CN113125506A - Grating scale, method and system for diagnosing magnetic grid scale and storage medium - Google Patents
Grating scale, method and system for diagnosing magnetic grid scale and storage medium Download PDFInfo
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- 238000010219 correlation analysis Methods 0.000 claims description 3
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- 238000001514 detection method Methods 0.000 description 4
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- 238000002405 diagnostic procedure Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000012545 processing Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 1
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Abstract
The invention relates to the technical field of measurement and control diagnosis, and discloses a method, a system and a storage medium for diagnosing a grating ruler and a magnetic grating ruler, wherein the method comprises the following steps: collecting a first current output to a motor by a driver; collecting a second current output by the driver to the motor based on a preset time interval; performing a derivation operation on the first current and the second current to obtain a first data set; and analyzing the first data set to obtain an analysis result. The invention has at least the following beneficial effects: can just can self-checking linear electric motor when the platform assembly, judge whether grid chi damage point or guide rail depth of parallelism have great problem, and pinpoint to the motor coordinate, make things convenient for the investigation of problem.
Description
Technical Field
The invention relates to the technical field of measurement and control diagnosis, in particular to a method and a system for diagnosing a grating ruler and a magnetic grating ruler and a storage medium.
Background
With the increasing resolution and the decreasing size of single pixels of image sensors, the relative positioning of the lens and the image sensor has increasingly high requirements for external shock. When an automatic AA machine (Active Alignment, which is a technology for determining relative positions in the assembly process of parts) is used for production, in order to pursue production efficiency, a feeding and discharging motor is usually fast, and the high-speed motion of the motor inevitably generates large vibration. Under the ideal condition of motor installation, motion control system can be steady control motor, but the motor can lead to motion control's electric current sudden change through feedback control system because of magnetic grid or guide rail problem, makes motor thrust extremely fast rise to whole platform produces the impact, leads to great vibrations to produce the influence to AA.
In whole equipment production debugging process, often the board debugs to the final stage after to have produced the influence to AA, just discover that the motor shakes too big, at this moment, can produce serious influence to the project progress, and can't pinpoint shake and produce the position.
In the prior art, the general detection of the dead spots of the magnetic grating/optical grating can only be realized by an assembler through appearance inspection, and the magnetic grating/optical grating is not available in quantification standards, and is easy to have some dark injuries which cannot be observed by naked eyes. Problems are often found only when the problems flow to the debugging stage of machine production, and the rework difficulty is increased to seriously affect the project progress.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a diagnosis method of a grating ruler and a magnetic grating ruler, which can be used for self-checking a linear motor and judging a grating ruler damage point during assembly.
The invention also provides a grating ruler and a magnetic grating ruler diagnosis system with the grating ruler and magnetic grating ruler diagnosis method.
The invention also provides a computer readable storage medium with the grating ruler and the magnetic grating ruler diagnosis method.
The method for diagnosing the grating ruler and the magnetic grating ruler comprises the following steps: collecting a first current output to a motor by a driver; collecting a second current output by a driver to the motor based on a preset time interval; performing a derivation operation on the first current and the second current to obtain a first data set; and analyzing the first data set to obtain an analysis result.
According to some embodiments of the invention, further comprising: collecting the first data set in a standard machine table as a standard data set; and analyzing the standard data set according to a preset analysis method to obtain a standard analysis result.
According to some embodiments of the invention, further comprising: analyzing the first data set according to a preset analysis method to obtain a first data set analysis result; comparing the analysis result of the first data set with the standard analysis result to obtain a diagnosis result based on the first data set, and displaying the diagnosis result by a visual interface; the preset analysis method comprises a clustering analysis method, a factor analysis method, a correlation analysis method and a variance analysis method.
According to some embodiments of the invention, further comprising: when the diagnosis result of the first data set is larger than a preset threshold value, executing alarm operation; the alarm operation comprises sound alarm, display screen flash alarm, dialog box shake alarm and message pop-up alarm.
According to some embodiments of the invention, further comprising: the PLC sends a position command to the driver, and the driver drives the motor based on the position command; and in the motor motion process, collecting a first current output to the motor by the driver.
According to some embodiments of the invention, further comprising: and the driver receives feedback pulses fed back by the encoder, and calculates the position information of the grating ruler or the magnetic grating ruler based on the feedback pulses.
According to some embodiments of the invention, the preset time interval is not more than 1 ms.
