CN103699054A - Rapid and precise prediction positioning method and positioning system of industrial straight-line motion mechanism - Google Patents
Rapid and precise prediction positioning method and positioning system of industrial straight-line motion mechanism Download PDFInfo
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Abstract
The invention discloses a rapid and precise prediction positioning method and a positioning system of an industrial straight-line motion mechanism, and relates to a precise positioning technology of the industrial straight-line motion mechanism. In the positioning process, when the sending of a preset pulse count is finished, and equipment does not stop, whether the equipment motion mechanism possibly and finally stops at a target position is predicted, if so, the equipment motion mechanism is waited to be stopped for further judgment, if not, a plurality of pulses are instantly sent to a position pulse down counter, a motor can continuously rotate, such reciprocating operation is performed until the motion mechanism reaches the target position. According to the rapid and precise prediction positioning method and the positioning system of the industrial straight-line motion mechanism, the effect that the positioning precision is within 5mu m when the precision of a displacement sensor is 5mu m is ensured, a prediction process is added into a positioning process, and the next motion mode of the motor is determined according to the prediction result; compared with the traditional high-precision positioning mode, the positioning time is shortened by above 20%; the rapid and precise prediction positioning method and the positioning system of the industrial straight-line motion mechanism are suitable for the rapid and accurate positioning of the industrial straight-line motion mechanism.
Description
Technical field
The present invention relates to the placement technology of industrial straight-line motion mechanism.
Background technology
In as commercial unit motion controls such as high-precision motion platforms, it is very important that motion can move to specified coordinate position accurately and fast.Yet existing motor driver is all according to the P-pulse number receiving, to determine the target location of own this less important arrival, then decides according to the P-pulse of feedback the position oneself stopping.(as when Delta motor driver is used gantry control mode) in some cases, because displacement transducer output can not be passed to driver as feedback, (this just need to determine the P-pulse number that will issue driver by some scale operations, due to motor encoder scale and position transducer scale unevenness separately, this calculating must cause larger round-off error), and always take in the target location of our desired motion, displacement transducer is reference, that is to say, the P-pulse that sends to motor driver is exactly this time in whole motion process, to expect displacement transducer output umber of pulse, but the reference of motor driver is no longer the displacement transducer of master controller reference, so just cause displacement and the actual displacement of expectation always to there will be deviation, in general, when the precision of displacement transducer is 5 microns, system deviations can reach 50 microns of left and right.
Want to allow system finally arrive desired locations, can after above process finishes, calculate the distance of current location and target location, continue to allow motor rotate towards desired locations, and so forth, until equipment moving mechanism arrives expectation coordinate position.The precision of equipment reaches like this, but this process is quite consuming time, because each P-pulse sends, finishing really stops to motor all needs a period of time (order fulfillment, driver has an adjustment process to motor), and this will be a huge time overhead.
Summary of the invention
The object of the invention is for solve the commercial unit kinetic control system such as high-precision motion platform different can time guarantee location and pinpoint problem fast, a kind of quick accurately predicting localization method and locating module of short, industrial straight-line motion mechanism that precision is high consuming time is provided.
