CN114488946A - Servo instruction RBF prediction method for Glink industrial Ethernet synchronous mode data loss - Google Patents

Servo instruction RBF prediction method for Glink industrial Ethernet synchronous mode data loss Download PDF

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CN114488946A
CN114488946A CN202210078896.XA CN202210078896A CN114488946A CN 114488946 A CN114488946 A CN 114488946A CN 202210078896 A CN202210078896 A CN 202210078896A CN 114488946 A CN114488946 A CN 114488946A
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data
glink
slave station
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惠萌
陈亮
姚锐
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Changan University
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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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33347—Master sends servo address, speed, kind of interpolation to slave

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Abstract

The invention provides a servo command RBF prediction method for Glink industrial Ethernet synchronous mode data loss, which comprises the following steps: a DC synchronization mode is adopted to carry out interrupt synchronization on a Glink master station and a Glink slave station of a control system based on an EtherCAT bus; the Glink slave station reads the shaft variable data from the ESC internal storage area in a determined time period; entering a periodic synchronous position mode, and when the SM event interrupt counter is greater than 1, losing the data of the axis variable data; the Glink slave station predicts the target position of axis variable data loss based on the historical target position value through a Lagrange polynomial; forming a group of point columns according to historical data of the lost target position, and constructing a trend line based on a radial basis function interpolation function to pass through the group of point columns; extrapolating and predicting data of the lost position point according to the constructed trend line, compensating the lost data of the axis variable data lost in the target position, and obtaining predicted axis variable data; and the application layer function transmits the predicted axis variable data value from the Glink slave station to the driving chip through SPI communication.

