CN112965441B - Communication delay compensation method for controller - Google Patents
Communication delay compensation method for controller Download PDFInfo
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- CN112965441B CN112965441B CN202110136862.7A CN202110136862A CN112965441B CN 112965441 B CN112965441 B CN 112965441B CN 202110136862 A CN202110136862 A CN 202110136862A CN 112965441 B CN112965441 B CN 112965441B
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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
- G05B19/404—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 control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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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
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31445—Detect changed working conditions, to correct machine load, balance
Abstract
The invention discloses a communication delay compensation method of a controller, which is characterized in that a controller respectively and independently sends position commands to an axis A and an axis B, corresponding command delay and feedback delay are respectively recorded, feedback delay time difference and command delay time difference between the axis A and the axis B are obtained through calculation, then a command delay core error is generated, the command delay core error is compensated and enters a system, the steps are repeated, the feedback delay error continuously tends to be minimized, when the feedback delay error is stabilized in a minimum state, the corresponding command delay core error is a correct communication delay error compensation value, and then the value is compensated to the system to process a product. The invention can directly write the method into the controller as a functional program module, realizes automatic communication delay compensation, effectively solves the processing problem caused by communication delay and can effectively improve the processing quality.
Description
[ technical field ] A method for producing a semiconductor device
The invention belongs to the technical field of processing control systems, and particularly relates to a communication delay compensation method for a controller.
[ background of the invention ]
In the field of machine tool machining and manufacturing, servo drives are various in variety, and drives of different brands can be mixed and matched for use, so that servo matching is more diversified. Meanwhile, when a machine tool with different internal servo matching is used, and when a product produced by the machine tool needs to be processed by multi-axis matching motion, under the condition that relatively complex processes such as runaway and tapping are used, a series of processing problems such as tool marks, deformation and the like may exist in a processed workpiece, and the main reason for the processing problems is communication delay. The reason for the communication delay is that different servo cooperation communication has time and command differences, which can cause errors in the moving position of the machine tool during multi-axis cooperation movement, thereby causing poor lines and shape changes and affecting the product quality. Therefore, if the communication delay can be effectively eliminated, the processing quality can be effectively improved.
In general, servo matching uses manual adjustment of servo gain to improve or reduce servo responsiveness, thereby matching different servo communications. During machine tool debugging, the mismatching of the servo, namely communication delay, is generally difficult to find. Many times, when the machine tool is used for machining a complex process, the machining problems of different degrees occur, and the servo gain is adjusted manually, so that the servo responsiveness is improved or reduced, different servo communications are matched, and the machining problem is solved. The debugging process consumes manpower and time greatly, is difficult to find and takes time to debug. Meanwhile, the processing of customers is greatly influenced, the time of the customers is wasted, the workpieces are wasted in testing, and certain influence is caused on the economy and the use sense of the customers.
Therefore, it is necessary to provide a new method for compensating the communication delay of the controller to solve the above problems.
[ summary of the invention ]
The main objective of the present invention is to provide a method for compensating communication delay of a controller, which can be directly written into the controller as a functional program module to implement automatic communication delay compensation, effectively solve the processing problem caused by communication delay, and effectively improve the processing quality.
