CN116400647B - Multi-axis interpolation motion control method and device, storage medium and electronic equipment - Google Patents
Multi-axis interpolation motion control method and device, storage medium and electronic equipment Download PDFInfo
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Abstract
The embodiment of the application discloses a multi-axis interpolation motion control method, a device, a storage medium and electronic equipment, relating to the technical field of multi-axis synchronous control, comprising the following steps: acquiring coordinates of a starting point and an ending point of the numerical control positioner under different coordinate systems; obtaining the movement increment and displacement of the direction axis according to the conversion relation and the coordinate information; and obtaining the displacement of the direction shaft under the local coordinate system according to the conversion relation between the movement increment and the displacement, and performing interpolation motion control on the direction shaft by utilizing the electronic hand wheel. According to the method, the translation amounts of the start and stop points under different coordinate systems are obtained, the coordinate of the direction axis of the digital locator is correspondingly transformed according to the conversion relation of the different coordinate systems, the displacement amount under the global coordinate system is decomposed into the local coordinate system, the movement component of the direction axis in definite single direction movement under the local coordinate system is obtained, the spatial positioning precision is improved, and further accurate multi-axis simultaneous interpolation control can be performed through the electronic hand wheel.
Description
Technical Field
The application relates to the technical field of multi-axis synchronous control, in particular to a multi-axis interpolation motion control method, a device, a storage medium and electronic equipment.
Background
In the large-component digital assembly application, synchronous motion control of a plurality of numerical control positioners is an indispensable function, so that the assembly precision can be effectively improved, the operation efficiency can be improved, and the production beat can be increased. In a specific scene, for example, when manual micro-adjustment is needed, the prior art must observe through human eyes to determine the approximate displacement of the motion, the result is inaccurate and reliable, and the total directional axes of all numerical control positioners are more in number, so that synchronous interpolation motion control is difficult to realize.
Disclosure of Invention
The application mainly aims to provide a multi-axis interpolation motion control method, a multi-axis interpolation motion control device, a storage medium and electronic equipment, and aims to solve the problem that synchronous control of a numerical control positioner is difficult to realize under the multi-axis condition in the prior art.
In order to achieve the above object, the technical scheme adopted by the embodiment of the application is as follows:
in a first aspect, an embodiment of the present application provides a method for controlling a multi-axis interpolation motion, including the steps of:
according to the positions of the starting point and the ending point of the movement of the numerical control positioner, obtaining the coordinates of the starting point and the ending point of the numerical control positioner in a local coordinate system and the coordinates of the starting point and the ending point of the numerical control positioner in a global coordinate system;
respectively obtaining the movement increment of the direction axis under the local coordinate system and the displacement under the global coordinate system according to the conversion relation between the local coordinate system and the global coordinate system, the starting point coordinate and the ending point coordinate of the numerical control positioner under the local coordinate system and the starting point coordinate and the ending point coordinate of the numerical control positioner under the global coordinate system;
obtaining the displacement of the direction axis under the local coordinate system according to the conversion relation between the movement increment and the displacement, the movement increment of the direction axis under the local coordinate system and the displacement under the global coordinate system;
and performing interpolation motion control on the direction shaft by utilizing the electronic hand wheel according to the displacement of the direction shaft under the local coordinate system.
In one possible implementation manner of the first aspect, according to the positions of the start point and the end point of the motion of the numerical control positioner, the method for controlling the multi-axis interpolation motion further includes:
establishing a local coordinate system according to the set position of the numerical control positioner;
and establishing a global coordinate system according to the ground fixed datum point.
In one possible implementation manner of the first aspect, before the obtaining the movement increment of the direction axis under the local coordinate system and the displacement amount under the global coordinate system according to the conversion relation between the local coordinate system and the global coordinate system, the start point coordinate and the end point coordinate of the numerical control positioner under the local coordinate system, and the start point coordinate and the end point coordinate of the numerical control positioner under the global coordinate system, the multi-axis interpolation motion control method further includes:
and obtaining the conversion relation between the local coordinate system and the global coordinate system according to the direction vector of the numerical control locator and the starting point coordinate and the ending point coordinate of the numerical control locator under different coordinate systems.
In one possible implementation manner of the first aspect, obtaining the displacement amount of the direction axis under the local coordinate system according to the conversion relation between the movement increment and the displacement amount, the movement increment of the direction axis under the local coordinate system, and the displacement amount under the global coordinate system includes:
according to the movement increment of the direction axis under the local coordinate system and the displacement amount under the global coordinate system, solving the conversion relation between the movement increment and the displacement amount of each direction axis by adopting the Kramer rule to obtain a calculation result;
and obtaining the displacement of the direction axis under the local coordinate system according to the calculation result.
