CN110647120B - Motion control method suitable for extreme application conditions - Google Patents
Motion control method suitable for extreme application conditions Download PDFInfo
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Abstract
The invention relates to a motion control method suitable for extreme application conditions, belongs to the technical field of motion control methods, and solves the problems that the prior art is difficult to adapt to extreme environmental conditions and has poor control precision. The motion control method comprises the steps of obtaining a motion task, slave station priority and a coordination sequence of each slave station in a motion control system according to motion setting information input by a user; controlling the corresponding servo motors of the slave stations to sequentially execute corresponding operations at corresponding moments according to the priority and the coordination sequence of the slave stations and the motion task of each slave station; acquiring motion information of a servo motor corresponding to a slave station in real time, judging whether extreme application conditions occur at the current moment according to the motion information, and immediately adjusting the acceleration of an auxiliary shaft of the motor to a state with the minimum influence on motion when judging that the extreme application conditions occur; and acquiring control information of each slave station at the next moment, and after the adjustment is finished, controlling each slave station servo motor to execute corresponding operation at the next moment according to the control information.
Description
Technical Field
The invention relates to the technical field of motion control methods, in particular to a motion control method suitable for extreme application conditions.
Background
Motion control generally refers to converting a predetermined control scheme, a planning instruction into a desired mechanical motion under a complex condition, and realizing precise position control, speed control, acceleration control, torque or force control of the mechanical motion.
The motion control method is a method for controlling the running mode of the motor, for example, the alternating current contactor is controlled by a travel switch, so that the motor drags an object to run upwards to reach a designated position and then run downwards, or the motor is controlled by a time relay to rotate forwards and reversely or rotate for a moment and then stop. The application of motion control methods in the field of robotics and numerically controlled machine tools is more complex than in special machines, since the latter motion forms are simpler, known as universal motion control. However, the current motion control method is difficult to adapt to extreme environmental conditions, so that the reference range is not wide.
The motion control method is used as the key of the motion control system and is used for generating control signals to be sent to the corresponding slave station (each servo driver) to control and execute the corresponding operation. In the prior art, the control precision of a motion control method is greatly influenced by environmental factors. At present, a motion control method applicable to extreme conditions such as high temperature, high humidity and heat, mold, smoke and the like is lacked.
Disclosure of Invention
In view of the foregoing analysis, the embodiments of the present invention are directed to providing a motion control method suitable for extreme application conditions, so as to solve the problems of the prior art that it is difficult to adapt to extreme environmental conditions and the control accuracy is poor.
In one aspect, an embodiment of the present invention provides a motion control method suitable for extreme application conditions, including the following steps:
according to received motion setting information input by a user, obtaining a motion task, slave station priority and a coordination sequence of each slave station in a motion control system;
controlling the corresponding servo motors of the slave stations to sequentially execute corresponding operations at corresponding moments according to the priority and the coordination sequence of the slave stations and the motion task of each slave station;
acquiring motion information of a servo motor corresponding to a slave station in real time, judging whether extreme application conditions occur at the current moment according to the motion information, and immediately adjusting the acceleration of an auxiliary shaft of the motor to a state with the minimum influence on motion when judging that the extreme application conditions occur;
and acquiring control information of each slave station at the next moment, and after the adjustment is finished, controlling each slave station servo motor to execute corresponding operation at the next moment according to the control information.
The beneficial effects of the above technical scheme are as follows: the motion control can be simultaneously performed on a plurality of slave stations through one master station, the motion control modes are various, and different operation processes can be simultaneously realized. Through the control information contained in the control signal sent by the master station, the slave station can accurately and timely adjust corresponding irregular actions, and the control sensitivity is high. The abnormal actions can be corrected in time through the control information, so that the method is suitable for extreme application conditions such as high temperature, high humidity and heat, mould, smoke and the like to a certain extent.
Based on the further improvement of the method, the motion task of each secondary station comprises the following steps: the servo motors start to move from the axes at the moment, the movement rule, the movement time, the movement priority and the coordination sequence:
the motion information of the slave station corresponding to the servo motor comprises: the time of the motion of the driven shaft, the angle of the deviation of the driven shaft, the current voltage and current, the feedback period and the motion state of the motor.
