CN109164754B - Smoothing method for servo driver position command and control device thereof - Google Patents
Smoothing method for servo driver position command and control device thereof Download PDFInfo
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- G05B19/00—Programme-control systems
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- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention relates to the technical field of servo driver control, in particular to a smoothing method for a servo driver position command. The smoothing method of the servo driver position command comprises the following steps: detecting a lost position command by a data verification method; fitting a smooth position command by adopting a polynomial according to the adjacent position command of the lost position command; and updating the position command output to the external servo motor once in each driver control period according to the fitted smooth position command. The invention also relates to a control device for servo driver position command. And fitting a smooth position command by adopting a polynomial according to the adjacent position command of the lost position command, and updating the position command output to the external servo motor according to the smooth position command to achieve the position command smoothly output to the external servo motor, so that the control performance and the control precision are improved, the time delay is small, and the calculated amount is small.
Description
Technical Field
The invention relates to the technical field of servo driver control, in particular to a smoothing method of a servo driver position command and a control device thereof.
Background
The servo driver is a key part of industrial automation, is a controller for controlling a servo motor, and is mainly applied to a high-precision positioning system. The servo driver generally controls the servo motor through three modes of position, speed and moment, and high-precision positioning of the transmission system is achieved.
The servo driver often needs to receive position commands from an external controller through a bus or a pulse direction to control the movement of the servo motor. However, when receiving a position command from an external controller, the servo driver is susceptible to external electromagnetic interference or the like, resulting in a partial loss of the position command. If the discontinuous signal is directly used as a position command of a servo driver, high-frequency jitter of a servo motor is caused, and the control performance and the control precision are directly influenced.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a smoothing method for a position command of a servo driver and a control device thereof, aiming at the above-mentioned defects of the prior art, so as to overcome the problems of high frequency jitter, poor control performance and low control precision of a servo motor caused by the local loss of the position command of the prior servo driver.
The technical scheme adopted by the invention for solving the technical problems is as follows: there is provided a method for smoothing a servo driver position command, comprising the steps of:
detecting a lost position command by a data verification method;
fitting a smooth position command by adopting a polynomial according to the adjacent position command of the lost position command;
and updating the position command output to the external servo motor once in each servo driver control period according to the fitted smooth position command.
Further preferred embodiments of the present invention are: the smoothing method further comprises the steps of:
calculating an update speed value of the position command according to the fitted smooth position command and a position command before the lost position command;
the position command output to the external servo motor is updated once per servo driver control period according to the updated speed value.
Further preferred embodiments of the present invention are: the step of fitting a polynomial to a smoothed position command according to the adjacent position commands of the missing position command comprises the steps of:
establishing a constant matrix for storing constant data related to a post-state position command of the lost position command;
establishing an array for caching the position commands acquired by the servo driver, wherein the newly acquired position commands are stored at the tail position of the array, and the previous position command is shifted to the left by one bit when each position command is acquired;
and calculating the adjacent position command of the rear state of the lost position command according to the constant matrix, acquiring the adjacent position command of the front state of the lost position command stored in the array, and fitting a polynomial to obtain the smooth position command.
Further preferred embodiments of the present invention are: the position command in the external command satisfies a polynomial equation y ═ a0+a1x+a2x2+a3x3Establishing a constant matrix as a matrix M, comprising the steps of:
order matrix
Matrix G ═ 1d d2 d3]Where n is the data point of the post-state position command of the missing position command and d is the data point of the missing position command;
sequentially letting n ═ d +1, d +2, …,2d, calculate d (n) ═ G [ h (n)TH(n)]-1H(n)T；
Matrix M ═ D (D +1)T D(d+2)T … D(2d)T]T。
Further preferred embodiments of the present invention are: the set up is F [2d +1], the update speed value is V, and the update speed value V is calculated by the following formula:
and the updating speed value V is (Fd-1)/L, wherein L is a multiple of the input period of the external command and the control period of the servo driver, Fd is the fitted smooth position command, and Fd-1 is the previous position command of the lost position command.
Further preferred embodiments of the present invention are: the smoothing method further comprises the steps of:
setting p for marking which data point of the array F is used for polynomial fitting;
the smoothed position command F [ d ] is fitted by:
F[d]＝M[p-d-1][0]*F[0]+M[p-d-1][1]*F[1]+M[p-d-1][2]*F[2]+…+M[p-d-1][d-1]*F[d-1]+M[p-d-1][d]*F[p]。
further preferred embodiments of the present invention are: the smoothing method further comprises the steps of:
continuously updating the value of p according to the size of p, and if p is larger than or equal to d +1, decreasing p by 1;
if p is less than d +1, updating p value, when updating p value, taking m as d +1, d +2, …,2d in turn, when F [ m ]! When F [ m-1], let p be m, if all possible values of m do not satisfy fm! If F [ m-1] is the condition, p is not updated.
