CN111900898A - Double-drive intelligent synchronization method for portal frame traveling mechanism - Google Patents
Double-drive intelligent synchronization method for portal frame traveling mechanism Download PDFInfo
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention discloses a double-drive intelligent synchronization method for a portal frame traveling mechanism, which comprises the steps of firstly controlling double-drive synchronous traveling, actually measuring position deviation and realizing a path recognition process; then controlling the dual drives to respectively mainly perform tracking walking, and actually measuring tracking attenuation oscillation and respective speed change curves to realize the familiar and memory processes; finally, a synchronous dynamic speed curve is obtained, so that a blind walking scene can be realized, and high-speed and high-precision synchronization can be realized. The invention can control double-drive high-speed high-precision synchronization.
Description
Technical Field
The invention relates to the technical field of mechanical control, in particular to a double-drive intelligent synchronization method for a portal frame walking mechanism.
Background
Portal frame running gear is applied to industrial robot usually, for example welding robot, laser cutting robot etc. portal frame running gear includes the longeron of two parallels and strides the walking crossbeam of establishing on two longerons, the both ends of walking crossbeam are equipped with the first actuating mechanism and the second actuating mechanism that the structure is the same respectively, first actuating mechanism and second actuating mechanism can drive the walking crossbeam and walk on two longerons, industrial robot installs on the walking crossbeam, follow the walking crossbeam and walk.
Although the first driving mechanism and the second driving mechanism adopt the same transmission device and control method, the load fluctuation is caused by the machining manufacturing error and the dynamic coupling between the first driving mechanism and the second driving mechanism, so that the unbalance of a driving system is easily caused, the asynchronous phenomenon of the first driving mechanism and the second driving mechanism is caused, and the machining precision is influenced.
The synchronous control (called as double-drive synchronous control) of the first driving mechanism and the second driving mechanism not only ensures the accurate control of a single shaft (the driving mechanism is usually a motor and outputs power through a motor output shaft), so that the single shaft has faster following responsiveness and better anti-interference performance, but also realizes the synchronous cooperation between the double shafts, and the required high precision and high stability of the synchronous control correspondingly provide higher requirements for the synchronous performance and the control technology of the double-drive system. The double-drive synchronous control technology does not completely form the theory of a system as a research basis, so that the double-drive synchronous control technology is significant in research on the synchronous performance of the double-drive synchronous control.
In the double-drive synchronous control system, the synchronization means that the movement speeds of the first driving mechanism and the second driving mechanism are kept consistent. The traditional double-drive synchronous control mainly adopts a mechanical main shaft synchronous mode, namely, a high-power main motor is adopted to drive a mechanical main shaft, and the motion of the main motor is respectively transmitted to two synchronous shafts through transmission mechanisms such as synchronous belts and gears, the synchronous mode generally occupies a large space, and the fluctuation of mechanical parameters such as gear transmission ratio can cause the change of transmission ratio and rotating speed of the double shafts, so that uncertainty errors caused by mechanical gaps are generated, the synchronous control precision is low, and the defects limit the further application of the mechanical synchronous mode.
Through the long-term research of domestic and foreign scholars on synchronous control and the continuous development of a servo control technology, people gradually find that an electric synchronous control mode is not limited by the use space of numerical control equipment, the uncertainty error caused by mechanical clearance is smaller, and the electric synchronous control method has the advantages of being unique compared with the traditional mechanical synchronous mode, and can realize the control with higher precision and better synchronism. The current double-drive synchronous control strategy mainly comprises three structural modes: parallel control, master-slave control and cross-coupling control.
The architecture of the parallel control system is shown in fig. 1, and the parallel control system is a relatively simple double-drive synchronous control system and adopts two sets of parallel servo drive shafts with completely identical structures and parameters. The two shafts do not have any interaction and influence, belong to a synchronous open-loop control system, have certain accumulated errors and synchronous errors, and are generally only suitable for occasions with low precision requirements.
