阅读说明：本技术 一种适用于极端应用条件的运动控制方法 (Motion control method suitable for extreme application conditions ) 是由 李岩 刘雷 赵伟 陈海峰 冯俊威 刘毅珍 张文叶 于 2019-09-26 设计创作，主要内容包括：本发明涉及一种适用于极端应用条件的运动控制方法,属于运动控制方法技术领域,解决了现有技术难以适应极端环境条件、控制精度差的问题。该运动控制方法包括根据用户输入的运动设定信息,获得运动控制系统中每一从站的运动任务、从站优先级和协调顺序；根据上述从站优先级和协调顺序、每一从站的运动任务,控制各从站相应伺服电机依次在对应时刻执行对应操作；实时采集从站相应伺服电机的运动信息,根据所述运动信息判定极端应用条件在当前时刻是否发生,当判定发生时,立即调整所述电机的从轴加速度至对运动影响最小的状态；获取各从站下一时刻的控制信息,待上述调整结束后,控制各从站伺服电机根据所述控制信息执行下一时刻的相应操作。(The invention relates to a motion control method suitable for extreme application conditions, belongs to the technical field of motion control methods, and solves the problems that the prior art is difficult to adapt to extreme environmental conditions and has poor control precision. The motion control method comprises the steps of obtaining a motion task, slave station priority and a coordination sequence of each slave station in a motion control system according to motion setting information input by a user; controlling the corresponding servo motors of the slave stations to sequentially execute corresponding operations at corresponding moments according to the priority and the coordination sequence of the slave stations and the motion task of each slave station; acquiring motion information of a servo motor corresponding to a slave station in real time, judging whether extreme application conditions occur at the current moment according to the motion information, and immediately adjusting the acceleration of an auxiliary shaft of the motor to a state with the minimum influence on motion when judging that the extreme application conditions occur; and acquiring control information of each slave station at the next moment, and after the adjustment is finished, controlling each slave station servo motor to execute corresponding operation at the next moment according to the control information.)

1. A method of motion control suitable for use in extreme application conditions, comprising:

according to received motion setting information input by a user, obtaining a motion task, slave station priority and a coordination sequence of each slave station in a motion control system;

controlling the corresponding servo motors of the slave stations to sequentially execute corresponding operations at corresponding moments according to the priority and the coordination sequence of the slave stations and the motion task of each slave station;

acquiring motion information of a servo motor corresponding to a slave station in real time, judging whether extreme application conditions occur at the current moment according to the motion information, and immediately adjusting the acceleration of an auxiliary shaft of the motor to a state with the minimum influence on motion when judging that the extreme application conditions occur;

and acquiring control information of each slave station at the next moment, and after the adjustment is finished, controlling each slave station servo motor to execute corresponding operation at the next moment according to the control information.

2. A method of motion control applicable to extreme application conditions as claimed in claim 1 wherein the motion tasks of each secondary station comprise: the servo motors start to move from the axes at the moment, the movement rule, the movement time, the movement priority and the coordination sequence;

the motion information of the slave station corresponding to the servo motor comprises: the time of the motion of the driven shaft, the angle of the deviation of the driven shaft, the current voltage and current, the feedback period and the motion state of the motor.

3. The method for controlling motion suitable for extreme application conditions according to claim 2, wherein the determining whether the extreme application condition occurs at the current time according to the motion information further comprises the following steps:

acquiring the instantaneous acceleration a of the slave shaft of the servo motor at the current moment in the motion process_tAnd the instantaneous acceleration a of the previous moment_t-T；

According to said a_tAnd a_t-TJudging whether the instantaneous acceleration changes suddenly, if a_t-a_t-TIf the current time is greater than the preset value, the sudden change is judged, namely the extreme application condition occurs at the current time, otherwise, the sudden change is not judged, namely the extreme application condition does not occur at the current time.

