CN113125506B - Grating scale, diagnosis method and system of magnetic grating scale and storage medium - Google Patents
Grating scale, diagnosis method and system of magnetic grating scale and storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000003745 diagnosis Methods 0.000 title claims abstract description 27
- 238000004458 analytical method Methods 0.000 claims abstract description 46
- 230000006378 damage Effects 0.000 claims abstract description 7
- 230000008569 process Effects 0.000 claims description 12
- 238000002405 diagnostic procedure Methods 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 8
- 230000002457 bidirectional effect Effects 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000010219 correlation analysis Methods 0.000 claims description 3
- 238000000556 factor analysis Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000011835 investigation Methods 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 8
- 238000012360 testing method Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 238000005070 sampling Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000000540 analysis of variance Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
Abstract
The invention relates to the technical field of measurement and control diagnosis, and discloses a diagnosis method, a diagnosis system and a storage medium of 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 to the motor by the driver based on a preset time interval; performing derivative operation on the first current and the second current to obtain a first data set; and performing analysis on 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 board assembly, judge whether grid chi damage point or guide rail parallelism have great problem, and accurately fix a position 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 diagnosis method, a diagnosis system and a storage medium of a grating ruler and a magnetic grating ruler.
Background
Under the conditions that the resolution of the image sensor is continuously increased and the size of a single pixel is continuously reduced, the relative positioning of the lens and the image sensor is increasingly required for external vibration. When an automatic AA machine (Active Alignment, a technology for determining the relative position in the assembly process of parts) is used for production, in order to pursue production efficiency, the feeding and discharging motors often have high speed, and the motors inevitably generate large vibration during high-speed movement. Under the ideal condition of motor installation, the motion control system can smoothly control the motor, but the motor can lead to current mutation of motion control through the feedback control system because of the magnetic grid or guide rail problem, so that the thrust polar speed of the motor rises, thereby generating impact on the whole machine, and causing larger vibration to influence AA.
In the whole equipment production debugging process, the machine is often subjected to the final stage of debugging to have influence on AA, and the motor is found to vibrate too much, so that the project progress is seriously influenced, and the vibration generating position cannot be accurately positioned.
In the prior art, the magnetic grating/grating is generally used for detecting dead spots, only the appearance inspection can be passed by an assembler, no quantitative standard exists, and the magnetic grating/grating is easy to have some hidden damages which cannot be observed by naked eyes. Often, problems are found only when the problems flow to the debugging stage of machine production, and the project progress is seriously affected by the increased reworking difficulty.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a diagnosis method of the grating ruler and the magnetic grating ruler, which can self-check the linear motor during assembly and judge the damage point of the grating ruler.
The invention also provides a grating ruler and a diagnosis system of the magnetic grating ruler, which are provided with the diagnosis method of the grating ruler and the magnetic grating ruler.
The invention also provides a computer readable storage medium with the grating ruler and the magnetic grating ruler diagnosis method.
According to the diagnostic method of the grating ruler and the magnetic grating ruler, the embodiment of the first aspect of the invention 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 derivative operation on the first current and the second current to obtain a first data set; and executing analysis on the first data set to obtain an analysis result.
According to some embodiments of the invention, further comprising: collecting the first data set in the standard machine as a standard data set; and executing analysis on 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: performing analysis on the first data set according to a preset analysis method to obtain a first data set analysis result; comparing the first data set analysis result with the standard analysis result to obtain a diagnosis result based on the first data set and displaying the diagnosis result in 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 flashing alarm, dialog box shaking alarm and message pop-up alarm.
According to some embodiments of the invention, further comprising: the PLC sends a position instruction to the driver, and the driver drives the motor based on the position instruction; and during the movement process of the motor, collecting the first current output by the driver to the motor.
According to some embodiments of the invention, further comprising: the driver receives feedback pulses fed back by the encoder, and calculates 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 greater than 1ms.
