CN1310415C - Multiple mani shaft synchronous control system for asynchronous motor - Google Patents
Multiple mani shaft synchronous control system for asynchronous motor Download PDFInfo
- Publication number
- CN1310415C CN1310415C CNB2004100516350A CN200410051635A CN1310415C CN 1310415 C CN1310415 C CN 1310415C CN B2004100516350 A CNB2004100516350 A CN B2004100516350A CN 200410051635 A CN200410051635 A CN 200410051635A CN 1310415 C CN1310415 C CN 1310415C
- Authority
- CN
- China
- Prior art keywords
- control
- circuit
- high speed
- signal processor
- digital signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Control Of Multiple Motors (AREA)
Abstract
The present invention relates to an asynchronous motor multi-spindle synchronous control system which comprises a multi-shaft controller, a plurality of spindle control units, a plurality of servo control units, a plurality of servo motors, and a plurality of spindles, wherein the multi-shaft controller is connected with the spindle control units through communication interfaces; the spindle control units are respectively connected the servo control units through high-speed data buses; the servo control units are respectively connected with the servo motors through a variable frequency control circuit; the servo motors are respectively connected with the spindles; each of the servo motors is also provided with an encoder for providing feedback signals for the servo control units; each of the spindles is provided with a position encoder; the spindles are arranged on a base; the position encoders are arranged outside the spindles; the servo motors are arranged on motor supporting seats on a wall plate, and the servo motors drive the spindles through a gear reducing mechanism. The present invention can effectively reduce noise caused by the operation of a machine, and the precision and the efficiency of the system can be improved; the present invention can utilize space well and has sensitive dynamic response and a digitized regulatory mechanism, which is favorable for the improvement on regulating speed. By the present invention, equipment can be effectively combined, operated, debugged and maintained.
Description
Technical field
The present invention relates to chromaticity printing machinery and textile machine, particularly relate to the Multi-Spindle Synchronous Induction Motor Control System of a kind of chromaticity printing machinery and textile machine.
Background technology
In multi-axle motor synchronous control systems such as chromaticity printing machinery and textile machine; all adopt autosynchronous motor in early days; to realize High Accuracy Control to motor speed; it has simple in structure, the easy to adjust and characteristics efficiently of control circuit, and its main technical requirements relates to power, number of poles, frequency range, V/F than relation, thermistor protection etc.As for speed adjusting performance, the rotating speed of synchronous motor only depends on motor frequency of supply F, and irrelevant with load size, but loading moment is during greater than pull-out torque, and synchronous motor can step-out and stop rapidly.As adopt high-precision closed-loop vector variable-frequency governor, and the synchronous motor rotary speed precision is consistent with the frequency converter frequency precision, rapid dynamic response speed, but static index is then mutually far short of what is expected on the contrary compared with the much lower asynchronous motor of cost with other dynamic quality.
Because the development and the raising of fast closed-loop vector converter speed adjusting technique, the updating of AC asynchronous motor product that causes low cost, high-performance, wide range speed control, making AC induction motor based on the frequency control of vector closed loop be used for the quick synchronous control system of multi-axle motor becomes possibility.Optimizing the improvement control circuit, correctly mating under the precondition of electric parameter, can bring many advantages significantly, as the torque control performance is good, response speed is fast, speed governing is wide, precision is high.
The rotational speed N of AC three-phase asynchronous motor can be used following formulate:
N＝N0(1-S)＝60F/P(1-S)
In the formula: F is a frequency; P is a number of pole-pairs; S is revolutional slip (changing in 0～3% scope usually), and wherein, (M) moment of inertia and the load moment variations with voltage, axis system changes S=S for V, L.
Concerning asynchronous motor, change the supply frequency F of motor, can change rotating speed of motor N easily, but use frequency control and need keep the magnetic flux substantially constant, just need the magnetic flux or the torque current of motor be detected, control, realize vector control by automatic change voltage and frequency.Yet, there is revolutional slip S just because of asynchronous motor, rotating speed changes with moment of inertia, load moment variations, thereby employing slip compensation and torque magnification method, its adjusting speed accuracy and dynamic response characteristic are still very good inadequately, can not obtain bigger speed adjustable range and higher adjusting speed accuracy.
The asynchronous machine closed-loop vector frequency conversion speed-adjusting system of tape speed encoder is a kind of comparatively ideal control mode, and it has many advantages:
1, carry out speed control from zero rotating speed, speed adjustable range is very wide, can reach more than 1: 5000;
2, exceed the quata to decide torque and accurately control, keep velocity-stabilization and position accurate;
3, the dynamic responding speed of system is very fast, can reach 250 microseconds;
4, the acceleration characteristic of motor is good, can reach 0.01～3000HZ/S.
