CN111813132A - Positioning control method and device, programmable logic controller and readable storage medium - Google Patents
Positioning control method and device, programmable logic controller and readable storage medium Download PDFInfo
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention relates to the technical field of intelligent control, and discloses a positioning control method, a positioning control device, a programmable logic controller and a readable storage medium, wherein the method comprises the following steps: when the movable equipment runs to the speed reduction window, determining a real-time speed coefficient according to the maximum running frequency of the motor and the real-time position uploaded by the encoder; determining a real-time target operating frequency based on the real-time speed coefficient and the maximum operating frequency; and sending the real-time target operation frequency to a frequency converter, so that the frequency converter controls the motor to drive the movable equipment based on the real-time target operation frequency until the movable equipment is positioned to the target position. Therefore, the real-time deceleration coefficient is determined according to the real-time position in the deceleration window, and the corresponding real-time target operation frequency is determined, so that the movable equipment can be decelerated flexibly, and the stability of the equipment positioning accuracy is improved.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to a positioning control method, a positioning control device, a programmable logic controller and a readable storage medium.
Background
With the development of electronic machines, people put higher demands on the accuracy of mechanical operation. A Programmable Logic Controller (PLC) may control the start and stop of the motor based on the real-time position of the mobile device. In the process that the frequency converter driving motor drives the movable equipment to operate and position, the actual position of the movable equipment is monitored and fed back through the encoder attached to the movable equipment, when the actual position reaches a target position, the programmable logic controller sends a stop command to the frequency converter, and the frequency converter controls the motor to stop operating and brake, so that the movable equipment does not move any more.
However, this control method produces a certain positional deviation, and a large shock occurs during a short period when the motor stops operating and the brake is applied.
Disclosure of Invention
The invention provides a positioning control method, a positioning control device, positioning control equipment and a readable storage medium, and aims to improve the stability of the positioning accuracy of the equipment.
In order to achieve the above object, the present invention provides a positioning control method, which is applied to a programmable logic controller, and the method includes:
when the movable equipment runs to the speed reduction window, determining a real-time speed coefficient according to the maximum running frequency of the motor and the real-time position uploaded by the encoder;
determining a real-time target operating frequency based on the real-time speed coefficient and the maximum operating frequency;
and sending the real-time target operation frequency to a frequency converter, so that the frequency converter controls the motor to drive the movable equipment based on the real-time target operation frequency until the movable equipment is positioned to the target position.
Optionally, before the step of determining the real-time speed coefficient according to the maximum operating frequency of the motor and the real-time position uploaded by the encoder when the mobile device is operated to the deceleration window, the method further comprises:
receiving an initial position uploaded by the encoder, and determining a target deceleration distance based on the initial position and a preset target position;
and marking the window corresponding to the target deceleration distance as the deceleration window.
Optionally, the step of determining a target deceleration distance based on the initial position and a preset target position includes:
determining the distance between the initial position and the target position as a reference deceleration distance;
comparing the reference deceleration distance with a maximum deceleration distance;
if the reference deceleration distance is greater than or equal to the maximum deceleration distance, determining the maximum deceleration distance as the target deceleration distance;
and if the reference deceleration distance is smaller than the maximum deceleration distance, determining the reference deceleration distance as the target deceleration distance.
Optionally, the step of comparing the reference deceleration distance with the maximum deceleration distance further comprises:
and determining the ratio of the maximum operating frequency of the motor to a preset deceleration coefficient as the maximum deceleration distance.
Optionally, the step of determining a real-time speed coefficient according to the maximum operating frequency of the motor and the real-time position uploaded by the encoder includes:
determining a real-time deceleration distance based on the real-time position uploaded by the encoder and a preset target position;
calculating the ratio of the maximum operating frequency to the real-time deceleration distance, and determining a correction value of the ratio;
and determining the sine value of the corrective value as the real-time speed coefficient.
Optionally, the step of determining a real-time target operating frequency based on the real-time speed coefficient and the maximum operating frequency comprises:
obtaining the product of the maximum operating frequency and the real-time speed coefficient, and marking the product as a reference frequency;
comparing the reference frequency with a preset minimum running frequency;
if the reference frequency is greater than the minimum operating frequency, determining the reference frequency as a real-time target operating frequency;
and if the reference frequency is less than or equal to the minimum operating frequency, determining the minimum operating frequency as a real-time target operating frequency.