The quick accurately predicting localization method of industrial straight-line motion mechanism of the present invention, the method is that the quick accurately predicting positioning system based on industrial straight-line motion mechanism realizes, the quick accurately predicting positioning system of described industrial straight-line motion mechanism comprises DSP, P-pulse down counter, motor driver, Displacement counter and displacement transducer, described DSP is to P-pulse down counter transmitted signal, described P-pulse down counter send drive signal to motor driver to control motor movement, simultaneously, DSP is from P-pulse down counter receiving position pulse down counter status signal, it is afterpulse number signal, the current location pulse signal that DSP sends by Displacement counter received bit displacement sensor,
Described quick accurately predicting localization method is to be realized by the software that is embedded in DSP inside, and the method comprises the following steps:
Target location command reception step: for receiving target position command umber of pulse N, and finish performance objective pulse calculation procedure afterwards in this step;
Target pulse calculation procedure: for calculating the umber of pulse that needs output, described umber of pulse equals target location command pulse and counts N; Simultaneously to carrying out zero clearing, i.e. RchPosCnt=0 to zone bit RchPosCnt; And finish executive plan pulse write step afterwards in this step;
Plan pulse write step: by the absolute value of umber of pulse N | N| writing position pulse down counter; And after finishing, this step carries out pulse forwarding step;
Pulse forwarding step: for sending 1 position pulse signal to P-pulse down counter by P-pulse transmit port; And carry out afterpulse signal receiving step after this step knot;
Afterpulse signal receiving step: the afterpulse number signal of sending for receiving position pulse down counter; And after finishing, this step carries out the first determining step;
The first determining step; Be used for judging whether afterpulse number signal is 0, and judgment result is that carrying out current location while being accepts step; When the determination result is NO, return and carry out pulse forwarding step;
Current location is accepted step: the current location pulse signal M sending for receiving Displacement counter; And after finishing, this step carries out the second determining step;
The second determining step: for judgement | whether N-M| equals 2, and carries out bit flag incremental steps when being judgment result is that; When the determination result is NO, carry out correction pulse and count calculation procedure;
To bit flag incremental steps: for making bit flag increase by 1, i.e. RchPosCnt=RchPosCnt+1; And after finishing, this step carries out the 3rd determining step;
The 3rd determining step: whether be p, p is greater than 10 integer if determining bit flag, and finish location when being judgment result is that; When the determination result is NO, return and carry out the second determining step;
Correction pulse is counted calculation procedure: for calculating the value of N, and N=(ULONG) (θ (N-M)), wherein, θ is the number between 0.5 to 1, simultaneously to carrying out zero clearing to zone bit RchPosCnt; And finish executive plan pulse write step afterwards in this step.
The quick accurately predicting positioning system of industrial straight-line motion mechanism of the present invention, it is characterized in that: it comprises DSP, P-pulse down counter, motor driver, Displacement counter and displacement transducer, described DSP is to P-pulse down counter transmitted signal, described P-pulse down counter send drive signal to motor driver to control motor movement, simultaneously, DSP is from P-pulse down counter receiving position pulse down counter status signal, it is afterpulse number signal, the current location pulse signal that DSP sends by Displacement counter received bit displacement sensor,
Inner embedding of DSP, have the locating module of being realized by software, described locating module to comprise with lower unit:
Command reception unit, target location: for receiving target position command umber of pulse N;
Target pulse computing unit: for calculating the umber of pulse that needs output, described umber of pulse equals target location command pulse and counts N; Simultaneously to carrying out zero clearing, i.e. RchPosCnt=0 to zone bit RchPosCnt;
Plan pulse writing unit: by the absolute value of umber of pulse N | N| writing position pulse down counter;
Pulse transmitting element: for sending 1 position pulse signal to P-pulse down counter by P-pulse transmit port;
Afterpulse signal receiving unit: the afterpulse number signal of sending for receiving position pulse down counter;
The first judging unit; Be used for judging whether afterpulse number signal is 0, and start current location receiving unit while being judgment result is that; Starting impulse transmitting element when the determination result is NO;
Current location receiving unit: the current location pulse signal M sending for receiving Displacement counter;
The second judging unit: for judgement | whether N-M| equals 2, and judgment result is that starting to bit flag while being increases progressively unit; When the determination result is NO, start correction pulse and count computing unit;
To bit flag, increase progressively unit: for making bit flag increase by 1, i.e. RchPosCnt=RchPosCnt+1;
The 3rd judging unit: whether be p, p is greater than 10 integer if determining bit flag, and finish location while being judgment result is that; When the determination result is NO, start the second judging unit;
Correction pulse is counted computing unit: for calculating the value of N, and N=(ULONG) (θ (N-M)), wherein, θ is the number between 0.5 to 1, simultaneously to carrying out zero clearing to zone bit RchPosCnt.
