CN113268037B - Multi-axis cooperative control method based on time synchronization - Google Patents

Multi-axis cooperative control method based on time synchronization Download PDF

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CN113268037B
CN113268037B CN202110443516.3A CN202110443516A CN113268037B CN 113268037 B CN113268037 B CN 113268037B CN 202110443516 A CN202110443516 A CN 202110443516A CN 113268037 B CN113268037 B CN 113268037B
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CN113268037A (en
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李建刚
游志阳
岳睿杰
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Shenzhen Graduate School Harbin Institute of Technology
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    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • 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
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Abstract

The invention discloses a multi-axis cooperative control method based on time synchronization, which comprises the following steps of 1: starting to operate by N shafts; step 2: collecting a sampling period, an actual position point and an initial planning position point; and step 3: calculating an individual delay time; and 4, step 4: if the precision requirement is met, ending, otherwise, entering the step 5; and 5: calculating a differential delay time; step 6: calculating a compensation planning position point; and 7: and (5) producing a new planning track from the compensation planning position point and running, and returning to the step 2. The invention has the following beneficial effects: under the condition of not changing hardware, a planning position point is improved, a point with large delay time is synchronized to a point with small delay time, the accuracy of multi-axis cooperation is high, the transportability is good, the application range is wide, the multi-axis coupling relation and the control structure are simple, the anti-interference performance is good, the problem of multi-axis cooperation is well solved, and the control precision is improved.

Description

Multi-axis cooperative control method based on time synchronization
Technical Field
The invention relates to the technical field of multi-axis control, in particular to a multi-axis cooperative control method based on time synchronization.
Background
In recent years, with the continuous improvement of the product process requirements in the industrial field and the rapid increase of the production scale, in order to obtain higher processing precision, the importance of the synergy among subsystems in the production and manufacturing stage is remarkable, in the multi-axis motion control, people are always dedicated to obtain higher motion control precision, so that the actual motion of each axis can accurately track an input signal, however, due to the problems of time delay of a servo system, inevitable friction of a mechanical structure and reverse clearance of a transmission system, the problem still remains to be solved of accurately tracking a planned path to obtain a high-precision track, and the multi-axis coordination control technology is taken as a comprehensive technology across subjects and widely applied to the fields of multivariable control such as multi-robot system coordination control, aerospace, coordination control of a shaftless transmission printing machine servo system, numerical control system position control and the like, the method solves many practical engineering problems, ensures the efficient and stable operation of the production line, brings great benefits to the social and economic development, and is one of the key technologies of multi-axis cooperative control, and the development of the cooperative control method develops along with the development of a control structure.
Generally, one motor is adopted to control one shaft, multi-shaft synchronous control is realized, namely, multi-motor synchronous control algorithm is converted into multi-motor synchronous control algorithm, the multi-motor cooperative control algorithm can be roughly divided into two types, one type is classic algorithm, the other type is intelligent algorithm, the classic algorithm comprises PID algorithm and the like, and the intelligent control algorithm comprises neural network control, fuzzy control, sliding mode variable structure control and the like.
The PID algorithm, namely proportional-integral-derivative control, is the most common and mature control mode in the industrial control field so far, and the algorithm is mainly suitable for a linear time-invariant system, is simple, low in cost, easy to realize and capable of eliminating steady-state errors; the intelligent control algorithm can provide a solution for the uncertainty and complexity of the environment, the target and the task of a control object, has good self-adaption capability and robustness, is suitable for time-varying and linear systems, but has poor self-adjustment capability and undesirable control effect on nonlinear and strongly-coupled systems; the neural network algorithm is mainly applied to multivariable, nonlinear and various complex uncertain systems, is particularly excellent in performance in a multi-input-output system, is one of the current intelligent control algorithms with comparative fire and heat, has the advantages of stronger autonomous learning and nonlinear approximation capabilities, and has the defects that the acquisition of network weights requires training of a large amount of data, and the neural network algorithm has larger limitation under the condition of limited economic investment or higher system real-time requirement; the fuzzy algorithm is an intelligent control method taking fuzzy set theory, fuzzy linguistic variables and fuzzy logic reasoning as a mathematical basis, but when the fuzzy algorithm is used in a more complex uncertain system, the obtained precision is lower, and the regulation time is longer; the sliding mode control has the advantages of insensitivity to parameter change and disturbance, strong robustness, high response speed and the like, and is widely applied to a motor speed regulating system, but the switching characteristic of the sliding mode control ensures the robustness of the system and also causes the output buffeting phenomenon.