The beneficial effects of the above further improved scheme are: and respectively further limiting the motion task of each slave station of the motion control method and the motion information of the corresponding servo motor of the slave station. According to the motion setting information input by the user, the motion tasks of each slave station are divided into the motion starting time, the motion rule, the motion time, the motion priority and the coordination sequence of the slave shaft of the servo motor. Due to the fact that the actions are finely divided and the adjustment rule is formulated, the sequence of the actions is automatically and quickly adjusted when the system is abnormal, and a developer can conveniently develop and optimize the actions for the second time.
Further, the determining whether the extreme application condition occurs at the current time according to the motion information further includes the following steps:
acquiring the instantaneous acceleration a of the slave shaft of the servo motor at the current moment in the motion processtAnd the instantaneous acceleration a of the previous momentt-T；
According to said atAnd at-TJudging whether the instantaneous acceleration changes suddenly, if at-at-TIf the current time is greater than the preset value, the sudden change is judged, namely the extreme application condition occurs at the current time, otherwise, the sudden change is not judged, namely the extreme application condition does not occur at the current time.
The beneficial effects of the above further improved scheme are: the instantaneous acceleration at the current moment can be calculated through an instantaneous acceleration calculation formula, and then whether extreme conditions occur or not can be judged in real time. A large number of tests prove that the judging method is simpler, more accurate and more effective than the existing method. The slave station is provided with a servo driver and a servo motor for controlling the movement of each axis, and can further determine whether each slave axis is affected by an extreme condition based on the instantaneous acceleration.
Further, the adjusting the acceleration of the motor from the shaft to the state with the minimum influence on the movement further comprises the following steps:
obtaining the acceleration regulating quantity a according to the following equation setmAnd regulating the time tm
In the formula, t0At the moment of occurrence of the extreme condition, a0Acceleration before extreme conditions occur, axIs the acceleration at which the extreme condition occurs, txIs that the acceleration returns to a after an extreme condition occurs0At the time of (a)mIs the acceleration after the regulation is finished;
according to the above am、tmControlling the instantaneous acceleration a of the servomotor from the axis when extreme conditions occurxAt tm-t0Uniformly changed to a within a period of timemAnd the regulation and control are completed.
The beneficial effects of the above further improved scheme are: the acceleration regulation amount and the regulation time calculated according to the formula are proved to be accurate and effective through a large number of experiments, the influence on the control process can be reduced to the minimum, and the industrial design requirement is met.
Further, the radius r and the offset angle alpha of the slave station servo motor at the current moment are obtainedtAnd the angle alpha of deviation from the axis at the previous time separated by one cycle from the current timet-TThe system time t at the current moment, and the system time t at the previous moment separated by a period from the current momentT, the present voltage u and current i, the instantaneous speed v at the previous momentt-T；
The instantaneous acceleration a is obtained by the following formulat
Where m is a natural coefficient and T is a sampling period.
The beneficial effects of the above further improved scheme are: the instantaneous acceleration of the servo motor on the shaft at the current moment can be accurately calculated through the formula, and then the instantaneous acceleration is compared with the instantaneous acceleration obtained by the last calculation, so that whether extreme application conditions occur or not can be judged.
Further, acquiring control information of each slave station at the next moment, and further comprising the following steps;
obtaining the radius of a motion axis of a slave station servo motor and the offset angle alpha of the current moment from the axistAnd the angle alpha of deviation from the axis at the previous time separated by one cycle from the current timet-TThe current voltage u is equal to the current voltage i, the current time system time T, the last time system time T-T separated from the current time by a period, and the current voltage u and the current i;
the instantaneous rotating speed v of the servo motor at the current moment is obtained by the following formulatAnd instantaneous acceleration at
Wherein
In the formula, vt-TIs the instantaneous rotation speed of the driven shaft at the last moment, m is the natural coefficient, and T is the samplingA period;
the instantaneous rotating speed v of the servo motor at the current moment obtained by the calculationtInstantaneous acceleration atAnd the theoretical value v in the setting informationt'、atComparing, and judging whether the front and the back items are consistent; if the control adjustment information is consistent with the control adjustment information of the slave station servo driver at the next moment, judging that the motion state is kept unchanged; if at least one item is inconsistent, according to the difference value vt-vt' or at-at' obtaining the offset angle alpha from the axis at the next moment from the station servo drivet+TVoltage u and current i.
