CN111399446A - Servo system control method, drive controller and servo system - Google Patents
Servo system control method, drive controller and servo system Download PDFInfo
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- CN111399446A CN111399446A CN202010236971.1A CN202010236971A CN111399446A CN 111399446 A CN111399446 A CN 111399446A CN 202010236971 A CN202010236971 A CN 202010236971A CN 111399446 A CN111399446 A CN 111399446A
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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- G05B2219/34013—Servocontroller
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Abstract
The invention provides a servo system control method, a driving controller and a servo system, wherein an error value of a feedback device is stored in an error revision assembly in advance, so that the error value of the feedback device read from the error revision assembly in advance is used for carrying out error compensation on the current rotation angle of an antenna to obtain an error-compensated rotation angle, the error-compensated rotation angle can accurately represent the current actual rotation angle of an airborne antenna, the driving controller can obtain an accurate adjustment control quantity by using the error-compensated rotation angle, so that an accurate adjustment control instruction is generated according to the adjustment control quantity, and the antenna is controlled to move according to the adjustment control instruction, so that the driving controller accurately controls the antenna to execute reciprocating rotation movement.
Description
Technical Field
The invention relates to the technical field of servo control, in particular to a servo system control method, a drive controller and a servo system.
Background
A servo system is a feedback control system used to accurately follow or reproduce a process. The servo system applied to the airborne antenna is mainly a feedback control system used for controlling the airborne antenna to execute reciprocating rotation motion. Because the servo system is a feedback control system, a feedback device is arranged in the servo system, and the feedback device acquires the rotation angle of the airborne antenna in the process of executing reciprocating rotation motion and feeds the acquired rotation angle back to a driving controller in the servo system, so that the driving controller generates an adjusting control quantity according to the given rotation angle of the system and the rotation angle fed back by the feedback device, and controls the antenna to execute reciprocating rotation motion according to the control quantity.
However, the feedback device is a detection device, and there is usually a mechanical error, which may cause an error between the rotation angle of the airborne antenna read by the feedback device and the actual rotation angle of the airborne antenna, and this error may cause a deviation in the control command issued by the drive controller, which may cause the drive controller to be unable to accurately control the antenna to perform the reciprocating rotation motion.
Disclosure of Invention
In view of the above, the present invention provides a servo system control method, a driving controller and a servo system, so as to overcome the problem that the driving controller in the prior art cannot accurately control an antenna to perform a reciprocating rotation motion.
In order to achieve the purpose, the invention provides the following technical scheme:
a servo system control method, the method being applied to a drive controller in a servo system, the servo system further comprising at least: a feedback device, an antenna, and an error revision component, the method comprising:
receiving the current rotation angle of the antenna fed back by the feedback device;
performing error compensation on the current rotation angle of the antenna by using an error value of a feedback device read from the error revision assembly in advance to obtain an error-compensated rotation angle, wherein the error value of the feedback device is written into the error revision assembly in advance;
acquiring a given rotation angle of the antenna;
generating an adjusting control quantity according to the given rotation angle and the rotation angle subjected to error compensation;
and generating an adjusting control instruction according to the adjusting control quantity, and controlling the antenna to move according to the adjusting control instruction.
Preferably, the error value of the feedback device is:
the feedback device is first operated and uses the angle error value obtained from the rotation angle read from the antenna in the mechanical zero state.
Preferably, writing the error value of the feedback device to the error revision component comprises:
sequentially writing the data packets corresponding to the error values of the feedback device into the error revision assembly according to a preset sequence, and judging whether the writing operation meets a preset writing condition;
if the write-in operation meets the preset write-in condition, the write-in is successful;
and if the write-in operation does not meet the preset write-in condition, repeatedly executing the write-in operation until the preset write-in end condition is met.
Preferably, the meeting the preset writing condition at least includes:
the writing time length of the data packet is not more than the preset writing time length of the data packet, and the size of the data packet written into the error revision component conforms to the size of the preset data packet.
Preferably, the reading of the error value of the pre-written feedback device from the error revision component comprises:
sequentially reading data packets corresponding to the error values of the feedback device from the error revision assembly according to a preset sequence, and judging whether the reading operation meets a preset reading condition;
if the reading operation meets the preset reading condition, the reading is successful;
if the reading operation does not meet the preset reading condition, the reading operation is repeatedly executed until the preset reading ending condition is met.
