Research on High-Response Linear Motor Control System Xie Jingming, Cheng Li, Ai Wu, Du Zhiqiang, Chen Youping, Zhou De (Huazhong University of Science and Technology, Wuhan 430074, Hubei, China) A mathematical model of a linear motor. On this basis, the hardware structure of the control system using PC+DSP and the PID control software method are proposed. Through simulation, the motor shaft and the cup sleeve are fixed together. A coil is wound around the cup sleeve. The coil is placed in a magnetic field generated by the permanent magnet. When a current flows in the coil, the cup sleeve and the shaft can be determined according to the left hand rule. To change the direction of motion of the axis of motion, simply change the direction of the current in the coil. Springs are mounted on both sides of the cup sleeve, and both ends of the Spring are fixed. In this way, both the magnetic field force and the spring force are applied during the movement of the shaft, and the friction between the moving shaft and the fixed frame should also be considered. Therefore, it can be seen that the kinetic equations when the motor moves: L - the effective length of the coil winding K - the elastic coefficient of the spring f - the friction between the shaft movement and the base m mover (cup sleeve, coil and the movement axis The quality of the coil when the coil moves in the magnetic field will generate induced electromotive force, then the relationship between the voltage balance are: V - axis speed is the speed of the coil cutting magnetic lines R winding resistance La - coil inductance to make the linear motor To reciprocate at high speed, it must be given periodic external force. Since the control algorithm uses a PID algorithm, for the PID algorithm, the model does not need to be very accurate. Therefore, the friction force is not considered in the following analysis to simplify the problem. In order to make the movement smooth, it is best to apply a force that changes into a sine or cosine, known as the driving force. The setting power is Hcos, and when the shaft is reciprocating at high speed, the mover is forced to vibrate. The differential equation for the forced vibration of an object is: the maximum value of the damping coefficient is called the force amplitude, which is called the angular frequency of the force amplitude, which is ignoring the friction force. Then we can get (formula solution is: to () type into (3) type, can get the amplitude of the forced vibration in the steady state: It can be seen, for the forced vibration, its amplitude and add on it The maximum of the power is directly proportional to the maximum value of the power.Because any spring-oscillator system has its own fixed natural frequency, in order to achieve the required frequency t under the action of an external force, it should be given a frequency of (1). Policy motivation.
2 Servo control system for corresponding treatment. At the same time, the DSP board is also connected to the serial port of the PC through the serial communication interface module (SCI), so that the motor can be controlled by outputting commands and parameters to the DSP board through the control interface on the PC; the EP pin is used for receiving the signal from the grating ruler. Orthogonal coded pulse signal, which is based on DSP's general-purpose timer T2, which can add or subtract the input pulse, and the addition or subtraction of the count depends on the moving direction of the grating ruler. The direction is to add a count, then the other direction is a countdown. The isolation circuit is mainly used to isolate the DSP board and the driver section through the optocoupler, to prevent the driver part from interfering with the control part and the high voltage from entering the control board, resulting in the damage of the DSP board.
2.2 Control Strategy In motor motion control, two main operations are implemented: precise positioning (inching) and reciprocating motion. The precise positioning is realized by the PID algorithm. It can be known from equation (1) that the displacement x is generated by the electromagnetic force BLi pushing the mover and the BL is a constant, which is determined by the current flowing through the coil of the motor winding. The difference between the positioning shift s and the actual displacement x is taken as the input of the PID algorithm. After processing by the control board (here the DSP board), a certain voltage is output from the DA port and processed by the isolation circuit and then input to the power amplifier. The current loop, which receives the voltage output from the DA port of the DSP board, outputs a certain current to drive the motor movement until it reaches the specified position (within a given error range). The DA port can only output the forward voltage. After isolating the circuit, it becomes a bipolar voltage and satisfies the relationship: U=2.5-2Vda. U in Ki is the output voltage of the driver after the isolation circuit, and Vda is the output voltage of the DA port). This is the control scheme for achieving precise positioning of the motor.
In order to realize the reciprocating motion of the motor at a certain frequency and reach a given amplitude, a cosine-varying current may be passed through the coil of the motor winding first, and the frequency thereof is the frequency required for the motion of the motor. From the above analysis, it can be seen that the electromagnetic force of the motor is also changed into a cosine, that is, the frequency of the drive power added to the motor is the frequency required for the motion of the motor. Therefore, the mover of the motor is forced to vibrate, and its vibration frequency is the required frequency. To move the mover to one side (usually the zero position) of a certain position, a positive or negative voltage containing a sinusoidal component should be superimposed on the zero voltage. Here the motor is wired so that when the voltage is reduced, the motor shaft moves outward and moves inwards when it is large. Set the output voltage of the DA port when the A motor is at zero position to V*. When the motor is to be moved outside, the output voltage at the DA port is: the port is 12 bits, and the range of the output value is 0 to 4095 (corresponding to In 0~5V), it is also necessary to satisfy the 0 control algorithm using the quantitative digital PID algorithm. An important part of the PID control is the determination of the control parameters Kp, Ti, and Td. In the control of a motor, particularly a high-frequency linear motor, the system is first required to be stable. When the given value changes, the controlled quantity should be able to track quickly and smoothly, and the amount of overshoot should be Xiaoye Yunyue. Linear motor principle and application. Beijing: Wang Yanfu from the machinery industry. University physics. Beijing: National Defense University Press, Wang Xiaoming. Motor MCU control. Beijing: Beijing Aerospace University Press, 2002. Ai Wu, Cheng Li, Du Zhiqiang, Chen Youping. Position Detection and Control Technology of Linear Motor Based on . Mechanical and Electronics, 2004 (2): 9 Lecturer in the School of Mechanical Science and Engineering. The research direction is numerical control technology. Network control and intelligent control.
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