CN114095304B - Inter-node synchronous precision compensation method and system based on EtherCAT bus - Google Patents
Inter-node synchronous precision compensation method and system based on EtherCAT bus Download PDFInfo
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- CN114095304B CN114095304B CN202210076308.9A CN202210076308A CN114095304B CN 114095304 B CN114095304 B CN 114095304B CN 202210076308 A CN202210076308 A CN 202210076308A CN 114095304 B CN114095304 B CN 114095304B
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- H04L12/00—Data switching networks
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- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
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- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
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Abstract
The invention discloses a method and a system for compensating synchronization precision between nodes based on an EtherCAT bus, which relate to the field of industrial Ethernet field bus communication and analyze the position deviation of each node by acquiring the propagation delay between a master station node and a slave station node in the EtherCAT bus and multi-axis synchronous position information; evaluating the inter-node synchronization precision of the EtherCAT bus according to the propagation delay and the position deviation to generate a synchronization precision evaluation score; presetting a synchronization precision evaluation score threshold, and judging whether the synchronization precision evaluation score is smaller than a preset evaluation score threshold; if the evaluation score is smaller than the preset threshold value, generating synchronous precision early warning information of different grades through the threshold value interval in which the evaluation score falls; and meanwhile, generating precision correction information according to the propagation delay and the position deviation, and compensating and correcting the inter-node synchronization precision of the EtherCAT bus according to the precision correction information. According to the invention, the control precision and stability of the servo system are improved by compensating and correcting the synchronization precision between the nodes of the EtherCAT bus.
Description
Technical Field
The invention relates to the field of industrial Ethernet field bus communication, in particular to a method and a system for compensating synchronization precision between nodes based on an EtherCAT bus.
Background
In the field of industrial automation, a servo motion control system is used as a core component of a robot and numerical control equipment, and the research on the related technology is particularly important. The technological progress in various fields at present promotes the continuous improvement of the requirements of industrial equipment, and the industrial field bus used in the traditional servo control system is limited by old protocol technology and hardware specification, so that the data transmission speed, real-time performance and other aspects of the industrial field bus are more and more difficult to meet the gradually improved system bus data transmission requirements. The application of a multi-axis servo control system based on an industrial Ethernet field bus technology in the field of automation control becomes a trend, and the communication mechanism ensures that communication conflict does not occur in the whole network and the network has determinacy and high real-time performance, so that the fact that all communication nodes always keep high-precision synchronization is particularly important.
In order to realize high-precision synchronization of communication nodes, a system needs to be developed to be matched with the communication nodes for realization, and the system generates a synchronization precision evaluation score by acquiring propagation delay between a master station node and a slave station node in an EtherCAT bus and analyzing position deviation of each node through multi-axis synchronization position information; judging whether the rating score is in a preset rating score range, and generating different levels of synchronous precision early warning information through a threshold interval in which the rating score falls; and meanwhile, compensating and correcting the inter-node synchronization precision of the EtherCAT bus according to the propagation delay and the position deviation. In the implementation process of the system, how to judge the synchronization precision and correct and compensate the synchronization precision through the propagation delay and the position deviation between the nodes is an urgent problem which needs to be solved.
Disclosure of Invention
In order to solve the technical problem, the invention provides a method and a system for compensating the synchronization precision between nodes based on an EtherCAT bus.
The invention provides a method for compensating the synchronization precision between nodes based on an EtherCAT bus, which comprises the following steps:
acquiring propagation delay between a master station node and a slave station node in an EtherCAT bus;
acquiring multi-axis synchronous position information in an EtherCAT bus, and analyzing the position deviation of each axis slave station node according to the multi-axis synchronous position information;
evaluating the inter-node synchronization precision of the EtherCAT bus according to the propagation delay and the position deviation to generate a synchronization precision evaluation score;
presetting a synchronization precision evaluation score threshold, and judging whether the synchronization precision evaluation score is smaller than a preset evaluation score threshold; if the evaluation score is smaller than the preset threshold value, generating synchronous precision early warning information of different grades through the threshold value interval in which the evaluation score falls;
and meanwhile, generating precision correction information according to the propagation delay and the position deviation, and compensating and correcting the inter-node synchronization precision of the EtherCAT bus according to the precision correction information.
In the invention, the obtaining of the propagation delay between the master node and the slave node in the EtherCAT bus specifically comprises:
acquiring a topological structure and a dependency relationship of an EtherCAT bus, and visually displaying the topological structure and the dependency relationship;
the method comprises the steps of obtaining system time of a master station node sending a data message and returning the data message in an EtherCAT bus, obtaining a data stamp returned when a slave station node receives the data message, and obtaining feedback time of the slave station node receiving the data message and forwarding the data message from the data stamp;
generating a feedback time data sequence by the feedback time according to the address information of the slave station node, and calculating and generating the propagation delay between the master station node and the slave station node according to the feedback time data sequence and the system time of sending the data message and returning the data message by the master station node;
the calculation formula of the propagation delay between the master node and the slave node is specifically as follows:
wherein f represents a propagation delay between the master node and the slave node, i represents number information of the slave node,
indicating the system time for the master node to return a data message,
indicating the system time for the master node to send data packets to the slave node,
indicating the feedback time for the slave node to forward the data packet,
indicating the feedback time of the data message received from the station node.
