CN115133813B - Multi-axis servo system synchronous control method and system, electronic equipment and storage medium - Google Patents

Multi-axis servo system synchronous control method and system, electronic equipment and storage medium Download PDF

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CN115133813B
CN115133813B CN202211071618.8A CN202211071618A CN115133813B CN 115133813 B CN115133813 B CN 115133813B CN 202211071618 A CN202211071618 A CN 202211071618A CN 115133813 B CN115133813 B CN 115133813B
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linear motor
speed
compensation
value
current
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CN115133813A (en
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矫日华
刘星锦
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Ji Hua Laboratory
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Power Engineering (AREA)
  • Control Of Linear Motors (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

The application belongs to the technical field of servo systems and discloses a synchronous control method, a system, electronic equipment and a storage medium for a multi-axis servo system, wherein the method comprises the following steps: acquiring a first position and a first moving speed of a first mover, a second position and a second moving speed of a second mover, and a desired position; calculating compensation data of the first linear motor and the second linear motor according to the first position, the first moving speed, the second position, the second moving speed and the expected position, wherein the compensation data comprises at least one of a speed compensation value and a current compensation value; and compensating the first linear motor and the second linear motor according to the compensation data so as to enable the first rotor and the second rotor to synchronously move and drive the two servo devices to synchronously move, thereby improving the accuracy of the synchronous movement of the two servo devices and improving the response speed of the synchronous compensation.

Description

Multi-axis servo system synchronous control method and system, electronic equipment and storage medium
Technical Field
The present disclosure relates to the field of servo systems, and in particular, to a method and system for synchronously controlling a multi-axis servo system, an electronic device, and a storage medium.
Background
In recent years, with rapid development of automation technology, industrial robots, cooperative robots, numerical control machines, and automation lines are gradually replacing manual work, and servo drivers are increasingly used. In the servo system of multiple robots, each robot is provided with a corresponding servo driver, and in the cooperative operation process of the multiple robots, the synchronous control accuracy of the robots is maintained, and the response speed of the servo system is timely, so that the performance of the synchronous control among the multiple robots is particularly important. Because each cooperative robot is provided with an independent servo driver, certain errors exist in the parameters and the performance of the two cooperative robots, so that the moving positions of the two cooperative robots are different, and the requirement of high precision of synchronization cannot be met.
In view of the above problems, no effective technical solution exists at present.
Disclosure of Invention
The application aims to provide a synchronous control method and system for a multi-axis servo system, electronic equipment and a storage medium, which can effectively improve the precision of synchronous motion between two servo devices.
In a first aspect, the present application provides a synchronous control method for a multi-axis servo system, which is applied to synchronously control the lateral movement of two servo devices, where the two servo devices are respectively installed on a first mover of a first linear motor and a second mover of a second linear motor, and the first linear motor and the second linear motor both extend laterally; the synchronous control method of the multi-axis servo system comprises the following steps:
A1. acquiring a first position and a first moving speed of the first mover, a second position and a second moving speed of the second mover, and a desired position;
A2. calculating compensation data for the first and second linear motors based on the first position, the first movement speed, the second position, the second movement speed, and the desired position, the compensation data including at least one of a speed compensation value and a current compensation value;
A3. and compensating the first linear motor and the second linear motor according to the compensation data so as to enable the first rotor and the second rotor to synchronously move, thereby driving the two servo devices to synchronously move.
According to the synchronous control method of the multi-axis servo system, the first linear motor and the second linear motor are subjected to speed compensation and current compensation respectively, so that the error between the first rotor and the second rotor is reduced, the precision of synchronous motion of the two servo devices is improved, data interaction is not needed between the speed compensation and the current compensation, communication delay is avoided, and the response speed of synchronous compensation of the two servo devices is greatly improved.
Preferably, step A1 comprises:
acquiring the first position of the first mover and the second position of the second mover;
calculating the first moving speed by adopting a differential algorithm according to the first position;
and calculating the second moving speed by adopting a differential algorithm according to the second position.
Preferably, step A2 comprises:
if only a first compensation condition is satisfied, calculating the speed compensation values of the first linear motor and the second linear motor as the compensation data according to the first position, the second position and the expected position; the first compensation condition is as follows: the absolute value difference value between the first position and the second position is greater than a first preset threshold value;
if only a second compensation condition is met, calculating the current compensation values of the first linear motor and the second linear motor according to the first position, the second position and the expected position to serve as the compensation data; the second compensation condition is as follows: the absolute value difference value between the first position and the second position is greater than a second preset threshold value, and the absolute value difference value between the first moving speed and the second moving speed is greater than a third preset threshold value;
if a third compensation condition is satisfied, calculating the speed compensation value and the current compensation value of the first linear motor and the second linear motor according to the first position, the second position and the expected position as the compensation data; the third compensation condition is as follows: the absolute value difference between the first position and the second position is greater than the first preset threshold and the second preset threshold, and the absolute value difference between the first moving speed and the second moving speed is greater than a third preset threshold.
This application is through judging whether satisfy above-mentioned compensation condition thereby carry out speed compensation and/or current compensation respectively to first linear electric motor and second linear electric motor, can make first active cell and second active cell reach synchronous control fast, reduce the error between first active cell and the second active cell to improve two servo device between synchronous motion's accuracy.