The system for diagnosing the grating ruler and the magnetic grating ruler according to the embodiment of the second aspect of the invention comprises: the industrial personal computer is used for generating codes of diagnosis methods of the grating ruler and the magnetic grating ruler; the PLC is bidirectionally connected with the industrial personal computer and is used for sending a position instruction according to a command of the industrial personal computer and receiving current information and position information fed back by the driver to the industrial personal computer; the driver is bidirectionally connected with the PLC and is used for receiving the position command sent by the PLC and driving the motor to move according to the position command; the motor receives the instruction of the driver and executes corresponding operation; an encoder for outputting a feedback pulse to the driver, the feedback pulse including position information of a magnetic grating or a grating.
According to some embodiments of the invention, the industrial personal computer is connected with the PLC through an ethernet port, and the PLC is connected with the driver through an ethernet port.
A computer-readable storage medium according to an embodiment of the third aspect of the present invention, has a computer program stored thereon, which when executed by one or more processors is capable of executing the steps of any of the above-mentioned grating ruler and magnetic grating ruler diagnosis methods.
The method for diagnosing the grating ruler and the magnetic grating ruler provided by the embodiment of the invention at least has the following beneficial effects: can just can self-checking linear electric motor when the platform assembly, judge whether grid chi damage point or guide rail depth of parallelism have great problem, and pinpoint to the motor coordinate, make things convenient for the investigation of problem.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow chart of a method according to one embodiment of the present invention;
FIG. 2 is a flow chart of a second method according to a second embodiment of the present invention;
FIG. 3 is a schematic diagram of data analysis results according to an embodiment of the present invention;
FIG. 4 is a flow chart of a third embodiment of the present invention;
FIG. 5 is a block diagram of the modules of the system of an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
It should be understood that, the sequence numbers of the steps in the embodiments of the present invention do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
Interpretation of terms:
PLC: a programmable controller.
The linear motor is a closed-loop system, the system can adjust the output current in real time according to the position feedback of the magnetic grid, and when the position feedback lags behind the planned motion parameters, the system can increase the output current of the motor to adjust the output current in real time. The inventor finds that hysteresis occurs through position feedback, and can judge that the magnetic grid/optical grating is possibly dead pixel at the moment, so that real-time position feedback is lost or the position resistance of a certain section is suddenly changed due to overlarge difference of the parallelism of the guide rail.
Referring to fig. 1, fig. 1 shows a flow diagram of a method according to one embodiment of the present invention, the method comprising:
collecting a first current output by a driver to a motor, wherein the current is understood to be a current capable of driving the motor to operate;
based on a preset time interval which can be set according to the actual motor running condition and the running standard of a machine table and is usually set to be less than 1ms, repeated experimental verification of an inventor proves that the maximum balance can be obtained in system resource and fault detection based on the preset time, so that data reflecting magnetic grids and grating problem points can be timely and accurately acquired under the condition of minimum resource consumption, and second current output to the motor by a driver is acquired based on the time interval;
performing a derivation operation on the first current and the second current to obtain a first data set;
and analyzing the first data set to obtain an analysis result.
It should be noted that, by collecting the current of the driver driving motor and calculating the change rate of the current, when the change rate of the current is suddenly increased, the presence of a dead spot or a dark defect on the magnetic grating ruler or the grating ruler can be determined according to the conventionally accumulated empirical value.
Fig. 2 is a schematic flow chart of a method according to a second embodiment of the present invention, which includes:
collecting a first data set in a standard machine as a standard data set;
analyzing the standard data set according to a preset analysis method to obtain a standard analysis result;
analyzing the first data set according to a preset analysis method to obtain a first data set analysis result;
comparing the analysis result of the first data group with the standard analysis result to obtain a diagnosis result based on the first data group, and displaying the diagnosis result by a visual interface;
the preset analysis method comprises a clustering analysis method, a factor analysis method, a correlation analysis method and a variance analysis method.
One specific embodiment of the invention is that a standard machine which meets the requirements of various criteria is screened out through testing and various detection means, the current of a driving motor of a driver in the standard machine is sampled, the current is continuously sampled according to preset interval time, the preset time interval can be set according to the actual motor running condition and the running standard of the machine and is usually set to be less than 1ms, repeated experimental verification of an inventor is carried out, the maximum balance can be obtained in system resource and fault detection based on the preset time, data which can more effectively reflect the problem points of the magnetic grating and the optical grating can be timely and accurately collected under the condition of the smallest resource consumption, a standard data group based on the standard machine can be obtained by carrying out derivation operation on the sampled data, and the standard data group can be regarded as the testing criteria of the testing machine, and analyzing the data of the standard test group to obtain an analysis result based on the standard machine, analyzing the acquired data of the test machine on the basis, and comparing the analyzed data with the acquired data of the standard machine to obtain a preliminary diagnosis result.
