Smooth linear acceleration and deceleration system of motor and control method

Abstract

The invention discloses a motor smooth linear acceleration and deceleration system and a control method, which are applied to the fields of robots, industrial automation, machine tool processing, transportation, metering detection, aerospace, energy production, industrial manufacturing and elevators. The problems that an existing S-shaped acceleration and deceleration algorithm cannot respond quickly, overshoot oscillation exists in a linear control algorithm, and obvious grading echelon acceleration and deceleration are not smooth due to existing fixed grading grade acceleration and deceleration are solved. Fixed-period linear smooth acceleration and deceleration parameters are obtained through scanning period optimization calculation, a driver receives precise control pulse signals of a control system in each scanning period, the driver drives a motor, the control system precisely collects motor encoder information and the motor through an encoder, and according to set target speed data and target acceleration and deceleration time data, the acceleration and deceleration parameters of the motor are calculated according to the set target speed data and target acceleration and deceleration time data. Scanning cycles are collected, reliable scanning cycles are optimized, ideal graded acceleration and deceleration parameters based on reliable scanning cycle data are judged, and speed control of each scanning cycle is accurately achieved.

Description

Technical Field

[0001] This patent relates to the field of smooth linear acceleration and deceleration systems and control methods for electric motors, with applications in robotics, industrial automation, machine tool processing, transportation, metrology and testing, aerospace, energy production, industrial manufacturing, and elevators.

[0002] Robotics: In the joint actuation of humanoid robots, linear acceleration and deceleration control helps improve the flexibility, accuracy, and responsiveness of robot movements, enabling them to perform better in complex tasks. For mobile robots, it enables smooth acceleration and deceleration, improving their navigation and operational capabilities in different environments. Industrial Automation: In robotic arm motion control, it enables rapid and precise positioning and movement of robotic arms, improving production efficiency and quality. In conveyor belt systems of automated production lines, linear acceleration and deceleration control allows for smooth start and stop of goods, avoiding impacts and slippage. Machine Tool Machining: Linear acceleration and deceleration control in machine tool feed systems directly driven by linear motors can improve machining accuracy and speed, reduce accuracy degradation caused by wear of transmission mechanisms, and shorten production cycles. Transportation: In maglev trains, linear acceleration and deceleration control of linear motors enables efficient start, acceleration, deceleration, and stopping of trains, improving operating efficiency and passenger comfort. In the drive systems of some electric vehicles, it can also optimize vehicle acceleration and braking performance, improving energy efficiency and driving experience. Metrology and Testing: Metrology and testing equipment and systems utilizing speed and position control employ linear acceleration and deceleration control, which can improve the accuracy and speed of metrology and testing, reduce the decrease in accuracy caused by acceleration and deceleration, and shorten the time required for metrology and testing and calibration. Aerospace: In aerospace and defense-related position displacement and speed control equipment and systems, the use of linear acceleration and deceleration control can significantly improve position displacement and speed accuracy, shorten response time, and enhance equipment and system performance. Elevators: It enables smoother and more comfortable elevator car movements, reduces swaying during start-up and stopping, and improves the passenger experience; at the same time, it allows for precise control of elevator speed and position, improving operational efficiency and safety. Background Technology

[0003] The background technology of smooth linear acceleration and deceleration system and control method for electric motor is as follows: In practical applications of robotics: Robots need to move and position quickly and accurately when performing tasks. Linear acceleration and deceleration control enables smoother and more flexible joint movements, improving their accuracy and efficiency. In industrial production: In automated production lines, to ensure product quality and production efficiency, motor-driven equipment needs precise and smooth acceleration and deceleration. For example, in electronic component insertion machines, the motor drives the robotic arm to grasp components and insert them into circuit boards; linear acceleration and deceleration control allows the robotic arm to quickly position itself and avoids component damage. In transportation: In electric vehicles and rail transit, to improve passenger comfort and energy efficiency, the acceleration and deceleration processes of motors need to be smooth and efficient. Taking electric vehicles as an example, linear acceleration and deceleration control allows for smooth power output during acceleration and energy recovery during deceleration. In metrology and testing: In the field of metrology and testing, to improve the accuracy of motion position and speed measurements, precise airspeed response and accurate motion position and speed are required.