Further preferred embodiments of the present invention are: the data checking method comprises CRC checking.
The technical scheme adopted by the invention for solving the technical problems is as follows: there is provided a servo driver position command control apparatus including a module for controlling an external servo motor, the module including:
an initialization processing unit for initializing data of the control device;
a position command output unit for outputting a position command for controlling the external servo motor;
the main control unit is used for storing and processing an external command with a plurality of position commands, and the processing comprises the following steps:
detecting a lost position command by a data inspection method;
fitting a smooth position command by adopting a polynomial according to the adjacent position command of the lost position command;
and updating the output position command once in each servo driver control period according to the fitted smooth position command.
The method has the advantages that the smooth position command is fitted by adopting a polynomial, the position command output to the external servo motor is updated once in each servo driver control period according to the smooth position command, the position command output to the external servo motor is smoothly output, the control performance and the control precision are improved, the time delay of the method for smoothing the position command of the servo driver is small, the calculated amount is small, a large amount of operations of matrix inversion are avoided, and the calculating capacity of most driver main control chips can be controlled.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a block flow diagram of a smoothing method of servo drive position commands of the present invention;
FIG. 2 is a block diagram of the flow of the present invention for fitting a polynomial to a smooth position command;
FIG. 3 is a detailed flow diagram of the servo drive position command smoothing method of the present invention;
FIG. 4 is a flow chart of a smoothing method of servo drive position commands of the present invention;
FIG. 5 is a flow chart of the present invention for calculating an update velocity value for a position command;
FIG. 6 is a functional block diagram of the modules of the control device for servo drive position commands of the present invention.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 3, the present embodiment provides a preferred embodiment of a smoothing method of a servo driver position command.
The position command smoothing method includes the steps of:
s10, detecting a lost position command through a data verification method;
s20, fitting a smooth position command by a polynomial according to the adjacent position command of the lost position command;
and S30, updating the position command output to the external servo motor once in each driver control period according to the fitted smooth position command.
The invention adopts a polynomial to fit a smooth position command according to an adjacent position command of a lost position command, and updates the position command output to an external servo motor once in each servo driver control period according to the smooth position command, thereby achieving the purpose of smoothly outputting the position command to the external servo motor, improving the control performance and the control precision.
And fitting all observation points in a small analysis area containing a plurality of analysis grid points by using a polynomial expansion to obtain an objective analysis field of the observation data. The expansion coefficients are determined using a least squares fit. And fitting a smooth position command by adopting a polynomial according to the adjacent position command of the lost position command, so that the smooth position command is more accurate.
And, the lost position command is detected using the CRC check method in this embodiment. The CRC method is used for detecting the lost position command, is simple to implement, has strong error detection capability and occupies less system resources. Of course, in other embodiments, data checking methods such as parity check, BCC xor check, LRC longitudinal redundancy check, etc. may be used.
As shown in fig. 2, in step S20, the fitting the smoothed position command by the polynomial to the adjacent position command according to the lost position command includes the steps of:
s21, establishing a constant matrix for storing constant data related to the post-state position command of the lost position command;
s22, creating an array for caching the position commands acquired by the servo driver, wherein the newly acquired position commands are stored at the tail position of the array, and the previous position commands are shifted to the left by one bit when one position command is acquired.
And S23, calculating the adjacent position command of the rear state of the lost position command according to the constant matrix and the adjacent position command of the front state of the lost position command stored in the acquisition array, and fitting a polynomial to obtain the smooth position command.
In step S21, the constant data related to the post-state position command of the missing position command is stored in the constant matrix, so that it is convenient to obtain data from the constant matrix when a polynomial is required to fit the smooth position command in the following step, and calculate the position command that can be used for performing polynomial fitting, and it is not necessary to perform calculation once again when a missing position command is fitted, thereby reducing the calculation amount.