Yet the asynchronous motor closed loop variable-frequency control technique performance of tape speed feedback encoding vector-control frequency converter depends on installs feedback coder on asynchronous motor.Between the main shaft of Asynchronous Motor Driving and asynchronous motor, adopt variable transmission mechanism, normally adopt gear reduction, improve the adjusting speed accuracy (depending on gear ratio) of low-speed region effectively, and obtain bigger speed adjustable range.But strictly say, between the main shaft of Asynchronous Motor Driving and asynchronous motor, adopt reduction gearing mechanism, but reduced the position control accuracy of main shaft of Asynchronous Motor Driving and the reliability (same relevant) of position measurements simultaneously with variable transmission mechanism.And, in some cases, because the factors such as gap of motor gear box transmission mechanism can produce wild effects such as main shaft jitter problem.
When asynchronous motor adopted vector type frequency converter open loop control, system accuracy can reach 1%, can't satisfy the requirement of application system.If will reach 0.01% speed and position accuracy demand, the asynchronous motor closed-loop vector frequency conversion speed-adjusting system of necessary employing speed and position coder.Yet this problem is effectively solved so far as yet.
Summary of the invention
The present invention is intended to address the above problem, and provide a kind of directly and speed and positional precision on the more accurate reflection main shaft, the meticulous compensation that can be used for providing stable is controlled, can effectively eliminate transmission mechanism various bias factors, improve system accuracy and efficient, the better utilization space has sensitive dynamic response characteristic and digitized regulation mechanism, governing speed can be helped improving, and the Multi-Spindle Synchronous Induction Motor Control System of Ideal Match, operation, debugging can be carried out equipment.
For achieving the above object, the invention provides a kind of Multi-Spindle Synchronous Induction Motor Control System, this system comprises:
A multi-axis controller, it is connected with a plurality of main shaft control units by communication interface;
A plurality of main shaft control units, they are connected with a plurality of motor control units respectively through high speed data bus;
A plurality of servo control units, each servo control unit is connected with a plurality of servomotors by frequency conversion control circuit;
A plurality of servomotors, each servomotor by transmission mechanism or directly with many main shafts in a corresponding main shaft be connected, also be provided with on each servomotor to servo control unit provides the encoder of feedback signal and reach
Many main shafts, each main shaft is provided with a position coder, this position coder can be used for an operation window and limited window at intermittence of the time interval at the uniform velocity that definite main shaft is comprised in rotating week age, system utilizes the measurement result of this position coder precisely to regulate control at intermittence in the window, and this window is called the control window;
Above-mentioned main shaft is arranged on pedestal or the wallboard, and position coder is located at the main shaft outside, and a plurality of servomotors are contained on the motor bearing, between they and the main shaft by gear reduction or directly transmission.
Multi-axis controller is a master control loop that is made of high speed digital signal processor, which is provided with high speed optical fiber communication interface FC.
The main shaft control unit is the meticulous compensation loop in position that is made of high speed digital signal processor and its peripheral circuit, wherein, high speed digital signal processor is provided with LCD display interface, DLL (dynamic link library), emulation interface, PWM control window output interface, digital input and output pin, 12 analog to digital converters, CAN controller; Its peripheral circuit comprises programmable logic chip, multichannel selection signal amplification circuit and photoelectric switching circuit, programmable logic chip is connected with PWM control window output interface, digital input and output pin and position coder respectively, multichannel selects signal amplification circuit to be connected with 12 analog to digital converters, and photoelectric switching circuit is connected with the communication interface FC that the CAN controller reaches with multi-axis controller is communicated by letter respectively.
Servo control unit is two step velocitys that are made of high speed digital signal processor and peripheral circuit thereof, phase place master control loop, wherein one-level is based on variable time window semiclosed loop fine compensation control loop, another level is a closed-loop speed, phase place master control loop, described high speed digital signal processor is provided with the LCD display interface, DLL (dynamic link library), emulation interface, numeral input and output pin, its peripheral circuit comprises programmable logic chip and CAN controller and photoelectric switching circuit, programmable logic chip is connected with the digital input and output pin and the speed encoder of high speed digital signal processor, the CAN controller is connected with photoelectric switching circuit with high speed digital signal processor respectively, and photoelectric switching circuit then is connected with the communication interface FC that multi-axis controller is communicated by letter.
Frequency conversion control circuit is electric current, the torque control loop that is made of high speed digital signal processor, motor-drive circuit and peripheral circuit thereof, wherein, high speed digital signal processor is provided with LCD display interface, DLL (dynamic link library), emulation interface, digital input and output pin, PWM control window output interface, 12 figure place weighted-voltage D/A converters and 12 analog to digital converters; Its peripheral circuit comprises programmable logic chip, source voltage control circuit and multichannel selection amplifying circuit, wherein, programmable logic chip links to each other with digital input and output pin, PWM control window output interface respectively, source voltage control circuit links to each other with 12 figure place weighted-voltage D/A converters and motor-drive circuit respectively, and multichannel selects amplifying circuit to link to each other with 12 analog to digital converters and servomotor respectively; Motor-drive circuit is connected with programmable logic chip, source voltage control circuit and servomotor respectively.
Servomotor is the AC induction motor based on the frequency control of two-stage closed loop.