[0004] Technological advancements have driven the development of control theory: Modern control theories, such as optimal control and adaptive control, have provided a theoretical foundation for smooth linear acceleration and deceleration control of motors, making control algorithms more precise and efficient. Advances in power electronics technology: The emergence of high-performance power electronic devices such as IGBTs has provided hardware support for precise motor control, enabling rapid and accurate control of motor voltage and current to achieve linear acceleration and deceleration. Improvements in microprocessor technology: The continuous improvement in the computing speed and processing power of microprocessors allows for the rapid processing of complex control algorithms and large amounts of motor operating data, enabling real-time control of smooth linear acceleration and deceleration of motors.

[0005] Existing technologies have shortcomings in other acceleration / deceleration algorithms: For example, while the S-shaped acceleration / deceleration algorithm offers acceptable motion smoothness, its efficiency is lower than that of linear acceleration / deceleration algorithms in situations requiring rapid response. Some simple linear control algorithms may suffer from overshoot and oscillation. Graded acceleration / deceleration typically uses a fixed number of stages, such as 20 stages. Under conditions of heavy load, long acceleration / deceleration time, and large acceleration / deceleration, this creates obvious hierarchical differences, resulting in uneven acceleration / deceleration and significantly impacting the stability and lifespan of equipment and systems. There is also a gap between model accuracy and actual operating conditions: For instance, motors are subject to various complex factors during actual operation, such as load changes, friction, and temperature variations. However, most current linear acceleration / deceleration control models are based on ideal conditions. Under complex conditions, such as a sudden increase in motor load or a rapid change in ambient temperature, control accuracy decreases, and the actual speed curve may deviate from the ideal linearity. Furthermore, in machine tool processing, when the tool's depth of cut into the workpiece varies (i.e., different loads), the actual acceleration / deceleration process of the motor may not follow the preset linear pattern, thus affecting machining accuracy. Limited dynamic response capability: For example, when faced with frequent acceleration and deceleration demands, the dynamic response speed of the motor system may not keep up, especially on some automated production lines that require rapid response. When the production pace accelerates and the motor needs to frequently start, stop, and change speed, traditional linear acceleration and deceleration control may experience delays. Similarly, in high-speed sorting robots, the motor may not be able to accelerate or decelerate quickly and accurately according to a linear law, leading to reduced sorting efficiency or inaccurate item placement. Insufficient precision of traditional control methods: For example, braking methods that modulate the duty cycle are susceptible to external interference, causing the actual deceleration to differ from the target deceleration, making it impossible to accurately control the braking distance. Summary of the Invention

[0006] A smooth linear acceleration and deceleration control system for a motor is characterized by comprising: a driver, a motor (equipped with an encoder), a control system, and connecting cables; wherein the driver is signal-connected to the control system and the motor, and the driver is a servo driver; the motor is a servo motor equipped with an encoder and is compatible with the servo driver; the control system includes a controller (PLC or other controller) and an HMI.

[0007] The control method of the motor smooth linear acceleration and deceleration control system according to claim 1 is characterized in that: the driver receives the control pulse signal of the control system and drives the motor; the driver acquires the motor encoder signal, which is a digital signal, which is beneficial to system stability and solves the problem of servo disorder caused by signal interference; the control system obtains the motor encoder signal from the driver; the control system sends the drive pulse signal, and the driver drives the motor to run precisely.

[0008] The control method of the smooth linear acceleration and deceleration control system for a motor according to claim 1 is characterized in that: the control system is connected to the driver, the control system obtains the motor encoder signal from the driver; the control system sends a drive pulse signal, and the driver drives the motor to run precisely; at the same time, the control system accurately collects the motor encoder (position) information and motor parameter data.

