CN109873576B - Distributed motor synchronous control method and device - Google Patents
Distributed motor synchronous control method and device Download PDFInfo
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- CN109873576B CN109873576B CN201710527228.XA CN201710527228A CN109873576B CN 109873576 B CN109873576 B CN 109873576B CN 201710527228 A CN201710527228 A CN 201710527228A CN 109873576 B CN109873576 B CN 109873576B
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Abstract
The invention provides a distributed motor synchronous control method and a distributed motor synchronous control device, which are suitable for a laser scanning device, wherein the laser scanning device comprises N laser rotary scanning devices, and laser planes scanned by the N laser rotary scanning devices can intersect at one point; n laser rotary scanning devices respectively rotate under the action of respective motors, and the method comprises the following steps: the slave motor on the first laser rotary scanning device confirms that a first synchronous signal sent by a master motor on a second laser rotary scanning device is not received within a synchronous period, wherein the synchronous period is determined by a clock component of the slave motor according to a second synchronous signal sent by the master motor, and the second synchronous signal is a synchronous signal before the first synchronous signal; and after the synchronous period of the slave motor is reached, acquiring the current phase of the slave motor and adjusting the current phase to a preset phase. Through the method, when a link fault occurs between the master motor and the slave motor, the slave motor can automatically adjust the phase.
Description
Technical Field
The embodiment of the invention relates to the technical field of laser and electronics, in particular to a distributed motor synchronous control method and device.
Background
Virtual Reality (VR) is a technology that uses a computer to generate a simulation environment, and uses professional equipment to let a user enter a virtual space, sense and operate in real time, thereby obtaining an immersive real experience. At present, the VR industry is in a starting period, and with the realization of mass production of a large number of VR equipment in two years and the promotion to a consumer-grade market, the industry is about to enter a high-speed development period.
The most important feature of VR technology is its immersion, and a set of positioning systems with high precision and good real-time performance is an important ring for realizing the feature. The precision of the laser positioning scheme can reach mm level, and the method is one of the main technical means for realizing VR positioning at present. The basic principle of laser positioning is to utilize a positioning base station to emit laser which is scanned in the horizontal and vertical directions to a positioning space, place a plurality of laser induction receivers on an object to be positioned, measure the time of the laser reaching the receivers respectively, and then calculate the three-dimensional space position of a target according to the position difference of each sensor.
The laser positioning technology is based on the cyclic scanning of multiple motors to a positioning space, and the motor synchronous operation control technology is an important supporting technology for laser positioning. Firstly, in the application of an actual space positioning system, the synchronous operation of a motor is highly required, if the speed is not constant, the positioning precision is seriously influenced, and if the phase is not constant, the cyclic scanning is disordered and the positioning is failed. Secondly, due to the complexity of the environment, the transmission of synchronous signals between the motors cannot be guaranteed to be stable and reliable, the electrical parameters of the distributed motors are inconsistent, disturbance is possible at any time, and the synchronous operation of the motors becomes a challenge.
In the prior art, fuzzy PID control is usually adopted to carry out motor synchronization, but in the synchronization process, if a link between a master motor and a slave motor fails, the slave motor cannot be synchronized with a master motor, and the positioning precision is influenced.
Disclosure of Invention
The invention provides a distributed motor synchronous control method and device, which are used for solving the problem that in the prior art, if a link between a master motor and a slave motor fails, the slave motor cannot be synchronized with a master motor, and the positioning precision is influenced.
The embodiment of the invention provides a distributed motor synchronous control method which is suitable for a laser scanning device, wherein the laser scanning device comprises N laser rotary scanning devices, and laser planes scanned by the N laser rotary scanning devices can intersect at one point; the N laser rotary scanning devices respectively rotate under the action of respective motors, and the method comprises the following steps:
confirming that a first synchronous signal sent by a main motor on a second laser rotary scanning device is not received by a slave motor on a first laser rotary scanning device within a synchronous period, wherein the synchronous period is determined by a clock component of the slave motor according to a second synchronous signal sent by the main motor, and the second synchronous signal is a synchronous signal before the first synchronous signal;
and after the synchronous period of the slave motor is reached, acquiring the current phase of the slave motor and adjusting the current phase to a preset phase.