A diagnostic system of a grating scale, a magnetic grating scale according to an embodiment of the second aspect of the present invention, comprises: the industrial personal computer is used for generating codes of diagnostic methods of the grating ruler and the magnetic grating ruler; the PLC is in bidirectional connection 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 in bidirectional connection with the PLC and is used for receiving a position instruction sent by the PLC and driving the motor to move according to the position instruction; the motor receives the instruction of the driver and executes corresponding operation; and an encoder for outputting a feedback pulse to the driver, the feedback pulse including positional information of the magnetic grating or 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 stored thereon a computer program which, when executed by one or more processors, is capable of performing the steps of the diagnostic method of a grating scale, magnetic grating scale as defined in any one of the above.
The diagnosis method of the grating ruler and the magnetic grating ruler has at least the following beneficial effects: can just can self-checking linear electric motor when the board assembly, judge whether grid chi damage point or guide rail parallelism have great problem, and accurately fix a position 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 foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a flow chart of a method according to one embodiment of the invention;
FIG. 2 is a flow chart of a method according to a second embodiment of the invention;
FIG. 3 is a schematic diagram showing the data analysis results according to an embodiment of the present invention;
FIG. 4 is a flow chart of a method according to a third embodiment of the invention;
fig. 5 is a block schematic diagram of a system according to an embodiment of the invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
It should be understood that, the sequence number of each step in the embodiment of the present invention does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present invention.
In the description of the present invention, a plurality means one or more, and a plurality means two or more, and it is understood that greater than, less than, exceeding, etc. does not include the present number, and it is understood that greater than, less than, within, etc. include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed 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.
Term interpretation:
PLC: and 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 is delayed from the planned motion parameters, the system can increase the output current of the motor to adjust in real time. The inventor finds that hysteresis occurs through position feedback, and can judge that dead spots are most likely to occur on a magnetic grid/grating at the moment, so that real-time position feedback is lost or the parallelism difference of the guide rails is overlarge, so that the resistance of a certain section of position is suddenly changed.
Referring to fig. 1, fig. 1 shows a schematic flow chart of a method according to one embodiment of the present invention, where the method according to the embodiment of the present invention includes:
collecting a first current output by the driver to the motor, wherein the current is understood to be a current capable of driving the motor to operate;
based on a preset time interval, the preset time interval can be set according to the actual motor running condition and the running standard of the machine, is generally set to be less than 1ms, and is verified by repeated experiments of the inventor, based on the preset time, the maximum balance can be obtained in system resources and fault detection, so that data reflecting magnetic grid and grating problem points can be timely and accurately acquired under the condition of lowest resource consumption, and based on the time interval, second current output to the motor by a driver is acquired;
performing derivative operation on the first current and the second current to obtain a first data set;
and performing analysis on the first data set to obtain an analysis result.
It should be noted that, by collecting the current of the driving motor of the driver and calculating the change rate of the current, when the change rate of the current suddenly increases, it can be determined that there is a dead spot or a hidden injury on the magnetic grating ruler or the grating ruler according to the conventional accumulated experience value.
FIG. 2 is a flow chart of a method according to a second embodiment of the invention, comprising:
collecting a first data set in a standard machine as a standard data set;
performing analysis on the standard data set according to a preset analysis method to obtain a standard analysis result;
performing analysis on the first data set according to a preset analysis method to obtain a first data set analysis result;
comparing the first data set analysis result with the standard analysis result to obtain a diagnosis result based on the first data set and displaying the diagnosis result in a visual interface;
the preset analysis method comprises a clustering analysis method, a factor analysis method, a correlation analysis method and an analysis of variance.
