CN112637031A - Calibration method, calibration device and drive control system for slave station control period - Google Patents
Calibration method, calibration device and drive control system for slave station control period Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40013—Details regarding a bus controller
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- G06F1/12—Synchronisation of different clock signals provided by a plurality of clock generators
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- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0658—Clock or time synchronisation among packet nodes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40169—Flexible bus arrangements
- H04L12/40176—Flexible bus arrangements involving redundancy
- H04L12/40195—Flexible bus arrangements involving redundancy by using a plurality of nodes
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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Abstract
The application provides a calibration method, a calibration device and a drive control system of a control period of a slave station, wherein a processor of the slave station comprises a counting unit associated with a control signal, and the method comprises the following steps: acquiring a synchronous signal based on a master station clock, and taking a count value of a counting unit corresponding to a rising edge of the synchronous signal as a current count value; calculating a difference value between the current counting value and a preset maximum value to obtain an offset difference value, wherein the preset maximum value is a maximum counting value of a wave crest of the control signal corresponding to the counting unit; and based on the offset difference, obtaining a calibration parameter in a preset calculation mode, calibrating the preset maximum value according to the calibration parameter to determine the real-time maximum value of the counting unit in the current synchronization period, and updating the control signal according to the real-time maximum value, wherein the synchronization period is the period of the synchronization signal. The method solves the problem that the control of each node of the slave station cannot be synchronous with the instruction issued by the master station in the prior art, and ensures that the master station has better control accuracy on the slave station.
Description
Technical Field
The present application relates to the technical field of ethernet control automation, and in particular, to a calibration method, a calibration apparatus, a computer-readable storage medium, a processor, and a drive control system for a slave station control period.
Background
With the gradual increase of the requirements of the industrial control field on speed, real-time performance and the like, the traditional bus technology is difficult to meet the requirements. Compared with other real-time industrial Ethernet field bus protocols, the real-time industrial Ethernet field bus EtherCAT (Ethernet control automation technology) technology has obvious advantages, such as 100M rate and low delay of 1us, and supports various topological structures. An EtherCAT network can be connected with 65535 slave stations at most, and the number of the slave stations is far larger than the maximum number of the slave stations allowed by a field bus, so that the EtherCAT network is widely applied to the field of servo drive control.
Although the EtherCAT technology has high real-time performance, the requirement for time error of real-time accurate industrial control system signals is high, particularly, the number of nodes in a network is large, and ideally, all slave stations receive instructions at the same time to execute control actions, in reality, because an EtherCAT master station clock, a Microcontroller (MCU) of a servo slave station and clocks of EtherCAT slave station chips are independent from each other, power-on time sequences also have sequential differences and time consumption in transmission, various control loops are interrupted in the MCU of a servo driver, the control of each slave station node under networking cannot be synchronous with the instructions issued by the master station, and the control accuracy is affected or the control system is caused to shake.
The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
Disclosure of Invention
The present application mainly aims to provide a calibration method, a calibration device, a computer-readable storage medium, a processor, and a drive control system for a slave station control period, so as to solve the problem that in the prior art, control of each node of the slave station cannot be synchronized with an instruction issued by a master station.
According to an aspect of an embodiment of the present invention, there is provided a method of calibrating a control period of a secondary station, a processor of the secondary station including a counting unit associated with a control signal, the control signal being a signal for a control motor of the secondary station, the method comprising: acquiring a synchronization signal based on a master station clock, and taking a count value of a counting unit corresponding to a rising edge of the synchronization signal as a current count value, wherein the synchronization signal is a communication signal between the master station and a slave station; calculating a difference value between the current counting value and a preset maximum value to obtain an offset difference value, wherein the preset maximum value is a maximum counting value of the control signal wave crest corresponding to the counting unit; based on the offset difference, obtaining a calibration parameter in a preset calculation mode, calibrating the preset maximum value according to the calibration parameter to determine a real-time maximum value of the counting unit in the current synchronization period, and updating the control signal according to the real-time maximum value, wherein the synchronization period is the period of the synchronization signal.
Optionally, the obtaining the calibration parameter in a preset calculation manner includes: acquiring the number of control cycles of the control signal corresponding to one synchronization cycle to obtain the control number; determining a sequential value, the current count value occurring before the predetermined maximum value, the sequential value being-1, the current count value occurring after the predetermined maximum value, the sequential value being 1; and calculating the calibration parameters according to the control number, the offset difference value and the sequence value.