In the embodiment of the invention, if the slave motor determines that the first synchronous signal is not received in the synchronous period, the slave motor acquires the phase of the current slave motor and adjusts the phase of the slave motor according to the preset phase, and the slave motor is determined according to the clock component of the slave motor after receiving the second synchronous signal sent before the master motor. That is to say, with the method in this embodiment, when a link failure occurs between the master motor and the slave motor, the slave motor can determine a synchronization period according to the synchronization signal of the master motor received last time and the clock component of the slave motor itself, and adjust the phase automatically when the synchronization period reaches, which solves the problem that in the prior art, if the link between the master motor and the slave motor fails, the slave motor cannot synchronize with the master motor, which affects the positioning accuracy.
Further, the synchronization period is determined by the clock component of the slave motor according to the second synchronization signal sent by the master motor, and includes:
the clock component carries out periodic timing according to the duration of a preset synchronous period;
the slave motor resets a starting point of the periodic timing of the clock section after receiving the second synchronization signal.
In the embodiment of the invention, the clock component of the slave motor is timed according to the preset time length, and the slave motor resets the starting point of the clock component after receiving the synchronous signal sent by the master motor every time, namely, resets the clock component to zero again and restarts timing.
Further, the method further comprises:
and the slave motor receives the first synchronous signal, acquires the current phase of the slave motor and adjusts the current phase to the preset phase.
In the embodiment of the invention, as the synchronous signal of the main motor is accurate, the slave motor only receives the first synchronous signal of the main motor in the synchronous period or outside the synchronous period and carries out phase adjustment according to the first synchronous signal.
Further, the method further comprises:
the slave motor resets a starting point of the periodic timing of the clock section according to the reception of the first synchronization signal.
In the embodiment of the invention, if the slave motor receives the first synchronous signal, the starting point of the clock device is also reset, so that the clock device of the slave motor restarts timing.
Further, before the synchronous period arrives, the slave motor further comprises:
the slave motor determines that the motor rotating speed of the slave motor is within a set speed interval.
In the embodiment of the invention, when the motor rotating speed of the slave motor is within the set speed interval, the correctness of the synchronous signal can be ensured, and the accuracy of laser positioning can be further ensured.
The invention provides a distributed motor synchronous control device which is suitable for a laser scanning device, wherein the laser scanning device comprises N laser rotary scanning devices, and laser planes scanned by the N laser rotary scanning devices can intersect at one point; the N laser rotary scanning devices respectively rotate under the action of respective motors, and the device comprises:
a determination unit configured to confirm that a first synchronization signal transmitted from a master motor of a second laser rotary scanning apparatus is not received within a synchronization period, wherein the synchronization period is determined by a clock component of the slave motor according to a second synchronization signal transmitted from the master motor, and the second synchronization signal is a synchronization signal before the first synchronization signal;
and the adjusting unit is used for acquiring the current phase of the slave motor and adjusting the current phase to a preset phase after the synchronization period is reached.
In the embodiment of the invention, if the slave motor determines that the first synchronous signal is not received in the synchronous period, the slave motor acquires the phase of the current slave motor and adjusts the phase of the slave motor according to the preset phase, and the slave motor is determined according to the clock component of the slave motor after receiving the second synchronous signal sent before the master motor. That is to say, with the method in this embodiment, when a link failure occurs between the master motor and the slave motor, the slave motor can determine a synchronization period according to the synchronization signal of the master motor received last time and the clock component of the slave motor itself, and adjust the phase automatically when the synchronization period reaches, which solves the problem that in the prior art, if the link between the master motor and the slave motor fails, the slave motor cannot synchronize with the master motor, which affects the positioning accuracy.
Further, the determining unit is specifically configured to:
the clock component carries out periodic timing according to the duration of a preset synchronous period;
resetting a starting point of a periodic timing of the clock section upon receiving the second synchronization signal.
Further, the determining unit is further configured to:
receiving the first synchronization signal;
the adjusting unit is specifically configured to:
and acquiring the current phase of the slave motor and adjusting the current phase to the preset phase.
Further, the adjusting unit is further configured to:
resetting a starting point of a periodic timing of the clock section according to the reception of the first synchronization signal.