Preferably, if only a first compensation condition is satisfied, the step of calculating the speed compensation values of the first and second linear motors as the compensation data according to the first position, the second position, and the desired position includes:
if the expected position is greater than the second position and the second position is greater than the first position, calculating a speed compensation value of the first linear motor and the second linear motor according to the following formula:
V AC =△X·Kvp
V BC =0
△X=|X A -X B |
wherein, V AC Is a speed compensation value, V, of the first linear motor BC Is the speed compensation value, X, of the second linear motor A Is said first position, X B For the second position, kvp is a first preset amplification value, and Δ X is a position deviation;
if the expected position is greater than the first position and the first position is greater than the second position, calculating a speed compensation value of the first linear motor and the second linear motor according to the following formula:
V BC =△X·Kvp
V AC =0
△X=|X A -X B |；
if the expected position is less than the second position and the second position is less than the first position, calculating the speed compensation value of the first linear motor and the second linear motor according to the following formula:
V AC =-△X·Kvp
V BC =0
△X=|X A -X B |；
if the desired position is less than the first position and the first position is less than the second position, calculating a speed compensation value of the first linear motor and the second linear motor according to the following formula:
V BC =-△X·Kvp
V AC =0
△X=|X A -X B |；
if the expected position is larger than the first position and smaller than the second position, calculating the speed compensation value of the first linear motor and the second linear motor according to the following formula:
V AC =△X·Kvp/2
V BC =-△X·Kvp/2
△X=|X A -X B |；
if the expected position is larger than the second position and smaller than the first position, calculating the speed compensation value of the first linear motor and the second linear motor according to the following formula:
V AC =-△X·Kvp/2
V BC =△X·Kvp/2
△X=|X A -X B |。
preferably, if only a second compensation condition is satisfied, the step of calculating the current compensation values of the first and second linear motors as the compensation data according to the first position, the second position, and the desired position includes:
if the expected position is greater than the second position, and the second position is greater than the first position, calculating the current compensation value of the first linear motor and the second linear motor according to the following formula:
I AC =△V·Kip
I BC =0
△V=|V A -V B |
wherein, I AC Is a current compensation value of the first linear motor, I BC Is a current compensation value, V, of the second linear motor A Is said first moving speed, V B For the second moving speed, kip is a second preset amplification factor value, and Δ V is a speed deviation;
if the expected position is greater than the first position and the first position is greater than the second position, calculating the current compensation value of the first linear motor and the second linear motor according to the following formula:
I BC =△V·Kip
I AC =0
△V=|V A -V B |；
if the expected position is smaller than the second position, and the second position is smaller than the first position, calculating the current compensation value of the first linear motor and the second linear motor according to the following formula:
I AC =-△V·Kip
I BC =0
△V=|V A -V B |；
if the expected position is smaller than the first position and the first position is smaller than the second position, calculating the current compensation value of the first linear motor and the second linear motor according to the following formula:
I BC =-△V·Kip
I AC =0
△V=|V A -V B |；
if the expected position is larger than the first position and the expected position is smaller than the second position, calculating the current compensation value of the first linear motor and the second linear motor according to the following formula:
I AC =△V·Kip/2
I BC =-△V·Kip/2
△V=|V A -V B |；
if the expected position is larger than the second position and the expected position is smaller than the first position, calculating the current compensation value of the first linear motor and the second linear motor according to the following formula:
I AC =-△V·Kip/2
I BC =△V·Kip/2
△V=|V A -V B |。
preferably, if a third compensation condition is satisfied, the step of calculating the speed compensation value and the current compensation value of the first linear motor and the second linear motor as the compensation data according to the first position, the second position, and the desired position includes:
if the desired position is greater than the second position, which is greater than the first position, calculating a speed compensation value and a current compensation value of the first linear motor and the second linear motor according to the following formulas:
V AC =△X·Kvp
V BC =0
I AC =△V·Kip
I BC =0
△X=|X A -X B |
△V=|V A -V B |
wherein, V AC Is a speed compensation value, V, of the first linear motor BC Is the speed compensation value, X, of the second linear motor A Is said first position, X B For said second position, kvp is a first predetermined amplification value, I AC Is a current compensation value of the first linear motor, I BC Is a current compensation value, V, of the second linear motor A Is said first moving speed, V B At the second moving speed, kip is a second preset amplification value;
if the desired position is greater than the first position and the first position is greater than the second position, calculating a speed compensation value and a current compensation value of the first linear motor and the second linear motor according to the following formulas:
V BC =△X·Kvp
V AC =0
I BC =△V·Kip
I AC =0
△X=|X A -X B |
△V=|V A -V B |；
if the desired position is less than the second position, and the second position is less than the first position, calculating a speed compensation value and a current compensation value of the first linear motor and the second linear motor according to the following formulas:
V AC =-△X·Kvp
V BC =0
I AC =-△V·Kip
I BC =0
△X=|X A -X B |
△V=|V A -V B |；
if the desired position is less than the first position and the first position is less than the second position, calculating a speed compensation value and a current compensation value of the first linear motor and the second linear motor according to the following formulas:
V BC =-△X·Kvp
V AC =0
I BC =-△V·Kip
I AC =0
△X=|X A -X B |
△V=|V A -V B |；
if the expected position is larger than the first position and the expected position is smaller than the second position, calculating a speed compensation value and a current compensation value of the first linear motor and the second linear motor according to the following formulas:
V AC =△X·Kvp/2
V BC =-△X·Kvp/2
I AC =△V·Kip/2
I BC =-△V·Kip/2
△X=|X A -X B |
△V=|V A -V B |；
if the expected position is greater than the second position and the expected position is less than the first position, calculating a speed compensation value and a current compensation value of the first linear motor and the second linear motor according to the following formulas:
V AC =-△X·Kvp/2
V BC =△X·Kvp/2
I AC =-△V·Kip/2
I BC =△V·Kip/2
△X=|X A -X B |
△V=|V A -V B |。
in a second aspect, the present application provides a synchronous control system for a multi-axis servo system, comprising:
two servo devices;
a first linear motor extending in a lateral direction and including a first mover, wherein one of the servo devices is provided on the first mover;
the second linear motor extends along the transverse direction and comprises a second rotor, and the other servo device is arranged on the second rotor;
the data acquisition unit is used for respectively acquiring a first position and a first moving speed of the first rotor, a first current of the first linear motor, a second position and a second moving speed of the second rotor and a second current of the second linear motor;
the servo control system is respectively electrically connected with the first linear motor and the second linear motor, and is used for calculating compensation data of the first linear motor and the second linear motor according to the data acquired by the data acquisition unit and an input expected position, wherein the compensation data comprises at least one of a speed compensation value and a current compensation value, and the first linear motor and the second linear motor are compensated according to the compensation data so as to enable the first rotor and the second rotor to synchronously move and drive the two servo devices to synchronously move.