In this embodiment, the position command in the external command satisfies a polynomial equation y ═ a0+a1x+a2x2+a3x3. In step S21, establishing a constant matrix as matrix M includes the steps of:
order matrix
Matrix G ═ 1d d2d3]Where n is the data point of the post-state position command of the missing position command and d is the data point of the missing position command;
sequentially letting n ═ d +1, d +2, …,2d, calculate d (n) ═ G [ h (n)TH(n)]-1H(n)T；
Matrix M ═ D (D +1)T D(d+2)T … D(2d)T]T。
Because the data points of adjacent position commands approximately satisfy the cubic polynomial equation y ═ a0+a1x+a2x2+a3x3And calculating a related coefficient by a least square method so as to calculate a smooth position command. Calculating a matrix D (n) ═ G [ H (n)TH(n)]-1H(n)TAnd the matrix D (n) is used for forming each row of the constant matrix M in turn, namely the position to be lostConstant data related to the post-state position command of the command is stored in the matrix M, and the post-state position command of the position command with lost data calculation can be obtained from the constant matrix M. Where d (n) is a matrix of 1 x (d +1), then the constant matrix M is a matrix of d x (d + 1).
By combining matrix D (n) ═ G [ H (n)TH(n)]-1H(n)TThe calculated values are stored in a constant matrix M, and D (n) ═ G [ H (n) & n) is calculated to avoid the loss of position command of each fittingTH(n)]-1H(n)TThe amount of calculation can be reduced considerably.
Further, the smoothing method further comprises the steps of:
s31, calculating the updating speed value of the position command according to the fitted smooth position command and the previous position command of the lost position command;
and S32, updating the position command output to the external servo motor once in each drive control period according to the updated speed value.
And calculating an update speed value of the position command according to the fitted smooth position command and the position command before the lost position command, and reducing the calculation amount of the update speed value.
And updating the position command output to the external servo motor once in each driver control period according to the updated speed value of the position command, wherein the obtained position command is smoother, the speed of the external servo motor is not changed suddenly, and the control performance and the control precision are improved.
In step S22, the created array is F [2d +1], where d is the data point of the missing position command. The capacity of the array F [2d +1] is 2d +1, which is a first-in first-out queue, that is, each input cycle of the external position command, the elements of the array F [2d +1] are shifted to the left by one bit in sequence, and the newly input external position command is stored at the tail position of the array F [2d +1 ].
In step S31, the update speed value V of the position command is calculated by the following equation:
and V is (Fd-1)/L, wherein L is a multiple of the input period of the external command and the control period of the servo driver, Fd is the fitted smooth position command, and Fd-1 is the previous position command of the lost position command.
In this embodiment, the smoothing method further includes the steps of:
setting p for marking which data point of the array F is used for polynomial fitting;
the smoothed position command F [ d ] is fitted by:
F[d]＝M[p-d-1][0]*F[0]+M[p-d-1][1]*F[1]+M[p-d-1][2]*F[2]+…+M[p-d-1][d-1]*F[d-1]+M[p-d-1][d]*F[p]。
further, the smoothing method further comprises the steps of:
continuously updating the value of p according to the size of p, and if p is larger than or equal to d +1, decreasing p by 1;
if p is smaller than d +1, updating the value of p; when updating the p value, take m ═ d +1, d +2, …,2d in turn, when F [ m ]! When F [ m-1], let p be m, if all possible values of m do not satisfy fm! If F [ m-1] is the condition, p is not updated.
If the position command in the lost external commands is the position command of data point d, the minimum delay of the position command smoothing method according to the embodiment of the present invention is d external position command input cycles. In the invention, each external position command input cycle only needs d +2 floating point number multiplications and d + L +1 floating point number additions. The position command smoothing method has the advantages of small time delay, fixed time delay and small calculated amount, avoids a large amount of operations of matrix inversion, and can control the calculating capacity of most driver main control chips.
Specifically, the following description will be further made by taking an example in which the 4 th data point is lost in the external command, the update cycle of the external position command is 10 times the drive control cycle, that is, d is 4 and L is 10, and the capacity of the array F is 9.
Assuming that the data of the 4 th point is erroneous, the data of the 0 th, 1 st, 2 nd, 3 rd points and the n th point are used to obtain a cubic polynomial equation y as a0+a1x+a2x2+a3x3Coefficient a of0、a1、a2、a3Where n is equal to one of 5,6,7,8, i.e. n is a post-state adjacent to the unreleased bit of the lost position commandThe commanded data point is placed and the 4 th point is found to be a fit value F4]＝G[H(n)TH(n)]-1H(n)T[F[0]F[1]F[2]F[3]F[n]]TSequentially making n-5, 6,7,8 calculate matrix D (n), and sequentially forming corresponding D (n) into each row of constant matrix M, and calculating constant matrix M [4]][5]＝[D(5)T D(6)T D(7)T D(8)T]T。
FIG. 4 is a flow chart of a method of smoothing servo drive position commands.