Optionally, after the step of sending the real-time target operating frequency to a frequency converter, the method further includes:
receiving an actual positioning position uploaded by an encoder, and calculating the deviation of the actual positioning position and the target position;
and if the deviation is greater than the deviation threshold value, sending out an alarm message.
In addition, to achieve the above object, the present invention also provides a positioning control device including:
the first determining module is used for determining a real-time speed coefficient according to the maximum operating frequency of the motor and the real-time position uploaded by the encoder when the movable equipment operates to the deceleration window;
a second determination module to determine a real-time target operating frequency based on the real-time speed coefficient and the maximum operating frequency;
and the sending determination module is used for sending the real-time target running frequency to a frequency converter so that the frequency converter controls the motor to drive the movable equipment based on the real-time target running frequency until the movable equipment is positioned to the target position.
In addition, in order to achieve the above object, the present invention further provides a programmable logic controller, which includes a processor, a memory, and a positioning control program stored in the memory, and when the positioning control program is executed by the processor, the steps of the positioning control method described above are implemented.
In addition, to achieve the above object, the present invention further provides a computer readable storage medium, having a positioning control program stored thereon, where the positioning control program is executed by a processor to implement the steps of the positioning control method.
Compared with the prior art, the invention provides a positioning control method, a positioning control device, a programmable logic controller and a readable storage medium, wherein the method comprises the following steps: when the movable equipment runs to the speed reduction window, determining a real-time speed coefficient according to the maximum running frequency of the motor and the real-time position uploaded by the encoder; determining a real-time target operating frequency based on the real-time speed coefficient and the maximum operating frequency; and sending the real-time target operation frequency to a frequency converter, so that the frequency converter controls the motor to drive the movable equipment based on the real-time target operation frequency until the movable equipment is positioned to the target position. Therefore, the real-time deceleration coefficient is determined according to the real-time position in the deceleration window, and the corresponding real-time target operation frequency is determined, so that the movable equipment can be decelerated flexibly, and the stability of the equipment positioning accuracy is improved.
Drawings
FIG. 1 is a schematic diagram of a hardware architecture of a programmable logic controller according to various embodiments of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of the positioning control method of the present invention;
fig. 3 is a schematic diagram of a system architecture related to a first embodiment of the positioning control method of the present invention;
FIG. 4 is a schematic diagram of a first embodiment of a positioning control method according to the present invention;
FIG. 5 is a schematic diagram of a second scenario of the first embodiment of the positioning control method of the present invention
Fig. 6 is a functional block diagram of the positioning control apparatus according to the first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The programmable logic controller mainly related to the embodiment of the invention adopts a programmable memory which is used for storing programs inside, executing instructions facing users such as logic operation, sequence control, timing, counting, arithmetic operation and the like, and controlling various types of machinery or production processes through digital or analog input/output.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of a programmable logic controller according to embodiments of the present invention. In this embodiment of the present invention, the programmable logic controller may include a processor 1001 (e.g., a central processing Unit, CPU), a communication bus 1002, an input port 1003, an output port 1004, and a memory 1005. The communication bus 1002 is used for realizing connection communication among the components; the input port 1003 is used for data input; the output port 1004 is used for data output, the memory 1005 may be a high-speed RAM memory, or a non-volatile memory (non-volatile memory), such as a magnetic disk memory, and the memory 1005 may optionally be a storage device independent of the processor 1001. Those skilled in the art will appreciate that the hardware configuration depicted in FIG. 1 is not intended to be limiting of the present invention, and may include more or less components than those shown, or some components in combination, or a different arrangement of components.
With continued reference to fig. 1, the memory 1005 of fig. 1, which is one type of readable storage medium, may include an operating system, a network communication module, an application program module, and a positioning control program. In fig. 1, the network communication module is mainly used for connecting to a server and performing data communication with the server; the processor 1001 may call the positioning control program stored in the memory 1005 and execute the positioning control method provided by the embodiment of the present invention.
The embodiment of the invention provides a positioning control method.
Referring to fig. 2, fig. 2 is a flowchart illustrating a positioning control method according to a first embodiment of the present invention.
In this embodiment, the positioning control method is applied to a programmable logic controller, and the method includes:
step S101, when the movable equipment runs to a speed reduction window, determining a real-time speed coefficient according to the maximum running frequency of a motor and the real-time position uploaded by an encoder;
the movable device in this embodiment refers to a complete machine device or a movable part in a mechanical device, such as a manipulator, a crane, a large pendulum, a movable tray, etc., which can be moved to a specified position. In this embodiment, the moving range of the movable device is marked as a moving window, and the range in which the movable device starts decelerating to stop is marked as a decelerating window.