On the basis of the position loop-speed loop-current loop controlled by the first linear motor and the position loop-speed loop-current loop controlled by the second linear motor respectively, the speed loop and the current loop of the first rotor and the second rotor are subjected to speed compensation and current compensation respectively, so that the first rotor and the second rotor can quickly achieve synchronous control, two servo devices are driven to synchronously move, and the accuracy of synchronous movement of the two servo devices is improved.
Preferably, the servo control system comprises a first driving module of the first linear motor, a second driving module of the second linear motor, a speed compensation module and a current compensation module;
the first driving module comprises a first position loop proportional controller, a first speed loop proportional-integral controller and a first current loop proportional-integral controller which are electrically connected in sequence;
the second driving module comprises a second position loop proportional controller, a second speed loop proportional-integral controller and a second current loop proportional-integral controller which are electrically connected in sequence;
the input end of the speed compensation module is electrically connected with the data acquisition unit, the output end of the speed compensation module is respectively and electrically connected with the output end of the first position loop proportional controller and the output end of the second position loop proportional controller, and the speed compensation module is used for performing speed compensation on the first driving module and the second driving module;
the input end of the current compensation module is electrically connected with the data acquisition unit, the output end of the current compensation module is respectively electrically connected with the output end of the first speed loop proportional-integral controller and the output end of the second speed loop proportional-integral controller, and the current compensation module is used for performing current compensation on the first driving module and the second driving module;
the data acquisition unit is used for sending the first position to the input end of a first position ring proportional controller to form a first position reference value by making a difference with the expected position, and sending the second position to the input end of a second position ring proportional controller to form a second position reference value by making a difference with the expected position; the first position loop proportional controller is used for processing the first position reference value to output a first speed reference value; the second position loop proportional controller is used for processing the second position reference value to output a second speed reference value;
the data acquisition unit is further used for sending the first position data and the second position data to an input end of the speed compensation module, the speed compensation module is further used for calculating speed compensation values of the first linear motor and the second linear motor according to the first position, the second position data and the expected position data, and respectively inputting the speed compensation values of the first linear motor and the second linear motor to output ends of the first position ring proportional controller and the second position ring proportional controller to be added with corresponding speed reference values to obtain a first speed correction value and a second speed correction value;
the data acquisition unit is also used for inputting the first moving speed to the input end of the first speed loop proportional-integral controller to be differed with the first speed correction value to form a first speed adjustment value, and inputting the second moving speed to the input end of the second speed loop proportional-integral controller to be differed with the second speed correction value to form a second speed adjustment value; the first speed loop proportional-integral controller is used for processing the first speed adjustment value to obtain a first current reference value, and the second speed loop proportional-integral controller is used for processing the second speed adjustment value to obtain a second current reference value;
the data acquisition unit is further used for sending the data of the first position and the second position to an input end of the current compensation module, the current compensation module is further used for calculating current compensation values of the first linear motor and the second linear motor according to the first position, the second position and the expected position, and respectively inputting the current compensation values of the first linear motor and the second linear motor to output ends of the first speed loop proportional-integral controller and the second speed loop proportional-integral controller to be added with corresponding current reference values to obtain a first current correction value and a second current correction value;
the data acquisition unit is further configured to input the first current to an input end of the first current loop proportional-integral controller to form a first current adjustment value by making a difference with the first current correction value, input the second current to an input end of the second current loop proportional-integral controller to form a second current adjustment value by making a difference with the second current correction value, where the first current loop proportional-integral controller is configured to process the first current adjustment value to obtain a first SVPWM signal to perform SVPWM control on the first linear motor, and the second current loop proportional-integral controller is configured to process the second current adjustment value to obtain a second SVPWM signal to perform SVPWM control on the second linear motor.
In a third aspect, the present application provides an electronic device, including a processor and a memory, where the memory stores a computer program executable by the processor, and the processor executes the computer program to execute the steps in the multi-axis servo system synchronization control method as described above.
In a fourth aspect, the present application provides a computer storage medium having a computer program stored thereon, wherein the computer program runs the steps of the multi-axis servo system synchronization control method as described above when being executed by a processor
Has the advantages that:
according to the synchronous control method, the synchronous control system, the electronic device and the storage medium of the multi-axis servo system, a first position and a first moving speed of the first rotor, a second position and a second moving speed of the second rotor and an expected position are obtained; calculating compensation data for the first and second linear motors based on the first position, the first movement speed, the second position, the second movement speed, and the desired position, the compensation data including at least one of a speed compensation value and a current compensation value; and compensating the first linear motor and the second linear motor according to the compensation data so as to quickly achieve synchronous control of the first rotor and the second rotor, thereby driving the two servo devices to synchronously move, improving the precision of the synchronous movement of the two servo devices and improving the response speed of the synchronous compensation.
Drawings
Fig. 1 is a flowchart of a synchronous control method of a multi-axis servo system provided in the present application.
Fig. 2 is a schematic structural diagram of a synchronous control system of a multi-axis servo system provided in the present application.
Fig. 3 is a schematic structural diagram of an electronic device provided in the present application.
111, a first position loop proportion controller; 112. a first speed loop proportional-integral controller; 113. a first current loop proportional-integral controller; 211. a second position loop proportional controller; 212. a second speed loop proportional-integral controller; 213. a second current loop proportional-integral controller; 300. a speed compensation module; 400. a current compensation module; 500. a data acquisition unit; 301. a processor; 302. a memory; 303. a communication bus.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 1 is a diagram illustrating a synchronous control method for a multi-axis servo system, which is applied to synchronously control lateral movements of two servo devices, where the two servo devices are respectively mounted on a first mover of a first linear motor and a second mover of a second linear motor, and the first linear motor and the second linear motor both extend laterally; the synchronous control method of the multi-axis servo system comprises the following steps:
A1. acquiring a first position and a first moving speed of a first mover, a second position and a second moving speed of a second mover and a desired position;
A2. calculating compensation data of the first linear motor and the second linear motor according to the first position, the first moving speed, the second position, the second moving speed and the expected position, wherein the compensation data comprises at least one of a speed compensation value and a current compensation value;
A3. and compensating the first linear motor and the second linear motor according to the compensation data so as to enable the first rotor and the second rotor to synchronously move and drive the two servo devices to synchronously move.