The adjusting effect of the PID algorithm depends on the mathematical model of the controlled object, an ideal control effect can be obtained only under the conditions that the model is accurate and the model parameters are constant, the control effect on a nonlinear strongly-coupled system is not good, a multi-linear motor servo system is a nonlinear and time-varying complex system, the establishment of an accurate mathematical model is very difficult, and when the system state changes in the operation process, the parameters of a PID controller cannot be correspondingly adjusted, so that the effect of the traditional PID control is poor; the general disadvantage of the intelligent cooperative control algorithm is that the operation time of the intelligent algorithm is increased along with the increase of the number of cooperative motion axes, and once the algorithm has a leak or an operation dead zone, the instability of the system is easily caused, so that more intensive researches are needed for the exploration of the intelligent algorithm and the practical engineering application of the intelligent algorithm.
Disclosure of Invention
In order to solve the above technical problem, an object of the present invention is to provide a multi-axis cooperative control method based on time synchronization, which includes the steps of 1: starting to operate; step 2: collecting a sampling period, an actual position point and an initial planning position point; and step 3: calculating an individual delay time; and 4, step 4: if the precision requirement is met, ending, otherwise, entering the step 5; and 5: calculating a differential delay time; step 6: calculating a compensation planning position point; and 7: producing a new planning track for the compensation planning position point, running and returning to the step 2; the multi-axis cooperative control method based on time synchronization has the advantages of improved control precision, good transportability, uncomplicated multi-axis coupling relation, simple control structure and good anti-interference performance.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a multi-axis cooperative control method based on time synchronization comprises the following steps:
step 1: starting to run an initial planning track by N axes, wherein N is a positive integer greater than or equal to 2;
step 2: acquiring sampling periods of N axes and actual position points and initial planning position points at each moment by using a data sampling module, wherein T is taken as the sampling period, and P is taken ask，iFor the initial planned position point, Q, at the time of the ith axis kTk，iThe actual position point at the time of the ith axis kT is i ═ 1, 2, 3, … …, N;
and step 3: calculating individual delay times Δ t for N axesk，i；
And 4, step 4: calculating whether the motion of the N axes meets the precision requirement, if so, ending, otherwise, entering the step 5;
and 5: acquiring minimum individual delay time, and obtaining difference delay time of N axes by the difference between the individual delay time of the N axes and the minimum individual delay time;
step 6: calculating compensation planning position points of the N axes at the difference delay time points;
and 7: and (5) generating a new planning track for all the compensation planning position points, running and returning to the step 2.
Preferably, step 3 comprises the steps of:
step 3.1: find the actual position point Qk，iIn the interval
Figure BDA0003036019800000031
Calculating planned position points
Figure BDA0003036019800000032
And planning location points
Figure BDA0003036019800000033
And is noted as Lk，i；
Step 3.2: calculating the actual position point Qk，iAnd planning location points
Figure BDA0003036019800000034
Is a distance of lk，i；
Step 3.3, calculate Pk，iIs delayed by an individual delay time atk，i，
Figure BDA0003036019800000035
Preferably, in step 3.1, P is used0，iAs an origin, if
Figure BDA0003036019800000036
Figure BDA0003036019800000037
Or
Figure BDA0003036019800000038
Then Q isk，iFall in the interval
Figure BDA0003036019800000039
Preferably, in step 4, the individual delay times Δ t for the N axesk，iAll are smaller than the set threshold value, and the process is ended, otherwise, the process enters the step 5, and the setting is carried out in such a way that the individual delay time delta t of the N shaftsk，iWhen the motion time is less than the set threshold value, the motion of the N axes meets the precision requirement, the operation is ended, otherwise, the step 5 is carried out, and the independent delay time delta t of the N axes is passedk，iThe control precision of the multiple shafts is checked by comparing with a threshold value, so that the inspection is convenient, and the applicability is wide.
