feedback module, and the control circuit includes each module in the control circuit located on the motor side, which solves the problem that the control circuit is on the servo drive side, and the wiring between the servo drive and the motor is long, and the long wiring brings current fluctuations, resulting in a decrease in current control accuracy, thereby ensuring control reliability.

[0043] Embodiment 3

[0044] Figure 31 is a flow chart of a motor control method provided in Embodiment 3 of the present invention. This embodiment can be applied to aspects such as controlling a motor. The method can be executed by a processor in a servo system. The processor can be integrated in an electronic device such as a computer. The method specifically includes the following steps:

[0045] Step 110: Receive control instructions.

[0046] Step 120: Control the working state of the control circuit according to the control instruction to control the working state of the motor.

[0047] For example, Figure 4 Schematic diagram of a motor closed-loop control provided by Embodiment 3 of the present invention. Figure 3 and Figure 4 The control circuit controls its operation through the processor. The processor transmits the target speed and target current of the motor to the control circuit. The control circuit controls the operation of the motor according to the target speed and target current, and controls the motor according to the speed feedback from the motor encoder (for speed calculation) and the current feedback from the motor.

[0048] Furthermore, the processor transmits the demand information to the servo driver, and the servo driver determines the target signal according to the demand information, and transmits the target signal to the motor. The demand information includes the PWM waveform information required by the motor, that is, the PWM demand information of the motor, and the target signal is the PWM signal required for the operation of the motor, that is, the target PWM waveform signal. Specifically, the servo driver generates a target signal according to the received demand information, and drives the motor according to the target signal. The processor controls the operation of the control circuit, and the control circuit continuously monitors the operation of the motor. If there is a deviation, such as the deviation between the actual current and the target current, it is fed back to the processor in time. The processor readjusts the required PWM waveform information according to the deviation and feeds it back to the servo driver to form a closed-loop control to enable the motor to determine the PWM waveform it needs.

[0049] It should be noted that the specific duration of the preset time in this embodiment can be determined according to actual control requirements and is not limited here.

[0050] The motor control method provided in this embodiment includes: receiving a control instruction; controlling the working state of the control circuit according to the control instruction to control the working state of the motor; the processor transmits the demand information to the servo driver, the servo driver determines the target signal according to the demand information, and drives the motor according to the target signal to realize the PWM waveform determined by the motor itself.

[0051] Embodiment 4

[0052] Figure 5 is a structural block diagram of a motor control device provided by the fourth embodiment of the present invention. The control device is integrated in the processor of the servo system, referring to Figure 5 The control device includes: an instruction receiving module 210 and a state control module 220. The instruction receiving module 210 is used to receive control instructions; the state control module 220 is used to control the working state of the control circuit according to the control instructions to control the working state of the motor. The processor transmits the demand information to the servo driver, and the servo driver determines the target signal according to the demand information and drives the motor according to the target signal.

[0053] The motor control device provided in this embodiment and the motor control method provided in any embodiment of the present invention belong to the same inventive concept and have corresponding beneficial effects. For technical details not detailed in this embodiment, please refer to the motor control method provided in any embodiment of the present invention.

[0054] Embodiment 5

[0055] Figure 6 It is a structural schematic diagram of an electronic device provided in Embodiment 5 of the present invention. Figure 6 A block diagram of an exemplary electronic device 412 suitable for use in implementing embodiments of the present invention is shown. Figure 6 The electronic device 412 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0056] like Figure 6 As shown, the electronic device 412 is in the form of a general purpose device. The components of the electronic device 412 may include, but are not limited to: one or more processors 416, a storage device 428, and a bus 418 connecting different system components (including the storage device 428 and the processor 416).

[0057] Bus 418 represents one or more of several types of bus structures, including a storage device bus or storage device controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include but are not limited to Industry Subversive Alliance (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0058] The electronic device 412 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 412, including volatile and non-volatile media, removable and non-removable media.