Preferably, the satisfying of the preset reading condition at least includes:
the data packet reading time length is not more than the preset reading time length of the data packet, the read size of the data packet in the error revision assembly accords with the size of the preset data packet, and the read content of the data packet in the error revision assembly accords with the content of the preset data packet.
Preferably, in the case that the data packet is not successfully read after the preset read end condition is met, the method further includes:
and re-executing the write operation on the data packet.
Preferably, the performing error compensation on the current rotation angle of the antenna by using the error value of the feedback device to obtain the rotation angle after error compensation includes:
and taking the difference value of the current rotation angle of the antenna and the error value of the feedback device as the rotation angle after error compensation.
A drive controller applied to a servo system, the servo system further comprising at least: a feedback device, an antenna, and an error revision component, the drive controller comprising:
the rotation angle receiving unit is used for receiving the current rotation angle of the antenna fed back by the feedback device;
an error compensation unit, configured to perform error compensation on the current rotation angle of the antenna by using an error value of a feedback device read in advance from the error revision component, so as to obtain an error-compensated rotation angle, where the error value of the feedback device is written in advance into the error revision component;
a given rotation angle acquisition unit for acquiring a given rotation angle of the antenna;
an adjustment control amount generating unit for generating an adjustment control amount according to the given rotation angle and the error-compensated rotation angle;
and the adjusting control instruction generating unit is used for generating an adjusting control instruction according to the adjusting control quantity and controlling the antenna to move according to the adjusting control instruction.
A servo system, the servo system comprising at least: a drive controller, a feedback device, an antenna, and an error revision component;
the driving controller receives the current rotation angle of the antenna fed back by the feedback device;
the driving control utilizes the error value of the feedback device read from the error revision assembly in advance to carry out error compensation on the current rotation angle of the antenna to obtain an error-compensated rotation angle, and the error value of the feedback device is written into the error revision assembly in advance;
the drive control obtains a given rotation angle of the antenna;
the drive control generates an adjusting control quantity according to the given rotation angle and the rotation angle after error compensation;
and the driving control generates an adjusting control instruction according to the adjusting control quantity and controls the antenna to move according to the adjusting control instruction.
As can be seen from the above technical solutions, compared with the prior art, the present invention provides a servo system control method, a drive controller and a servo system, where the method is applied to a drive controller in a servo system, and the servo system at least further includes: a feedback device, an antenna, and an error revision component, the method comprising: receiving the current rotation angle of the antenna fed back by the feedback device; performing error compensation on the current rotation angle of the antenna by using the error value of the feedback device read from the error revision assembly in advance to obtain the rotation angle after the error compensation, wherein the error value of the feedback device is written into the error revision assembly in advance; acquiring a given rotation angle of the antenna; generating an adjusting control quantity according to the given rotation angle and the rotation angle after error compensation; and generating an adjusting control instruction according to the adjusting control quantity, and controlling the antenna to move according to the adjusting control instruction. According to the embodiment of the invention, the error value of the feedback device is stored in the error revision assembly in advance, so that the current rotation angle of the antenna is subjected to error compensation by using the error value of the feedback device read from the error revision assembly in advance, the obtained rotation angle after error compensation can accurately represent the current actual rotation angle of the airborne antenna, the drive controller can obtain accurate adjustment control quantity by using the rotation angle after error compensation, an accurate adjustment control command is generated according to the adjustment control quantity, and the antenna is controlled to move according to the adjustment control command, so that the drive controller accurately controls the antenna to execute reciprocating rotation motion. In addition, because the error value of the feedback device is stored in the error revision component in advance, under the condition that the drive controller in the servo system is replaced, the new drive controller can also achieve the aim of accurately controlling the antenna to execute the reciprocating and rotating motion by acquiring the error value of the feedback device from the error revision component.
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 is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a servo system control method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating an error value writing method of a feedback device according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating an error reading method of a feedback device according to an embodiment of the present invention;
fig. 4 is a block diagram of a drive controller according to an embodiment of the present invention;
fig. 5 is a block diagram of a servo system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and 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.
A servo system is a feedback control system used to accurately follow or reproduce a process. The servo system applied to the airborne antenna is mainly a feedback control system used for controlling the airborne antenna to execute reciprocating rotation motion. Because the servo system is a feedback control system, a feedback device is arranged in the servo system, the feedback device acquires the rotation angle of the airborne antenna in the process of executing reciprocating rotation motion and feeds the acquired rotation angle back to a driving controller in the servo system to realize closed-loop control, so that the driving controller generates an adjusting control quantity according to the given rotation angle of the system and the rotation angle fed back by the feedback device, and controls the antenna to execute reciprocating rotation motion according to the control quantity.