In one possible implementation manner of the first aspect, according to a conversion relation between a local coordinate system and a global coordinate system, a start point coordinate and an end point coordinate of the numerical control positioner in the local coordinate system, and a start point coordinate and an end point coordinate of the numerical control positioner in the global coordinate system, a movement increment of the direction axis in the local coordinate system and a displacement amount of the direction axis in the global coordinate system are obtained respectively, including:
obtaining the position increment of the numerical control positioner under the operation of the electronic hand wheel according to the conversion relation between the starting point coordinate and the ending point coordinate of the numerical control positioner under the local coordinate system, the conversion relation between the starting point coordinate and the ending point coordinate of the numerical control positioner under the global coordinate system and the conversion relation between the starting point coordinate and the ending point coordinate of the numerical control positioner;
and respectively obtaining the movement increment of the direction axis under the local coordinate system and the displacement quantity under the global coordinate system according to the position increment.
In one possible implementation manner of the first aspect, before obtaining the displacement amount of the direction axis under the local coordinate system according to the conversion relationship between the movement increment and the displacement amount, the movement increment of the direction axis under the local coordinate system, and the displacement amount under the global coordinate system, the multi-axis interpolation motion control method further includes:
obtaining an intermediate relationship according to a direction vector and a position increment of a track of the numerical control positioner under the operation of an electronic hand wheel under a global coordinate system;
and obtaining the conversion relation of the movement increment and the displacement according to the intermediate relation, the movement increment of the direction axis under the local coordinate system and the displacement under the global coordinate system.
In one possible implementation manner of the first aspect, after obtaining the displacement amount of the direction axis under the local coordinate system according to the conversion relationship between the movement increment and the displacement amount, the movement increment of the direction axis under the local coordinate system, and the displacement amount under the global coordinate system, the multi-axis interpolation motion control method further includes:
obtaining displacement ratios of all direction shafts of the numerical control positioner according to the displacement amounts of all direction shafts of the numerical control positioner;
according to the displacement of the direction shaft under the local coordinate system, the interpolation motion control is carried out on the direction shaft by utilizing the electronic hand wheel, and the method comprises the following steps:
and according to the displacement ratio of all the direction shafts of the numerical control positioner, performing interpolation motion control on the direction shafts by utilizing an electronic hand wheel.
In a second aspect, an embodiment of the present application provides a multi-axis interpolation motion control apparatus, including:
the coordinate obtaining module is used for obtaining the starting point coordinate and the ending point coordinate of the numerical control positioner under the local coordinate system and the starting point coordinate and the ending point coordinate of the numerical control positioner under the global coordinate system according to the positions of the starting point and the ending point of the movement of the numerical control positioner;
the movement obtaining module is used for respectively obtaining the movement increment of the direction axis under the local coordinate system and the displacement under the global coordinate system according to the conversion relation between the local coordinate system and the global coordinate system, the starting point coordinate and the ending point coordinate of the numerical control positioner under the local coordinate system and the starting point coordinate and the ending point coordinate of the numerical control positioner under the global coordinate system;
the target displacement obtaining module is used for obtaining the displacement of the direction axis under the local coordinate system according to the conversion relation between the movement increment and the displacement, the movement increment of the direction axis under the local coordinate system and the displacement under the global coordinate system;
and the control module is used for performing interpolation motion control on the direction shaft by utilizing the electronic hand wheel according to the displacement of the direction shaft under the local coordinate system.
In a third aspect, an embodiment of the present application provides a computer readable storage medium storing a computer program, where the computer program when loaded and executed by a processor implements the method for controlling multi-axis interpolation motion provided in any one of the first aspects above.
In a fourth aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, where,
the memory is used for storing a computer program;
the processor is configured to load and execute a computer program to cause the electronic device to execute the multi-axis interpolation motion control method as provided in any one of the first aspects above.