Generally, the programmable logic controller cooperates with related components to achieve precise positioning of the device. Specifically, referring to fig. 3, fig. 3 is a schematic diagram of a system architecture related to a first embodiment of the positioning control method of the present invention. The programmable logic controller receives a real-time position fed back by the encoder, calculates a target operation frequency based on the real-time position and sends the target operation frequency to the frequency converter, so that the frequency converter controls the motor to operate based on the target operation frequency, and the motor drives the movable equipment to operate.
The step S101 further includes: receiving an initial position uploaded by the encoder, and determining a target deceleration distance based on the initial position and a preset target position; and marking the window corresponding to the target deceleration distance as the deceleration window.
Specifically, after a positioning instruction is received, the current uploading position of the encoder is marked as an initial position, and a target deceleration distance is determined based on the initial position and a preset target position.
Determining the distance between the initial position and the target position as a reference deceleration distance; comparing the reference deceleration distance with a maximum deceleration distance; if the reference deceleration distance is greater than or equal to the maximum deceleration distance, determining the maximum deceleration distance as the target deceleration distance; and if the reference deceleration distance is smaller than the maximum deceleration distance, determining the reference deceleration distance as the target deceleration distance.
In this embodiment, the running interval corresponding to the maximum deceleration distance is marked as a deceleration window, that is, if the movable device is already located in the deceleration window when the instruction to be positioned is obtained, the reference deceleration distance is determined as the target deceleration distance; and if the movable equipment does not enter the deceleration window, determining the maximum deceleration distance as the target deceleration distance.
Further, the ratio of the maximum operating frequency of the motor to a preset deceleration coefficient is determined as the maximum deceleration distance. If the deceleration distance is too long, the time consumption of the whole process is more, and if the deceleration distance is too short, the purpose of stable deceleration is difficult to achieve. In the present embodiment, the ratio of the maximum operating frequency to the preset deceleration coefficient is determined as the maximum deceleration distance, that is, the maximum deceleration distance = maximum operating frequency/preset deceleration coefficient. The preset deceleration coefficient can be set according to needs, for example, set to 100, 150, or 200, etc. To adapt to various types of movable devices, a compensation value may also be set, and if there is a compensation value, the maximum deceleration distance = maximum operating frequency/preset deceleration coefficient + compensation value. The compensation value is set according to actual conditions, for example, the compensation value is set to 5, 10 and the like.
Specifically, the step S101 includes:
determining a real-time deceleration distance based on the real-time position uploaded by the encoder and a preset target position; calculating the ratio of the maximum operating frequency to the real-time deceleration distance, and determining a correction value of the ratio; and determining the sine value of the corrective value as the real-time speed coefficient.
Since the mobile device is moving all the time, the real-time position obtained by the encoder is updated all the time, and thus the real-time deceleration distance is decreasing. For example, if the real-time position of the mobile device at the last sampling time point is +0.5m, if 0 is taken as the target position, the corresponding real-time deceleration distance is 0.5m, and if the real-time position of the current sampling time point is +0.4m, if 0 is taken as the target position, the corresponding real-time deceleration distance is 0.4 m. It will be appreciated that each motor has a maximum operating frequency determined by its own performance, and operating beyond this maximum operating frequency may cause operational failure or even direct burn-out of the motor. And after the maximum running frequency of the motor is obtained, calculating the ratio of the maximum running frequency to the real-time deceleration distance, multiplying the ratio by a budget correction coefficient to obtain a corresponding correction value, and determining the sine value of the correction value as the real-time speed coefficient. In this embodiment, the correction coefficient is set to 1.57. In the sine function, 1.57 is the value of two decimal points reserved for the arc length corresponding to the semicircle with the central angle of 90 degrees, so the arc length corresponding to 1.57 is less than 90 degrees, and sin1.57 is less than 1 and is about 0.999.
The calculation formula of the real-time speed coefficient can thus be expressed as:
the real-time speed coefficient ranges between 0-1 and varies with the real-time deceleration distance. In actual production, the real-time position uploaded by the encoder may be a positive number or a negative number, and for convenience of calculation, the absolute value of the real-time position uploaded by the encoder may be taken, and then the real-time deceleration distance may be calculated.
