阅读说明：本技术 一种新型制袋机伺服同步方法 (Novel bag making machine servo synchronization method ) 是由 王飞鸿 王帆 于 2021-09-10 设计创作，主要内容包括：本发明公开了一种新型制袋机伺服同步方法,包括以下步骤：S1：将脉冲输出的持续时间分为多个依次连接的时间段；S2：将S1所得多个时间段分别等分成若干段,以分别获得多个输出间隔；S3：每一个间隔时刻输出脉冲前,对该间隔时刻所对应的脉冲值进行脉冲补偿计算,补偿量为D-(Δ),然后输出补偿后的脉冲值,直至该间隔所在的时间段结束；S4：重复步骤S3的操作,直至当前时刻为脉冲输出的最后时刻。该发明新型制袋机伺服同步方法通过将脉冲输出的时间段分成多个时间段,并在每个时间段的等间隔处输出脉冲前,对当前间隔时刻进行脉冲补偿,从而在整个梯形脉冲发送过程中的所有段都进行了补偿,实现了同步实时补偿,提高了伺服精度,保证了同步性。(The invention discloses a novel bag making machine servo synchronization method, which comprises the following steps: s1: dividing the duration of the pulse output into a plurality of time segments which are connected in sequence; s2: equally dividing the plurality of time segments obtained in the step S1 into a plurality of segments respectively to obtain a plurality of output intervals respectively; s3: before the pulse is output at each interval time, the pulse value corresponding to the interval time is subjected to pulse compensation calculation, and the compensation quantity is D Δ Then outputting the compensated pulse value until the time period of the interval is over; s4: the operation of step S3 is repeated until the current time is the last time of the pulse output. The novel bag making machine servo synchronization method divides the pulse output time period into a plurality of time periods, and performs pulse compensation on the current interval moment before outputting pulses at equal intervals of each time period, thereby performing pulse compensation on the whole trapezoidal pulseAll the sections in the sending process are compensated, synchronous real-time compensation is realized, the servo precision is improved, and the synchronism is ensured.)

1. A novel servo synchronization method of a bag making machine is characterized by comprising the following steps:

s1: dividing the duration of the pulse output into a plurality of time segments which are connected in sequence;

s2: equally dividing the plurality of time segments obtained in the step S1 into a plurality of segments respectively to obtain a plurality of output intervals respectively;

s3: before the pulse is output at each interval time, the pulse value corresponding to the interval time is subjected to pulse compensation calculation, and the compensation quantity is D_ΔThen outputting the compensated pulse value until the time period of the interval is over;

s4: the operation of step S3 is repeated until the current time is the last time of the pulse output.

2. The novel bag machine servo synchronization method of claim 1, wherein: the number of the time periods is three, and the three time periods respectively correspond to the acceleration time, the constant speed time and the deceleration time of the servo system.

3. The novel bag machine servo synchronization method of claim 2, wherein: the output interval of the acceleration time, the output interval of the constant speed time, and the output interval of the deceleration time are equal.

4. The novel bag machine servo synchronization method of claim 1, wherein: d in the step S3_ΔAs a function of the detected signal.

5. The novel bag machine servo synchronization method of claim 4, wherein: the detection signal is obtained by a swing roller position sensor.

6. The novel bag machine servo synchronization method of claim 5, wherein: the swing roller position sensor is arranged on one group of swing rollers between the two servos.

7. The novel bag machine servo synchronization method of claim 1, wherein: d in the step S3_ΔIs a fixed value.

8. The novel bag machine servo synchronization method of claim 2, wherein: within the acceleration time, i₁The pulse value of the segment isWherein a is₁The acceleration within the acceleration time is obtained, and the number of the acceleration time segments is n₁，T_1nFor the acceleration time and n₁Quotient of (i)₁Is (0, n)₁]Is a natural number of (1).

9. The novel bag machine servo synchronization method of claim 8, wherein: within the constant speed time, i₂The pulse value of the segment isWherein T is_1nThe number of segments of the constant speed time is n for the acceleration time₂，i₂Is (0, n)₂]Is a natural number of (1).

10. The novel bag machine servo synchronization method of claim 9, wherein: during the deceleration time, i₃The pulse value of the segment isWherein a is₃For the deceleration in the deceleration time, the number of segments of the deceleration time is n₃,T_3nFor the deceleration time and n₃Difference of (i)₃Is (0, n)₃]Is a natural number of (1).

Technical Field

The invention relates to a servo synchronization method, in particular to a servo synchronization method of a novel bag making machine.

Background

At present, in the fields of numerical control machine tools, laser processing, robots, large-scale integrated circuit manufacturing, radar and weapon servo systems, flexible manufacturing systems, electric tools, household appliances and the like, servo control systems play a role of a pillar, and the research on high-performance servo control technology, particularly permanent magnet synchronous motor servo control technology with the greatest prospect, has important practical significance and practical value.