The quick accurately predicting localization method of industrial straight-line motion mechanism of the present invention is in position fixing process, when predetermined pulse number is sent completely and when equipment is also out of service, predict device motion has cannot finally be parked in target location, if have, just wait for that it stops doing further judgement again.If cannot, just judge that motion is the target location or can break through target location of at all not arriving, if do not arrive, just to P-pulse down counter, send several pulses immediately, allow motor continue to move ahead; If meeting overshoot just sends several pulses in the other direction to P-pulse down counter, make motor negative line feed, until motor arrives target location.When the precision of displacement transducer is 5 microns, this method can guarantee that positioning precision is in 5 microns, and in position fixing process, has added forecasting process, determines next step mode of motion of motor according to predicting the outcome, compare with traditional hi-Fix mode, shortened more than 20% positioning time.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the quick accurately predicting localization method of the industrial straight-line motion mechanism described in embodiment one;
Fig. 2 is the structured flowchart of the quick accurately predicting positioning system of the industrial straight-line motion mechanism described in embodiment six.
Embodiment
Embodiment one: present embodiment is described in conjunction with Fig. 1, the quick accurately predicting localization method of the industrial straight-line motion mechanism described in present embodiment, the method is that the quick accurately predicting positioning system based on industrial straight-line motion mechanism realizes, the quick accurately predicting positioning system of described industrial straight-line motion mechanism comprises DSP1, P-pulse down counter 2, motor driver 3, Displacement counter 4 and displacement transducer 5, described DSP1 is to P-pulse down counter 2 transmitted signals, described P-pulse down counter 2 send drive signals to motor driver 3 to control motor movement, simultaneously, DSP1 is from P-pulse down counter 2 receiving position pulse down counter status signals, it is afterpulse number signal, the current location pulse signal that DSP1 sends by Displacement counter 4 received bit displacement sensors 5,
Described quick accurately predicting localization method is to be realized by the software that is embedded in DSP1 inside, and the method comprises the following steps:
Target location command reception step: for receiving target position command umber of pulse N, and finish performance objective pulse calculation procedure afterwards in this step;
Target pulse calculation procedure: for calculating the umber of pulse that needs output, described umber of pulse equals target location command pulse and counts N; Simultaneously to carrying out zero clearing, i.e. RchPosCnt=0 to zone bit RchPosCnt; And finish executive plan pulse write step afterwards in this step;
Plan pulse write step: by the absolute value of umber of pulse N | N| writing position pulse down counter 2; And after finishing, this step carries out pulse forwarding step;
Pulse forwarding step: for sending 1 position pulse signal to P-pulse down counter 2 by P-pulse transmit port; And carry out afterpulse signal receiving step after this step knot;
Afterpulse signal receiving step: the afterpulse number signal of sending for receiving position pulse down counter 2; And after finishing, this step carries out the first determining step;
The first determining step; Be used for judging whether afterpulse number signal is 0, and judgment result is that carrying out current location while being accepts step; When the determination result is NO, return and carry out pulse forwarding step;
Current location is accepted step: the current location pulse signal M sending for receiving Displacement counter 4; And after finishing, this step carries out the second determining step;
The second determining step: for judgement | whether N-M| equals 2, and carries out bit flag incremental steps when being judgment result is that; When the determination result is NO, carry out correction pulse and count calculation procedure;
To bit flag incremental steps: for making bit flag increase by 1, i.e. RchPosCnt=RchPosCnt+1; And after finishing, this step carries out the 3rd determining step;
The 3rd determining step: whether be p, p is greater than 10 integer if determining bit flag, and finish location when being judgment result is that; When the determination result is NO, return and carry out the second determining step;
Correction pulse is counted calculation procedure: for calculating the value of N, and N=(ULONG) (θ (N-M)), wherein, θ is the number between 0.5 to 1, simultaneously to carrying out zero clearing to zone bit RchPosCnt; And finish executive plan pulse write step afterwards in this step.