Compared with the prior art, the application has the beneficial effects that:
the embodiment of the application provides a multi-axis interpolation motion control method, a device, a storage medium and electronic equipment, wherein the method comprises the following steps: according to the positions of the starting point and the ending point of the movement of the numerical control positioner, obtaining the coordinates of the starting point and the ending point of the numerical control positioner in a local coordinate system and the coordinates of the starting point and the ending point of the numerical control positioner in a global coordinate system; respectively obtaining the movement increment of the direction axis under the local coordinate system and the displacement under the global coordinate system according to the conversion relation between the local coordinate system and the global coordinate system, the starting point coordinate and the ending point coordinate of the numerical control positioner under the local coordinate system and the starting point coordinate and the ending point coordinate of the numerical control positioner under the global coordinate system; obtaining the displacement of the direction axis under the local coordinate system according to the conversion relation between the movement increment and the displacement, the movement increment of the direction axis under the local coordinate system and the displacement under the global coordinate system; and performing interpolation motion control on the direction shaft by utilizing the electronic hand wheel according to the displacement of the direction shaft under the local coordinate system. According to the method, translation amounts of motion start and stop points under different coordinate systems are obtained, conversion relations among the different coordinate systems are analyzed, movement amounts under the different coordinate systems are related, corresponding transformation is carried out on coordinates of a direction axis of the numerical control positioner, displacement amounts under a global coordinate system are decomposed into a local coordinate system, movement components of all direction axes in definite single direction motion under the local coordinate system are obtained, spatial positioning accuracy is improved, and accurate multi-axis simultaneous interpolation control can be carried out through an electronic hand wheel.
Drawings
FIG. 1 is a schematic diagram of an electronic device in a hardware operating environment according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a multi-axis interpolation motion control method according to an embodiment of the present application;
fig. 3 is a schematic block diagram of a multi-axis interpolation motion control device according to an embodiment of the present application;
FIG. 4 is a schematic layout diagram of a numerical control positioner in a multi-axis interpolation motion control method according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a mathematical analysis model of a numerical control positioner in a multi-axis interpolation motion control method according to an embodiment of the present application;
the marks in the figure: 101-processor, 102-communication bus, 103-network interface, 104-user interface, 105-memory, 1-laser tracker, 2-numerical control locator, 3-ground fixed datum point, 4-global coordinate system, 5-local coordinate system, 6-global coordinate system under start point, 7-global coordinate system under end point, 8-local coordinate system under start point, 9-first component, 10-second component, 11-third component.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The main solutions of the embodiments of the present application are: provided are a multi-axis interpolation motion control method, a device, a storage medium and an electronic device, wherein the method comprises the following steps: according to the positions of the starting point and the ending point of the movement of the numerical control positioner, obtaining the coordinates of the starting point and the ending point of the numerical control positioner in a local coordinate system and the coordinates of the starting point and the ending point of the numerical control positioner in a global coordinate system; respectively obtaining the movement increment of the direction axis under the local coordinate system and the displacement under the global coordinate system according to the conversion relation between the local coordinate system and the global coordinate system, the starting point coordinate and the ending point coordinate of the numerical control positioner under the local coordinate system and the starting point coordinate and the ending point coordinate of the numerical control positioner under the global coordinate system; obtaining the displacement of the direction axis under the local coordinate system according to the conversion relation between the movement increment and the displacement, the movement increment of the direction axis under the local coordinate system and the displacement under the global coordinate system; and performing interpolation motion control on the direction shaft by utilizing the electronic hand wheel according to the displacement of the direction shaft under the local coordinate system.
In the large-component digital assembly application, synchronous motion control of a plurality of control positioners is an indispensable function, so that the assembly precision can be effectively improved, the operation efficiency can be improved, and the production beat can be increased. Aiming at the synchronous motion control mode of a plurality of numerical control positioners, the synchronous motion control mode is mostly controlled by using the motion control software of an upper computer or realized by using the program of a lower computer, and the synchronous motion control mode is realized by lacking an electronic hand wheel.
However, in a specific scene, for example, when manual micro adjustment is needed, the approximate displacement of the motion must be determined through observation of human eyes, and the result is inaccurate and reliable, and then the electronic hand wheel is needed to perform super-multi-axis interpolation motion control, so that real-time displacement synchronous adjustment is realized, and the safety, reliability and accuracy of the motion are ensured, but the total number of axes in the direction aiming at all numerical control positioners is large, and the synchronous interpolation motion control is difficult to realize.
Therefore, the application provides a solution, by acquiring the translation amounts of the motion start and stop points under different coordinate systems, analyzing the conversion relation between the different coordinate systems, correlating the movement amounts under the different coordinate systems, correspondingly transforming the coordinates of the direction axis of the numerical control positioner, decomposing the displacement amount under the global coordinate system into the local coordinate system, obtaining the movement components of all the direction axes in definite single direction motion under the local coordinate system, improving the spatial positioning precision, and further carrying out accurate multi-axis simultaneous interpolation control through the electronic hand wheel.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an electronic device of a hardware running environment according to an embodiment of the present application, where the electronic device may include: a processor 101, such as a central processing unit (Central Processing Unit, CPU), a communication bus 102, a user interface 104, a network interface 103, a memory 105. Wherein the communication bus 102 is used to enable connected communication between these components. The user interface 104 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 104 may also include standard wired, wireless interfaces. The network interface 103 may alternatively comprise a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 105 may alternatively be a storage device independent of the foregoing processor 101, where the Memory 105 may be a high-speed random access Memory (Random Access Memory, RAM) Memory or may be a stable Non-Volatile Memory (NVM), such as at least one magnetic disk Memory; the processor 101 may be a general purpose processor including a central processing unit, a network processor, etc., as well as a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.