Specifically, this application makes the error between first active cell and the second active cell reduce through carrying out speed compensation and current compensation respectively to first linear electric motor and second linear electric motor to improve two servo device synchronous motion's accuracy, do not need data interaction between speed compensation and the current compensation in addition, do not have the communication delay, make two servo device's synchronous compensation's response speed improve greatly.
In some embodiments, step A1 comprises:
acquiring a first position of a first mover and a second position of a second mover;
calculating a first moving speed by adopting a differential algorithm according to the first position;
and calculating a second moving speed by adopting a differential algorithm according to the second position.
Specifically, the first moving speed may be calculated by directly using a differential algorithm according to the first position, and similarly, the second moving speed may also be calculated by directly using a differential algorithm according to the second position, and the calculation of the specific differential algorithm is prior art and will not be described in detail herein.
In some embodiments, step A2 comprises:
if only the first compensation condition is met, calculating speed compensation values of the first linear motor and the second linear motor according to the first position, the second position and the expected position to serve as compensation data; the first compensation condition is: the absolute value difference value of the first position and the second position is larger than a first preset threshold value;
if only the second compensation condition is met, calculating current compensation values of the first linear motor and the second linear motor according to the first position, the second position and the expected position to serve as compensation data; the second compensation condition is: the absolute value difference value of the first position and the second position is greater than a second preset threshold value, and the absolute value difference value of the first moving speed and the second moving speed is greater than a third preset threshold value;
if the third compensation condition is met, calculating a speed compensation value and a current compensation value of the first linear motor and the second linear motor according to the first position, the second position and the expected position to serve as compensation data; the third compensation condition is as follows: the absolute value difference between the first position and the second position is greater than a first preset threshold and a second preset threshold, and the absolute value difference between the first moving speed and the second moving speed is greater than a third preset threshold.
Specifically, the speed compensation and/or the current compensation are/is performed on the first linear motor and the second linear motor respectively by judging whether the compensation conditions are met, so that the first rotor and the second rotor can quickly achieve synchronous control, the error between the first rotor and the second rotor is reduced, and the precision of synchronous motion between the two servo devices is improved.
Wherein the first preset threshold is smaller than the second preset threshold; the first preset threshold, the second preset threshold and the third preset threshold may be set according to actual conditions, and are not limited specifically here.
In some embodiments, if only the first compensation condition is satisfied, the calculating the speed compensation values of the first and second linear motors as the compensation data according to the first position, the second position, and the desired position includes:
if the expected position is greater than the second position and the second position is greater than the first position, calculating the speed compensation value of the first linear motor and the second linear motor according to the following formula:
V AC =△X·Kvp
V BC =0
△X=|X A -X B |
wherein, V AC Is the speed compensation value, V, of the first linear motor BC Is the speed compensation value, X, of the second linear motor A Is a first position, X B For the second position, kvp is a first preset amplification value (specifically set according to actual needs), and Δ X is a position deviation;
if the desired position is greater than the first position and the first position is greater than the second position, calculating a speed compensation value for the first linear motor and the second linear motor according to the following formula:
V BC =△X·Kvp
V AC =0
△X=|X A -X B |；
if the expected position is less than the second position and the second position is less than the first position, calculating the speed compensation value of the first linear motor and the second linear motor according to the following formula:
V AC =-△X·Kvp
V BC =0
△X=|X A -X B |；
if the expected position is less than the first position and the first position is less than the second position, calculating the speed compensation value of the first linear motor and the second linear motor according to the following formula:
V BC =-△X·Kvp
V AC =0
△X=|X A -X B |；
if the expected position is larger than the first position and smaller than the second position, calculating the speed compensation value of the first linear motor and the second linear motor according to the following formula:
V AC =△X·Kvp/2
V BC =-△X·Kvp/2
△X=|X A -X B |；
if the expected position is larger than the second position and smaller than the first position, calculating the speed compensation value of the first linear motor and the second linear motor according to the following formula:
V AC =-△X·Kvp/2
V BC =△X·Kvp/2
△X=|X A -X B |。
specifically, under the condition that only the first compensation condition is met, the speed compensation values of the corresponding first linear motor and the second linear motor are calculated according to the specific calculation formula by comparing the absolute values of the first position and the second position, so that the first rotor and the second rotor can quickly achieve synchronous control, and the position errors of the first rotor and the second rotor are effectively reduced.
In some embodiments, if only the second compensation condition is satisfied, the step of calculating the current compensation values of the first and second linear motors as the compensation data according to the first position, the second position, and the desired position includes:
if the expected position is larger than the second position and the second position is larger than the first position, calculating the current compensation value of the first linear motor and the second linear motor according to the following formula:
I AC =△V·Kip
I BC =0
△V=|V A -V B |
wherein, I AC Is the current compensation value of the first linear motor, I BC Is the current compensation value, V, of the second linear motor A Is a first moving speed, V B For the second moving speed, kip is a second preset amplification factor value (specifically set according to actual needs), and Δ V is a speed deviation;
if the expected position is greater than the first position and the first position is greater than the second position, calculating the current compensation value of the first linear motor and the second linear motor according to the following formula:
I BC =△V·Kip
I AC =0
△V=|V A -V B |；
if the expected position is smaller than the second position and the second position is smaller than the first position, calculating the current compensation value of the first linear motor and the second linear motor according to the following formula:
I AC =-△V·Kip
I BC =0
△V=|V A -V B |；
if the expected position is smaller than the first position and the first position is smaller than the second position, calculating the current compensation value of the first linear motor and the second linear motor according to the following formula:
I BC =-△V·Kip
I AC =0
△V=|V A -V B |；
if the expected position is larger than the first position and the expected position is smaller than the second position, calculating the current compensation value of the first linear motor and the second linear motor according to the following formula:
I AC =△V·Kip/2
I BC =-△V·Kip/2
△V=|V A -V B |；
if the expected position is larger than the second position and the expected position is smaller than the first position, calculating the current compensation value of the first linear motor and the second linear motor according to the following formula:
I AC =-△V·Kip/2
I BC =△V·Kip/2
△V=|V A -V B |。
specifically, under the condition that only the second compensation condition is met, the current compensation values of the corresponding first linear motor and the second linear motor are calculated according to the specific calculation formula by comparing the absolute difference value between the first position and the second position, so that the first mover and the second mover can be quickly controlled synchronously, and the position errors of the first mover and the second mover are effectively reduced.