The work of system of the present invention is by programmable logic device and solidification software control, and its software control flow process is as follows:
One, the control flow of the meticulous compensation loop in position is as follows:
A, after the fast processing cycle starts, high speed digital signal processor is selected different handling processes according to tupe;
After b, the speed or phase compensation signal, calculate when the monocycle in pre-treatment cycle velocity compensation signal or phase compensation signal by programmable logic chip acquisition high-speed digital signal processing back acquisition;
C, obtain the control window signal, be in the control window, then transmit compensating signal to servo control unit (30) as system from programmable logic chip, otherwise, handling process withdrawed from;
Two, the control flow of speed, phase place master control loop is as follows:
A, after the fast processing cycle starts, high speed digital signal processor is selected upper control model, local control model or is compensated smart control pattern according to tupe;
B, under upper control model, by high speed optical fiber communication interface FC inbound pacing control signal, calculate and handle the beat number in the monocycle and clap speed control signal when the single-unit of pre-treatment beat;
C, in local control model or compensate under the smart control pattern, obtain monocycle velocity compensation signal or phase compensation signal by universal data interface, after the processing of programmable logic chip acquisition high-speed digital signal, calculate the single-unit bat velocity compensation signal of handling the beat number in the monocycle and working as the pre-treatment beat;
D, obtain the control window signal, be in the control window, transmit compensating signal, withdraw from handling process then to servo control unit as system from programmable logic chip.
Three, the control flow of electric current, torque control loop is as follows:
A, after the fast processing cycle starts, high speed digital signal processor is selected start-up control pattern, speed Synchronization Control pattern according to tupe or is compensated the handling process of smart control pattern;
B, under the start-up control pattern, obtain single-unit by universal data interface and clap speed control signal, and handle the back by programmable logic chip and obtain various compensating signals, calculate single-unit beat frequency/voltage corrected signal when the pre-treatment beat;
C, in speed Synchronization Control pattern or compensate under the smart control pattern, obtain single-unit by universal data interface and clap velocity compensation signal or phase compensation signal, and, calculate single-unit beat frequency/voltage corrected signal when the pre-treatment beat by the various compensating signals that programmable logic chip processing back obtains;
D, under the start-up control pattern, directly, withdraw from handling process then to servo control unit transmitted frequency/voltage corrected signal.
E, in speed Synchronization Control pattern or compensate under the smart control pattern, obtain the control window signal from programmable logic chip, be in the control window as system, to servo control unit transmitted frequency/voltage corrected signal.Withdraw from handling process then.
Contribution of the present invention is that it provides a kind of Multi-Spindle Synchronous Induction Motor Control System based on the frequency control of two-stage closed loop, towards a plurality of main shaft objects, directly accurately detects and control the speed and the relative position of a plurality of main shafts.This system does not need to arrive each unit by main shaft and high-precision gearbox drive, therefore can not produce because the problem of machine-building, installation generation yet, can not influence chromatography precision because of gear drive, and can reduce the machine run noise, improve system accuracy and efficient, the better utilization space; Owing to adopt asynchronous machine and the communication system that meets international digital transmission interface standard, can reduce cost to greatest extent, help improving governing speed; At independently speed Control of Induction Motor required precision and the pre-alignment precision requirement of rapid-action of each unit, increase meticulous measurement and controlling unit, control signal control window in superposition in AC induction motor, and motor directly acts on the phase place that the adjusting main shaft is promptly controlled plate cylinder, can be fast reaction reliable assurance is provided, reduce the spoilage that produces by tension variation; System of the present invention has sensitive dynamic response characteristic and digitized regulation mechanism, as long as change the production requirement that parameter just can adapt to different printing, textile machine, has improved the availability of equipment greatly.Simultaneously because modular design and manufacturing can be carried out Ideal Match to equipment, operation, debugging, uniting and adjustment, and can realize printing, the remote Diagnosis Technology service of textile machine.
Description of drawings
Fig. 1 is a structural plan of the present invention schematic diagram.
Fig. 2 is a structured flowchart of the present invention.
Fig. 3 is a circuit block diagram of the present invention.
Fig. 4 is the control flow block diagram of the meticulous compensation loop in position of the present invention.
Fig. 5 is the control flow block diagram of speed of the present invention, phase place master control loop.
Fig. 6 is the control flow block diagram of electric current of the present invention, torque control loop.
Fig. 7 is the embodiments of the invention structural representations.
Fig. 8 is a main shaft control unit structural representation of the present invention.
Fig. 9 is a servo control unit structural representation of the present invention.
Figure 10 is a frequency conversion control circuit structural representation of the present invention.
Embodiment
The following example is to further explanation of the present invention and explanation, and the present invention is not constituted any limitation.