The beneficial effects of the above further improved scheme are: the instantaneous rotating speed and the instantaneous acceleration of the servo motor on the shaft at the current moment can be accurately calculated through the formula, and then the instantaneous rotating speed and the instantaneous acceleration are compared with an expected theoretical value (the instantaneous rotating speed and the instantaneous acceleration obtained by the last calculation), if any value of the two values is inconsistent, the actual movement is changed, the movement of the servo motor needs to be controlled and adjusted at the next moment (acquisition period), and particularly, the deviation value of the rotating speed and the acceleration is calculated to perform corresponding adjustment. According to the formula, the adjustment information of the offset angle, the voltage and the current of each driven shaft in the next period can be accurately calculated, and the driven shafts can be effectively controlled to move according to the information, so that the movement of the driven shafts meets the design requirement.
Further, the slave station offsets the slave axis by an angle α at a time next to the corresponding servo drivert+TObtained by the following formula
The voltage u of the slave station at the next moment of the corresponding servo drivert+TAnd current it+TObtained by the following formula
In a further development of the aboveThe beneficial effects are that: the off-axis offset angle alpha at the next moment can be accurately calculated by the calculation formulat+TAnd the voltage u and the current i regulate information, so that the regulation and control can be performed in time. A large number of experiments prove that the regulation and control are accurate and effective, the influence on the control process can be reduced to the minimum, and the industrial design requirement is met.
Further, after the adjustment is finished, controlling the slave station servo motor to execute corresponding operation at the next moment according to the control information, further comprising the following steps:
buffering the control information for one sampling period;
after the buffering is finished, the instantaneous acceleration at the current moment is obtained, and whether the instantaneous acceleration at the current moment reaches a or not is identifiedmIf not, continuing to identify until the next step is executed;
acquiring the motion priority and the coordination sequence of each slave shaft of the servo motor, and controlling the slave station to drive the slave shafts of the servo motor to move according to the motion priority and the coordination sequence by corresponding servo drivers to reach the offset angle alphat+TVoltage u at the next momentt+TAnd current it+T。
The beneficial effects of the above further improved scheme are: the control process is further limited, and due to the introduction of the motion priority and the coordination sequence of the slave axes of the servo motors, the control can be optimized according to the actual situation.
Further, the control information takes the form of a broadcast data frame as follows:
data frame type + address + 1 st axis data × N + 2 nd axis data × N + 3 rd axis data × N +4 th axis data × N + CRC16H + CRC16L
Where xn represents occupation of N bytes, CRC16 is 16CRC check bytes, CRC16H is high bytes, and CRC16L is low bytes.
The beneficial effects of the above further improved scheme are: all the set data or control information of the slave axis is broadcasted and sent according to the format of type + address + data of each axis + cyclic redundancy check (CRC32), the information of a plurality of axes is favorably integrated into one command, and the data transmission of the master station to the slave station is simplified. And cyclic redundancy check is beneficial to checking the correctness of the data.
Further, acquiring the deviation angle from the axis by an infrared sensor; the infrared sensor is arranged on the side surface of the driven shaft and is used for collecting once in each collection period;
collecting the current voltage and current for controlling the motion of the driven shaft through a voltmeter and an ammeter; the voltmeter and the ammeter are arranged in the slave axis servo driver circuit;
and identifying the current moment of the servo motor in motion starting, motion in motion, motion stopping and abnormal states through a pattern identification module.
The beneficial effects of the above further improved scheme are: the data acquisition module comprises an infrared sensor, a voltmeter, an ammeter and a mode identification module, and other devices can be added by a user according to factors such as the use environment and can be optimized and upgraded.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a schematic diagram of the steps of a motion control method suitable for extreme application conditions according to embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of a motion control system suitable for extreme application conditions according to embodiment 3 of the present invention;
FIG. 3 is a schematic diagram of the master station according to embodiment 4 of the present invention;
fig. 4 is a schematic diagram of the composition of a secondary station in embodiment 4 of the present invention;
FIG. 5 shows the instantaneous acceleration change to be applied to the servo motor in the case of an extreme condition in embodiment 4 of the present invention;
fig. 6 is a schematic flowchart of a motion control method according to embodiment 4 of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Example 1
One embodiment of the present invention discloses a motion control method suitable for extreme application conditions, as shown in fig. 1, including the following steps:
s1, obtaining a motion task, a slave station priority and a coordination sequence of each slave station in a motion control system according to received motion setting information input by a user;
s2, controlling corresponding servo motors of the slave stations to sequentially execute corresponding operations at corresponding moments according to the priority and the coordination sequence of the slave stations and the motion task of each slave station;
s3, acquiring motion information of a servo motor corresponding to the slave station in real time, judging whether extreme application conditions occur at the current moment according to the motion information, and immediately adjusting the acceleration of the slave shaft of the motor to a state with the minimum influence on motion when judging that the extreme application conditions occur;
and S4, acquiring control information of each slave station at the next moment, and after the adjustment is finished, controlling each slave station servo motor to execute corresponding operation at the next moment according to the control information.
