CN114089694B - Position correction method and device, storage medium, servo driver and servo system - Google Patents
Position correction method and device, storage medium, servo driver and servo system Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- 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
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
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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
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Abstract
The invention discloses a position correction method and device, a storage medium, a servo driver and a servo system, wherein the position correction method is applied to the servo driver and comprises the following steps: when the servo driver drives the servo motor to perform linear motion, determining the feedback position of the servo motor; inquiring a pre-calibrated two-dimensional table according to the feedback position to determine a position interval where the feedback position is located and a position error value corresponding to the position interval; determining a correction position of the servo motor according to the feedback position, the position interval and the position error value corresponding to the position interval; and controlling the servo motor according to the correction position. Therefore, the position correction method provided by the embodiment of the invention can perform error compensation on the servo motor, so that the control precision of the servo motor is improved, and the use safety of the servo motor is improved.
Description
Technical Field
The present invention relates to the field of motor correction technology, and more particularly, to a position correction method, a computer-readable storage medium, a servo driver, a position correction device, and a servo system.
Background
The servo motor encoder is a sensor which is arranged on the servo motor and used for measuring the magnetic pole position, the rotation angle and the rotation speed of the servo motor, wherein the encoder used by the linear servo motor is generally a grating ruler or a magnetic grating ruler, but the grating ruler or the magnetic grating ruler has a certain precision range. For example, for a 1um/count grating scale, theoretically 1mm per 1000count distance, but in practice, the distance per 1000count may be only 0.995mm to 1.005mm, and the accuracy value varies from manufacturer to manufacturer.
In the linear servo system control, the controller sends 5000 positions, and the linear servo motor is expected to be controlled to move by 5mm, but the actual movement of the linear servo motor can only be 4.990mm to 5.010mm due to the problem of encoder precision, so that the absolute error of the linear servo system is very easy to cause, further, the control failure is caused, and the safe use performance of the motor is reduced.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, an object of the present invention is to provide a position correction method, which can perform error compensation on a servo motor, further improve the control accuracy of the servo motor, and improve the use safety of the servo motor.
A second object of the present invention is to propose a computer readable storage medium.
A third object of the present invention is to provide a servo driver.
A fourth object of the present invention is to provide a position correction device.
A fifth object of the present invention is to provide a servo system.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a position correction method applied to a servo driver, the method comprising: when the servo driver drives the servo motor to perform linear motion, determining the feedback position of the servo motor; inquiring a pre-calibrated two-dimensional table according to the feedback position to determine a position interval in which the feedback position is positioned and a position error value corresponding to the position interval; determining a correction position of the servo motor according to the feedback position, the position interval and a position error value corresponding to the position interval; and controlling the servo motor according to the correction position.
The position correction method of the embodiment of the invention can calibrate the error between the expected position corresponding to the servo motor and the position error value, then determine the position interval where the position is located and the error value corresponding to the interval according to the feedback position of the servo motor, then determine the correction position of the servo motor according to the feedback position, the position interval and the error value, and then control the servo motor according to the correction position. Therefore, the position correction method provided by the embodiment of the invention can perform error compensation on the servo motor, so that the control precision of the servo motor is improved, and the use safety of the servo motor is improved.
In some embodiments of the present invention, determining the corrected position of the servo motor according to the feedback position, the position interval, and the position error value corresponding to the position interval includes: determining a first endpoint position value and a second endpoint position value of the position interval, determining a first difference between the feedback position and the first endpoint position value, and determining a second difference between the second endpoint position value and the first endpoint position value; determining a first position error value corresponding to the first endpoint position value, determining a second position error value corresponding to the second endpoint position value, and determining a third difference value between the second position error value and the first position error value; and determining the correction position according to the feedback position, the first difference value, the second difference value and the third difference value.
In some embodiments of the invention, determining the correction position from the feedback position, the first difference, the second difference, and the third difference comprises: and dividing the product of the first difference value and the third difference value by the second difference value, and then superposing the first endpoint position value to obtain the correction position.
In some embodiments of the invention, the two-dimensional table is pre-calibrated according to the following steps: the servo motor is controlled to perform linear motion, the motion position of the servo motor is calibrated through a laser interferometer, the expected position is obtained, and the actual position of the servo motor is detected through an encoder; determining a position error value between the desired position and the actual position; the two-dimensional table is built according to a position error value between the expected position and the actual position and the expected position.
In some embodiments of the present invention, calibrating the motion position of the servo motor by a laser interferometer includes: determining an origin position, and calibrating each preset distance once through the laser interferometer in the process that the servo motor carries out linear motion by taking the origin position as a starting point until the whole motion stroke is completed.