Optionally, the calculating the calibration parameter according to the control number, the offset difference value, and the sequence value includes: calculating a remainder of dividing the offset difference value by the control number; and calculating the calibration parameters according to the remainder, the sequence value, the offset difference value and the control number.
Optionally, calculating the calibration parameter according to the remainder, the sequence value, the offset difference value, and the control number includes: when the remainder is 0 and the sequence value is 1, calculating to obtain an intermediate parameter delta by adopting a formula delta-delta N/K, wherein delta is the intermediate parameter, delta N is the offset difference value, and K isThe control number; when the remainder is 0 and the sequence value is-1, calculating the intermediate parameter delta by adopting a formula delta-delta N/K; when the remainder is greater than 0 and the sequence value is 1, adopting a formula
Calculating the intermediate parameter delta; when the remainder is greater than 0 and the sequence value is-1, adopting a formula
Calculating the intermediate parameter delta; the calibration parameter is
Optionally, the calibrating the predetermined maximum value according to the calibration parameter to determine a real-time maximum value of the counting unit in the current synchronization period includes: and calculating the sum of the calibration parameter and the preset maximum value to obtain the real-time maximum value.
Optionally, before the acquiring the synchronization signal based on the master station clock, the calibration method further includes: and activating a distributed clock of the slave station, performing network scanning by the master station and recording the local system time of the slave station, and setting the sending time of the synchronous signal by the master station according to the local system time.
According to another aspect of the embodiments of the present invention, there is also provided an apparatus for calibrating a control period of a slave station, a processor of the slave station including a counting unit associated with a control signal, the control signal being a signal for controlling a motor of the slave station, the apparatus including an obtaining unit, a calculating unit, and a calibrating unit, wherein the obtaining unit is configured to obtain a synchronization signal based on a clock of the master station, and to use a count value of the counting unit corresponding to a rising edge of the synchronization signal as a current count value, wherein the synchronization signal is a communication signal between the master station and the slave station; the calculating unit is used for calculating a difference value between the current counting value and a preset maximum value to obtain an offset difference value, wherein the preset maximum value is the maximum counting value of the counting unit; the calibration unit is configured to determine a real-time maximum value of the counting unit in a current synchronization period according to the offset difference and the current count value, where the real-time maximum value of the counting unit corresponds to a control period, and the synchronization period is a period of the synchronization signal pulse.
According to still another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program executes any one of the calibration methods.
According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to run a program, where the program is run to perform any one of the calibration methods.
According to another aspect of the embodiments of the present invention, there is also provided a drive control system including: the system comprises a master station, a slave station and a motor, wherein the slave station comprises a control chip, a microprocessor and a driving module, the microprocessor comprises a counting unit, the microprocessor is used for executing any one calibration method to obtain a control period and sending the control period to the driving module, and the driving module controls the motor to operate according to the control period.
According to the calibration method of the slave station control period, firstly, a counting value of a counting unit corresponding to a rising edge of a synchronizing signal is obtained and is used as a current counting value, then, a difference value between the current counting value and a preset maximum value is calculated to obtain an offset difference value, finally, a calibration parameter is obtained in a preset calculation mode according to the offset difference value, the preset maximum value is calibrated according to the calibration parameter to determine a real-time maximum value of the counting unit in the current synchronizing period and update the control signal according to the real-time maximum value, and the synchronizing period is the period of the synchronizing signal. According to the method, the preset maximum value is calibrated through the offset difference value to update the control signal, so that the real-time maximum value is basically aligned with the rising edge of the synchronous signal, the phase difference between the control period of the drive control of the slave station and the synchronous signal set by the master station is small, the control of each node of the slave station can be basically synchronous with the command issued by the master station, the problem that the control of each node of the slave station cannot be synchronous with the command issued by the master station in the prior art is well solved, the control accuracy of the master station on the slave station is good, and the stability of a servo system is good.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 shows a schematic flow diagram generated by a calibration method for a control period of a secondary station according to an embodiment of the present application;
figure 2 shows a schematic diagram of an apparatus for calibration of a control period of a secondary station according to an embodiment of the present application;
FIG. 3 shows a schematic diagram of the composition of a drive control system according to an embodiment of the present application;
fig. 4 is a schematic diagram illustrating a specific process of controlling the driving control system according to an embodiment of the present application.
Wherein the figures include the following reference numerals:
40. a master station; 50. a slave station; 60. a motor; 500. a control chip; 501. a microprocessor; 502. and a driving module.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As mentioned in the background, the control of each node of the slave station in the prior art cannot be synchronized with the command issued by the master station, and in order to solve the above problem, in an exemplary embodiment of the present application, a calibration method, a calibration apparatus, a computer-readable storage medium, a processor, and a drive control system for a control cycle of a slave station are provided.