The invention realizes the purpose through the following technical scheme: a method for compensating communication delay of a controller comprises the following steps:
s1) connecting a driver A and a driver B through M3 protocol communication by taking the controller as an upper computer, wherein the driver A drives an A shaft to move, and the driver B drives a B shaft to move;
s2) the controller sends a position command to the driver A, and the feedback values of the positions of the axis A and the axis B are recorded as T1 and T2 respectively;
s3) in case the system sends a command to the driver a, calculating the time parameter T1 to which the position command is sent to the B-axis feedback:
t1 series delay + a command delay + B feedback delay + servo lag, where,
the serial delay is a wire influence delay;
the A command delay is the delay resulting from the controller sending a position command to drive A;
b feedback delay is the delay generated by B axis position feedback;
servo lag is other delays caused by driving the motor and is an intermediate calculated quantity;
s4) in case the system sends a command to the driver a, calculating the time parameter T2 to which the position command is sent to the a-axis feedback:
t2 is series delay + A command delay + A feedback delay + servo lag,
wherein, the A feedback delay is the delay generated by the position feedback sent by the A axis;
s5) the controller sends a position command to the driver B, records the position feedback values of the A axis and the B axis, and the values are T3 and T4 respectively;
s6) under the condition that the system sends a command to the driver B, calculating the time parameter T3 for the position command to be sent to the feedback of the B axis:
t3 series delay + B command delay + B feedback delay + servo lag, where,
b-command delay refers to the delay caused by the controller sending a position command to drive B;
s7) in case the system sends a command to the driver B, calculating the time parameter T4 to which the position command is sent to the a-axis feedback:
t4 is series delay + B command delay + A feedback delay + servo lag,
s8) calculating the feedback delay time difference T5 between the a axis and the B axis as T2-T1;
s9) calculating a command delay time difference T6-T1-T3 between the a axis and the B axis;
s10) generating a core error D12 from the feedback delay time difference T5, i.e., D12 is T5;
s11) compensating the command delay time difference T6 as a time variable into the system and correcting it before the next command is issued;
s12) repeating steps S1) -S11) until D12 tends to be minimized, and when D12 maintains the minimized state, the correct compensation value D13 is generated internally to be loaded;
s13) delay compensating the upper computer command by using the compensation value D13 as a communication delay error so that the servo communications are matched.
Further, the compensation value D13 is accumulated by repeating the command delay time difference T6 obtained in the steps S1) -S11).
Compared with the prior art, the communication delay compensation method for the controller has the beneficial effects that: the delay error is automatically compensated by the controller, so that a great part of manual debugging time is saved, and the debugging efficiency is improved; meanwhile, one-key debugging and automatic compensation are realized, so that the debugging is more convenient and faster; in addition, through automatic debugging of the system, unnecessary waste of workpieces during manual debugging can be avoided, the processing problem caused by communication delay can be effectively solved, and the processing effect is remarkably improved.
[ description of the drawings ]
Fig. 1 is a communication feedback diagram of the host computer sending a command to the driver a in this embodiment;
fig. 2 is a communication feedback diagram of the host computer sending a command to the driver B in this embodiment.
[ detailed description ] embodiments
Example (b):
the embodiment is a method for compensating communication delay of a controller, which comprises the following steps:
s1) connecting a driver A and a driver B through M3 protocol communication by taking the controller as an upper computer, wherein the driver A drives an A shaft to move, and the driver B drives a B shaft to move;
s2) the controller sends a position command to the driver a, records the feedback values of the positions of the a axis and the B axis, and is T1 and T2, respectively, as shown in fig. 1;
s3) in case the system sends a command to the driver a, calculating the time parameter T1 to which the position command is sent to the B-axis feedback:
t1 is series delay + A command delay + B feedback delay + servo lag,
wherein the content of the first and second substances,
the serial delay is the delay influenced by the wire, which means the delay generated by the factors such as the material and the length of an M3 communication wire or an encoder wire required by communication, and the influence quantity is small and can be ignored;
the A command delay refers to the delay caused by the controller sending a position command to drive A;
the B feedback delay is the delay generated by position feedback sent by the B axis and is a calculated quantity;
servo lag is other delays caused by driving the motor and is an intermediate calculated quantity;
s4) in case the system sends a command to the driver a, calculating the time parameter T2 to which the position command is sent to the a-axis feedback:
t2 is series delay + A command delay + A feedback delay + servo lag,
wherein, the A feedback delay is the delay generated by the position feedback sent by the A axis and is a calculated quantity;