4. A method of motion control for extreme application conditions according to claims 1-3 wherein the adjustment of the motor from shaft acceleration to a state of minimal impact on the motion further comprises the steps of:

obtaining the acceleration regulating quantity a according to the following equation set_mAnd regulating the time t_m

In the formula, t₀At the moment of occurrence of the extreme condition, a₀Acceleration before extreme conditions occur, a_xIs the acceleration at which the extreme condition occurs, t_xIs that the acceleration returns to a after an extreme condition occurs₀At the time of (a)_mIs the acceleration after the regulation is finished;

according to the above a_m、t_mControlling the instantaneous acceleration a of the servomotor from the axis when extreme conditions occur_xAt t_m-t₀Uniformly changed to a within a period of time_mAnd the regulation and control are completed.

5. The method of claim 4, wherein the instantaneous acceleration a of the slave axis at the current moment in the motion process is obtained by the following steps_t：

Obtaining the radius r and the offset angle alpha of the slave station servo motor from the current moment_tAnd the angle alpha of deviation from the axis at the previous time separated by one cycle from the current time_t-TThe system time T at the current moment, the system time T-T at the last moment separated by a period from the current moment, the current voltage u and current i, and the instantaneous rotating speed v at the last moment_t-T；

The instantaneous acceleration a is obtained by the following formula_t

Where m is a natural coefficient and T is a sampling period.

6. The motion control method for extreme application conditions according to any of claims 1-5, wherein said obtaining control information for the next time instant of each secondary station further comprises the steps of:

obtaining the radius of a motion axis of a slave station servo motor and the offset angle alpha of the current moment from the axis_tAnd the angle alpha of deviation from the axis at the previous time separated by one cycle from the current time_t-TThe current voltage u is equal to the current voltage i, the current time system time T, the last time system time T-T separated from the current time by a period, and the current voltage u and the current i;

the instantaneous rotating speed v of the servo motor at the current moment is obtained by the following formula_tAnd instantaneous acceleration a_t

Wherein

In the formula, v_t-TThe instantaneous rotating speed of the driven shaft at the last moment, m is a natural coefficient, and T is a sampling period;

the instantaneous rotating speed v of the servo motor at the current moment obtained by the calculation_tInstantaneous acceleration a_tAnd the theoretical value v in the setting information_t'、a_tComparing, and judging whether the front and the back items are consistent; if the control adjustment information is consistent with the control adjustment information of the slave station servo driver at the next moment, judging that the motion state is kept unchanged; if at least one item is inconsistent, according to the difference value v_t-v_t' or a_t-a_t' obtaining the offset angle alpha from the axis at the next moment from the station servo drive_t+TVoltage u_t+TAnd current i_t+T。

7. A method of motion control for extreme application conditions as in claim 6 where the slave station is offset from the axis by an angle α from the next instant in time by the corresponding servo drive_t+TObtained by the following formula

The voltage u of the slave station at the next moment of the corresponding servo driver_t+TAnd current i_t+TObtained by the following formula

8. The method for motion control in extreme application conditions as claimed in any one of claims 1-2 and 4-5, wherein said controlling the slave servo motor to perform the corresponding operation at the next time point according to said control information after said adjustment is finished, further comprises the steps of:

buffering the control information for one sampling period;

after the buffering is finished, the instantaneous acceleration at the current moment is obtained, and whether the instantaneous acceleration at the current moment reaches a or not is identified_mIf not, continuing to identify until the next step is executed;

acquiring the motion priority and the coordination sequence of each slave shaft of the servo motor, and controlling the slave station to drive the slave shafts of the servo motor to move according to the motion priority and the coordination sequence by corresponding servo drivers to reach the offset angle alpha_t+TVoltage u at the next moment_t+TAnd current i_t+T。

9. Motion control method suitable for extreme application conditions according to one of claims 1-3, 5, 7, characterized in that the control information is in the form of broadcast data frames:

data frame type + address + 1 st axis data × N + 2 nd axis data × N + 3 rd axis data × N +4 th axis data × N + CRC16H + CRC16L

Where xn represents occupation of N bytes, CRC16 is 16CRC check bytes, CRC16H is high bytes, and CRC16L is low bytes.

