CN111488004A - Control method for two-axis coupling motion - Google Patents
Control method for two-axis coupling motion Download PDFInfo
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- CN111488004A CN111488004A CN202010268717.XA CN202010268717A CN111488004A CN 111488004 A CN111488004 A CN 111488004A CN 202010268717 A CN202010268717 A CN 202010268717A CN 111488004 A CN111488004 A CN 111488004A
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- 238000004804 winding Methods 0.000 claims abstract description 184
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 238000004519 manufacturing process Methods 0.000 description 2
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
The invention provides a control method of two-axis coupling motion, wherein the two-axis coupling motion comprises the following steps: the control method comprises the following steps that a main shaft moves horizontally at a first speed, and simultaneously a driven shaft rotates around the main shaft at a second speed, and a fixed ideal winding point is arranged between the horizontal movement of the main shaft and the rotation of the driven shaft, and the control method comprises the following steps: and acquiring an actual winding point between the horizontal motion of the main shaft and the rotation motion of the auxiliary shaft through a sensor, and adjusting the second speed according to the deviation condition of the actual winding point relative to the ideal winding point. According to the control method for the two-axis coupling motion, the first speed of the horizontal motion of the main shaft and/or the second speed of the rotation motion of the auxiliary shaft are/is adjusted according to the actual winding condition fed back by the sensor in real time, and the problems that the winding is not uniform and the winding point cannot be maintained or cannot be maintained for a long time are effectively solved.
Description
Technical Field
The invention relates to a control method of two-axis coupling motion in automatic control, wherein a main shaft moves horizontally and a driven shaft rotates, and the two-axis motion is carried out simultaneously and needs to maintain the coupling relation.
Background
With the development of industrial automation, more and more special non-standardized processing production lines require improvement of automation degree and production precision, and reduction of labor input.
At present, in two-axis coupling motion control comprising a horizontal motion and a rotary motion, the coiling is not uniform, the coiling point position cannot be kept or kept for a long time, the deviation phenomenon is serious, the machining efficiency is low finally, the rejection rate of products is high, and the loss of enterprises and materials is caused. The reason is as follows: firstly, the actual running speed of the motor has deviation from the given running speed of the motor, which is determined by the control precision of the motor, is objective and cannot be thoroughly eliminated; the second is the lack of an effective method and effective feedback for coupled control of rotational and horizontal motion.
Therefore, an effective and stable real-time control method is needed to realize stable coupling output through dynamic adjustment by making favorable adjustment to the main shaft and the driven shaft in an extremely short control period.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a control method for two-axis coupling motion, which is timely and accurate in judgment.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
A method of controlling a two-axis coupled motion, the two-axis coupled motion comprising: the control method comprises the following steps that a main shaft moves horizontally at a first speed, and simultaneously a driven shaft rotates around the main shaft at a second speed, and a fixed ideal winding point is arranged between the horizontal movement of the main shaft and the rotation of the driven shaft, and the control method comprises the following steps: and acquiring an actual winding point between the horizontal motion of the main shaft and the rotation motion of the auxiliary shaft through a sensor, and adjusting the second speed according to the deviation condition of the actual winding point relative to the ideal winding point.
Further, when the deviation distance of the actual winding point relative to the ideal winding point is smaller than a first threshold value, adjusting the second speed according to a first amplitude; when the deviation distance of the actual winding point relative to the ideal winding point is larger than or equal to a first threshold value and smaller than or equal to a second threshold value, adjusting the second speed according to a second amplitude; and when the deviation distance of the actual winding point relative to the ideal winding point is greater than a second threshold value, adjusting the first speed and the second speed to be zero to stop the horizontal movement and the rotary movement.
Further, when the actual winding point deviates to the left relative to the ideal winding point, the second speed is reduced and adjusted; when the actual winding point deviates to the right relative to the ideal winding point, increasing and adjusting the second speed; or on the contrary, when the actual winding point deviates to the left relative to the ideal winding point, the second speed is increased and adjusted; and when the actual winding point deviates to the right relative to the ideal winding point, reducing and adjusting the second speed.
Further, the sensor is a displacement sensor, the position of the displacement sensor is fixedly located near the ideal winding point, the displacement sensor is irrelevant to the horizontal movement of the main shaft and the rotation movement of the driven shaft, the sensor acquires a nominal distance value for the ideal winding point, and when the actual winding point deviates to the left relative to the ideal winding point, the sensor acquires that the actually measured distance value is smaller than the nominal distance value; when the actual winding point deviates to the right relative to the ideal winding point, the sensor obtains that the measured distance value is greater than the nominal distance value; or on the contrary, when the actual winding point deviates to the left relative to the ideal winding point, the sensor acquires that the actually measured distance value is greater than the nominal distance value; and when the actual winding point deviates to the right relative to the ideal winding point, the sensor acquires that the actually measured distance value is smaller than the nominal distance value.