The quick accurately predicting localization method of the industrial straight-line motion mechanism described in present embodiment is to be realized by the software that is embedded in DSP1 inside, and in the method, all positions and distance all represent with umber of pulse.First initialization before system operation, after initialization, initial point is got back to by equipment moving mechanism, and it is 0 that Displacement counter 4 sends to the current location pulse signal of DSP1.DSP1 is receiving target position command umber of pulse N first, according to target location command pulse, count N and calculate the umber of pulse that need to send to motor driver 3, this umber of pulse equals N-0, that is: need to send to the umber of pulse of motor driver 3 to equal the difference of target pulse number and current location pulse signal, result of calculation is still counted N.Simultaneously to carrying out zero clearing to zone bit RchPosCnt, then by described umber of pulse N writing position pulse down counter 2.Open position pulse transmit port, to P-pulse down counter 2, send a pulse signal, P-pulse down counter 2 is using this pulse as driving signal to send to motor driver 3, motor driver 3 drives signal control motor to rotate according to this, sets the rotation direction of motor according to the symbol of N (plus or minus).Pulse signal of the every transmission of DSP1 is to after P-pulse down counter 2, can receive from P-pulse down counter 2 signal of response location pulse down counter 2 states, this signal is the afterpulse number of P-pulse down counter 2, DSP1 judges whether this afterpulse number is 0, whether the state that is P-pulse down counter 2 is empty, if the state of P-pulse down counter 2 is not empty, DSP1 continues to P-pulse down counter 2 transmitted signals, so circulation, until the state of P-pulse down counter 2 is while being empty, stop transmitted signal.Now, DSP1 receives the current location pulse signal M that Displacement counter 4 is sent, then the range prediction equipment moving mechanism by target location and current location has or not and may be parked in target location, if the distance of target location and current location is greater than 2 pulses, after thinking that motor stops operating, motion can not be parked in target location, now need to take corrective action, avoid time waste.Corrective action is for first calculating the umber of pulse that again needs output, then this umber of pulse is sent to P-pulse down counter 2, umber of pulse=(ULONG) (θ (N-M)) that again needs output, this umber of pulse is as new N value, the umber of pulse N that the position of substitution pulse down counter 2 had previously received, the numerical values recited of N is upgraded, coefficient θ is herein greater than 0.5 and be less than 1 number, the distance of target location and current location is multiplied by this coefficient, after rounding by the methods of downward rounding, N is always more than or equal to 1, the equipment positioning precision of that is to say is a positive and negative displacement transducer pulse.The symbology of N-M predict final motor be to not position or can break through target location, the symbol of N-M will determine the rotation direction of motor.If the distance of target location and current location is less than 2 pulses, make zone bit RchPosCnt increase by 1, be RchPosCnt=RchPosCnt+1, then judge whether RchPosCnt equals p, described p is greater than 10 integer, if RchPosCnt is not equal to p, continue to judge whether the distance of target location and current location is less than 2 pulses, so circulation, until RchPosCnt equals p, stops location.RchPosCnt from 0 be increased to p during this period of time in, if the distance of target location and current location remains, be less than 2 pulses, think that equipment moving mechanism has arrived target location, can finish location.
The quick accurately predicting localization method of the industrial straight-line motion mechanism described in present embodiment is in position fixing process, when predetermined pulse number is sent completely and when equipment is also out of service, predict device motion has cannot finally be parked in target location, if have, just wait for that it stops doing further judgement again.If cannot, just judge that motion is the target location or can break through target location of at all not arriving, if do not arrive, just to P-pulse down counter 2, send several pulses immediately, allow motor continue to move ahead; If meeting overshoot just sends several pulses in the other direction to P-pulse down counter 2, make motor negative line feed, until motor arrives target location.This method can guarantee that positioning precision is in 5 microns, and in position fixing process, has added forecasting process, according to predicting the outcome, determines next step mode of motion of motor, compares with traditional hi-Fix mode, and shortened more than 20% positioning time.
Embodiment two: present embodiment is the further restriction to the quick accurately predicting localization method of the industrial straight-line motion mechanism described in embodiment one, in present embodiment, in the 3rd described determining step, p=20.
Embodiment three: present embodiment is the further restriction to the quick accurately predicting localization method of the industrial straight-line motion mechanism described in embodiment one, in present embodiment, described displacement transducer 5 adopts magnetic railings ruler or grating scale to realize.
Embodiment four: present embodiment is the further restriction to the quick accurately predicting localization method of the industrial straight-line motion mechanism described in embodiment one, in present embodiment, described P-pulse down counter 2 is often received after the pulse signal that a DSP1 sends, to motor driver 3, send a pulse signal, and then feeding back to status signal of DSP1, this status signal represents afterpulse quantity.
