TWI676871B - Motor command converging device and method thereof - Google Patents

Abstract

A motor command convergence adjustment device includes a difference calculation unit, an integration unit, and a filter bandwidth setting unit. The difference calculation unit is used for receiving an input position command generated by a command generating device and an output position command transmitted to the motor driving device, and calculating a command difference. The filter bandwidth setting unit is used to set a filter bandwidth and cause the integration unit to calculate a dynamic command output correction amount based on the integration of the filter bandwidth and the command difference value, so as to use the dynamic command output correction amount to instantly correct the output position. Command to gradually converge the output position command to the input position command.

Description

Motor command convergence adjustment device and method

The present invention relates to a convergence adjustment device, in particular to a motor command convergence adjustment device.

A motor, also known as an electric motor or an electric motor, is an electrical device that converts electrical energy into kinetic energy and can be used to drive other devices. It is widely used in today's life. The principle is roughly the same as that of the generator, the difference is only that the energy conversion is different. The development of motors has also promoted the progress of human science and technology. From the advent and development of motors, various types of motors have been derived.

With the advancement of science and technology, humans have higher and higher requirements for accuracy. Such requirements also apply to motors, which are generally called servo motors, and servo motors are mainly used for precise speed or position control.

Generally, a servo motor control system includes a command generating device, a filtering device, a motor driving device, a servo motor, and a feedback device. The command generating device generates an input position command and transmits the input position command to the filtering device. The filtering device is an electrical connection command generating device for receiving an input position command, and It is filtered into an output position command. The purpose of filtering is to filter noise in the input position command.

The motor driving device is electrically connected with a filtering device for receiving an output position command and driving a servo motor accordingly. The feedback device is used to capture an actual position of the servo motor, and the feedback is transmitted to the motor driving device. After receiving the actual position of the servo motor, the motor drive device will calculate with the output position command to generate the next output position command, so that the actual position of the servo motor gradually approaches one of the output positions represented by the output position command.

Please refer to the first diagram. The first diagram is a diagram showing the convergence relationship between the input position command and the output position command in the prior art. As shown in the figure, an input position command PAIc and an output position command PAOc. After the motor drive device receives the actual position of the servo motor, it will calculate with the output position command PAOc to generate the next output position command PAOc. Therefore, as time goes by, the output position command PAOc will converge to the input position command PAIc.

However, in the filtering device in the prior art, when the input position command PAIc is filtered to generate the output position command PAOc, a command may be lost, a command error, or the like may occur. Therefore, the output position represented by the output position command PAOc is different from one of the input positions represented by the input position command PAIc. Therefore, when the motor driving device considers that the actual position of the servo motor is the same as the output position and considers that the servo motor has completed the output position command, the actual position of the servo motor has not yet reached the input position that the servo motor expects to enter the position command. In the figure, after PATc at a convergence time, the output position command PAOc and the input and output When the input position command PAIc is parallel and no longer converges to the input position command PAIc, there is a command error e between the output position command PAO and the input position command PAIc. In today's society where precision and precision are increasingly required, the accumulation of this command error e may have a great impact.

In addition, the filtering device in the prior art has a switching discrimination action. When it is determined that the actual position of the servo motor is the same as the output position represented by the output position command, that is, the convergence time point PATc, the output position command PAOc is parallel to the input position command PAIc and no longer converges to the input position command PAIc, the filtering device It will switch from 1 to 0, that is, the input position command is not filtered, so that the input position command PAIc directly becomes the output position command PAOc output. At this time, the output position command PAOc received by the motor driving device will be the same as the input position command PAIc, so the output position command PAOc will increase the command error e instantly to the input position command PAIc. However, the moment the filtering device is switched from 1 to 0, the output position command PAOc instantly increases the command error e and jumps to the input position command PAIc, which easily causes the whole system to oscillate and become unstable.

Whereas in the prior art, the feedback device only feedbacks the actual position of the servo motor, the motor drive device only compares the actual position with the output position command generated by the filter device, and does not compare the output position command generated by the filter device with the output position command. The input position command generated by the command generator is likely to cause the actual position to be equal to the output position, but it is different from the input position, and the filter device switching judgment action is switched to 0, which easily causes the entire system to be unstable and unstable. One of the main objects of the present invention is to provide A motor command convergence adjusting device is provided for receiving an input position command of a command generating device, generating an output position command for transmission to a motor driving device, and gradually converging the output position command to the input position command.

In order to solve the problems of the prior art, the present invention adopts the necessary technical means to provide a motor command convergence adjustment device for receiving an input position command from a command generating device and generating an output for transmission to a motor driving device. The position command gradually converges the output position command to the input position command. The motor command convergence adjustment device includes a difference calculation unit, an integration unit, and a filter bandwidth setting unit.

