Position Control Board Segmentation for Servo Motor Accuracy
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Solution Overview
Problem
Current moving apparatus systems in clean air environments face challenges with slow and inaccurate fully-closed-loop positioning due to high computational demands on servo drivers and the inconvenience of semi-closed-loop positioning, which requires extensive barcode labeling and is difficult to modify.
Innovation Solution
A moving position control system comprising an embedded PC, position control board, servo driver, servo motor, and barcode scanner, where the position control board processes and sends positioning instructions, and the servo driver drives the motor, with a closed-loop control circuit including position, speed, and current loop control circuits, utilizing CAN bus and CAN-open protocol for communication, and a DSP 2812 controller for rapid processing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If fully-closed-loop control using barcode and servo driver is employed, then any position on the barcode can be located, but the computational load on the servo driver is very high, affecting the speed and accuracy of the moving shaft motor
Solution Approach 1:
The control system is segmented into multiple components: the embedded PC handles high-level positioning instructions, the position control board processes positioning data and communicates via CAN bus, the servo driver manages motor control, and the barcode scanner collects position information. This segmentation distributes computational loads across different devices, preventing the servo driver from being overwhelmed while maintaining positioning accuracy.
Solution Approach 2:
The position control board acts as an intermediary between the embedded PC and the servo driver. It receives positioning instructions from the embedded PC, processes the data, and sends control signals to the servo driver. This intermediary role reduces the computational burden on the servo driver while ensuring accurate position control through the closed-loop control circuit.
2Device complexity
If semi-closed-loop positioning with barcode label is used, then the system is simpler to implement, but the moving apparatus cannot stop and locate at points without the barcode label, causing traffic jams and making system modifications difficult
Solution Approach 1:
The system uses a barcode band that can be read at any position along the track, making the positioning system universal. The barcode band serves multiple functions: it provides absolute position reference, enables stopping at any point (not just predefined locations), and allows easy modification of positioning points without adding physical labels. This multi-functionality resolves the limitation of semi-closed-loop systems that require specific barcode labels at each positioning point.
3Extent of automation
If all control calculations are done on the servo driver, then the control is fully integrated, but the servo driver becomes a bottleneck for computation speed and accuracy
Solution Approach 1:
The control architecture is segmented into hierarchical levels: the embedded PC handles high-level positioning logic, the position control board manages real-time control calculations and communicates with the servo driver, and the servo driver executes motor control. This segmentation allows computationally intensive tasks to be performed on devices with greater processing power while maintaining real-time control responsiveness.
Solution Approach 2:
The position control board serves as an intermediary that handles the computationally intensive position loop control calculations. It receives positioning instructions from the embedded PC, performs real-time control computations, and sends adjusted control signals to the servo driver. This intermediary approach distributes the computational load and prevents the servo driver from becoming a bottleneck.
Data Source
AI summary
A moving position control system for a moving apparatus includes an embedded PC, a position control board, a servo driver, a servo motor, and a barcode scanner. The embedded PC sends a positioning instruction to the position control board, which processes the positioning instruction and then sends a signal to the servo driver to drive the servo motor. The barcode scanner collects absolute positions of the moving apparatus on a moving track thereof. The position control board, the servo driver, and the servo motor form a closed-loop control circuit that includes a position loop control circuit, a speed loop control circuit, and a current loop control circuit. Improved operational efficiency is achieved by locating the position loop control circuit at the position control board.