Preferably, in step 5, the individual delay times Δ t are foundk，iMinimum individual delay time and takes Δ t as a recordminFor minimum individual delay time, note
Figure BDA00030360198000000310
In order to difference the delay time of the value,
Figure BDA00030360198000000311
preferably, in step 6, the method is performed
Figure BDA00030360198000000312
In order to compensate for the planned position points,
Figure BDA00030360198000000313
compared with the prior art, the invention has the beneficial technical effects that:
the multi-axis cooperative control method can be used for carrying out repeated iterative learning on a planned track by only improving the planning position point under the condition of not changing the existing hardware and synchronizing the other points with relatively large single-axis delay time to the point with the minimum single-axis delay time at the same moment to obtain the multi-axis cooperative effect with higher precision.
Drawings
Fig. 1 is a flowchart of a multi-axis cooperative control method according to embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of calculating an individual delay time according to embodiment 1 of the present invention;
FIG. 3 is a schematic diagram of individual delay times of a triaxial system according to embodiment 1 of the present invention;
FIG. 4 is a schematic diagram of calculating compensated planned location points according to embodiment 1 of the present invention;
FIG. 5 is a schematic diagram of a compensation planning position point of a three-axis system according to embodiment 1 of the present invention;
FIG. 6 is a schematic diagram of a planned contour and an actual contour in accordance with embodiment 2 of the present invention;
fig. 7 is a schematic diagram of three cases of drawing vertical lines for planning contour points in embodiment 2 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments, but the scope of the present invention is not limited to the following embodiments.
Example 1:
referring to fig. 1 to 5, the present embodiment discloses a multi-axis cooperative control method based on time synchronization, which is suitable for multi-axis control equipment with linear motion or rotational motion or a combination of linear motion and rotational motion, such as a robot, a numerical control machine tool, a printing machine, and other systems requiring multiple axis motions for working in cooperation, and the multi-axis cooperative control method includes the following steps:
step 1: starting to run an initial planning track by N axes, wherein N is a positive integer greater than or equal to 2;
step 2: acquiring sampling periods of N axes and actual position points and initial planning position points at each moment by using a data sampling module, wherein T is taken as the sampling period, and P is taken ask，iFor the initial planned position point, Q, at the time of the ith axis kTk，iThe actual position point at the time of the ith axis kT is i ═ 1, 2, 3, … …, N;
and step 3: calculating individual delay times Δ t for N axesk，i；
And 4, step 4: calculating whether the motion of the N axes meets the precision requirement, if so, ending, otherwise, entering the step 5;
and 5: acquiring minimum individual delay time, and obtaining difference delay time of N axes by the difference between the individual delay time of the N axes and the minimum individual delay time;
step 6: calculating compensation planning position points of the N axes at the difference delay time points;
and 7: and (5) generating a new planning track for all the compensation planning position points, running and returning to the step 2.
The multi-axis cooperative control method can be used for carrying out repeated iterative learning on a planned track by only improving the planning position point under the condition of not changing the existing hardware and synchronizing the other points with relatively large single-axis delay time to the point with the minimum single-axis delay time at the same moment to obtain the multi-axis cooperative effect with higher precision.