As shown in fig. 4, the smoothing method of the servo driver position command includes the steps of:
s401, calculating a constant matrix M;
s402, initializing variables;
s403, judging whether K is 0 or not;
s404, if K is 0, calculating an updating speed value V of the position command;
s405, updating a position command Output to an external servo motor according to the update speed value V of the position command, wherein the Output is Output + V;
s406, increasing the number of the K by 1 after updating the Output position command Output;
s407, judging whether K is larger than L;
and S408, if K is larger than L, clearing K, and if K is not larger than L, jumping to the step S403.
Specifically, first, a constant matrix M is calculated, and some variables are initialized. Where K is the driver control cycle counter, F is the array used for buffering the position command, p is used to mark which data point of the array F is used for polynomial fitting, and Output is the position command Output to the external servo motor.
At the beginning of each driver control period, judging whether a counter K is zero, if so, executing an updating speed value V of the calculated position command, and updating and outputting a position command Output of an external servo motor according to the updated speed value V, namely, the Output is Output + V; if K is not 0, the Output position command Output is directly updated.
And after updating the Output position command Output, increasing the number of K by 1, then judging whether the counter K is greater than L, if K is greater than L, resetting K, and otherwise, executing the position command update of the next driver control period. If K is not larger than L, K is reset, and then the counter K is judged to be zero again to carry out the circulation operation.
Therefore, the position command smoothly output to the external servo motor is realized, and the control performance and the control precision of the servo driver are improved.
The flowchart of calculating the update velocity value V of the position command is shown in fig. 5:
s501, sequentially shifting the elements of the array F by one bit to the left, and storing a newly Input position command Input at the tail position F [8] of the array F;
s502, judging whether p is less than 5;
s503, if p is smaller than 5, updating the p value;
s504, if p is not smaller than 5, updating and decreasing p by 1;
s505, judging whether p is greater than or equal to 5;
s506, if p is greater than or equal to 5, updating F4;
s507, calculating the updating speed value V of the position command as (F4-F3)/L.
If p is not greater than or equal to 5, go to step S507.
Specifically, the flow of calculating the update velocity value V of the position command is described as follows:
when the servo driver obtains a new position command, the servo driver shifts the elements of the array F one bit to the left in sequence, and stores the newly Input position command Input in F [8], namely, the position at the end of the array F.
And then judging whether p is less than 5, updating the value of p, otherwise, decrementing p by 1, and judging whether p is greater than or equal to 5. If p is greater than or equal to 5, F4 is updated.
When updating the p value, m is 5,6,7,8 in sequence, when F [ m ]! When F [ m-1], let p be m. In this process, it is possible that m is not 5,6,7,8, but not F [ m ]! If p is equal to or greater than 5, then p is not updated.
If p is less than 5, calculating the updating speed value V ═ F4-F3/L, otherwise, updating F4, and calculating the updating speed value V ═ F4-F3/L. The update F [4] is calculated as follows:
F[4]＝M[p-5][0]*F[0]+M[p-5][1]*F[1]+M[p-5][2]*F[2]+M[p-5][3]*F[3]+M[p-5][4]*F[p]。
the update speed value V is (F4-F3)/L.
If the data point of the missing position command is d-4, if the 5 th data point is also the missing position command and is obtained by fitting, the 4 th data point obtained by fitting may be inaccurate. For example, assuming that the adjacent command in the post state of the 4 th data point that is not lost is the 6 th data point, when the servo driver obtains a new position command, the array F will move the previous position command one bit to the left, at this time, p is not decreased by 1, the data point of the 4 th data point for polynomial fitting is the 5 th data point, and the 5 th data point is also obtained by fitting, an inaccurate condition will occur, so p is decreased by 1, and the 6 th data point is still obtained for fitting, thereby improving the smooth precision of the position command.
The servo driver updates the position command output to the external servo motor once per driver control period according to the velocity value V updated each time.
The present invention also provides a preferred embodiment of a control device for servo drive position commands, as shown in fig. 6.