In the invention, multi-axis synchronous position information in an EtherCAT bus is obtained, and the position deviation of each axis slave station node is analyzed according to the multi-axis synchronous position information, which specifically comprises the following steps:
acquiring synchronous position information of each axis in a preset period in an EtherCAT bus, and generating motion curve information of each axis according to the synchronous position information;
acquiring preset motion curve information to generate a reference curve, comparing the motion curve information of each axis with the reference curve, extracting abnormal data of the motion curve information of each axis, and generating deviation information according to the abnormal data;
presetting a deviation information threshold value, and comparing and analyzing the deviation information with the preset threshold value;
if the deviation information is larger than or equal to the deviation information threshold value, evaluating the deviation information to generate an evaluation score;
and if the deviation information is smaller than the deviation information threshold value, ignoring the deviation information and not calculating the evaluation score of the deviation information.
In the present invention, the generating of the synchronization accuracy evaluation score according to the propagation delay and the position deviation specifically includes:
constructing a propagation delay evaluation index and a position deviation evaluation index, constructing a synchronous precision scoring mechanism, and presetting scoring index threshold value information;
generating a threshold value through the propagation delay evaluation index and the position deviation evaluation index, calculating a deviation value of the propagation delay, the position deviation and the threshold value, comparing the deviation value with an index evaluation standard and quantifying the deviation value into a score value;
and combining the grading system with preset grading index threshold information to calculate and generate a synchronous precision evaluation score.
In the invention, the different grades of synchronous precision early warning information is generated according to the synchronous precision evaluation score, which specifically comprises the following steps:
presetting a dynamic evaluation threshold value for synchronous precision evaluation, and establishing an early warning model based on dynamic evaluation threshold value grading;
acquiring the synchronous precision evaluation score, and importing the synchronous precision evaluation score into the early warning model;
obtaining current state parameters of each axis in an EtherCAT bus, determining an evaluation threshold value according to the current state parameters of each axis through the early warning model, and generating threshold value intervals corresponding to synchronous precision early warning information of different grades according to the evaluation threshold value;
and generating synchronous precision early warning information of a corresponding grade according to the threshold interval in which the synchronous precision evaluation score falls, and displaying the synchronous precision early warning information according to a preset mode.
In the present invention, the generating of the precision correction information according to the propagation delay and the position deviation, and the compensating and correcting of the inter-node synchronization precision of the EtherCAT bus according to the precision correction information specifically include:
extracting speed, acceleration information and current position information in current state parameters through the current state parameters of all axes in an EtherCAT bus;
calculating position information after preset time according to the current position information and the speed and acceleration information, and comparing and analyzing the position information after the preset time and the current position information to generate position deviation;
combining the position deviation with a corresponding position in a reference curve after a preset time to generate position compensation information;
acquiring propagation delay between a master station node and a slave station node, and adding system time of the master station node into the propagation delay to obtain time compensation information;
and generating precision correction information according to the position compensation information and the time compensation information, and performing compensation correction of the synchronous precision between the nodes of the EtherCAT bus according to the precision correction information.
The second aspect of the present invention further provides an inter-node synchronization precision compensation system based on an EtherCAT bus, including: the memory comprises an EtherCAT bus-based inter-node synchronous precision compensation method program, and the processor executes the inter-node synchronous precision compensation method program based on the EtherCAT bus to realize the following steps:
acquiring propagation delay between a master station node and a slave station node in an EtherCAT bus;
acquiring multi-axis synchronous position information in an EtherCAT bus, and analyzing the position deviation of each axis slave station node according to the multi-axis synchronous position information;
evaluating the inter-node synchronization precision of the EtherCAT bus according to the propagation delay and the position deviation to generate a synchronization precision evaluation score;
presetting a synchronization precision evaluation score threshold, and judging whether the synchronization precision evaluation score is smaller than a preset evaluation score threshold; if the evaluation score is smaller than the preset threshold value, generating synchronous precision early warning information of different grades through the threshold value interval in which the evaluation score falls;
and meanwhile, generating precision correction information according to the propagation delay and the position deviation, and compensating and correcting the inter-node synchronization precision of the EtherCAT bus according to the precision correction information.
