CN112596465A - Multi-axis synchronous control method and control system - Google Patents
Multi-axis synchronous control method and control system Download PDFInfo
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- CN112596465A CN112596465A CN202011355423.7A CN202011355423A CN112596465A CN 112596465 A CN112596465 A CN 112596465A CN 202011355423 A CN202011355423 A CN 202011355423A CN 112596465 A CN112596465 A CN 112596465A
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- control method
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus
Abstract
The invention discloses a multi-axis synchronous control method and a multi-axis synchronous control system, which comprise an adjusting device, wherein the adjusting device comprises a plurality of motors and a lifting structure, and comprises the following steps: carrying out serial communication on a controller and a plurality of motor drivers, and carrying out data exchange between the controller and the motor drivers through an Ethercat communication protocol, wherein the controller records current encoder values of a plurality of motors and records the current encoder values as initial positions; the controller obtains the target height required to be adjusted by the adjusting device and transmits information to the controller, and the controller calculates a corresponding control command, converts the command into a motion command and transmits the motion command to the motor driver for execution. Compared with the prior art, the invention can control all lifting structures to be always synchronous according to the movement distance of each lifting structure in real time, so that industrial equipment arranged on the adjusting device can be lifted in parallel when the center of gravity moves, and the plane angle of the industrial equipment is kept unchanged, so that the industrial equipment can obtain a stable reference coordinate system.
Description
Technical Field
The invention relates to the technical field of mechanical control, in particular to a multi-axis synchronous control method and a multi-axis synchronous control system.
Background
In many industrial equipment, in order to increase the application range of the industrial equipment, an adjusting device is often added to a base of the industrial equipment, and when the industrial equipment reaches a limit range but the distance is still insufficient, the operating range of the industrial equipment can be increased by controlling the adjusting device. For example, the industrial robot is mounted on a vertically movable adjusting device, so that the vertical working range of the industrial robot can be expanded.
The existing adjusting device mainly comprises a manual lifting type, a push rod type and a single motor type. Manual over-and-under type passes through the manual work and rotates the hand wheel regulation, lacks the automation, and the push-down type is adjusted through the mode of control push rod switching on and off, and the bearing capacity is less, and the accuracy control is not accurate, and single motor formula is through the operation of a plurality of elevation structure of single motor coaxial drive, and the axiality is adjusted, or needs the power of motor very greatly to cause the volume very big, or need increase the speed reducer, can also cause energy loss when occupation space.
Still another scheme is for using a plurality of motors to drive the operation of elevation structure respectively, and this scheme has solved the shortcoming that above-mentioned three kinds of regulation methods exist, but need carry out synchro control to a plurality of elevation structures, and if the industrial equipment focus of installing on adjusting device is not fixed, for example industrial robot arm is when the operation, adopt simple synchronous on-off electric control and can not guarantee that every elevation structure can extend or shorten unified distance, and the elevation structure is adjusted asynchronous just causes adjusting device to block easily, perhaps causes the angular migration of industrial equipment, influences the operation precision of industrial equipment.
Disclosure of Invention
The invention aims to overcome the technical defects, and provides a multi-axis synchronous control method and a multi-axis synchronous control system, which solve the technical problem that when a plurality of lifting structures are adopted for synchronous control in an adjusting device in the prior art, if the gravity center of industrial equipment installed on the adjusting device is not fixed, for example, when an industrial mechanical arm works, the uniform distance of each lifting structure can not be ensured to be extended or shortened by adopting simple synchronous power-on and power-off control.
A multi-axis synchronous control method comprises an adjusting device, wherein the adjusting device comprises a plurality of motors and a lifting structure, and the method comprises the following steps:
the controller and the motor driver are in serial communication, data interaction is carried out between the controller and the motor driver through an Ethercat protocol, and the controller records the current positions of the motors and is used as an initial position for recording;
acquiring a target position required to be adjusted by an adjusting device and transmitting information into the controller, wherein the controller calculates a corresponding control command and converts the command into a motion instruction to be transmitted to a motor driver for execution;
calculating the relative change between the current position and the initial position of the motor, defining one of the motors as a reference motor, and calculating the compensation data required by the other motors relative to the reference motor;
and the motor driver continues to drive the motor to operate according to the compensation amount data until the compensation amount data is consistent with the reference motor.
In a preferred embodiment, the adjustment device is leveled before the initial position of the motor is registered.
In a preferred embodiment, a tilt sensor or a level gauge is used for real-time detection during leveling.
In a preferred embodiment, when calculating the compensation amount data, the angular displacement of the motor is converted into an electric signal by using an encoder and sent to the controller, and the electric signal data is compared with the electric signal data of the reference motor to obtain the compensation amount data required by the rest motors relative to the reference motor.