According to an embodiment of the present application, there is provided a method of calibrating a control period of a secondary station.
Fig. 1 is a flowchart of a calibration method of a control period of a secondary station according to an embodiment of the present application. The processor of the slave station comprises a counting unit associated with a control signal, the control signal being a signal for the slave station to control a motor, as shown in fig. 1, the method comprising the steps of:
step S101, acquiring a synchronization signal based on a master station clock, and taking a count value of a counting unit corresponding to a rising edge of the synchronization signal as a current count value, wherein the synchronization signal is a communication signal between the master station and a slave station;
step S102, calculating a difference value between the current counting value and a preset maximum value to obtain an offset difference value, wherein the preset maximum value is a maximum counting value of the counting unit corresponding to the wave crest of the control signal;
step S103, obtaining a calibration parameter in a preset calculation manner based on the offset difference, calibrating the predetermined maximum value according to the calibration parameter, so as to determine a real-time maximum value of the counting unit in a current synchronization period, and updating the control signal according to the real-time maximum value, where the synchronization period is a period of the synchronization signal.
The calibration method of the slave station control period includes the steps of firstly obtaining a count value of a counting unit corresponding to a rising edge of a synchronization signal, using the count value as a current count value, then calculating a difference value between the current count value and a preset maximum value to obtain an offset difference value, finally obtaining a calibration parameter in a preset calculation mode according to the offset difference value, calibrating the preset maximum value according to the calibration parameter to determine a real-time maximum value of the counting unit in the current synchronization period, and updating the control signal according to the real-time maximum value, wherein the synchronization period is the period of the synchronization signal. According to the method, the preset maximum value is calibrated through the offset difference value to update the control signal, so that the real-time maximum value is basically aligned with the rising edge of the synchronous signal, the phase difference between the control period of the drive control of the slave station and the synchronous signal set by the master station is small, the control of each node of the slave station can be basically synchronized with the command issued by the master station, the problem that the control of each node of the slave station cannot be synchronized with the command issued by the master station in the prior art is well solved, the control accuracy of the master station on the slave station is good, and the stability of a servo system is good.
In an actual application process, the control period may be a triangular carrier signal, and in order to ensure that the control of each node of the slave station can be synchronized with the instruction issued by the master station, a person skilled in the art may also achieve the synchronization by controlling the rising edge of the synchronization signal to be aligned with the trough of the triangular carrier waveform, that is, by determining the minimum count value of the counting unit, the corresponding control period is obtained.
According to a specific embodiment of the present application, the obtaining the calibration parameter in a preset calculation manner includes: acquiring the number of control cycles of the control signal corresponding to one synchronization cycle to obtain the control number; determining a sequential value, said current count value occurring before said predetermined maximum value, said sequential value being-1, said current count value occurring after said predetermined maximum value, said sequential value being 1; and calculating the calibration parameters according to the control number, the offset difference and the sequence value. According to the method, the control number is obtained, the sequence value is determined, and the calibration parameter is calculated according to the control number, the offset difference value and the sequence value, so that the calibration parameter obtained through calculation is accurate, the preset maximum value is accurately calibrated, the control of each node of the slave station is basically synchronous with the command issued by the master station, and the control accuracy of the master station on the slave station is better.
In an embodiment of the present application, the number of the control cycles corresponding to the synchronization cycle is the number of the drive control triangular carrier cycles included in the EtherCAT synchronization signal cycle.
In order to further ensure that the calculated real-time maximum value is accurate, and further ensure that the control of each node of the slave station can be substantially synchronized with the command issued by the master station, in another specific embodiment of the present application, the calculating the calibration parameter according to the control number, the offset difference value, and the sequence value includes: calculating the remainder of dividing the offset difference value by the control number; and calculating the calibration parameter according to the remainder, the sequence value, the offset difference value and the control number.