Consult Fig. 5, Fig. 2, Fig. 3, Multi-Spindle Synchronous Induction Motor Control System of the present invention comprises multi-axis controller 10, main shaft control unit 20, servo control unit 30, frequency conversion control circuit 40, servomotor 50 and main shaft 60, wherein, multi-axis controller 10 is master control loops that are made of high speed digital signal processor and peripheral circuit thereof, high speed digital signal processor in the master control loop (CPU) adopts TMS320F2812 type processor, its clock frequency reaches 150MH, can realize the dynamic responding speed less than 250 microsecond systems.On multi-axis controller 10, be provided with high speed optical fiber communication interface FC, be used for communicating by letter, a plurality of main shafts are controlled with a plurality of main shaft control units 20 that are attached thereto.This communication system adopts the speed fiber optic communication systems that meets international digital transmission interface standard, helps improving governing speed and the pre-alignment precision requirement of response fast.The data transmission is two-way on the high-speed communication bus, transmission by corresponding clock signals, gating signal, data-signal, alarm signal, realize the transmission of the control command of various master control systems, what obtain is information such as motor-driven main shaft physical location and state.
Main shaft control unit 20 can be made of 1～N unit according to actual needs, its structure such as Fig. 2, Fig. 3, shown in Figure 8, each main shaft control unit 20 is the meticulous compensation loop in position that are made of high speed digital signal processor 21 and its peripheral circuit 22, wherein, high speed digital signal processor (CPU) adopts TMS320F2812 type processor, which is provided with LCD display interface 23, DLL (dynamic link library) 24, emulation interface 25, PWM (pulse width modulating signal) control window output interface 26, numeral input and output pin two 7,12 analog to digital converters 28, CAN controller 29, its digital input and output pin two 7 is used for digital input/output signal to be handled, CAN controller 29 is used for the optical fiber communication passage, 12 analog to digital converters are used for main shaft dynamic balancing auxiliary detection, and control window output interface 26 is used to generate the control time window signal.Its peripheral circuit 22 comprises programmable logic chip 221, multichannel selection signal amplification circuit 222 and photoelectric switching circuit 223, its programmable logic chip 221 adopts the XILINX cake core, it is connected with PWM control window output interface 26, digital input and output pin two 7 and position coder 61 respectively, multichannel selects signal amplification circuit 222 to be connected with 12 analog to digital converters 28, and photoelectric switching circuit 223 is connected with CAN controller 29 and with the communication interface FC of multi-axis controller 10 communications respectively.For the feedback information of meticulous compensation being provided for the meticulous compensation loop in position, the meticulous compensation loop in position also is connected with the position detector that can contrast with speed detector, this speed, position detector are contained in the end of main shaft, the position that utilizes the angle of revolution of main shaft directly to measure plate cylinder compensates, position detector can be selected resolver, photoelectric type pulse generator and circle grating etc. as the case may be for use, and angular position measurement resolution should reach more than 0.01%.The main shaft control unit is provided with the communication interface FC (being realized by enhancement mode CAN2.0 controller) that communicates by letter with multi-axis controller 10, and they are connected with frequency conversion control circuit 40 respectively through high speed data bus.The major function of this unit be carry out position/phase place elaborated code detection and comparison, axis system moment of inertia J debate knowledge and adaptive control, the dynamically balanced self check of axis system, the meticulous control of high torque (HT) position/phase place and high-speed communication etc. automatically, in order to improve position/phase control precision and system time response characteristic.The main shaft control unit receives the feedback signal of the position coder 61 on the main shaft 60, provides meticulous compensating signal to multi-axis controller 10.At the short time of appointment window (in about 1-3 millisecond), when position/phase error during less than the prescribed limit error amount, system response time is better than 250 microseconds (about 1 beat).And, need to divide several beats regulation and control when position/phase error during greater than the prescribed limit error amount; And during bigger error amount, also may in several time windows, divide a plurality of beats regulation and control.The software control flow process of the meticulous compensation loop work in position is as shown in Figure 4:
A, after the fast processing cycle starts, high speed digital signal processor is selected different handling processes according to tupe;
B, under upper control model, receive control signal by high speed optical fiber communication interface FC, change control model;
C, under corresponding control model, after obtaining high-speed digital signal and handle the speed or phase compensation signal that the back obtains by programmable logic chip, calculate when the monocycle in pre-treatment cycle velocity compensation signal or phase compensation signal;
D, obtain the control window signal, be in the control window, then transmit compensating signals to frequency conversion control circuit 40 as system from programmable logic chip, otherwise, handling process withdrawed from;
Servo control unit 30 is two step velocitys that are made of high speed digital signal processor 31 and peripheral circuit 32 thereof, phase place master control loop, wherein one-level is based on variable time window semiclosed loop fine compensation control loop, another level is a closed-loop speed, phase place master control loop, its structure such as Fig. 2, shown in Figure 9, high speed digital signal processor 31 adopts TMS320F2812 type processor, which is provided with LCD display interface 32, DLL (dynamic link library) 33, emulation interface 34, numeral input and output pin 35, its peripheral circuit 32 comprises programmable logic chip 321 and CAN controller 322 and photoelectric switching circuit 323, programmable logic chip adopts the XiLinx cake core, it is connected with the digital input and output pin 35 and the speed encoder 52 of high speed digital signal processor, the CAN controller is connected with photoelectric switching circuit with high speed digital signal processor respectively, and photoelectric switching circuit then is connected with the communication interface FC of multi-axis controller 10 communications.A plurality of servo control units 30 are connected with a plurality of main shaft control units 20 respectively, and the speed of main shaft control unit, phase place master control loop provide control signal to servo control unit.The control flow of speed, the work of phase place master control loop is as shown in Figure 5:
A, after the fast processing cycle starts, high speed digital signal processor is selected local smart control pattern or is compensated smart control pattern according to tupe;
B, obtain the velocity compensation signal handled through high-speed digital signal by programmable logic chip, after obtaining speed/Phase Processing signal by the general digital input/output interface, calculate that single-unit in the current control window is clapped or more piece is clapped velocity compensation signal or phase compensation signal;
C, obtain the control window signal,, transmit compensating signal to frequency-changing control system when system is in the control window from programmable logic chip, otherwise, handling process withdrawed from.
