Servo system integrating speed and position servo and use method thereof

Abstract

The invention discloses a servo system integrating speed servo and position servo and a using method of the servo system, and belongs to the field of servo control. The servo system comprises an industrial personal computer, a multifunctional data acquisition card, a servo controller, a servo amplifier, a servo object and a D trigger; the multifunctional data acquisition card comprises a digital quantity output module, an analog quantity output module, a digital quantity input module and a counter module; and the servo object comprises a servo motor, a speed reducer, a load and an encoder which are sequentially connected in series. The servo system integrates the advantages of digital control and analog control, has the function of identifying the equivalent inertia of a servo object, can quickly carry out speed or position servo according to the use method disclosed by the invention, saves time, and is quick in system response, high in precision and hard in characteristic.

Description

Technical Field

[0001] The present invention belongs to the field of servo control, and relates to a servo system integrating speed and position servo and its usage method; specifically, it relates to a servo system integrating speed and position servo implemented by digital means and analog devices and its usage method. Background Art

[0002] As one of the key technologies in industrial automation and precision control, servo control systems are widely used in fields such as robots, numerical control machine tools, and aerospace. Traditional servo systems are mainly divided into two categories: speed servo and position servo, each with its own unique control strategies and application scenarios. The speed servo system focuses on the precise control of the motor speed, while the position servo system focuses on the precise tracking of the mechanical position.

[0003] Some existing servo systems often require separate design and debugging of the speed and position control loops, which not only increases the complexity of the system, but also raises the cost and the difficulty of debugging; secondly, there are also many servo drivers on the market with speed mode and position mode, but basically they are based on PID control. If users hope to adopt a better control method, they generally use digital control methods to implement their own algorithms. Although digital control methods are flexible, they pose higher requirements for users. Ordinary users only hope to achieve better control goals in less time, rather than spending a lot of energy on algorithm implementation; in addition, in practical applications, single speed or position control often fails to meet complex control requirements. For example, in a precision positioning system, in addition to requiring high-precision position tracking, it also requires fast-response speed control to achieve smooth dynamic performance. This requires the servo system to be able to simultaneously possess the capabilities of speed and position servo to adapt to changing control requirements; finally, the equivalent inertia of the servo object has an important impact on the dynamic performance of the system, but traditional servo systems often lack the ability to identify and adapt to the equivalent inertia, resulting in limited control effects.

[0004] Aiming at the limitations of the existing technology, the present invention aims to integrate the advantages of digital control and analog control through an innovative system architecture and control strategy, providing an efficient, precise and easy-to-operate servo control solution to achieve the rapid identification of the equivalent inertia of the servo object, the precise control of speed or position, while simplifying user operations and improving the response speed and control accuracy of the system. Summary of the Invention

[0005] Object of the Invention: Aiming at the problems existing in the above-mentioned existing products, the first object of the present invention is to provide a servo system integrating speed and position servo, and the second object of the present invention is to provide a usage method of the servo system integrating speed and position servo.

[0006] Technical solution: A servo system integrating speed and position servo according to the present invention includes an industrial control computer, a multi-functional data acquisition card, a servo controller, a servo amplifier, a servo object, and a D flip-flop connected in series in sequence; the multi-functional data acquisition card includes a digital quantity output module, an analog quantity output module, a digital quantity input module, and a counter module; the digital quantity output module, the analog quantity output module, and the digital quantity input module are respectively connected to the servo controller, and the digital quantity input module is connected to the D flip-flop; the servo object includes a servo motor, a reducer, a load, and an encoder connected in series in sequence, and the encoder is respectively connected to the counter module and the D flip-flop.

[0007] Further, the digital quantity output module has at least two outputs; the analog quantity output module has at least three outputs; the digital quantity input module has at least five inputs.

[0008] Further, the industrial control computer is connected to the multi-functional data acquisition card through a built-in slot.

[0009] Further, the analog quantity output module of the multi-functional data acquisition card is connected in series with the servo controller, the servo amplifier, and the servo motor in sequence; the servo controller is also respectively connected to the digital quantity output module and the digital quantity input module.

[0010] Further, the encoder has TTL level signal outputs of A and B phases, wherein the A-phase signal is connected to the D terminal of the D flip-flop, and at the same time the A-phase signal is also connected to the counter module, the B-phase signal is connected to the CLK terminal of the D flip-flop, and the Q terminal of the D flip-flop is connected to the fifth input terminal of the digital quantity input module.

[0011] Further, the servo controller is composed of a multiplexer, a first subtractor, a first potentiometer, a first integrator, a second subtractor, a first solid-state relay, a third subtractor, a second potentiometer, a second integrator, an inverter, a fourth subtractor, a second solid-state relay, and a third potentiometer and a fourth potentiometer. One end of the third potentiometer is grounded, the other end is connected to the second output of the analog quantity output module, and the output end is connected to the other input end of the second subtractor; one end of the fourth potentiometer is grounded, the other end is connected to the third output of the analog quantity output module, and is also connected to the other input end of the third subtractor, and the output end is connected to the other input end of the fourth subtractor.

[0012] Even further, preferably, the multiplexer is composed of a one-to-four rotary selector.