In the invention, the obtaining of the propagation delay between the master node and the slave node in the EtherCAT bus specifically comprises:
acquiring a topological structure and a dependency relationship of an EtherCAT bus, and visually displaying the topological structure and the dependency relationship;
the method comprises the steps of obtaining system time of a master station node sending a data message and returning the data message in an EtherCAT bus, obtaining a data stamp returned when a slave station node receives the data message, and obtaining feedback time of the slave station node receiving the data message and forwarding the data message from the data stamp;
generating a feedback time data sequence by the feedback time according to the address information of the slave station node, and calculating and generating the propagation delay between the master station node and the slave station node according to the feedback time data sequence and the system time of sending the data message and returning the data message by the master station node;
the calculation formula of the propagation delay between the master node and the slave node is specifically as follows:
wherein f represents a propagation delay between the master node and the slave node, i represents number information of the slave node,
indicating the system time for the master node to return a data message,
indicating the system time for the master node to send data packets to the slave node,
indicating the feedback time for the slave node to forward the data packet,
indicating the feedback time of the data message received from the station node.
In the invention, multi-axis synchronous position information in an EtherCAT bus is obtained, and the position deviation of each axis slave station node is analyzed according to the multi-axis synchronous position information, which specifically comprises the following steps:
acquiring synchronous position information of each axis in a preset period in an EtherCAT bus, and generating motion curve information of each axis according to the synchronous position information;
acquiring preset motion curve information to generate a reference curve, comparing the motion curve information of each axis with the reference curve, extracting abnormal data of the motion curve information of each axis, and generating deviation information according to the abnormal data;
presetting a deviation information threshold value, and comparing and analyzing the deviation information with the preset threshold value;
if the deviation information is larger than or equal to the deviation information threshold value, evaluating the deviation information to generate an evaluation score;
and if the deviation information is smaller than the deviation information threshold value, ignoring the deviation information and not calculating the evaluation score of the deviation information.
In the present invention, the generating of the synchronization accuracy evaluation score according to the propagation delay and the position deviation specifically includes:
constructing a propagation delay evaluation index and a position deviation evaluation index, constructing a synchronous precision scoring mechanism, and presetting scoring index threshold value information;
generating a threshold value through the propagation delay evaluation index and the position deviation evaluation index, calculating a deviation value of the propagation delay, the position deviation and the threshold value, comparing the deviation value with an index evaluation standard and quantifying the deviation value into a score value;
and combining the grading system with preset grading index threshold information to calculate and generate a synchronous precision evaluation score.
In the invention, the different grades of synchronous precision early warning information is generated according to the synchronous precision evaluation score, which specifically comprises the following steps:
presetting a dynamic evaluation threshold value for synchronous precision evaluation, and establishing an early warning model based on dynamic evaluation threshold value grading;
acquiring the synchronous precision evaluation score, and importing the synchronous precision evaluation score into the early warning model;
obtaining current state parameters of each axis in an EtherCAT bus, determining an evaluation threshold value according to the current state parameters of each axis through the early warning model, and generating threshold value intervals corresponding to synchronous precision early warning information of different grades according to the evaluation threshold value;
and generating synchronous precision early warning information of a corresponding grade according to the threshold interval in which the synchronous precision evaluation score falls, and displaying the synchronous precision early warning information according to a preset mode.
In the present invention, the generating of the precision correction information according to the propagation delay and the position deviation, and the compensating and correcting of the inter-node synchronization precision of the EtherCAT bus according to the precision correction information specifically include:
extracting speed, acceleration information and current position information in the current state parameters through the current state parameters of all shafts in an EtherCAT bus;
calculating position information after preset time according to the current position information and the speed and acceleration information, and comparing and analyzing the position information after the preset time and the current position information to generate position deviation;
combining the position deviation with a corresponding position in a reference curve after a preset time to generate position compensation information;
acquiring propagation delay between a master station node and a slave station node, and adding system time of the master station node into the propagation delay to obtain time compensation information;
and generating precision correction information according to the position compensation information and the time compensation information, and performing compensation correction of the synchronous precision between the nodes of the EtherCAT bus according to the precision correction information.
The third aspect of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a program of the method for compensating the inter-node synchronization accuracy based on the EtherCAT bus, and when the program of the method for compensating the inter-node synchronization accuracy based on the EtherCAT bus is executed by a processor, the method for compensating the inter-node synchronization accuracy based on the EtherCAT bus as described in any one of the above steps is implemented.
The invention discloses a method and a system for compensating synchronization precision between nodes based on an EtherCAT bus, which relate to the field of industrial Ethernet field bus communication and analyze the position deviation of each node by acquiring the propagation delay between a master station node and a slave station node in the EtherCAT bus and multi-axis synchronous position information; evaluating the inter-node synchronization precision of the EtherCAT bus according to the propagation delay and the position deviation to generate a synchronization precision evaluation score; presetting a synchronization precision evaluation score threshold, and judging whether the synchronization precision evaluation score is smaller than a preset evaluation score threshold; if the evaluation score is smaller than the preset threshold value, generating synchronous precision early warning information of different grades through the threshold value interval in which the evaluation score falls; and meanwhile, generating precision correction information according to the propagation delay and the position deviation, and compensating and correcting the inter-node synchronization precision of the EtherCAT bus according to the precision correction information. According to the invention, the control precision and stability of the servo system are improved by compensating and correcting the synchronization precision between the nodes of the EtherCAT bus.