It will be appreciated by those skilled in the art that the structure shown in fig. 1 is not limiting of the electronic device and may include more or fewer components than shown, or may combine certain components, or may be arranged in different components.
As shown in fig. 1, the memory 105, which is a storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and an electronic program.
In the electronic device shown in fig. 1, the network interface 103 is mainly used for data communication with a network server; the user interface 104 is mainly used for data interaction with a user; the processor 101 and the memory 105 in the present application may be provided in an electronic device, and the electronic device invokes the multi-axis interpolation motion control device stored in the memory 105 through the processor 101, and executes the multi-axis interpolation motion control method provided in the embodiment of the present application.
Referring to fig. 2, based on the hardware device of the foregoing embodiment, an embodiment of the present application provides a multi-axis interpolation motion control method, including the following steps:
s00: establishing a local coordinate system according to the set position of the numerical control positioner;
and establishing a global coordinate system according to the ground fixed datum point.
In the specific implementation process, the numerical control positioner 2 is characterized in that the accurate positioning of the moving part from one position to another position can be controlled only, and a local coordinate system of the numerical control positioner is established according to the set position of the numerical control positioner in an application scene. The ground fixed datum point 3 is a RES point arranged on the ground of the application scene, and a global coordinate system is established through the point matched with the laser tracker 1. As shown in fig. 4, four numerical control positioners 2 are set, 0-XYZ is a global coordinate system, and each numerical control positioner 2 corresponds to a local coordinate system respectively: 01-X1Y1Z1, 01-X2Y2Z2, 03-X3Y3Z3, 04-X4Y4Z4.
S10: and obtaining the starting point coordinates and the ending point coordinates of the numerical control positioner under the local coordinate system and the starting point coordinates and the ending point coordinates of the numerical control positioner under the global coordinate system according to the positions of the starting point and the ending point of the movement of the numerical control positioner.
In the implementation process, the numerical control positioner performs a section of displacement under the cooperative motion control, and the starting point and the ending point of the displacement, namely the starting point and the ending point of the motion of the numerical control positioner, are converted between two coordinate systems, so that the coordinates of each point under different coordinate systems are obtained. In the embodiment of the application, each numerical control locator is a reference starting point coordinate position under the global coordinate system，/>，/>，Number of timesThe control positioner moves as a whole to a global spatial position +.>，/>，，/>As an end point of the movement; in the corresponding local coordinate system, each numerical control positioner is a reference starting point coordinate position +.>，/>，，/>The numerical control positioner integrally moves to a position under a local coordinate system，/>，/>，/>As the end point of the movement.
S20: and respectively obtaining the movement increment of the direction axis under the local coordinate system and the displacement under the global coordinate system according to the conversion relation between the local coordinate system and the global coordinate system, the starting point coordinate and the ending point coordinate of the numerical control positioner under the local coordinate system and the starting point coordinate and the ending point coordinate of the numerical control positioner under the global coordinate system.
In the implementation process, under the same application scene, a local coordinate system and a global coordinate system with the same standard can be adopted, and the coordinates of each point under one coordinate system can have unique corresponding coordinates in the other coordinate system, so that the conversion relationship between the two can be obtained according to the fixed coordinate system, and the acquisition steps are as follows:
according to the conversion relation between the local coordinate system and the global coordinate system, the starting point coordinate and the ending point coordinate of the numerical control positioner under the local coordinate system and the starting point coordinate and the ending point coordinate of the numerical control positioner under the global coordinate system, the multi-axis interpolation motion control method further comprises the following steps of:
and obtaining the conversion relation between the local coordinate system and the global coordinate system according to the direction vector of the numerical control locator and the starting point coordinate and the ending point coordinate of the numerical control locator under different coordinate systems.
In the implementation process, mathematical model analysis is performed on the numerical control positioner, and the direction vector is as followsWherein:
and calibrating the directional vector of each axis of the numerical control positioner in the global coordinate system, and combining the conversion relation to perform corresponding coordinate transformation to obtain the directional motion displacement under the local coordinates.