However, the feedback device is a detection device, and there is usually a mechanical error, which may cause an error between the rotation angle of the airborne antenna read by the feedback device and the actual rotation angle of the airborne antenna, and this error may cause a deviation in a command issued by the driving controller to the antenna, which may cause the driving controller to be unable to accurately control the antenna to perform the reciprocating rotation motion.
The inventors have made studies to solve the above-mentioned technical problems, and have proposed the following two methods:
the method comprises the following steps: the high-precision mechanical-electrical integrated precision sensor is used as a feedback device, and calibration parameters and error calibration parameters of the feedback device are stored in an internal memory of the feedback device after the feedback device is installed and calibrated for the first time, so that error compensation can be conveniently carried out on the antenna rotation angle read back by the feedback device in the control process.
The second method comprises the following steps: mechanical sensors (such as rotary transformers and the like) are used as feedback devices, and error calibration and zero marking operation are required to be carried out again each time the sensor is used.
The inventor finds that the high-precision mechanical and electrical integration type precision sensor adopted in the first method has poor shock resistance and damp-proof thermal performance and short service life in a severe environment due to the fact that a microcontroller circuit and sensitive devices are needed. Secondly, the data interaction of the sensor adopts a traditional bus checking mode, the error correction performance is poor, and the read-write error is easy to generate.
In the second method, mechanical sensors such as a rotary transformer and the like are used as feedback devices, so that the shock resistance and the damp-proof performance can be improved, but the feedback devices need to be calibrated and zero-marked again when the feedback devices are used every time, the driving controller is frequently disassembled and replaced as a system component, the feedback devices need to be calibrated and zero-marked again when the driving controller is disassembled and replaced every time, the feedback devices are arranged outside the cabin, the driving controller is arranged in the cabin, the driving controller is convenient to disassemble and replace in the cabin, and if the feedback devices are repeatedly calibrated and zero-marked outside the cabin, great inconvenience is brought to operators, the operation is difficult, and the flexibility of the system is poor. In addition, the technical proposal is that the error result obtained after the calibration and zero marking are carried out on the feedback device each time is stored in the driving controller, if the error result stored in the new drive controller after the replacement is not the error result corresponding to the feedback device installed in the current servo system if the feedback device is not calibrated and zeroed after the drive controller is removed and replaced, the error stored in the new drive controller after the replacement is likely to have a larger deviation from the real error of the feedback device installed in the current servo system, if the feedback adjustment is performed by using the error result stored in the new detached driving controller, the driving controller generates a control quantity with a large deviation, and finally the actual scanning angle range of the antenna deviates from the preset scanning angle range, which affects the consistency of the scanning data.
In order to solve the above technical problem, the inventor of the present invention provides a servo system control method and a servo system through further research, where the method is applied to a drive controller in a servo system, and the servo system at least further includes: a feedback device, an antenna, and an error revision component, the method comprising: receiving the current rotation angle of the antenna fed back by the feedback device; performing error compensation on the current rotation angle of the antenna by using an error value of a feedback device read from the error revision assembly in advance to obtain an error-compensated rotation angle, wherein the error value of the feedback device is written into the error revision assembly in advance; acquiring a given rotation angle of the antenna; generating an adjusting control quantity according to the given rotation angle and the rotation angle after error compensation; and generating an adjusting control instruction according to the adjusting control quantity, and controlling the antenna to move according to the adjusting control instruction. According to the embodiment of the invention, the error value of the feedback device is stored in the error revision assembly in advance, so that the current rotation angle of the antenna is subjected to error compensation by using the error value of the feedback device read from the error revision assembly in advance, the obtained rotation angle after error compensation can accurately represent the current actual rotation angle of the airborne antenna, the drive controller can obtain accurate adjustment control quantity by using the rotation angle after error compensation, an accurate adjustment control command is generated according to the adjustment control quantity, and the antenna is controlled to move according to the adjustment control command, so that the drive controller accurately controls the antenna to execute reciprocating rotation motion.
