CN109347395A - The method and structure of servo-system current sample variable-order SINC filtering - Google Patents
The method and structure of servo-system current sample variable-order SINC filtering Download PDFInfo
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- CN109347395A CN109347395A CN201811474996.4A CN201811474996A CN109347395A CN 109347395 A CN109347395 A CN 109347395A CN 201811474996 A CN201811474996 A CN 201811474996A CN 109347395 A CN109347395 A CN 109347395A
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- servo
- sinc
- order
- filter
- filtering
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Sewing Machines And Sewing (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of methods of servo-system current sample variable-order SINC filtering, and this method is that analog signal is modulated into digital signal by ADC by sampled signal；Then K rank accumulating operation is executed by SINC-K digital filter, executes cascade K order difference operation to complete to filter and decode；FFT processing is carried out to decoded data, the frequency and amplitude of electric current is calculated, in conjunction with spindle motor angle, calculates the order K of corresponding current filter, CPU will be conveyed to by the filtered data of K rank and do operation.Compared with the prior art, the present invention overcomes particular range angle hour hands penetrate load sudden change caused by cloth in rotary course as main shaft, sewing velocity is caused to fluctuate biggish control problem；Main shaft velocity perturbation in rotary course is effectively inhibited, eliminates the size needle because of the needle gage caused by turning main shaft load sudden change in sewing process, therefore there is very high engineering application value.
Description
Technical field
The invention belongs to industrial sewing machine SERVO CONTROL field, in particular to a kind of servo-system current sample variable-order
The method and structure of SINC filtering.
Background technique
Traditional industrial sewing machine servo principal axis current sampling circuit is complicated analog quantity acquisition circuit, before debugging simulation
Hold filter circuit difficulty big, analog signal can be distorted and be superimposed clutter after being disturbed.In the case where main shaft load sudden change, electric current
It is jumped in the form of step, causes more to interfere superposition, signal quality decline easily causes spindle speed fluctuation, influences to stitch
It threads effect.
Summary of the invention
To solve the above problems, the purpose of the present invention is to provide one kind can effectively overcome main shaft special in rotary course
When determining field angle, needle penetrates the method that the servo-system current sample variable-order SINC of load sudden change caused by cloth is filtered
And structure.
Another object of the present invention is that providing a kind of side of servo-system current sample variable-order SINC filtering
Method and structure, it also eliminates because occurring the size needle of needle gage caused by turning main shaft load sudden change in sewing process.
To achieve the above object, technical scheme is as follows.
The present invention provides a kind of method of servo-system current sample variable-order SINC filtering, and the method includes following
Step
101, motor is started to work, parameter initialization；
102, the UVW phase of motor generates periodic current, and sampled signal passes through sigma-delta type ADC (analog-digital converter) for mould
Intend signal modulation into the digital signal of high speed serialization bit stream；
103, it after FPGA (field programmable gate array) receives digital signal, is executed by SINC-K digital filter
Then K rank accumulating operation executes cascade K order difference operation under low extraction yield to complete to filter and decode；
104, FFT (fast Fourier transform) processing is carried out to filtered data inside FPGA, is counted by 256 point FFT
Calculate the frequency and amplitude of electric current；
105, current interference is gone out according to the distributional analysis of the amplitude, frequency of the mechanical angle of the main shaft of feedback acupuncture treatment and electric current
Frequency and amplitude to determine whether need to adjust the order of SINC-K, if so, return step 103, if K rank otherwise will be passed through
Filtered data are conveyed to CPU and do operation；
106, filtered data are carried out servo current ring PID (controller) calculating by CPU.
The present invention provides a kind of structure of servo-system current sample variable-order SINC filtering, and the structure includes modulus
Converter ADC, on-site programmable gate array FPGA, CPU, motor M1；Sampled signal is modulated into height by the analog-digital converter ADC
The digital signal of fast serial bit stream, and pass it to the on-site programmable gate array FPGA；The field programmable gate
Angle array FPGA mechanical in conjunction with main shaft acupuncture treatment in the motor M1, obtains SINC-K after carrying out operation to the digital signal
Order, and will be conveyed to the CPU by the filtered data of K rank and do operation；The CPU watches filtered data
Take electric current loop PID (controller) calculating.
The FPGA includes FILTER filter unit and 256 fast Fourier transform fft processing units.
The FILTER filter unit includes SINC-K digital filter, after receiving digital signal, passes through SINC-K
Digital filter executes K rank accumulating operation, executes cascade K order difference operation under low extraction yield then to complete filtering reconciliation
Code.