In some embodiments, if the third compensation condition is satisfied, the step of calculating the speed compensation value and the current compensation value of the first linear motor and the second linear motor as the compensation data according to the first position, the second position, and the desired position includes:
if the desired position is greater than the second position, which is greater than the first position, the speed compensation value and the current compensation value of the first linear motor and the second linear motor are calculated according to the following formulas:
V AC =△X·Kvp
V BC =0
I AC =△V·Kip
I BC =0
△X=|X A -X B |
△V=|V A -V B |
wherein, V AC Is the speed compensation value, V, of the first linear motor BC Is the speed compensation value, X, of the second linear motor A Is a first position, X B In the second position, kvp is a first predetermined amplification value (specifically set according to actual needs), I AC Is the current compensation value of the first linear motor, I BC Is the current compensation value, V, of the second linear motor A Is a first moving speed, V B At the second moving speed, kip is a second predetermined amplification factor (specifically set according to actual needs);
if the desired position is greater than the first position, the first position being greater than the second position, calculating a speed compensation value and a current compensation value for the first linear motor and the second linear motor according to the following equations:
V BC =△X·Kvp
V AC =0
I BC =△V·Kip
I AC =0
△X=|X A -X B |
△V=|V A -V B |；
if the desired position is less than the second position, and the second position is less than the first position, calculating a speed compensation value and a current compensation value of the first linear motor and the second linear motor according to the following formulas:
V AC =-△X·Kvp
V BC =0
I AC =-△V·Kip
I BC =0
△X=|X A -X B |
△V=|V A -V B |；
if the desired position is less than the first position and the first position is less than the second position, calculating a speed compensation value and a current compensation value of the first linear motor and the second linear motor according to the following formulas:
V BC =-△X·Kvp
V AC =0
I BC =-△V·Kip
I AC =0
△X=|X A -X B |
△V=|V A -V B |；
if the expected position is larger than the first position and the expected position is smaller than the second position, calculating the speed compensation value and the current compensation value of the first linear motor and the second linear motor according to the following formulas:
V AC =△X·Kvp/2
V BC =-△X·Kvp/2
I AC =△V·Kip/2
I BC =-△V·Kip/2
△X=|X A -X B |
△V=|V A -V B |；
if the expected position is greater than the second position and the expected position is less than the first position, calculating a speed compensation value and a current compensation value of the first linear motor and the second linear motor according to the following formulas:
V AC =-△X·Kvp/2
V BC =△X·Kvp/2
I AC =-△V·Kip/2
I BC =△V·Kip/2
△X=|X A -X B |
△V=|V A -V B |。
specifically, under the condition that the third compensation condition is met, the speed compensation value and the current compensation value of the corresponding first linear motor and the second linear motor are calculated by adopting the formula through comparing the absolute value difference between the first position and the second position, and the speed compensation and the current compensation are respectively performed on the first linear motor and the second linear motor, so that the first rotor and the second rotor can quickly achieve synchronous control, and the position errors of the first rotor and the second rotor are effectively reduced.
From the above, in the synchronous control method of the multi-axis servo system provided by the present application, the first position and the first moving speed of the first mover, the second position and the second moving speed of the second mover, and the expected position are obtained; calculating compensation data of the first linear motor and the second linear motor according to the first position, the first moving speed, the second position, the second moving speed and the expected position, wherein the compensation data comprises at least one of a speed compensation value and a current compensation value; the first linear motor and the second linear motor are compensated according to the compensation data, so that the first rotor and the second rotor can quickly achieve synchronous control, the two servo devices are driven to synchronously move, the accuracy of synchronous movement of the two servo devices is improved, and the response speed of synchronous compensation is improved.
In a second aspect, the present application provides a synchronous control system for a multi-axis servo system, comprising:
two servo devices;
the first linear motor extends along the transverse direction and comprises a first rotor, wherein one servo device is arranged on the first rotor;
the second linear motor extends along the transverse direction and comprises a second rotor, and the other servo device is arranged on the second rotor;
the data acquisition unit 500 is used for respectively acquiring a first position and a first moving speed of the first mover, a first current of the first linear motor, a second position and a second moving speed of the second mover, and a second current of the second linear motor;
the servo control system is electrically connected with the first linear motor and the second linear motor respectively, and is used for calculating compensation data of the first linear motor and the second linear motor according to the data acquired by the data acquisition unit 500 and the input expected position, wherein the compensation data comprises at least one of a speed compensation value and a current compensation value, and the first linear motor and the second linear motor are compensated according to the compensation data, so that the first rotor and the second rotor synchronously move, and the two servo devices are driven to synchronously move.
Specifically, on the basis of a position loop-speed loop-current loop controlled by the first linear motor and a position loop-speed loop controlled by the second linear motor, the speed loop and the current loop of the first rotor and the second rotor are subjected to speed compensation and current compensation respectively, so that the first rotor and the second rotor can achieve synchronous control quickly, two servo devices are driven to move synchronously, and the accuracy of synchronous movement of the two servo devices is improved.