In addition, because the embodiment of the invention only executes the operation of once calibrating and zero marking on the feedback device when the feedback device operates for the first time, the error value of the feedback device is obtained, and then the error value of the feedback device is stored in the error revision component in advance, when the servo system starts to operate each time or the drive controller is replaced, the drive controller can carry out angle compensation in real time by a mode of obtaining the error value of the feedback device from the error revision component, and the operation of calibrating and zero marking on the feedback device is not required to be executed again when the drive controller is used each time or replaced each time, so that the operation is convenient, and the flexibility of the system is high. On the other hand, in the embodiment of the present invention, the error value of the feedback device is pre-stored in the error revision component, and when the drive controller in the servo system is replaced, the error value of the feedback device obtained by the new drive controller from the error revision component is the real error value corresponding to the feedback device installed in the current servo system, and there is no situation that the error value does not correspond to the feedback device, so that the drive controller can generate an accurate control quantity by using the error value of the feedback device obtained from the error revision component, an accurate adjustment control command is generated by using the control quantity, and the adjustment control command is issued to the motor, and the motor drives the antenna to perform reciprocating scanning motion within the positive and negative symmetric angle range through the speed reducer, thereby achieving the purpose of accurately controlling the antenna to perform reciprocating rotation motion.
A servo system control method provided in an embodiment of the present invention is described below from the perspective of a drive controller in a servo system, and fig. 1 is a flowchart of the servo system control method provided in the embodiment of the present invention, where the servo system at least further includes: feedback device, antenna and error revision component, referring to fig. 1, the method may include:
s100, receiving the current rotation angle of the antenna fed back by the feedback device;
since the servo system performs feedback adjustment using the feedback device, the feedback device is required to read the current rotation angle of the antenna from the antenna in real time.
It should be noted that the feedback device in the embodiment of the present invention may be a mechanical sensor such as a resolver.
Step S110, performing error compensation on the current rotation angle of the antenna by using the error value of the feedback device read in advance from the error revision component to obtain the rotation angle after error compensation;
the error value of the feedback device is written to the error revision component in advance.
After the servo system starts to operate or the drive controller is replaced, the drive controller reads the error value of the feedback device from the error revision assembly and stores the read error value of the feedback device, so that the error compensation can be performed on the current rotation angle of the antenna by using the error value of the feedback device read in advance from the error revision assembly in the operation process of the servo system.
Optionally, the error value of the feedback device is: the feedback device is first operated and uses the angle error value obtained from the rotation angle read from the antenna in the mechanical zero state.
When the feedback device is operated for the first time after leaving a factory, calibration needs to be performed on the feedback device to obtain an error value of the feedback device, the calibration process is to set the rotation angle of the antenna to a mechanical zero degree state, the rotation angle of the antenna in the mechanical zero degree state is read by using the feedback device, due to the existence of errors of the feedback device, a certain deviation exists between the read rotation angle and zero degree, and the deviation between the read rotation angle and zero degree is used as the error value of the feedback device.
The driving controller may write the error value of the feedback device into the error revision component through the IIC bus, or may write the error value of the feedback device into the error revision component in other communication manners. Similarly, the driving controller may read the error value of the feedback device from the error revision component through a communication method of the IIC bus, and certainly, other communication methods may also be used to read the error value of the feedback device from the error revision component.
Specifically, in the embodiment of the present invention, a difference between the current rotation angle of the antenna and the error value of the feedback device is used as the rotation angle after error compensation.
Step S120, obtaining a given rotation angle of the antenna;
the given rotation angle of the antenna is a rotation angle which is predetermined and is required to be reached by the antenna at a certain moment, and the given rotation angle can be transmitted to the driving controller by the upper computer under the condition that the servo system further comprises the upper computer.
Step S130, generating an adjusting control quantity according to the given rotation angle and the rotation angle after error compensation;
the adjustment control amount is a control amount for adjusting the antenna angle, and is formed by comparing a given rotation angle and an error-compensated rotation angle and according to the difference between the given rotation angle and the error-compensated rotation angle.
And step S140, generating an adjusting control instruction according to the adjusting control quantity, and controlling the antenna to move according to the adjusting control instruction.
It should be noted that, the driving controller issues the adjustment control command to the motor, and the motor drives the antenna to perform reciprocating scanning motion within the positive and negative symmetric angle ranges through the speed reducer.