Description

Servo instruction RBF prediction method for Glink industrial Ethernet synchronous mode data loss
Technical Field
The invention relates to the technical field of motion control, in particular to a servo command RBF prediction method for Glink industrial Ethernet synchronous mode data loss.
Background
Networked motion control systems have become a current industry trend and research focus. With the increase of the industrial demand for the ethernet servo motor driver, the bus technology has been widely added to the current servo system, so the current ac servo system has developed towards networking, intellectualization, and the like. The current ethernet technology has been widely applied to servo motion control systems, and the current ethernet technology is far superior to the traditional fieldbus technology in both transmission speed and data frame capacity.
The servo motion control system based on the Glink industrial Ethernet is divided into a control layer, a communication layer and an execution layer. The control layer adopts a control host and configuration software as a master station of the system, the control layer mainly has the functions of being responsible for control operation of the system and data communication with the slave station, the master station sends data frames to the slave station controller to read and write data in an internal storage area of the slave station controller so as to complete data communication, the data communication mode comprises mailbox data communication and process data communication, and the master station basically processes data of the slave station equipment by using commands of logic reading, writing or exchanging and the like in the process data communication process; during data communication, the buffer area address managed by the channel manager of the slave station is read and written, and then whether the reading and writing are successful is judged by judging the WKC of the returned data frame command. The primary station scans the secondary station, configures basic parameters of the secondary station, and then starts planning of a motion path and speed planning. The master station will send control words, target position and target speed control commands to the slave station controller every DC sync period. The slave station MUC is mainly responsible for establishing communication to control an application layer, and then regularly reads and writes data in an internal storage area of the ESC through a read-write function.
When the data sent by the master station is missing, the internal storage area of the ESC is not updated with data, which causes that the slave station MCU does not obtain the control command and data sent, so that the process data queried by the application layer function from the memory is also the data of the previous cycle, and therefore the current target data value needs to be predicted by using the data value received in history, and stored in the local memory as the current target position, and then the target position is sent to the driver chip through SPI communication by the application layer function, and the driver motor rotates to the target position.
Therefore, the invention provides a novel method for predicting the RBF of the servo command of the Glink industrial Ethernet synchronous mode data loss.
Disclosure of Invention
In order to solve the problems, the invention provides a servo command RBF prediction method for Glink industrial Ethernet synchronous mode data loss, which solves the problem of control command data loss of a servo motion control system in the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions.
A servo command RBF prediction method for Glink industrial Ethernet synchronous mode data loss comprises the following steps:
a DC synchronization mode is adopted, and a Glink master station and a Glink slave station of a control system based on an EtherCAT bus generate synchronous interruption;
the Glink slave station reads the shaft variable data from the ESC internal storage area in a determined time period;
entering a periodic synchronous position mode, and when the SM interruption counter is greater than 1, losing the data of the axis variable data;
the Glink slave station predicts the target position of axis variable data loss based on the historical target position value through a Lagrange polynomial;
forming a group of point columns according to historical data of the lost target position, and constructing a trend line based on radial basis function interpolation to pass through the group of point columns;
and extrapolating and predicting data of the lost position point according to the constructed trend line, compensating the lost data of the axis variable data lost in the target position, and obtaining the predicted axis variable data.
Preferably, the method further comprises the following steps:
and the application layer function transmits the predicted axis variable data value from the Glink slave station to the driving chip through SPI communication.
Preferably, the generating of the synchronous interrupt by the Glink master station and the Glink slave station of the EtherCAT bus-based control system specifically includes:
taking a first Glink slave station as a reference clock, and synchronizing the Glink master station and the Glink slave station to the reference clock;
and the Glink slave station copies data from the received process data frame when PDI interruption occurs, and finishes data exchange and operation after the SYNC signal arrives.
Preferably, the processing procedure of the SM interrupt counter includes the following steps:
when the continuous loss value of the slave driver in communication is larger than the set maximum loss value, a 0x1a alarm signal is given to the master station and the state is required to be switched to Safe OP;