The quantity of frequency conversion control circuit 40 is corresponding with main shaft control unit 20, as Fig. 2, shown in Figure 10, each frequency conversion control circuit 40 is electric current, the torque control loops that are made of high speed digital signal processor 41, motor-drive circuit 42 and peripheral circuit 43 thereof, wherein, high speed digital signal processor adopts TMS320F2812 type processor, which is provided with LCD display interface 411, DLL (dynamic link library) 412, emulation interface 413, digital input and output pin 414, PWM control window output interface 415,12 figure place weighted-voltage D/A converters 416 and 12 analog to digital converters 417.Its 6 road PWM pulse-width modulation control signal output is as motor control signal, its peripheral circuit 43 comprises programmable logic chip 431, source voltage control circuit 432 and multichannel selection amplifying circuit 433, wherein, programmable logic chip adopts the XiLinx cake core, it links to each other with digital input and output pin 414, PWM control window output interface 415 respectively, source voltage control circuit links to each other with 12 figure place weighted-voltage D/A converters 416 and motor-drive circuit 42 respectively, and multichannel selects amplifying circuit to link to each other with 12 analog to digital converters 417 and servomotor 50 respectively; Motor-drive circuit 42 is connected with programmable logic chip 431, source voltage control circuit 432 and servomotor 50 respectively.The frequency Varying and speed changing method of electric current, torque control loop comprises: its current phasor direction and voltage vector direction are as the compensating signal of FREQUENCY CONTROL, current source inverter is realized high torque (HT) velocity overshoot variable frequency control, by the control dc voltage, overcome the problem of too drastic or unexcited, can make asynchronous machine at different frequency, stable operation under the different loads.This speed regulator constitutes high-performance, the high torque (HT) governing system that contains closed loop in torque or the electric current, the overshoot control of self adaptation torque vector L; Slip is the high torque (HT) velocity control of compensation automatically, has realized the quick soft start of asynchronous machine, Synchronization Control and multistage frequency conversion speed governing fast, is effective significantly, and control precision and dynamic characteristic are good, the reliability height.The control flow of electric current, the work of torque control loop is as shown in Figure 6:
A, after the fast processing cycle starts, high speed digital signal processor is selected start-up control pattern, speed Synchronization Control pattern according to tupe or is compensated the handling process of smart control pattern;
B, obtain high speed digital signal processor by programmable logic chip and handle the various compensating signals that the back obtains, and, calculate then when the monocycle in pre-treatment cycle frequency/voltage corrected signal by speed/phase compensation signal that general input and output digital interface obtains;
C, in speed Synchronization Control pattern or compensate under the smart control pattern, obtain the control window signal from general input and output digital interface, be in the control window as system, to servo control unit transmitted frequency/voltage corrected signal, withdraw from handling process then.
The quantity of servomotor 50 is corresponding with main shaft control unit 20, and this servomotor is based on the AC induction motor of two-stage closed loop frequency control, and a plurality of servomotors 50 are contained on the motor bearing 51, passes through gear reduction 53 transmissions between motor shaft 54 and the main shaft.Also be provided with an encoder 52 on each servomotor, encoder is selected the commercially available prod for use, and it is contained in the servomotor.Be used to servo control unit that feedback signal is provided.
The quantity of main shaft 60 is corresponding with main shaft control unit 20, as shown in Figure 1, main shaft 60 is arranged at (not shown) on wallboard or the pedestal, each main shaft is provided with a position coder 61, it can select resolver, photoelectric type pulse generator and circle grating etc. for use, the requirement range of speeds is suitable, and angular position measurement resolution reaches more than 0.01%.Position coder 61 is located at the main shaft outside, by gear reduction 53 transmissions, acquires bigger low speed speed adjustable range and improves control precision between motor shaft and the main shaft.Encoder on the main shaft can obtain more accurate main spindle's precision owing to be directly installed on the main shaft and radius increases about K doubly, and the meticulous compensation that can be used for providing stable is controlled.Encoder cover 62 is equipped with in the encoder outside, and the protection encoder is avoided staiing and dust.Code signal transducer 63 also is equipped with in the encoder outside, encoder cover 62 is formed the coding read-out system with code signal transducer 63, code signal transducer 63 adopts the digital pulse coding device, they are fixed on the bearing 64, and by digital interface feedback signal are connected to main shaft control unit 20 (see figure 1)s.The output of main shaft 60 then is used for being connected with textile machine with the chromaticity printing machinery that will drive.
