CN102279588B

CN102279588B - Multi-axis full-closed loop motion control interpolator

Info

Publication number: CN102279588B
Application number: CN201010600172.4A
Authority: CN
Inventors: 曾逸
Original assignee: ADTECH (SHENZHEN) TECHNOLOGY Co Ltd
Current assignee: ADTECH (SHENZHEN) TECHNOLOGY Co Ltd
Priority date: 2010-12-15
Filing date: 2010-12-15
Publication date: 2014-07-02
Anticipated expiration: 2030-12-15
Also published as: CN102279588A

Abstract

The invention discloses a multi-axis full-closed loop motion control interpolator, which is mainly applied in the fields of electromechanical integrated motion controllers, digital control systems, flying shear systems, shear tracking systems, synchronous motion control, robot control systems and the like, in particular to linked control which required multiple axes, high speed and high accuracy. In the multi-axis full-closed loop motion control interpolator, a section of short space target straight line synthesized from a plurality of motion axes is subjected to full-closed loop PID (Proportion Integration Differentiation) adjustment, so that practical position interpolation of each axis is realized.

Description

Multi-axis full-closed loop motion control interpolator

Technical field:

Multi-axis full-closed loop motion control interpolator.This invention is mainly used in the motion controller of electromechanical integration, digital control system, and shearing system, chases after the system of cutting, Synchronous motion control, the fields such as robot control system, especially need in the interlock control application of multiaxis high speed and super precision.

Background technology:

The interpolating method of realizing at present multiaxis closed-loop control is that target location is projected to each axle by motion control interpolator, each kinematic axis form separately closed loop be respectively coupling receive physical location feedback and control separately.The realization of this method has significant limitation:

1. no matter how the closed loop of each axle is adjusted, the deviation of actual motion position and target location always exists, and due to the load of each axle is different and actual motion in each axle acceleration different will to form each axle deviation different, can cause so the actual movement locus track that departs from objectives.And due to the load of actual processing work and the uncertainty of movement locus, cause this actual depart from uncontrollable.

2. be difficult to realize high-precision multi-axial Simultaneous control.

Summary of the invention:

This Multi-axis full-closed loop motion control interpolator is the extraterrestrial target short lines that a section is synthesized by multiple kinematic axiss, regulates through the PID of closed-loop, realizes the physical location interpolation of each axle.Overcoming the position deviation due to certain axle in actual process causes actual machining locus to produce larger error.This interpolator is owing to adopting the closed-loop feedback of each axle physical location, in Interpolation Process, regulate with the PID that carries out closed-loop taking actual motion position as basis, thereby avoid the relatively large deviation of the whole track that the deviation of certain axle causes, can high-precisionly realize the High-speed linkage of multiaxis.It is characterized in that this multiaxis closed-loop interpolator planned by interpolation cycle, motion planning, motion physical location deviation feedback, each axle PID follows and regulates four each and every one processes to physical location and the continuous refresh control of speed, thereby realizes actual speed in process and the interpolation of position.。

Brief description of the drawings: Fig. 1 Multi-axis full-closed loop motion control interpolator process flow diagram;

Embodiment:

1. for object space short lines (X, Y, the Z that will carry out interpolation ... W) and speed V, determine interpolation cycle T; Calculated line is apart from S; Interpolation times N=S/ (VT), calculates each axle 1,2 ... ..N speed and the position of section, as X-axis, have Vx1, Vx2 ... .Vxn; Sx1, Sx2 ... .Sxn; Y-axis has Vy1, Vy2 ... Vyn; Sy1, Sy2 ... Sxn; So analogize.

Vx1＝X/(NT) Sx1＝X/N

Vy1＝Y/(NT) Sy1＝Y/N

2. the planning of motion morphology is carried out in pair target location; Comprise determining as starting velocity of speed form, target velocity, acceleration; Accelerate determining as trapezoidal acceleration of form, S shape is accelerated, index shape acceleration etc.; Follow the definite as X-axis of axis of reference, Y-axis or Z axis etc.

Suppose that X-axis is for following axis of reference, need carry out S and open acceleration, the position of X-axis and speed are recalculated by S shape aero mode again, send to driver as single shaft assisted instruction; And Y-axis, Z axis ... .W axle sends to driver by step 1 result of calculation;

3. physical location or the speed of the each axle of motion are fed back to interpolator by scrambler or grating by the physical location of each kinematic axis, interpolator is compared physical location and interpolation cycle layout data, forms speed and the position deviation of each axle.As each axle physical location and speed are respectively:

X-axis: FSx1, FVx1

Y-axis: FSy1, FVy1

W axle: FSw1, FVw1

The physical location of each axle and velocity deviation are:

X-axis: Δ Sx1, Δ Vx1

Y-axis: Δ Sy1, Δ Vy1

…..

W axle: Δ Sw1, Δ Vw1

4. each axle actual deviation that a basis feeds back to, in conjunction with the interpolation data of each axle of interpolation planning the n time, with follow the deviation of axis of reference at the projection value of each axle, form new target data, regulate this motion control data that form each axle after computing to send to each kinematic axis through PID.

