As a power source for various electrical appliances and machinery, almost every engineer and electronic enthusiast can contact in industrial applications or personal projects. It can be said that small motors play a big role. Today we will talk about motor motion control algorithms.
First, DSP and TIWhy do people mentioned motor control first think of DSP? When it comes to DSP control, it never bypasses TI. First, the DSP chip is a microprocessor with a special structure. The chip's internal Harvard architecture, which is separate from program and data, has a dedicated hardware multiplier that provides special instructions that can be used to quickly implement various digital signal processing algorithms. The control system based on the DSP chip is actually a single-chip system, so the various functions required for the entire control can be realized by the DSP chip. Therefore, the volume of the target system can be reduced, the number of external components can be reduced, and the reliability of the system can be increased. The advantages are good stability, high precision and fast processing speed. Currently, it is widely used in the inverter and servo industries. The mainstream DSP manufacturers include Texas Instruments (TI), ADI, Motorola, and Agere. TI's TMS320 series is based on digital control and motion control. It is inexpensive, easy to use, and powerful. popular.
Second, common motor control algorithms and research methods1. Motor control is divided according to the type of working power: it can be divided into DC motor and AC motor. According to the structure and working principle, it can be divided into: DC motor, asynchronous motor and synchronous motor. The driving method used by different motors is also different. This time, the servo motor is mainly introduced. The servo is mainly positioned by pulse. When the servo motor receives one pulse, it will rotate the angle corresponding to one pulse to realize the displacement. The servo motor itself has the function of emitting a pulse. Therefore, each time the servo motor rotates, a corresponding number of pulses are emitted, and at the same time, it responds to the pulse received by the servo motor, or is called a closed loop, so that the rotation of the motor is controlled very accurately. Thereby achieving precise positioning, it can reach 0.001mm. The advantages of servo motors compared to ordinary motors are control accuracy, low frequency torque, overload capability, response speed, etc., so they are widely used in robots, CNC machine tools, injection molding, textile and other industries, as shown in Figure 1.
figure 1
2. The traditional control platform only focuses on the motor characteristics. The new motion control platform consists of the motor and loading system, the motor driver debugging system, the data acquisition and the power system. From the motor to the drive to build a complete hardware and software experimental environment, providing a fully open software and hardware interface, with a rich and scalable teaching experience, comprehensive and reliable protection measures, can do motor identification, blocking, motor efficiency test, motor Parameter measurement, motor TN curve test, motor motion control and encoder vector torque, non-inductive vector speed analysis, etc., the system is shown in Figure 2.
figure 2
Third, PWM control and test resultsPulse width modulation is a very effective technique for controlling analog circuits by using the digital output of a microprocessor. It is widely used in many fields from measurement and communication to power control and conversion. Pulse width modulation is an analog control. The mode, which modulates the bias of the transistor base or the gate of the MOS transistor according to the change of the corresponding load, thereby realizing the change of the on-time of the transistor or the MOS tube, thereby realizing the change of the output of the switching regulator power supply, and the MES-100 test waveform is as follows Figure 3 Figure 4.
image 3
Figure 4
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