Further, the second speed = K × the first speed, K being a ratio of the second speed to the first speed, and K being greater than 1.
Further, the control method further comprises the steps of obtaining an actual value of the first speed through a controller, and finely adjusting the first speed to enable the actual value of the first speed to be consistent with a set value.
According to the control method of the two-axis coupling motion, the second speed of the rotation motion of the driven shaft is adjusted according to the actual winding condition fed back by the sensor in real time; the feedback of the actual value of the first speed of the horizontal movement of the main shaft is obtained through a controller, the first speed is finely adjusted to be infinitely close to the set value of the first speed, so that the relation between the ratio of the first speed and the second speed is maintained to be stable and reduced, the problems of non-uniform winding and incapability of maintaining a winding point or maintaining the winding point for a long time are solved, the auxiliary shaft of the main shaft is favorably adjusted in an extremely short control period, and stable coupling output is realized through dynamic adjustment.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of a two-axis coupling motion 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.
In an embodiment of the present invention, a method for controlling two-axis coupled motion includes: the control method comprises the following steps that a main shaft moves horizontally at a first speed, and simultaneously a driven shaft rotates around the main shaft at a second speed, and a fixed ideal winding point is arranged between the horizontal movement of the main shaft and the rotation of the driven shaft, and the control method comprises the following steps: and acquiring an actual winding point between the horizontal motion of the main shaft and the rotation motion of the auxiliary shaft through a sensor, and adjusting the second speed according to the deviation condition of the actual winding point relative to the ideal winding point.
in the present invention, the horizontal movement of the main shaft 1 is rightward as indicated by a straight arrow in the figure, the rotational movement of the shaft 2 is performed around the main shaft 1 as indicated by a curved arrow in the figure (or in the opposite direction), that is, the main shaft 1 is coincident with the central axis of the rotational plane of the shaft 2, the ideal winding point is a point (L is greater than 0) which is located on the central axis of the rotational plane of the shaft 2 and is at a certain distance L from the rotational plane, for example, the main shaft 1 is used as the main line to perform the horizontal movement, the shaft 2 is used as the auxiliary line to perform the rotational movement, the auxiliary line is wound around the main line, the point wound from the shaft to the main line is the winding point, the winding point is located on the central axis of the rotational plane of the shaft 2, the central axis of the main shaft 1 is coincident with the central axis of the rotational plane of the shaft 2, the winding point is generally located on the main shaft in a spatial position, and deviates from the main line at a certain distance from the ideal winding point, the ideal winding point is not located on the same as the ideal rotational plane, the ideal winding point is not located on the same as the first rotational plane, the ideal winding point is not located on the second rotational plane, the ideal rotational speed of the second rotational plane, the ideal winding point, the second rotational plane, the ideal winding point is not the ideal rotational plane, the ideal rotational speed is not the ideal winding point, the ideal rotational plane, the ideal rotational speed is different from the ideal rotational plane, the ideal rotational point is different from the ideal rotational point, the second rotational point, the ideal rotational point.