In one embodiment of the present invention, the derivation operation is performed on the collected current, wherein the current data of the motion of the driving motor output by the driver is sampled at preset time intervals, and the preset time intervals need to be sufficiently small, wherein one point can be sampled every 1ms, and the derivation operation is performed on the currents of two adjacent sampling points, and herein, a current change rate curve of the motion process can be obtained. Generally, the change rate of the curve fluctuates in an interval, as shown in fig. 3, if a step-type change occurs, the problem that the magnetic grating/optical grating has a dead spot or the friction force of the guide rail suddenly changes can be reflected by referring to the step change of the curve in fig. 3 around the sampling point 200.
In some embodiments of the invention, further comprising:
when the diagnosis result of the first data set is larger than a preset threshold value, executing alarm operation;
alarm operations include, but are not limited to, audible alarms, display flashing alarms, dialog box shaking alarms, and message pop-up alarms.
In some embodiments of the invention, further comprising:
the PLC sends a position command to the driver, and the driver drives the motor to move based on the position command;
in the motor motion process, the first current output to the motor by the driver is collected.
In some embodiments of the invention, further comprising:
the driver receives feedback pulses fed back by the encoder, and calculates the position information of the grating ruler or the magnetic grating ruler based on the feedback pulses.
It can be understood that, in an actual application scenario, one machine often includes a plurality of motors, during testing, the plurality of motors need to be tested, for convenience of testing, the motors can be set to be shaft numbers, when the driving motor runs, different running parameters can be set according to specific shaft numbers, the parameters can be displayed on a human-computer interaction interface, and setting by a laboratory technician is facilitated.
In some embodiments of the invention, the predetermined time interval is no greater than 1 ms.
Fig. 4 is a flowchart illustrating a method according to a third embodiment of the present invention, including:
the industrial personal computer constructs codes of the grating ruler and the magnetic grating ruler diagnosis method, the codes are issued to the PLC, the PLC processes logic according to the codes and sends position instructions to the driver, and the driver processes the position instructions and drives the motor to move according to the position instructions.
In the motion process of the motor, the encoder feeds back pulses, the driver processes and converts the feedback pulses, current and position information in the driver are fed back to the PLC, the PLC acquires the current and the position information and sends the current and the position information to the industrial personal computer, and the industrial personal computer acquires data processing data and further displays the data on a visual interface.
In some embodiments of the present invention, the present invention further includes a grating scale and magnetic grating scale diagnostic system, as shown in fig. 5, the diagnostic system uses any one of the above-mentioned grating scale and magnetic grating scale diagnostic methods, including:
the industrial personal computer is used for generating codes of diagnosis methods of the grating ruler and the magnetic grating ruler;
the PLC is bidirectionally connected with the industrial personal computer and is used for sending a position instruction according to a command of the industrial personal computer and receiving current information and position information fed back by the driver to the industrial personal computer;
the driver is bidirectionally connected with the PLC and is used for receiving the position command sent by the PLC and driving the motor to move according to the position command;
a motor including an optical/magnetic scale, performing a moving operation according to an instruction of the driver;
and the encoder is used for outputting a feedback pulse to the driver, and the feedback pulse comprises position information of the magnetic grid or the optical grating.
In some specific embodiments of the present invention, the industrial personal computer is connected to the PLC through an ethernet port, and the PLC is connected to the driver through the ethernet port.
In some embodiments of the present invention, a computer-readable storage medium is further included, on which a computer program is stored, and the computer program, when executed by a processor, implements any one of the above-described diagnostic methods for a grating ruler and a magnetic grating ruler.
According to the method for diagnosing the grating ruler and the magnetic grating ruler, disclosed by the embodiment of the invention, the linear motor can be self-detected during machine station assembly, whether the damage point of the grating ruler or the parallelism of the guide rail has a larger problem or not can be judged, the motor coordinate is accurately positioned, and the problem is conveniently checked.
Although specific embodiments have been described herein, those of ordinary skill in the art will recognize that many other modifications or alternative embodiments are equally within the scope of this disclosure. For example, any of the functions and/or processing capabilities described in connection with a particular device or component may be performed by any other device or component. In addition, while various illustrative implementations and architectures have been described in accordance with embodiments of the present disclosure, those of ordinary skill in the art will recognize that many other modifications of the illustrative implementations and architectures herein are also within the scope of the present disclosure.
Certain aspects of the present disclosure are described above with reference to block diagrams and flowchart illustrations of systems, methods, systems, and/or computer program products according to example embodiments. It will be understood that one or more blocks of the block diagrams and flowchart illustrations, and combinations of blocks in the block diagrams and flowchart illustrations, respectively, can be implemented by executing computer-executable program instructions. Also, according to some embodiments, some blocks of the block diagrams and flow diagrams may not necessarily be performed in the order shown, or may not necessarily be performed in their entirety. In addition, additional components and/or operations beyond those shown in the block diagrams and flow diagrams may be present in certain embodiments.