The structure of the master-slave control system is shown in fig. 2, the master-slave control system adopts a mode that a driving shaft drives a driven shaft, namely, the output of the driving shaft is used as the input of the driven shaft, when the driving shaft is disturbed and influenced in the control mode, the output can be reflected on the driven shaft, the driven shaft can correspondingly follow and adjust to keep certain synchronism, but a tracking error of the shaft can also be formed due to the time delay of a servo system. On the contrary, the driven shaft can not be reflected on the driving shaft when being disturbed and influenced, the driving shaft can not carry out corresponding following and adjustment, synchronous errors can be generated between the two shafts, and the application has certain limitation.
The structure of the cross-coupling control system is shown in fig. 3, the position difference and the speed difference of each shaft input are used as feedback signals, and the system performs corresponding error compensation, so that the defects that the input delay and disturbance of the shaft can not be fed back to the main shaft in a master-slave control mode are overcome, and the synchronization performance is better.
The double-drive synchronous control strategies are all traditional concepts, are mechanized in thinking, cause hardware resource waste due to repeated error correction, and are not ideal in high-speed synchronization effect. The method is not suitable for the era of intelligent machines, and a better learning synchronization strategy is needed to adapt to the upgrading of the intelligent equipment industry.
Disclosure of Invention
The invention aims to provide a double-drive intelligent synchronization method for a portal frame traveling mechanism, which can control double-drive high-speed high-precision synchronization.
In order to solve the technical problems, the invention adopts a technical scheme that: the double-drive intelligent synchronization method for the portal frame travelling mechanism is characterized by comprising the following steps of:
s1: and simultaneously controlling the first driving mechanism and the second driving mechanism to drive the walking beam to walk for a preset stroke at a preset speed, and measuring the position deviation of actual strokes at two ends of the walking beam in real time.
S2: and repeating the step S1, judging whether the difference value between the position deviation of the first time and the position deviation of the second time is larger than the set value, and if not, executing the step S3.
S3: and calculating a position deviation curve according to the position deviation of the second time.
S4: and judging whether the number of the position deviation curves reaches 3, if so, performing step S5, otherwise, increasing the preset speed by a preset speed increment, and repeatedly performing a round of steps S1-S3.
S5: calculating an average position deviation curve according to the 3 position deviation curves, wherein the calculation formula is as follows:
ΔF＝{[F(x3)-F(x2)]/ΔV+[F(x2)-F(x1)]/ΔV}/2
F(X)＝V×(ΔF/ΔV)
where Δ V is the predetermined speed increment, F (x1) is a position deviation curve obtained after the first round of position deviation measurement, F (x2) is a position deviation curve obtained after the second round of position deviation measurement, F (x3) is a position deviation curve obtained after the third round of position deviation measurement, F (x) is an average position deviation curve, and V is a command speed, which is greater than a preset speed at the time of the third round of position deviation measurement.
S6: and controlling the first driving mechanism to drive the walking beam to walk for a preset time, and measuring the tracking over-tolerance of the actual strokes at two ends of the walking beam in real time.
S7: repeating the step S6 for two rounds, and calculating the speed variation curve of the first driving mechanism according to the tracking out-of-tolerance measured by the three rounds, wherein the calculation formula is as follows:
Δt＝(t3-t2+t2-t1)/2
r1＝(l3-l2+l2-l1)/Δt
f(v1)＝M×V×F(X)/r1
wherein t1 is a preset time of the first wheel, t2 is a preset time of the second wheel, t3 is a preset time of the third wheel, r1 is a tracking attenuation oscillation rate of the first driving mechanism, l1 is a tracking out-of-tolerance of the first wheel, l2 is a tracking out-of-tolerance of the second wheel, l3 is a tracking out-of-tolerance of the third wheel, M is a synchronization coefficient, and f (v1) is a speed change curve of the first driving mechanism.
S8: and controlling the second driving mechanism to drive the walking beam to walk for a preset time, and measuring the tracking over-tolerance of the actual strokes at two ends of the walking beam in real time.