The difference calculation unit is electrically connected to the command generating device, and is used for receiving an input position command and an output position command, and calculating a command difference. The integration unit is an electrically connected difference calculation unit for receiving a command difference. The filter bandwidth setting unit is electrically connected to the integration unit to set a filter bandwidth and transmit the filter bandwidth to the integration unit, so that the integration unit calculates a dynamic command output correction based on the command difference and the filter bandwidth integration. By using the dynamic command output correction amount, the output position command is immediately corrected, so that the output position command gradually converges to the input position command.

Based on the above-mentioned necessary technical means, a subsidiary technical means derived from the present invention is a difference calculation unit in the motor command convergence adjustment device, which is a subtractor.

On the basis of the above-mentioned necessary technical means, one of the subsidiary technical means derived from the present invention is the one in the motor command convergence adjustment device. Integrating unit, an integrator.

Based on the above-mentioned necessary technical means, a subsidiary technical means derived from the present invention is a filtering bandwidth setting unit in the motor command convergence adjustment device, which includes a filtering bandwidth setting interface, and the filtering bandwidth setting interface is used for Allows a user to set the filtering bandwidth.

In order to solve the problems of the prior art, the present invention adopts the necessary technical means to additionally provide a motor command convergence adjustment method, which is implemented by using the aforementioned motor command convergence adjustment device, and includes the following steps: (a) using a difference operation The unit receives the input position command and the output position command, and calculates the command difference; (b) uses the integration unit to receive the command difference; (c) uses the filter bandwidth setting unit to set the filter bandwidth and sets the filter bandwidth Transmit to the integration unit; (d) use the integration unit to calculate the dynamic command output correction amount based on the command difference and filter bandwidth integration; and (e) use the integration unit to correct the output position command in real time based on the dynamic command output correction amount To gradually converge the output position command to the input position command.

As mentioned above, the motor command convergence adjustment device provided by the present invention uses the difference calculation unit, the integration unit, and the filter bandwidth setting unit to gradually converge the output position command transmitted to the motor drive device to the input generated by the command generation device The position command is used to solve the situation where the input position command and the output position command are different in the prior art.

e‧‧‧command difference

PAIc‧‧‧Enter position command

PAOc‧‧‧Output position command

PATc‧‧‧ convergence time

100‧‧‧Motor control system

1‧‧‧ Motor command convergence adjustment device

11‧‧‧ Difference calculation unit

12‧‧‧point unit

13‧‧‧Filtering bandwidth setting unit

131‧‧‧ operation interface

2‧‧‧command generating device

3‧‧‧ Motor Drive

4‧‧‧ Motor

Ic‧‧‧Enter position command

Oc‧‧‧ output position command

Tc‧‧‧ convergence time

The first figure shows the input position command and output position command in the prior art. Convergence diagram of the order; the second diagram is a block diagram showing that the motor command convergence adjustment device provided by the preferred embodiment of the present invention is applied to a motor control system; the third diagram is a diagram showing the motor command provided by the preferred embodiment of the present invention Convergence diagram of the output position command and input position command of the convergence adjustment device; and the fourth diagram is a flowchart showing a method for adjusting the convergence of the motor command provided by the preferred embodiment of the present invention.

Please refer to the second figure and the third figure together, wherein the second figure is a block diagram showing that the motor command convergence adjustment device provided by the preferred embodiment of the present invention is applied to a motor control system; Convergence diagram of the output position command and the input position command of the motor command convergence adjustment device provided by the preferred embodiment of the invention. As shown in the figure, a motor control system 100 includes a motor command convergence adjusting device 1, a command generating device 2, a motor driving device 3, and a motor 4.

The command generating device 2 is used for generating an input position command Ic. The motor command convergence adjustment device 1 is an electrical connection command generation device 2 for receiving an input position command Ic and generating an output position command Oc, and the output position command Oc is operatively fed back to the motor command convergence adjustment.装置 1。 Device 1. The motor driving device 3 is electrically connected to the motor command convergence adjustment device 1 to receive the output position command Oc and drive the motor 4 to operate accordingly.

Motor command convergence adjustment device 1, including a differential operation The arithmetic unit 11, an integration unit 12, and a filter bandwidth setting unit 13. The difference calculation unit 11 is electrically connected to the command generating device 2 and is configured to receive the input position command Ic and the feedback output position command, and calculate a command difference value accordingly. The difference calculation unit 11 may be a subtractor, or other chips, firmware, and the like having a difference calculation.

The integration unit 12 is electrically connected to the difference calculation unit 11 and is configured to receive a command difference calculated by the difference calculation unit 11. The filter bandwidth setting unit 13 is electrically connected to the integration unit 12 for setting a filter bandwidth and transmitting the filter bandwidth to the integration unit 12.