Further, the determining unit is further configured to:
and determining that the motor rotating speed of the slave motor is within a set speed interval.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a distributed motor synchronization control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a laser scanning device in a laser positioning system according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a distributed motor synchronization control method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a distributed motor synchronous control device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a distributed motor synchronous control method, which is suitable for a laser scanning device as shown in figure 1, wherein the laser scanning device comprises N laser rotary scanning devices, and laser surfaces scanned by the N laser rotary scanning devices can be intersected at one point; the N laser rotary scanning devices respectively rotate under the action of respective motors, and the method comprises the following steps:
and 102, after the slave motor arrives at the synchronization period, acquiring the current phase of the slave motor and adjusting the current phase to a preset phase.
In the embodiment of the present invention, as shown in fig. 2, in a laser positioning system, there are at least two laser scanning devices, and each laser scanning device includes N laser rotary scanning devices, and laser planes scanned by the N laser rotary scanning devices may intersect at a point, so as to emit laser, and be received by a target device or a positioning base station, so as to implement positioning. In general, in the prior art, N is 3 or more.
And if two laser scanning devices are arranged in a laser positioning system and each laser scanning device is provided with 3 laser rotary scanning devices, 6 laser rotary scanning devices are arranged in the laser positioning system, and 6 motors are used for controlling the laser scanning devices to rotate. In the 6 motors, a set main motor is arranged, the other motors are slave motors, and the main motor and the slave motors need to be synchronously controlled to control the normal rotation of the motors.
In step 101, the motor of the first laser rotary scanning device is a slave motor, the motor of the second laser rotary scanning device is a master motor, the slave motor determines that the first synchronization signal transmitted by the master motor is not received in the synchronization period, and the synchronization period is determined by the clock unit of the slave motor according to a second synchronization signal transmitted by the master motor, the second synchronization signal being a synchronization signal before the first synchronization signal.
For example, in the embodiment of the present invention, the second synchronization signal is transmitted by the master motor 10:00:00, and the first synchronization signal should be transmitted by the master motor 10:00:01, but not received by the slave motor during the synchronization period.
Optionally, in an embodiment of the present invention, the synchronization period is determined by the clock unit of the slave motor according to the second synchronization signal sent by the master motor, and includes:
the clock component carries out periodic timing according to the duration of a preset synchronous period;
the slave motor resets the start point of the periodic timing of the clock section upon receiving the second synchronization signal.
That is, in the embodiment of the present invention, the slave motor has its own clock component, and optionally, the clock component is a crystal clock. The clock component of the slave motor performs periodic timing according to the duration of a preset synchronization period, and in the embodiment of the present invention, the preset synchronization period may be a set period of time or may be determined according to the attribute of the crystal oscillator clock.
In an embodiment of the invention, the master motor and the slave motor have the same clock unit, and the clock unit of the master motor is also periodically clocked by the duration of the preset synchronization period. For example, in the embodiment of the present invention, according to the properties of the crystal oscillator clocks of the master motor and the slave motor, it is determined that the crystal oscillator clocks of the master motor and the slave motor are periodically clocked according to the time of 12ms, that is, every 12ms, the crystal oscillator clocks of the master motor and the slave motor reset the starting point of the periodic clocking.
In the embodiment of the present invention, the clock section of the slave motor resets the start point of the periodic timing of the clock section upon receiving the second synchronization signal transmitted from the master motor, and the second synchronization signal is transmitted at the timing when the clock section of the master motor resets the start point. The period of the slave motor is that the slave motor resets the starting point of the periodic timing of the clock component after receiving the second synchronous signal, then starts timing, and the duration of the period according to the preset synchronous period is the synchronous period of the slave motor.
In step 102, if the slave motor determines that the first synchronization signal sent by the master motor is not received in the synchronization period and the first synchronization signal is sent by the clock device of the master motor at the time when the timing starting point needs to be reset, the slave motor obtains the current phase of the current slave motor and adjusts the current phase to the preset phase.
In the embodiment of the present invention, the preset phase refers to a phase to which the slave motor should be rotated when receiving the first synchronization signal. For example, in the embodiment of the present invention, there are 5 slave motors and 1 master motor, there is a preset phase difference between the master motor and the slave motors, for example, the preset phase difference between the master motor and the slave motor 1 is 10 °, the slave motor 1 should rotate to 10 ° upon receiving the first synchronization signal, the rotation phase of the current slave motor 1 is acquired to be 11 °, and then the phase of the slave motor 1 is adjusted by 10 °.