Drawings
Fig. 1 shows a flow chart of an inter-node synchronization accuracy compensation method based on an EtherCAT bus according to the present invention.
Fig. 2 shows a flow chart of the method for performing correction compensation on the synchronization accuracy according to the correction information.
Fig. 3 shows a block diagram of an inter-node synchronization accuracy compensation system based on an EtherCAT bus according to the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Fig. 1 shows a flow chart of an inter-node synchronization accuracy compensation method based on an EtherCAT bus according to the present invention.
As shown in fig. 1, a first aspect of the present invention provides an inter-node synchronization precision compensation method based on an EtherCAT bus, including:
s102, acquiring propagation delay between a master node and a slave node in an EtherCAT bus;
s104, acquiring multi-axis synchronous position information in the EtherCAT bus, and analyzing position deviation of slave station nodes of each axis according to the multi-axis synchronous position information;
s106, evaluating the inter-node synchronization precision of the EtherCAT bus according to the propagation delay and the position deviation, and generating a synchronization precision evaluation score;
s108, presetting a synchronization precision evaluation score threshold, and judging whether the synchronization precision evaluation score is smaller than the preset evaluation score threshold; if the evaluation score is smaller than the preset threshold value, generating synchronous precision early warning information of different grades through the threshold value interval in which the evaluation score falls;
and S110, generating precision correction information according to the propagation delay and the position deviation, and compensating and correcting the inter-node synchronization precision of the EtherCAT bus according to the precision correction information.
It should be noted that, the acquiring of the propagation delay between the master node and the slave node in the EtherCAT bus specifically includes:
acquiring a topological structure and a dependency relationship of an EtherCAT bus, and visually displaying the topological structure and the dependency relationship; the method comprises the steps of obtaining system time of a master station node sending a data message and returning the data message in an EtherCAT bus, obtaining a data stamp returned when a slave station node receives the data message, and obtaining feedback time of the slave station node receiving the data message and forwarding the data message from the data stamp; generating a feedback time data sequence by the feedback time according to the address information of the slave station node, and calculating and generating the propagation delay between the master station node and the slave station node according to the feedback time data sequence and the system time of sending the data message and returning the data message by the master station node;
the calculation formula of the propagation delay between the master node and the slave node is specifically as follows:
wherein f represents a propagation delay between the master node and the slave node, i represents number information of the slave node,
indicating the system time for the master node to return a data message,
indicating the system time for the master node to send data packets to the slave node,
indicating the feedback time for the slave node to forward the data packet,
indicating the feedback time of the data message received from the station node.
The calculation result of the propagation delay between the master node and the slave node is not a constant value, the value of the propagation delay changes during each measurement, the process of measuring the propagation delay is repeated for a plurality of times, the propagation delays generated by the plurality of measurements are subjected to mean value calculation to generate an average propagation delay, and the average propagation delay is used as the propagation delay between the master node and the slave node.
It should be noted that, acquiring multi-axis synchronous position information in an EtherCAT bus, and analyzing the position deviation of each axis slave station node according to the multi-axis synchronous position information specifically includes:
acquiring synchronous position information of each axis in a preset period in an EtherCAT bus, and generating motion curve information of each axis according to the synchronous position information; acquiring preset motion curve information to generate a reference curve, comparing the motion curve information of each axis with the reference curve, extracting abnormal data of the motion curve information of each axis, and generating deviation information according to the abnormal data; presetting a deviation information threshold value, and comparing and analyzing the deviation information with the preset threshold value; if the deviation information is larger than or equal to the deviation information threshold value, evaluating the deviation information to generate an evaluation score; and if the deviation information is smaller than the deviation information threshold value, ignoring the deviation information and not calculating the evaluation score of the deviation information.
The generating of the synchronization accuracy evaluation score based on the propagation delay and the positional deviation specifically includes: constructing a propagation delay evaluation index and a position deviation evaluation index, constructing a synchronous precision scoring mechanism, and presetting scoring index threshold value information; generating a threshold value through the propagation delay evaluation index and the position deviation evaluation index, calculating a deviation value of the propagation delay, the position deviation and the threshold value, comparing the deviation value with an index evaluation standard and quantifying the deviation value into a score value; and combining the grading system with preset grading index threshold information to calculate and generate a synchronous precision evaluation score.
It should be noted that, generating the synchronization precision early warning information of different levels according to the synchronization precision evaluation score specifically includes: presetting a dynamic evaluation threshold value for synchronous precision evaluation, and establishing an early warning model based on dynamic evaluation threshold value grading; acquiring the synchronous precision evaluation score, and importing the synchronous precision evaluation score into the early warning model; obtaining current state parameters of each axis in an EtherCAT bus, determining an evaluation threshold value according to the current state parameters of each axis through the early warning model, and generating threshold value intervals corresponding to synchronous precision early warning information of different grades according to the evaluation threshold value; and generating synchronous precision early warning information of a corresponding grade according to the threshold interval in which the synchronous precision evaluation score falls, and displaying the synchronous precision early warning information according to a preset mode.