[0009] Based on the control method of the smooth linear acceleration and deceleration control system of motor according to claim 1, the smooth linear acceleration and deceleration control system of motor is characterized in that: the smooth linear acceleration and deceleration control system of motor collects scanning period according to the set target speed data and target acceleration and deceleration time data, optimizes reliable scanning period, and determines the ideal state graded acceleration and deceleration parameters based on reliable scanning period data. The control method of the smooth linear acceleration and deceleration control system for a motor according to claim 1 is characterized in that: the speed control signal for each scanning cycle is accurately realized according to the graded acceleration and deceleration parameters; The control method for a smooth linear acceleration / deceleration control system for a motor according to claim 1 includes the following steps: Step a1: Acquisition program processing cycle (program loop scan cycle) T s Unit: ms; Step a2: Set or calculate the optimized reliable processing cycle T y Unit: ms; Step a3: Calculate the maximum number of accelerations and decelerations C z Unit: acceleration / deceleration time T, obtained from known data or calculations. j Reliable processing cycle T y The maximum number of accelerations and decelerations can be obtained from the ratio of the two values, i.e.: C z =T j / T y ; Step a4: C j Integerization processing has two cases: one is where the acceleration / deceleration time T must be strictly guaranteed. j Then C j Round down to zero and reassign to C. j ,Right now: C j = ⌊C z ⌋= ⌊T j / T y ⌋); Step a5: Another requirement is to strictly prioritize smooth acceleration and deceleration, then C j Round up and reassign to C. j ,Right now: C j = ⌈ C z ⌉ =⌈ Tj / T y ⌉); Step a6: Calculate the acceleration / deceleration difference V δ Unit: m / s: based on the target velocity value V for acceleration / deceleration. T The initial velocity value V0 for acceleration and deceleration is used to obtain the difference between the two – the acceleration / deceleration difference V. δ ,Right now: V δ =V T V0; Step a7: Calculate the single acceleration / deceleration value Δ Vc (Unit: m / (s••p)): Based on the difference in acceleration and deceleration V δ Maximum number of accelerations and decelerations C j The single acceleration / deceleration value Δ is obtained from the ratio of the two values. Vc ,Right now: Δ Vc =V δ / C j ; Step a8: Start acceleration / deceleration at the initial time t0 (where the initial velocity value is V0), and output the velocity value V in the nth scan cycle after t0. n (Unit: m / s), then it is: V n =V0+ n * Δ Vc . Attached Figure Description

[0010] Appendix Figure 1 Connection diagram of motor smooth linear acceleration and deceleration control system This accompanying drawing illustrates the structure, interrelationships, and signal interactions of the control system of the present invention. By observing this drawing, one can clearly understand the structure, signal interaction flow, and connection method of a smooth linear acceleration / deceleration control system for a motor.

[0011] Appendix Figure 2 Overview of the smooth linear acceleration and deceleration control process for motors This accompanying drawing illustrates the smooth linear acceleration / deceleration control method for a motor according to the present invention. The drawing provides a clear understanding of the operational flow of this method.

[0012] Appendix Figure 3 Detailed flowchart of smooth linear acceleration and deceleration control for motor This accompanying drawing illustrates a detailed flowchart of the smooth linear acceleration / deceleration control method for a motor according to the present invention. The drawing provides a clear visual understanding of the operational steps and detailed implementation of this method. Detailed Implementation

[0014] A smooth linear acceleration / deceleration control system for a motor includes: a driver, a motor (equipped with an encoder), a control system, and connecting cables; wherein the driver is signal-connected to the control system and the motor, and the driver is a servo driver; the motor is a servo motor equipped with an encoder and compatible with the servo driver; the control system includes a controller (PLC or other controller) and an HMI, such as... Figure 1 .

[0015] Electrical and signal connection implementation: The driver receives control pulse signals from the control system and drives the motor; the driver acquires motor encoder signals, which are digital signals, beneficial to system stability and solving the problem of servo malfunction caused by signal interference; the control system obtains motor encoder signals from the driver; the control system sends drive pulse signals, and the driver drives the motor to run precisely. The control system is connected to the driver, and the control system obtains motor encoder signals from the driver; the control system sends drive pulse signals, and the driver drives the motor to run precisely; at the same time, the control system accurately acquires motor encoder (position) information and motor parameter data. The smooth linear acceleration and deceleration control system of the motor acquires the scan cycle based on the set target speed data and target acceleration and deceleration time data, optimizes the reliable scan cycle, and determines the ideal state graded acceleration and deceleration parameters based on the reliable scan cycle data. According to the graded acceleration and deceleration parameters, the speed control signal of each scan cycle is accurately implemented. The overall process is as follows: Figure 2 .