after the SM Event signal is triggered, clearing an SM synchronous interrupt counter, and judging whether a data loss value is greater than 0 to determine whether to subtract 1 from the loss counter;
after a Sync0 Event synchronous signal is triggered, an SM interruption counter is judged, if the SM interruption counter is larger than 1, the SM interruption counter does not enter an SM Event interruption function to receive a data frame issued by a master station before synchronous interruption, and the value of a data loss counter is added;
a dog feed routine is set at a timing of 1ms and the slave checks the missing data frame counter every 1 ms. When the value of the lost data frame counter exceeds the set maximum loss value, marking the effective mark position 0 of the SM interrupt sequence;
the check error function in the Mainloop () function sends an alarm signal 0x1a to the master station and switches states.
Preferably, the method further comprises the following steps:
and an unreliable state that data are continuously lost occurs in the operation process, the value of a data frame loss counter is increased to the set maximum value, and the slave station sends an alarm signal to the master station and interrupts the network.
Preferably, the constructing is based on a trend line of radial basis function interpolation, comprising the steps of:
exist of
Figure RE-GDA0003580173010000051
Figure RE-GDA0003580173010000052
Is a vector of dimensions n to n,
Figure RE-GDA0003580173010000053
is an m-dimensional vector such that N different points
Figure RE-GDA0003580173010000054
Satisfies the equation:
Figure RE-GDA0003580173010000055
selecting a radial basis function difference formula approximation:
Figure RE-GDA0003580173010000061
in the formula (I), the compound is shown in the specification,
Figure RE-GDA0003580173010000062
for non-linear functions, i.e. radial basis functions, the function value depends on the euclidean distance in n-dimensional space:
Figure RE-GDA0003580173010000063
in the formula (I), the compound is shown in the specification,
Figure RE-GDA0003580173010000064
is the input vector in the sample, i.e. the history of the missing target locations,
Figure RE-GDA0003580173010000065
is the input vector to be estimated, i.e. the current data of the missing target position;
wherein the coefficients
Figure RE-GDA0003580173010000066
Determined by the interpolation equation:
Figure RE-GDA0003580173010000067
where Φ is an interpolation matrix of dimensions N × N; i is an NxN dimensional identity matrix, γ is a real regularization parameter:
Figure RE-GDA0003580173010000068
Figure RE-GDA0003580173010000069
Figure RE-GDA0003580173010000071
C＝Φ-1·Y
and performing trend line simulation construction by a radial basis function difference formula according to a point column formed by historical data, and extrapolating and predicting data of the lost position point by the constructed trend line.
Preferably, said coefficients
Figure RE-GDA0003580173010000072
Determined by the interpolation equation:
Figure RE-GDA0003580173010000073
the invention has the beneficial effects that:
the invention provides a servo command RBF prediction method for Glink industrial Ethernet synchronous mode data loss, which predicts lost data frames, ensures that the output servo commands enable the running state of a motor to be stable and avoids the occurrence of jitter.
Drawings
FIG. 1 is a flow diagram of missing data frame prediction according to an embodiment of the present invention;
FIG. 2 is a block diagram of a control system of an embodiment of the present invention;
FIG. 3 is a flow diagram of SM event interrupt and sync interrupt counter processing according to an embodiment of the present invention;
FIG. 4 is a flow chart of counter processing in a synchronous interrupt according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a position loss curve according to an embodiment of the present invention;
fig. 6 is a graph of a portion of a pulse with a continuous loss of data during motor operation according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
The RBF prediction method for the servo command of the Glink industrial Ethernet synchronous mode data loss disclosed by the invention specifically comprises the following steps as shown in figure 1:
s1: by adopting a DC synchronous mode, a Glink master station and a Glink slave station of a control system based on an EtherCAT bus generate synchronous interruption, and the system structure is shown in FIG. 2.
Specifically, the method comprises the following steps:
as shown in fig. 3, the first Glink slave station is taken as a reference clock, and the Glink master station and the Glink slave station are synchronized with the reference clock;
and the Glink slave station copies data from the received process data frame when PDI interruption occurs, and finishes data exchange and operation after the SYNC signal arrives.
As shown in fig. 4, the processing procedure of the SM interrupt counter includes the following steps:
when the continuous loss value of the slave driver in communication is larger than the set maximum loss value, a 0x1a alarm signal is given to the master station and the state is required to be switched to Safe OP;
after the SM Event signal is triggered, clearing an SM synchronous interrupt counter, and judging whether a data loss value is greater than 0 to determine whether to subtract 1 from the loss counter;
after a Sync0 Event synchronous signal is triggered, an SM interruption counter is judged, if the SM interruption counter is larger than 1, the SM interruption counter does not enter an SM Event interruption function to receive a data frame issued by a master station before synchronous interruption, and the value of a data loss counter is added;