Accordingly, blocks of the block diagrams and flowchart illustrations support combinations of means for performing the specified functions, combinations of elements or steps for performing the specified functions and program instruction means for performing the specified functions. It will also be understood that each block of the block diagrams and flowchart illustrations, and combinations of blocks in the block diagrams and flowchart illustrations, can be implemented by special purpose hardware-based computer systems that perform the specified functions, elements or steps, or combinations of special purpose hardware and computer instructions.
A program module, application, etc. herein can include one or more software components, including, for example, software objects, methods, data structures, etc. Each such software component may include computer-executable instructions that, in response to execution, cause at least a portion of the functionality herein (e.g., one or more operations of the illustrative methods herein) to be performed.
The software components may be encoded in any of a variety of programming languages. An illustrative programming language may be a low-level programming language, such as assembly language associated with a particular hardware architecture and/or operating system platform. Software components that include assembly language instructions may need to be converted by an assembler program into executable machine code prior to execution by a hardware architecture and/or platform. Another exemplary programming language may be a higher level programming language, which may be portable across a variety of architectures. Software components that include higher level programming languages may need to be converted to an intermediate representation by an interpreter or compiler before execution. Other examples of programming languages include, but are not limited to, a macro language, a shell or command language, a job control language, a scripting language, a database query or search language, or a report writing language. In one or more exemplary embodiments, a software component containing instructions of one of the above programming language examples may be executed directly by an operating system or other software component without first being converted to another form.
The software components may be stored as files or other data storage constructs. Software components of similar types or related functionality may be stored together, such as in a particular directory, folder, or library. Software components may be static (e.g., preset or fixed) or dynamic (e.g., created or modified at execution time).
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. A method for diagnosing a grating ruler and a magnetic grating ruler is characterized by comprising the following steps:
collecting a first current output to a motor by a driver;
collecting a second current output by a driver to the motor based on a preset time interval;
performing a derivation operation on the first current and the second current to obtain a first data set;
and analyzing the first data set to obtain an analysis result.
2. The method for diagnosing a grating scale and a magnetic grating scale of claim 1, further comprising:
collecting the first data set in a standard machine table as a standard data set;
and analyzing the standard data set according to a preset analysis method to obtain a standard analysis result.
3. The method for diagnosing a grating scale and a magnetic grating scale of claim 2, further comprising:
analyzing the first data set according to a preset analysis method to obtain a first data set analysis result;
comparing the analysis result of the first data set with the standard analysis result to obtain a diagnosis result based on the first data set, and displaying the diagnosis result by a visual interface;
the preset analysis method comprises a clustering analysis method, a factor analysis method, a correlation analysis method and a variance analysis method.
4. The method for diagnosing a grating scale and a magnetic grating scale of claim 3, further comprising:
when the diagnosis result of the first data set is larger than a preset threshold value, executing alarm operation;
the alarm operation comprises sound alarm, display screen flash alarm, dialog box shake alarm and message pop-up alarm.
5. The method for diagnosing a grating scale and a magnetic grating scale of claim 1, further comprising:
the PLC sends a position command to the driver, and the driver drives the motor based on the position command;
and in the motor motion process, collecting a first current output to the motor by the driver.
6. The method for diagnosing a grating scale and a magnetic grating scale of claim 1, further comprising:
and the driver receives feedback pulses fed back by the encoder, and calculates the position information of the grating ruler or the magnetic grating ruler based on the feedback pulses.
7. The method for diagnosing a linear or magnetic scale according to claim 1, wherein the predetermined time interval is not greater than 1 ms.
8. A grating scale, magnetic grating scale diagnostic system using the method of any one of claims 1 to 7, comprising:
the industrial personal computer is used for generating codes of diagnosis methods of the grating ruler and the magnetic grating ruler;
the PLC is bidirectionally connected with the industrial personal computer and is used for sending a position instruction according to a command of the industrial personal computer and receiving current information and position information fed back by the driver to the industrial personal computer;
the driver is bidirectionally connected with the PLC and is used for receiving the position command sent by the PLC and driving the motor to move according to the position command;
the motor receives the instruction of the driver and executes corresponding operation;
an encoder for outputting a feedback pulse to the driver, the feedback pulse including position information of a magnetic grating or a grating.
9. The system for diagnosing the grating ruler and the magnetic grating ruler of claim 8, wherein the industrial personal computer is connected with the PLC through an Ethernet port, and the PLC is connected with the driver through the Ethernet port.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of any one of claims 1 to 7.
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