In some embodiments of the invention, controlling the servo motor according to the corrected position includes: processing the difference between the correction position and the position command through a position regulator to obtain a speed command; determining a feedback speed according to the correction position, and processing the difference between the feedback speed and the speed command through a speed regulator to obtain a current command; the difference between the current command and the feedback current of the servo motor is processed through a current regulator, so that a voltage command is obtained; and determining an electrical angle of the servo motor according to the correction position, and controlling the servo motor according to the electrical angle and the voltage command.
To achieve the above object, an embodiment of a second aspect of the present invention proposes a computer-readable storage medium having stored thereon a position correction program which, when executed by a processor, implements the position correction method according to the above embodiment.
The computer readable storage medium of the embodiment of the invention can carry out error compensation on the servo motor by executing the position correction program stored on the computer readable storage medium, thereby improving the control precision of the servo motor and simultaneously improving the use safety of the servo motor.
To achieve the above object, an embodiment of a third aspect of the present invention provides a servo driver including a memory, a processor, and a position correction program stored on the memory and executable on the processor, wherein the processor implements the position correction method according to the above embodiment when executing the position correction program.
According to the servo driver, the position correction program stored in the memory is executed by the processor, so that error compensation can be performed on the servo motor, the control precision of the servo motor is further improved, and the use safety of the servo motor is also improved.
To achieve the above object, a fourth aspect of the present invention provides a position correction device applied to a servo driver, comprising: the first determining module is used for determining the feedback position of the servo motor when the servo driver drives the servo motor to perform linear motion; the query module is used for querying a pre-calibrated two-dimensional table according to the feedback position so as to determine a position interval where the feedback position is located and a position error value corresponding to the position interval; the second determining module is used for determining the correction position of the servo motor according to the feedback position, the position interval and the position error value corresponding to the position interval; and the control module is used for controlling the servo motor according to the correction position.
The position correction device of the embodiment of the invention can calibrate the error between the expected position corresponding to the servo motor and the position error value, then the feedback position of the servo motor is determined by utilizing the first determination module, the position interval where the position is located and the position error value corresponding to the interval are determined according to the feedback position inquiry of the servo motor by utilizing the inquiry module, the correction position of the servo motor is determined according to the feedback position, the position interval and the error value by utilizing the second determination module, and then the servo motor is controlled by utilizing the control module according to the correction position. Therefore, the position correction device provided by the embodiment of the invention can perform error compensation on the servo motor, so that the control precision of the servo motor is improved, and the use safety of the servo motor is improved.
To achieve the above object, a fifth aspect of the present invention provides a servo system, including: a servo motor; an encoder for detecting a rotor position of the servo motor; the servo driver comprises a position correction module, a position regulator, a speed regulator, a current regulator, a vector control module, a differentiator, an inverter and an electric angle calculation module, wherein the position correction module is used for inquiring a pre-calibrated two-dimensional table according to the feedback position when the servo driver drives a servo motor to perform linear motion so as to determine a position interval where the feedback position is located and a position error value corresponding to the position interval, and determining a correction position of the servo motor according to the feedback position, the position interval and the position error value corresponding to the position interval; the position regulator is used for processing the difference between the correction position and the position instruction to obtain a speed instruction; the differentiator is used for determining a feedback speed according to the correction position; the speed regulator processes the difference between the feedback speed and the speed command to obtain a current command; the current regulator is used for processing the difference between the current instruction and the feedback current of the servo motor to obtain a voltage instruction; the electric angle calculation module is used for determining the electric angle of the servo motor according to the correction position; and the vector control module is used for controlling the inverter according to the electric angle and the voltage command so as to control the servo motor.
The servo system comprises a servo motor, an encoder and a servo driver, wherein the servo driver comprises a position correction module, a position regulator, a speed regulator, a current regulator, a vector control module, a differentiator, an inverter and an electric angle calculation module, and the servo server is combined with the encoder to control the servo motor, so that the servo system in the embodiment can perform error compensation on the servo motor, further control precision of the servo motor is improved, and meanwhile use safety of the servo motor is improved.
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
FIG. 1 is a flow diagram of a method of position correction according to one embodiment of the invention;
FIG. 2 is a flow chart diagram of a method of position correction according to another embodiment of the invention;
FIG. 3 is a flow chart diagram of a method of position correction according to yet another embodiment of the present invention;
FIG. 4 is a flow chart diagram of a method of position correction according to yet another embodiment of the present invention;
FIG. 5 is a schematic diagram of a desired location versus an actual location in accordance with an embodiment of the invention;
FIG. 6 is a schematic diagram of feedback position and position error values in accordance with one embodiment of the present invention;
FIG. 7 is a block diagram of a servo driver according to an embodiment of the present invention;
fig. 8 is a block diagram of a position correction apparatus according to an embodiment of the present invention;
FIG. 9 is a block diagram of a servo system according to an embodiment of the present 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 and intended to explain the present invention and should not be construed as limiting the invention.