[0013] Even further, the first subtractor is composed of a first operational amplifier, a first resistor, a second resistor, a third resistor, and a fourth resistor.

[0014] Even further, the first integrator is composed of a second operational amplifier, a fifth resistor, a sixth resistor, and a first capacitor.

[0015] Further, the second subtractor is composed of a third operational amplifier, a seventh resistor, an eighth resistor, a ninth resistor, and a tenth resistor.

[0016] Further, the third subtractor is composed of a fourth operational amplifier, an eleventh resistor, a twelfth resistor, a thirteenth resistor, and a fourteenth resistor.

[0017] Further, the second integrator is composed of a fifth operational amplifier, a fifteenth resistor, a sixteenth resistor, and a second capacitor.

[0018] Further, the inverter is composed of a sixth operational amplifier, a seventeenth resistor, and an eighteenth resistor;

[0019] Further, the fourth subtractor is composed of a seventh operational amplifier, a nineteenth resistor, a twentieth resistor, a twenty - first resistor, and a twenty - second resistor.

[0020] Further, the first potentiometer, the second potentiometer, the third potentiometer, and the fourth potentiometer are all composed of multi - turn high - precision potentiometers with scale indicators.

[0021] Further, the first solid - state relay and the second solid - state relay are both composed of small - sized solid - state relays with 5V input and having normally open and normally closed contacts.

[0022] Further, each output of the multiplexer has an auxiliary contact. When a certain path is selected, the auxiliary contact of that path closes, and when not selected, the auxiliary contact of that path opens.

[0023] Further, the input end of the multiplexer is connected to the first - path output of the analog quantity output module. The first - path output of the multiplexer is floating. The second - path output is connected to the normally open contact of the second solid - state relay. The third - path output is connected to the normally open contact of the first solid - state relay. The fourth - path output is connected to the input end of the first subtractor;

[0024] The auxiliary contact of the first - path output of the multiplexer is connected to the first - path input of the digital quantity input module. The auxiliary contact of the second - path output of the multiplexer is connected to the second - path input of the digital quantity input module. The auxiliary contact of the third - path output of the multiplexer is connected to the third - path input of the digital quantity input module. The auxiliary contact of the fourth - path output of the multiplexer is connected to the fourth - path input of the digital quantity input module;

[0025] The first subtractor, the first potentiometer, the first integrator, the second subtractor, the first solid - state relay, the third subtractor, the second potentiometer, the second integrator, the inverter, the fourth subtractor, and the second solid - state relay are connected in series in sequence;

[0026] The output end of the second solid - state relay is connected to the servo amplifier;

[0027] One end of the third potentiometer is grounded, and the other end is connected to the second output of the analog output module. The output end is connected to the other input end of the second subtractor.

[0028] One end of the fourth potentiometer is grounded, and the other end is connected to the third output of the analog output module and also to the other input end of the third subtractor. The output end is connected to the other input end of the fourth subtractor.

[0029] Furthermore, the first output of the digital output module is connected to the coil of the first solid-state relay in the servo controller, and the second output is connected to the coil of the second solid-state relay in the servo controller.

[0030] For the usage method of the servo system integrating speed and position servo of the present invention, let K be the amplification factor of the servo amplifier, M max be the maximum value output by the servo amplifier within the linear range, p be the number of lines of the encoder, J be the equivalent inertia of the servo object, e be the base of the natural logarithm, r 1,ml be the maximum value of the displacement command signal, r 2,ml be the maximum value of the speed command signal, KP1 be the voltage division ratio of the first potentiometer, KP2 be the voltage division ratio of the second potentiometer, KP3 be the voltage division ratio of the third potentiometer, KP4 be the voltage division ratio of the fourth potentiometer, C1 be the capacitance value of the capacitor C1 in the first integrator, C2 be the capacitance value of the capacitor C2 in the second integrator, R5 be the resistance value of the resistor R5 in the first integrator, R 15 be the resistance value of the resistor R15 in the second integrator. Its usage method includes the following steps:

[0031] S1. Manually operate the multiplexer to set its output to the second path. Then the second auxiliary contact of the multiplexer closes, and the other three auxiliary contacts open. The signals of the four auxiliary contacts closing or opening are sensed by the industrial control computer through the corresponding input channels of the digital input module. The program of the industrial control computer controls the analog output module to stop the output of all its output channels.

[0032] S2. The program of the industrial control computer controls the digital output module to make its second output control signal control the second solid-state relay to act, and the normally open contact closes.

[0033] S3. Manually input a value U in the program of the industrial control computer, and |U| ≤ M max / K. After the control instruction is confirmed, the analog output module outputs a certain voltage signal U at the first output. The servo object moves, driving the encoder to rotate. The A and B phase signals are output as high or low level signals at the D end of the D flip-flop and are detected by the fifth input of the digital input module. If it is a high level, it indicates forward rotation, and if it is a low level, it indicates reverse rotation.

[0034] The program of the industrial control computer records the pulse signal of the A-phase of the encoder transmitted through the counter at a cycle of 1 ms. Every 5 ms, the difference between the current pulse count and the previous pulse count is multiplied by 1 / (0.005×p) to obtain the real-time speed n of the load. f ;

[0035] When the change rate of the continuous speed is less than 1%, the analog output module stops outputting, the digital output module stops outputting, the second solid-state relay is reset, and the data recording also stops.