According to still another particular embodiment of the present applicationIn an embodiment, calculating the calibration parameter according to the remainder, the sequence value, the offset difference value, and the control number includes: when the remainder is 0 and the sequence value is 1, calculating an intermediate parameter Δ by using a formula Δ ═ Δ N/K, where Δ is the intermediate parameter, Δ N is the offset difference value, and K is the control number; when the remainder is 0 and the sequence value is-1, calculating the intermediate parameter Δ by using a formula Δ ═ Δ N/K; when the remainder is greater than 0 and the sequence value is 1, adopting a formula
Calculating the calibration parameter delta; when the remainder is greater than 0 and the sequence value is-1, adopting a formula
Calculating the calibration parameter delta; the calibration parameter is
Therefore, the calculated calibration parameters are accurate, the predetermined maximum value is further accurately calibrated, the real-time maximum value is further ensured to be basically aligned with the rising edge of the synchronizing signal, the phase difference between the control period of the slave station drive control and the synchronizing signal set by the master station is further ensured to be small, and the control of each node of the slave station is further ensured to be basically synchronous with the command issued by the master station. It should be noted that "[ ]" in the segment formula is a rounded mathematical operation sign.
In an actual application process, in another embodiment of the present application, the calibrating the predetermined maximum value according to the calibration parameter to determine a real-time maximum value of the counting unit in a current synchronization period includes: and calculating the sum of the calibration parameter and the preset maximum value to obtain the real-time maximum value.
According to another specific embodiment of the present application, before the acquiring the synchronization signal based on the master station clock, the calibration method further includes: and activating a distributed clock of the slave station, performing network scanning by the master station and recording the local system time of the slave station, and setting the sending time of the synchronous signal by the master station according to the local system time. According to the method, the slave station sends the synchronization signal according to the set sending time, so that the time synchronism of the slave station and the master station can be further ensured.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
The embodiments of the present application further provide a calibration apparatus for a control period of a secondary station, and it should be noted that the calibration apparatus for a control period of a secondary station in the embodiments of the present application may be used to execute the calibration method for a control period of a secondary station in the embodiments of the present application. The following describes an apparatus for calibrating a control period of a slave station according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a calibration apparatus for a control period of a secondary station according to an embodiment of the present application. The processor of the slave station includes a counting unit associated with a control signal, the control signal is a signal for controlling the motor of the slave station, as shown in fig. 2, the apparatus includes an obtaining unit 10, a calculating unit 20 and a calibrating unit 30, wherein the obtaining unit 10 is configured to obtain a synchronization signal based on a clock of a master station, and a count value of the counting unit corresponding to a rising edge of the synchronization signal is used as a current count value, and the synchronization signal is a communication signal between the master station and the slave station; the calculating unit 20 is configured to calculate a difference between the current count value and a predetermined maximum value, so as to obtain an offset difference, where the predetermined maximum value is a maximum count value of the peak of the control signal corresponding to the counting unit; the calibration unit 30 is configured to obtain a calibration parameter in a preset calculation manner based on the offset difference, calibrate the predetermined maximum value according to the calibration parameter, so as to determine a real-time maximum value of the counting unit in a current synchronization period, and update the control signal according to the real-time maximum value, where the synchronization period is a period of the synchronization signal.
In the calibration apparatus for the slave station control period, the obtaining unit obtains the count value of the counting unit corresponding to the rising edge of the synchronization signal as the current count value, the calculating unit calculates the difference between the current count value and the predetermined maximum value to obtain the offset difference, the calibrating unit obtains the calibration parameter in a preset calculation mode according to the offset difference, calibrates the predetermined maximum value according to the calibration parameter to determine the real-time maximum value of the counting unit in the current synchronization period and updates the control signal according to the real-time maximum value, and the synchronization period is the period of the synchronization signal. The device calibrates the preset maximum value through the offset difference value to update the control signal, so that the real-time maximum value is basically aligned with the rising edge of the synchronous signal, the phase difference between the control period of the drive control of the slave station and the synchronous signal set by the master station is smaller, the control of each node of the slave station can be basically synchronous with the command issued by the master station, the problem that the control of each node of the slave station cannot be synchronous with the command issued by the master station in the prior art is well solved, the control accuracy of the master station on the slave station is better, and the stability of a servo system is better.
In an actual application process, the control period may be a triangular carrier signal, and in order to ensure that the control of each node of the slave station can be synchronized with the instruction issued by the master station, a person skilled in the art may also achieve the synchronization by controlling the rising edge of the synchronization signal to be aligned with the trough of the triangular carrier waveform, that is, by determining the minimum count value of the counting unit, the corresponding control period is obtained.