The position correction method and apparatus, storage medium, servo drive, servo system according to the embodiments of the present invention are described below with reference to the accompanying drawings.
Fig. 1 is a flow diagram of a method of position correction according to one embodiment of the invention.
As shown in fig. 1, the present invention proposes a method for correcting the position of a servo motor, which is suitable for being applied to a controller of the servo motor, such as the present embodiment applies the correction method to a servo driver.
Specifically, the correction method includes the steps of:
s10, when the servo driver drives the servo motor to move linearly, determining the position fed back by the servo motor.
Firstly, it should be noted that there are various motion states of the servo motor, such as a straight line and a non-straight line, and the embodiment mainly analyzes the motion state of the servo motor, and performs linear compensation on the motion of the servo motor to correct the position, so as to improve the working accuracy of the servo motor.
It can be appreciated that the motion state of the servo motor may be detected in this embodiment, where the motion state of the servo motor may be detected without specific limitation, and the detection function may be completed by using an existing detection technology. When the servo motor is detected to be in a linear motion state, corresponding zone bit information can be sent to the controller by the relevant detection equipment, and the controller can control the servo driver to perform corresponding actions after receiving the zone bit information.
More specifically, when the servo driver determines that the servo motor moves linearly, the position fed back by the servo motor can be obtained to obtain a feedback position, and it is understood that the feedback position of the servo motor represents the position actually reached by the servo motor during the linear movement. The feedback position may have a certain error with the position corresponding to the driving instruction sent by the servo driver, that is, the position corresponding to the driving instruction sent by the servo driver indicates the position where the servo driver expects the servo motor to move, and the servo motor may not move to the position expected by the servo driver due to encoder error, error caused by friction force and the like in the actual movement process, or exceeds the position expected by the servo driver.
Further, as shown in fig. 5, there is a certain error between the actual position of the servo motor and the desired position of the upper computer system, and the error can be shown in fig. 6.
S20, inquiring a pre-calibrated two-dimensional table according to the feedback position to determine a position interval to which the feedback position belongs and a position error value corresponding to the position interval.
Specifically, in this embodiment, a two-dimensional table may be set first, where the two-dimensional table specifically indicates an error between a position to which the servo driver expects the servo motor to move and a position to which the servo motor actually reaches, and may be expressed as a correspondence relationship between the position to which the servo driver expects the servo motor to move and the error.
After the two-dimensional table is calibrated in advance, the position fed back by the servo motor in actual operation can be determined in a position interval, for example, a specific two-dimensional table can be shown in the following table 1, wherein each expected position corresponds to an error value, and the error value can be obtained specifically through detection.
TABLE 1
In this specific example, assuming that the actual feedback position of the servo motor is 29, the position interval in which the feedback position is located may be determined to be between 20 and 30, and the error value corresponding to the interval is 0.10 and 0.15, respectively, by which the error value corresponding to the actual feedback position 29 may be calculated. It should be noted that, when the position actually fed back by the servo motor is at the end point of the desired position, the corresponding error value may be directly obtained, and of course, if the calculation is convenient, the end point may be divided into a nearby section, for example, 20 may be divided into 10 to 20, and then the error value corresponding to 20 is still calculated by adopting the original method.
In this embodiment, the two-dimensional table is pre-calibrated by a method comprising the steps of:
s201, controlling the servo motor to move linearly, calibrating the movement position of the servo motor in the movement process through the laser interferometer to obtain the expected position, and detecting the actual position of the servo motor through the encoder.
Specifically, the present embodiment may calibrate the motion position of the servo motor based on the laser interferometer, where an absolute distance b may be set first, the servo motor moves in a linear motion manner, and each time a minimum movement unit is moved, for example, each time a minimum movement unit may be moved, where b may include a plurality of a, where the absolute distance b may be determined according to a maximum linear motion distance of the servo motor, or may be determined according to a most commonly used linear motion distance range of the servo motor, and the minimum movement unit a may be determined according to a use environment of the servo motor with respect to an accuracy requirement, and it may be understood that both the absolute distance b and the minimum movement unit a may be set differently according to different situations, which is not specifically limited herein.
After the servo driver controls the linear motion of the servo motor to move the minimum moving unit a each time, the servo motor is calibrated by using the laser interferometer, so that the motion position of the servo motor obtained by the calibration of the laser interferometer is obtained, and it can be understood that the motion position is the actual moving distance of the servo motor.
It should be noted that, the distance of each movement of the servo motor may be a plurality of minimum movement units a, and it is not limited that each movement is only one minimum movement unit a.
In this embodiment, calibrating the motion position during the motion of the servo motor by the laser interferometer includes: determining the position of an origin, wherein the origin is taken as a starting point by a servo motor to do linear motion, and the servo motor is calibrated once by a laser interferometer when moving a preset distance until the whole motion stroke is calibrated.