P-pulse down counter 2 in present embodiment is to be realized by the software being embedded in CPLD.The function of P-pulse down counter 2 for the pulse signal of often receiving a DSP1 and sending after, to motor driver 3, send a pulse signal, and then feed back to status signal of DSP1, this status signal represents afterpulse quantity.The initial value of afterpulse quantity is that DSP1 writes to it | N|, P-pulse down counter 2 is every to be sent after a pulse signal to motor driver 3, afterpulse quantity subtracts 1, when sending | N| pulse to motor driver 3 after, afterpulse quantity is 0, now, the state of P-pulse down counter 2 is empty.
Embodiment five: present embodiment is the further restriction to the quick accurately predicting localization method of the industrial straight-line motion mechanism described in embodiment one, in present embodiment, described Displacement counter 4 is for counting the pulse of displacement transducer 5 outputs, its count value is for determining that equipment moving mechanism is in the position of system coordinate system, i.e. current location.
All distances and position in present embodiment all represent by umber of pulse, the umber of pulse of displacement transducer 5 outputs has been reacted the current location of equipment moving mechanism, the pulse of 4 pairs of displacement transducers of Displacement counter, 5 outputs is counted, and send it to DSP1, so that the current location of DSP1 equipment motion.
Embodiment six: present embodiment is described in conjunction with Fig. 2, the quick accurately predicting positioning system of the industrial straight-line motion mechanism described in present embodiment comprises DSP1, P-pulse down counter 2, motor driver 3, Displacement counter 4 and displacement transducer 5, described DSP1 is to P-pulse down counter 2 transmitted signals, described P-pulse down counter 2 send drive signals to motor driver 3 to control motor movement, simultaneously, DSP1 is from P-pulse down counter 2 receiving position pulse down counter status signals, it is afterpulse number signal, the current location pulse signal that DSP1 sends by Displacement counter 4 received bit displacement sensors 5,
Inner embedding of DSP1, have the locating module of being realized by software, described locating module to comprise with lower unit:
Command reception unit, target location: for receiving target position command umber of pulse N;
Target pulse computing unit: for calculating the umber of pulse that needs output, described umber of pulse equals target location command pulse and counts N; Simultaneously to carrying out zero clearing, i.e. RchPosCnt=0 to zone bit RchPosCnt;
Plan pulse writing unit: by the absolute value of umber of pulse N | N| writing position pulse down counter 2;
Pulse transmitting element: for sending 1 position pulse signal to P-pulse down counter 2 by P-pulse transmit port;
Afterpulse signal receiving unit: the afterpulse number signal of sending for receiving position pulse down counter 2;
The first judging unit; Be used for judging whether afterpulse number signal is 0, and start current location receiving unit while being judgment result is that; Starting impulse transmitting element when the determination result is NO;
Current location receiving unit: the current location pulse signal M sending for receiving Displacement counter 4;
The second judging unit: for judgement | whether N-M| equals 2, and judgment result is that starting to bit flag while being increases progressively unit; When the determination result is NO, start correction pulse and count computing unit;
To bit flag, increase progressively unit: for making bit flag increase by 1, i.e. RchPosCnt=RchPosCnt+1;
The 3rd judging unit: whether be p, p is greater than 10 integer if determining bit flag, and finish location while being judgment result is that; When the determination result is NO, start the second judging unit;
Correction pulse is counted computing unit: for calculating the value of N, and N=(ULONG) (θ (N-M)), wherein, θ is the number between 0.5 to 1, simultaneously to carrying out zero clearing to zone bit RchPosCnt.