10. A method of motion control adapted for extreme application conditions according to claim 2 or 3, characterized in that the off-axis offset angle is collected by means of an infrared sensor; the infrared sensor is arranged on the side surface of the driven shaft and is used for collecting once in each collection period;

collecting the current voltage and current for controlling the motion of the driven shaft through a voltmeter and an ammeter; the voltmeter and the ammeter are arranged in the slave axis servo driver circuit;

and identifying the current moment of the servo motor in motion starting, motion in motion, motion stopping and abnormal states through a pattern identification module.

Technical Field

The invention relates to the technical field of motion control methods, in particular to a motion control method suitable for extreme application conditions.

Background

Motion control generally refers to converting a predetermined control scheme, a planning instruction into a desired mechanical motion under a complex condition, and realizing precise position control, speed control, acceleration control, torque or force control of the mechanical motion.

The motion control method is a method for controlling the running mode of the motor, for example, the alternating current contactor is controlled by a travel switch, so that the motor drags an object to run upwards to reach a designated position and then run downwards, or the motor is controlled by a time relay to rotate forwards and reversely or rotate for a moment and then stop. The application of motion control methods in the field of robotics and numerically controlled machine tools is more complex than in special machines, since the latter motion forms are simpler, known as universal motion control. However, the current motion control method is difficult to adapt to extreme environmental conditions, so that the reference range is not wide.

The motion control method is used as the key of the motion control system and is used for generating control signals to be sent to the corresponding slave station (each servo driver) to control and execute the corresponding operation. In the prior art, the control precision of a motion control method is greatly influenced by environmental factors. At present, a motion control method applicable to extreme conditions such as high temperature, high humidity and heat, mold, smoke and the like is lacked.

Disclosure of Invention

In view of the foregoing analysis, the embodiments of the present invention are directed to providing a motion control method suitable for extreme application conditions, so as to solve the problems of the prior art that it is difficult to adapt to extreme environmental conditions and the control accuracy is poor.

In one aspect, an embodiment of the present invention provides a motion control method suitable for extreme application conditions, including the following steps:

according to received motion setting information input by a user, obtaining a motion task, slave station priority and a coordination sequence of each slave station in a motion control system;

controlling the corresponding servo motors of the slave stations to sequentially execute corresponding operations at corresponding moments according to the priority and the coordination sequence of the slave stations and the motion task of each slave station;

acquiring motion information of a servo motor corresponding to a slave station in real time, judging whether extreme application conditions occur at the current moment according to the motion information, and immediately adjusting the acceleration of an auxiliary shaft of the motor to a state with the minimum influence on motion when judging that the extreme application conditions occur;

and acquiring control information of each slave station at the next moment, and after the adjustment is finished, controlling each slave station servo motor to execute corresponding operation at the next moment according to the control information.

The beneficial effects of the above technical scheme are as follows: the motion control can be simultaneously performed on a plurality of slave stations through one master station, the motion control modes are various, and different operation processes can be simultaneously realized. Through the control information contained in the control signal sent by the master station, the slave station can accurately and timely adjust corresponding irregular actions, and the control sensitivity is high. The abnormal actions can be corrected in time through the control information, so that the method is suitable for extreme application conditions such as high temperature, high humidity and heat, mould, smoke and the like to a certain extent.

Based on the further improvement of the method, the motion task of each secondary station comprises the following steps: the servo motors start to move from the axes at the moment, the movement rule, the movement time, the movement priority and the coordination sequence:

the motion information of the slave station corresponding to the servo motor comprises: the time of the motion of the driven shaft, the angle of the deviation of the driven shaft, the current voltage and current, the feedback period and the motion state of the motor.

The beneficial effects of the above further improved scheme are: and respectively further limiting the motion task of each slave station of the motion control method and the motion information of the corresponding servo motor of the slave station. According to the motion setting information input by the user, the motion tasks of each slave station are divided into the motion starting time, the motion rule, the motion time, the motion priority and the coordination sequence of the slave shaft of the servo motor. Due to the fact that the actions are finely divided and the adjustment rule is formulated, the sequence of the actions is automatically and quickly adjusted when the system is abnormal, and a developer can conveniently develop and optimize the actions for the second time.