s5) the controller sends a position command to the driver B, records the position feedback values of the a axis and the B axis, which are T3 and T4, respectively, as shown in fig. 2;
s6) under the condition that the system sends a command to the driver B, calculating the time parameter T3 for the position command to be sent to the feedback of the B axis:
t3 series delay + B command delay + B feedback delay + servo lag, where,
b-command delay refers to the delay caused by the controller sending a position command to drive B;
s7) in case the system sends a command to the driver B, calculating the time parameter T4 to which the position command is sent to the a-axis feedback:
t4 is series delay + B command delay + A feedback delay + servo lag,
s8) calculating the feedback delay time difference T5 between the a axis and the B axis as T2-T1;
s9) calculating a command delay time difference T6-T1-T3 between the a axis and the B axis; the feedback delay of the A axis and the B axis is caused just because the controller has communication delay when sending commands to the driver A and the driver B;
s10) generating a core error D12 from the feedback delay time difference T5, i.e., D12 is T5;
s11) compensating the command delay time difference T6 as a time variable into the system; when the command is sent next time, namely, the command is corrected again, if the command is sent in advance or delayed, the feedback is influenced, and if the feedback is consistent, the servo is matched, so that the processing effect can be greatly improved;
s12) repeating steps S1) -S11) until D12 tends to be minimized, and when D12 maintains the minimized state, the correct compensation value D13 is generated internally to be loaded; d13 is accumulated by the command delay time difference T6 obtained in the above repeating step; if D13 is positive, the A axis is behind the B axis and is slower than the B axis, the position command is sent to the A axis to be advanced, otherwise, if D13 is negative, the A axis is in front of the B axis and is faster than the B axis, the position command is sent to the A axis to be delayed;
s13) compensating the D13 compensation value through communication, so that the servo communication is matched, thereby solving the processing problem caused by communication delay and improving the processing quality.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (2)
1. A method for compensating communication delay of a controller is characterized in that: which comprises the following steps:
s1) connecting a driver A and a driver B through M3 protocol communication by taking the controller as an upper computer, wherein the driver A drives an A shaft to move, and the driver B drives a B shaft to move;
s2) the controller sends a position command to the driver A, and the feedback values of the positions of the axis A and the axis B are recorded as T1 and T2 respectively;
s3) in case the system sends a command to the driver a, calculating the time parameter T1 to which the position command is sent to the B-axis feedback:
t1 series delay + a command delay + B feedback delay + servo lag, where,
the serial delay is a wire influence delay;
the A command delay is the delay resulting from the controller sending a position command to drive A;
b feedback delay is the delay generated by B axis position feedback;
servo lag is other delays caused by driving the motor and is an intermediate calculated quantity;
s4) in case the system sends a command to the driver a, calculating the time parameter T2 to which the position command is sent to the a-axis feedback:
t2 is the series delay + a command delay + a feedback delay + servo lag, where a feedback delay is the delay caused by the a axis sending position feedback;
s5) the controller sends a position command to the driver B, records the position feedback values of the A axis and the B axis, and the values are T3 and T4 respectively;
s6) under the condition that the system sends a command to the driver B, calculating the time parameter T3 for the position command to be sent to the feedback of the B axis:
t3 series delay + B command delay + B feedback delay + servo lag, where,
b-command delay refers to the delay caused by the controller sending a position command to drive B;
s7) in case the system sends a command to the driver B, calculating the time parameter T4 to which the position command is sent to the a-axis feedback:
t4 is series delay + B command delay + A feedback delay + servo lag,
s8) calculating the feedback delay time difference T5 between the a axis and the B axis as T2-T1;
s9) calculating a command delay time difference T6-T1-T3 between the a axis and the B axis;
s10) generating a core error D12 from the feedback delay time difference T5, i.e., D12 is T5;
s11) compensating the command delay time difference T6 as a time variable into the system and correcting it before the next command is issued;
s12) repeating steps S1) -S11) until D12 tends to be minimized, and when D12 maintains the minimized state, the correct compensation value D13 is generated internally to be loaded;
s13) delay compensating the upper computer command by using the compensation value D13 as a communication delay error so that the servo communications are matched.
2. The controller communication delay compensation method of claim 1, wherein: the compensation value D13 is accumulated by repeating the command delay time difference T6 obtained in the steps S1) -S11).
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| CN102483622A (en) * | 2009-10-23 | 2012-05-30 | 布尔戈斯大学 | Intelligent device and method for compensating for ram sag in machine tools |
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