In present embodiment, the quick accurately predicting locating module of described industrial straight-line motion mechanism is to be realized by the software that is embedded in DSP1 inside, and in this module, all positions and distance all represent with umber of pulse.First initialization before system operation, after initialization, initial point is got back to by equipment moving mechanism, and it is 0 that Displacement counter 4 sends to the current location pulse signal of DSP1.DSP1 is receiving target position command umber of pulse N first, according to target location command pulse, count N and calculate the umber of pulse that need to send to motor driver 3, this umber of pulse equals N-0, that is: need to send to the umber of pulse of motor driver 3 to equal the difference of target pulse number and current location pulse signal, result of calculation is still counted N.Simultaneously to carrying out zero clearing to zone bit RchPosCnt, then by described umber of pulse N writing position pulse down counter 2.Open position pulse transmit port, to P-pulse down counter 2, send a pulse signal, P-pulse down counter 2 is using this pulse as driving signal to send to motor driver 3, motor driver 3 drives signal control motor to rotate according to this, sets the rotation direction of motor according to the symbol of N (plus or minus).Pulse signal of the every transmission of DSP1 is to after P-pulse down counter 2, can receive from P-pulse down counter 2 signal of response location pulse down counter 2 states, this signal is the afterpulse number of P-pulse down counter 2, DSP1 judges whether this afterpulse number is 0, whether the state that is P-pulse down counter 2 is empty, if the state of P-pulse down counter 2 is not empty, DSP1 continues to P-pulse down counter 2 transmitted signals, so circulation, until the state of P-pulse down counter 2 is while being empty, stop transmitted signal.Now, DSP1 receives the current location pulse signal M that Displacement counter 4 is sent, then the range prediction equipment moving mechanism by target location and current location has or not and may be parked in target location, if the distance of target location and current location is greater than 2 pulses, after thinking that motor stops operating, motion can not be parked in target location, now need to take corrective action, avoid time waste.Corrective action is for first calculating the umber of pulse that again needs output, then this umber of pulse is sent to P-pulse down counter 2, umber of pulse=(ULONG) (θ (N-M)) that again needs output, this umber of pulse is as new N value, the umber of pulse N that the position of substitution pulse down counter 2 had previously received, the numerical values recited of N is upgraded, coefficient θ is herein greater than 0.5 and be less than 1 number, the distance of target location and current location is multiplied by this coefficient, after rounding by the methods of downward rounding, N is always more than or equal to 1, the equipment positioning precision of that is to say is a positive and negative displacement transducer pulse.The symbology of N-M predict final motor be to not position or can break through target location, the symbol of N-M will determine the rotation direction of motor.If the distance of target location and current location is less than 2 pulses, make zone bit RchPosCnt increase by 1, be RchPosCnt=RchPosCnt+1, then judge whether RchPosCnt equals p, described p is greater than 10 integer, if RchPosCnt is not equal to p, continue to judge whether the distance of target location and current location is less than 2 pulses, so circulation, until RchPosCnt equals p, stops location.RchPosCnt from 0 be increased to p during this period of time in, if the distance of target location and current location remains, be less than 2 pulses, think that equipment moving mechanism has arrived target location, can finish location.
The quick accurately predicting positioning system of the industrial straight-line motion mechanism described in present embodiment is in position fixing process, when predetermined pulse number is sent completely and when equipment is also out of service, predict device motion has cannot finally be parked in target location, if have, just wait for that it stops doing further judgement again.If cannot, just judge that motion is the target location or can break through target location of at all not arriving, if do not arrive, just to P-pulse down counter 2, send several pulses immediately, allow motor continue to move ahead; If meeting overshoot just sends several pulses in the other direction to P-pulse down counter 2, make motor negative line feed, until motor arrives target location.Described quick accurately predicting positioning system can guarantee that positioning precision is in 5 microns, and in position fixing process, added forecasting process, according to predicting the outcome, determine next step mode of motion of motor, compare with traditional hi-Fix mode, shortened more than 20% positioning time.
Embodiment seven: present embodiment is the further restriction to the quick accurately predicting positioning system of the industrial straight-line motion mechanism described in embodiment six, in present embodiment, in the 3rd described judging unit, p=20.
Embodiment eight: present embodiment is the further restriction to the quick accurately predicting positioning system of the industrial straight-line motion mechanism described in embodiment six, in present embodiment, described displacement transducer 5 adopts magnetic railings ruler or grating scale to realize.
Embodiment nine: present embodiment is the further restriction to the quick accurately predicting positioning system of the industrial straight-line motion mechanism described in embodiment six, in present embodiment, described P-pulse down counter 2 is often received after the pulse signal that a DSP1 sends, to motor driver 3, send a pulse signal, and then feeding back to status signal of DSP1, this status signal represents afterpulse quantity.