According to the embodiment of the invention, the error value of the feedback device is stored in the error revision assembly in advance, so that the current rotation angle of the antenna is subjected to error compensation by using the error value of the feedback device read from the error revision assembly in advance, the obtained error-compensated rotation angle can accurately represent the current actual rotation angle of the airborne antenna, the drive controller can obtain accurate adjustment control quantity by using the error-compensated rotation angle, an accurate adjustment control command is generated according to the adjustment control quantity, and is issued to the motor, and the motor drives the antenna to perform reciprocating scanning motion in a positive and negative symmetrical angle range through the reducer, so that the drive controller accurately controls the antenna to perform reciprocating rotation motion. In addition, because the error value of the feedback device is stored in the error revision component in advance, under the condition that the drive controller in the servo system is replaced, the new drive controller can also achieve the aim of accurately controlling the antenna to execute the reciprocating and rotating motion by acquiring the error value of the feedback device from the error revision component.
It should be noted that, data interaction between the error revision component and the drive controller may be performed through an inter-board IIC bus, and of course, other communication modes may also be adopted, and the embodiment of the present invention is not limited specifically. In order to improve the anti-interference capability of the servo system, the embodiment of the invention adopts a double-check communication mechanism, and on the basis of a general traditional IIC bus response check mechanism, the embodiment of the invention further adopts a self-defined communication protocol in a protocol layer, and determines whether data writing and reading are successful or not by checking the writing and reading processes of the error value of the feedback device in a specified communication period, so that the anti-interference capability of the servo system is improved.
Fig. 2 is a flowchart of an error value writing method of a feedback device according to an embodiment of the present invention, the method is applied to a drive controller in a servo system, and the servo system further includes: feedback device, antenna and error revision component, referring to fig. 2, the method may include:
step S200, sequentially writing data packets corresponding to the error values of the feedback device into an error revision component according to a preset sequence, and judging whether the writing operation meets a preset writing condition; if the write operation satisfies the predetermined write condition, go to step S210; if the write operation does not satisfy the predetermined write condition, go to step S220;
it should be noted that, in the embodiment of the present invention, the error value of the feedback device is divided into a plurality of data packets, and the embodiment of the present invention performs the writing operation of the error value by using the data packet as a unit.
Optionally, in the embodiment of the present invention, whether the write operation meets the preset write condition may be determined by determining whether to trigger writing of the valid flag bit at one end of the drive controller. If the write-in valid flag bit is triggered at one end of the drive controller, the write-in is judged to be successful; and if the write-in valid flag bit is not triggered at one end of the drive controller, judging that the write-in is abnormal, and repeatedly executing the write-in operation.
Step S210, judging that the writing is successful;
in step S220, the writing operation is repeatedly performed until a preset writing end condition is satisfied.
Optionally, the meeting the preset writing condition includes: under the condition that the writing time of the data packet is not longer than the preset writing time of the data packet and the size of the data packet written into the error revision component conforms to the size of the preset data packet, the error value writing method of the feedback device in the embodiment of the invention specifically comprises the following steps:
sequentially writing the data packets corresponding to the error values of the feedback device into the error revision assembly according to a preset sequence, and judging whether the writing duration of the data packets is longer than the preset writing duration of the data packets or not when one data packet is written; under the condition that the writing time length of the data packet is not more than the preset writing time length of the data packet, judging whether the size of the data packet written into the error revision assembly accords with the size of the preset data packet or not, under the condition that the size of the data packet written into the error revision assembly accords with the size of the preset data packet, judging that the data packet is successfully written, and continuously writing the next data packet according to a preset sequence; and under the condition that the writing time length of the data packet is longer than the preset writing time length of the data packet or the size of the data packet written into the error revision assembly does not accord with the preset data packet size, judging that the writing of the data packet fails, and repeatedly executing the writing operation until the preset writing end condition is met.
Different data packets may correspond to different preset write durations, and different data packets may also correspond to the same preset write duration.
Optionally, since the drive controller learns the data size of each data packet in advance, in the embodiment of the present invention, it may be determined whether writing of one data packet is completed by determining whether the written data size matches a preset data size, and after writing of one data packet is completed, the write time of the data packet may be counted by using a timer.
The predetermined data size is determined according to the type of the data packet, and the embodiment of the present invention is not limited in particular.
It should be noted that, if the write-in of the data packet is exceeded, it is proved that the bus transmitting the data packet has a problem; if the size of the data packet written into the error revision component does not conform to the preset data packet size, it indicates that the data written into the error revision component has an exception, and this exception may be a problem of a bus, a problem of a network, and the like. By verifying the writing time in the data packet writing process and the size of the data packet written into the error revision assembly, the successful data writing can be ensured, the anti-interference capability of a servo system is improved, and the reliability of communication between the driving controller and the error revision assembly is improved.