[0059] The storage device 428 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 430 and / or cache memory 432. The electronic device 412 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 434 may be used to read and write non-removable, non-volatile magnetic media ( Figure 6 not shown, usually called a "hard drive"). Although Figure 6 Not shown in the figure, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk, such as a read-only optical disk (Compact Disc Read-Only Memory, CD-ROM), a digital video disk (Digital Video Disc-Read Only Memory, DVD-ROM) or other optical media) may be provided. In these cases, each drive may be connected to the bus 418 via one or more data medium interfaces. The storage device 428 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0060] A program / utility 440 having a set (at least one) of program modules 442 may be stored, for example, in storage device 428, such program modules 442 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 442 generally perform the functions and / or methods of the embodiments described herein.

[0061] The electronic device 412 may also communicate with one or more external devices 414 (e.g., a keyboard, a pointing terminal, a display 424, etc.), may also communicate with one or more terminals that enable a user to interact with the electronic device 412, and / or communicate with any terminal that enables the electronic device 412 to communicate with one or more other computing terminals (e.g., a network card, a modem, etc.). Such communication may be performed through an input / output (I / O) interface 422. Furthermore, the electronic device 412 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 420. Figure 6 As shown, the network adapter 420 communicates with other modules of the electronic device 412 via the bus 418. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 412, including but not limited to: microcode, terminal drivers, redundant processors, external disk drive arrays, disk arrays (Redundant Arrays of Independent Disks, RAID) systems, tape drives, and data backup storage systems.

[0062] The processor 416 executes various functional applications and data processing by running the program stored in the storage device 428, such as implementing the motor control method provided in the embodiment of the present invention, which includes:

[0063] Receive control instructions;

[0064] The working state of the control circuit is controlled according to the control instruction to control the working state of the motor; the processor transmits the required information to the servo driver.

[0065] Embodiment 6

[0066] Embodiment 6 of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, a method for controlling a motor provided in the embodiment of the present invention is implemented. The method includes:

[0067] Receive control instructions;

[0068] The working state of the control circuit is controlled according to the control instruction to control the working state of the motor; the processor transmits the required information to the servo driver.

[0069] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0070] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0071] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0072] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or terminal. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0073] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, re-modulations, combinations and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A servo system, characterized in that: include: servo drive and motor subsystems; Wherein, the motor subsystem includes a motor, a processor and a control circuit, the control circuit is located on the motor side, the processor is electrically connected to the control circuit, the control circuit is electrically connected to the motor, and the servo driver is electrically connected to the processor and the motor; The processor is used to receive control instructions, and control the working state of the control circuit according to the control instructions to control the working state of the motor; the servo driver is used to receive demand information transmitted by the processor, determine a target signal according to the demand information, and drive the motor according to the target signal.

2. The servo system according to claim 1, characterized in that: The control circuit includes a current feedback module, the processor is electrically connected to the current feedback module, and the current feedback module is electrically connected to the motor.

3. The servo system according to claim 2, characterized in that: The current feedback module is integrated on a circuit board, and the circuit board is located at the motor side.

4. The servo system according to claim 1, characterized in that: It also includes an encoder, which is located on the motor and electrically connected to the processor.

5. The servo system according to claim 2, characterized in that: The current feedback module is located at the connection terminal of the motor or inside the motor.

6. A method for controlling a motor, characterized in that: The control method is executed by a processor in the servo system according to any one of claims 1 to 5, and the control method includes: Receive control instructions; The working state of the control circuit is controlled according to the control instruction to control the working state of the motor; and the processor transmits the demand information to the servo driver.

7. The control method according to claim 6, characterized in that: The servo driver determines a target signal according to the demand information, and drives the motor according to the target signal.

8. The control method according to claim 7, characterized in that: The target signal is a target PWM waveform signal.

9. The control method according to claim 6, characterized in that: The demand information includes PWM demand information of the motor.

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