P-pulse down counter 2 in present embodiment is to be realized by the software being embedded in CPLD.The function of P-pulse down counter 2 for the pulse signal of often receiving a DSP1 and sending after, to motor driver 3, send a pulse signal, and then feed back to status signal of DSP1, this status signal represents afterpulse quantity.The initial value of afterpulse quantity is that DSP1 writes to it | N|, P-pulse down counter 2 is every to be sent after a pulse signal to motor driver 3, afterpulse quantity subtracts 1, when sending | N| pulse to motor driver 3 after, afterpulse quantity is 0, now, the state of P-pulse down counter 2 is empty.
Embodiment ten: present embodiment is the further restriction to the quick accurately predicting positioning system of the industrial straight-line motion mechanism described in embodiment six, in present embodiment, described Displacement counter 4 is for counting the pulse of displacement transducer 5 outputs, its count value is for determining that equipment moving mechanism is in the position of system coordinate system, i.e. current location.
All distances and position in present embodiment all represent by umber of pulse, the umber of pulse of displacement transducer 5 outputs has been reacted the current location of equipment moving mechanism, the pulse of 4 pairs of displacement transducers of Displacement counter, 5 outputs is counted, and send it to DSP1, so that the current location of DSP1 equipment motion.
Claims (10)
1. the quick accurately predicting localization method of industrial straight-line motion mechanism, the method is that the quick accurately predicting positioning system based on industrial straight-line motion mechanism realizes, the quick accurately predicting positioning system of described industrial straight-line motion mechanism comprises DSP(1), P-pulse down counter (2), motor driver (3), Displacement counter (4) and displacement transducer (5), described DSP(1) to P-pulse down counter (2) transmitted signal, described P-pulse down counter (2) send to drive signal to motor driver (3) to control motor movement, simultaneously, DSP(1) from P-pulse down counter (2) receiving position pulse down counter status signal, it is afterpulse number signal, DSP(1) the current location pulse signal sending by Displacement counter (4) received bit displacement sensor (5),
It is characterized in that: described quick accurately predicting localization method is by being embedded in DSP(1) inner software realizes, and the method comprises the following steps:
Target location command reception step: for receiving target position command umber of pulse N, and finish performance objective pulse calculation procedure afterwards in this step;
Target pulse calculation procedure: for calculating the umber of pulse that needs output, described umber of pulse equals target location command pulse and counts N; Simultaneously to carrying out zero clearing, i.e. RchPosCnt=0 to zone bit RchPosCnt; And finish executive plan pulse write step afterwards in this step;
Plan pulse write step: by the absolute value of umber of pulse N | N| writing position pulse down counter (2); And after finishing, this step carries out pulse forwarding step;
Pulse forwarding step: for sending 1 position pulse signal to P-pulse down counter (2) by P-pulse transmit port; And carry out afterpulse signal receiving step after this step knot;
Afterpulse signal receiving step: the afterpulse number signal of sending for receiving position pulse down counter (2); And after finishing, this step carries out the first determining step;
The first determining step; Be used for judging whether afterpulse number signal is 0, and judgment result is that carrying out current location while being accepts step; When the determination result is NO, return and carry out pulse forwarding step;
Current location is accepted step: the current location pulse signal M sending for receiving Displacement counter (4); And after finishing, this step carries out the second determining step;
The second determining step: for judgement | whether N-M| equals 2, and carries out bit flag incremental steps when being judgment result is that; When the determination result is NO, carry out correction pulse and count calculation procedure;
To bit flag incremental steps: for making bit flag increase by 1, i.e. RchPosCnt=RchPosCnt+1; And after finishing, this step carries out the 3rd determining step;
The 3rd determining step: whether be p, p is greater than 10 integer if determining bit flag, and finish location when being judgment result is that; When the determination result is NO, return and carry out the second determining step;
Correction pulse is counted calculation procedure: for calculating the value of N, and N=(ULONG) (θ (N-M)), wherein, θ is the number between 0.5 to 1, simultaneously to carrying out zero clearing to zone bit RchPosCnt; And finish executive plan pulse write step afterwards in this step.