Fig. 7 has provided the example that the present invention is applied to the printing machine 70 of 8 look chromatographys, in this example, Multi-Spindle Synchronous Induction Motor Control System of the present invention comprises 8 plate cylinders 72 (S1-S8) that a master rotor 71 (MS) and 88 look chromatographys are used, the diameter of master rotor is about 5～8 times of plate cylinder diameter, 8 plate cylinders (S1-S8) are arranged on master rotor (MS) periphery, and the diameter of 8 plate cylinders is identical.Photoelectric type is housed on master rotor aims at encoder 73; And position coder 61 is housed on plate cylinder shaft, and it can select resolver, photoelectric type pulse generator and circle grating etc. for use, requires the range of speeds suitable, and angular position measurement resolution reaches more than 0.01%.During operation, the cylindrical of system control plate cylinder is pressed on the master rotor cylindrical, and it is tangent to form two circles, and retention wire speed and master rotor are synchronous.Because encoder is directly installed on master rotor and the plate cylinder shaft, therefore can directly obtain the angular speed amount of master rotor and plate cylinder, the speed that reaches is accurately controlled effect.
Simultaneously, at the gap of twice printing window, except that first plate cylinder, system controls other plate cylinder and first plate cylinder keeps Phase synchronization, promptly control the relative angular position of other plate cylinder and registration mark, reach the printing effect of accurate alignment.As shown in Figure 7, directly stamp registration mark by first plate cylinder, when the code signal transducer that is positioned at A1 has been measured registration mark, the distance of the printing position P2 of itself and second plate cylinder is arc A1-P2, and the distance of the forme aligned position of second plate cylinder and printing position P2 is arc S2-P2, obviously, when arc A1-P2 and arc S2-P2 were isometric, second plate cylinder and first plate cylinder had reached the printing effect of accurate alignment.By that analogy, other plate cylinder can both be realized the printing effect with the same accurate alignment of first plate cylinder.Equally,, directly obtain the angle position and the angular deflection amount of plate cylinder, thereby reduced the influence of various factors, reached the accurately effect of control of angle, realized accurate alignment because encoder is directly installed on each plate cylinder shaft.
Claims (4)
1, a kind of Multi-Spindle Synchronous Induction Motor Control System is characterized in that, this system comprises:
A multi-axis controller (10), it is connected with a plurality of main shaft control units (20) by communication interface, and this multi-axis controller is a master control loop that is made of high speed digital signal processor, which is provided with high speed optical fiber communication interface FC;
A plurality of main shaft control units (20), they are connected with a plurality of motor control units (30) respectively through high speed data bus, this main shaft control unit (20) is the meticulous compensation loop in position that is made of high speed digital signal processor (21) and its peripheral circuit (22), wherein, high speed digital signal processor is provided with LCD display interface (23), DLL (dynamic link library) (24), emulation interface (25), PWM control window output interface (26), digital input and output pin (27), 12 analog to digital converters (28), CAN controller (29); Its peripheral circuit (22) comprises programmable logic chip (221), multichannel selection signal amplification circuit (222) and photoelectric switching circuit (223), programmable logic chip (221) is connected with PWM control window output interface (26), digital input and output pin (27) and position coder (61) respectively, multichannel selects signal amplification circuit (222) to be connected with 12 analog to digital converters (28), and photoelectric switching circuit (223) is connected with CAN controller (29) and with the communication interface FC of multi-axis controller (10) communication respectively;
A plurality of servo control units (30), each servo control unit is connected with a plurality of servomotors (50) by frequency conversion control circuit (40), this servo control unit (30) is two step velocitys that are made of high speed digital signal processor (31) and peripheral circuit (32) thereof, phase place master control loop, wherein one-level is based on variable time window semiclosed loop fine compensation control loop, another level is a closed-loop speed, phase place master control loop, described high speed digital signal processor (31) is provided with LCD display interface (32), DLL (dynamic link library) (33), emulation interface (34), numeral input and output pins (35), its peripheral circuit (32) comprises programmable logic chip (321) and CAN controller (322) and photoelectric switching circuit (323), programmable logic chip is connected with the digital input and output pin (35) and the speed encoder (51) of high speed digital signal processor, the CAN controller is connected with photoelectric switching circuit with high speed digital signal processor respectively, and photoelectric switching circuit then is connected with the communication interface FC of multi-axis controller (10) communication; Described frequency conversion control circuit (40) is electric current, the torque control loop that is made of high speed digital signal processor (41), motor-drive circuit (42) and peripheral circuit (43) thereof, wherein, high speed digital signal processor is provided with LCD display interface (411), DLL (dynamic link library) (412), emulation interface (413), digital input and output pin (414), PWM and controls window output interface (415), 12 figure place weighted-voltage D/A converters (416) and 12 analog to digital converters (417); Its peripheral circuit (43) comprises programmable logic chip (431), source voltage control circuit (432) and multichannel selection amplifying circuit (433), wherein, programmable logic chip links to each other with digital input and output pin (414), PWM control window output interface (415) respectively, source voltage control circuit links to each other with 12 figure place weighted-voltage D/A converters (416) and motor-drive circuit (42) respectively, and multichannel selects amplifying circuit to link to each other with 12 analog to digital converters (417) and servomotor (50) respectively; Motor-drive circuit (42) is connected with programmable logic chip (431), source voltage control circuit (432) and servomotor (50) respectively.