Specifically, the priority of the slave station refers to the priority of the slave station. According to the slave station priority ranking, the master station can be limited to receive the ranking of the motion information fed back by the slave station, and the master station can be limited to transmit the control information.
The coordination sequence refers to a coordination sequence in which the master station receives first and then receives a plurality of slave station feedback information with the same priority at the same time to be received.
The motion setting information may be a specific motion instruction, for example, the servo motor drags the object to move upward to reach a designated position and then move downward, or the servo motor rotates forward and backward or rotates for a moment and then stops.
In implementation, because the sampling interval is short, the feedback signals obtained by sampling twice before and after can be considered as unchanged, but under extreme application conditions (environments such as high temperature, high humidity and heat and the like), the feedback signals obtained by sampling twice before and after and acquired by the slave station can be suddenly changed, so that the extreme application conditions can be judged through the change, the feedback signals are analyzed to obtain control adjustment information, and the influence of the extreme conditions on the motion control process is eliminated through adjustment.
Compared with the prior art, the method provided by the embodiment can simultaneously control the motion of a plurality of slave stations through one master station, has various motion control modes, and can simultaneously realize different operation processes. Through the control information contained in the control signal sent by the master station, the slave station can accurately and timely adjust corresponding irregular actions, and the control sensitivity is high. The abnormal actions can be corrected in time through the control information, so that the method is suitable for extreme application conditions such as high temperature, high humidity and heat, mould, smoke and the like to a certain extent.
Example 2
Optimization is performed on the basis of embodiment 1, and in step S1, the motion task of each slave station includes: the servo motors start to move from the axes, the movement time, the movement rule, the movement time, the movement priority and the coordination sequence.
Specifically, the motion priority refers to the sequence of whether the slave station controls the slave shaft to continue moving to the preset position or directly execute the next operation, wherein in some extreme cases, the slave shaft does not move to the preset position at the current moment. This situation often occurs in extreme application conditions, and the priority of the movement needs to be set according to actual requirements.
Preferably, the coordination sequence refers to coordination according to priority, namely in some extreme cases, the slave shaft does not move to the set preset position at the current moment, and the slave station controls whether the slave shaft continues to move to the preset position or directly executes the next operation.
Preferably, in step S3, the motion information of the slave station' S corresponding servo motor includes: the time of the motion of the driven shaft, the angle of the deviation of the driven shaft, the current voltage and current, the feedback period and the motion state of the motor.
Preferably, in step S31, the off-axis angle is collected by an infrared sensor; the infrared sensor is arranged on the side surface of the driven shaft and is used for collecting once in each collecting period.
And acquiring the current voltage and current for controlling the movement of the driven shaft through a voltmeter and an ammeter. The voltmeter and the ammeter are arranged in the slave axis servo driver circuit.
And identifying the current moment of the servo motor in motion starting, motion in motion, motion stopping and abnormal states through a pattern identification module. The identification method of the pattern identification module can adopt the existing method and is not described in detail.
Preferably, in step S3, the determining whether the extreme application condition occurs at the current time according to the motion information further includes the following steps:
s32, acquiring the instantaneous acceleration a of the slave shaft of the servo motor at the current moment in the motion processtAnd the instantaneous acceleration a of the previous momentt-T；
S33, according to the atAnd at-TJudging whether the instantaneous acceleration changes suddenly, if at-at-TIf the current time is greater than the preset value, the sudden change is judged, namely the extreme application condition occurs at the current time, otherwise, the sudden change is not judged, namely the extreme application condition does not occur at the current time.
Preferably, in step S32, a is the abovetThe method comprises the following steps:
s321, obtaining the radius r and the offset angle alpha of the slave station servo motor from the current momenttAnd the angle alpha of deviation from the axis at the previous time separated by one cycle from the current timet-TThe system time T at the current moment, the system time T-T at the last moment separated by a period from the current moment, the current voltage u and current i, and the instantaneous rotating speed v at the last momentt-T；
S322. obtaining the instantaneous acceleration a by the following formulat
Where m is a natural coefficient and T is a sampling period.