[0036] S4. The program of the industrial control computer forms a two-dimensional array with time and speed data corresponding to the recorded data, and finds the maximum speed ω. max and the time t corresponding to the speed of 0.632×ω. max And calculate t×U / ω. max , and the calculation result is J.

[0037] S5. When performing speed servo, manually operate the multiplexer to make its output in the third path. Then the auxiliary contact of the third path of the multiplexer closes, and the auxiliary contacts of the other three paths open. The signals of the closing or opening of the four auxiliary contacts are sensed by the industrial control computer through the corresponding input channels of the digital input module. The program of the industrial control computer controls the analog output module to stop outputting all its output channels.

[0038] S6. The program of the industrial control computer controls the digital output module to make its first output control signal control the first solid-state relay to act, and the normally open contact closes.

[0039] S7. Manually adjust the second potentiometer to make its voltage division ratio KP2 be R 15 C2[eM max / (Kr 2，ml )] 2 / J, and then manually adjust the fourth potentiometer to make its voltage division ratio KP4 be 2eM max / (Kr 2，ml ).

[0040] S8. Manually input the value U in the program of the industrial control computer, and |U|≤r 2,ml . After the control instruction is confirmed, the first output of the analog output module outputs a certain voltage signal |U|M max / (K r 2,ml ). The servo object moves, driving the encoder to rotate. Its A and B phase signals output high or low level signals at the D end of the output after passing through the D flip-flop, and are detected by the fifth input of the digital input module. If it is a high level, it indicates forward rotation, and a low level indicates reverse rotation.

[0041] The program of the industrial control computer records the pulse signal of the A phase of the encoder transmitted through the counter at a cycle of 1 ms, and every 5 ms, the difference between the current pulse number and the previous pulse number is multiplied by 1 / (0.005×p) to obtain the real-time speed n of the load. f ;

[0042] The program of the industrial control computer controls the analog output module to output a voltage signal n in real time on its third channel. f M max / (Kr 2,ml ), and the servo object performs speed servo;

[0043] S9, when performing position servo, manually operate the multiplexer to make its output on the fourth channel, then the fourth auxiliary contact of the multiplexer closes, and the other three auxiliary contacts open. The signals of the closing or opening of the four auxiliary contacts are sensed by the industrial control computer through the corresponding input channels of the digital input module, and the program of the industrial control computer controls the analog output module to stop output on all its output channels;

[0044] S10, the program of the industrial control computer controls the digital output module to stop output, and both the first solid-state relay and the second solid-state relay are reset;

[0045] S11, manually adjust the first potentiometer so that its voltage division ratio KP1 is R5C1e 2 M max / (JKr 1，ml ), manually adjust the second potentiometer so that its voltage division ratio KP2 is R 15 C2e 2 KM max / r 1，ml , manually adjust the third potentiometer so that its voltage division ratio KP3 is 2e[M max / (JKr 1，ml )] 0.5 , manually adjust the fourth potentiometer so that its voltage division ratio KP4 is 2e(JKM max / r 1，ml ) 0.5 ;

[0046] S12, manually input a value U in the program of the industrial control computer, and |U|≤r 1,ml , after the control instruction is confirmed, the first channel of the analog output module outputs a certain voltage signal |U|M max / (K r 1,ml ), the servo object moves, drives the encoder to rotate, and the A and B phase signals of it output high or low level signals at the D end of the output after passing through the D flip-flop, and are detected by the fifth input of the digital input module. If it is a high level, it means forward rotation, and a low level means reverse rotation;

[0047] The program of the industrial control computer records the pulse signal of phase A of the encoder transmitted through the counter at a cycle of 1 ms, subtracts the pulse number at the moment of starting recording from the current pulse number, and multiplies the difference by 1 / p to obtain the real-time angular displacement p of the load. f ;

[0048] At the same time, the program of the industrial control computer subtracts the difference between the current pulse number and the previous pulse number every 5 ms and multiplies it by 1 / (0.005×p) to obtain the real-time speed n of the load. f ;

[0049] The program of the industrial control computer controls the analog output module to output the voltage signal n in real time on its third channel f [JM max / (Kr 1,ml )] 0.5 , and output the voltage signal p in real time on its second channel f M max / (K r 1,ml ), and the servo object performs position servo;

[0050] S13. When the use is over, manually operate the multiplexer to make its output on the first channel. Then, the first-channel auxiliary contact of the multiplexer closes, and the auxiliary contacts of the other three channels open. The signals of the closing or opening of the four auxiliary contacts are sensed by the industrial control computer through the corresponding input channels of the digital input module. The program of the industrial control computer controls the analog output module to stop outputting, and the digital output module to stop outputting.

[0051] The present invention has the following beneficial effects:

[0052] (1) The servo system integrating speed and position servo provided by the present invention combines the advantages of digital control and analog control. The control logic is implemented by analog devices. The user only needs to simply set the target parameters, avoiding the digital implementation of complex algorithms, and the interface is simple, which is convenient for the user.

[0053] (2) The servo system integrating speed and position servo provided by the present invention has the function of identifying the equivalent inertia of the servo object. As long as the usage method is followed, speed or position servo can be quickly performed, saving time.