According to a specific embodiment of the present application, the calibration unit includes a first obtaining module, a determining module, and a first calculating module, where the first obtaining module is configured to obtain the number of control cycles corresponding to one synchronization cycle to obtain the control number; the determining module is configured to determine a sequential value, where the current count value occurs before the predetermined maximum value, the sequential value is-1, the current count value occurs after the predetermined maximum value, and the sequential value is 1; the first calculation module is configured to calculate the calibration parameter according to the control number, the offset difference, and the sequence value. According to the device, the control number is obtained, the sequence value is determined, and the calibration parameter is calculated according to the control number, the offset difference value and the sequence value, so that the calibration parameter obtained through calculation is accurate, the preset maximum value is further accurately calibrated, the control of each node of the slave station is further ensured to be basically synchronous with the command issued by the master station, and the control accuracy of the master station on the slave station is further ensured to be good.
In an embodiment of the present application, the number of the control cycles corresponding to the synchronization cycle is the number of the drive control triangular carrier cycles included in the EtherCAT synchronization signal cycle.
In order to further ensure that the calculated real-time maximum value is accurate, and further ensure that the control of each node of the slave station can be substantially synchronized with the command issued by the master station, in another specific embodiment of the present application, the first calculation module includes a first calculation submodule and a second calculation submodule, where the first calculation submodule is configured to calculate a remainder obtained by dividing the offset difference by the control number; the second calculation submodule is configured to calculate the calibration parameter according to the remainder, the sequence value, the offset difference value, and the control number.
According to another specific embodiment of the present application, the second computing submodule is further configured to: when the remainder is 0 and the sequence value is 1, calculating an intermediate parameter Δ by using a formula Δ ═ Δ N/K, where Δ is the intermediate parameter, Δ N is the offset difference value, and K is the control number; when the remainder is 0 and the sequence value is-1, calculating the intermediate parameter Δ by using a formula Δ ═ Δ N/K; when the remainder is greater than 0 and the sequence value is 1, adopting a formula
Calculating the calibration parameter delta; when the remainder is greater than 0 and the sequence value is-1, adopting a formula
Calculating the calibration parameter delta; the calibration parameter is
Therefore, the calculated calibration parameters are accurate, the predetermined maximum value is further accurately calibrated, the real-time maximum value is further ensured to be basically aligned with the rising edge of the synchronizing signal, the phase difference between the control period of the slave station drive control and the synchronizing signal set by the master station is further ensured to be small, and the control of each node of the slave station is further ensured to be basically synchronous with the command issued by the master station. In the formula of this paragraph, "is]"is the sign of the rounded mathematical operation.
In an actual application process, the calibration unit further includes a second calculation module, and the second calculation module is configured to calculate a sum of the calibration parameter and the predetermined maximum value to obtain the real-time maximum value.
According to another specific embodiment of the present application, the apparatus further includes an activation unit, configured to, before the acquiring the synchronization signal based on the master station clock, further include: and activating a distributed clock of the slave station, performing network scanning by the master station and recording the local system time of the slave station, and setting the sending time of the synchronous signal by the master station according to the local system time. In the device, the slave station sends the synchronous signal according to the set sending time, so that the time synchronism of the slave station and the master station can be further ensured.
The calibration device for the slave station control cycle includes a processor and a memory, the acquiring unit, the calculating unit, the calibrating unit, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the problem that the control of each node of the slave station cannot be synchronous with the instruction issued by the master station in the prior art is solved by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable storage medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a computer-readable storage medium, on which a program is stored, where the program, when executed by a processor, implements the calibration method for the control period of the secondary station.
An embodiment of the present invention provides a processor, where the processor is configured to execute a program, where the program executes a calibration method for a control period of the slave station when the program runs.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:
step S101, acquiring a synchronization signal based on a master station clock, and taking a count value of a counting unit corresponding to a rising edge of the synchronization signal as a current count value, wherein the synchronization signal is a communication signal between the master station and a slave station;
step S102, calculating a difference value between the current counting value and a preset maximum value to obtain an offset difference value, wherein the preset maximum value is a maximum counting value of the counting unit corresponding to the wave crest of the control signal;
step S103, obtaining a calibration parameter in a preset calculation manner based on the offset difference, calibrating the predetermined maximum value according to the calibration parameter, so as to determine a real-time maximum value of the counting unit in a current synchronization period, and updating the control signal according to the real-time maximum value, where the synchronization period is a period of the synchronization signal.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:
step S101, acquiring a synchronization signal based on a master station clock, and taking a count value of a counting unit corresponding to a rising edge of the synchronization signal as a current count value, wherein the synchronization signal is a communication signal between the master station and a slave station;
step S102, calculating a difference value between the current counting value and a preset maximum value to obtain an offset difference value, wherein the preset maximum value is a maximum counting value of the counting unit corresponding to the wave crest of the control signal;
step S103, obtaining a calibration parameter in a preset calculation manner based on the offset difference, calibrating the predetermined maximum value according to the calibration parameter, so as to determine a real-time maximum value of the counting unit in a current synchronization period, and updating the control signal according to the real-time maximum value, where the synchronization period is a period of the synchronization signal.