S9: repeating the step S8 for two rounds, and calculating the speed variation curve of the second driving mechanism according to the tracking out-of-tolerance measured by the three rounds, wherein the calculation formula is as follows:
Δt＝(t3-t2+t2-t1)/2
r2＝(l3-l2+l2-l1)/Δt
f(v2)＝M×V×F(X)/r2
wherein r2 is the tracking damping oscillation rate of the second driving mechanism, and f (v2) is the speed variation curve of the second driving mechanism.
Wherein the damping oscillation curves of the two drive mechanisms are different for different speeds. Therefore, three times of master-slave control walking sampling are needed, and the walking speed of each time is increased progressively, so as to calculate the tracking attenuation oscillation rate.
S10: calculating an average speed change curve according to the speed change curve of the first driving mechanism and the speed change curve of the second driving mechanism, wherein the calculation formula is as follows:
f(v)＝{f(v1)+f(v2)}/2。
s11: and calculating synchronous dynamic speed curves of the first driving mechanism and the second driving mechanism according to the average speed change curve, wherein the calculation formula is as follows:
F(v)＝μf(v)
wherein F (v) is a synchronous dynamic velocity curve, and μ is a synchronous precision difference ratio.
Preferably, the step S2 further includes: if so, go to step S12;
s12: step S1 is repeated until the difference between the first-time positional deviation and the second-time positional deviation is smaller than the set value.
Different from the prior art, the invention has the beneficial effects that: the method realizes high-speed and high-precision double-drive synchronous control by simulating the road identifying process of a human and utilizing identification memory, and abandons the complex processes of repeated closed loop, tracking, cross coupling and the like, so that the control is simpler and more convenient.
Drawings
FIG. 1 is an architecture diagram of a parallel control system;
fig. 2 is an architecture diagram of a master-slave control system.
Fig. 3 is an architecture diagram of a cross-coupled control system.
Fig. 4 is a schematic flow chart of a double-drive intelligent synchronization method for a gantry crane traveling mechanism 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.
Referring to fig. 4, in the embodiment of the present invention, the gantry traveling mechanism includes two parallel longitudinal beams and a traveling beam straddling the two longitudinal beams, a first driving mechanism and a second driving mechanism having the same structure are respectively disposed at two ends of the traveling beam, and the first driving mechanism and the second driving mechanism can drive the traveling beam to travel on the two longitudinal beams, and the dual-drive intelligent synchronization method of the embodiment includes the following steps:
s1: simultaneously controlling the first driving mechanism and the second driving mechanism to drive the walking beam to walk for a preset stroke at a preset speed, and measuring the position deviation of actual strokes at two ends of the walking beam in real time;
s2: repeating the step S1, judging whether the difference value between the first position deviation and the second position deviation is larger than the set value, if not, executing the step S3;
s3: calculating a position deviation curve according to the position deviation of the second time;
s4: judging whether the number of the position deviation curves reaches 3, if so, performing step S5, otherwise, increasing the preset speed by a preset speed increment, and repeatedly performing a round of steps S1 to S3;
s5: calculating an average position deviation curve according to the 3 position deviation curves, wherein the calculation formula is as follows:
ΔF＝{[F(x3)-F(x2)]/ΔV+[F(x2)-F(x1)]/ΔV}/2
F(X)＝V×(ΔF/ΔV)
wherein Δ V is the predetermined speed increment, F (x1) is a position deviation curve obtained after the position deviation is measured in the first round, F (x2) is a position deviation curve obtained after the position deviation is measured in the second round, F (x3) is a position deviation curve obtained after the position deviation is measured in the third round, F (x) is an average position deviation curve, and V is a command speed which is greater than a preset speed when the position deviation is measured in the third round;
s6: controlling a first driving mechanism to drive a walking beam to walk for a preset time, and measuring the tracking over-tolerance of actual strokes at two ends of the walking beam in real time;
s7: repeating the step S6 for two rounds, and calculating the speed variation curve of the first driving mechanism according to the tracking out-of-tolerance measured by the three rounds, wherein the calculation formula is as follows:
Δt＝(t3-t2+t2-t1)/2
r1＝(l3-l2+l2-l1)/Δt
f(v1)＝M×V×F(X)/r1
wherein t1 is a preset time of the first wheel, t2 is a preset time of the second wheel, t3 is a preset time of the third wheel, r1 is a tracking attenuation oscillation rate of the first driving mechanism, l1 is a tracking out-of-tolerance of the first wheel, l2 is a tracking out-of-tolerance of the second wheel, l3 is a tracking out-of-tolerance of the third wheel, M is a synchronization coefficient, and f (v1) is a speed change curve of the first driving mechanism.