The preset writing end condition at least includes: the present invention is not limited in particular to the preset writing times, the preset writing duration, and the like, and the writing is stopped regardless of whether the data packet is successfully written or not when the preset writing end condition is satisfied.
In addition, the embodiment of the present invention does not limit the writing end condition, and as long as a data packet is not successfully written, the writing operation is executed until the writing is successful.
Fig. 3 is a flowchart of an error value reading method of a feedback device according to an embodiment of the present invention, the method is applied to a drive controller in a servo system, and the servo system further includes: feedback device, antenna and error revision component, referring to fig. 3, the method may include:
step S300, sequentially reading data packets corresponding to the error values of the feedback device from the error revision component according to a preset sequence, and judging whether the reading operation meets a preset reading condition; if the reading operation satisfies the predetermined reading condition, go to step S310; if the reading operation does not satisfy the preset reading condition, executing step S320;
optionally, in the embodiment of the present invention, whether the read operation meets the preset read condition may be determined by determining whether to trigger reading of the valid flag bit at one end of the drive controller. If the effective zone bit is triggered and read at one end of the driving controller, the reading is judged to be successful; if the reading effective zone bit is not triggered at one end of the driving controller, the reading abnormity is judged, and the reading operation is repeatedly executed.
Step S310, judging that the reading is successful;
step S320, repeatedly executing the reading operation until a preset reading ending condition is satisfied.
The preset reading end condition at least comprises the following steps: the preset number of readings, the preset reading duration, etc., for example: in the continuous 5-time reading process, if a data packet meeting the preset reading condition is read, the data packet is judged to be successfully read, and if the data packet meeting the preset reading condition is not read in the continuous 5-time reading process, the data packet is judged to be failed to be written, and the data packet needs to be written again.
When the preset reading condition is met, at least the following steps are included: under the condition that the data packet reading time is not longer than the preset reading time of the data packet, the size of the data packet in the read error revision assembly accords with the size of the preset data packet, and the content of the data packet in the read error revision assembly accords with the content of the preset data packet, the error value reading method of the feedback device specifically comprises the following steps:
sequentially reading data packets corresponding to the error values of the feedback device from the error revision component according to a preset sequence, and judging whether the reading time of the data packets is longer than the preset reading time of the data packets when reading one data packet; under the condition that the reading time of the data packet is not more than the preset reading time of the data packet, judging whether the size of the read data packet accords with the size of the preset data packet or not, judging whether the content of the data packet in the read error revision assembly accords with the content of the preset data packet or not, under the condition that the size of the read data packet accords with the size of the preset data packet and the content of the data packet in the read error revision assembly accords with the content of the preset data packet, judging that the data packet is successfully read, and continuously reading one data packet according to a preset sequence; and under the condition that the reading time of the data packet is longer than the preset reading time of the data packet, or the size of the read data packet does not accord with the size of the preset data packet, or the content of the data packet in the error revision assembly does not accord with the content of the preset data packet, judging that the data packet fails to be read, and repeatedly executing the reading operation until the preset reading ending condition is met.
Optionally, in the embodiment of the present invention, before the driving controller writes the error value of the feedback device into the error revision assembly in advance, according to a preset check data determination manner, a piece of check data is determined according to the error value of the feedback device, then the error value of the feedback device and the combined data of the check data are written into the error revision assembly together, after the data are read from the error revision assembly, the read check data and the error value are obtained, and the read error value is used to recalculate the check data by the same check method, and the check data is compared with the read check data. If the read check data is consistent with the check data obtained by recalculation, the read content of the data packet in the error revision assembly is proved to be in accordance with the content of a preset data packet; and if the read check data is inconsistent with the recalculated check data, the read content of the data packet in the error revision component is proved to be inconsistent with the content of a preset data packet.
It should be noted that, if the data packet is read out overtime, it is proved that the bus transmitting the data packet has a problem; if the size of the read data packet does not conform to the preset data packet size, or the content of the data packet in the error revision component does not conform to the preset data packet content, it is indicated that the data read from the error revision component is abnormal, and the abnormality may be a problem of a bus, a problem of a network, and the like. By verifying the reading time length in the data packet reading process and the size and content of the read data packet, the success of data reading can be ensured, the anti-interference capability of a servo system is improved, and the reliability of communication between the driving controller and the error revision component is improved.
The following describes a drive controller provided in an embodiment of the present invention, and the drive controller described below may be referred to in correspondence with the above servo system control method.