[0016] The detailed method for achieving linear acceleration / deceleration control in a linear acceleration / deceleration control system is as follows: Figure 3 It includes the following steps: Step a1: Acquisition program processing cycle (program loop scan cycle) T s Unit: ms; Step a2: Set or calculate the optimized reliable processing cycle T y Unit: ms; Step a3: Calculate the maximum number of accelerations and decelerations C z Unit: acceleration / deceleration time T, obtained from known data or calculations. j Reliable processing cycle T y The maximum number of accelerations and decelerations can be obtained from the ratio of the two values, i.e.: C z =T j / T y ; Step a4: C j Integerization processing has two cases: one is where the acceleration / deceleration time T must be strictly guaranteed. j Then C j Round down to zero and reassign to C. j ,Right now: C j = ⌊C z ⌋= ⌊T j / T y ⌋); Step a5: Another requirement is to strictly prioritize smooth acceleration and deceleration, then C j Round up and reassign to C. j ,Right now: C j = ⌈ C z ⌉ =⌈ T j / T y ⌉); Step a6: Calculate the acceleration / deceleration difference V δ Unit: m / s: based on the target velocity value V for acceleration / deceleration. T The initial velocity value V0 for acceleration and deceleration is used to obtain the difference between the two – the acceleration / deceleration difference V. δ ,Right now: V δ =V T V0; Step a7: Calculate the single acceleration / deceleration value Δ Vc (Unit: m / (s••p)): Based on the difference in acceleration and deceleration V δ Maximum number of accelerations and decelerations C j The single acceleration / deceleration value Δ is obtained from the ratio of the two values. Vc ,Right now: Δ Vc =V δ / C j ; Step a8: Start acceleration / deceleration at the initial time t0 (where the initial velocity value is V0), and output the velocity value V in the nth scan cycle after t0. n (Unit: m / s), then it is: V n =V0+ n * Δ Vc .

Claims

1. A smooth linear acceleration and deceleration control system for a motor, characterized by, Comprise: Driver, motor (with encoder), control system, connection cable; Among them, the driver is connected with the control system and the motor, and the driver is a servo driver; the motor is a servo motor with an encoder and can be matched with the servo driver; the control system contains PLC (programmable controller) and HMI.

2. The motor smooth linear acceleration and deceleration system and control method based on claim 1, characterized in that: The driver receives the control pulse signal of the control system, and the driver drives the motor; the driver collects the motor encoder signal, which is a digital signal, which is beneficial to the stability of the system and solves the problem of servo disorder caused by signal interference; the control system obtains the motor encoder signal from the driver; the control system issues a driving pulse signal, and the driver drives the motor to run accurately.

3. The system and method of claim 1, wherein: The control system is connected with the driver, the control system obtains the motor encoder signal from the driver; the control system issues a driving pulse signal, and the driver drives the motor to run accurately; at the same time, the control system accurately collects the motor encoder (position) information and motor parameter data.

4. The system and method of claim 1, wherein: The motor smooth linear acceleration and deceleration control system collects the scanning period according to the set target speed data, target acceleration and deceleration time data, optimizes the reliable scanning period, and judges the ideal state classification acceleration and deceleration parameters based on the reliable scanning period data.

5. The system and method of claim 1, wherein the system and method are characterized by: According to the classification acceleration and deceleration parameters, the speed control signal of each scanning period is accurately realized.

6. A motor smooth linear acceleration and deceleration system and control method based on claim 1, comprising the following steps: Step a1: Acquisition program processing cycle (program loop scan period) T s , unit: ms; Step a2: Set or calculate the optimized reliable processing period T y , unit: ms; Step a3: Calculate the maximum number of acceleration and deceleration C z , unit: times: acceleration and deceleration time T according to known or calculated j , reliable processing period T y , according to the ratio of the two, the maximum number of acceleration and deceleration, namely: C z =T j / T y ; Step a4: integer processing of the acceleration / deceleration number C j Two cases: one is to strictly guarantee the acceleration / deceleration time T j Then, Cz is rounded to zero, and is re-assigned to C j That is: C j = ⌊C z ⌋= ⌊T j / T y ⌋); Step a5: Another requirement is to ensure that the acceleration and deceleration is smooth, then Cz is rounded up, and re-assigned to C j That is: C j = ⌈ C z ⌉ =⌈ T j / T y ⌉); Step a6: Calculate the acceleration / deceleration difference value V δ , unit: m / s: According to the target speed value V of acceleration / deceleration T , the starting speed value V0 of acceleration / deceleration, the difference between the two is the acceleration / deceleration difference value V δ , that is: V δ =V T - V0; Step a7: Calculate single acceleration / deceleration value Δ Vc (unit: m / (s2·p)): According to acceleration / deceleration difference value V δ , maximum number of acceleration / deceleration C j , single acceleration / deceleration value Δ is obtained according to the ratio of the two Vc , that is: Δ Vc =V δ / C j ; Step a8: the starting time t0 of starting acceleration / deceleration (at which the speed value is the starting speed value V0), the output speed value V of the nth scanning period after t0 n (V0-V1) / (t0-t1) = (V1-V2) / (t1-t2) = (V2-V3) / (t2-t3) = (V3-V4) / (t3-t4) = (V4-V5) / (t4-t5) = (V5-V6) / (t5-t6) = (V6 V n = V0+ n * Δ Vc .

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