256 fast Fourier transform fft processing units carry out FFT processing to filtered data, calculate electric current
Frequency and amplitude.
The analog-digital converter ADC is sigma-delta type.
Present invention has an advantage that compared with the prior art, in the present invention,
One, by main shaft in special angle and current range use corresponding variable order SINC digital program-con-trolled exchange
Method, overcome that particular range angle hour hands penetrate load sudden change caused by cloth in rotary course as main shaft, cause
Sewing velocity fluctuates biggish control problem.
Two, the present invention can effectively inhibit main shaft velocity perturbation in rotary course, eliminate prominent because turning main shaft load
The size needle of needle gage in sewing process caused by change, therefore there is very high engineering application value.
Three, in the prior art, electric current is converted into voltage signal by sampling resistor, is isolated by linear optical coupling, so
The analog input port of CPU is input to after amplifier carries out scaling and resistance capacitance filtering afterwards；And in the present invention,
Electric current is converted into voltage signal by sampling resistor, is converted into high speed serialization ratio by the sigma-delta modulator inside linear optical coupling
Spy's stream, is then decoded by FPGA, the analog quantity digital port of CPU is input to by data address bus, solves existing
, current-mode analog quantity transmission interference immutable with the presence of current filtering coefficient in technology is big, the filter of current noise low-frequency range is not fallen asks
Topic.
Detailed description of the invention
Fig. 1 is the flow chart of servo-system current sample variable-order SINC filtering method of the present invention.
Fig. 2 is the structure chart of servo-system current sample variable-order SINC filtering of the present invention.
Fig. 3 is the waveform diagram of spindle speed 2500r/min filtering of the present invention front and back.
Fig. 4 is the waveform diagram of servo D axis sample rate current filtering of the present invention front and back.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The present invention provides a kind of method of servo-system current sample variable-order SINC filtering, shown in Figure 1, described
Method includes the following steps
101, motor is started to work, parameter initialization；
102, the UVW phase of motor generates periodic current, and sampled signal passes through sigma-delta type ADC (analog-digital converter) for mould
Intend signal modulation into the digital signal of high speed serialization bit stream；
103, it after FPGA (field programmable gate array) receives digital signal, is executed by SINC-K digital filter
Then K rank accumulating operation executes cascade K order difference operation under low extraction yield to complete to filter and decode；
104, FFT (fast Fourier transform) processing is carried out to filtered data inside FPGA, is counted by 256 point FFT
Calculate the frequency and amplitude of electric current；
105, current interference is gone out according to the distributional analysis of the amplitude, frequency of the mechanical angle of the main shaft of feedback acupuncture treatment and electric current
Frequency and amplitude to determine whether need to adjust the order of SINC-K, if so, return step 103, if K rank otherwise will be passed through
Filtered data are conveyed to CPU and do operation；
106, filtered data are carried out servo current ring PID (controller) calculating by CPU.
Shown in Figure 2, the present invention provides a kind of structure of servo-system current sample variable-order SINC filtering, structure
Including analog-digital converter ADC, on-site programmable gate array FPGA, CPU, motor M1；Analog-digital converter ADC modulates sampled signal
At the digital signal of high speed serialization bit stream, and pass it to on-site programmable gate array FPGA；Field programmable gate array
The mechanical angle of main shaft acupuncture treatment in FPGA combination motor M1 obtains the order of SINC-K after carrying out operation to digital signal, and will
CPU, which is conveyed to, by the filtered data of K rank does operation；Filtered data are carried out servo current ring PID and calculated by CPU.
FPGA includes FILTER filter unit and 256 fast Fourier transform fft processing units.
FILTER filter unit includes SINC-K digital filter, after receiving digital signal, passes through SINC-K number
Filter executes K rank accumulating operation, executes cascade K order difference operation under low extraction yield then to complete to filter and decode.
256 fast Fourier transform fft processing units carry out FFT processing to filtered data, calculate the frequency of electric current
Rate and amplitude.
Analog-digital converter ADC is sigma-delta type.
Fig. 3 is one embodiment of the present of invention, and machine spindle revolving speed in 2500r/min, adopt in real time by the speed of mainshaft
Master drawing, as shown, the speed waveform figure of main shaft before filtering shows that the larger noise of fluctuation is big；And main shaft after the filtering
The fluctuation of speed and noise have apparent improvement.