In some embodiments, the servo control system includes a first drive module of a first linear motor, a second drive module of a second linear motor, a speed compensation module 300, and a current compensation module 400;
the first driving module comprises a first position loop proportional controller 111, a first speed loop proportional-integral controller 112 and a first current loop proportional-integral controller 113 which are electrically connected in sequence;
the second driving module comprises a second position loop proportional controller 211, a second speed loop proportional-integral controller 212 and a second current loop proportional-integral controller 213 which are electrically connected in sequence;
the input end of the speed compensation module 300 is electrically connected with the data acquisition unit 500, the output end of the speed compensation module 300 is electrically connected with the output end of the first position loop proportion controller 111 and the output end of the second position loop proportion controller 211 respectively, and the speed compensation module 300 is used for performing speed compensation on the first driving module and the second driving module;
the input end of the current compensation module 400 is electrically connected to the data acquisition unit 500, the output end of the current compensation module 400 is electrically connected to the output end of the first speed loop proportional integral controller 112 and the output end of the second speed loop proportional integral controller 212, respectively, and the current compensation module 400 is used for performing current compensation on the first driving module and the second driving module;
the data acquisition unit 500 is configured to send the first position to the input terminal of the first position loop proportional controller 111 to form a first position reference value by making a difference with the expected position, and send the second position to the input terminal of the second position loop proportional controller 211 to form a second position reference value by making a difference with the expected position; the first position loop proportional controller 111 is used for processing (for the prior art, not detailed here) the first position reference value to output a first speed reference value; the second position loop proportion controller 211 is configured to process the second position reference value to output a second speed reference value;
the data acquisition unit 500 is further configured to send the first position data and the second position data to an input end of the speed compensation module 300, and the speed compensation module 300 is further configured to calculate speed compensation values of the first linear motor and the second linear motor according to the first position, the second position data and the expected position data, and input the speed compensation values of the first linear motor and the second linear motor to output ends of the first position loop ratio controller 111 and the second position loop ratio controller 211 respectively to be added to corresponding speed reference values, so as to obtain a first speed correction value and a second speed correction value;
the data acquisition unit 500 is further configured to input a first moving speed to the input terminal of the first speed loop proportional-integral controller 112, and to generate a first speed adjustment value by subtracting the first speed correction value, and input a second moving speed to the input terminal of the second speed loop proportional-integral controller 212, and to generate a second speed adjustment value by subtracting the second speed correction value; the first speed loop proportional-integral controller 112 is configured to process the first speed adjustment value (which is prior art and is not described in detail herein) to obtain a first current reference value, and the second speed loop proportional-integral controller 212 is configured to process the second speed adjustment value to obtain a second current reference value;
the data acquisition unit 500 is further configured to send the first position data and the second position data to an input end of the current compensation module 400, and the current compensation module 400 is further configured to calculate current compensation values of the first linear motor and the second linear motor according to the first position, the second position data and the expected position data, and input the current compensation values of the first linear motor and the second linear motor to output ends of the first speed loop proportional-integral controller 112 and the second speed loop proportional-integral controller 212, respectively, and add the current compensation values to corresponding current reference values to obtain a first current correction value and a second current correction value;
the data acquisition unit 500 is further configured to input a first current to an input terminal of the first current loop proportional-integral controller 113 to form a first current adjustment value by making a difference with the first current correction value, input a second current to an input terminal of the second current loop proportional-integral controller 213 to form a second current adjustment value by making a difference with the second current correction value, where the first current loop proportional-integral controller 113 is configured to process the first current adjustment value (which is a conventional technique and is not described in detail herein) to obtain a first SVPWM (space vector pulse width modulation) signal to perform SVPWM control on the first linear motor, and the second current loop proportional-integral controller 213 is configured to process the second current adjustment value to obtain a second SVPWM signal to perform SVPWM control on the second linear motor.
From the above, the synchronous control system of the multi-axis servo system provided by the application is respectively electrically connected with the first linear motor and the second linear motor through the servo control system, the servo control system is used for calculating the compensation data of the first linear motor and the second linear motor according to the data collected by the data collection unit 500 and the input expected position, the compensation data comprises at least one of a speed compensation value and a current compensation value, and the first linear motor and the second linear motor are compensated according to the compensation data, so that the first rotor and the second rotor can quickly achieve synchronous control, and the two servo devices are driven to synchronously move, the accuracy of synchronous movement of the two servo devices is improved, and the response speed of synchronous compensation is also improved.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure, where the electronic device includes: the processor 301 and the memory 302, the processor 301 and the memory 302 are interconnected and communicate with each other through the communication bus 303 and/or other types of connection mechanisms (not shown), the memory 302 stores a computer program executable by the processor 301, and when the electronic device runs, the processor 301 executes the computer program to execute the multi-axis servo system synchronization control method in any optional implementation manner of the above embodiments, so as to implement the following functions: acquiring a first position and a first moving speed of a first mover, a second position and a second moving speed of a second mover, and a desired position; calculating compensation data of the first linear motor and the second linear motor according to the first position, the first moving speed, the second position, the second moving speed and the expected position, wherein the compensation data comprises at least one of a speed compensation value and a current compensation value; and compensating the first linear motor and the second linear motor according to the compensation data so as to enable the first rotor and the second rotor to synchronously move and further drive the two servo devices to synchronously move.
The embodiment of the present application provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for synchronously controlling a multi-axis servo system in any optional implementation manner of the foregoing embodiment is executed, so as to implement the following functions: obtaining a first position and a first moving speed of a first mover, a second position and a second moving speed of a second mover and a desired position; calculating compensation data of the first linear motor and the second linear motor according to the first position, the first moving speed, the second position, the second moving speed and the expected position, wherein the compensation data comprises at least one of a speed compensation value and a current compensation value; and compensating the first linear motor and the second linear motor according to the compensation data so as to enable the first rotor and the second rotor to synchronously move and drive the two servo devices to synchronously move. The computer storage medium may be implemented by any type of volatile or nonvolatile Memory device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.