FIG. 2 is a flow chart illustrating a method of the present invention for correction compensation of synchronization accuracy based on correction information;
according to the embodiment of the invention, the precision correction information is generated according to the propagation delay and the position deviation, and the compensation correction is performed on the inter-node synchronization precision of the EtherCAT bus according to the precision correction information, specifically:
s202, extracting speed, acceleration information and current position information in current state parameters through the current state parameters of all axes in an EtherCAT bus;
s204, calculating position information after preset time according to the current position information and the speed and acceleration information, comparing and analyzing the position information after the preset time and the current position information, and generating position deviation;
s206, combining the position deviation with a corresponding position in a reference curve after preset time to generate position compensation information;
s208, acquiring the propagation delay between the master node and the slave node, and adding the system time of the master node into the propagation delay to obtain time compensation information;
and S210, generating precision correction information according to the position compensation information and the time compensation information, and performing compensation correction of the synchronous precision between the nodes of the EtherCAT bus according to the precision correction information.
According to the embodiment of the invention, the invention also comprises a node synchronization precision database which is established to monitor the synchronization precision between the nodes of the EtherCAT bus, and the method specifically comprises the following steps:
constructing a node synchronization precision database, matching the synchronization precision between nodes of the EtherCAT bus with working condition parameters to generate a data sequence, and storing the data sequence into the node synchronization precision database;
acquiring current state parameters of each axis in an EtherCAT bus, establishing a retrieval tag according to the current state parameters, and establishing a retrieval task in the node synchronization precision database according to the retrieval tag;
calculating the similarity between the current state parameter and the data in the node synchronization database, presetting a similarity threshold, and marking the data with the similarity greater than the similarity threshold;
sorting the marked data according to the similarity, extracting the node synchronization precision corresponding to the data with the maximum similarity in the node synchronization precision database, and performing first synchronization precision early warning information according to the node synchronization precision;
performing precision detection on a current node in an EtherCAT bus to generate second synchronous precision early warning information, and performing comparative analysis on the first synchronous precision early warning information and the second synchronous precision early warning information to generate deviation information;
and if the deviation information is larger than a preset deviation information threshold value, generating a new data sequence by the second synchronization precision early warning information and the current state parameter, and storing the new data sequence into the node synchronization precision database.
Fig. 3 shows a block diagram of an inter-node synchronization accuracy compensation system based on an EtherCAT bus according to the present invention.
The second aspect of the present invention also provides an inter-node synchronization accuracy compensation system 3 based on an EtherCAT bus, including: the memory 31 and the processor 32, the memory includes a program of the method for compensating the synchronization precision between the nodes based on the EtherCAT bus, and when the program of the method for compensating the synchronization precision between the nodes based on the EtherCAT bus is executed by the processor, the following steps are implemented:
acquiring propagation delay between a master station node and a slave station node in an EtherCAT bus;
acquiring multi-axis synchronous position information in an EtherCAT bus, and analyzing the position deviation of each axis slave station node according to the multi-axis synchronous position information;
evaluating the inter-node synchronization precision of the EtherCAT bus according to the propagation delay and the position deviation to generate a synchronization precision evaluation score;
presetting a synchronization precision evaluation score threshold, and judging whether the synchronization precision evaluation score is smaller than a preset evaluation score threshold; if the evaluation score is smaller than the preset threshold value, generating synchronous precision early warning information of different grades through the threshold value interval in which the evaluation score falls;
and meanwhile, generating precision correction information according to the propagation delay and the position deviation, and compensating and correcting the inter-node synchronization precision of the EtherCAT bus according to the precision correction information.
It should be noted that, the acquiring of the propagation delay between the master node and the slave node in the EtherCAT bus specifically includes:
acquiring a topological structure and a dependency relationship of an EtherCAT bus, and visually displaying the topological structure and the dependency relationship; the method comprises the steps of obtaining system time of a master station node sending a data message and returning the data message in an EtherCAT bus, obtaining a data stamp returned when a slave station node receives the data message, and obtaining feedback time of the slave station node receiving the data message and forwarding the data message from the data stamp; generating a feedback time data sequence by the feedback time according to the address information of the slave station node, and calculating and generating the propagation delay between the master station node and the slave station node according to the feedback time data sequence and the system time of sending the data message and returning the data message by the master station node;
the calculation formula of the propagation delay between the master node and the slave node is specifically as follows:
wherein f represents a propagation delay between the master node and the slave node, i represents number information of the slave node,
indicating the system time for the master node to return a data message,
indicating the system time for the master node to send data packets to the slave node,
indicating the feedback time for the slave node to forward the data packet,
indicating the feedback time of the data message received from the station node.
