CN110737193B - Synchronous algorithm control system for controlling multiple shafts through virtual shaft - Google Patents
Synchronous algorithm control system for controlling multiple shafts through virtual shaft Download PDFInfo
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- CN110737193B CN110737193B CN201910886361.3A CN201910886361A CN110737193B CN 110737193 B CN110737193 B CN 110737193B CN 201910886361 A CN201910886361 A CN 201910886361A CN 110737193 B CN110737193 B CN 110737193B
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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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
Abstract
The embodiment of the invention discloses a synchronous algorithm control system for controlling multiple shafts by virtual shafts, which comprises a servo virtual main shaft, a servo following multiple shafts and a motion control card, wherein the servo virtual main shaft is connected with the servo following multiple shafts; the numerical control positioning group is used for carrying out synchronous control signal acquisition on the servo following multiple shafts; the forward channel is used for transmitting a driving moment acquisition signal of the numerical control positioning group to the servo virtual main shaft and feeding the driving moment acquisition signal back to a signal channel of the servo virtual main shaft; the backward channel is used for transmitting a signal of a drive load of the servo following multi-shaft, and the servo following multi-shaft connected to the backward channel is used as a load to carry out signal acquisition and transmission feedback; and the interruption module is used for removing synchronous signals of the servo virtual main shaft and the servo following multi-shaft, calculating the current target position according to the self load of the servo following multi-shaft, and removing the synchronous proportional coefficient of the target positions of the servo virtual main shaft and the servo following multi-shaft, thereby solving the problems of coupling and interference of a complex system and realizing the quick switching of synchronous and asynchronous control of the virtual main shaft and the slave shaft.
Description
Technical Field
The embodiment of the invention relates to the technical field of gypsum board production, in particular to a synchronous algorithm control system for controlling multiple shafts through a virtual shaft.
Background
The multi-motor synchronous control is widely used in the traditional manufacturing industries such as placement, papermaking, printing and dyeing and the like, and has new application in the fields of high-precision section processing, silicon material multi-line cutting and the like along with the innovation of motion control technology, the improvement of the performance of electrical equipment and the enhancement of the functions of the electrical equipment. In common multi-motor synchronous relations, simple synchronous relations cannot meet the requirements of special working conditions in practice, and a traditional synchronous control structure mainly comprises a command distribution formula, a master-slave formula and a virtual master shaft formula, wherein although the command distribution formula scheme has a good effect on most simple motion systems, the command distribution formula scheme cannot deal with complex control objects and synchronous control systems with load disturbance; the master-slave scheme is widely used in industry because the slave shaft can accurately move with the master main shaft, and the mode is complex and has poor practicability, especially under the working condition of heavy load unbalance, and steady-state errors are not easy to eliminate due to the problems of coupling and interference in a complex system, so that the master-slave scheme is difficult to achieve ideal synchronous control.
Disclosure of Invention
Therefore, the embodiment of the invention provides a synchronous algorithm control system for controlling multiple shafts by virtual shafts, which redistributes the proportion between the virtual main shaft and the moving shaft, feeds back the mutual influence parameters of the load of the moving shaft to the main shaft, and realizes the synchronous terminal between the virtual main shaft and the moving shaft by an interrupt module, thereby solving the problems that a master-slave scheme can be widely applied in industry because the driven shaft can accurately move with the main shaft, the mode is complex and has poor practicability, especially under the working condition of heavy load unbalance, and because of the problems of coupling and interference in a complex system, steady-state errors are not easily eliminated, so that the master-slave scheme is difficult to achieve ideal synchronous control.
In order to achieve the above object, an embodiment of the present invention provides the following:
the utility model provides a synchronous algorithm control system of virtual axis control multiaxis, includes servo virtual main shaft and servo following multiaxis, still includes:
the motion control card is based on an upper control unit of the PC and is used for controlling the servo virtual main shaft;
the numerical control positioning group is used for carrying out synchronous control signal acquisition on the servo following multiple shafts;
the forward channel is used for transmitting a driving moment acquisition signal of the numerical control positioning group to the servo virtual main shaft and feeding the driving moment acquisition signal back to a signal channel of the servo virtual main shaft;
the backward channel is used for carrying out signal acquisition and transmission feedback on a signal transmission channel of a driving load of the servo following multi-shaft by taking the servo following multi-shaft connected to the channel as a load;
and the interruption module is used for removing the synchronous signals of the servo virtual main shaft and the servo following multi-shaft, calculating the current target position according to the self load of the servo following multi-shaft, and removing the synchronous proportional coefficient of the target positions of the servo virtual main shaft and the servo following multi-shaft.