Preferably, in step S3, the adjusting the acceleration of the motor from the axis to the state with the least influence on the motion further includes the following steps:
s34, acquiring an acceleration regulating and controlling quantity a according to the following equation setmAnd regulating the time tm
In the formula, t0At the moment of occurrence of the extreme condition, a0Acceleration before extreme conditions occur, axIs the acceleration at which the extreme condition occurs, txIs that the acceleration returns to a after an extreme condition occurs0At the time of (a)mIs the acceleration after the regulation is finished.
S35. according to the above am、tmControlling the instantaneous acceleration a of the servomotor from the axis when extreme conditions occurxAt tm-t0Uniformly changed to a within a period of timemAnd the regulation and control are completed.
Preferably, in step S4, the step of obtaining the control information of each slave station at the next time may be further refined as follows:
s41, acquiring the radius of a motion shaft of a slave station servo motor and the offset angle alpha of the current time from the shafttAnd the angle alpha of deviation from the axis at the previous time separated by one cycle from the current timet-TThe current voltage u is equal to the current voltage i, the current time system time T, the last time system time T-T separated from the current time by a period, and the current voltage u and the current i;
s42, obtaining the instantaneous rotating speed v of the servo motor at the current moment through the following formulatAnd instantaneous acceleration at
Wherein
In the formula, vt-TThe instantaneous rotating speed of the driven shaft at the last moment, m is a natural coefficient, and T is a sampling period;
s43, calculating the obtained instantaneous rotating speed v of the servo motor at the current momenttInstantaneous acceleration atAnd the theoretical value v in the setting informationt'、atComparing, and judging whether the front and the back items are consistent; if the control adjustment information is consistent with the control adjustment information of the slave station servo driver at the next moment, judging that the motion state is kept unchanged; if at least one item is inconsistent, according to the difference value vt-vt' or at-at' obtaining the offset angle alpha from the axis at the next moment from the station servo drivet+TVoltage u and current i adjustment information (u)t+TAnd it+T).
Preferably, in step S43, α ist+TObtained by the following formula
Said u ist+TAnd it+TObtained by the following formula
Preferably, in step S4, the controlling the slave servo motor to perform the corresponding operation at the next time according to the control information after the adjustment is finished further includes the following steps:
s44, buffering the control information for a sampling period;
s45, after the buffering is finished, acquiring the instantaneous acceleration of the current moment, and identifying whether the instantaneous acceleration of the current moment reaches amIf not, continuing to identify until the next step is executed;
s46, obtaining the motion priority and the coordination sequence of each slave shaft of the servo motor, and controlling the slave station to drive the slave shafts of the servo motor to move according to the motion priority and the coordination sequence by corresponding servo drivers to reach an offset angle alphat+TVoltage u at the next momentt+TAnd current it+T。
Preferably, the control information takes the form of a broadcast data frame as follows:
data frame type + address + 1 st axis data × N + 2 nd axis data × N + 3 rd axis data × N +4 th axis data × N + CRC16H + CRC16L (6)
Where xn represents occupation of N bytes, CRC16 is 16CRC check bytes, CRC16H is high bytes, and CRC16L is low bytes.
Compared with embodiment 1, the method of the present embodiment further refines the detection and control of the extreme application condition and the corresponding operation executed according to the motion setting information input by the user. When extreme conditions occur, the control is carried out to the state with the minimum influence in time, and the whole movement process is not influenced by the extreme conditions. The control method of the embodiment can more effectively control the motion stability of each axis of the slave station.
Example 3
In an embodiment of the present invention, a motion control system suitable for extreme application conditions according to embodiment 1 is disclosed, as shown in fig. 2, which includes a master station and more than 1 slave station.
And the master station is used for receiving the motion setting information input by the user, analyzing the motion setting information to obtain the motion task, the slave station priority and the coordination sequence of each slave station, sequentially obtaining the feedback information of the corresponding slave station according to the optimization level and the coordination sequence, obtaining the control information of the slave station at the next moment according to the motion task and the feedback information, and sending the control information to the corresponding slave station.
And the slave station is used for monitoring the motion information of the corresponding servo motor in real time, judging whether extreme application conditions occur or not in real time according to the motion information, immediately adjusting to the state with the minimum influence of the extreme application conditions when the extreme application conditions occur, then receiving the corresponding control information of the master station, controlling the servo motor to execute corresponding operation at the next moment, and acquiring the motion data of the servo motor in real time as a feedback signal to be sent to the master station.