The invention is characterized in that a standard machine meeting various standard requirements is screened out through testing and various detection means, the current of a drive motor of a driver in the standard machine is sampled, the current is continuously sampled according to a preset interval time, the preset interval time can be set according to the actual motor running condition and the machine running standard, the preset interval time is usually less than 1ms, the maximum balance can be obtained in system resource and fault detection through repeated experiment verification of an inventor based on the preset interval time, so that data reflecting magnetic grid and grating problem points can be timely and accurately acquired under the condition of minimum resource consumption, a standard data set based on the standard machine can be obtained through conducting operation on the sampled data, the standard data set can be regarded as a test standard of the test machine, the analysis of the data of the standard test set is performed to obtain an analysis result based on the standard machine, the acquired data of the test machine is analyzed on the basis, and the acquired data of the test machine is compared with the acquired data of the standard machine to obtain a preliminary diagnosis result.
In the invention, one embodiment of the deriving operation on the collected current is to sample the current data of the motion of the driving motor output by the driver according to a preset time interval, wherein the preset time interval needs to be small enough, one point can be sampled every 1ms, and the deriving operation is performed on the currents of two adjacent sampling points, so that the current change rate curve of the motion process can be obtained. In general, the curve change rate fluctuates in one interval, as shown in fig. 3, and if a step change occurs, referring to the step change of the curve around the sampling point 200 in fig. 3, based on this, the problem that there is a dead spot in the magnetic grating or the friction force of the guide rail suddenly changes can be reflected.
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, flashing alarms on a display, shaking alarms on a dialog box, and message pop-up alarms.
In some embodiments of the invention, further comprising:
the PLC sends a position instruction to a driver, and the driver drives a motor to move based on the position instruction;
during motor movement, a first current output by the driver to the motor is collected.
In some embodiments of the invention, further comprising:
the driver receives feedback pulses fed back by the encoder, and calculates 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, in the test, the plurality of motors need to be tested, for convenience of the test, the motors can be set to shaft numbers, when the driving motors operate, different operation parameters can be set according to specific shaft numbers, the parameters can be displayed on a man-machine interaction interface, and are convenient for an experimenter to set, in some specific embodiments, the parameters include the shaft numbers, error codes, current positions, current motor operation speed, motor operation acceleration, operation deceleration, absolute positions and relative positions of magnetic grids fed back by a current encoder, and also include a display of collected data and an analysis frame for the data, wherein the analysis frame at least includes a file storage path of the collected data, a maximum value of a change rate of the data and a coordinate position when the maximum value occurs.
In some embodiments of the invention, the preset time interval is not greater than 1ms.
FIG. 4 is a flow chart of a method according to a third embodiment of the invention, comprising:
the industrial control computer constructs codes of the grating ruler and the magnetic grating ruler diagnosis method, the codes are issued to the PLC, the PLC processes the logic according to the codes and sends a position instruction to the driver, and the driver processes the position instruction and drives the motor to move according to the position instruction.
In the motion process of the motor, the encoder feeds back pulses, the driver processes and converts the feedback pulses, internal current and position information of the driver are fed back to the PLC, the PLC obtains the current and the position information and sends the current and the position information to the industrial personal computer, and the industrial personal computer obtains data processing data and displays the data through a visual interface.
In some embodiments of the present invention, a diagnostic system of a grating scale and a magnetic grating scale is further included, as shown in fig. 5, where the diagnostic system uses any one of the diagnostic methods of the grating scale and the magnetic grating scale, and includes:
the industrial personal computer is used for generating codes of a diagnosis method of the grating ruler and the magnetic grating ruler;
the PLC is in bidirectional connection 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 in bidirectional connection with the PLC and is used for receiving a position instruction sent by the PLC and driving the motor to move according to the position instruction;
a motor including an optical/magnetic grating ruler for performing a moving operation according to an instruction of the driver;
and an encoder for outputting a feedback pulse to the driver, the feedback pulse including positional information of the magnetic grating or grating.
In some specific embodiments of the present invention, the industrial personal computer is connected to the PLC via an ethernet port, and the PLC is connected to the driver via an ethernet port.
In some embodiments of the invention, a computer readable storage medium having stored thereon a computer program which when executed by a processor implements any of the diagnostic methods of the grating scale, magnetic grating scale described above.