a dog feed routine is set at a timing of 1ms and the slave checks the missing data frame counter every 1 ms. When the value of the lost data frame counter exceeds the set maximum loss value, marking the effective mark position 0 of the SM interrupt sequence;
the check error function in the Mainloop () function sends an alarm signal 0x1a to the master station and switches states.
S2: the Glink reads the axis variable data from the station to the ESC internal storage area at a determined time period.
S3: and entering a periodic synchronous position mode, and when the SM interruption counter is larger than 1, generating data loss of the shaft variable data.
And an unreliable state that data are continuously lost occurs in the operation process, the value of a data frame loss counter is increased to the set maximum value, and the slave station sends an alarm signal to the master station and interrupts the network.
S4: and the Glink slave station predicts the axis variable data loss target position based on the historical target position value through a Lagrange polynomial.
S5: and forming a group of point columns according to historical data of the lost target position, and constructing a trend line based on radial basis function interpolation to pass through the group of point columns.
S6: and extrapolating and predicting data of the lost position point according to the constructed trend line, compensating the lost data of the axis variable data lost in the target position, and obtaining the predicted axis variable data.
S7: and the application layer function transmits the predicted axis variable data value from the Glink slave station to the driving chip through SPI communication.
RBF interpolation process:
exist of
Figure RE-GDA0003580173010000101
Figure RE-GDA0003580173010000102
Is a vector of dimensions n to n,
Figure RE-GDA0003580173010000103
is an m-dimensional vector such that N different points
Figure RE-GDA0003580173010000104
Satisfies the equation:
Figure RE-GDA0003580173010000105
selecting a radial basis function difference formula approximation:
Figure RE-GDA0003580173010000111
in the formula (I), the compound is shown in the specification,
Figure RE-GDA0003580173010000112
for non-linear functions, i.e. radial basis functions, the function value depends on the euclidean distance in n-dimensional space:
Figure RE-GDA0003580173010000113
in the formula (I), the compound is shown in the specification,
Figure RE-GDA0003580173010000114
is the input vector in the sample, i.e. the history of the missing target locations,
Figure RE-GDA0003580173010000115
is the input vector to be estimated, i.e. the current data of the missing target position;
wherein the coefficients
Figure RE-GDA0003580173010000116
Determined by the interpolation equation:
Figure RE-GDA0003580173010000117
where Φ is an interpolation matrix of dimensions N × N; i is an NxN dimensional identity matrix, γ is a real regularization parameter:
Figure RE-GDA0003580173010000118
Figure RE-GDA0003580173010000119
Figure RE-GDA0003580173010000121
C＝Φ-1·Y
and performing trend line simulation construction by a radial basis function difference formula according to a point column formed by historical data, and extrapolating and predicting data of the lost position point by the constructed trend line.
When the condition number of the interpolation matrix is large, the coefficient
Figure RE-GDA0003580173010000122
Determined by the interpolation equation:
Figure RE-GDA0003580173010000123
an excellent characteristic of the RBF is that the interpolation matrix is non-singular no matter which functional form is selected, that is, the mapping relationship is uniquely determined. RBF interpolation also has many advantages over traditional interpolation methods (e.g., polynomial splines, finite difference approximations). First, it does not require that the data all be in the same format, and good results can be obtained for discrete point interpolation. Secondly, a large number of experiments show that for a given number of sample points N, the accuracy of the interpolation result is not dependent on the input dimension N, even if N is large.
If the slave station operates in the DC synchronous mode, the data frame loss can cause the motor not to operate stably. Fig. 6 shows a part of pulse curves in which data are continuously lost during operation of the motor, and data values at Z1, Z2, Z3, and Z4 remain the data values of the previous period after being lost, but the upper computer issues the data values according to the target position of the motion plan, so that the target position received at Z5 is the position value issued by the upper computer according to the normal motion plan, which may cause a jump in the received position value, and a jump in the position value at Z5 may cause a jump in the speed of the motor, and the motor may shake in the operating state, resulting in unsafe operation.
A new set of point sequences is formed according to the historical data, an RBF function is made to pass through the point sequences, and then the missing position is substituted into the function to obtain the missing target position value. Similarly, before each prediction operation, the historical position value of the target position to be predicted is stored for the subsequent lost point, then the data of the lost point is predicted by extrapolation through a constructed trend line, and finally the application layer function sends the data value to the driving chip through SPI communication, so that the motor is driven to rotate to the target position.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