Specifically, the origin point can be determined in the absolute distance b, then the servo motor is controlled to start to perform linear motion from the origin point, and the laser interferometer is calibrated once every time the servo motor is controlled to move by a preset distance, wherein the preset distance can be one or more minimum movement units a. It will be appreciated that the absolute distance b may be an integer multiple of the preset distance, so that the same preset distance can be satisfied for each movement of the servo motor. When the laser interferometer is calibrated from the origin, the position data in the laser interferometer needs to be cleared at present, so that the accuracy of calibrating the moving position of the servo motor by the laser interferometer is improved.
For example, the absolute distance in this example is 10, the preset distance is 2, 0 or 10 in the absolute distance can be taken as the position of the origin, then the servo motor is controlled to move 2 distances from the origin to the destination each time, it is to be noted that, if 0 is the origin, 10 is the destination, if 10 is the origin, 0 is the destination, this example is described with 0 as the origin position, when the servo motor is ready to start to move from 0, the laser interferometer clears the position information first, then records the distance of the servo motor at the 0 origin position, when the servo motor moves 2 distance units, the laser interferometer records the motion position corresponding to the 2 positions of the servo motor, after the servo motor is completed, the servo motor can continue to move to the next position, namely, the 4 positions, then the laser interferometer records the motion position corresponding to the 4 positions of the servo motor, and so on until the laser interferometer records all the motion positions of the servo motor in the absolute distance.
S202, determining a position error value between the actual position and the expected position.
Specifically, the laser interferometer marks the motion position of the servo motor at each position, namely the motion position is equivalent to the actual position of the servo motor, so that after the actual position of the servo motor is obtained, the actual position of the servo motor is subtracted from the expected position of the upper computer system to obtain a position error value corresponding to the expected position.
It should be noted that, the position error value in this embodiment may be an error value corresponding to a desired position by making a difference with the desired position every time the laser interferometer is calibrated to an actual position.
For example, in the expected position 2, the actual position of the servo motor calibrated by the laser interferometer on the position is 2.01, and then the position error value corresponding to the expected position is 2.01-2.00=0.01, so in the subsequent control, when the servo motor is controlled to linearly move to the position 2, the position error value corresponding to the expected position can be added with 0.01, and the position to which the servo motor is actually moved can be determined to be 2.01, so that the actual position can be utilized to participate in the relevant control of the motor, and inaccurate control caused by errors can be prevented from influencing the use of a user.
It should be noted that, the laser interferometer in this example may calculate and record a position error value corresponding to a position corresponding to the servo motor after measuring the position corresponding to the servo motor in the position; alternatively, the laser interferometer may measure the actual positions of the servo motors corresponding to all the corresponding measurement positions in the absolute distance, and then perform calculation in a unified manner to obtain a position error value corresponding to each measurement position.
S203, building a corresponding two-dimensional table according to the expected position and the position error value between the actual position and the expected position.
Specifically, after the position error value corresponding to the desired position is calculated, a two-dimensional table may be established according to the correspondence between the desired position and the position error value, as shown in the following table two.
Watch II
More specifically, referring to table two, n desired positions are included in this example, denoted as a1, a2, …, an, respectively, each having a corresponding position error value therein, where the position error value corresponding to the desired position a1 is c1, the position error value corresponding to the desired position a2 is c2, and so on, and the position error value corresponding to the desired position an is cn. That is, when the servo driver controls the servo motor to linearly travel to the position a1, the servo motor does not actually travel to the position a1, and there is a position error value c1 therebetween, that is, the position to which the servo motor travels may be (a1+c1). Obviously, through calculating the position error value, the servo driver can directly obtain the position error value corresponding to the expected position in a table look-up mode, and then the position where the servo motor actually operates can be obtained through simple operation.
S30, determining the correction position of the servo motor according to the feedback position, the position interval to which the feedback position belongs and the position error value corresponding to the position interval.
Specifically, in the operation process of the servo motor, the preset distance is not necessarily required to be set according to the table two, that is, the expected position given by the upper computer system is not necessarily required to be obtained by looking up the table two at every time in the operation process of the servo motor, so that for the expected position which is not recorded in the table two, the embodiment can determine the correction position of the servo motor according to the position fed back by the servo motor, the position interval to which the feedback position belongs and the position error value corresponding to the interval, and further correct the position to which the servo motor moves, and further correct the position to which the servo motor actually moves to indicate the current position to which the servo motor moves, so that the control precision of the servo motor can be ensured when the position of the servo motor is used for calculating control instructions and the like later.
In some embodiments of the present invention, determining a correction position of a servo motor according to a feedback position, a position interval to which the feedback position belongs, and a position error value corresponding to the position interval includes the following steps:
S301, determining a first endpoint position value and a second endpoint position value in a position interval to which a feedback position belongs, determining a difference value between the feedback position and the first endpoint position value as a first difference value, and determining a difference value between the second endpoint position value and the first endpoint position value as a second difference value.