A plurality of servomotors (50), this servomotor (50) is the AC induction motor based on the frequency control of two-stage closed loop, each servomotor (50) by transmission mechanism or directly with many main shafts (60) in a corresponding main shaft be connected, also be provided with on each servomotor to servo control unit provides the encoder (51) of feedback signal and reach
Many main shafts (60), each main shaft are provided with a position coder (61);
Above-mentioned main shaft (60) is arranged on the pedestal, and position coder (61) is located at the main shaft outside, and a plurality of servomotors (50) are contained on the motor bearing, between they and the main shaft by the gear reduction transmission.
2, Multi-Spindle Synchronous Induction Motor Control System according to claim 1 is characterized in that, the control flow of the meticulous compensation loop in described position is as follows:
A, after the fast processing cycle starts, high speed digital signal processor is selected different handling processes according to tupe;
After b, the speed or phase compensation signal, calculate when the monocycle in pre-treatment cycle velocity compensation signal or phase compensation signal by application-specific integrated circuit (ASIC) acquisition high speed digital signal processor processing back acquisition;
C, obtain the control window signal, be in the control window, then transmit compensating signal to motor control unit (30) as system from application-specific integrated circuit (ASIC), otherwise, handling process withdrawed from;
3, Multi-Spindle Synchronous Induction Motor Control System according to claim 1 is characterized in that, the control flow of described speed, phase place master control loop is as follows:
A, after the fast processing cycle starts, high speed digital signal processor is selected local smart control pattern or is compensated smart control pattern according to tupe;
B, obtain the velocity compensation signal handled through high speed digital signal processor, or after obtaining speed/Phase Processing signal by port, calculate when the monocycle in pre-treatment cycle velocity compensation signal or phase compensation signal by application-specific integrated circuit (ASIC);
C, obtain the control window signal, be in the control window, transmit compensating signal, withdraw from handling process then to servo control unit (40) as system from application-specific integrated circuit (ASIC).
4, Multi-Spindle Synchronous Induction Motor Control System according to claim 1 is characterized in that, the control flow of described electric current, torque control loop is as follows:
A, after the fast processing cycle starts, high speed digital signal processor is selected start-up control pattern, speed Synchronization Control pattern according to tupe or is compensated the handling process of smart control pattern;
B, obtain high-speed digital signal by application-specific integrated circuit (ASIC) and handle the various compensating signals that the back obtains, and speed/phase compensation signal of obtaining by the universal I data port, and calculate single beat frequency/voltage corrected signal when the pre-treatment beat;
C, in speed Synchronization Control pattern or compensate under the smart control pattern, obtain the control window signal from application-specific integrated circuit (ASIC), be in the control window as system, to motor-drive circuit transmitted frequency/voltage corrected signal, withdraw from handling process then.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100516350A CN1310415C (en) | 2004-09-23 | 2004-09-23 | Multiple mani shaft synchronous control system for asynchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100516350A CN1310415C (en) | 2004-09-23 | 2004-09-23 | Multiple mani shaft synchronous control system for asynchronous motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1588789A CN1588789A (en) | 2005-03-02 |
| CN1310415C true CN1310415C (en) | 2007-04-11 |
Family
ID=34602488
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100516350A Expired - Fee Related CN1310415C (en) | 2004-09-23 | 2004-09-23 | Multiple mani shaft synchronous control system for asynchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1310415C (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100501618C (en) * | 2006-03-14 | 2009-06-17 | 台达电子工业股份有限公司 | Self-synchronizing AC servo system matched with high-speed serial communication |
| CN102819242B (en) * | 2011-06-07 | 2015-07-01 | 深圳华强数码电影有限公司 | Multi-shaft servo control system and magic ball matrix |
| CN102929171B (en) * | 2012-08-16 | 2016-05-11 | 常州市翔云测控软件有限公司 | Network-type tricot machine control system and method |
| CN103716015A (en) * | 2012-11-08 | 2014-04-09 | 余冠军 | Vibration resistance incremental electronic pulse generator |
| WO2014082249A1 (en) * | 2012-11-29 | 2014-06-05 | Li Lihui | Directly coupled servomotor transmission structure and control system therefor |
| CN104104288B (en) * | 2014-07-04 | 2017-01-18 | 中国西电电气股份有限公司 | Detection device and processing method of high-speed motor rotor position |