According to still another exemplary embodiment of the present application, there is also provided a driving control system, as shown in fig. 3, including: the slave station 50 comprises a control chip 500, a microprocessor 501 and a driving module 502, the microprocessor 501 comprises a counting unit, the microprocessor 501 is used for executing any one of the calibration methods to obtain a control cycle and sending the control cycle to the driving module 502, and the driving module 502 controls the motor 60 to operate according to the control cycle.
The drive control system comprises a master station, a slave station and a motor, wherein the slave station comprises a control chip, a microprocessor and a drive module, the microprocessor comprises a counting unit, the system firstly executes any one of the calibration methods through the microprocessor to obtain the control period, and then sends the control period to the drive module, and finally the drive module controls the motor to operate according to the control period. The system, through the microprocessor, calibrates the preset maximum value through the offset difference value to adjust the control signal, so that the real-time maximum value is basically aligned with the rising edge of the synchronization signal, and the phase difference between the control period of the drive control of the slave station and the synchronization signal set by the master station is ensured to be small, thereby ensuring that the control of each node of the slave station can be basically synchronized with the command issued by the master station, better relieving the problem that the control of each node of the slave station cannot be synchronized with the command issued by the master station in the prior art, ensuring that the control accuracy of the master station on the slave station is better, and ensuring that the stability of a servo system is better. Meanwhile, the problems of motor running jitter and inaccurate positioning caused by phase difference between the control period of the drive control of the slave station and the synchronous signal set by the master station in the prior art are solved.
In order to make the technical solutions of the present application more clearly understood by those skilled in the art, the following description will be given with reference to specific embodiments.
Examples
The driving control system is an EtherCAT system, the master station is an EtherCAT master station, the Slave stations are EtherCAT servo drivers, one EtherCAT master station can perform real-time data interaction with the Slave stations, as shown in fig. 3, the control chip is an EtherCAT Slave station (ESC for short) chip, and the control period is a triangular carrier signal. And the EtherCAT master station and the slave station are connected through a twisted pair network cable to carry out real-time data interaction. Data interaction is carried out between an ESC chip of a slave station and a microprocessor through a Process Data Interface (PDI), a synchronous signal is Output to the microprocessor by the ESC chip of the slave station, the microprocessor captures the synchronous signal by an Input/Output (IO) Interface, the microprocessor generates a triangular carrier signal for driving control, the signal is converted and then acts on a driving module, and the driving module drives a motor to operate.
The specific process of the drive control system obtaining the control period is as follows:
the first step is as follows: activating an ESC chip DC (distributed clock) distributed clock of the EtherCAT slave station, setting a DC period, carrying out network scanning by sending a data frame to a network after the EtherCAT master station is powered on, adding the EtherCAT slave station into the distributed clock network, assigning a node number to each slave station, recording the local system time of each slave station node in a returned data frame, and receiving and storing the sending time of a synchronization signal set by the EtherCAT master station by the ESC chip and sending the synchronization signal at a corresponding moment;
the second step is that: the triangular carrier signal generated by the microprocessor has a continuously increasing and decreasing triangular counter pattern of counting units in each period, i.e. 0 → NMAX→0，NMAXThe maximum value of the counting unit in the triangular carrier period is obtained, and a specific set initial value N is obtainedMAX0Imparting NMAX，NMAX＝NMAX0，NMAX0Is a predetermined maximum value. When the microprocessor captures the rising edge of the synchronous signal and triggers synchronous interruption, the microprocessor latches the current value N of the triangular carrier counting unit when the synchronous interruption triggersrealI.e. the current count value;
the third step: calculating an offset difference value delta N which is a preset maximum value N initially set by the triangular carrier waveMAX0And the latched current count value NrealThe difference between them, i.e. Δ N ═ NMAX0-Nreal；
The fourth step: compensating the calculated offset difference value to each control period to be started, and setting the offset difference value delta N generated by synchronous interruption, wherein K is the EtherCAT synchronous signal period TDCDrive control triangular carrier period T contained thereinctrlThe number of (2), i.e. the control number, K ═ TDC/Tctrl(ii) a Calculating a remainder delta R after the delta N is cut into K parts to be | delta N |% K, and obtaining the remainder;
the fifth step: the updating of the triangular carrier period counting unit driven and controlled by the slave station is specifically as follows:
if the remainder Δ R is 0 and the sequential value Dir is greater than 0, Δ is- Δ N/K, where "[ ]" in the segment of formula is a rounded mathematical operation sign, and Δ is an intermediate parameter;
if the remainder Δ R is equal to 0 and the sequential value Dir is less than 0, Δ N/K, and "[ ] in the segment of formula is the integer arithmetic sign;
if the remainder Δ R > 0 and the sequential value Dir > 0,
the middle bracket in the formula represents a whole, and the term in the formula]"is the mathematical operation symbol of rounding;
if the remainder Δ R is greater than 0 and the sequential value Dir is less than 0,
in the formula of this paragraph]"is the mathematical operation symbol of rounding;
obtaining calibration parameters using the intermediate parameter delta
The control signal in the synchronization period is calibrated with the calibration parameter.