Optionally, in the embodiment of the present invention, if it is determined that the current phase of the slave motor is greater than the preset phase, the rotation speed of the slave motor is reduced; and if the current phase of the slave motor is determined to be smaller than the preset phase, accelerating the rotating speed of the slave motor.
Optionally, in the embodiment of the present invention, if the slave motor receives the first synchronization signal, the slave motor obtains the current phase of the slave motor and adjusts the current phase to the preset phase.
That is to say, in the embodiment of the present invention, as long as the slave motor receives the first synchronization signal sent by the master motor, the current phase of the slave motor is obtained, and the current phase is adjusted to the preset phase; for example, in the embodiment of the present invention, when the master motor receives the first synchronization signal of the master motor in the synchronization period of the slave motor, the phase of the current slave motor is obtained, and the current phase is adjusted to the preset phase; the slave motor does not receive the first synchronization signal in the synchronization period, acquires the current slave motor phase and adjusts the current slave motor phase to the preset phase when the synchronization period arrives, and acquires the current slave motor phase again and adjusts the slave motor phase to the preset phase when the first synchronization signal sent by the master motor is received after the synchronization period arrives.
Optionally, in the embodiment of the present invention, the starting point of the periodic timing of the clock unit of the slave motor is reset whenever the slave motor receives the first synchronization signal transmitted by the master motor; for example, in the embodiment of the present invention, the slave motor has reset the start point of the periodic timing of the clock section of the slave motor at time T1, and the slave motor receives the first synchronization signal at time T2, and resets the start point of the periodic timing of the clock section of the slave motor again.
Optionally, in an embodiment of the present invention, in order to maintain the accuracy of the positioning system, the slave motor determines that the motor rotation speed of the slave motor is within the set speed interval. That is, in synchronization between the master and slave motors, it is necessary to determine that the motor rotation speed of the slave motor has stabilized, and further, it is necessary to determine that the motor rotation speed of the master motor has stabilized.
In order to better explain the embodiment of the present invention, the following describes a flow of a distributed motor synchronization control method provided by the embodiment of the present invention through a specific implementation scenario, and the specific flow is shown in fig. 3.
Step 301, starting a motor of a slave motor;
305, acquiring the phase of the current slave motor from the slave motor, and adjusting the current phase to a preset phase;
and 307, resetting the starting point of the periodic timing of the clock device of the slave motor by the slave motor, and starting to time according to the duration of the preset synchronous period.
In the above embodiment, the starting point of the periodic timing of the clock device of the slave motor is reset in step 304, and the process of starting timing according to the duration of the preset synchronization period is represented without any sequence between step 305 and step 306, and the phase of the current slave motor is obtained in step 306, and the current phase is adjusted to the representation without any sequence between the preset phase and step 307.
Based on the same concept, an embodiment of the present invention further provides a distributed motor synchronization control apparatus, as shown in fig. 4, which is suitable for a laser scanning apparatus, where the laser scanning apparatus includes N laser rotation scanning apparatuses, and laser planes scanned by the N laser rotation scanning apparatuses may intersect at a point; the N laser rotary scanning devices respectively rotate under the action of respective motors, and the device comprises:
a determining unit 401, configured to determine that a first synchronization signal transmitted by a master motor on a second laser rotary scanning apparatus is not received within a synchronization period, where the synchronization period is determined by a clock component of the slave motor according to a second synchronization signal transmitted by the master motor, and the second synchronization signal is a synchronization signal before the first synchronization signal;
an adjusting unit 402, configured to obtain a current phase of the slave motor and adjust the current phase to a preset phase after the synchronization period is reached.
Further, the determining unit 401 is specifically configured to:
the clock component carries out periodic timing according to the duration of a preset synchronous period;
resetting a starting point of a periodic timing of the clock section upon receiving the second synchronization signal.
Further, the determining unit 401 is further configured to:
receiving the first synchronization signal;
the adjusting unit 402 is specifically configured to:
and acquiring the current phase of the slave motor and adjusting the current phase to the preset phase.