The unit of the synchronous coefficient M is 1/S, which is determined by the inertia of the mechanical structure and is obtained by experiments.
S8: controlling a second driving mechanism to drive the walking beam to walk for a preset time, and measuring the tracking over-tolerance of actual strokes at two ends of the walking beam in real time;
s9: repeating the step S8 for two rounds, and calculating the speed variation curve of the second driving mechanism according to the tracking out-of-tolerance measured by the three rounds, wherein the calculation formula is as follows:
Δt＝(t3-t2+t2-t1)/2
r2＝(l3-l2+l2-l1)/Δt
f(v2)＝M×V×F(X)/r2
wherein r2 is the tracking damping oscillation rate of the second driving mechanism, and f (v2) is the speed change curve of the second driving mechanism;
s10: calculating an average speed change curve according to the speed change curve of the first driving mechanism and the speed change curve of the second driving mechanism, wherein the calculation formula is as follows:
f(v)＝{f(v1)+f(v2)}/2
s11: and calculating synchronous dynamic speed curves of the first driving mechanism and the second driving mechanism according to the average speed change curve, wherein the calculation formula is as follows:
F(v)＝μf(v)
wherein F (v) is a synchronous dynamic velocity curve, and μ is a synchronous precision difference ratio.
The synchronization precision difference ratio mu is a linear proportionality coefficient, determines the overall deviation condition of the dynamic speed change curve, is determined by the actually measured synchronization precision intermediate value, and is obtained through experiments.
The movement speeds of the first driving mechanism and the second driving mechanism are controlled through the synchronous dynamic speed curve F (v), so that the movement precision of the first driving mechanism and the second driving mechanism can be approached, and a blind walking scene is realized.
In this embodiment, step S2 further includes: if so, go to step S12;
s12: step S1 is repeated until the difference between the first-time positional deviation and the second-time positional deviation is smaller than the set value.
Through the mode, the double-drive intelligent synchronization method for the portal frame traveling mechanism firstly controls double-drive synchronous traveling, actually measures position deviation and realizes a path identifying process; then controlling the dual drives to respectively mainly perform tracking walking, and actually measuring tracking attenuation oscillation and respective speed change curves to realize the familiar and memory processes; finally, a synchronous dynamic speed curve is obtained, so that a blind walking scene can be realized, and high-speed and high-precision synchronization can be realized.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (2)
1. The double-drive intelligent synchronization method for the portal frame travelling mechanism comprises two parallel longitudinal beams and a travelling cross beam arranged on the two longitudinal beams in a crossing mode, wherein a first driving mechanism and a second driving mechanism which are identical in structure are arranged at two ends of the travelling cross beam respectively, and the first driving mechanism and the second driving mechanism can drive the travelling cross beam to travel on the two longitudinal beams, and is characterized in that the double-drive intelligent synchronization method comprises the following steps:
s1: simultaneously controlling the first driving mechanism and the second driving mechanism to drive the walking beam to walk for a preset stroke at a preset speed, and measuring the position deviation of actual strokes at two ends of the walking beam in real time;
s2: repeating the step S1, judging whether the difference value between the first position deviation and the second position deviation is larger than the set value, if not, executing the step S3;
s3: calculating a position deviation curve according to the position deviation of the second time;