In order to obtain accurate movement components of three direction axes of the numerical control positioner, the movement amounts are respectively decomposed under different coordinate systems to obtain movement increment of the direction axes under a local coordinate system and displacement amount under a global coordinate system. Specifically:
s201: obtaining the position increment of the numerical control positioner under the operation of the electronic hand wheel according to the conversion relation between the starting point coordinate and the ending point coordinate of the numerical control positioner under the local coordinate system, the conversion relation between the starting point coordinate and the ending point coordinate of the numerical control positioner under the global coordinate system and the conversion relation between the starting point coordinate and the ending point coordinate of the numerical control positioner;
s202: and respectively obtaining the movement increment of the direction axis under the local coordinate system and the displacement quantity under the global coordinate system according to the position increment.
In the specific implementation process, combining the starting point and the ending point, comprehensively obtaining a conversion relation, and obtaining a relation between the position under the local coordinate system and the position under the global space coordinate aiming at the starting point:
for the end point, the relationship between the position in the local coordinate system and the position in the global space coordinate is obtained:
by moving the electronic hand wheel to simulate movement, the position increment of the space where the numerical control positioner moves under the operation of the electronic hand wheel is expressed as follows:
the above method is simplified to obtain:
；
this gives:，/>，/>representing displacement amounts in three different directions under global coordinates; />，/>，/>Representing the increment of movement of each of the three axes in the local coordinate system.
S30: and obtaining the displacement of the direction axis under the local coordinate system according to the conversion relation between the movement increment and the displacement, the movement increment of the direction axis under the local coordinate system and the displacement under the global coordinate system.
In the implementation process, the actual parameters are different in the same application scene, but the conversion relations are the same, so that the displacement of the direction axis under the local coordinate system can be obtained through rapid decomposition of the conversion relations obtained in advance.
The conversion relation is obtained as follows:
obtaining an intermediate relationship according to a direction vector and a position increment of a track of the numerical control positioner under the operation of an electronic hand wheel under a global coordinate system;
and obtaining the conversion relation of the movement increment and the displacement according to the intermediate relation, the movement increment of the direction axis under the local coordinate system and the displacement under the global coordinate system.
Specific: under the operation of an electronic hand wheel, when the position of the moving space is increased, the direction vector of the operation instruction track under the global coordinate system is as follows: n { S.Ci，j，kAnd }, wherein:
，
，
，
thus, an intermediate relationship is obtained, and the intermediate relationship is deformed to obtain:
，
，
，
the conversion relation between the movement increment and the displacement of each axis in the global space position is obtained as follows:
，
，
。
s301: according to the movement increment of the direction axis under the local coordinate system and the displacement amount under the global coordinate system, solving the conversion relation between the movement increment and the displacement amount of each direction axis by adopting the Kramer rule to obtain a calculation result;
s302: and obtaining the displacement of the direction axis under the local coordinate system according to the calculation result.
In the implementation process, the Kramer rule is an theorem about solving a linear equation set in linear algebra, is applicable to the linear equation set with equal variable and equation number, and can judge the solution of the linear equation set with N equations and N unknowns. Specific:
，
，
，
。
according to the calculation result, the displacement of each direction axis of the numerical control positioner under the local coordinate system is obtained:
，
，
as shown in fig. 5, the analysis for a single numerical control positioner 2 is the same, so that only the mathematical model analysis of one positioner is shown, the global coordinate system 4 and the local coordinate system 5 are respectively O-XYZ and 01-X1Y1Z1, taking the single direction as the X axis as an example, the vector between the starting point 8 under the local coordinate system, the starting point 6 under the global coordinate system and the ending point 7 under the global coordinate system is the numerical control positioner, and the operation instruction track is the direction vector n { under the global coordinate system under the operation of the electronic hand wheeli，j，k，-a }; the components that are ultimately resolved into the local coordinate system are: a first component 9, i.e. movement along the X-axis in a local coordinate systemA second component 10, i.e. motion along the X-axis in a local coordinate system>And a third component 11, i.e. motion +.o along the X-axis in the local coordinate system>。
In one embodiment, after obtaining the displacement amount of the direction axis under the local coordinate system according to the conversion relation between the movement increment and the displacement amount, the movement increment of the direction axis under the local coordinate system, and the displacement amount under the global coordinate system, the multi-axis interpolation motion control method further includes:
and obtaining the displacement ratio of all the direction shafts of the numerical control positioner according to the displacement amounts of all the direction shafts of the numerical control positioner.