The calculation result of the propagation delay between the master node and the slave node is not a constant value, the value of the propagation delay changes during each measurement, the process of measuring the propagation delay is repeated for a plurality of times, the propagation delays generated by the measurements of the plurality of times are subjected to mean value calculation to generate an average propagation delay, and the average propagation delay is used as the propagation delay between the master node and the slave node.
It should be noted that, acquiring multi-axis synchronous position information in an EtherCAT bus, and analyzing the position deviation of each axis slave station node according to the multi-axis synchronous position information specifically includes:
acquiring synchronous position information of each axis in a preset period in an EtherCAT bus, and generating motion curve information of each axis according to the synchronous position information; acquiring preset motion curve information to generate a reference curve, comparing the motion curve information of each axis with the reference curve, extracting abnormal data of the motion curve information of each axis, and generating deviation information according to the abnormal data; presetting a deviation information threshold value, and comparing and analyzing the deviation information with the preset threshold value; if the deviation information is larger than or equal to the deviation information threshold value, evaluating the deviation information to generate an evaluation score; and if the deviation information is smaller than the deviation information threshold value, ignoring the deviation information and not calculating the evaluation score of the deviation information.
The generating of the synchronization accuracy evaluation score based on the propagation delay and the positional deviation specifically includes: constructing a propagation delay evaluation index and a position deviation evaluation index, constructing a synchronous precision scoring mechanism, and presetting scoring index threshold value information; generating a threshold value through the propagation delay evaluation index and the position deviation evaluation index, calculating a deviation value of the propagation delay, the position deviation and the threshold value, comparing the deviation value with an index evaluation standard and quantifying the deviation value into a score value; and combining the grading system with preset grading index threshold information to calculate and generate a synchronous precision evaluation score.
It should be noted that, generating the synchronization precision early warning information of different levels according to the synchronization precision evaluation score specifically includes: presetting a dynamic evaluation threshold value for synchronous precision evaluation, and establishing an early warning model based on dynamic evaluation threshold value grading; acquiring the synchronous precision evaluation score, and importing the synchronous precision evaluation score into the early warning model; obtaining current state parameters of each axis in an EtherCAT bus, determining an evaluation threshold value according to the current state parameters of each axis through the early warning model, and generating threshold value intervals corresponding to synchronous precision early warning information of different grades according to the evaluation threshold value; and generating synchronous precision early warning information of a corresponding grade according to the threshold interval in which the synchronous precision evaluation score falls, and displaying the synchronous precision early warning information according to a preset mode.
It should be noted that the generating of the precision correction information according to the propagation delay and the position deviation, and performing compensation correction on the inter-node synchronization precision of the EtherCAT bus according to the precision correction information specifically include:
extracting speed, acceleration information and current position information in the current state parameters through the current state parameters of all shafts in an EtherCAT bus;
calculating position information after preset time according to the current position information and the speed and acceleration information, and comparing and analyzing the position information after the preset time and the current position information to generate position deviation;
combining the position deviation with a corresponding position in a reference curve after a preset time to generate position compensation information;
acquiring propagation delay between a master station node and a slave station node, and adding system time of the master station node into the propagation delay to obtain time compensation information;
and generating precision correction information according to the position compensation information and the time compensation information, and performing compensation correction of the synchronous precision between the nodes of the EtherCAT bus according to the precision correction information.
According to the embodiment of the invention, the invention also comprises a node synchronization precision database which is established to monitor the synchronization precision between the nodes of the EtherCAT bus, and the method specifically comprises the following steps:
constructing a node synchronization precision database, matching the synchronization precision between nodes of the EtherCAT bus with working condition parameters to generate a data sequence, and storing the data sequence into the node synchronization precision database;
acquiring current state parameters of each axis in an EtherCAT bus, establishing a retrieval tag according to the current state parameters, and establishing a retrieval task in the node synchronization precision database according to the retrieval tag;
calculating the similarity between the current state parameter and the data in the node synchronization database, presetting a similarity threshold, and marking the data with the similarity greater than the similarity threshold;
sorting the marked data according to the similarity, extracting the node synchronization precision corresponding to the data with the maximum similarity in the node synchronization precision database, and performing first synchronization precision early warning information according to the node synchronization precision;
performing precision detection on a current node in an EtherCAT bus to generate second synchronous precision early warning information, and performing comparative analysis on the first synchronous precision early warning information and the second synchronous precision early warning information to generate deviation information;
and if the deviation information is larger than a preset deviation information threshold value, generating a new data sequence by the second synchronization precision early warning information and the current state parameter, and storing the new data sequence into the node synchronization precision database.
The third aspect of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a program of the method for compensating the inter-node synchronization accuracy based on the EtherCAT bus, and when the program of the method for compensating the inter-node synchronization accuracy based on the EtherCAT bus is executed by a processor, the method for compensating the inter-node synchronization accuracy based on the EtherCAT bus as described in any one of the above steps is implemented.