After receiving the command difference and the filtering bandwidth, the integrating unit 12 calculates a dynamic command output correction amount based on the integral, so as to use the dynamic command output correction amount to instantly correct the output position command Oc so that the output position command Oc gradually Converge to the input position command Oc.

Because as long as an output position command Oc is generated, the output position command Oc will be fed back to the difference operation unit 11, and the difference operation unit 11 will subtract the input position command Ic from the output position command Oc to obtain the command difference and integrate. The unit 12 will continuously receive the command difference value, and continuously perform the integral operation by using the filter bandwidth and the command difference value to calculate the corresponding dynamic command output correction amount. Therefore, the dynamic command output correction amount can immediately correct the output position command Oc so that the output position command Oc gradually converges to the input position command Ic. That is, whenever the output position command Oc is generated or the output position command Oc is different from the input position command Ic, the motor command convergence adjustment device 1 will perform the above operation, so the output position can be corrected in real time in a dynamic situation. The command Oc gradually converges the output position command Oc to the input position command Ic.

In this embodiment, the filtering bandwidth setting unit 13 includes an operation interface 131. The operation interface 131 is for a user to set the filtering bandwidth. The larger the filtering bandwidth, the faster the output position command converges to the input position command; conversely, the smaller the filtering bandwidth, the slower the output position command converges to the input position command.

Taking the third figure as an example, the input position command Ic is a one-step response command from 0 to 100. If the filter bandwidth is set to 100Hz, the output position command Oc will be at the time point of 1 / (2π × 100). 62.8% of the input position command Ic is reached; if the filter bandwidth is set to 200Hz, the output position command Oc will reach 62.8% of the input position command Ic at a time point of 1 / (2π × 200). Because the output position command Oc will always converge to the input position command Ic, the sooner it reaches 62.8% of the input position command Ic, it also means that the output position command Oc will converge to the input position command Ic as soon as possible. As shown in the figure, a convergence time point Tc represents a time point when the output position command Oc converges to the input position command Ic. The larger the filter bandwidth is set, the faster the output position command Oc converges to the input position command Ic, and the smaller the convergence time point Tc. Conversely, the smaller the filter bandwidth is set, the slower the speed at which the output position command Oc converges to the input position command Ic, and the larger the convergence time point Tc.

The motor command convergence adjustment device 1 provided by the preferred embodiment of the present invention can also be applied to a servo motor control system in the prior art. Because the motor command convergence adjustment device 1 can immediately modify the output position command Oc in a dynamic situation, so that the output position command Oc gradually converges to the input position command Ic. In the prior art servo motor control system, the feedback device will feedback the actual position of the servo motor to Motor drive. The motor drive compares the actual position with the output position represented by the output position command Oc to correct the next output position command Oc, so that the actual position gradually approaches the output position represented by the output position command Oc. . Therefore, the actual position will gradually approach the output position represented by the output position command Oc, and the motor command convergence adjustment device 1 will cause the output position command Oc to gradually converge to the input position command Ic. Therefore, the actual position will gradually approach the input position command. The input position represented by Ic will not gradually approach the output position like the actual position in the prior art. However, there is a command error e between the output position command PAOc and the input position command PAIc.

When the output position command Oc converges to the input position command Ic so that the command difference value is 0, the motor command convergence adjustment device 1 will continue to operate, but because the command difference value is 0, the dynamic command output correction amount is 0, so It does not affect the output position command Oc that has converged to the input position command Ic. Therefore, the motor command convergence adjustment device 1 provided by the present invention does not need to be switched as in the prior art, thereby avoiding the occurrence of unstable system oscillation caused by the switching.

In this embodiment, the integration unit 12 is an integrator, and may also be other chips, firmware, etc. that have integration capabilities. In addition, the filtering bandwidth setting unit 13 may include a filtering bandwidth setting interface (not shown), and the filtering bandwidth setting interface is used for a user to set the filtering bandwidth.

Next, please refer to the second to fourth figures together. The fourth figure is a flowchart showing a method for adjusting convergence of a motor command provided by a preferred embodiment of the present invention. The motor command convergence adjustment method uses the first The motor command convergence adjustment device 1 shown in the figure is implemented, and includes the following steps S101 to S105.

Step S101: Use the difference calculation unit to receive the input position command and the output position command, and calculate the command difference.

Step S102: Use the integration unit to receive the command difference.

Step S103: Use the filter bandwidth setting unit to set the filter bandwidth and transmit the filter bandwidth to the integration unit.

Step S104: Use the integration unit to calculate the dynamic command output correction amount according to the command difference and the filter bandwidth integration.

Step S105: Use the integration unit to modify the output position command in real time according to the dynamic command output correction amount, so that the output position command gradually converges to the input position command.