When the deviation distance of the actual winding point relative to the ideal winding point is smaller than a first threshold value, adjusting the second speed according to a first amplitude; when the deviation distance of the actual winding point relative to the ideal winding point is larger than or equal to a first threshold value and smaller than or equal to a second threshold value, adjusting the second speed according to a second amplitude; and when the deviation distance of the actual winding point relative to the ideal winding point is greater than a second threshold value, adjusting the first speed and the second speed to be zero to stop the horizontal movement and the rotary movement. Referring to fig. 1 again, if the actual winding point is located between the ideal winding point 5 and the first left limit 6 of the winding point, that is, the deviation distance of the actual winding point from the ideal winding point 5 is smaller than the distance between the first left limit 6 of the winding point and the ideal winding point 5, and the deviation amplitude is smaller at this time, the second speed can be adjusted according to the smaller first amplitude so as to avoid that the adjustment exceeds the understanding winding point 5 too much, and then adjustment needs to be performed again, that is, unnecessary adjustment fluctuation caused by excessive adjustment is avoided. Wherein the first amplitude = m × the second speed, m being greater than 0 and less than 0.1. If the actual winding point is located between the first left limit 6 of the winding point and the second left limit 8 of the winding point, namely the actual winding point is larger than the distance between the first left limit 6 of the winding point and the ideal winding point 5 and smaller than the distance between the second left limit 8 of the winding point and the ideal winding point 5, the deviation amplitude at the moment is larger, so that the second speed can be quickly adjusted according to the larger second amplitude, and the actual winding point returns to the vicinity of the ideal winding point 5 as soon as possible. Wherein the second amplitude = n x the second speed, n being greater than 0 and less than 0.1. Of course, it should be noted that n is greater than m. And when the actual winding point is positioned on the left side of the second left limit 8 of the winding point, namely the deviation distance of the actual winding point relative to the ideal winding point 5 is greater than the distance between the second left limit 8 of the winding point and the ideal winding point 5, the deviation amplitude is too large at the moment, equipment needs to be shut down and overhauled, so that the first speed and the second speed are adjusted to be zero to stop the horizontal movement and the rotary movement, namely, the shutdown is triggered at the moment. Correspondingly, if the actual winding point is located between the ideal winding point 5 and the first right limit 7 of the winding point, or between the first right limit 7 of the winding point and the second right limit 9 of the winding point, or on the right side of the second right limit 9 of the winding point, the principle is the same as the above, and the description is omitted.
The specific adjustment method will be described by taking the contents shown in fig. 1 as an example. When the actual winding point is located between the ideal winding point 5 and the first left limit of the winding point 6, or between the first left limit of the winding point 6 and the second left limit of the winding point 8, that is, when the actual winding point is located on the left side of the ideal winding point 5, it indicates that the second speed is too fast relative to the first speed, so the second speed needs to be reduced and adjusted, for example, the second speed is reduced according to the first amplitude (when the actual winding point is located between the ideal winding point 5 and the first left limit of the winding point 6) or the second speed is reduced according to the second amplitude (when the actual winding point is located between the first left limit of the winding point 6 and the second left limit of the winding point 8). When the actual winding point is located between the ideal winding point 5 and the first right limit 7 of the winding point, or between the first right limit 7 of the winding point and the second right limit 9 of the winding point, that is, when the actual winding point is located on the right side of the ideal winding point 5, it indicates that the second speed is too slow relative to the first speed, so the second speed needs to be increased and adjusted, for example, the second speed is increased according to the first amplitude (when the actual winding point is located between the ideal winding point 5 and the first right limit 7 of the winding point) or the second speed is increased according to the second amplitude (when the actual winding point is located between the first right limit 7 of the winding point and the second right limit 9 of the winding point).
Meanwhile, the control method further comprises the steps of obtaining the actual value of the first speed through a controller, and adjusting the first speed to enable the actual value of the first speed to be consistent with a set value. In an ideal state, the ratio of the second speed to the first speed is K, so that the winding is uniform, an actual winding point is kept at the ideal winding point, but under the influence of an actual working condition, the coupling between the second speed and the first speed is not accurate enough, the winding is not uniform, even the operation is abnormally stopped, and therefore the first speed and the second speed need to be coupled and adjusted, the winding is uniform, and the actual winding point is kept within a certain allowable range from the ideal winding point.
Of course, as described above, the left and right directions are described by taking the contents shown in fig. 1 as an example. In practical application, the adjustment can be performed according to the actual moving direction and the position of the observer. Therefore, in summary, when the actual winding point deviates to the left with respect to the ideal winding point, the second speed is reduced and adjusted; when the actual winding point deviates to the right relative to the ideal winding point, increasing and adjusting the second speed; or on the contrary, when the actual winding point deviates to the left relative to the ideal winding point, the second speed is increased and adjusted; and when the actual winding point deviates to the right relative to the ideal winding point, reducing and adjusting the second speed.