The invention discloses a method and a system for compensating synchronization precision between nodes based on an EtherCAT bus, which relate to the field of industrial Ethernet field bus communication and analyze the position deviation of each node by acquiring the propagation delay between a master station node and a slave station node in the EtherCAT bus and multi-axis synchronous position information; evaluating the inter-node synchronization precision of the EtherCAT bus according to the propagation delay and the position deviation to generate a synchronization precision evaluation score; presetting a synchronization precision evaluation score threshold, and judging whether the synchronization precision evaluation score is smaller than a preset evaluation score threshold; if the evaluation score is smaller than the preset threshold value, generating synchronous precision early warning information of different grades through the threshold value interval in which the evaluation score falls; and meanwhile, generating precision correction information according to the propagation delay and the position deviation, and compensating and correcting the inter-node synchronization precision of the EtherCAT bus according to the precision correction information. According to the invention, the control precision and stability of the servo system are improved by compensating and correcting the synchronization precision between the nodes of the EtherCAT bus.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and shall cover the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. An inter-node synchronization precision compensation method based on an EtherCAT bus is characterized by comprising the following steps:
acquiring propagation delay between a master station node and a slave station node in an EtherCAT bus;
acquiring multi-axis synchronous position information in an EtherCAT bus, and analyzing the position deviation of each axis slave station node according to the multi-axis synchronous position information;
evaluating the inter-node synchronization precision of the EtherCAT bus according to the propagation delay and the position deviation to generate a synchronization precision evaluation score;
presetting a synchronization precision evaluation score threshold, and judging whether the synchronization precision evaluation score is smaller than the synchronization precision evaluation score threshold; if the evaluation score is smaller than the preset threshold value, generating synchronous precision early warning information of different grades through the threshold value interval in which the evaluation score falls;
and meanwhile, generating precision correction information according to the propagation delay and the position deviation, and compensating and correcting the inter-node synchronization precision of the EtherCAT bus according to the precision correction information.
2. The method for compensating the inter-node synchronization accuracy based on the EtherCAT bus according to claim 1, wherein the obtaining of the propagation delay between the master node and the slave node in the EtherCAT bus specifically comprises:
acquiring a topological structure and a dependency relationship of an EtherCAT bus, and visually displaying the topological structure and the dependency relationship;
the method comprises the steps of obtaining system time of a master station node sending a data message and returning the data message in an EtherCAT bus, obtaining a data stamp returned when a slave station node receives the data message, and obtaining feedback time of the slave station node receiving the data message and forwarding the data message from the data stamp;
generating a feedback time data sequence by the feedback time according to the address information of the slave station node, and calculating and generating the propagation delay between the master station node and the slave station node according to the feedback time data sequence and the system time of sending the data message and returning the data message by the master station node;
the calculation formula of the propagation delay between the master node and the slave node is specifically as follows:
wherein f represents a propagation delay between the master node and the slave node, i represents number information of the slave node,
indicating the system time for the master node to return a data message,
indicating the system time for the master node to send data packets to the slave node,
indicating the feedback time for the slave node to forward the data packet,
indicating the feedback time of the data message received from the station node.
3. The method for compensating the inter-node synchronization accuracy based on the EtherCAT bus according to claim 1, wherein multi-axis synchronization position information in the EtherCAT bus is obtained, and the position deviation of the slave node of each axis is analyzed according to the multi-axis synchronization position information, specifically:
acquiring synchronous position information of each axis in a preset period in an EtherCAT bus, and generating motion curve information of each axis according to the synchronous position information;
acquiring preset motion curve information to generate a reference curve, comparing the motion curve information of each axis with the reference curve, extracting abnormal data of the motion curve information of each axis, and generating deviation information according to the abnormal data;
presetting a deviation information threshold, and comparing and analyzing the deviation information with the deviation information threshold;
if the deviation information is larger than or equal to the deviation information threshold value, evaluating the deviation information to generate an evaluation score;
and if the deviation information is smaller than the deviation information threshold value, ignoring the deviation information and not calculating the evaluation score of the deviation information.
4. The method for compensating the synchronization precision between the nodes based on the EtherCAT bus according to the claim 1, wherein the synchronization precision evaluation score is generated according to the propagation delay and the position deviation, and specifically comprises:
constructing a propagation delay evaluation index and a position deviation evaluation index, constructing a synchronous precision scoring mechanism, and presetting scoring index threshold value information;
generating a threshold value through the propagation delay evaluation index and the position deviation evaluation index, calculating a deviation value of the propagation delay, the position deviation and the threshold value, comparing the deviation value with an index evaluation standard and quantifying the deviation value into a score value;
and combining the score value with preset score index threshold information to calculate and generate a synchronous precision evaluation score.