According to the diagnosis method for the grating ruler and the magnetic grating ruler, which are disclosed by the embodiment of the invention, the linear motor can be self-inspected during the assembly of the machine, whether the damage point of the grating ruler or the parallelism of the guide rail has a large problem or not is judged, the motor coordinates are accurately positioned, and the problem is conveniently checked.
Although specific embodiments are described herein, those of ordinary skill in the art will recognize that many other modifications or alternative embodiments are also within the scope of the present 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 exemplary implementations and architectures have been described in terms of embodiments of the present disclosure, those of ordinary skill in the art will recognize that many other modifications of the exemplary 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, some of the blocks in the block diagrams and flowcharts may not need to be performed in the order shown, or may not need to be performed in their entirety, according to some embodiments. In addition, additional components and/or operations beyond those shown in blocks of the block diagrams and flowcharts may be present in some 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.
Program modules, applications, etc. herein may 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 functions herein (e.g., one or more operations of the exemplary methods herein) to be performed.
The software components may be encoded in any of a variety of programming languages. An exemplary programming language may be a low-level programming language, such as an assembly language associated with a particular hardware architecture and/or operating system platform. Software components including assembly language instructions may need to be converted into executable machine code by an assembler prior to execution by a hardware architecture and/or platform. Another exemplary programming language may be a higher level programming language that may be portable across a variety of architectures. Software components, including 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 programming language examples described above may be executed directly by an operating system or other software component without first converting to another form.
The software components may be stored as files or other data storage constructs. Software components having similar types or related functionality may be stored together, such as in a particular directory, folder, or library. The 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 one of ordinary skill in the art without departing from the spirit of the present invention.
Claims (8)
1. A diagnosis method of 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 the driver to the motor based on a preset time interval;
performing derivative operation on the first current and the second current to obtain a first data set;
performing analysis on the first data set to obtain an analysis result;
wherein the diagnostic method further comprises:
the PLC sends a position instruction to the driver, and the driver drives the motor based on the position instruction;
collecting a first current output by the driver to the motor in the motor movement process;
the driver receives feedback pulses fed back by the encoder, and calculates position information of the grating ruler or the magnetic grating ruler based on the feedback pulses;
wherein the performing analysis on the first data set to obtain an analysis result includes:
and when the change rate of the first data set representation current suddenly increases, determining that dead spots or hidden damages exist on the grating ruler or the magnetic grating ruler at the moment.
2. The diagnostic method of a grating scale, a magnetic grating scale according to claim 1, further comprising:
collecting the first data set in the standard machine as a standard data set;
and executing analysis on the standard data set according to a preset analysis method to obtain a standard analysis result.
3. The diagnostic method of a grating scale, a magnetic grating scale according to claim 2, further comprising:
performing analysis on the first data set according to a preset analysis method to obtain a first data set analysis result;
comparing the first data set analysis result with the standard analysis result to obtain a diagnosis result based on the first data set and displaying the diagnosis result in 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. A grating scale, a method of diagnosing a magnetic grating scale according to 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 flashing alarm, dialog box shaking alarm and message pop-up alarm.
5. The diagnostic method of a grating scale, a magnetic grating scale according to claim 1, wherein the preset time interval is not more than 1ms.
6. A grating scale, a diagnostic system of magnetic grating scale, using the method of any one of claims 1 to 5, comprising:
the industrial personal computer is used for generating codes of diagnostic methods of the grating ruler and the magnetic grating ruler;
the PLC is in bidirectional connection 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 in bidirectional connection with the PLC and is used for receiving a position instruction sent by the PLC and driving the motor to move according to the position instruction;
the motor receives the instruction of the driver and executes corresponding operation;
and an encoder for outputting a feedback pulse to the driver, the feedback pulse including positional information of the magnetic grating or grating.
7. The diagnostic system of grating ruler and magnetic grating ruler according to claim 6, wherein 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.
8. A computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any of claims 1 to 5.
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