Further, the determining whether the extreme application condition occurs at the current time according to the motion information further includes the following steps:

acquiring the instantaneous acceleration a of the slave shaft of the servo motor at the current moment in the motion process_tAnd the instantaneous acceleration a of the previous moment_t-T；

According to said a_tAnd a_t-TJudging whether the instantaneous acceleration changes suddenly, if a_t-a_t-TIf the current time is greater than the preset value, the sudden change is judged, namely the extreme application condition occurs at the current time, otherwise, the sudden change is not judged, namely the extreme application condition does not occur at the current time.

The beneficial effects of the above further improved scheme are: the instantaneous acceleration at the current moment can be calculated through an instantaneous acceleration calculation formula, and then whether extreme conditions occur or not can be judged in real time. A large number of tests prove that the judging method is simpler, more accurate and more effective than the existing method. The slave station is provided with a servo driver and a servo motor for controlling the movement of each axis, and can further determine whether each slave axis is affected by an extreme condition based on the instantaneous acceleration.

Further, the adjusting the acceleration of the motor from the shaft to the state with the minimum influence on the movement further comprises the following steps:

obtaining the acceleration regulating quantity a according to the following equation set_mAnd regulating the time t_m

In the formula, t₀At the moment of occurrence of the extreme condition, a₀Acceleration before extreme conditions occur, a_xIs poleAcceleration at the occurrence of end conditions, t_xIs that the acceleration returns to a after an extreme condition occurs₀At the time of (a)_mIs the acceleration after the regulation is finished;

according to the above a_m、t_mControlling the instantaneous acceleration a of the servomotor from the axis when extreme conditions occur_xAt t_m-t₀Uniformly changed to a within a period of time_mAnd the regulation and control are completed.

The beneficial effects of the above further improved scheme are: the acceleration regulation amount and the regulation time calculated according to the formula are proved to be accurate and effective through a large number of experiments, the influence on the control process can be reduced to the minimum, and the industrial design requirement is met.

Further, the radius r and the offset angle alpha of the slave station servo motor at the current moment are obtained_tAnd the angle alpha of deviation from the axis at the previous time separated by one cycle from the current time_t-TThe system time T at the current moment, the system time T-T at the last moment separated by a period from the current moment, the current voltage u and current i, and the instantaneous rotating speed v at the last moment_t-T；

The instantaneous acceleration a is obtained by the following formula_t

Where m is a natural coefficient and T is a sampling period.

The beneficial effects of the above further improved scheme are: the instantaneous acceleration of the servo motor on the shaft at the current moment can be accurately calculated through the formula, and then the instantaneous acceleration is compared with the instantaneous acceleration obtained by the last calculation, so that whether extreme application conditions occur or not can be judged.

Further, acquiring control information of each slave station at the next moment, and further comprising the following steps;

obtaining the radius of a motion axis of a slave station servo motor and the offset angle alpha of the current moment from the axis_tAnd the angle alpha of deviation from the axis at the previous time separated by one cycle from the current time_t-TThe system time t at the current moment and the time between the current momentsThe system time T-T, the current voltage u and the current i at the last moment every other period;

the instantaneous rotating speed v of the servo motor at the current moment is obtained by the following formula_tAnd instantaneous acceleration a_t

Wherein

In the formula, v_t-TThe instantaneous rotating speed of the driven shaft at the last moment, m is a natural coefficient, and T is a sampling period;

the instantaneous rotating speed v of the servo motor at the current moment obtained by the calculation_tInstantaneous acceleration a_tAnd the theoretical value v in the setting information_t'、a_tComparing, and judging whether the front and the back items are consistent; if the control adjustment information is consistent with the control adjustment information of the slave station servo driver at the next moment, judging that the motion state is kept unchanged; if at least one item is inconsistent, according to the difference value v_t-v_t' or a_t-a_t' obtaining the offset angle alpha from the axis at the next moment from the station servo drive_t+TVoltage u and current i.