Specifically, after determining the feedback position, determining the endpoint position value before the feedback position and the endpoint position value after the feedback position according to the feedback position, that is, determining two endpoint position values in a position interval where the feedback is located, may be respectively defined as a position value of the first endpoint and a position value of the second endpoint, and taking a difference obtained by subtracting the position value of the first endpoint from the feedback position as a first difference and taking a difference obtained by subtracting the position value of the first endpoint from the position value of the second endpoint as a second difference.
More specifically, referring to Table II, assume a feedback position θ fbk Between a1 and a2, then the first endpoint may have a position value of a1, the second endpoint may have a position value of a2, then the first difference is (θ fbk -a 1), the second difference being (a 2-a 1).
S302, determining a first position error value corresponding to the position value of the first endpoint, determining a second position error value corresponding to the position value of the second endpoint, and determining a difference between the second position error value and the first position error value as a third difference.
Specifically, after the position value of the first endpoint and the position value of the second endpoint are determined, the position error values corresponding to the first endpoint and the second endpoint may be obtained from the table two in a table look-up manner, where the position value of the first endpoint may correspond to the error value of the first location, and the position value of the second endpoint may correspond to the error value of the second location. As can be seen from table two, the error value of the first position corresponding to the position value of the first endpoint is c1, and the error value of the second position corresponding to the position value of the second endpoint is c2. It should be noted that, in this embodiment, the feedback position θ fbk The position value of the first end point is not limited to a1, the position value of the second end point is a2, and the position value of the first end point is a2, the position value of the second end point is a1, and the embodiment is only described in one case and is not limited to the one.
More specifically, after obtaining the error value c1 of the first position and the error value c2 of the second position, the error value c2 of the second position may be subtracted from the error value c1 of the first position to obtain a third difference value, i.e., the third difference value may be represented as (c 2-c 1).
S303, determining the correction position of the servo motor according to the feedback position, the first difference value, the second difference value and the third difference value.
Specifically, in this embodiment, it is determined that the first difference value is (θ fbk -a 1), the second difference being (a 2-a 1) and the third difference being (c 2-c 1), the correct position of the servomotor can then be determined according to the principle of linear compensation.
In some embodiments, the specific way to obtain the correction position may be: the correction position is obtained by multiplying the first difference by the product of the third difference, dividing the product by the second difference, and adding the position value of the first endpoint.
Specifically, in this embodiment, when the first difference is (θ fbk -a 1), the second difference being (a 2-a 1), the third difference being (c 2-c 1), the position θ being corrected in the case of the position value of the first end point being a1 real ＝(θ fbk -a 1) × (c 2-c 1)/(a 2-a 1) +a1, wherein θ real For the position of the servomotor after correction, i.e. the servomotor is controlled to travel linearly to θ by the servo drive fbk When the servo motor is in position, the servo motor actually runs to the position, and in subsequent control, the correction position can be utilized to participate in control so as to ensure that the servo motor can be accurately controlled, reduce the speed error caused by the position error and enable the rotating speed feedback of the servo motor to be closer to the actual rotating speed.
And S40, controlling the servo motor to operate according to the determined correction position.
Specifically, after the correction position of the servo motor is calculated, the servo motor can be controlled by using the correction position, so that control errors of the servo motor can be avoided.
In some embodiments of the invention, controlling the servo motor according to the corrected position includes:
s401, adjusting an error between the correction position and the position command through a position adjuster to obtain a speed command.
Specifically, after the correction position of the servo motor is calculated, the position command can be corrected through the correction position, so that the position command regulated by the position regulator can control the servo motor more accurately. Since the relationship between displacement and velocity can be converted by the differential processor, the present embodiment can also obtain a velocity command after differential processing according to the corrected position command, and then velocity control the servo motor according to the velocity command.
S402, determining the feedback speed of the servo motor according to the correction position, and adjusting the error between the feedback speed and the speed command through a speed regulator to obtain a current command.
Specifically, the feedback speed of the servo motor can be determined by correcting the position obtained through the steps, and after the feedback speed of the servo motor is determined, the error between the feedback speed and the speed can be further adjusted through the speed regulator to obtain a current command, and then the working current of the servo motor is controlled according to the current command.
S403, adjusting an error between the current command and the feedback current of the servo motor through a current regulator to obtain a voltage command.
Specifically, after the current command is obtained through the steps, a voltage command can be determined according to the current fed back by the servo motor, and after the voltage command of the servo motor is determined, the working voltage of the servo motor can be controlled according to the voltage command.
S404, determining the electrical angle of the servo motor according to the correction position, and controlling the servo motor to operate according to the electrical angle and the voltage command.