[0054] (3) The servo system integrating speed and position servo provided by the present invention can achieve position control and speed control, with convenient switching, fast system response, high precision, and hard characteristics. Description of the Drawings

[0055] Figure 1 is the composition diagram of the servo system integrating speed and position servo described in the present invention;

[0056] Figure 2It is a block diagram of the servo controller of the servo system integrating speed and position servo according to the present invention. Detailed implementation manners

[0057] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0058] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention belong to the scope of protection of the present invention.

[0059] As Figure 1 shown, the servo system integrating speed and position servo according to the present invention includes an industrial control computer 10, a multi-functional data acquisition card 20, a servo controller 30, a servo amplifier 40, a servo object 50, and a D flip-flop 60 connected in series in sequence; the multi-functional data acquisition card 20 includes a digital quantity output module 21, an analog quantity output module 22, a digital quantity input module 23, and a counter module 24; the digital quantity output module 21, the analog quantity output module 22, and the digital quantity input module 23 are respectively connected to the servo controller 30, and the digital quantity input module 23 and the counter module 24 are respectively connected to the D flip-flop 60; the servo object 50 includes a servo motor 51, a speed reducer 52, a load 53, and an encoder 54 connected in series in sequence. The encoder 54 outputs TTL level signals of two phases A and B, wherein the A-phase signal is connected to the D terminal of the D flip-flop 60, and at the same time the A-phase signal is also connected to the counter module 24, the B-phase signal is connected to the CLK terminal of the D flip-flop 60, and the Q terminal of the D flip-flop 60 is connected to the digital quantity input module 23. The digital quantity output module 21 has at least two outputs; the analog quantity output module 22 has at least three outputs; the digital quantity input module 23 has at least five inputs, and the Q terminal of the D flip-flop 60 is connected to the fifth input terminal of the digital quantity input module 23.

[0060] The industrial control computer 10 is connected to the multi-functional data acquisition card 20 through a built-in slot. The analog quantity output module 22 of the multi-functional data acquisition card 20 is connected in series with the servo controller 30, the servo amplifier 40, and the servo motor 51 in sequence; the servo controller 30 is also respectively connected to the digital quantity output module 21 and the digital quantity input module 23; as Figure 2As shown in the figure, the servo controller 30 is composed of a multiplexer 31, a first subtractor 32, a first potentiometer P1, a first integrator 33, a second subtractor 34, a first solid-state relay KA1, a third subtractor 35, a second potentiometer P2, a second integrator 36, an inverter 37, a fourth subtractor 38, a second solid-state relay KA2, as well as a third potentiometer P3 and a fourth potentiometer P4, which are connected in series in turn. One end of the third potentiometer P3 is grounded, and the other end is connected to the second output of the analog output module 21, and the output end is connected to the other input end of the second subtractor 34; one end of the fourth potentiometer P4 is grounded, and the other end is connected to the third output of the analog output module 21, and is also connected to the other input end of the third subtractor 35, and the output end is connected to the other input end of the fourth subtractor 38;

[0061] Among them,

[0062] The multiplexer 31 is composed of a four-way rotary selector;

[0063] The first subtractor 32 is composed of a first operational amplifier A1, a first resistor R1, a second resistor R2, a third resistor R3, and a fourth resistor R4;

[0064] The first integrator 33 is composed of a second operational amplifier A2, a fifth resistor R5, a sixth resistor R6, and a first capacitor C1;

[0065] The second subtractor 34 is composed of a third operational amplifier A3, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, and a tenth resistor R10;

[0066] The third subtractor 35 is composed of a fourth operational amplifier A4, an eleventh resistor R11, a twelfth resistor R12, a thirteenth resistor R13, and a fourteenth resistor R14;

[0067] The second integrator 36 is composed of a fifth operational amplifier A5, a fifteenth resistor R15, a sixteenth resistor R16, and a second capacitor C2;

[0068] The inverter 37 is composed of a sixth operational amplifier A6, a seventeenth resistor R17, and an eighteenth resistor R18;

[0069] The fourth subtractor 38 is composed of a seventh operational amplifier A7, a nineteenth resistor R19, a twentieth resistor R20, a twenty-first resistor R21, and a twenty-second resistor R22;

[0070] The first potentiometer P1, the second potentiometer P2, the third potentiometer P3, and the fourth potentiometer P4 are all composed of multi-turn high-precision potentiometers with scale indicators;

[0071] Both the first solid-state relay KA1 and the second solid-state relay KA2 are composed of small-sized, 5V-input solid-state relays with normally open and normally closed contacts.

[0072] Each output of the multiplexer 31 has an auxiliary contact. When a certain path is selected, the auxiliary contact of that path closes, and when not selected, the auxiliary contact of that path opens.