In the specific implementation process, the displacement ratio of each direction axis of the numerical control positioner can be obtained by the displacement of each direction axis of the numerical control positioner:
by the above formula, interpolation that each axis moves in a local coordinate system when the electronic hand wheel controls the super multi-axis to perform single-direction X, Y or Z-direction movement in the global coordinate system can be obtained. The method for realizing the interpolation is realized in a mode of a bottom code and is issued to a lower computer, after the method takes effect, the electronic hand wheel can accurately control the super multi-axis to move in a single direction in a global space coordinate system, the method is integrated and modularized in a program mode, later stages can be integrated on different equipment of other same systems, and if the equipment has hand wheel control requirements, the hand wheel control mode can be realized rapidly.
Based on the above steps, according to the displacement of the direction axis under the local coordinate system, the interpolation motion control is performed on the direction axis by using the electronic hand wheel, including:
and according to the displacement ratio of all the direction shafts of the numerical control positioner, performing interpolation motion control on the direction shafts by utilizing an electronic hand wheel.
S40: and performing interpolation motion control on the direction shaft by utilizing the electronic hand wheel according to the displacement of the direction shaft under the local coordinate system.
In the specific implementation process, after the movement components of each shaft are obtained, the electronic hand wheel can accurately control the multi-shaft to move in a single direction in the global coordinate system, and the electronic gear is controlled to further control the motor to move, so that the interpolation motion is realized by the electronic hand wheel. If a single positioner moves to the X direction under the global coordinate system, the three direction axes of the single positioner are interpolated, so that the orthogonality of the numerical control positioner X, Y, Z during the installation of the three axes can be reduced, the quick installation and positioning are facilitated, the single positioner is realized in a bottom code mode and is issued to a lower computer, the multi-axis synchronous control of the plurality of control positioners is realized, and if four numerical control positioners are adopted in the application, the interpolation motion control of up to twelve axes can be realized.
In the embodiment, translation amounts of motion start and stop points under different coordinate systems are obtained, conversion relations among the different coordinate systems are analyzed, movement amounts under the different coordinate systems are related, corresponding transformation is carried out on coordinates of a direction axis of the numerical control positioner, displacement amounts under a global coordinate system are decomposed into a local coordinate system, movement components of all direction axes in definite single direction motion under the local coordinate system are obtained, spatial positioning accuracy is improved, and accurate multi-axis simultaneous interpolation control can be carried out through an electronic hand wheel.
Referring to fig. 3, an embodiment of the present application further provides a multi-axis interpolation motion control apparatus based on the same inventive concept as in the previous embodiment, the apparatus including:
the coordinate obtaining module is used for obtaining the starting point coordinate and the ending point coordinate of the numerical control positioner under the local coordinate system and the starting point coordinate and the ending point coordinate of the numerical control positioner under the global coordinate system according to the positions of the starting point and the ending point of the movement of the numerical control positioner;
the movement obtaining module is used for respectively obtaining the movement increment of the direction axis under the local coordinate system and the displacement under the global coordinate system according to the conversion relation between the local coordinate system and the global coordinate system, the starting point coordinate and the ending point coordinate of the numerical control positioner under the local coordinate system and the starting point coordinate and the ending point coordinate of the numerical control positioner under the global coordinate system;
the target displacement obtaining module is used for obtaining the displacement of the direction axis under the local coordinate system according to the conversion relation between the movement increment and the displacement, the movement increment of the direction axis under the local coordinate system and the displacement under the global coordinate system;
and the control module is used for performing interpolation motion control on the direction shaft by utilizing the electronic hand wheel according to the displacement of the direction shaft under the local coordinate system.
It should be understood by those skilled in the art that the division of each module in the embodiment is merely a division of a logic function, and may be fully or partially integrated onto one or more actual carriers in practical application, and the modules may be fully implemented in a form of software called by a processing unit, or may be fully implemented in a form of hardware, or may be implemented in a form of combination of software and hardware, and it should be noted that each module in the multi-axis interpolation motion control device in this embodiment is in one-to-one correspondence with each step in the multi-axis interpolation motion control method in the foregoing embodiment, so that a specific implementation of this embodiment may refer to an implementation of the foregoing multi-axis interpolation motion control method and will not be repeated herein.
Based on the same inventive concept as in the foregoing embodiments, embodiments of the present application also provide a computer readable storage medium storing a computer program, which when loaded and executed by a processor, implements a multi-axis interpolation motion control method as provided in the embodiments of the present application.
Based on the same inventive concept as in the previous embodiments, an embodiment of the present application further provides an electronic device, including a processor and a memory, wherein,
the memory is used for storing a computer program;
the processor is used for loading and executing the computer program so as to enable the electronic equipment to execute the multi-axis interpolation motion control method provided by the embodiment of the application.
Furthermore, based on the same inventive concept as in the previous embodiments, embodiments of the present application also provide a computer program product including a computer program for executing the multi-axis interpolation motion control method as provided in the embodiments of the present application when the computer program is executed.