Specifically, after the correct position of the servo motor is ignored, the electrical angle of the servo motor can be determined according to the correct position of the servo motor, and then the servo motor is controlled to operate according to the acquired electrical angle and the voltage command.
By the above embodiment, it can be ensured that in the linear servo system, since the error of some encoders is in one direction, and as the distance becomes larger, the error becomes larger, which will cause the error of the electrical angle of the servo driver to become larger. After the position compensation is performed by the servo driver, the error can be controlled to be very small, so that the accuracy of the electric angle controlled by the servo motor can be improved, the corrected position is utilized to calculate the speed feedback, the accuracy of the speed feedback can be improved, and meanwhile, the speed error caused by the position error is reduced, so that the speed feedback is closer to the actual rotating speed.
In summary, the position correction method of the embodiment of the invention can perform error compensation on the servo motor, thereby improving the control precision of the servo motor and improving the use safety of the servo motor.
Further, the present invention proposes a computer-readable storage medium having stored thereon a position correction program corresponding to the position correction method, by which the correction method according to the above-described embodiment can be implemented by executing the correction program.
The computer-readable storage medium of the embodiment of the invention can perform error compensation on the servo motor by executing the position correction program stored thereon, thereby improving the control precision of the servo motor and the use safety of the servo motor.
Fig. 7 is a block diagram of a servo driver according to an embodiment of the present invention.
Further, the present invention proposes a servo drive 100, the drive 100 comprising a memory 101, a processor 102 and a position correction program stored on the memory 101 and executable on the processor 102, the processor 102 being capable of implementing the correction method according to the above-described embodiments by executing the correction program.
According to the servo driver, the correction program stored in the memory is executed by the processor, so that error compensation can be performed on the servo motor, the control precision of the servo motor is further improved, and the use safety of the servo motor is also improved.
Fig. 8 is a block diagram of a position correction apparatus according to an embodiment of the present invention.
Further, the present invention proposes a position correction device 200, the correction device 200 is applied to a servo driver, and the correction device 200 includes a first determining module 201, a query module 202, a second determining module 203, and a control module 204.
The first determining module is used for determining the position fed back by the servo motor when the servo driver drives the servo motor to move linearly; the query module is used for determining a position interval to which the feedback position belongs and a position error value corresponding to the position interval by querying a pre-calibrated two-dimensional table according to the feedback position; the second determining module is used for determining the correction position of the servo motor according to the feedback position, the position interval to which the feedback position belongs and the position error value corresponding to the position interval; the control module is used for controlling the servo motor to operate according to the determined correction position.
In some embodiments of the present invention, the second determining module 203 is further configured to determine a first endpoint position value and a second endpoint position value in a position interval to which the feedback position belongs, determine a difference between the feedback position and the first endpoint position value as a first difference, and determine a difference between the second endpoint position value and the first endpoint position value as a second difference; determining a first position error value corresponding to the position value of the first endpoint, determining a second position error value corresponding to the position value of the second endpoint, and determining a difference between the second position error value and the first position error value as a third difference; and determining the correction position of the servo motor according to the feedback position, the first difference value, the second difference value and the third difference value.
In some embodiments of the invention, determining the correction position from the feedback position, the first difference, the second difference, and the third difference comprises: the correction position is obtained by multiplying the first difference by the product of the third difference, dividing the product by the second difference, and adding the position value of the first endpoint.
In some embodiments of the present invention, the query module 202 is further configured to control the linear motion of the servo motor, calibrate the motion position of the servo motor during the motion process by using the laser interferometer to obtain the desired position, and detect the actual position of the servo motor by using the encoder; determining a position error value between the actual position and the desired position; and establishing a corresponding two-dimensional table according to the expected position and the position error value between the actual position and the expected position.
In some embodiments of the present invention, calibrating the motion position of the servo motor by a laser interferometer includes: determining the position of an origin, wherein the origin is taken as a starting point by a servo motor to do linear motion, and the servo motor is calibrated once by a laser interferometer when moving a preset distance until the whole motion stroke is calibrated.
In some embodiments of the invention, the control module 204 is further configured to adjust the error between the corrected position and the position command via the position adjuster to obtain the speed command; determining the feedback speed of the servo motor according to the correction position, and adjusting the error between the feedback speed and the speed command through a speed regulator to obtain a current command; adjusting an error between the current command and a feedback current of the servo motor through a current regulator to obtain a voltage command; and determining the electrical angle of the servo motor according to the correction position, and controlling the servo motor to operate according to the electrical angle and the voltage command.
It should be noted that, the specific implementation of the position correction device in the embodiment of the present invention may be referred to the specific implementation of the position correction method in the above embodiment, which is not described herein again.
In summary, the position correction device provided by the embodiment of the invention can perform error compensation on the servo motor, so that the control precision of the servo motor is improved, and the use safety of the servo motor is improved.