[0073] The input end of the multiplexer 31 is connected to the first output of the analog output module 21. The first output of the multiplexer 31 is floating, the second output is connected to the normally open contact of the second solid-state relay KA2, the third output is connected to the normally open contact of the first solid-state relay KA1, and the fourth output is connected to the input end of the first subtractor 32;

[0074] Combined Figure 1 , the auxiliary contact of the first output of the multiplexer 31 is connected to the first input of the digital input module 23, the auxiliary contact of the second output of the multiplexer 31 is connected to the second input of the digital input module 23, the auxiliary contact of the third output of the multiplexer 31 is connected to the third input of the digital input module 23, and the auxiliary contact of the fourth output of the multiplexer 31 is connected to the fourth input of the digital input module 23;

[0075] The first subtractor 32, the first potentiometer P1, the first integrator 33, the second subtractor 34, the first solid-state relay KA1, the third subtractor 35, the second potentiometer P2, the second integrator 36, the inverter 37, the fourth subtractor 38, and the second solid-state relay KA2 are connected in series in turn;

[0076] The output end of the second solid-state relay KA2 is connected to the servo amplifier 40;

[0077] The first output of the digital output module 22 is connected to the coil of the first solid-state relay KA1 in the servo controller 30, and the second output is connected to the coil of the second solid-state relay KA2 in the servo controller 30.

[0078] To more clearly utilize the above servo system for work, the following lists its usage method. Let K be the amplification factor of the servo amplifier 40, M max be the maximum value output by the servo amplifier 40 within the linear range, p be the number of lines of the encoder 54, J be the equivalent inertia of the servo object 50, e be the base of the natural logarithm, r 1,ml be the maximum value of the displacement command signal, r 2,mlis the maximum value of the speed command signal, KP1 is the voltage division ratio of the first potentiometer P1, KP2 is the voltage division ratio of the second potentiometer P2, KP3 is the voltage division ratio of the third potentiometer P3, KP4 is the voltage division ratio of the fourth potentiometer P4, C1 is the capacitance value of the capacitor C1 in the first integrator, C2 is the capacitance value of the capacitor C2 in the second integrator, R5 is the resistance value of the resistor R5 in the first integrator, R 15 is the resistance value of the resistor R15 in the second integrator. The usage method includes the following steps:

[0079] S1. Manually operate the multiplexer 31 to place its output on the second path. Then the second auxiliary contact of the multiplexer 31 closes, and the other three auxiliary contacts open. The signals of the four auxiliary contacts' closing or opening are sensed by the industrial control computer 10 through the corresponding input channels of the digital input module 23. The program of the industrial control computer 10 controls the analog output module 22 to stop the output of all its output channels;

[0080] S2. The program of the industrial control computer 10 controls the digital output module 21 to output a control signal on its second path, controlling the second solid-state relay KA2 to act and its normally open contact to close;

[0081] S3. Manually input a value U in the program of the industrial control computer 10, and |U| ≤ M max / K. After the control instruction is confirmed, the analog output module 22 outputs a certain voltage signal U on its first path, and the servo object 50 moves, driving the encoder 54 to rotate. The A and B phase signals of the encoder 54 pass through the D flip-flop 60 and output a high or low level signal at the output terminal D, which is detected by the fifth input of the digital input module 23. If it is a high level, it indicates forward rotation; if it is a low level, it indicates reverse rotation;

[0082] The program of the industrial control computer 10 records the pulse signals transmitted by the A phase of the encoder 54 through the counter 24 at a period of 1 ms. Every 5 ms, the difference between the current pulse number and the previous pulse number is multiplied by 1 / (0.005×p) to obtain the real-time speed n of the load 53 f ;

[0083] When the continuous speed change rate is less than 1%, the analog output module 22 stops output, the digital output module 21 stops output, the second solid-state relay KA2 resets, and the data recording also stops;

[0084] S4. The program of the industrial control computer 10 forms a two-dimensional array of time and speed data corresponding to the recorded data, finds the maximum speed ω max and the time t corresponding to the speed of 0.632×ω max and calculates t×U / ω max , and this calculation result is J;

[0085] S5. When performing speed servo, manually operate the multiplexer 31 to place its output on the third path. Then, the auxiliary contact of the third path of the multiplexer 31 closes, and the auxiliary contacts of the other three paths open. The signals of the closing or opening of the four auxiliary contacts are sensed by the industrial control computer 10 through the corresponding input channels of the digital input module 23. The program of the industrial control computer 10 controls the analog output module 22 to stop the output of all its output channels.

[0086] S6. The program of the industrial control computer 10 controls the digital output module 21 to output a control signal on its first path, controlling the first solid-state relay KA1 to actuate and its normally open contact to close.

[0087] S7. Manually adjust the second potentiometer P2 so that its voltage division ratio KP2 is R 15 C2[eM max / (Kr 2，ml )] 2 / J, and then manually adjust the fourth potentiometer P4 so that its voltage division ratio KP4 is 2eM max / (Kr 2，ml )

[0088] S8. Manually input a value U in the program of the industrial control computer 10, and |U| ≤ r 2,ml . After the control instruction is confirmed, the first path of the analog output module 22 outputs a certain voltage signal |U|M max / (K r 2,ml ). The servo object 50 moves, driving the encoder 54 to rotate. The A and B phase signals of the encoder 54 pass through the D flip-flop 60 and output a high or low level signal at the output terminal D, which is detected by the fifth path input of the digital input module 23. If it is a high level, it indicates forward rotation; if it is a low level, it indicates reverse rotation.