As a preferable scheme of the invention, a state controller is arranged at the front end of each motion axis of the servo following multiple axes, the state controller is connected to a motion control card through an RIO interface, and the numerical control positioning group feeds back the input rotation angular speed of the motion axis of the servo following multiple axes to the input end of the state controller and couples the input rotation angular speed with the actual rotation angular speed of the servo virtual main shaft through a fuzzy PID controller to be input into the state controller.
As a preferable scheme of the invention, the fuzzy PID controller adopts a three-input three-single-output structure, a load change parameter of a moving shaft, a deviation of a rotating angular speed of the moving shaft and a deviation change rate are used as input, and the fuzzy PID controller outputs three control parameters.
As a preferable scheme of the invention, the numerical control positioning set comprises two tracking error controllers and two synchronous error controllers which are connected to each motion axis of the servo following multiple axes, a forward signal transmits signals of the two tracking error controllers to the motion control card, and signals of the two synchronous error controllers are input into the fuzzy PID controller.
As a preferable scheme of the invention, the fuzzy PID controller substitutes the output parameters calculated by the fuzzy algorithm into a feedback moment formula of the motion axis of the servo following multiple axes to form a feedback correction torque parameter signal transmitted through a backward channel.
As a preferable aspect of the present invention, the driving torque of the virtual main shaft is:
T＝Km(wr-wm)+kml(wml-wm)，
wherein: t is the servo virtual spindle input torque; kmIs the elastic coefficient of the virtual main shaft; k is a radical ofmlIs the elastic coefficient of the moving shaft; w is arIs the input rotational angular velocity; w is amIs the actual rotational angular velocity; w is amlIs the load rotational angular velocity;
when the synchronous ratio of each motion axis of the servo virtual main axis and the servo following multiple axes is mui＝1
(i — 3,4,5,6 … … n), the feedback torque for the ith axis of motion is defined as:
Ti＝br(wi+wml-2μiwm)+Kr(θi-μiθm)+Kir∫(θi-μiθm)dt，
wherein T isiIs the coupling feedback moment of each motion axis and the load; brIs the damping gain; krIs a stiffness gain; kirIs the integral stiffness gain; thetaiRotating the angular displacement for each axis of motion; thetamIs the actual rotational angular displacement.
The embodiment of the invention has the following advantages:
the invention redistributes the proportion between the virtual main shaft and the moving shaft, simultaneously feeds back the mutual influence parameters of the load of the moving shaft to the main shaft and realizes the synchronous terminal between the virtual main shaft and the moving shaft through the interruption module, thereby solving the problems that the main-slave scheme has complex motion mode and poor practicability because the driven shaft can be accurately moved with the main shaft, and the main-slave scheme has difficulty in eliminating steady state errors due to the problems of coupling and interference in a complex system, so that the main-slave scheme has difficulty in achieving ideal synchronous control.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a block diagram of a virtual axis controlled multi-axis synchronous algorithm control system according to an embodiment of the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. 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.
As shown in fig. 1, the present invention provides a synchronous algorithm control system for controlling multiple axes by a virtual axis, which includes a servo virtual spindle and a servo following multiple axes, and further includes:
the motion control card is based on an upper control unit of the PC and is used for controlling the servo virtual main shaft;
the motion control card adopts an NIPC7345 type control card, has strong real-time performance, can provide the function and the capability of an integrated scheme through a simple and easy-to-use motion controller, software and peripheral equipment, and provides an accurate and high-performance motion function for common servo and stepping application.
The numerical control positioning group is used for carrying out synchronous control signal acquisition on the servo following multiple shafts;
the forward channel is used for transmitting a driving moment acquisition signal of the numerical control positioning group to the servo virtual main shaft and feeding the driving moment acquisition signal back to a signal channel of the servo virtual main shaft;
the backward channel is used for carrying out signal acquisition and transmission feedback on a signal transmission channel of a driving load of the servo following multi-shaft by taking the servo following multi-shaft connected to the channel as a load;
the two feedback signals are transmitted through the forward channel and the backward signal, the transmission directions of the two feedback signals are different, the servo virtual main shaft and the servo following multi-shaft signal can be flexibly transmitted through the forward channel and the backward channel based on the TCP bottom layer, the communication speed is higher, the faster communication speed can be provided, and the coupling problem in a complex system can be avoided.