FIG. 9 is a block diagram of a servo system according to an embodiment of the present invention.
Further, as shown in fig. 9, the present invention proposes a servo system 300, the servo system 300 comprising a servo motor 301, an encoder 302 and a servo driver 303.
The encoder 302 is used for detecting a rotor position in the servo motor, and the servo driver 303 includes a position correction module 3031, a position regulator 3032, a speed regulator 3033, a current regulator 3034, a vector control module 3035, a differentiator 3036, an inverter 3037 and an electrical angle calculation module 3038.
The position correction module 3031 is configured to determine a position interval to which the feedback position belongs and a position error value corresponding to the position interval according to a rotor position of the servo motor 301 and a feedback position by querying a pre-calibrated two-dimensional table when the servo driver 303 is driving the servo motor 301 to move linearly, and then determine a correction position of the servo motor 301 according to the feedback position, the position interval to which the feedback position belongs and the position error value corresponding to the position interval.
The position regulator 3032 is used to regulate the error between the corrected position and the position command to obtain the speed command. The differentiator 3036 is used to determine the feedback speed of the servo motor based on the corrected position. The speed regulator 3033 is used to regulate the error between the feedback speed and the speed command to obtain the current command. The current regulator 3034 is used to regulate the error between the current command and the feedback current of the servo motor to obtain the voltage command. The electrical angle calculation module 3038 is used for determining the electrical angle of the servo motor according to the correction position. The vector control module 3035 is used for controlling the inverter according to the electrical angle and the voltage command, and further controlling the servo motor.
In some embodiments of the present invention, the position correction module 3031 is further configured to determine a first endpoint position value and a second endpoint position value in a position interval to which the feedback position belongs, determine a difference between the feedback position and the first endpoint position value as a first difference, and determine a difference between the second endpoint position value and the first endpoint position value as a second difference; determining a first position error value corresponding to the position value of the first endpoint, determining a second position error value corresponding to the position value of the second endpoint, and determining a difference between the second position error value and the first position error value as a third difference; and determining the correction position of the servo motor according to the feedback position, the first difference value, the second difference value and the third difference value.
In some embodiments of the invention, determining the correction position from the feedback position, the first difference, the second difference, and the third difference comprises: the correction position is obtained by multiplying the first difference by the product of the third difference, dividing the product by the second difference, and adding the position value of the first endpoint.
In some embodiments of the present invention, the position correction module 3031 is further configured to control the servo motor to move linearly, calibrate a movement position of the servo motor during a movement process by using the laser interferometer to obtain a desired position, and detect an actual position of the servo motor by using the encoder; determining a position error value between the actual position and the desired position; and establishing a corresponding two-dimensional table according to the expected position and the position error value between the actual position and the expected position.
In some embodiments of the present invention, calibrating the motion position of the servo motor by a laser interferometer includes: determining the position of an origin, wherein the origin is taken as a starting point by a servo motor to do linear motion, and the servo motor is calibrated once by a laser interferometer when moving a preset distance until the whole motion stroke is calibrated.
It should be noted that, the specific implementation of the servo system in the embodiment of the present invention may be referred to the specific implementation of the position correction method in the above embodiment, which is not described herein again.
In summary, the servo system provided by the embodiment of the invention can perform error compensation on the servo motor, so that the control precision of the servo motor is improved, and the use safety of the servo motor is improved.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, as used in embodiments of the present invention, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or as implying any particular number of features in the present embodiment. Thus, a feature of an embodiment of the invention that is defined by terms such as "first," "second," etc., may explicitly or implicitly indicate that at least one such feature is included in the embodiment. In the description of the present invention, the word "plurality" means at least two or more, for example, two, three, four, etc., unless explicitly defined otherwise in the embodiments.
In the present invention, unless explicitly stated or limited otherwise in the examples, the terms "mounted," "connected," and "fixed" as used in the examples should be interpreted broadly, e.g., the connection may be a fixed connection, may be a removable connection, or may be integral, and it may be understood that the connection may also be a mechanical connection, an electrical connection, etc.; of course, it may be directly connected, or indirectly connected through an intermediate medium, or may be in communication with each other, or in interaction with each other. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific embodiments.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (8)
1. A method of position correction for use with a servo drive, the method comprising:
when the servo driver drives the servo motor to perform linear motion, determining a feedback position of the servo motor, wherein the feedback position represents a position actually reached by the current servo motor in the linear motion process;
inquiring a pre-calibrated two-dimensional table according to the feedback position to determine a position interval in which the feedback position is positioned and a position error value corresponding to the position interval;
determining a correction position of the servo motor according to the feedback position, the position interval and a position error value corresponding to the position interval;
controlling the servo motor according to the correction position;
wherein determining the correction position of the servo motor according to the feedback position, the position interval and the position error value corresponding to the position interval comprises:
Determining a first endpoint position value and a second endpoint position value of the position interval, determining a first difference between the feedback position and the first endpoint position value, and determining a second difference between the second endpoint position value and the first endpoint position value;
determining a first position error value corresponding to the first endpoint position value, determining a second position error value corresponding to the second endpoint position value, and determining a third difference value between the second position error value and the first position error value;
and dividing the product of the first difference value and the third difference value by the second difference value, and then superposing the first endpoint position value to obtain the correction position.