By deviation delta Sx1 and the Δ Vx1 of axis of reference being detected, project to respectively other each axles, have:

Y-axis: Tsy1=Y Δ Sx1/X; Tvy1=Y Δ Vx1/X;

…..

W axle: Tsw1=W Δ Sx1/X; Tvw1=W Δ Vx1/X;

Revised each shaft position and speed are:

Y-axis: Zsy2=Δ Sy1+Tsy1+Sy2;

Zvy2＝ΔVy1+Tvy1+Vy2；

….

W axle: Zsw2=Δ Sw1+Tsw1+Sw2;

Zvw2＝ΔVw1+Tvw1+Vw2；

The revised position of above each axle and speed are updated to PID regulator, the target location that must make new advances and speed,

Have for Y-axis:

Nsy2＝PID(ΔSy1，Zsy2，T)

Nvy2＝PID(ΔVy1，Zvy2，T

…..

Have for W axle:

Nsw2＝PID(ΔSw1，Zsw2，T)

Nvw2＝PID(ΔVw1，Zvw2，T

To regulate data later to send to servo-driver through PID above.

Analogize in this way, in the time of t poor benefit cycle, have:

Nswt＝PID(ΔSwt-1，Zswt，T)

Nvwt＝PID(ΔVwt-1，Zvwt，T

Claims

1. a Multi-axis full-closed loop motion control interpolator, this interpolator, by one section of extraterrestrial target short lines being synthesized by multiple kinematic axiss, regulates through the PID of closed-loop, realizes the physical location interpolation of each axle; This multiaxis closed-loop interpolator by Four processes to physical location and the continuous refresh control of speed, thereby realize actual speed in process and the interpolation of position, this Four processes comprises interpolation cycle planning, motion planning, motion physical location deviation feedback, it is characterized in that, this Four processes also comprises that each axle PID follows adjusting;

Described Multi-axis full-closed loop motion control interpolator specifically limits by realizing following process:

Process A: for object space short lines (X, Y, the Z that will carry out interpolation ... W) and speed V, determine interpolation cycle T; Calculated line is apart from S; Interpolation times N=S/(VT), calculate each axle 1,2 ... speed and the position of section, X-axis, has Vx1, Vx2 ... Vxn; Sx1, Sx2 ... Sxn; Y-axis has Vy1, Vy2 ... Vyn; Sy1, Sy2 ... Syn; So analogize;

Vx1=X/(NT) Sx1=X/N

Vy1=Y/(NT) Sy1=Y/N；

Process B: target location is carried out to the planning of motion morphology: comprise determining of speed form, comprising: starting velocity, target velocity and acceleration; Accelerate determining of form, comprising: trapezoidal acceleration, S shape is accelerated and index shape is accelerated; Follow determining of axis of reference, comprise X-axis, Y-axis or Z axis;

Suppose that X-axis, for following axis of reference, need carry out the acceleration of S shape, the position of X-axis and speed are recalculated by S shape aero mode, send to driver as single shaft assisted instruction; And Y-axis, Z axis ... the result that W axle calculates by process A sends to driver;

By the physical location of each kinematic axis and speed by scrambler or grating feedback to interpolator, interpolator is compared physical location and interpolation cycle layout data, forms speed and the position deviation of each axle, each axle physical location and speed are respectively:

X-axis: FSx1, FVx1

Y-axis: FSy1, FVy1

……

W axle: FSw1, FVw1;

The physical location of each axle and velocity deviation are:

X-axis: ⊿ Sx1 ， ⊿ Vx1

Y-axis: ⊿ Sy1 ， ⊿ Vy1

……

W axle: ⊿ Sw1 ， ⊿ Vw1;

According to the each axle actual deviation feeding back to, in conjunction with the interpolation data of each axle of interpolation planning the n time, with follow the deviation of axis of reference at the projection value of each axle, form new target data, regulate this motion control data that form each axle after computing to send to each kinematic axis through PID;

By the Pian Cha ⊿ Sx1 of axis of reference being detected with ⊿ Vx1 projects to respectively other each axles, have:

Y-axis: Tsy1=Y ⊿ Sx1/X; Tvy1=Y ⊿ Vx1/X;

……

W axle: Tsw1=W ⊿ Sx1/X; Tvw1=W ⊿ Vx1/X;

Revised each shaft position and speed are:

Y-axis: Zsy2=⊿ Sy1+ Tsy1+Sy2;

Zvy2=⊿Vy1+ Tvy1+Vy2;

……

W axle: Zsw2=⊿ Sw1+ Tsw1+Sw2;

Zvw2=⊿Vw1+ Tvw1+Vw2;

Have for Y-axis:

Nsy2=PID(⊿Sy1, Zsy2,T)

Nvy2=PID(⊿Vy1, Zvy2,T)

……

Have for W axle:

Nsw2=PID(⊿Sw1, Zsw2,T)

Nvw2=PID(⊿Vw1, Zvw2,T)

To regulate data later to send to servo-driver through PID above;

Analogize in this way, in the time of t poor benefit cycle, have:

Nswt=PID(⊿Swt-1, Zswt,T)

Nvwt=PID(⊿Vwt-1, Zvwt,T)。