After the real-time speed coefficient is determined, executing step S102, and determining a real-time target operating frequency based on the real-time speed coefficient and the maximum operating frequency;
it will be appreciated that the motor is also provided with a minimum operating frequency, the actual frequency of the motor being between the maximum and minimum operating frequencies during normal operation of the motor.
When the target operation frequency is determined, marking the product of the maximum operation frequency and the real-time speed coefficient at the current moment as a reference frequency, then judging whether the reference frequency is greater than the minimum operation frequency of the motor, specifically, comparing the reference frequency with a preset minimum operation frequency to obtain the magnitude comparison result of the reference frequency and the preset minimum operation frequency; if the comparison result shows that the reference frequency is greater than the minimum operating frequency, the reference frequency is within the frequency of normal operation of the motor, so that the reference frequency can be determined as a real-time target operating frequency; if the comparison result is that the reference frequency is less than or equal to the minimum operating frequency, it indicates that the reference frequency is lower than the minimum operating frequency of the motor, and at this time, if the motor operates at the reference frequency, the operating frequency of the motor may be too low to cause the motor to malfunction, so the minimum operating frequency may be determined as the real-time target operating frequency.
After determining the target operating frequency, executing the step S103: and sending the real-time target operation frequency to a frequency converter, so that the frequency converter controls the motor to drive the movable equipment based on the real-time target operation frequency until the movable equipment is positioned to the target position.
And sending the real-time target running frequency to a frequency converter for controlling the motor, so that the frequency converter controls the motor to run based on the real-time target running frequency to drive the movable equipment until the movable equipment is positioned to the target position. And after the movable equipment completes the relevant operation at the target position, controlling the movable equipment to return to the initial position or executing the next operation task.
The operating frequency of the motor is gradually reduced in the deceleration window, and the speed of the corresponding movable equipment is also gradually reduced. Specifically, referring to fig. 4, fig. 4 is a schematic view of a first embodiment of the positioning control method according to the present invention. As shown in fig. 4, the movable apparatus starts entering the deceleration window at point a, point D is a preset target position, point C indicates that the motor operation frequency reaches the minimum operation frequency, and points B1, B2, and B3 indicate a plurality of process points within the deceleration window. Figure 4 clearly shows that: and in the deceleration window, the target running frequency is gradually reduced along with the reduction of the target distance. The purpose of flexible deceleration is realized. And because the speed is gradually reduced, the shaking caused by inertia at the stop moment can be greatly reduced, and the stability of the movable equipment is greatly improved.
Further, after the step S103, the method further includes: receiving an actual positioning position uploaded by an encoder, and calculating the deviation of the actual positioning position and the target position; and if the deviation is greater than the deviation threshold value, sending out an alarm message. And after the movable equipment is driven by the motor to run and stop, obtaining the actual positioning position again through the encoder attached to the movable equipment, calculating the deviation between the actual positioning position and the target position, comparing the deviation with a preset deviation threshold value, and if the deviation is greater than the deviation threshold value, sending out a warning message for a monitoring person to make a decision based on the warning message.
In addition, in other embodiments, if the programmable logic controller and the frequency converter are in direct communication abnormality, or for the frequency converter without a communication module, the frequency converter can be controlled by using a terminal control function in a segment speed mode. Specifically, the real-time target operation frequency is compared with a plurality of preset segment speeds, and if the target operation frequency is smaller than a preset first segment speed, the motor is controlled to operate at the preset first segment speed; if the target running frequency is greater than or equal to the first segment speed and less than a preset second segment speed, controlling the motor to run at the preset second segment speed; and if the target running frequency is greater than or equal to the second segment speed and less than a preset third segment speed, controlling the motor to run at the preset third segment speed. Wherein the preset first segment speed is smaller than the preset second segment speed and smaller than the preset third segment speed.
In addition, the positioning control method further includes an output step of outputting the current operating parameters and the state of the mobile device at each operating stage, specifically, referring to fig. 5, where fig. 5 is a schematic diagram of a second scenario of the first embodiment of the positioning control method of the present invention. As shown in fig. 5, the parameters output by the programmable logic controller include Parameter _ container (control Parameter); command _ state (command & status); parameter _ Position (Position recording); encoder _ value (encoder value, i.e. real time position); dir1 (indicating forward rotation); dir2 (indicating inversion); out _ speed1 (indicating that the segment speed of the terminal control is the first budget segment speed); out _ speed2 (indicating that the segment speed of the terminal control is the second budget segment speed); speed (representing the target operating frequency of the inverter output). Generally, the actual position obtained by the encoder is subtracted from the target position to obtain a signed difference data. If the difference data is greater than 0, the operation direction can be judged to be positive, and dir1 has a signal output; if the difference data is less than 0, it can be determined that the operation direction is negative, and dir2 has a signal output.