The beneficial effects of the above further improved scheme are: the instantaneous rotating speed and the instantaneous acceleration of the servo motor on the shaft at the current moment can be accurately calculated through the formula, and then the instantaneous rotating speed and the instantaneous acceleration are compared with an expected theoretical value (the instantaneous rotating speed and the instantaneous acceleration obtained by the last calculation), if any value of the two values is inconsistent, the actual movement is changed, the movement of the servo motor needs to be controlled and adjusted at the next moment (acquisition period), and particularly, the deviation value of the rotating speed and the acceleration is calculated to perform corresponding adjustment. According to the formula, the adjustment information of the offset angle, the voltage and the current of each driven shaft in the next period can be accurately calculated, and the driven shafts can be effectively controlled to move according to the information, so that the movement of the driven shafts meets the design requirement.

Further, the slave station offsets the slave axis by an angle α at a time next to the corresponding servo driver_t+TObtained by the following formula

The voltage u of the slave station at the next moment of the corresponding servo driver_t+TAnd current i_t+TObtained by the following formula

The beneficial effects of the above further improved scheme are: the off-axis offset angle alpha at the next moment can be accurately calculated by the calculation formula_t+TAnd the voltage u and the current i regulate information, so that the regulation and control can be performed in time. A large number of experiments prove that the regulation and control are accurate and effective, the influence on the control process can be reduced to the minimum, and the industrial design requirement is met.

Further, after the adjustment is finished, controlling the slave station servo motor to execute corresponding operation at the next moment according to the control information, further comprising the following steps:

buffering the control information for one sampling period;

after the buffering is finished, the instantaneous acceleration at the current moment is obtained, and whether the instantaneous acceleration at the current moment reaches a or not is identified_mIf not, continuing to identify until the next step is executed;

acquiring the motion priority and the coordination sequence of each slave shaft of the servo motor, and controlling the slave station to drive the slave shafts of the servo motor to move according to the motion priority and the coordination sequence by corresponding servo drivers to reach the offset angle alpha_t+TVoltage u at the next moment_t+TAnd current i_t+T。

The beneficial effects of the above further improved scheme are: the control process is further limited, and due to the introduction of the motion priority and the coordination sequence of the slave axes of the servo motors, the control can be optimized according to the actual situation.

Further, the control information takes the form of a broadcast data frame as follows:

data frame type + address + 1 st axis data × N + 2 nd axis data × N + 3 rd axis data × N +4 th axis data × N + CRC16H + CRC16L

Where xn represents occupation of N bytes, CRC16 is 16CRC check bytes, CRC16H is high bytes, and CRC16L is low bytes.

The beneficial effects of the above further improved scheme are: all the set data or control information of the slave axis is broadcasted and sent according to the format of type + address + data of each axis + cyclic redundancy check (CRC32), the information of a plurality of axes is favorably integrated into one command, and the data transmission of the master station to the slave station is simplified. And cyclic redundancy check is beneficial to checking the correctness of the data.

Further, acquiring the deviation angle from the axis by an infrared sensor; the infrared sensor is arranged on the side surface of the driven shaft and is used for collecting once in each collection period;

collecting the current voltage and current for controlling the motion of the driven shaft through a voltmeter and an ammeter; the voltmeter and the ammeter are arranged in the slave axis servo driver circuit;

and identifying the current moment of the servo motor in motion starting, motion in motion, motion stopping and abnormal states through a pattern identification module.

The beneficial effects of the above further improved scheme are: the data acquisition module comprises an infrared sensor, a voltmeter, an ammeter and a mode identification module, and other devices can be added by a user according to factors such as the use environment and can be optimized and upgraded.

In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.

FIG. 1 is a schematic diagram of the steps of a motion control method suitable for extreme application conditions according to embodiment 1 of the present invention;

FIG. 2 is a schematic diagram of a motion control system suitable for extreme application conditions according to embodiment 3 of the present invention;

FIG. 3 is a schematic diagram of the master station according to embodiment 4 of the present invention;

fig. 4 is a schematic diagram of the composition of a secondary station in embodiment 4 of the present invention;

FIG. 5 shows the instantaneous acceleration change to be applied to the servo motor in the case of an extreme condition in embodiment 4 of the present invention;

fig. 6 is a schematic flowchart of a motion control method according to embodiment 4 of the present invention.

Detailed Description

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.