In a preferred embodiment, in calculating the compensation quantity data, the amount of change in length of the lifting structure is measured using a grating ruler, and the amount of change in length is compared with the variable for the length of the lifting structure driven by the reference motor to obtain the compensation quantity data required by the remaining motors relative to the reference motor.
In a preferred embodiment, after calculating the compensation amount data required by the rest motors relative to the reference motor, the compensation amount data is calculated by using a PID algorithm to obtain the actual period compensation amount.
A multi-axis synchronous control system comprising:
the communication module is used for data interaction between the controller and the motor driver;
the control module is used for controlling the motor driver to operate;
the calculation module is used for calculating compensation data required between the other motors and the reference motor;
and the compensation module is used for adjusting the rest motors to be consistent with the reference motor according to the compensation data.
A computer device, comprising:
a memory and a processor;
the memory is used for storing a computer program, and the processor realizes the steps of the multi-axis synchronous control method when executing the computer program.
A computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of the multi-axis synchronous control method.
Compared with the prior art, the invention has the following beneficial effects: the multi-axis synchronous control method and the control system can adjust the running state of each motor in real time, achieve the aim of keeping the relative displacement of all the motors synchronous all the time, control other lifting structures to keep synchronous with the lifting structure of the reference all the time by taking the relative displacement of one lifting structure as the reference, enable industrial equipment installed on the adjusting device to lift in parallel when the center of gravity moves, and keep the plane angle of the industrial equipment unchanged, so that the industrial equipment can obtain a stable reference coordinate system.
Drawings
Fig. 1 is a schematic structural diagram of a multi-axis synchronous control method and a control system provided by the present invention.
Fig. 2 is a schematic diagram of steps in the multi-axis synchronous control method provided in fig. 1.
Fig. 3 is a connection diagram of the controller in serial communication with the motor driver in the multi-axis synchronous control method provided in fig. 1.
Fig. 4 is a schematic diagram of a module structure in the multi-axis synchronous control system provided in fig. 1.
Fig. 5 is a schematic structural diagram of a computer device provided by the present invention.
Description of the main elements
| Adjusting device 1 | 1 |
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Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1-5, fig. 1 is a schematic structural diagram of a multi-axis synchronous control method and a control system provided in the present invention. Fig. 2 is a schematic diagram of steps in the multi-axis synchronous control method provided in fig. 1. Fig. 3 is a connection diagram of the controller in serial communication with the motor driver in the multi-axis synchronous control method provided in fig. 1. Fig. 4 is a schematic diagram of a module structure in the multi-axis synchronous control system provided in fig. 1. Fig. 5 is a schematic structural diagram of a computer device provided by the present invention.
The multi-axis synchronous control method is used for controlling the adjusting device 1. As shown in fig. 1, the adjusting device 1 includes a plurality of lifting structures 12, motors 11 corresponding to the plurality of lifting structures 12 one by one, and a mounting bracket 13 mounted at a driving end of the lifting structures 12. In this embodiment, the lifting structure 12 is a screw rod, and the driving end of the motor 11 is connected to the lifting structure 12 to drive the lifting structure 12 to extend and retract. The mounting frame 13 is used for arranging the industrial equipment 2 mounted on the adjusting device 1. In the present embodiment, the motor 11 is a servo motor.
In the present embodiment, the number of the lifting structure 12 and the number of the motors 11 are four as an example. In other embodiments, the number of lifting structures 12 and motors 11 may be any other number.
As shown in fig. 2, the multi-axis synchronous control method includes the following steps:
the controller and the motor drivers are in serial communication, the serial mode is shown in figure 3, each motor driver is provided with one inlet and one outlet, and the motor drivers are connected with the controller in series through the network ports. In this embodiment, the controller is an industrial computer of a Linux operating system, the motor driver is a servo motor driver, and the servo motor driver has an absolute value encoder and supports EtherCAT communication. The controller and the plurality of motor drivers exchange data by using an EtherCAT communication protocol, and the controller records the current positions of the plurality of motors 11 after establishing data interaction and takes the positions as initial positions.
In the present embodiment, the adjusting device 1 is leveled before the initial position of the motor 11 is recorded. During leveling, the angle of the adjusting device 1 is monitored in real time by installing an inclination sensor or a level gauge on the mounting frame 13, and the corresponding motor 11 is adjusted according to the monitoring result, so that the industrial equipment 2 installed on the mounting frame 13 is leveled.
According to the requirements of the industrial equipment 2 installed on the adjusting device 1 or manual control, the target position to be adjusted by the adjusting device 1 is obtained and information is transmitted to the controller, the controller outputs a corresponding command and converts the command into a motion command to the motor driver, and the motor driver executes the corresponding command to drive the motor 11 to rotate.