Example 4
Optimization is performed on the basis of embodiment 3, and a motion control system suitable for extreme application conditions corresponding to embodiment 2 is disclosed, optionally, each slave station includes more than one motion control system, and each motion control method controls the motion of 2 slave shafts (a driving shaft and a driven shaft).
The master station further comprises a human-computer interaction module, a motion control module and a communication module, as shown in fig. 3. The output ends of the human-computer interaction module and the communication module are sequentially connected with the input end of the motion control module.
And the human-computer interaction module is used for receiving motion control setting information input by a user before the servo motor starts to move, converting the motion control setting information into setting parameters of each slave station and then sending the setting parameters to the motion control module, and displaying the motion data of each slave station to the user in real time in the motion process of the servo motor.
And the motion control module is used for acquiring control adjustment information of the slave station corresponding to the current moment of the servo driver according to the setting parameters of the slave stations and the real-time motion data fed back by the slave stations, converting the control adjustment information and the setting information into control signals and sending the control signals to the communication module.
And the communication module is used for receiving the real-time motion data fed back by the slave station, transmitting the real-time motion data to the motion control module, and transmitting the control signal to the slave station in the form of a broadcast data frame.
The display content of the man-machine interaction module comprises feedback information, motion control updating and motion curve output of each slave station. The output of the motion curve adopts a NURBS curve interpolation algorithm, so that errors generated by motion curve calculation can be effectively reduced.
Preferably, the slave station further comprises a motion data buffer, a slave station controller, a servo driver and a servo motor which are sequentially connected with each shaft, and a data acquisition module arranged on the servo motor, as shown in fig. 4 (the data acquisition module is omitted in the figure). The servo motor can control the action amplitude and direction of the corresponding shaft.
And the motion data buffer is used for receiving the control information of the next moment sent by the master station, buffering the control information for preset time, and sending the control information to the slave station controller after the buffering is finished.
The data acquisition module is used for gathering the motion data of the corresponding servo motor of slave station, includes: the time of the motion of the driven shaft, the angle of the deviation of the driven shaft, the current voltage and current, the feedback period and the motion state of the motor. Specifically, the motor motion state refers to whether the servo motor is in a motion start, motion stop, or abnormal state at the present time.
And the slave station controller is connected with the servo drivers of all the shafts through cables, and a communication module is contained in the controller. And the slave station controller is used for receiving the control signal in the form of the broadcast data frame, identifying the control signal, executing corresponding operation at uniform acceleration according to the control adjustment information of the servo driver sent by the master station at the current moment, detecting whether extreme conditions occur in real time, regulating and controlling in time, and controlling the servo motor to reach the preset speed according to the preset rule when the extreme conditions occur.
Preferably, in the master station, the motion control module executes the following program to obtain the control information of the slave station corresponding to the current time of the servo driver:
s11, obtaining the radius of the motion axis of the corresponding motor of the slave station and the offset angle alpha of the current moment from the axistAnd the angle alpha of deviation from the axis at the previous time separated by one cycle from the current timet-TThe current voltage u is equal to the current voltage i, the current time system time T, the last time system time T-T separated from the current time by a period, and the current voltage u and the current i;
s12, obtaining the instantaneous rotating speed v of the servo motor at the current moment through the following formulatAnd instantaneous acceleration at
Wherein
In the formula, vt-TThe instantaneous rotating speed of the motor at the last moment, m is a natural coefficient, and T is a sampling period;
s13, calculating the obtained instantaneous rotating speed v of the servo motor at the current momenttInstantaneous acceleration atAnd the theoretical value v in the setting informationt'、atComparing, and judging whether the front and the back items are consistent; if the current time is consistent with the current time, the control adjustment information of the slave station corresponding to the servo driver at the current time is judged to be unchanged; if at least one item is inconsistent, according to the difference value vt-vt' or at-at'obtaining the offset angle alpha from the axis at the next moment from the station's corresponding servo drivet+TVoltage u and current i.