The device for controlling the position command of the servo driver comprises a module 10 for controlling an external servo motor, the module comprising:
an initialization processing unit 11 for initializing data of the control device;
a position command output unit 13 for outputting a position command for controlling an external servo motor;
the main control unit 12 is used for storing and processing an external command having a plurality of position commands, and the processing includes:
detecting a lost position command by a data inspection method;
fitting a smooth position command by adopting a polynomial according to the adjacent position command of the lost position command;
the output position command is updated once per driver control period based on the fitted smoothed position command.
The main control unit 12 of the servo motor controller of the present invention processes an external command having a plurality of position commands, smoothes a lost position command, fits a smooth position command by a polynomial to update a position command output to an external servo motor, and outputs the position command to the external servo motor through the position command output unit 13, so as to achieve a position command smoothly output to the external servo motor, thereby improving control performance and control accuracy.
It should be understood that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same, and those skilled in the art can modify the technical solutions described in the above embodiments, or make equivalent substitutions for some technical features; and all such modifications and alterations are intended to fall within the scope of the appended claims.
Claims (9)
1. A method for smoothing a servo driver position command, the servo driver obtaining an external command having a plurality of position commands, the method comprising the steps of:
detecting a lost position command by a data verification method;
fitting a smooth position command by adopting a polynomial according to the adjacent position command of the lost position command;
and updating the position command output to the external servo motor once in each servo driver control period according to the fitted smooth position command.
2. The smoothing method according to claim 1, characterized in that the smoothing method further comprises the steps of:
calculating an update speed value of the position command according to the fitted smooth position command and a position command before the lost position command;
the position command output to the external servo motor is updated once per servo driver control period according to the updated speed value.
3. The smoothing method of claim 2, wherein said fitting a polynomial to smooth out location commands based on neighboring location commands of the missing location command comprises the steps of:
establishing a constant matrix for storing constant data related to a post-state position command of the lost position command;
establishing an array for caching the position commands acquired by the servo driver, wherein the newly acquired position commands are stored at the tail position of the array, and the previous position command is shifted to the left by one bit when each position command is acquired;
and calculating the adjacent position command of the rear state of the lost position command according to the constant matrix, acquiring the adjacent position command of the front state of the lost position command stored in the array, and fitting a polynomial to obtain the smooth position command.
4. The smoothing method of claim 3, wherein a position command in the external commands satisfies a polynomial equation of y-a0+a1x+a2x2+a3x3Establishing a constant matrix as a matrix M, comprising the steps of:
order matrix
Matrix G ═ 1d d2 d3]Where n is the data point of the post-state position command of the missing position command and d is the data point of the missing position command;
sequentially letting n ═ d +1, d +2, …,2d, calculate d (n) ═ G [ h (n)TH(n)]-1H(n)T；
Matrix M ═ D (D +1)T D(d+2)T … D(2d)T]T。
5. The smoothing method according to claim 4, wherein the established array is F [2d +1], the update speed value is V, and the update speed value V is calculated by the following equation:
and the updating speed value V is (Fd-1)/L, wherein L is a multiple of the input period of the external command and the control period of the servo driver, Fd is the fitted smooth position command, and Fd-1 is the previous position command of the lost position command.
6. The smoothing method according to claim 5, wherein the smoothing method further comprises the steps of:
setting p for marking which data point of the array F is used for polynomial fitting;
the smoothed position command F [ d ] is fitted by:
F[d]＝M[p-d-1][0]*F[0]+M[p-d-1][1]*F[1]+M[p-d-1][2]*F[2]+...+M[p-d-1][d-1]*F[d-1]+M[p-d-1][d]*F[p]。
7. the smoothing method according to claim 6, wherein the smoothing method further comprises the steps of: continuously updating the value of p according to the size of p, and if p is larger than or equal to d +1, decreasing p by 1;
if p is less than d +1, updating p value, when updating p value, taking m as d +1, d +2, …,2d in turn, when F [ m ]! When F [ m-1], let p be m, if all possible values of m do not satisfy fm! If F [ m-1] is the condition, p is not updated.
8. The smoothing method according to any one of claims 1 to 7, wherein the data checking method includes a CRC check.
9. A control device for servo drive position commands, the control device comprising a module for controlling an external servo motor, the module comprising:
an initialization processing unit for initializing data of the control device;
a position command output unit for outputting a position command for controlling the external servo motor;
the main control unit is used for storing and processing an external command with a plurality of position commands, and the processing comprises the following steps:
detecting a lost position command by a data inspection method;
fitting a smooth position command by adopting a polynomial according to the adjacent position command of the lost position command;
and updating the output position command once in each servo driver control period according to the fitted smooth position command.
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