5. The method for compensating the synchronization precision between the nodes based on the EtherCAT bus according to claim 4, wherein the synchronization precision early warning information of different grades is generated according to the synchronization precision evaluation score, and specifically comprises the following steps:
presetting a dynamic evaluation threshold value for synchronous precision evaluation, and establishing an early warning model based on dynamic evaluation threshold value grading;
acquiring the synchronous precision evaluation score, and importing the synchronous precision evaluation score into the early warning model;
obtaining current state parameters of each axis in an EtherCAT bus, determining an evaluation threshold value according to the current state parameters of each axis through the early warning model, and generating threshold value intervals corresponding to synchronous precision early warning information of different grades according to the evaluation threshold value;
and generating synchronous precision early warning information of a corresponding grade according to the threshold interval in which the synchronous precision evaluation score falls, and displaying the synchronous precision early warning information according to a preset mode.
6. The method for compensating the inter-node synchronization accuracy based on the EtherCAT bus according to claim 1, wherein the accuracy correction information is generated according to the propagation delay and the position deviation, and the inter-node synchronization accuracy of the EtherCAT bus is compensated and corrected according to the accuracy correction information, specifically:
extracting speed, acceleration information and current position information in the current state parameters through the current state parameters of all shafts in an EtherCAT bus;
calculating position information after preset time according to the current position information and the speed and acceleration information, and comparing and analyzing the position information after the preset time with the current position information to generate position deviation;
combining the position deviation with a corresponding position in a reference curve after a preset time to generate position compensation information;
acquiring propagation delay between a master station node and a slave station node, and adding system time of the master station node into the propagation delay to obtain time compensation information;
and generating precision correction information according to the position compensation information and the time compensation information, and performing compensation correction of the synchronous precision between the nodes of the EtherCAT bus according to the precision correction information.
7. An inter-node synchronization precision compensation system based on an EtherCAT bus is characterized by comprising: the memory comprises an EtherCAT bus-based inter-node synchronous precision compensation method program, and the processor executes the inter-node synchronous precision compensation method program based on the EtherCAT bus to realize the following steps:
acquiring propagation delay between a master station node and a slave station node in an EtherCAT bus;
acquiring multi-axis synchronous position information in an EtherCAT bus, and analyzing the position deviation of each axis slave station node according to the multi-axis synchronous position information;
evaluating the inter-node synchronization precision of the EtherCAT bus according to the propagation delay and the position deviation to generate a synchronization precision evaluation score;
presetting a synchronization precision evaluation score threshold, and judging whether the synchronization precision evaluation score is smaller than the synchronization precision evaluation score threshold; if the evaluation score is smaller than the preset threshold value, generating synchronous precision early warning information of different grades through the threshold value interval in which the evaluation score falls;
and meanwhile, generating precision correction information according to the propagation delay and the position deviation, and compensating and correcting the inter-node synchronization precision of the EtherCAT bus according to the precision correction information.
8. The system of claim 7, wherein the obtaining of the propagation delay between the master node and the slave node in the EtherCAT bus specifically includes:
acquiring a topological structure and a dependency relationship of an EtherCAT bus, and visually displaying the topological structure and the dependency relationship;
the method comprises the steps of obtaining system time of a master station node sending a data message and returning the data message in an EtherCAT bus, obtaining a data stamp returned when a slave station node receives the data message, and obtaining feedback time of the slave station node receiving the data message and forwarding the data message from the data stamp;
generating a feedback time data sequence by the feedback time according to the address information of the slave station node, and calculating and generating the propagation delay between the master station node and the slave station node according to the feedback time data sequence and the system time of sending the data message and returning the data message by the master station node;
the calculation formula of the propagation delay between the master node and the slave node is specifically as follows:
wherein f represents the master node andpropagation delay between slave nodes, i represents the number information of the slave nodes,
indicating the system time for the master node to return a data message,
indicating the system time for the master node to send data packets to the slave node,
indicating the feedback time for the slave node to forward the data packet,
indicating the feedback time of the data message received from the station node.
9. The system of claim 7, wherein multi-axis synchronous position information in the EtherCAT bus is obtained, and the position deviation of the slave station node of each axis is analyzed according to the multi-axis synchronous position information, specifically:
acquiring synchronous position information of each axis in a preset period in an EtherCAT bus, and generating motion curve information of each axis according to the synchronous position information;
acquiring preset motion curve information to generate a reference curve, comparing the motion curve information of each axis with the reference curve, extracting abnormal data of the motion curve information of each axis, and generating deviation information according to the abnormal data;
presetting a deviation information threshold, and comparing and analyzing the deviation information with the deviation information threshold;
if the deviation information is larger than or equal to the deviation information threshold value, evaluating the deviation information to generate an evaluation score;
and if the deviation information is smaller than the deviation information threshold value, ignoring the deviation information and not calculating the evaluation score of the deviation information.
10. A computer-readable storage medium characterized by: the computer readable storage medium includes a program of the method for compensating the precision of the synchronization between the nodes based on the EtherCAT bus, and when the program of the method for compensating the precision of the synchronization between the nodes based on the EtherCAT bus is executed by a processor, the steps of the method for compensating the precision of the synchronization between the nodes based on the EtherCAT bus as claimed in any one of claims 1 to 6 are implemented.
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