Preferably, in step S13, the slave axis is shifted by an angle α from the next time from the station corresponding servo drivert+TObtained by the following formula
The adjustment information of the voltage u and the current i at the next moment of the slave station corresponding servo driver is obtained by the following formula
Preferably, the slave station controller executes the following procedures to detect whether extreme conditions occur and regulate:
s21, acquiring the instantaneous acceleration a of the servo motor at the current moment in the motion processtAnd the instantaneous acceleration a of the previous momentt-T；
S22, according to the atAnd at-TJudging whether the instantaneous acceleration changes suddenly, if at-at-TIf not, judging that sudden change occurs, and executing the next step, otherwise, not generating sudden change and needing no regulation and control;
s23, acquiring an acceleration regulating quantity a according to the following equation setmAnd regulating the time tm
In the formula, t0At the moment of occurrence of the extreme condition, a0Acceleration before extreme conditions occur, axIs the acceleration at which the extreme condition occurs, txIs that the acceleration returns to a after an extreme condition occurs0At the time of (a)mIs the acceleration after the regulation is finished;
s24. according to the above am、tmControlling the instantaneous acceleration a of the servomotor when extreme conditions occurxAt tm-t0Uniformly changed to a within a period of timemAnd the regulation is completed as shown in fig. 5.
Optionally, a multi-turn absolute value encoder can be used for acquiring the instantaneous speed and the instantaneous acceleration of the servo motor at the current moment in the motion process, and the acquisition is performed once in each acquisition period.
Preferably, the control signal sent by the master station in the form of a broadcast data frame is in the following format:
data frame type + address + 1 st axis data × N + 2 nd axis data × N + 3 rd axis data × N +4 th axis data × N + CRC16H + CRC16L (11)
Where xn represents occupying N bytes, CRC16 is 16CRC check bytes, CRC16H is high bytes, CRC16L is low bytes, and the data frame of the control signal is 3+4M bytes.
The feedback signal transmitted by each secondary station takes the following format:
data frame type + address + response data × M + CRC16H + CRC16L (12)
Where, xm indicates that M bytes are occupied, CRC16 is 16CRC check bytes, CRC16H is high bytes, CRC16L is low bytes, and the data frame of the feedback signal is 3+ M bytes.
Preferably, the data acquisition module comprises an infrared sensor, a voltmeter and an ammeter and a mode identification module.
The infrared sensor is arranged on the side face of the driven shaft (convenient for data acquisition and real-time transmission) and used for acquiring the deviation angle of the driven shaft, and the infrared sensor is acquired once in each acquisition period and sent to the master station.
The voltmeter and the ammeter are arranged in the slave axis servo driver circuit (convenient for data statistics and integration), and are used for collecting and controlling the current voltage and current of the slave axis motion, displaying the current voltage and current in real time and sending the current voltage and current to the master station.
And the pattern recognition module is used for recognizing that the servo motor is in motion starting, motion in motion, motion stopping and abnormal states at the current moment. Specifically, the pattern recognition module may adopt an existing method for the recognition method, which is not described in detail.
Preferably, the master and slave stations are connected by a serial bus. The serial bus adopts one of RS485 type, CAN type and LVDS type electric buses. The control procedure of this embodiment is shown in fig. 6. The user can adopt different serial bus transmission according to the requirements of the field, which is beneficial to the transplantation of the motion control method.
Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (8)
1. A method of motion control suitable for use in extreme application conditions, comprising:
according to received motion setting information input by a user, obtaining a motion task, slave station priority and a coordination sequence of each slave station in a motion control system;
controlling the corresponding servo motors of the slave stations to sequentially execute corresponding operations at corresponding moments according to the priority and the coordination sequence of the slave stations and the motion task of each slave station;
acquiring motion information of a servo motor corresponding to a slave station in real time, judging whether extreme application conditions occur at the current moment according to the motion information, and immediately adjusting the acceleration of an auxiliary shaft of the servo motor to a state with the minimum influence on motion when judging that the extreme application conditions occur;
acquiring control information of each slave station at the next moment, and after the adjustment is finished, controlling each slave station servo motor to execute corresponding operation at the next moment according to the control information;
in the above step, the adjusting the acceleration of the motor from the shaft to a state with the least influence on the motion further includes the following steps:
obtaining the acceleration regulating quantity a according to the following equation setmAnd regulating the time tm
In the formula, t0At the moment of occurrence of the extreme condition, a0Acceleration before extreme conditions occur, axIs the acceleration at which the extreme condition occurs, txIs that the acceleration returns to a after an extreme condition occurs0At the time of (a)mAcceleration after regulation and control are finished, and T is a sampling period;
according to the above am、tmControlling the moment of the servo motor from the axis when extreme conditions occurTime acceleration axAt tm-t0Uniformly changed to a within a period of timemAnd the regulation and control are completed.