Fig. 4 is a block diagram of a drive controller according to an embodiment of the present invention, and referring to fig. 4, the drive controller is applied to a servo system, and the servo system further includes at least: a feedback device, an antenna, and an error revision component, the drive controller comprising:
a rotation angle receiving unit 400, configured to receive the current rotation angle of the antenna fed back by the feedback device;
an error compensation unit 410, configured to perform error compensation on the current rotation angle of the antenna by using an error value of a feedback device read from the error revision component in advance, so as to obtain an error-compensated rotation angle, where the error value of the feedback device is written into the error revision component in advance;
a given rotation angle acquisition unit 420 for acquiring a given rotation angle of the antenna;
an adjustment control amount generating unit 430 configured to generate an adjustment control amount according to the given rotation angle and the error-compensated rotation angle;
and an adjustment control command generating unit 440, configured to generate an adjustment control command according to the adjustment control amount, and control the antenna to move according to the adjustment control command. Specifically, a control command is issued to a motor, and the motor system drives an antenna to reciprocate through a speed reducer.
The error value of the feedback device is:
the feedback device is first operated and uses the angle error value obtained from the rotation angle read from the antenna in the mechanical zero state.
The drive controller further includes: an error value writing unit, specifically configured to:
sequentially writing the data packets corresponding to the error values of the feedback device into the error revision assembly according to a preset sequence, and judging whether the writing operation meets a preset writing condition;
if the write-in operation meets the preset write-in condition, the write-in is successful;
and if the write-in operation does not meet the preset write-in condition, repeatedly executing the write-in operation until the preset write-in end condition is met.
The meeting of the preset writing condition at least comprises the following steps:
the writing time length of the data packet is not more than the preset writing time length of the data packet, and the size of the data packet written into the error revision component conforms to the size of the preset data packet.
The drive controller further includes: an error value reading unit, specifically configured to:
sequentially reading data packets corresponding to the error values of the feedback device from the error revision assembly according to a preset sequence, and judging whether the reading operation meets a preset reading condition;
if the reading operation meets the preset reading condition, the reading is successful;
if the reading operation does not meet the preset reading condition, the reading operation is repeatedly executed until the preset reading ending condition is met.
The meeting of the preset reading condition at least comprises the following steps:
the data packet reading time length is not more than the preset reading time length of the data packet, the read size of the data packet in the error revision assembly accords with the size of the preset data packet, and the read content of the data packet in the error revision assembly accords with the content of the preset data packet.
In the case that the data packet is not successfully read after the preset read end condition is satisfied, the drive controller is further configured to: and re-executing the write operation on the data packet.
The error compensation unit is specifically configured to:
and taking the difference value of the current rotation angle of the antenna and the error value of the feedback device as the rotation angle after error compensation.
Alternatively, the drive controller may be a hardware device, and the above-described modules and units may be provided as functional modules in the drive controller. The driving controller may include: a processor, a communication interface, a memory and a communication bus; the processor, the communication interface and the memory complete mutual communication through a communication bus; optionally, the communication interface may be an interface of a communication module, such as an interface of a GSM module;
a processor for executing a program; a memory for storing a program; the program may include program code comprising computer operating instructions;
the processor may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present invention; the memory may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
Among them, the procedure can be specifically used for: the servo system control method described in the above embodiment is performed.
Referring to fig. 5, a servo system according to an embodiment of the present invention is described below, in which fig. 5 is a block diagram of a servo system according to an embodiment of the present invention, and the servo system at least includes: a drive controller 500, a feedback device 510, an antenna 520, an error revision component 530, a motor 540, and a decelerator 550;
when the servo system starts to be used, the upper computer sends an instruction to the driving controller to drive and control the motor to operate, and the motor drives the speed reducer to enable the antenna to do reciprocating scanning motion within a positive and negative symmetrical angle range.
In the process that the motor drives the speed reducer to enable the antenna to do reciprocating scanning movement within the positive and negative symmetrical angle range, the driving controller receives the current rotation angle of the antenna fed back by the feedback device;
the driving control utilizes the error value of the feedback device read from the error revision assembly in advance to carry out error compensation on the current rotation angle of the antenna to obtain an error-compensated rotation angle, and the error value of the feedback device is written into the error revision assembly in advance;
the drive control obtains a given rotation angle of the antenna;
the drive control generates an adjusting control quantity according to the given rotation angle and the rotation angle after error compensation;
and the driving control generates an adjusting control instruction according to the adjusting control quantity and controls the antenna to move according to the adjusting control instruction. Specifically, a control command is issued to a motor, and the motor system drives an antenna to reciprocate through a speed reducer.