In some embodiments, the computer readable storage medium may be FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; but may be a variety of devices including one or any combination of the above memories. The computer may be a variety of computing devices including smart terminals and servers.
In some embodiments, the executable instructions may be in the form of programs, software modules, scripts, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and they may be deployed in any form, including as stand-alone programs or as modules, components, subroutines, or other units suitable for use in a computing environment.
As an example, the executable instructions may, but need not, correspond to files in a file system, may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a hypertext markup language (HTML, hyper Text Markup Language) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code).
As an example, executable instructions may be deployed to be executed on one computing device or on multiple computing devices located at one site or, alternatively, distributed across multiple sites and interconnected by a communication network.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of embodiments, it will be clear to a person skilled in the art that the above embodiment method may be implemented by means of software plus a necessary general hardware platform, but may of course also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. read-only memory/random-access memory, magnetic disk, optical disk) comprising several instructions for causing a multimedia terminal device (which may be a mobile phone, a computer, a television receiver, or a network device, etc.) to perform the method according to the embodiments of the present application.
In summary, the present application provides a method, an apparatus, a storage medium, and an electronic device for controlling multi-axis interpolation motion, where the method includes: according to the positions of the starting point and the ending point of the movement of the numerical control positioner, obtaining the coordinates of the starting point and the ending point of the numerical control positioner in a local coordinate system and the coordinates of the starting point and the ending point of the numerical control positioner in a global coordinate system; respectively obtaining the movement increment of the direction axis under the local coordinate system and the displacement under the global coordinate system according to the conversion relation between the local coordinate system and the global coordinate system, the starting point coordinate and the ending point coordinate of the numerical control positioner under the local coordinate system and the starting point coordinate and the ending point coordinate of the numerical control positioner under the global coordinate system; obtaining the displacement of the direction axis under the local coordinate system according to the conversion relation between the movement increment and the displacement, the movement increment of the direction axis under the local coordinate system and the displacement under the global coordinate system; and performing interpolation motion control on the direction shaft by utilizing the electronic hand wheel according to the displacement of the direction shaft under the local coordinate system. According to the method, translation amounts of motion start and stop points under different coordinate systems are obtained, conversion relations among the different coordinate systems are analyzed, movement amounts under the different coordinate systems are related, corresponding transformation is carried out on coordinates of a direction axis of the numerical control positioner, displacement amounts under a global coordinate system are decomposed into a local coordinate system, movement components of all direction axes in definite single direction motion under the local coordinate system are obtained, spatial positioning accuracy is improved, and accurate multi-axis simultaneous interpolation control can be carried out through an electronic hand wheel.
The foregoing description of the preferred embodiments of the application is not intended to limit the application to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the application are intended to be included within the scope of the application.
Claims (10)
1. The multi-axis interpolation motion control method is characterized by comprising the following steps of:
obtaining a starting point coordinate and an ending point coordinate of the numerical control positioner under a local coordinate system and a starting point coordinate and an ending point coordinate of the numerical control positioner under a global coordinate system according to the positions of the starting point and the ending point of the movement of the numerical control positioner;
according to the conversion relation between the local coordinate system and the global coordinate system, the starting point coordinate and the ending point coordinate of the numerical control positioner under the local coordinate system and the starting point coordinate and the ending point coordinate of the numerical control positioner under the global coordinate system, respectively obtaining the movement increment of the direction axis under the local coordinate system and the displacement quantity under the global coordinate system;
obtaining the displacement of the direction shaft under the local coordinate system according to the conversion relation between the movement increment and the displacement, the movement increment of the direction shaft under the local coordinate system and the displacement under the global coordinate system;
and performing interpolation motion control on the direction shaft by utilizing an electronic hand wheel according to the displacement of the direction shaft under the local coordinate system.
2. The method according to claim 1, wherein the obtaining the start point coordinate and the end point coordinate of the numerical control positioner in the local coordinate system and the start point coordinate and the end point coordinate of the numerical control positioner in the global coordinate system are preceded by the obtaining the start point coordinate and the end point coordinate of the movement of the numerical control positioner, the method further comprising:
establishing the local coordinate system according to the set position of the numerical control positioner;
and establishing the global coordinate system according to the ground fixed datum point.
3. The multi-axis interpolation motion control method according to claim 1, wherein before the movement increment of the direction axis in the local coordinate system and the displacement amount in the global coordinate system are obtained from the conversion relation of the local coordinate system and the global coordinate system, the start point coordinate and the end point coordinate of the numerical control positioner in the local coordinate system, and the start point coordinate and the end point coordinate of the numerical control positioner in the global coordinate system, respectively, the multi-axis interpolation motion control method further comprises:
and obtaining the conversion relation between the local coordinate system and the global coordinate system according to the direction vector of the numerical control locator and the starting point coordinate and the ending point coordinate of the numerical control locator under different coordinate systems.