Fig. 4 is one embodiment of the present of invention, and machine spindle revolving speed is in 2500r/min, the UVW phase electricity of main axle servo
Stream main shaft sample rate current after quadrature axis coordinate system transformation seat, before filtering, main shaft to turn the larger noise of current fluctuation big；Filtering
The fluctuation of speed and noise later has apparent improvement.In sewing operation, the sewing thread trace size needle before filtering is brighter
Aobvious, the sewing thread trace after filtering does not have size needle needle gage, and stitching is uniform, beautiful.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (6)
1. a kind of method of servo-system current sample variable-order SINC filtering, this approach includes the following steps, and feature exists
In
101, motor is started to work, parameter initialization；
102, the UVW phase of motor generates periodic current, and sampled signal is believed simulation by sigma-delta type ADC (analog-digital converter)
Number it is modulated into the digital signal of high speed serialization bit stream；
103, after FPGA (field programmable gate array) receives digital signal, K rank is executed by SINC-K digital filter
Then accumulating operation executes cascade K order difference operation under low extraction yield to complete to filter and decode；
104, FFT (fast Fourier transform) processing is carried out to filtered data inside FPGA, is calculated by 256 point FFT
The frequency and amplitude of electric current；
105, go out the frequency of current interference according to the distributional analysis of the amplitude, frequency of the mechanical angle of the main shaft of feedback acupuncture treatment and electric current
Rate and amplitude are to determine whether need to adjust the order of SINC-K, if so, return step 103, filters if K rank otherwise will be passed through
Data afterwards are conveyed to CPU and do operation；
106, filtered data are carried out servo current ring PID (controller) calculating by CPU.
2. a kind of structure of servo-system current sample variable-order SINC filtering, which includes analog-digital converter ADC, scene
Programmable gate array FPGA, CPU, motor M1, which is characterized in that sampled signal is modulated into high speed by the analog-digital converter ADC
The digital signal of serial bit stream, and pass it to the on-site programmable gate array FPGA；The field-programmable gate array
The FPGA angle mechanical in conjunction with main shaft acupuncture treatment in the motor M1 is arranged, obtains SINC-K's after carrying out operation to the digital signal
Order, and the CPU will be conveyed to by the filtered data of K rank and do operation；Filtered data are carried out servo by the CPU
Electric current loop PID is calculated.
3. the structure of servo-system current sample variable-order SINC filtering as claimed in claim 2, it is characterised in that described
FPGA includes FILTER filter unit and 256 fast Fourier transform fft processing units.
4. the structure of servo-system current sample variable-order SINC filtering as claimed in claim 3, it is characterised in that described
FILTER filter unit includes SINC-K digital filter, after receiving digital signal, is held by SINC-K digital filter
Then row K rank accumulating operation executes cascade k order difference operation under low extraction yield to complete to filter and decode.
5. the structure of servo-system current sample variable-order SINC filtering as claimed in claim 3, it is characterised in that described
256 fast Fourier transform fft processing units carry out FFT processing to filtered data, calculate the frequency and width of electric current
Value.
6. the structure of servo-system current sample variable-order SINC filtering as claimed in claim 2, it is characterised in that described
Analog-digital converter ADC is sigma-delta type.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111865150A (en) * | 2020-06-22 | 2020-10-30 | 中国船舶重工集团公司第七0七研究所 | Double SINC filter circuit and filtering method in permanent magnet synchronous motor control system |
| CN113238091A (en) * | 2021-05-11 | 2021-08-10 | 深圳市星火数控技术有限公司 | Motor current sampling method and system based on sinc3 filter and motor |
| CN117013891A (en) * | 2023-10-07 | 2023-11-07 | 深圳市锐同技术有限公司 | Load point judging method, device, equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111865150A (en) * | 2020-06-22 | 2020-10-30 | 中国船舶重工集团公司第七0七研究所 | Double SINC filter circuit and filtering method in permanent magnet synchronous motor control system |
| CN113238091A (en) * | 2021-05-11 | 2021-08-10 | 深圳市星火数控技术有限公司 | Motor current sampling method and system based on sinc3 filter and motor |
| CN113238091B (en) * | 2021-05-11 | 2022-03-29 | 深圳市星火数控技术有限公司 | Motor current sampling method and system based on sinc3 filter and motor |
| CN117013891A (en) * | 2023-10-07 | 2023-11-07 | 深圳市锐同技术有限公司 | Load point judging method, device, equipment and storage medium |
| CN117013891B (en) * | 2023-10-07 | 2024-01-16 | 深圳市锐同技术有限公司 | Load point judging method, device, equipment and storage medium |
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Application publication date: 20190215 |