Based on the scheme, when the movable equipment runs to the deceleration window, the real-time speed coefficient is determined according to the maximum running frequency of the motor and the real-time position uploaded by the encoder; determining a real-time target operating frequency based on the real-time speed coefficient and the maximum operating frequency; and sending the real-time target operation frequency to a frequency converter, so that the frequency converter controls the motor to drive the movable equipment based on the real-time target operation frequency until the movable equipment is positioned to the target position. Therefore, the real-time deceleration coefficient is determined according to the real-time position in the deceleration window, and the corresponding real-time target operation frequency is determined, so that the movable equipment can be decelerated flexibly, and the stability of the equipment positioning accuracy is improved.
In addition, the embodiment also provides a positioning control device. Referring to fig. 6, fig. 6 is a functional block diagram of the positioning control device according to the first embodiment of the present invention.
In this embodiment, the positioning control device is a virtual device, and is stored in the memory 1005 of the positioning control apparatus shown in fig. 1, so as to implement all functions of the positioning control program: the real-time speed coefficient is determined according to the maximum running frequency of the motor and the real-time position uploaded by the encoder when the movable equipment runs to the speed reduction window; for determining a real-time target operating frequency based on the real-time speed coefficient and the maximum operating frequency; and the frequency converter is used for sending the real-time target running frequency to a frequency converter so as to control the motor to drive the movable equipment based on the real-time target running frequency until the movable equipment is positioned to the target position.
Specifically, the positioning control device includes:
the first determining module 10 is configured to determine a real-time speed coefficient according to a maximum operating frequency of the motor and a real-time position uploaded by the encoder when the mobile device operates to the deceleration window;
a second determination module 20 for determining a real-time target operating frequency based on the real-time speed coefficient and the maximum operating frequency;
and a sending determination module 30, configured to send the real-time target operating frequency to a frequency converter, so that the frequency converter controls the motor to drive the movable device based on the real-time target operating frequency until the movable device is located at the target position.
Further, the first determining module is further configured to:
receiving an initial position uploaded by the encoder, and determining a target deceleration distance based on the initial position and a preset target position;
and marking the window corresponding to the target deceleration distance as the deceleration window.
Further, the first determining module is further configured to:
determining the distance between the initial position and the target position as a reference deceleration distance;
comparing the reference deceleration distance with a maximum deceleration distance;
if the reference deceleration distance is greater than or equal to the maximum deceleration distance, determining the maximum deceleration distance as the target deceleration distance;
and if the reference deceleration distance is smaller than the maximum deceleration distance, determining the reference deceleration distance as the target deceleration distance.
Further, the first determining module is further configured to:
and determining the ratio of the maximum operating frequency of the motor to a preset deceleration coefficient as the maximum deceleration distance.
Further, the first determining module is further configured to:
determining a real-time deceleration distance based on the real-time position uploaded by the encoder and a preset target position;
calculating the ratio of the maximum operating frequency to the real-time deceleration distance, and determining a correction value of the ratio;
and determining the sine value of the corrective value as the real-time speed coefficient.
Further, the first determining module is further configured to: obtaining the product of the maximum operating frequency and the real-time speed coefficient, and marking the product as a reference frequency;
comparing the reference frequency with a preset minimum running frequency;
if the reference frequency is greater than the minimum operating frequency, determining the reference frequency as a real-time target operating frequency;
and if the reference frequency is less than or equal to the minimum operating frequency, determining the minimum operating frequency as a real-time target operating frequency.
Further, the second determining module is further configured to:
receiving an actual positioning position uploaded by an encoder, and calculating the deviation of the actual positioning position and the target position;
and if the deviation is greater than the deviation threshold value, sending out an alarm message.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where a positioning control program is stored on the computer-readable storage medium, and when the positioning control program is executed by a processor, the positioning control method is implemented.