2. A method of motion control applicable to extreme application conditions as claimed in claim 1 wherein the motion tasks of each secondary station comprise: the servo motors start to move from the axes at the moment, the movement rule, the movement time, the movement priority and the coordination sequence;
the motion information of the slave station corresponding to the servo motor comprises: the time of the motion of the driven shaft, the angle of the deviation of the driven shaft, the current voltage and current, the feedback period and the motion state of the motor.
3. The method of claim 2, wherein the determining whether the extreme application condition occurs at the current time according to the motion information further comprises:
acquiring the instantaneous acceleration a of the slave shaft of the servo motor at the current moment in the motion processtAnd the instantaneous acceleration a of the previous momentt-T；
According to said atAnd at-TJudging whether the instantaneous acceleration changes suddenly, if at-at-TIf the current time is greater than the preset value, the sudden change is judged, namely the extreme application condition occurs at the current time, otherwise, the sudden change is not judged, namely the extreme application condition does not occur at the current time.
4. A method for controlling the movement of a slave shaft according to claim 3, wherein the instantaneous acceleration a of the slave shaft at the current moment in the movement is obtained by the following stepst：
Obtaining the radius r and the offset angle alpha of the slave station servo motor from the current momenttAnd the angle alpha of deviation from the axis at the previous time separated by one cycle from the current timet-TThe system time T at the current moment, the system time T-T at the last moment separated by a period from the current moment, the current voltage u and the current i, and the currentInstantaneous speed of rotation v at a momentt-T；
According to the above r, αt、αt-T、T、u、i、vt-TObtaining instantaneous acceleration at。
5. The motion control method for extreme application conditions according to any of claims 1-4, wherein said obtaining control information for the next time instant of each secondary station further comprises the steps of:
according to the radius r of the slave shaft and the offset angle alpha of the slave station servo motor at the current momenttAnd the angle alpha of deviation from the axis at the previous time separated by one cycle from the current timet-TThe current time system time T, the last time system time T-T separated from the current time by a period, the current voltage u and the current i are obtained, and the instantaneous rotating speed v of the slave shaft of the servo motor at the current time is obtainedtAnd instantaneous acceleration at；
The obtained instantaneous rotating speed v of the slave shaft of the servo motor at the current momenttInstantaneous acceleration atAnd the theoretical value v in the setting informationt'、atComparing, and judging whether the front and the back items are consistent; if the control adjustment information is consistent with the control adjustment information of the slave station servo driver at the next moment, judging that the motion state is kept unchanged; if at least one item is inconsistent, according to the difference value vt-vt' or at-at' obtaining the offset angle alpha from the axis at the next moment from the station servo drivet+TVoltage ut+TAnd current it+T。
6. The motion control method according to claim 1 or 2, wherein the slave servo motor is controlled to perform the corresponding operation at the next time according to the control information after the adjustment is completed, and the method further comprises the following steps:
buffering the control information for one sampling period;
after the buffering is finished, the instantaneous acceleration at the current moment is obtained, and whether the instantaneous acceleration at the current moment reaches a or not is identifiedmIf not, continue toIdentifying until reaching to execute the next step;
acquiring the motion priority and the coordination sequence of each slave shaft of the servo motor, and controlling the slave station to drive the slave shafts of the servo motor to move according to the motion priority and the coordination sequence by corresponding servo drivers to reach the slave shaft offset angle alpha at the next momentt+TVoltage u at the next momentt+TAnd current it+T。
7. A motion control method adapted for extreme application conditions according to any of claims 1-4, characterized in that the control information is in the form of broadcast data frames:
data frame type + address + 1 st axis data × N + 2 nd axis data × N + 3 rd axis data × N +4 th axis data × N + CRC16H + CRC16L
Where xn represents occupation of N bytes, CRC16 is 16CRC check bytes, CRC16H is high bytes, and CRC16L is low bytes.
8. A method of motion control adapted for extreme application conditions according to claim 2 or 3, characterized in that the off-axis offset angle is collected by means of an infrared sensor; the infrared sensor is arranged on the side surface of the driven shaft and is used for collecting once in each collection period;
collecting the current voltage and current for controlling the motion of the driven shaft through a voltmeter and an ammeter; the voltmeter and the ammeter are arranged in the slave axis servo driver circuit;
and identifying the current moment of the servo motor in motion starting, motion in motion, motion stopping and abnormal states through a pattern identification module.
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