Step S101 is to use the difference calculation unit 11 to receive the input position command Ic and the output position command Oc, and calculate the command difference. The input position command Ic is generated by the command generating device 2 in the second figure and outputs the position command. Oc is generated by the motor command convergence adjustment device 1 and transmitted to the motor drive device 3, and is simultaneously fed back to the difference calculation unit 11.

Step S102 is to use the integration unit 12 to receive the command difference calculated by the difference calculation unit 11.

Step S103 is to use the filter bandwidth setting unit 13 to set the filter bandwidth, which is usually set by a user's operation, and the filter bandwidth is transmitted to the integration unit 12.

Step S104 uses the integration unit 12 to receive the difference The command difference calculated by the arithmetic unit 11 and the filter bandwidth set by the filter bandwidth setting unit 13 are integrated to calculate a dynamic command output correction amount according to the command difference and the filter bandwidth.

Step S105 is to use the integration unit 12 to correct the output position command Oc in real time according to the dynamic command output correction amount, so that the output position command Oc gradually converges to the input position command Ic. Because as long as the output position command Oc is generated, it will be fed back to the difference calculation unit 11 and a command difference will be generated. As long as there is a command difference, the integration unit 12 performs an integration operation according to the command difference and the filtering bandwidth to calculate a dynamic command output correction amount. Therefore, the motor command convergence adjustment method can immediately modify the output position command under dynamic conditions, so that the output position command Oc gradually converges to the input position command Ic.

When the output position command Oc converges to the input position command Ic so that the command difference value is 0, the motor command convergence adjustment device 1 will continue to operate, but because the command difference value is 0, the dynamic command output correction amount is 0, so It does not affect the output position command Oc that has converged to the input position command Ic. Therefore, the motor command convergence adjustment device 1 provided by the present invention does not need to be switched as in the prior art, thereby avoiding the occurrence of unstable system oscillation caused by the switching.

In summary, the motor command convergence adjustment device and method provided by the present invention use a difference calculation unit, an integration unit, and a filter bandwidth setting unit to calculate a dynamic command output correction amount and correct the output position command in real time. , So that the output position command gradually converges to the input position command. Compared with the prior art, the present invention can ensure that the output position command gradually converges to the input position command without The output position command is different from the input position command in the previous technology, and the subsequent problems are caused by errors. When the output position command converges to the input position command, because the command difference value is 0, the dynamic command output correction amount is also 0, which will not affect the output position command. Therefore, the motor command convergence adjustment device provided by the present invention And its method does not need to switch, and avoids the situation that the system is unstable due to the switch.

With the above detailed description of the preferred embodiments, it is hoped that the features and spirit of the present invention can be more clearly described, and the scope of the present invention is not limited by the preferred embodiments disclosed above. On the contrary, the intention is to cover various changes and equivalent arrangements within the scope of the patents to be applied for in the present invention.

Claims (5)

A motor command convergence adjustment device is used for receiving an input position command of a command generating device, generating an output position command for transmission to a motor driving device, and gradually converging the output position command to the input position command. The motor command convergence adjustment device includes: a difference calculation unit electrically connected to the command generating device for receiving the input position command and the output position command, and calculating a command difference; an integration unit, The difference calculation unit is electrically connected to receive the command difference; and a filtering bandwidth setting unit is electrically connected to the integration unit to set a filtering bandwidth and transmit the filtering bandwidth to the Integrating unit, which enables the integrating unit to calculate a dynamic command output correction amount based on the command difference and the filter bandwidth integration, thereby using the dynamic command output correction amount to instantly correct the output position command, so that the output position command gradually Converge on the input position command. The motor command convergence adjustment device according to item 1 of the scope of patent application, wherein the difference calculation unit is a subtractor. The motor command convergence adjustment device according to item 1 of the scope of patent application, wherein the integration unit is an integrator. According to the motor command convergence adjustment device described in the first item of the patent application scope, wherein the filtering bandwidth setting unit includes a filtering bandwidth setting interface, and the filtering bandwidth setting interface is used for a user to set the filtering frequency. width. A motor command convergence adjustment method is implemented by using the motor command convergence adjustment device described in item 1 of the scope of patent application, and includes the following steps: (a) using the difference calculation unit to receive the input position command and the output Position command and calculate the command difference; (b) use the integration unit to receive the command difference; (c) use the filter bandwidth setting unit to set the filter bandwidth and send the filter bandwidth to The integration unit; (d) using the integration unit to calculate the dynamic command output correction amount based on the command difference and the filter bandwidth integration; and (e) using the integration unit to output the correction amount instantaneously according to the dynamic command Correct the output position command so that the output position command gradually converges to the input position command.