Further, the adjusting unit 402 is further configured to:
resetting a starting point of a periodic timing of the clock section according to the reception of the first synchronization signal.
Further, the determining unit 401 is further configured to:
and determining that the motor rotating speed of the slave motor is within a set speed interval.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A distributed motor synchronous control method is characterized in that the method is suitable for a laser scanning device, the laser scanning device comprises N laser rotary scanning devices, and laser planes scanned by the N laser rotary scanning devices can intersect at one point; the N laser rotary scanning devices respectively rotate under the action of respective motors, and the method comprises the following steps:
if the slave motor on the first laser rotary scanning device confirms that a first synchronous signal sent by a master motor on a second laser rotary scanning device is not received in a synchronous period, wherein the synchronous period is determined by a clock component of the slave motor according to a second synchronous signal sent by the master motor, and the second synchronous signal is a synchronous signal before the first synchronous signal, the slave motor acquires the current phase of the slave motor and adjusts the current phase to a preset phase after the synchronous period arrives;
if the current phase of the slave motor is determined to be larger than the preset phase, reducing the rotating speed of the slave motor; and if the current phase of the slave motor is determined to be smaller than the preset phase, accelerating the rotating speed of the slave motor.
2. The method of claim 1, wherein the synchronization period is determined by a clock component of the slave motor from a second synchronization signal transmitted by the master motor, comprising:
the clock component carries out periodic timing according to the duration of a preset synchronous period;
the slave motor resets a starting point of the periodic timing of the clock section after receiving the second synchronization signal.
3. The method of claim 1, further comprising:
and if the slave motor receives the first synchronous signal, the slave motor acquires the current phase of the slave motor and adjusts the current phase to the preset phase.
4. The method of claim 3, further comprising:
the slave motor resets a starting point of periodic timing of the clock section according to the received first synchronization signal.
5. The method of any of claims 1-4, wherein the slave motor further comprises, prior to the arrival of the synchronization cycle:
the slave motor determines that the motor rotating speed of the slave motor is within a set speed interval.
6. A distributed motor synchronous control device is characterized by being suitable for a laser scanning device, wherein the laser scanning device comprises N laser rotary scanning devices, and laser planes scanned by the N laser rotary scanning devices can intersect at one point; the N laser rotary scanning devices respectively rotate under the action of respective motors, and the device comprises:
a determining unit, configured to confirm that a slave motor on a first laser rotary scanning device does not receive a first synchronization signal sent by a master motor on a second laser rotary scanning device within a synchronization period, where the synchronization period is determined by a clock component of the slave motor according to a second synchronization signal sent by the master motor, and the second synchronization signal is a synchronization signal before the first synchronization signal;
the adjusting unit is used for acquiring the current phase of the slave motor and adjusting the current phase to a preset phase after the synchronization period arrives if the determining unit confirms that the slave motor on the first laser rotary scanning device does not receive the first synchronization signal sent by the master motor on the second laser rotary scanning device in the synchronization period, and reducing the rotating speed of the slave motor if the determining unit determines that the current phase of the slave motor is greater than the preset phase; and if the current phase of the slave motor is determined to be smaller than the preset phase, accelerating the rotating speed of the slave motor.
7. The apparatus of claim 6, wherein the determining unit is further configured to:
carrying out periodic timing according to the duration of a preset synchronous period through the clock component;
resetting a starting point of the periodic timing of the clock section upon receiving the second synchronization signal from the motor on the first laser rotary scanning device.
8. The apparatus of claim 6, wherein the adjustment unit is further configured to:
and if the slave motor on the first laser rotary scanning device receives the first synchronous signal, acquiring the current phase of the slave motor and adjusting the current phase to the preset phase.
9. The apparatus of claim 8, wherein the adjustment unit is further configured to:
resetting a starting point of periodic timing of the clock section according to the first synchronization signal received from a motor on the first laser rotary scanning device.
10. The apparatus according to any of claims 6-8, wherein the determining unit is further configured to:
and determining that the motor rotating speed of the slave motor is within a set speed interval through the slave motor on the first laser rotary scanning device.
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| CN114448293B (en) * | 2022-04-06 | 2022-07-05 | 中汽创智科技有限公司 | Motor synchronous control method, system, vehicle and storage medium |
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