In the 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 embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a division of one logic function, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be 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.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above embodiments are merely examples of the present application and are not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (8)

1. A synchronous control method of a multi-axis servo system is applied to synchronous control of transverse movement of two servo devices, wherein the two servo devices are respectively arranged on a first rotor of a first linear motor and a second rotor of a second linear motor, and the first linear motor and the second linear motor both extend along the transverse direction; the synchronous control method of the multi-axis servo system is characterized by comprising the following steps:
A1. acquiring a first position and a first moving speed of the first mover, a second position and a second moving speed of the second mover, and a desired position;
A2. calculating compensation data for the first and second linear motors based on the first position, the first movement speed, the second position, the second movement speed, and the desired position, the compensation data including at least one of a speed compensation value and a current compensation value;
A3. compensating the first linear motor and the second linear motor according to the compensation data so as to enable the first rotor and the second rotor to synchronously move, and thus driving the two servo devices to synchronously move;
the step A2 comprises the following steps:
if only a first compensation condition is satisfied, calculating the speed compensation values of the first linear motor and the second linear motor as the compensation data according to the first position, the second position and the expected position; the first compensation condition is as follows: the absolute value difference value between the first position and the second position is greater than a first preset threshold value;
if only a second compensation condition is met, calculating the current compensation values of the first linear motor and the second linear motor according to the first position, the second position and the expected position to serve as the compensation data; the second compensation condition is as follows: the absolute value difference value between the first position and the second position is greater than a second preset threshold value, and the absolute value difference value between the first moving speed and the second moving speed is greater than a third preset threshold value;
if a third compensation condition is satisfied, calculating the speed compensation value and the current compensation value of the first linear motor and the second linear motor according to the first position, the second position and the expected position as the compensation data; the third compensation condition is as follows: the absolute value difference between the first position and the second position is greater than the first preset threshold and the second preset threshold, and the absolute value difference between the first moving speed and the second moving speed is greater than a third preset threshold.
2. The synchronous control method of the multi-axis servo system according to claim 1, wherein step A1 comprises:
acquiring the first position of the first mover and the second position of the second mover;
calculating the first moving speed by adopting a differential algorithm according to the first position;
and calculating the second moving speed by adopting a differential algorithm according to the second position.
3. The synchronous control method of a multi-axis servo system according to claim 1, wherein the step of calculating the velocity compensation values of the first and second linear motors as the compensation data from the first position, the second position, and the desired position, if only a first compensation condition is satisfied, comprises:
if the expected position is greater than the second position and the second position is greater than the first position, calculating a speed compensation value of the first linear motor and the second linear motor according to the following formula:
V AC =△X·Kvp
V BC =0
△X=|X A -X B |
wherein, V AC Is a speed compensation value, V, of the first linear motor BC Is the speed compensation value, X, of the second linear motor A Is said first position, X B For the second position, kvp is a first preset amplification factor value, and Δ X is a positional deviation;
if the expected position is greater than the first position and the first position is greater than the second position, calculating a speed compensation value of the first linear motor and the second linear motor according to the following formula:
V BC =△X·Kvp
V AC =0
△X=|X A -X B |；
if the expected position is less than the second position and the second position is less than the first position, calculating the speed compensation value of the first linear motor and the second linear motor according to the following formula:
V AC =-△X·Kvp
V BC =0
△X=|X A -X B |；
if the desired position is less than the first position and the first position is less than the second position, calculating a speed compensation value of the first linear motor and the second linear motor according to the following formula:
V BC =-△X·Kvp
V AC =0
△X=|X A -X B |；
if the expected position is larger than the first position and smaller than the second position, calculating the speed compensation value of the first linear motor and the second linear motor according to the following formula:
V AC =△X·Kvp/2
V BC =-△X·Kvp/2
△X=|X A -X B |；
if the expected position is larger than the second position and smaller than the first position, calculating the speed compensation value of the first linear motor and the second linear motor according to the following formula:
V AC =-△X·Kvp/2
V BC =△X·Kvp/2
△X=|X A -X B |。
4. the synchronous control method of a multi-axis servo system according to claim 1, wherein the step of calculating the current compensation values of the first and second linear motors as the compensation data from the first position, the second position, and the desired position, if only a second compensation condition is satisfied, comprises:
if the expected position is greater than the second position, and the second position is greater than the first position, calculating the current compensation value of the first linear motor and the second linear motor according to the following formula:
I AC =△V·Kip
I BC =0
△V=|V A -V B |
wherein, I AC Is a current compensation value of the first linear motor, I BC Is a current compensation value, V, of the second linear motor A Is said first moving speed, V B For the second moving speed, kip is a second preset amplification factor value, and Δ V is a speed deviation;
if the expected position is greater than the first position and the first position is greater than the second position, calculating the current compensation value of the first linear motor and the second linear motor according to the following formula:
I BC =△V·Kip
I AC =0
△V=|V A -V B |；
if the expected position is smaller than the second position, and the second position is smaller than the first position, calculating the current compensation value of the first linear motor and the second linear motor according to the following formula:
I AC =-△V·Kip
I BC =0
△V=|V A -V B |；
if the expected position is smaller than the first position and the first position is smaller than the second position, calculating the current compensation value of the first linear motor and the second linear motor according to the following formula:
I BC =-△V·Kip
I AC =0
△V=|V A -V B |；
if the expected position is larger than the first position and the expected position is smaller than the second position, calculating the current compensation value of the first linear motor and the second linear motor according to the following formula:
I AC =△V·Kip/2
I BC =-△V·Kip/2
△V=|V A -V B |；
if the expected position is larger than the second position and the expected position is smaller than the first position, calculating the current compensation value of the first linear motor and the second linear motor according to the following formula:
I AC =-△V·Kip/2
I BC =△V·Kip/2
△V=|V A -V B |。
5. the synchronous control method of a multi-axis servo system according to claim 1, wherein the step of calculating the speed compensation value and the current compensation value of the first linear motor and the second linear motor as the compensation data from the first position, the second position, and the desired position if a third compensation condition is satisfied comprises:
if the desired position is greater than the second position, which is greater than the first position, calculating a speed compensation value and a current compensation value of the first linear motor and the second linear motor according to the following formulas:
V AC =△X·Kvp
V BC =0
I AC =△V·Kip
I BC =0
△X=|X A -X B |
△V=|V A -V B |
wherein, V AC Is a speed compensation value, V, of the first linear motor BC Is the speed compensation value, X, of the second linear motor A Is said first position, X B For said second position, kvp is a first predetermined amplification value, I AC Is a current compensation value of the first linear motor, I BC Is a current compensation value, V, of the second linear motor A Is said first moving speed, V B At the second moving speed, kip is a second predetermined amplification factor;