| CN106289332B (en) * | 2016-09-05 | 2018-12-18 | 京东方科技集团股份有限公司 | The reading device of servo-system and its position of output axle |
| CN106647573B (en) * | 2016-11-01 | 2020-06-19 | 清能德创电气技术（北京）有限公司 | Servo driver synchronous control system |
| CN109667750B (en) * | 2018-12-14 | 2020-08-14 | 北京卫星制造厂有限公司 | Multi-axis cooperative high-precision liquid-phase pump control method based on online compensation |
| CN113268037B (en) * | 2021-04-23 | 2022-04-29 | 哈尔滨工业大学（深圳） | Multi-axis cooperative control method based on time synchronization |
| CN113581754A (en) * | 2021-06-25 | 2021-11-02 | 焦作华欣电气科技有限公司 | Intelligent control system for electric roller |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4851748A (en) * | 1986-11-20 | 1989-07-25 | Westinghouse Electric Corp. | Basic digital multi-axis robot control having modular performance expansion capability |
| US4868472A (en) * | 1986-11-20 | 1989-09-19 | Unimation Inc. | Communication interface for multi-microprocessor servo control in a multi-axis robot control system |
| US4988935A (en) * | 1989-05-24 | 1991-01-29 | Universal Instruments Corporation | Advanced digital motion control |
-
2004
- 2004-09-23 CN CNB2004100516350A patent/CN1310415C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4851748A (en) * | 1986-11-20 | 1989-07-25 | Westinghouse Electric Corp. | Basic digital multi-axis robot control having modular performance expansion capability |
| US4868472A (en) * | 1986-11-20 | 1989-09-19 | Unimation Inc. | Communication interface for multi-microprocessor servo control in a multi-axis robot control system |
| US4988935A (en) * | 1989-05-24 | 1991-01-29 | Universal Instruments Corporation | Advanced digital motion control |
Non-Patent Citations (3)
| Title |
|---|
| 一种基于DSP的伺服控制器的设计与应用 吴建昆 唐小琦 宋宝，机械与电子，第2003卷第3期 2003 * |
| 全闭患多轴运动控制器 龚京忠，组合机床与自动加工技术，第9期 2000 * |
| 全闭患多轴运动控制器 龚京忠，组合机床与自动加工技术，第9期 2000;一种基于DSP的伺服控制器的设计与应用 吴建昆 唐小琦 宋宝，机械与电子，第2003卷第3期 2003 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1588789A (en) | 2005-03-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1310415C (en) | Multiple mani shaft synchronous control system for asynchronous motor | |
| CN107748524B (en) | Double-motor high-speed high-precision servo control system and method based on single chip microcomputer and FPGA | |
| CN103389684A (en) | Multifunctional double-shaft servo driver | |
| CN202014220U (en) | Out-of-step detecting mechanism of stepping motor | |
| CN101741312A (en) | Method for controlling servo motor driving system | |
| CN202592957U (en) | High-speed shaftless transmission printing paper feeding control system | |
| CN202771219U (en) | Multifunctional biaxial servo driver | |
| CN110601604A (en) | Multi-motor speed synchronous control system and control method thereof | |
| CN2928497Y (en) | Double-motor synchronous transmission device for curved surface offset press | |
| CN101724996A (en) | Control device for up and down needle positioning for sewing equipment | |
| CN202453704U (en) | Knitting positioning control device | |
| CN219326380U (en) | Position control system and rewinding dividing and cutting machine using same | |
| CN209774648U (en) | Scara robot high-precision low-cost deceleration module | |
| CN106549621A (en) | A kind of inductive motor control system and its control method of electronic pole-changing | |
| CN1460321A (en) | Controller for permanent magnet motor | |
| CN216285369U (en) | High-rotating-speed calibrating device | |
| CN106921333B (en) | Dynamic compensation method for motor torque ripple | |
| CN107994837A (en) | A kind of Switched Reluctance Motor and speed regulating method | |
| CN209233761U (en) | The stepper motor of specific feed-back regulatory mechanism | |
| CN201900338U (en) | Numerical control hobber applicable to axial and radial feeding | |
| CN106672818A (en) | Gate seat type crane | |
| CN202652137U (en) | Speed control device of singlechip-controlled stepping motor | |
| CN101725685B (en) | Indexing cam driving device capable of intelligently adjusting speed | |
| CN207571563U (en) | Annealing kiln of glass production line roller table speed control system | |
| CN201850448U (en) | Tension control system based on rotary encoder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Shenzhen firstop Machinery Co., Ltd. Assignor: Fengshengtai Industry Co., Ltd., Shenzhen City Contract fulfillment period: 2008.11.28 to 2014.7.27 contract change Contract record no.: 2009440000001 Denomination of invention: Multiple mani shaft synchronous control system for asynchronous motor Granted publication date: 20070411 License type: Exclusive license Record date: 20081225 |
|
| LIC | Patent licence contract for exploitation submitted for record |
Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2008.11.28 TO 2014.7.27; CHANGE OF CONTRACT Name of requester: SHENZHEN CITY FENGSHENGTAI MACHINARY CO., LTD. Effective date: 20081225 |
|
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070411 Termination date: 20100923 |