In this embodiment, the controller is internally provided with an electronic gear. Preferably, the data of the input end of the electronic gear can be obtained by the industrial equipment 2 installed on the adjusting device 1, that is, the industrial equipment 2 sends a data signal to the input end of the electronic gear when needing to be lifted. The output end of the electronic gear is communicated with all the motor drivers, so that synchronous control of all the motor drivers is realized, including synchronization of starting, stopping and process control. In the present embodiment, the electronic gear ratio is set to 1: 1. in other embodiments, the electronic gear ratio can be set according to actual needs.
After the motor 11 is started, the actual change amount from the initial position to the current position of the motor 11, i.e., the actual change amount of the motor 11 in one cycle, is measured in cycles. In the present embodiment, the actual amount of change of the motor 11 is measured by an encoder on the motor driver, and the encoder converts the amount of angular displacement of the motor 11 in one cycle into an electric signal and sends it to the controller. In other embodiments, the length change amount of the lifting structure 12 in one period can also be measured by a grating ruler. The amount of change of the motor 11 and the amount of change of the lifting structure 12 in one cycle can be switched to each other. Defining one of the motors 11 as a reference motor 11, one of the lifting structures 12 as a reference lifting structure 12, taking the variation of the reference motor 11 in one period as a reference standard, comparing the variation of the remaining motors 11 in one period with the reference motor 11, and obtaining the difference, namely the compensation data required by the motor 11.
The controller transmits the compensation amount data required by each motor 11 to the corresponding motor driver, so that the motor driver drives the motor 11 to continue to operate. I.e., the compensation amount of the reference motor 11 is 0, the remaining motors 11 generate new drive amounts by adding the compensation amount to the original drive amount, so that the actual change amounts of the remaining motors 11 and the reference motor 11 are kept consistent.
In the present embodiment, after the controller obtains the compensation amount required for each motor 11, the controller calculates the compensation amount data using the PID algorithm, respectively. PID is as follows: the abbreviations of proportionality, Integral and Differential are used, and the PID control algorithm is a control algorithm combining Proportional, Integral and Differential, which is the most mature and extensive control algorithm in the continuous system. The PID parameters can be adjusted according to actual conditions when in actual use. The compensation amount data obtained after the PID operation is closer to the actual compensation amount data required in each period. In other embodiments, only P-operation, i.e. scaling, may be used, which has the advantage that the fastest derivation of the compensation data is possible.
In this embodiment, the controller and the motor driver adopt full closed-loop control, that is, when the controller writes a target position command to the motor driver, the controller continuously obtains the actual position of the motor 11, and outputs an adjustment command in real time according to the fed-back actual position. The data interaction period of the controller and the motor driver is set to be 1ms, namely, every 1ms, the controller reads the actual position of the motor 11 once and writes the target position, namely, the multi-axis synchronous control method operates every 1 ms.
As shown in fig. 4, a multi-axis synchronous control system includes the following modules:
and the communication module is used for establishing data interaction between the controller and the motor driver, so that the controller can output signals to the motor driver and read the signals from the motor driver.
And the control module is used for operating the motor driver and acquiring the actual position of the motor 11.
And the calculating module is used for calculating the compensation amount data required between the rest motors 11 and the reference motor 11.
And the compensation module is used for adjusting the rest motors 11 to be consistent with the reference motor 11 according to the compensation data.
As shown in fig. 5, a computer apparatus, comprising:
a memory and a processor;
the memory is used for storing a computer program, and the processor realizes the steps of the multi-axis synchronous control method when executing the computer program.
A computer-readable storage medium storing computer-executable instructions, wherein the instructions, when executed by a processor, implement the steps of the multi-axis synchronous control method.
The embodiment of the invention has the following beneficial effects: the multi-axis synchronous control method and the control system can control other lifting structures 12 to be always synchronous with the lifting structure 12 of the reference by taking the movement distance of one lifting structure 12 as the reference according to the movement distance of each lifting structure 12 in real time, so that the industrial equipment 2 installed on the adjusting device 1 can be lifted in parallel when the center of gravity moves, the angle of the industrial equipment 2 is kept unchanged, and the operation precision of the industrial equipment 2 is not influenced.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A multi-axis synchronous control method comprises an adjusting device, wherein the adjusting device comprises a plurality of motors and a lifting structure, and is characterized in that: the method comprises the following steps:
carrying out serial communication on a controller and a plurality of motor drivers, and carrying out data exchange between the controller and the motor drivers through an Ethercat communication protocol, wherein the controller records current encoder values of a plurality of motors and records the current encoder values as initial positions;
acquiring a target position required to be adjusted by an adjusting device and transmitting information into the controller, wherein the controller calculates a corresponding control command and converts the command into a motion instruction to be transmitted to a motor driver for execution;
calculating the relative change between the current position and the initial position of the motor, defining one of the motors as a reference motor, and calculating the compensation data required by the other motors relative to the reference motor;
and the motor driver continues to drive the motor to operate according to the compensation amount data until the compensation amount data is consistent with the reference motor.