The step 3 comprises the following steps:
step 3.1: find the actual position point Qk，iIn the interval
Figure BDA0003036019800000051
Calculating planned position points
Figure BDA0003036019800000052
And planning location points
Figure BDA0003036019800000053
And is noted as Lk，i；
Step 3.2: calculating the actual position point Qk，iAnd planning location points
Figure BDA0003036019800000054
Is a distance of lk，i；
Step 3.3, with reference to FIG. 2, calculate Pk，iIs delayed by an individual delay time atk，iWhen the sampling interval T is sufficiently small, two adjacent planned position points Pk，iThe trajectory therebetween is nearly linear, and therefore the same applies to rotational motion control,
Figure BDA0003036019800000055
Figure BDA0003036019800000056
at this time, Δ tk，i≥0；
Taking a three-axis system as an example, referring to figure 3,
the individual delay time of the kth time of the first axis is
Figure BDA0003036019800000057
The individual delay time of the kth moment of the second axis is
Figure BDA0003036019800000058
The individual delay time of the third axis at the kth time is
Figure BDA0003036019800000059
In step 3.1, with P0，iAs an origin, if
Figure BDA00030360198000000510
Or
Figure BDA00030360198000000511
Then Q isk，iFall in the interval
Figure BDA00030360198000000512
In step 4, if the individual delay time Δ t of N axesk，iWhen the values are all smaller than the set threshold value, the threshold value is set according to the actual precision requirement, the control precision of the N axes is shown to meet the precision requirement at the moment, the operation is ended, otherwise, the step 5 is carried out, namely, the independent delay time delta t of at least one axis existsk，iIf the value is larger than the set threshold value, the control precision of at least one axis is not in accordance with the precision requirement, the step 5 is entered, and the individual delay time delta t of N axes is passedk，iThe control precision of the multiple shafts is checked by comparing with a threshold value, so that the test is convenient and the applicability is wide;
in step 5, the individual delay time Δ t is foundk，iAnd takes as a note Δ tminFor minimum individual delay time, note
Figure BDA00030360198000000513
In order to difference the delay time of the value,
Figure BDA00030360198000000514
taking a three-axis system as an example, if Δ tk，1<Δtk，2<Δtk，3Then Δ tmin＝Δtk，1；
Differential delay of kth moment of first axisTime of delay
Figure BDA00030360198000000515
Differential delay time of second axis kth time
Figure BDA0003036019800000061
Differential delay time of third axis at kth time
Figure BDA0003036019800000062
Referring to FIG. 4, in step 6, note is taken
Figure BDA0003036019800000063
In order to compensate for the planned position points,
Figure BDA0003036019800000064
and generating a new planning track by all the compensation planning points.
Taking a three-axis system as an example, referring to figure 5 below,
new compensation planning position point of kth time of first axis
Figure BDA0003036019800000065
New compensation plan position point at kth time of second axis
Figure BDA0003036019800000066
New compensation plan position point of third axis at kT time
Figure BDA0003036019800000067
Example 2:
this embodiment only describes the technical features different from embodiment 1, and the other technical features are the same as embodiment 1, and this embodiment provides another method for determining whether the accuracy requirement is met, in this embodiment, in step 2, note PkPlanning profiles for multi-axis coordinated kT timePoint, QkAnd (4) coordinating actual contour points at the kT moment by multiple axes.
Referring to fig. 6 to 7, in step 4, it is calculated whether the actual contour and the planned contour meet the precision requirement, if yes, the process is ended, otherwise, step 5 is entered, specifically, step 4 includes the following steps:
step 4.1: finding a planned contour point P at the moment of kTkNearest actual contour point Qk+j；
Step 4.2: calculating a planned contour point PkAnd the actual contour point Qk+jAnd (5) if the contour errors E are all smaller than the set threshold value, ending the process, otherwise, entering the step 5.
Further, in step 4.1, note Dk，jFor planning contour points PkAnd the actual contour point Qk+jThe distance between, j is an integer,
Figure BDA0003036019800000068
finding D of the minimumk，jCorresponding actual contour points Qk+jAnd the planning contour point PkIs closest, e.g. when Dk，1At minimum, the actual contour point Qk+1And the planning contour point PkIs closest.