4. The multi-axis interpolation motion control method according to claim 1, wherein the obtaining the displacement amount of the direction axis in the local coordinate system based on the conversion relation of the movement increment and the displacement amount, the movement increment of the direction axis in the local coordinate system, and the displacement amount in the global coordinate system, comprises:
according to the movement increment of the direction axis under the local coordinate system and the displacement quantity under the global coordinate system, solving the conversion relation between the movement increment and the displacement quantity of each direction axis by adopting the Kramer rule to obtain a calculation result;
and obtaining the displacement of the direction axis under the local coordinate system according to the calculation result.
5. The method according to claim 1, wherein the obtaining the movement increment of the direction axis in the local coordinate system and the displacement amount in the global coordinate system according to the conversion relation between the local coordinate system and the global coordinate system, the start point coordinate and the end point coordinate of the numerical control positioner in the local coordinate system, and the start point coordinate and the end point coordinate of the numerical control positioner in the global coordinate system, respectively, includes:
obtaining the position increment of the numerical control positioner under the operation of the electronic hand wheel according to the conversion relation between the starting point coordinate and the ending point coordinate of the numerical control positioner under the local coordinate system, the conversion relation between the starting point coordinate and the ending point coordinate of the numerical control positioner under the global coordinate system and the conversion relation between the starting point coordinate and the ending point coordinate;
and respectively obtaining the movement increment of the direction axis under the local coordinate system and the displacement quantity under the global coordinate system according to the position increment.
6. The multi-axis interpolation motion control method according to claim 5, wherein the multi-axis interpolation motion control method further comprises, before obtaining the displacement amount of the direction axis in the local coordinate system, based on a conversion relation between a movement increment and a displacement amount, a movement increment of the direction axis in the local coordinate system, and a displacement amount in a global coordinate system:
obtaining an intermediate relationship according to the direction vector of the track of the numerical control positioner under the operation of the electronic hand wheel under the global coordinate system and the position increment;
and obtaining the conversion relation of the movement increment and the displacement quantity according to the intermediate relation, the movement increment of the direction shaft under the local coordinate system and the displacement quantity under the global coordinate system.
7. The multi-axis interpolation motion control method according to claim 1, wherein the multi-axis interpolation motion control method further comprises, after obtaining the displacement amount of the direction axis in the local coordinate system, based on the conversion relation between the movement increment and the displacement amount, the movement increment of the direction axis in the local coordinate system, and the displacement amount in the global coordinate system:
obtaining displacement ratios of all the direction shafts of the numerical control positioner according to the displacement amounts of all the direction shafts of the numerical control positioner;
the method for performing interpolation motion control on the direction shaft by using the electronic hand wheel according to the displacement of the direction shaft under the local coordinate system comprises the following steps:
and performing interpolation motion control on the direction shafts by utilizing an electronic hand wheel according to the displacement ratio of all the direction shafts of the numerical control positioner.
8. A multi-axis interpolation motion control device, comprising:
the coordinate obtaining module is used for obtaining the starting point coordinate and the ending point coordinate of the numerical control positioner under a local coordinate system and the starting point coordinate and the ending point coordinate of the numerical control positioner under a global coordinate system according to the positions of the starting point and the ending point of the movement of the numerical control positioner;
the movement obtaining module is used for respectively obtaining the movement increment of the direction axis under the local coordinate system and the displacement under the global coordinate system according to the conversion relation between the local coordinate system and the global coordinate system, the starting point coordinate and the ending point coordinate of the numerical control positioner under the local coordinate system and the starting point coordinate and the ending point coordinate of the numerical control positioner under the global coordinate system;
the target displacement obtaining module is used for obtaining the displacement of the direction shaft under the local coordinate system according to the conversion relation between the movement increment and the displacement, the movement increment of the direction shaft under the local coordinate system and the displacement under the global coordinate system;
and the control module is used for performing interpolation motion control on the direction shaft by utilizing an electronic hand wheel according to the displacement of the direction shaft under the local coordinate system.
9. A computer readable storage medium storing a computer program, wherein the computer program when loaded and executed by a processor implements the multi-axis interpolation motion control method according to any one of claims 1 to 7.
10. An electronic device comprising a processor and a memory, wherein,
the memory is used for storing a computer program;
the processor is configured to load and execute the computer program to cause the electronic device to execute the multi-axis interpolation motion control method according to any one of claims 1 to 7.
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