Therefore, the maximum count unit of the triangular carrier of the control period to be started is
The middle brackets in this formula indicate rounding, and the maximum change in the count cell will increase or decrease the time per control cycle. The continuous cycle is carried out as long as the value N of the triangular carrier calculator comes when the circulating synchronous signal comesrealIs not equal to NMAX0Synchronization adjustments are made until synchronization is ultimately achieved. The specific process is shown in fig. 4. According to the drive control system, after the system is powered on, no matter whether the slave station is in a motor running state or a motor static state, the control periods of the slave station can be synchronously aligned.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. 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 storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) the method for calibrating the control period of the slave station comprises the steps of firstly obtaining a counting value of a counting unit corresponding to the rising edge of a synchronizing signal, using the counting value as a current counting value, then calculating a difference value between the current counting value and a preset maximum value to obtain an offset difference value, finally obtaining a calibration parameter in a preset calculation mode according to the offset difference value, calibrating the preset maximum value according to the calibration parameter to determine a real-time maximum value of the counting unit in the current synchronizing period and updating the control signal according to the real-time maximum value, wherein the synchronizing period is the period of the synchronizing signal. According to the method, the preset maximum value is calibrated through the offset difference value to update the control signal, so that the real-time maximum value is basically aligned with the rising edge of the synchronous signal, the phase difference between the control period of the drive control of the slave station and the synchronous signal set by the master station is small, the control of each node of the slave station can be basically synchronized with the command issued by the master station, the problem that the control of each node of the slave station cannot be synchronized with the command issued by the master station in the prior art is well solved, the control accuracy of the master station on the slave station is good, and the stability of a servo system is good.
2) The calibration device for the control period of the slave station comprises an acquisition unit, a calculation unit, a calibration unit and a control unit, wherein the acquisition unit acquires a count value of a counting unit corresponding to a rising edge of a synchronization signal and uses the count value as a current count value, the calculation unit calculates a difference value between the current count value and a preset maximum value to obtain an offset difference value, the calibration unit obtains a calibration parameter in a preset calculation mode according to the offset difference value, the preset maximum value is calibrated according to the calibration parameter to determine a real-time maximum value of the counting unit in a current synchronization period and update the control signal according to the real-time maximum value, and the synchronization period is the period of the synchronization signal. The device calibrates the preset maximum value through the offset difference value to update the control signal, so that the real-time maximum value is basically aligned with the rising edge of the synchronous signal, the phase difference between the control period of the drive control of the slave station and the synchronous signal set by the master station is smaller, the control of each node of the slave station can be basically synchronous with the command issued by the master station, the problem that the control of each node of the slave station cannot be synchronous with the command issued by the master station in the prior art is well solved, the control accuracy of the master station on the slave station is better, and the stability of a servo system is better.