s4: judging whether the number of the position deviation curves reaches 3, if so, performing step S5, otherwise, increasing the preset speed by a preset speed increment, and repeatedly performing a round of steps S1 to S3;
s5: calculating an average position deviation curve according to the 3 position deviation curves, wherein the calculation formula is as follows:
ΔF＝{[F(x3)-F(x2)]/ΔV+[F(x2)-F(x1)]/ΔV}/2
F(X)＝V×(ΔF/ΔV)
wherein Δ V is the predetermined speed increment, F (x1) is a position deviation curve obtained after the position deviation is measured in the first round, F (x2) is a position deviation curve obtained after the position deviation is measured in the second round, F (x3) is a position deviation curve obtained after the position deviation is measured in the third round, F (x) is an average position deviation curve, and V is a command speed which is greater than a preset speed when the position deviation is measured in the third round;
s6: controlling a first driving mechanism to drive a walking beam to walk for a preset time, and measuring the tracking over-tolerance of actual strokes at two ends of the walking beam in real time;
s7: repeating the step S6 for two rounds, and calculating the speed variation curve of the first driving mechanism according to the tracking out-of-tolerance measured by the three rounds, wherein the calculation formula is as follows:
Δt＝(t3-t2+t2-t1)/2
r1＝(l3-l2+l2-l1)/Δt
f(v1)＝M×V×F(X)/r1
wherein t1 is a preset time of the first wheel, t2 is a preset time of the second wheel, t3 is a preset time of the third wheel, r1 is a tracking attenuation oscillation rate of the first driving mechanism, l1 is a tracking out-of-tolerance of the first wheel, l2 is a tracking out-of-tolerance of the second wheel, l3 is a tracking out-of-tolerance of the third wheel, M is a synchronization coefficient, and f (v1) is a speed change curve of the first driving mechanism;
s8: controlling a second driving mechanism to drive the walking beam to walk for a preset time, and measuring the tracking over-tolerance of actual strokes at two ends of the walking beam in real time;
s9: repeating the step S8 for two rounds, and calculating the speed variation curve of the second driving mechanism according to the tracking out-of-tolerance measured by the three rounds, wherein the calculation formula is as follows:
Δt＝(t3-t2+t2-t1)/2
r2＝(l3-l2+l2-l1)/Δt
f(v2)＝M×V×F(X)/r2
wherein r2 is the tracking damping oscillation rate of the second driving mechanism, and f (v2) is the speed change curve of the second driving mechanism;
s10: calculating an average speed change curve according to the speed change curve of the first driving mechanism and the speed change curve of the second driving mechanism, wherein the calculation formula is as follows:
f(v)＝{f(v1)+f(v2)}/2
s11: and calculating synchronous dynamic speed curves of the first driving mechanism and the second driving mechanism according to the average speed change curve, wherein the calculation formula is as follows:
F(v)＝μf(v)
wherein F (v) is a synchronous dynamic velocity curve, and μ is a synchronous precision difference ratio.
2. The dual-drive intelligent synchronization method according to claim 1, wherein the step S2 further comprises: if so, go to step S12;
s12: step S1 is repeated until the difference between the first-time positional deviation and the second-time positional deviation is smaller than the set value.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112448621A (en) * | 2020-12-14 | 2021-03-05 | 徐州市工大三森科技有限公司 | Method and device for synchronously driving tank door by double motors |
| CN112904741A (en) * | 2021-01-14 | 2021-06-04 | 上海交通大学 | High-precision synchronous control method and system for double-drive gantry truss system |
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2020
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112448621A (en) * | 2020-12-14 | 2021-03-05 | 徐州市工大三森科技有限公司 | Method and device for synchronously driving tank door by double motors |
| CN112904741A (en) * | 2021-01-14 | 2021-06-04 | 上海交通大学 | High-precision synchronous control method and system for double-drive gantry truss system |
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Application publication date: 20201106 |