In recent years, the domestic industrial automation field has shown rapid development, and advanced foreign technologies have been rapidly introduced and popularized. Among them, the servo, which is an important representative product in driving, has been accepted by customers and is being used in machine innovation. Played a vital role. The precise driving effect and intelligent motion control can perfectly realize the automation of the machine through servo products. These two aspects have also become important indicators for the development of servos.
New generation of precision servo products
The so-called precision refers to the high degree of consistency between the execution effect and target setting achieved by the servo drive, and the control precision is good. Achieving such results requires targeted design and manufacturing on executive equipment E (motor) and drive equipment I (driver). Japan's Yokogawa DDM product is a very typical product with such characteristics.
● Gap error is eliminated
Due to the intermediate links of reducers, couplings, gears, belts, or screw rods in ordinary transmission mechanisms, clearance errors are unavoidable, especially for mechanical wear caused by long-term operation. The DD motor can solve the above problems very well. Because of the DD direct drive installation method (Figure 1), the error is minimized; and its servo characteristics can also correct the error at any time to achieve the best control accuracy.
● High resolution and high positioning accuracy
The resolution of the optional encoder of DYNASERV DD motor is very high. The resolution of DM1B-045 is 655.360PPR. The DM-A series reaches 4096000PPR.) The electrical control accuracy is high, which has exceeded the control accuracy of ordinary servo by an order of magnitude. Because the production is quite precise, the final precision control can generally reach within 2s.
● High rigidity, compact structure and high efficiency
DD motors are very rigid and have very hard characteristics when combined with a load, requiring higher requirements for their drives. The latest DYNASERV driver can provide online gain tuning and resonance filtering. The unique design of the hollow motor not only reduces its own inertia, but also provides customers with more installation forms. The combined mechanical structure will be more compact and the use efficiency is the highest compared to other methods. The relative speed of the DD motor is relatively low, and the rated speed is basically between 60 ~ 240r / min, but the speed here is the final speed on the turntable. Compared with the structure of ordinary servo + reducer, it is also very advantageous in the final speed . The DO motor maintains a high output torque while maintaining the speed. Due to the use of a permanent magnet stator, the torque output curve of the Yokogawa DD motor can maintain a smooth linear characteristic at the rated speed (Figure 2).
The Yokogawa GIII driver shown uses the I-PD control method. The current loop of the same bandwidth, and the GIII driver controlled by I-PD reaches a 10Hz bandwidth position loop. Compared with the traditional PID control method, it is reduced by 2.5 times. Speed bandwidth. This feature determines the high rigidity (positional bandwidth) of the motor.
In terms of application, Yokogawa DOM products are also in the most advanced position. The fields involved are sticker printing machine industry, LCD production line, DVD / CVD production equipment, IC testing equipment, semiconductor manufacturing equipment, and electronic manufacturing equipment field.
Self-adhesive trademark printing machine adopts flat pressing structure design, and mainly completes the process: paper feeding, printing (secondary overprint), embossing, bronzing, cutting or rewinding, counting. Printing speed 60-180 times 1 minute. --The measured value of the secondary printing is <0.03, and the measured value of the secondary overprint is <0.035 (statistical value). The DD motor is mainly used to drive the drag of the roller. As shown in Figure 4 of the control principle, a single-axis controller is used for one printing.
SPC007 controls the walking length and speed of the DO motor, and the printing plate is printed up and down: During the second overprinting, the color mark sensor scans the Mark points, and informs SPC007 to control the DO movement in the chase Mark mode, and the printing plate is registered up and down. The setting of walking distance and speed can be completed by the upper-level dial switch or human-machine interface. Compared with the older models, it saves manpower, especially for the problem of color registration, which is completely completed by the controller. Avoiding frequent mechanical adjustments caused by mechanical errors, greatly improving work efficiency. And simple maintenance and good equipment safety. The largest industry applications of Yokogawa D motors are the LCD and semiconductor industries. Figure 5 is the application of dicing machine and Figure 6 is the application of IC sorter. The high precision, high rigidity and direct of DD motor are also used. Simple connection structure, long precision life and easy maintenance, etc., currently has a relatively large market in China.
New generation of intelligent servo products
Intelligent means that servo products can be driven and controlled intelligently. The drive capability, control effect, programming re-development, and openness of information communication with the higher-level control system are the basic indicators for measuring the intelligence of the drive product. From the simple module of the analog thyristor driving circuit to the current all-digital AC driver, the driver innovation has not stopped in just ten years. The following is an introduction to the Israeli E 1mo drive to make more people in China familiar with the most advanced development direction in the world. The driver of E1mo emphasizes the concept of "active" and adopts the self-developed chip circuit to keep the entire processing process in a smooth transition. Compared with the traditional RC "passive" conversion method, the current shock and loss will be greatly reduced during startup and shutdown, and a very low EMI can be achieved. E1mo's various drivers (drivers using MOSFETs or IGBTs) can achieve fast and efficient power conversion, and the energy consumption loss does not exceed 3%. In terms of energy consumption, E1mo has put forward the concept of thermal energy management, emphasizing that while energy consumption is low, thermal energy can also be effectively released. Its unique ceramic mounting heat dissipation technology can guarantee 100% heat extraction.
In order to quickly and powerfully integrate the motor and the driver, E1mo company introduced S1mp1IQ technology (Figure 7), which has a variety of feedback selection programming capabilities, and standard signal monitoring technology, excellent motion control technology, simplified the control process and make the machine Work under ideal conditions. The E 1mo driver has unique advanced bit control functions including point-to-point motion, PT (bit weight schedule), PVT (bit f speed time), ECAM (electronic cam), bit following pulse input, dual loop, fast event capture, Fast output comparison L0C ", event capture interrupt, event triggered programming, etc. At the same time, the E1mo driver is also uniquely designed in advanced filtering and gain predetermined modes, including speed and current gain settings in non-working state, PIP control of speed position, automatic rectification modulation, automatic motor phase sequencing, etc. The communication method supports RS-232, CANopen DS-301, DS-402.
E1mo's controller Maestro is a network-based multi-axis motion controller and monitor. It can be used with E Imo's own intelligent drive to complete many complex multi-axis motion control. The motion control network constructed with Masetro and Sim1eI0 drives is based on a distributed motion control network architecture. It also supports synchronous motion control, sequential motion control, multi-axis motion recording and analysis tools, and multi-axis application development systems. Through direct access to the Ethernet, adjustments, monitoring and general analysis of each axis are performed. In aerospace, medical, packaging and other industrial machinery, E1mo drives have also been widely used due to their own characteristics. In Figure 8, the two E 1mo drivers are connected with auxiliary feedback, and the slave axis follows the master axis to complete the ECAM function. The controller can be used to complete the required motion control. Figure 9 shows the application of the winding machine, one of which follows the encoder to complete the ECAM function, and the other two drivers have-one as the master, and the other as the slave to complete the ECAM function, so if no controller is needed, Can complete the motion control of the winding machine.
Conclusion
Accurate positioning and intelligent control will continue to develop in the future. The mechano-mechanical structural revolution and the interpenetration of driving and control will become a new trend leading the market in the coming years. Tianjin Luosheng Enterprise Co., Ltd. has also been committed to this development direction, and promoted the introduction and promotion of advanced domestic products for industrial motion control. Gradually, some products (motor drive) in China will be close to the international advanced level, occupying the world field One-place place.