2. The method of claim 1, wherein the two-dimensional table is pre-calibrated according to the steps of:
the servo motor is controlled to perform linear motion, the motion position of the servo motor is calibrated through a laser interferometer, the expected position is obtained, and the actual position of the servo motor is detected through an encoder;
determining a position error value between the desired position and the actual position;
the two-dimensional table is built according to a position error value between the expected position and the actual position and the expected position.
3. The method of claim 2, wherein calibrating the motion position of the servo motor by a laser interferometer comprises:
determining an origin position, and calibrating each preset distance once through the laser interferometer in the process that the servo motor carries out linear motion by taking the origin position as a starting point until the whole motion stroke is completed.
4. The method of claim 1, wherein controlling the servo motor in accordance with the corrected position comprises:
processing the difference between the correction position and the position command through a position regulator to obtain a speed command;
determining a feedback speed according to the correction position, and processing the difference between the feedback speed and the speed command through a speed regulator to obtain a current command;
the difference between the current command and the feedback current of the servo motor is processed through a current regulator, so that a voltage command is obtained;
and determining an electrical angle of the servo motor according to the correction position, and controlling the servo motor according to the electrical angle and the voltage command.
5. A computer-readable storage medium, characterized in that a position correction program is stored thereon, which, when executed by a processor, implements the position correction method according to any one of claims 1-4.
6. A servo drive comprising a memory, a processor and a position correction program stored on the memory and executable on the processor, the processor implementing the position correction method according to any one of claims 1-4 when executing the position correction program.
7. A position correction device for use with a servo drive, the device comprising:
the first determining module is used for determining a feedback position of the servo motor when the servo driver drives the servo motor to perform linear motion, wherein the feedback position represents a position actually reached by the current servo motor in the linear motion process;
the query module is used for querying a pre-calibrated two-dimensional table according to the feedback position so as to determine a position interval where the feedback position is located and a position error value corresponding to the position interval;
the second determining module is used for determining the correction position of the servo motor according to the feedback position, the position interval and the position error value corresponding to the position interval;
the control module is used for controlling the servo motor according to the correction position;
the second determining module is further configured to determine a first endpoint position value and a second endpoint position value of the position interval, determine a first difference between the feedback position and the first endpoint position value, and determine a second difference between the second endpoint position value and the first endpoint position value; determining a first position error value corresponding to the first endpoint position value, determining a second position error value corresponding to the second endpoint position value, and determining a third difference value between the second position error value and the first position error value; and dividing the product of the first difference value and the third difference value by the second difference value, and then superposing the first endpoint position value to obtain the correction position.
8. A servo system, comprising:
a servo motor;
an encoder for detecting a rotor position of the servo motor;
a servo driver including a position correction module, a position regulator, a speed regulator, a current regulator, a vector control module, a differentiator, an inverter, and an electrical angle calculation module, wherein,
the position correction module is used for determining a feedback position of the servo motor when the servo driver drives the servo motor to perform linear motion, inquiring a pre-calibrated two-dimensional table according to the rotor position of the servo motor and the feedback position so as to determine a position interval where the feedback position is located and a position error value corresponding to the position interval, and determining a correction position of the servo motor according to the feedback position, the position interval and the position error value corresponding to the position interval, wherein the feedback position represents a position actually reached by the current servo motor in the linear motion process;
the position regulator is used for processing the difference between the correction position and the position instruction to obtain a speed instruction;
The differentiator is used for determining a feedback speed according to the correction position;
the speed regulator processes the difference between the feedback speed and the speed command to obtain a current command;
the current regulator is used for processing the difference between the current instruction and the feedback current of the servo motor to obtain a voltage instruction;
the electric angle calculation module is used for determining the electric angle of the servo motor according to the correction position;
the vector control module is used for controlling the inverter according to the electric angle and the voltage command so as to control the servo motor;
the position correction module is further configured to determine a first endpoint position value and a second endpoint position value of the position interval, determine a first difference between the feedback position and the first endpoint position value, and determine a second difference between the second endpoint position value and the first endpoint position value; determining a first position error value corresponding to the first endpoint position value, determining a second position error value corresponding to the second endpoint position value, and determining a third difference value between the second position error value and the first position error value; and dividing the product of the first difference value and the third difference value by the second difference value, and then superposing the first endpoint position value to obtain the correction position.
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