if the desired position is greater than the first position and the first position is greater than the second position, calculating a speed compensation value and a current compensation value of the first linear motor and the second linear motor according to the following formulas:
V BC =△X·Kvp
V AC =0
I BC =△V·Kip
I AC =0
△X=|X A -X B |
△V=|V A -V B |；
if the desired position is less than the second position, and the second position is less than the first position, calculating a speed compensation value and a current compensation value of the first linear motor and the second linear motor according to the following formulas:
V AC =-△X·Kvp
V BC =0
I AC =-△V·Kip
I BC =0
△X=|X A -X B |
△V=|V A -V B |；
if the desired position is less than the first position and the first position is less than the second position, calculating a speed compensation value and a current compensation value of the first linear motor and the second linear motor according to the following formulas:
V BC =-△X·Kvp
V AC =0
I BC =-△V·Kip
I AC =0
△X=|X A -X B |
△V=|V A -V B |；
if the expected position is greater than the first position and the expected position is less than the second position, calculating a speed compensation value and a current compensation value of the first linear motor and the second linear motor according to the following formulas:
V AC =△X·Kvp/2
V BC =-△X·Kvp/2
I AC =△V·Kip/2
I BC =-△V·Kip/2
△X=|X A -X B |
△V=|V A -V B |；
if the expected position is greater than the second position and the expected position is less than the first position, calculating a speed compensation value and a current compensation value of the first linear motor and the second linear motor according to the following formulas:
V AC =-△X·Kvp/2
V BC =△X·Kvp/2
I AC =-△V·Kip/2
I BC =△V·Kip/2
△X=|X A -X B |
△V=|V A -V B |。
6. a synchronous control system of a multi-axis servo system, comprising:
two servo devices;
a first linear motor extending in a lateral direction and including a first mover, wherein one of the servo devices is provided on the first mover;
the second linear motor extends along the transverse direction and comprises a second rotor, and the other servo device is arranged on the second rotor;
the data acquisition unit (500) is used for respectively acquiring a first position and a first moving speed of the first rotor, a first current of the first linear motor, a second position and a second moving speed of the second rotor and a second current of the second linear motor;
the servo control system is respectively electrically connected with the first linear motor and the second linear motor, and is used for calculating compensation data of the first linear motor and the second linear motor according to data acquired by the data acquisition unit (500) and an input expected position, wherein the compensation data comprises at least one of a speed compensation value and a current compensation value, and compensating the first linear motor and the second linear motor according to the compensation data so as to enable the first rotor and the second rotor to synchronously move and drive the two servo devices to synchronously move;
the servo control system comprises a first driving module of the first linear motor, a second driving module of the second linear motor, a speed compensation module (300) and a current compensation module (400);
the first driving module comprises a first position loop proportional controller (111), a first speed loop proportional-integral controller (112) and a first current loop proportional-integral control + controller (113) which are electrically connected in sequence;
the second driving module comprises a second position loop proportional controller (211), a second speed loop proportional-integral controller (212) and a second current loop proportional-integral controller (213) which are electrically connected in sequence;
the input end of the speed compensation module (300) is electrically connected with the data acquisition unit (500), the output end of the speed compensation module (300) is respectively electrically connected with the output end of the first position loop proportional controller (111) and the output end of the second position loop proportional controller (211), and the speed compensation module (300) is used for performing speed compensation on the first driving module and the second driving module;
the input end of the current compensation module (400) is electrically connected with the data acquisition unit (500), the output end of the current compensation module (400) is electrically connected with the output end of the first speed loop proportional-integral controller (112) and the output end of the second speed loop proportional-integral controller (212), respectively, and the current compensation module (400) is used for performing current compensation on the first driving module and the second driving module;
the data acquisition unit (500) is used for sending the first position to an input end of a first position ring proportional controller (111) to form a first position reference value by making a difference with the expected position, and sending the second position to an input end of a second position ring proportional controller (211) to form a second position reference value by making a difference with the expected position; the first position loop proportion controller (111) is configured to process the first position reference value to output a first speed reference value; the second position loop proportion controller (211) is used for processing the second position reference value to output a second speed reference value;
the data acquisition unit (500) is further used for sending the first position data and the second position data to an input end of the speed compensation module (300), the speed compensation module (300) is further used for calculating speed compensation values of the first linear motor and the second linear motor according to the first position, the second position data and the expected position data, and inputting the speed compensation values of the first linear motor and the second linear motor to output ends of the first position loop proportion controller (111) and the second position loop proportion controller (211) respectively to be added with corresponding speed reference values to obtain a first speed correction value and a second speed correction value;
the data acquisition unit (500) is also used for inputting the first moving speed to the input end of the first speed loop proportional-integral controller (112) to be differed with the first speed correction value to form a first speed adjustment value, and inputting the second moving speed to the input end of the second speed loop proportional-integral controller (212) to be differed with the second speed correction value to form a second speed adjustment value; the first speed loop proportional-integral controller (112) is used for processing the first speed adjustment value to obtain a first current reference value, and the second speed loop proportional-integral controller (212) is used for processing the second speed adjustment value to obtain a second current reference value;
the data acquisition unit (500) is further configured to send the first position data and the second position data to an input end of the current compensation module (400), and the current compensation module (400) is further configured to calculate current compensation values of the first linear motor and the second linear motor according to the first position, the second position data and the desired position, and input the current compensation values of the first linear motor and the second linear motor to output ends of the first speed loop proportional-integral controller (112) and the second speed loop proportional-integral controller (212), respectively, and add the current compensation values to corresponding current reference values to obtain a first current correction value and a second current correction value;
the data acquisition unit (500) is further configured to input the first current into an input end of the first current loop proportional-integral controller (113) to form a first current adjustment value by a difference with the first current correction value, input the second current into an input end of the second current loop proportional-integral controller (213) to form a second current adjustment value by a difference with the second current correction value, the first current loop proportional-integral controller (113) is configured to process the first current adjustment value to obtain a first SVPWM signal to perform SVPWM control on the first linear motor, and the second current loop proportional-integral controller (213) is configured to process a second SVPWM signal obtained by processing the second current adjustment value to perform SVPWM control on the second linear motor.
7. An electronic device comprising a processor and a memory, wherein the memory stores a computer program executable by the processor, and the processor executes the computer program to perform the steps of the multi-axis servo system synchronization control method according to any one of claims 1 to 5.
8. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the steps of the method for synchronous control of a multi-axis servo system according to any one of claims 1 to 5.
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