3) The system firstly executes any one of the calibration methods through the microprocessor to obtain the control period, and then sends the control period to the driving module, and finally the driving module controls the motor to operate according to the control period. The system, through the microprocessor, calibrates the preset maximum value through the offset difference value to adjust the control signal, so that the real-time maximum value is basically aligned with the rising edge of the synchronization signal, and the phase difference between the control period of the drive control of the slave station and the synchronization signal set by the master station is ensured to be small, thereby ensuring that the control of each node of the slave station can be basically synchronized with the command issued by the master station, better relieving the problem that the control of each node of the slave station cannot be synchronized with the command issued by the master station in the prior art, ensuring that the control accuracy of the master station on the slave station is better, and ensuring that the stability of a servo system is better. Meanwhile, the problems of motor running jitter and inaccurate positioning caused by phase difference between the control period of the drive control of the slave station and the synchronous signal set by the master station in the prior art are solved.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method of calibrating a control period of a secondary station, wherein a processor of the secondary station comprises a counting element associated with a control signal, the control signal being a signal for a control motor of the secondary station, the method comprising:
acquiring a synchronization signal based on a master station clock, and taking a count value of a counting unit corresponding to a rising edge of the synchronization signal as a current count value, wherein the synchronization signal is a communication signal between the master station and a slave station;
calculating a difference value between the current counting value and a preset maximum value to obtain an offset difference value, wherein the preset maximum value is a maximum counting value of the control signal wave crest corresponding to the counting unit;
based on the offset difference, obtaining a calibration parameter in a preset calculation mode, calibrating the preset maximum value according to the calibration parameter to determine a real-time maximum value of the counting unit in the current synchronization period, and updating the control signal according to the real-time maximum value, wherein the synchronization period is the period of the synchronization signal.
2. The calibration method according to claim 1, wherein the obtaining the calibration parameters in a preset calculation manner comprises:
acquiring the number of control cycles of the control signal corresponding to one synchronization cycle to obtain the control number;
determining a sequential value, the current count value occurring before the predetermined maximum value, the sequential value being-1, the current count value occurring after the predetermined maximum value, the sequential value being 1;
and calculating the calibration parameters according to the control number, the offset difference value and the sequence value.
3. The calibration method of claim 2, wherein said calculating the calibration parameter based on the control number, the offset difference value, and the sequential value comprises:
calculating a remainder of dividing the offset difference value by the control number;
and calculating the calibration parameters according to the remainder, the sequence value, the offset difference value and the control number.
4. The calibration method of claim 3, wherein calculating the calibration parameter based on the remainder, the sequential value, the offset difference value, and the control number comprises:
when the remainder is 0 and the sequence value is 1, calculating to obtain an intermediate parameter delta by adopting a formula delta-delta N/K, wherein delta is the intermediate parameter, delta N is the offset difference value, and K is the control number;
when the remainder is 0 and the sequence value is-1, calculating the intermediate parameter delta by adopting a formula delta-delta N/K;
when the remainder is greater than 0 and the sequence value is 1, adopting a formula
Calculating the intermediate parameter delta;
when the remainder is greater than 0 and the sequence value is-1, adopting a formula
Calculating the intermediate parameter delta;
the calibration parameter is
5. The calibration method according to claim 1, wherein the calibrating the predetermined maximum value according to the calibration parameter to determine the real-time maximum value of the counting unit in the current synchronization period comprises:
and calculating the sum of the calibration parameter and the preset maximum value to obtain the real-time maximum value.
6. The calibration method according to any of claims 1 to 5, wherein prior to said acquiring a master station clock based synchronization signal, the calibration method further comprises:
and activating a distributed clock of the slave station, performing network scanning by the master station and recording the local system time of the slave station, and setting the sending time of the synchronous signal by the master station according to the local system time.
7. An apparatus for calibrating a control period of a secondary station, wherein a processor of the secondary station includes a counting unit associated with a control signal, the control signal being a signal for the secondary station to control a motor, the apparatus comprising:
the device comprises an acquisition unit, a counting unit and a control unit, wherein the acquisition unit is used for acquiring a synchronous signal based on a master station clock, and taking the count value of the counting unit corresponding to the rising edge of the synchronous signal as a current count value, wherein the synchronous signal is a communication signal between a master station and a slave station;
the calculating unit is used for calculating a difference value between the current counting value and a preset maximum value to obtain an offset difference value, wherein the preset maximum value is a maximum counting value of the control signal wave crest corresponding to the counting unit;
and the calibration unit is used for obtaining a calibration parameter in a preset calculation mode based on the offset difference value, calibrating the preset maximum value according to the calibration parameter to determine the real-time maximum value of the counting unit in the current synchronization period and updating the control signal according to the real-time maximum value, wherein the synchronization period is the period of the synchronization signal.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program performs the calibration method of any one of claims 1 to 6.
9. A processor for running a program, wherein the program is run to perform the calibration method of any one of claims 1 to 6.
10. A drive control system, comprising: the calibration method comprises a main station, a slave station and a motor, wherein the slave station comprises a control chip, a microprocessor and a driving module, the microprocessor comprises a counting unit, the microprocessor is used for executing the calibration method of any one of claims 1 to 6 to obtain a control period and sending the control period to the driving module, and the driving module controls the motor to operate according to the control period.
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