  1. A servo command RBF prediction method for Glink industrial Ethernet synchronous mode data loss is characterized by comprising the following steps:
    a DC synchronization mode is adopted, and a Glink master station and a Glink slave station of a control system based on an EtherCAT bus generate synchronous interruption;
    the Glink slave station reads the shaft variable data from the ESC internal storage area in a determined time period;
    entering a periodic synchronous position mode, and when the SM interruption counter is greater than 1, losing the data of the axis variable data;
    the Glink slave station predicts the target position of axis variable data loss based on the historical target position value through a Lagrange polynomial;
    forming a group of point columns according to historical data of the lost target position, and constructing a trend line based on radial basis function interpolation to pass through the group of point columns;
    and extrapolating and predicting data of the lost position point according to the constructed trend line, compensating the lost data of the axis variable data lost in the target position, and obtaining the predicted axis variable data.
  2. 2. The method for predicting RBF of Glink industrial Ethernet synchronization pattern data loss as claimed in claim 1, further comprising:
    and the application layer function transmits the predicted axis variable data value from the Glink slave station to the driving chip through SPI communication.
  3. 3. The method for predicting the servo command RBF of the Glink industrial Ethernet synchronous mode data loss according to claim 1, wherein the Glink master station and the Glink slave station of the control system based on the EtherCAT bus generate synchronous interruption, and the method specifically comprises the following steps:
    taking a first Glink slave station as a reference clock, and synchronizing the Glink master station and the Glink slave station to the reference clock;
    and the Glink slave station copies data from the received process data frame when PDI interruption occurs, and finishes data exchange and operation after the SYNC signal arrives.
  4. 4. The method for predicting the servo command RBF of Glink industrial Ethernet synchronous mode data loss according to claim 1, wherein the SM interruption counter process comprises the following steps:
    when the continuous loss value of the slave driver in communication is larger than the set maximum loss value, a 0x1a alarm signal is given to the master station and the state is required to be switched to Safe OP;
    after the SM Event signal is triggered, clearing an SM synchronous interrupt counter, and judging whether a data loss value is greater than 0 to determine whether to subtract 1 from the loss counter;
    after a Sync0 Event synchronous signal is triggered, an SM interruption counter is judged, if the SM interruption counter is larger than 1, the SM interruption counter does not enter an SM Event interruption function to receive a data frame issued by a master station before synchronous interruption, and the value of a data loss counter is added;
    a dog feed routine is set at a timing of 1ms and the slave checks the missing data frame counter every 1 ms. When the value of the lost data frame counter exceeds the set maximum loss value, marking the effective mark position 0 of the SM interrupt sequence;
    the check error function in the Mainloop () function sends an alarm signal 0x1a to the master station and switches states.
  5. 5. The method for predicting RBF of Glink industrial Ethernet synchronization pattern data loss as claimed in claim 4, further comprising:
    and an unreliable state that data are continuously lost occurs in the operation process, the value of a data frame loss counter is increased to the set maximum value, and the slave station sends an alarm signal to the master station and interrupts the network.
  6. 6. The method for RBF prediction of Glink industrial Ethernet synchronization pattern data loss according to claim 1, wherein said constructing a trend line based on radial basis function interpolation comprises the following steps:
    exist of
    Figure FDA0003485144350000021
    Figure FDA0003485144350000022
    Is a vector of dimensions n to n,
    Figure FDA0003485144350000023
    is an m-dimensional vector such that N different points
    Figure FDA0003485144350000024
    Satisfies the equation:
    Figure FDA0003485144350000025
    selecting a radial basis function difference formula approximation:
    Figure FDA0003485144350000031
    in the formula (I), the compound is shown in the specification,
    Figure FDA0003485144350000032
    for non-linear functions, i.e. radial basis functions, the function value depends on the euclidean distance in n-dimensional space:
    Figure FDA0003485144350000033
    in the formula (I), the compound is shown in the specification,
    Figure FDA0003485144350000034
    is the input vector in the sample, i.e. the history of the missing target locations,
    Figure FDA0003485144350000035
    is the input vector to be estimated, i.e. the current data of the missing target position;
    wherein the coefficients
    Figure FDA0003485144350000036
    Determined by the interpolation equation:
    Figure FDA0003485144350000037
    where Φ is an interpolation matrix of dimensions N × N; i is an NxN dimensional identity matrix, γ is a real regularization parameter:
    Figure FDA0003485144350000038
    Figure FDA0003485144350000039
    Figure FDA00034851443500000310
    C＝Φ-1·Y
    and performing trend line simulation construction by a radial basis function difference formula according to a point column formed by historical data, and extrapolating and predicting data of the lost position point by the constructed trend line.
  7. 7. The method as claimed in claim 6, wherein the coefficients are used for predicting RBF of Glink industrial Ethernet synchronization pattern data loss
    Figure FDA00034851443500000311
    Determined by the interpolation equation:
    Figure FDA0003485144350000041
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Publication number Priority date Publication date Assignee Title
FR2941110A1 (en) * 2009-01-14 2010-07-16 Canon Kk Communication network's loss state predicting method, involves determining set of parameters of predicting algorithm of loss states of communication network, and implementing predicting algorithm using set of determined parameters
CN102271024A (en) * 2007-06-10 2011-12-07 华为技术有限公司 frame compensation method and system
CN111537005A (en) * 2020-05-09 2020-08-14 浙江众邦机电科技有限公司 Method for processing signal loss of incremental photoelectric encoder

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Publication number Priority date Publication date Assignee Title
CN102271024A (en) * 2007-06-10 2011-12-07 华为技术有限公司 frame compensation method and system
FR2941110A1 (en) * 2009-01-14 2010-07-16 Canon Kk Communication network's loss state predicting method, involves determining set of parameters of predicting algorithm of loss states of communication network, and implementing predicting algorithm using set of determined parameters
CN111537005A (en) * 2020-05-09 2020-08-14 浙江众邦机电科技有限公司 Method for processing signal loss of incremental photoelectric encoder

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