And the interruption module is used for removing the synchronous signals of the servo virtual main shaft and the servo following multi-shaft, calculating the current target position according to the self load of the servo following multi-shaft, and removing the synchronous proportional coefficient of the target positions of the servo virtual main shaft and the servo following multi-shaft.
The front end of each motion axis of the servo following multiple axes is provided with a state controller, the state controllers are connected to a motion control card through RIO interfaces, the motion control card connected through the RIO interfaces enables a system module to directly manage at least 8I/O module interfaces, input and output of switching values and analog values matched with the servo following multiple axes are realized, and the input and update period of system signals can be controlled to be less than 0.2ms by combining a forward channel and a backward channel;
the numerical control positioning set feeds back the input rotation angular speed of the motion shaft of the servo following multiple shafts to the input end of the state controller, and the input rotation angular speed and the actual rotation angular speed of the servo virtual main shaft are coupled and input into the state controller through the fuzzy PID controller.
The fuzzy PID controller adopts a three-input three-single-output structure, a load change parameter of a moving axis, deviation of a rotating angular speed of the moving axis and a deviation change rate are used as input, the fuzzy PID controller outputs three control parameters, the calculation of a plurality of control parameters of the moving axis is carried out through the fuzzy PID controller, the numerical control positioning group can be reduced and comprises two tracking error controllers and two synchronous error controllers which are connected to each moving axis of the servo following multiple axes, the output error at a certain moment and the deviation value of the output actual rotating angular speed and the set input torque of the servo virtual main shaft at the moment are transmitted to a motion control card through a forward channel, and signals of the two tracking error controllers are input into the fuzzy PID controller.
And the fuzzy PID controller substitutes the output parameters calculated by the fuzzy algorithm into a feedback torque formula of the motion axis of the servo following multiple axes to form a feedback correction torque parameter signal transmitted to a backward channel.
When the system starts to work, the motion control card determines the output rotation angular speed of the servo virtual main shaft through an internal set fixed value, the output actual rotation angular speed of the motion shaft is transmitted through a forward channel and drives the servo to follow the rotation of each motion shaft of the multiple shafts, the output actual rotation angular speed of the motion shaft is also fed back to the servo virtual main shaft through the forward channel, a synchronous error controller signal transmitted through a backward channel is coupled with a feedback signal to balance a driving torque, and meanwhile, the motion control card receives and calculates through a signal of a tracking error controller to correct the input torque of the servo virtual main shaft input next time.
And simultaneously monitoring signals in the two paths of feedback, and if the signals exceed the range value in the motion control card, directly removing the synchronization of the servo virtual main shaft and the servo following multiple shafts by the interrupt module.
The driving torque of the virtual main shaft is as follows:
T＝Km(wr-wm)+kml(wml-wm)，
wherein: t is the servo virtual spindle input torque; kmIs the elastic coefficient of the virtual main shaft; k is a radical ofmlIs the elastic coefficient of the moving shaft; w is arIs the input rotational angular velocity; w is amIs the actual rotational angular velocity; w is amlIs the load rotational angular velocity;
when the synchronous ratio of each motion axis of the servo virtual main axis and the servo following multiple axes is mui＝1
(i — 3,4,5,6 … … n), the feedback torque for the ith axis of motion is defined as:
Ti＝br(wi+wml-2μiwm)+Kr(θi-μiθm)+Kir∫(θi-μiθm)dt，
wherein T isiIs the coupling feedback moment of each motion axis and the load; brIs the damping gain; krIs a stiffness gain; kirIs the integral stiffness gain; thetaiRotating the angular displacement for each axis of motion; thetamIs the actual rotational angular displacement.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (2)
1. The utility model provides a synchronous algorithm control system of virtual axis control multiaxis, includes servo virtual main shaft and servo following multiaxis, its characterized in that still includes:
the motion control card is based on an upper control unit of the PC and is used for controlling the servo virtual main shaft;