In step 4.2, Q is addedk+jAre respectively associated with Qk+jFront and rear actual contour points Qk+j-1And Qk+j+1Connecting to obtain two line segments respectively H1And H2And from PkTo two line segments H respectively1And H2As a vertical line, the feet are respectively C1And C2；
Refer to fig. 7(1), if foot C is dropped1And C2Respectively on line segment H1And H2In the above, the contour error E ═ min { | PkC1|，|PkC2|}，min{|PkC1|，|PkC2Means | P }kC1I and I PkC2Minimum between | anda value;
refer to fig. 7(2), if foot C is dropped1On line segment H1Upper, drop foot C2Not on line segment H2When going up, i.e. drop foot C2On line segment H2On the extended line of (2), the contour error E ═ PkC1|；
If drop foot C2On line segment H2Upper, drop foot C1Not on line segment H1When going up, i.e. drop foot C1On line segment H1On the extended line of (2), the contour error E ═ PkC2|；
Refer to fig. 7(3), if foot C is dropped1And C2Are all out of line segment H1And H2When going up, i.e. drop foot C1And C2Respectively on line segment H1And H2On the extended line of (2), the contour error E ═ PkQk+j|。
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims (5)

1. A multi-axis cooperative control method based on time synchronization is characterized by comprising the following steps:
step 1: starting to run an initial planning track by N axes, wherein N is a positive integer greater than or equal to 2;
step 2: acquiring sampling periods of N axes and actual position points and initial planning position points at each moment by using a data sampling module, wherein T is taken as the sampling period, and P is taken ask，iFor the initial planned position point, Q, at the time of the ith axis kTk，iThe actual position point at the time of the ith axis kT is i ═ 1, 2, 3, … …, N;
and step 3: calculating individual delay times Δ t for N axesk，i；
The step 3 comprises the following steps:
step 3.1: find the actual position point Qk，iIn the interval
Figure FDA0003470361140000011
Calculating planned position points
Figure FDA0003470361140000012
And planning location points
Figure FDA0003470361140000013
And is noted as Lk，i；
Step 3.2: calculating the actual position point Qk，iAnd planning location points
Figure FDA0003470361140000014
Is a distance of lk，i；
Step 3.3, calculate Pk，iIs delayed by an individual delay time atk，i，
Figure FDA0003470361140000015
And 4, step 4: calculating whether the motion of the N axes meets the precision requirement, if so, ending, otherwise, entering the step 5;
and 5: acquiring minimum individual delay time, and obtaining difference delay time of N axes by the difference between the individual delay time of the N axes and the minimum individual delay time;
step 6: calculating compensation planning position points of the N axes at the difference delay time points;
and 7: and (5) generating a new planning track for all the compensation planning position points, running and returning to the step 2.
2. The multi-axis cooperative control method according to claim 1, wherein in step 3.1, P is used0，iAs an origin, if
Figure FDA0003470361140000016
Or
Figure FDA0003470361140000017
Figure FDA0003470361140000018
Then Q isk，iFall in the interval
Figure FDA0003470361140000019
3. The multi-axis cooperative control method according to claim 1, wherein in step 4, the individual delay time Δ t is given to N axesk，iAnd ending when the values are all smaller than the set threshold value, otherwise, entering the step 5.
4. The multi-axis cooperative control method according to claim 1, wherein in step 5, the individual delay time Δ t is foundk，iAnd takes as a note the minimum individual delay time ofminFor minimum individual delay time, note
Figure FDA00034703611400000110
In order to difference the delay time of the value,
Figure FDA00034703611400000111
5. the multi-axis cooperative control method according to claim 4, wherein in step 6, the information is written
Figure FDA00034703611400000112
In order to compensate for the planned position points,
Figure FDA0003470361140000021
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