[0089] The program of the industrial control computer 10 records the pulse signals transmitted by the A phase of the encoder 54 through the counter 24 at a period of 1 ms. Every 5 ms, the difference between the current pulse number and the previous pulse number is multiplied by 1 / (0.005×p) to obtain the real-time speed n of the load 53 f ;

[0090] The program of the industrial control computer 10 controls the analog output module 22 to output a real-time voltage signal n f M max / (K r 2,ml ) on its third path, and the servo object 50 performs speed servo.

[0091] S9. When performing position servo, manually operate the multiplexer 31 to place its output on the fourth path. Then, the fourth path auxiliary contact of the multiplexer 31 closes, and the auxiliary contacts of the other three paths open. The signals of the closing or opening of the four-way auxiliary contacts are sensed by the industrial control computer 10 through the corresponding input channels of the digital input module 23. The program of the industrial control computer 10 controls the analog output module 22 to stop the output of all its output channels.

[0092] S10. The program of the industrial control computer 10 controls the digital output module 21 to stop its output, and both the first solid-state relay KA1 and the second solid-state relay KA2 are reset.

[0093] S11. Manually adjust the first potentiometer P1 so that its voltage division ratio KP1 is R5C1e 2 M max / (JKr 1，ml ), manually adjust the second potentiometer P2 so that its voltage division ratio KP2 is R 15 C2e 2 KM max / r 1，ml , manually adjust the third potentiometer P3 so that its voltage division ratio KP3 is 2e[M max / (JKr 1，ml )] 0.5 , manually adjust the fourth potentiometer P4 so that its voltage division ratio KP4 is 2e(JKM max / r 1，ml ) 0.5 ;

[0094] S12. Manually input a value U in the program of the industrial control computer 10, and |U| ≤ r 1,ml , after the control instruction is confirmed, the first path of the analog output module 22 outputs a certain voltage signal |U|M max / (K r 1,ml ). The servo object 50 moves, driving the encoder 54 to rotate. The A and B phase signals of the encoder 54 pass through the D flip-flop 60 and output a high or low level signal at the output terminal D, which is detected by the fifth path input of the digital input module 23. If it is a high level, it indicates forward rotation; if it is a low level, it indicates reverse rotation.

[0095] The program of the industrial control computer 10 records the pulse signals transmitted by the A phase of the encoder 54 through the counter 24 at a period of 1 ms. Subtract the pulse number at the moment of starting recording from the current pulse number, and multiply the difference by 1 / p to obtain the real-time angular displacement p of the load 53 f ;

[0096] At the same time, the program of the industrial control computer 10 subtracts the difference between the current pulse number and the previous pulse number every 5 ms and multiplies it by 1 / (0.005×p) to obtain the real-time speed n of the load 53 f ;

[0097] The program control analog output module 22 of the industrial control computer 10 outputs the voltage signal n in real time on its third path f [JM max / (K r 1,ml )] 0.5 , and outputs the voltage signal p in real time on its second path f M max / (K r 1,ml ), and the servo object 50 performs position servo;

[0098] S13. When the use is finished, manually operate the multiplexer 31 to make its output on the first path. Then, the first path auxiliary contact of the multiplexer 31 closes, and the auxiliary contacts of the other three paths open. The signals of the closing or opening of the four auxiliary contacts are sensed by the industrial control computer 10 through the corresponding input channels of the digital input module 23. The program of the industrial control computer 10 controls the analog output module 22 to stop output, and the digital output module 21 stops output.

[0099] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A servo system integrating speed and position servo, characterized in that: The invention comprises an industrial computer (10), a multifunctional data acquisition card (20), a servo controller (30), a servo amplifier (40), a servo object (50) and a D flip-flop (60) which are connected in series in sequence; the multifunctional data acquisition card (20) comprises a digital quantity output module (21), an analog quantity output module (22), a digital quantity input module (23) and a counter module (24); the digital quantity output module (21), the analog quantity output module (22) and the digital quantity input module (23) are respectively connected to the servo controller (30), and the digital quantity input module (23) is connected to the D flip-flop (60); the servo object (50) comprises a servo motor (51), a reducer (52), a load (53) and an encoder (54) which are connected in series in sequence, and the encoder (54) is respectively connected to the counter module (24) and the D flip-flop (60).

2. The servo system integrating speed and position servo according to claim 1, characterized in that: The digital quantity output module (21) has at least two outputs; the analog quantity output module (22) has at least three outputs; and the digital quantity input module (23) has at least five inputs.

3. The servo system integrating speed and position servo according to claim 1, characterized in that: The industrial computer (10) is connected to the multifunctional data acquisition card (20) via a built-in slot.

4. The servo system integrating speed and position servo according to claim 1, characterized in that: The analog output module (22) of the multifunctional data acquisition card (20) is serially connected to the servo controller (30), the servo amplifier (40) and the servo motor (51).

5. The servo system integrating speed and position servo according to claim 1, characterized in that: The encoder (54) has two-phase A and B TTL level signal outputs, wherein the A-phase signal is connected to the D terminal of a D flip-flop (60), and the B-phase signal is connected to the CLK terminal of the D flip-flop (60). Meanwhile, the A-phase signal is connected to a counter module (24), and the Q terminal of the D flip-flop (60) is connected to the fifth input terminal of the digital quantity input module (23).