2. Multiaxis synchronisation control method according to claim 1, characterised in that the adjustment means are leveled before the initial position of the motor is registered.
3. The multi-axis synchronous control method as claimed in claim 2, wherein a tilt sensor or a level gauge is used for real-time detection during leveling.
4. The multi-axis synchronous control method as claimed in claim 1, wherein in calculating the compensation amount data, the angular displacement of the motor is converted into an electrical signal by using an encoder and transmitted to the controller, and the electrical signal data is compared with the electrical signal data of the reference motor to obtain the compensation amount data required by the remaining motors relative to the reference motor.
5. A multi-axis synchronous control method according to claim 1, wherein in calculating the compensation amount data, the length change amount of the elevation structure is measured using a grating scale, and the length change amount is compared with the length change amount of the elevation structure driven by the reference motor, to obtain the compensation amount data required by the remaining motors with respect to the reference motor.
6. The multi-axis synchronous control method as claimed in claim 1, wherein after the compensation amount data required by the rest motors relative to the reference motor is calculated, the compensation amount data is calculated by using a PID algorithm to obtain the actual period compensation amount.
7. A multi-axis synchronous control system, comprising:
the communication module is used for data interaction between the controller and the motor driver;
the control module is used for controlling the motor driver to operate;
the calculation module is used for calculating compensation data required between the other motors and the reference motor;
and the compensation module is used for adjusting the rest motors to be consistent with the reference motor according to the compensation data.
8. A computer device, comprising:
a memory and a processor;
the memory is used for storing a computer program, and the processor realizes the steps of the multi-axis synchronous control method according to any one of claims 1 to 6 when executing the computer program.
9. A computer-readable storage medium storing computer-executable instructions, which when executed by a processor implement the steps of the multi-axis synchronous control method of any one of claims 1 to 6.
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0982129A (en) * | 1995-09-11 | 1997-03-28 | Ishikawajima Harima Heavy Ind Co Ltd | Three-axis synchronous raising and lowering control system |
| CN201467046U (en) * | 2009-07-24 | 2010-05-12 | 刘超英 | Multi-DC motor synchronous controller with principal and subordinate structure |
| CN105553341A (en) * | 2014-10-30 | 2016-05-04 | 常州轻工职业技术学院 | Elevating equipment multi-direct current motor synchronous controller and method based on CAN bus |
| CN106411184A (en) * | 2016-11-04 | 2017-02-15 | 华中科技大学 | Networked multi-axis motor synchronization control device and method |
| CN106936339A (en) * | 2017-04-16 | 2017-07-07 | 中国石油大学(华东) | A kind of self-elevating ocean platform lowering or hoisting gear synchronisation control means and device |
| CN110040651A (en) * | 2019-04-30 | 2019-07-23 | 金宸天恒（北京）科技发展有限公司 | A kind of more motor parallel synchronous control systems and method for changeable space |
| CN111381612A (en) * | 2020-03-24 | 2020-07-07 | 苏州曼宇智能科技有限公司 | Multi-axis synchronous control system and method based on CAN bus |
-
2020
- 2020-11-27 CN CN202011355423.7A patent/CN112596465A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0982129A (en) * | 1995-09-11 | 1997-03-28 | Ishikawajima Harima Heavy Ind Co Ltd | Three-axis synchronous raising and lowering control system |
| CN201467046U (en) * | 2009-07-24 | 2010-05-12 | 刘超英 | Multi-DC motor synchronous controller with principal and subordinate structure |
| CN105553341A (en) * | 2014-10-30 | 2016-05-04 | 常州轻工职业技术学院 | Elevating equipment multi-direct current motor synchronous controller and method based on CAN bus |
| CN106411184A (en) * | 2016-11-04 | 2017-02-15 | 华中科技大学 | Networked multi-axis motor synchronization control device and method |
| CN106936339A (en) * | 2017-04-16 | 2017-07-07 | 中国石油大学(华东) | A kind of self-elevating ocean platform lowering or hoisting gear synchronisation control means and device |
| CN110040651A (en) * | 2019-04-30 | 2019-07-23 | 金宸天恒（北京）科技发展有限公司 | A kind of more motor parallel synchronous control systems and method for changeable space |
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