Compared with the prior art, the positioning control method, the positioning control device, the programmable logic controller and the readable storage medium provided by the invention comprise the following steps: when the movable equipment runs to the speed reduction window, determining a real-time speed coefficient according to the maximum running frequency of the motor and the real-time position uploaded by the encoder; determining a real-time target operating frequency based on the real-time speed coefficient and the maximum operating frequency; and sending the real-time target operation frequency to a frequency converter, so that the frequency converter controls the motor to drive the movable equipment based on the real-time target operation frequency until the movable equipment is positioned to the target position. Therefore, the real-time deceleration coefficient is determined according to the real-time position in the deceleration window, and the corresponding real-time target operation frequency is determined, so that the movable equipment can be decelerated flexibly, and the stability of the equipment positioning accuracy is improved.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a readable storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes several instructions for causing a terminal device to execute the method according to the embodiments of the present invention.
The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and all equivalent structures or flow transformations made by the present specification and drawings, or applied directly or indirectly to other related arts, are included in the scope of the present invention.
Claims (10)
1. A positioning control method is applied to a programmable logic controller, and comprises the following steps:
when the movable equipment runs to the speed reduction window, determining a real-time speed coefficient according to the maximum running frequency of the motor and the real-time position uploaded by the encoder;
determining a real-time target operating frequency based on the real-time speed coefficient and the maximum operating frequency;
and sending the real-time target operation frequency to a frequency converter, so that the frequency converter controls the motor to drive the movable equipment based on the real-time target operation frequency until the movable equipment is positioned to the target position.
2. The method of claim 1, wherein the step of determining a real-time velocity coefficient based on a maximum operating frequency of the motor and a real-time position uploaded by the encoder when the mobile device is operating in the deceleration window further comprises:
receiving an initial position uploaded by the encoder, and determining a target deceleration distance based on the initial position and a preset target position;
and marking the window corresponding to the target deceleration distance as the deceleration window.
3. The method of claim 2, wherein the step of determining a target deceleration distance based on the initial position and a preset target position comprises:
determining the distance between the initial position and the target position as a reference deceleration distance;
comparing the reference deceleration distance with a maximum deceleration distance;
if the reference deceleration distance is greater than or equal to the maximum deceleration distance, determining the maximum deceleration distance as the target deceleration distance;
and if the reference deceleration distance is smaller than the maximum deceleration distance, determining the reference deceleration distance as the target deceleration distance.
4. The method of claim 3, wherein the step of comparing the reference deceleration distance to a maximum deceleration distance is preceded by:
and determining the ratio of the maximum operating frequency of the motor to a preset deceleration coefficient as the maximum deceleration distance.
5. The method of claim 1, wherein the step of determining a real-time speed coefficient based on a maximum operating frequency of the motor and a real-time position uploaded by the encoder comprises:
determining a real-time deceleration distance based on the real-time position uploaded by the encoder and a preset target position;
calculating the ratio of the maximum operating frequency to the real-time deceleration distance, and determining a correction value of the ratio;
and determining the sine value of the corrective value as the real-time speed coefficient.
6. The method of claim 1, wherein the step of determining a real-time target operating frequency based on the real-time speed coefficient and the maximum operating frequency comprises:
obtaining the product of the maximum operating frequency and the real-time speed coefficient, and marking the product as a reference frequency;
comparing the reference frequency with a preset minimum running frequency;
if the reference frequency is greater than the minimum operating frequency, determining the reference frequency as a real-time target operating frequency;
and if the reference frequency is less than or equal to the minimum operating frequency, determining the minimum operating frequency as a real-time target operating frequency.
7. The method of claim 1, wherein the step of sending the real-time target operating frequency to a frequency converter is further followed by:
receiving an actual positioning position uploaded by an encoder, and calculating the deviation of the actual positioning position and the target position;
and if the deviation is greater than the deviation threshold value, sending out an alarm message.
8. A positioning control device, characterized in that the positioning control device comprises:
the first determining module is used for determining a real-time speed coefficient according to the maximum operating frequency of the motor and the real-time position uploaded by the encoder when the movable equipment operates to the deceleration window;
a second determination module to determine a real-time target operating frequency based on the real-time speed coefficient and the maximum operating frequency;
and the sending determination module is used for sending the real-time target running frequency to a frequency converter so that the frequency converter controls the motor to drive the movable equipment based on the real-time target running frequency until the movable equipment is positioned to the target position.
9. A programmable logic controller, characterized in that it comprises a processor, a memory and a positioning control program stored in the memory, which positioning control program, when executed by the processor, implements the steps of the positioning control method according to any one of claims 1-7.
10. A computer-readable storage medium, having a positioning control program stored thereon, which, when executed by a processor, implements the steps of the positioning control method according to any one of claims 1-7.
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