6. The servo system integrating speed and position servo according to claim 1, characterized in that: The servo controller (30) is composed of a multiplexer (31), a first subtractor (32), a first potentiometer (P1), a first integrator (33), a second subtractor (34), a first solid-state relay (KA1), a third subtractor (35), a second potentiometer (P2), a second integrator (36), an inverter (37), a fourth subtractor (38), a second solid-state relay (KA2), a third potentiometer (P3) and a fourth potentiometer (P4) which are connected in series in sequence. One end of the third potentiometer (P3) is grounded, the other end is connected to the second output of the analog output module (21), and the output end is connected to the other input end of the second subtractor (34); one end of the fourth potentiometer (P4) is grounded, the other end is connected to the third output of the analog output module (21), and is also connected to the other input end of the third subtractor (35), and the output end is connected to the other input end of the fourth subtractor (38).

7. The servo system integrating speed and position servo according to claim 6, characterized in that: Each output of the multiplexer (31) has an auxiliary contact. When a certain output is selected, the auxiliary contact of the output is closed, and when it is not selected, the auxiliary contact of the output is opened.

8. A servo system integrating speed and position servo according to claim 6, characterized in that: The input end of the multiplexer (31) is connected to the first output of the analog output module (21), the first output of the multiplexer (31) is suspended, the second output is connected to the normally open contact of the second solid-state relay (KA2), the third output is connected to the normally open contact of the first solid-state relay (KA1), and the fourth output is connected to the input end of the first subtractor (32); The auxiliary contact of the first output of the multiplexer (31) is connected to the first input of the digital quantity input module (23), the auxiliary contact of the second output of the multiplexer (31) is connected to the second input of the digital quantity input module (23), the auxiliary contact of the third output of the multiplexer (31) is connected to the third input of the digital quantity input module (23), and the auxiliary contact of the fourth output of the multiplexer (31) is connected to the fourth input of the digital quantity input module (23); A first subtractor (32), a first potentiometer (P1), a first integrator (33), a second subtractor (34), a first solid-state relay (KA1), a third subtractor (35), a second potentiometer (P2), a second integrator (36), an inverter (37), a fourth subtractor (38), and a second solid-state relay (KA2) are connected in series in sequence; The output end of the second solid-state relay (KA2) is connected to a servo amplifier (40); One end of the third potentiometer (P3) is grounded, the other end is connected to the second output of the analog output module (21), and the output end is connected to the other input end of the second subtractor (34); One end of the fourth potentiometer (P4) is grounded, the other end is connected to the third output of the analog output module (21), and is also connected to the other input end of the third subtractor (35), and the output end is connected to the other input end of the fourth subtractor (38).

9. The servo system integrating speed and position servo according to claim 8, characterized in that: The first output of the digital quantity output module (22) is connected to the coil of a first solid-state relay (KA1) in the servo controller (30), and the second output is connected to the coil of a second solid-state relay (KA2) in the servo controller (30).