2. the quick accurately predicting localization method of industrial straight-line motion mechanism according to claim 1, is characterized in that: in the 3rd described determining step, and p=20.
3. the quick accurately predicting localization method of industrial straight-line motion mechanism according to claim 1, is characterized in that: described displacement transducer (5) adopts magnetic railings ruler or grating scale to realize.
4. the quick accurately predicting localization method of industrial straight-line motion mechanism according to claim 1, it is characterized in that: described P-pulse down counter (2) is often received a DSP(1) after the pulse signal sent, to motor driver (3), send a pulse signal, and then feed back to DSP(1) status signal, this status signal represents afterpulse quantity.
5. the quick accurately predicting localization method of industrial straight-line motion mechanism according to claim 1, it is characterized in that: described Displacement counter (4) is for counting the pulse of displacement transducer (5) output, its count value is for determining that equipment moving mechanism is in the position of system coordinate system, i.e. current location.
6. the quick accurately predicting positioning system of industrial straight-line motion mechanism, it is characterized in that: it comprises DSP(1), P-pulse down counter (2), motor driver (3), Displacement counter (4) and displacement transducer (5), described DSP(1) to P-pulse down counter (2) transmitted signal, described P-pulse down counter (2) sends and drives signal to move to control motor movement to motor driver (3), simultaneously, DSP(1) from P-pulse down counter (2) receiving position pulse down counter status signal, it is afterpulse number signal, DSP(1) the current location pulse signal sending by Displacement counter (4) received bit displacement sensor (5),
At DSP(1) inner embedding have the locating module of being realized by software, described locating module to comprise with lower unit:
Command reception unit, target location: for receiving target position command umber of pulse N;
Target pulse computing unit: for calculating the umber of pulse that needs output, described umber of pulse equals target location command pulse and counts N; Simultaneously to carrying out zero clearing, i.e. RchPosCnt=0 to zone bit RchPosCnt;
Plan pulse writing unit: by the absolute value of umber of pulse N | N| writing position pulse down counter (2);
Pulse transmitting element: for sending 1 position pulse signal to P-pulse down counter (2) by P-pulse transmit port;
Afterpulse signal receiving unit: the afterpulse number signal of sending for receiving position pulse down counter (2);
The first judging unit; Be used for judging whether afterpulse number signal is 0, and start current location receiving unit while being judgment result is that; Starting impulse transmitting element when the determination result is NO;
Current location receiving unit: the current location pulse signal M sending for receiving Displacement counter (4);
The second judging unit: for judgement | whether N-M| equals 2, and judgment result is that starting to bit flag while being increases progressively unit; When the determination result is NO, start correction pulse and count computing unit;
To bit flag, increase progressively unit: for making bit flag increase by 1, i.e. RchPosCnt=RchPosCnt+1;
The 3rd judging unit: whether be p, p is greater than 10 integer if determining bit flag, and finish location while being judgment result is that; When the determination result is NO, start the second judging unit;
Correction pulse is counted computing unit: for calculating the value of N, and N=(ULONG) (θ (N-M)), wherein, θ is the number between 0.5 to 1, simultaneously to carrying out zero clearing to zone bit RchPosCnt.
7. the quick accurately predicting positioning system of industrial straight-line motion mechanism according to claim 6, is characterized in that: in the 3rd described judging unit, and p=20.
8. the quick accurately predicting positioning system of industrial straight-line motion mechanism according to claim 6, is characterized in that: described displacement transducer (5) adopts magnetic railings ruler or grating scale to realize.
9. the quick accurately predicting positioning system of industrial straight-line motion mechanism according to claim 6, it is characterized in that: described P-pulse down counter (2) is often received a DSP(1) after the pulse signal sent, to motor driver (3), send a pulse signal, and then feed back to DSP(1) status signal, this status signal represents afterpulse quantity.
10. the quick accurately predicting positioning system of industrial straight-line motion mechanism according to claim 6, it is characterized in that: described Displacement counter (4) is for counting the pulse of displacement transducer (5) output, its count value is for determining that equipment moving mechanism is in the position of system coordinate system, i.e. current location.
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