Technical features described in the embodiments of the present disclosure may be replaced or combined with each other, and each embodiment is described with emphasis on differences from other embodiments, and similar parts in the embodiments may be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A servo system control method, applied to a drive controller in a servo system, the servo system further comprising at least: a feedback device, an antenna, and an error revision component, the method comprising:
receiving the current rotation angle of the antenna fed back by the feedback device;
performing error compensation on the current rotation angle of the antenna by using an error value of a feedback device read from the error revision assembly in advance to obtain an error-compensated rotation angle, wherein the error value of the feedback device is written into the error revision assembly in advance;
acquiring a given rotation angle of the antenna;
generating an adjusting control quantity according to the given rotation angle and the rotation angle subjected to error compensation;
and generating an adjusting control instruction according to the adjusting control quantity, and controlling the antenna to move according to the adjusting control instruction.
2. The method of claim 1, wherein the error value of the feedback device is:
the feedback device is first operated and uses the angle error value obtained from the rotation angle read from the antenna in the mechanical zero state.
3. The method of claim 1, wherein writing an error value of a feedback device to an error revision component comprises:
sequentially writing the data packets corresponding to the error values of the feedback device into the error revision assembly according to a preset sequence, and judging whether the writing operation meets a preset writing condition;
if the write-in operation meets the preset write-in condition, the write-in is successful;
and if the write-in operation does not meet the preset write-in condition, repeatedly executing the write-in operation until the preset write-in end condition is met.
4. The method according to claim 3, wherein the satisfying the predetermined writing condition at least comprises:
the writing time length of the data packet is not more than the preset writing time length of the data packet, and the size of the data packet written into the error revision component conforms to the size of the preset data packet.
5. The method of claim 1, wherein reading the error value of the pre-written feedback device from the error revision component comprises:
sequentially reading data packets corresponding to the error values of the feedback device from the error revision assembly according to a preset sequence, and judging whether the reading operation meets a preset reading condition;
if the reading operation meets the preset reading condition, the reading is successful;
if the reading operation does not meet the preset reading condition, the reading operation is repeatedly executed until the preset reading ending condition is met.
6. The method according to claim 5, wherein the satisfying of the preset reading condition at least comprises:
the data packet reading time length is not more than the preset reading time length of the data packet, the read size of the data packet in the error revision assembly accords with the size of the preset data packet, and the read content of the data packet in the error revision assembly accords with the content of the preset data packet.
7. The method of claim 5, wherein in case that the data packet is not successfully read after the preset read end condition is met, the method further comprises:
and re-executing the write operation on the data packet.
8. The method of claim 1, wherein the performing error compensation on the current rotation angle of the antenna by using the error value of the feedback device comprises:
and taking the difference value of the current rotation angle of the antenna and the error value of the feedback device as the rotation angle after error compensation.
9. A drive controller for a servo system, the servo system comprising at least: a feedback device, an antenna, and an error revision component, the drive controller comprising:
the rotation angle receiving unit is used for receiving the current rotation angle of the antenna fed back by the feedback device;
an error compensation unit, configured to perform error compensation on the current rotation angle of the antenna by using an error value of a feedback device read in advance from the error revision component, so as to obtain an error-compensated rotation angle, where the error value of the feedback device is written in advance into the error revision component;
a given rotation angle acquisition unit for acquiring a given rotation angle of the antenna;
an adjustment control amount generating unit for generating an adjustment control amount according to the given rotation angle and the error-compensated rotation angle;
and the adjusting control instruction generating unit is used for generating an adjusting control instruction according to the adjusting control quantity and controlling the antenna to move according to the adjusting control instruction.
10. A servo system, characterized in that the servo system comprises at least: a drive controller, a feedback device, an antenna, and an error revision component;
the driving controller receives the current rotation angle of the antenna fed back by the feedback device;
the driving control utilizes the error value of the feedback device read from the error revision assembly in advance to carry out error compensation on the current rotation angle of the antenna to obtain an error-compensated rotation angle, and the error value of the feedback device is written into the error revision assembly in advance;
the drive control obtains a given rotation angle of the antenna;
the drive control generates an adjusting control quantity according to the given rotation angle and the rotation angle after error compensation;
and the driving control generates an adjusting control instruction according to the adjusting control quantity and controls the antenna to move according to the adjusting control instruction.
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