10. A method for using a servo system integrating speed and position servo according to any one of claims 1 to 9, characterized in that: Let K be the gain of the servo amplifier (40), M max is the maximum value output by the servo amplifier (40) within the linear range, p is the number of lines of the encoder (54), J is the equivalent inertia of the servo object (50), e is the base of the natural logarithm, r 1,ml is the maximum value of the displacement command signal, r 2,ml is the maximum value of the speed command signal, KP1 is the voltage division ratio of the first potentiometer (P1), KP2 is the voltage division ratio of the second potentiometer (P2), KP3 is the voltage division ratio of the third potentiometer (P3), KP4 is the voltage division ratio of the fourth potentiometer (P4), C1 is the capacitance of the capacitor C1 in the first integrator, C2 is the capacitance of the capacitor C2 in the second integrator, R5 is the resistance of the resistor R5 in the first integrator, R 15 is the resistance value of the resistor R15 in the second integrator, and the method of using the resistor R15 includes the following steps: S1, manually operate the multiplexer (31) to set its output to the second path, then the second auxiliary contact of the multiplexer (31) is closed, and the other three auxiliary contacts are disconnected, and the signals of the four auxiliary contacts being closed or disconnected are sensed by the industrial control computer (10) through the corresponding input channels of the digital input module (23), and the program of the industrial control computer (10) controls the analog output module (22) to stop outputting all its output channels; S2, the program of the industrial computer (10) controls the digital output module (21) to make its second output control signal control the second solid-state relay (KA2) to operate and close the normally open contact; S3, manually input a value U in the program of the industrial computer (10), and |U|≤M max / K, after the control command is confirmed, the first channel of the analog output module (22) outputs a certain voltage signal U, the servo object (50) moves, driving the encoder (54) to rotate, and its A and B phase signals are output as high or low level signals at the output terminal D after passing through the D trigger (60), and are detected by the fifth channel input of the digital input module (23). If it is a high level, it indicates forward rotation, and if it is a low level, it indicates reverse rotation; The program of the industrial computer (10) records the pulse signal transmitted by the A phase of the encoder (54) via the counter (24) at a period of 1 ms, and multiplies the difference between the current pulse number and the previous pulse number by 1 / (0.005×p) every 5 ms to obtain the real-time speed n of the load (53). f ; When the continuous speed change rate is less than 1%, the analog output module (22) stops outputting, the digital output module (21) stops outputting, the second solid-state relay (KA2) is reset, and data recording also stops; S4, the program of the industrial computer (10) forms the recorded data into a two-dimensional array corresponding to time and speed data, and finds the maximum speed ω max and the speed is 0.632×ω max The corresponding time t, and calculate t×U / ω max , the calculation result is J; S5, when speed servo is performed, the multiplexer (31) is manually operated to set its output to the third path, then the third auxiliary contact of the multiplexer (31) is closed, and the other three auxiliary contacts are disconnected, and the signal of the four auxiliary contacts being closed or disconnected is sensed by the industrial computer (10) through the corresponding input channel of the digital input module (23), and the program of the industrial computer (10) controls the analog output module (22) to stop outputting all its output channels; S6, the program of the industrial computer (10) controls the digital output module (21) to make its first output control signal control the first solid-state relay (KA1) to operate and close the normally open contact; S7, manually adjust the second potentiometer (P2) so that its voltage division ratio KP2 is R 15 C2[eM max / (Kr 2，ml )] 2 / J, and then manually adjust the fourth potentiometer (P4) to make its voltage division ratio KP4 2eM max / (Kr 2，ml ); S8, manually input a value U in the program of the industrial computer (10), and |U|≤r 2,ml After the control command is confirmed, the analog output module (22) outputs a certain voltage signal |U|M max / (Kr 2,ml ), the servo object (50) moves, driving the encoder (54) to rotate, and its A and B phase signals are output as high or low level signals at the output terminal D after passing through the D trigger (60), and are detected by the fifth input of the digital input module (23). If it is a high level, it indicates forward rotation, and if it is a low level, it indicates reverse rotation; The program of the industrial computer (10) records the pulse signal transmitted by the A phase of the encoder (54) via the counter (24) at a period of 1 ms, and multiplies the difference between the current pulse number and the previous pulse number by 1 / (0.005×p) every 5 ms to obtain the real-time speed n of the load (53). f ; The program of the industrial control computer (10) controls the analog output module (22) so that its third channel outputs a voltage signal n in real time. f M max / (Kr 2,ml ), the servo object (50) performs speed servo; S9, when position servo is performed, the multiplexer (31) is manually operated to set its output to the fourth path, then the fourth auxiliary contact of the multiplexer (31) is closed, and the remaining three auxiliary contacts are disconnected, and the signals of the four auxiliary contacts being closed or disconnected are sensed by the industrial control computer (10) via the corresponding input channels of the digital input module (23), and the program of the industrial control computer (10) controls the analog output module (22) to stop outputting all its output channels; S10, the program of the industrial computer (10) controls the digital quantity output module (21) to stop outputting, and the first solid-state relay (KA1) and the second solid-state relay (KA2) are both reset; S11, manually adjust the first potentiometer (P1) so that its voltage division ratio KP1 is R5C1e 2 M max / (JKr 1，ml ), manually adjust the second potentiometer (P2) so that its voltage division ratio KP2 is R 15 C2e 2 KM max / r 1，ml , manually adjust the third potentiometer (P3) so that its voltage division ratio KP3 is 2e[M max / (JKr 1，ml )] 0.5 , manually adjust the fourth potentiometer (P4) so ​​that its voltage division ratio KP4 is 2e (JKM max / r 1，ml ) 0.5 ; S12, manually inputting a value U into the program of the industrial computer (10), and |U|≤r 1,ml After the control command is confirmed, the analog output module (22) outputs a certain voltage signal |U|M max / (Kr 1,ml ), the servo object (50) moves, driving the encoder (54) to rotate, and its A and B phase signals are output as high or low level signals at the output terminal D after passing through the D trigger (60), and are detected by the fifth input of the digital input module (23). If it is a high level, it indicates forward rotation, and if it is a low level, it indicates reverse rotation; The program of the industrial computer (10) records the pulse signal transmitted by the A phase of the encoder (54) via the counter (24) at a period of 1 ms, subtracts the number of pulses at the moment of starting recording from the current number of pulses, and multiplies the difference by 1 / p to obtain the real-time angular displacement p of the load (53). f ; At the same time, the program of the industrial computer (10) multiplies the difference between the current pulse number and the previous pulse number by 1 / (0.005×p) every 5 ms to obtain the real-time speed n of the load (53). f ; The program of the industrial control computer (10) controls the analog output module (22) so that its third channel outputs a voltage signal n in real time. f [JM max / (Kr 1,ml )] 0.5 , the second real-time output voltage signal p f M max / (Kr 1,ml ), the servo object (50) performs position servo; S13, when the use is finished, the multiplexer (31) is manually operated to set its output to the first path, then the first auxiliary contact of the multiplexer (31) is closed, and the other three auxiliary contacts are disconnected, and the signal of the four auxiliary contacts being closed or disconnected is sensed by the industrial control computer (10) through the corresponding input channel of the digital quantity input module (23), and the program of the industrial control computer (10) controls the analog quantity output module (22) to stop output, and the digital quantity output module (21) to stop output.

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