the numerical control positioning group is used for carrying out synchronous control signal acquisition on the servo following multiple shafts;
the forward channel is used for transmitting a driving moment acquisition signal of the numerical control positioning group to the servo virtual main shaft and feeding the driving moment acquisition signal back to a signal channel of the servo virtual main shaft;
the backward channel is used for carrying out signal acquisition and transmission feedback on a signal transmission channel of a driving load of the servo following multi-shaft by taking the servo following multi-shaft connected to the channel as a load;
the interruption module is used for removing synchronous signals of the servo virtual main shaft and the servo following multi-shaft, calculating the current target position according to the self load of the servo following multi-shaft, and removing the target position synchronous proportionality coefficient of the servo virtual main shaft and the servo following multi-shaft;
the front end of each motion shaft of the servo following multiple shafts is provided with a state controller, the state controllers are connected to a motion control card through RIO interfaces, the numerical control positioning group feeds back the input rotation angular speed of the motion shafts of the servo following multiple shafts to the input end of the state controller, and the input rotation angular speed and the actual rotation angular speed of the servo virtual main shaft are coupled and input into the state controller through a fuzzy PID controller;
the numerical control positioning set comprises two tracking error controllers and two synchronous error controllers which are connected to each motion axis of the servo following multiple axes, a forward signal transmits signals of the two tracking error controllers to the motion control card, and signals of the two synchronous error controllers are input into the fuzzy PID controller;
the fuzzy PID controller substitutes the output parameters calculated by the fuzzy algorithm into a feedback torque formula of a motion axis of the servo following multiple axes to form a feedback correction torque parameter signal transmitted to a back channel;
the driving torque of the virtual main shaft is as follows:
T＝Km(wr-wm)+kml(wml-wm)，
wherein: t is the servo virtual spindle input torque; kmIs the elastic coefficient of the virtual main shaft; k is a radical ofmlIs the elastic coefficient of the moving shaft; w is arIs the input rotational angular velocity; w is amIs the actual rotational angular velocity; w is amlIs the load rotational angular velocity;
when the synchronous ratio of each motion axis of the servo virtual main axis and the servo following multiple axes is muiWhen 1(i is 3,4,5,6 … … n), the feedback torque of the ith motion axis is defined as:
Ti＝br(wi+wml-2μiwm)+Kr(θi-μiθm)+Kir∫(θi-μiθm)dt，
wherein T isiIs the coupling feedback moment of each motion axis and the load; brIs the damping gain; krIs a stiffness gain; kirIs the integral stiffness gain; thetaiRotating the angular displacement for each axis of motion; thetamIs the actual rotational angular displacement.
2. The system of claim 1, wherein the fuzzy PID controller has a three-input three-single-output structure, the motion axis load variation parameter, the motion axis rotation angular velocity deviation and the deviation variation rate are input, and the fuzzy PID controller outputs three control parameters.
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| CN201910886361.3A CN110737193B (en) | 2019-09-19 | 2019-09-19 | Synchronous algorithm control system for controlling multiple shafts through virtual shaft |
| PCT/CN2020/098705 WO2021051928A1 (en) | 2019-09-19 | 2020-06-29 | Synchronization algorithm control system for controlling multiple axes by means of virtual axes |
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| CN110737193B (en) * | 2019-09-19 | 2021-11-23 | 中建材创新科技研究院有限公司 | Synchronous algorithm control system for controlling multiple shafts through virtual shaft |
| CN112015084B (en) * | 2020-07-08 | 2023-01-13 | 湖南工业大学 | Total amount cooperative and consistent anti-saturation control method based on virtual total axis |
| CN114509985A (en) * | 2020-11-17 | 2022-05-17 | 沈阳新松机器人自动化股份有限公司 | Virtual axis control system based on motion control |
| CN113093821B (en) * | 2021-03-24 | 2022-11-29 | 中建材创新科技研究院有限公司 | System and method for regulating and controlling working section speed of intelligent production line of gypsum building materials |
| CN113595449B (en) * | 2021-07-30 | 2023-07-14 | 北京润科通用技术有限公司 | Device driving control method and system |
| CN113890423B (en) * | 2021-09-28 | 2023-09-19 | 北京建筑大学 | Multi-motor synchronous control method and device based on virtual motor |
| CN116009404B (en) * | 2023-02-22 | 2023-05-23 | 广东科伺智能科技有限公司 | Method, device, equipment and readable storage medium for debugging servo equipment |
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