And finally, the sensor is a displacement sensor, is fixedly positioned near the ideal winding point and is unrelated to the horizontal motion of the main shaft and the rotation motion of the driven shaft, so that the ideal winding point and other points within a certain range from the ideal winding point can be detected. For the ideal winding point, the sensor acquires a nominal distance value, and when the actual winding point deviates to the left relative to the ideal winding point, the sensor acquires that an actually measured distance value is smaller than the nominal distance value; when the actual winding point deviates to the right relative to the ideal winding point, the sensor obtains that the measured distance value is greater than the nominal distance value; or on the contrary, when the actual winding point deviates to the left relative to the ideal winding point, the sensor acquires that the actually measured distance value is greater than the nominal distance value; and when the actual winding point deviates to the right relative to the ideal winding point, the sensor acquires that the actually measured distance value is smaller than the nominal distance value. For example, taking fig. 1 as an example, the displacement sensor is a light sensor, and includes a displacement sensor emitting end 3 and a displacement sensor receiving end 4, which are respectively located at two sides of the main shaft 1, the maximum range covers from the winding point second left limit 8 to the winding point second right limit 9 and is greater than the distance between the winding point second left limit 8 and the winding point second right limit 9, and the left side is a relative starting point of the measured distance, for an ideal winding point 5, the sensor obtains the distance as a standard distance value, and when the actual winding point deviates to the left with respect to the ideal winding point 5, the sensor obtains an actually measured distance value smaller than the nominal distance value; and when the actual winding point deviates to the right relative to the ideal winding point 5, the sensor acquires that the measured distance value is greater than the nominal distance value. Of course, if the right side is the relative starting point for the sensor to measure distance, then the above-described greater-less relationship is reversed.
According to the control method of the two-axis coupling motion, the first speed is adjusted according to the feedback of the first speed, and the second speed of the rotation motion of the driven shaft is adjusted according to the actual winding condition fed back by a sensor in real time; the feedback of the actual value of the first speed of the horizontal movement of the main shaft is obtained through a controller, the first speed is finely adjusted to be infinitely close to the set value of the first speed, so that the relation between the ratio of the first speed and the second speed is maintained to be stable and reduced, the problems of non-uniform winding and incapability of maintaining a winding point or maintaining the winding point for a long time are solved, the auxiliary shaft of the main shaft is favorably adjusted in an extremely short control period, and stable coupling output is realized through dynamic adjustment.
The above description is only an 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 disclosed herein are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (6)
1. A method of controlling a two-axis coupled motion, the two-axis coupled motion comprising: the control method is characterized in that the main shaft moves horizontally at a first speed, the auxiliary shaft rotates around the main shaft at a second speed, and a fixed ideal winding point is arranged between the horizontal movement of the main shaft and the rotation of the auxiliary shaft, and the control method comprises the following steps: and acquiring an actual winding point between the horizontal motion of the main shaft and the rotation motion of the auxiliary shaft through a sensor, and adjusting the second speed according to the deviation condition of the actual winding point relative to the ideal winding point.
2. The method of claim 1, wherein the second speed is adjusted by a first magnitude when the deviation distance of the actual winding point from the ideal winding point is smaller than a first threshold; when the deviation distance of the actual winding point relative to the ideal winding point is larger than or equal to a first threshold value and smaller than or equal to a second threshold value, adjusting the second speed according to a second amplitude; and when the deviation distance of the actual winding point relative to the ideal winding point is greater than a second threshold value, adjusting the first speed and the second speed to be zero to stop the horizontal movement and the rotary movement.
3. The method of claim 1, wherein the second speed is adjusted to decrease when the actual winding point is offset to the left with respect to the ideal winding point; when the actual winding point deviates to the right relative to the ideal winding point, increasing and adjusting the second speed; or on the contrary, when the actual winding point deviates to the left relative to the ideal winding point, the second speed is increased and adjusted; and when the actual winding point deviates to the right relative to the ideal winding point, reducing and adjusting the second speed.
4. The method for controlling two-axis coupled motion according to claim 1, wherein the sensor is a displacement sensor, the sensor is fixedly positioned near the ideal winding point, the position of the displacement sensor is independent of the horizontal motion of the main shaft and the rotational motion of the driven shaft, the sensor obtains a nominal distance value for the ideal winding point, and when the actual winding point deviates to the left relative to the ideal winding point, the sensor obtains an actually measured distance value smaller than the nominal distance value; when the actual winding point deviates to the right relative to the ideal winding point, the sensor obtains that the measured distance value is greater than the nominal distance value; or on the contrary, when the actual winding point deviates to the left relative to the ideal winding point, the sensor acquires that the actually measured distance value is greater than the nominal distance value; and when the actual winding point deviates to the right relative to the ideal winding point, the sensor acquires that the actually measured distance value is smaller than the nominal distance value.
5. The method of controlling two-axis coupled motion according to claim 1, wherein the second speed = K × the first speed, K being a ratio of the second speed to the first speed, and K being greater than 1.
6. The method of claim 1, further comprising obtaining an actual value of the first velocity by a controller, and fine-tuning the first velocity to match the actual value of the first velocity with a set value.
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| CN202010268717.XA CN111488004A (en) | 2020-04-08 | 2020-04-08 | Control method for two-axis coupling motion |
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