For example, chinese patent application publication No. CN109510541A discloses a sliding mode servo control method based on a segmented permanent magnet synchronous motor, which includes designing a trapezoidal speed model control method, where the trapezoidal segmented rotational speed control method is divided into an acceleration section, a constant speed section and a deceleration section, and the acceleration section, the constant speed section and the deceleration section are combined to form an approximately complete control trapezoid. To improve the control accuracy, all pulses of a complete trapezoid are compensated again at the controller.

However, after the method is adopted, when the occupied time of the acceleration section, the constant speed section and the deceleration section is long, the compensation interval of the controller is long, the system needs to perform post compensation at intervals of a long time, the servo precision is difficult to accurately guarantee, and the synchronism of the servo system is reduced.

Therefore, there is a need for an improvement of the servo method in the prior art.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides a novel bag making machine servo synchronization method which can realize synchronous real-time compensation and guarantee servo precision.

In order to realize the technical effects, the technical scheme of the invention is as follows: a novel servo synchronization method of a bag making machine comprises the following steps:

s1: dividing the duration of the pulse output into a plurality of time segments which are connected in sequence;

s2: equally dividing the plurality of time segments obtained in the step S1 into a plurality of segments respectively to obtain a plurality of output intervals respectively;

s3: before the pulse is output at each interval time, the pulse value corresponding to the interval time is subjected to pulse compensation calculation, and the compensation quantity is D_ΔThen outputting the compensated pulse value until the time period of the interval is over;

s4: the operation of step S3 is repeated until the current time is the last time of the pulse output.

By adopting the technical scheme, the duration time of pulse output is divided into a plurality of time periods, and the pulse value emitted at the moment of each output interval is compensated by D_ΔThe pulse compensation is realized, so that a plurality of moments of the whole pulse output are supplemented, thereby realizing synchronous real-time compensation and ensuring the synchronous precision of a servo system.

Preferably, the time periods are three and respectively correspond to the acceleration time, the constant speed time and the deceleration time of the servo system.

By adopting the technical scheme, the pulse output duration time is divided into the acceleration time corresponding to the acceleration section, the constant speed time corresponding to the constant speed section and the deceleration time corresponding to the deceleration section, so that the pulse compensation can be conveniently carried out in different time periods according to the characteristics of the pulse section, and the synchronism of the servo system is ensured.

Preferably, the output interval of the acceleration time, the output interval of the constant speed time, and the output interval of the deceleration time are equal.

By adopting the technical scheme, the time of each output interval is kept consistent, so that the control is convenient, and the improvement of the synchronism is facilitated.

Preferably, step S3 is D_ΔAs a function of the detected signal.

By adopting the technical scheme, the compensation quantity D is determined by utilizing the detection signal_ΔThe pulse compensation accuracy is guaranteed, and therefore the real-time compensation synchronism is improved.

Preferably, the detection signal is obtained by a swing roller position sensor.

By adopting the technical scheme, the detection signal is obtained by utilizing the swing roller position sensor so as to determine the pulse compensation quantity D_ΔAnd synchronous real-time compensation is realized.

Preferably, the swing roller position sensor is arranged on one group of swing rollers between the two servos.

By adopting the technical scheme, the mounting position of the swing roller position sensor is determined, the detection of the position of the swing roller is realized, so that the swing roller signal is determined, and then the position of the swing roller is detected according to the swingDetermination of the pulse compensation D for the roller signal_Δ。

Preferably, step S3 is D_ΔIs a fixed value.

By adopting the technical scheme, the pulse compensation quantity D is adjusted_ΔThe setting is a fixed value, so that the synchronous compensation operation is simpler.

In summary, compared with the prior art, the novel bag making machine servo synchronization method provided by the invention has the advantages that the pulse output time period is divided into a plurality of time periods, and the pulse compensation is performed on the current interval time at the equal interval of each time period, so that all the periods in the whole trapezoidal pulse sending process are compensated, the synchronous real-time compensation is realized, the servo precision is improved, and the synchronism is ensured.

Drawings

FIG. 1 is a system schematic of the present invention;

FIG. 2 is a schematic diagram of a segmented pulse of the present invention;

FIG. 3 is a system flow diagram of the present invention;

FIG. 4 is a flow chart of a system for calculating acceleration pulses in accordance with the present invention;

FIG. 5 is a flow chart of a system for calculating constant velocity pulses in accordance with the present invention;

FIG. 6 is a flow chart of a system for calculating deceleration pulses in accordance with the present invention;

Detailed Description

The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

As shown in FIG. 1, the servo synchronization method of the novel bag making machine of the invention comprises the following steps:

s1: dividing the duration of pulse output into three time periods which are connected in sequence, wherein the three time periods are an acceleration section, a constant speed section and a deceleration section respectively, and the acceleration section, the constant speed section and the deceleration section are respectively connected with the acceleration time T of the servo system₁Constant speed time T₂And a deceleration time T₃One-to-one correspondence is realized;

s2: will accelerate the time T₁Is equally divided into n₁Segment to obtain n₁An output acceleration interval T_1n＝T₁/n₁(ii) a Will be constant for a time T₂Is equally divided into n₂Segment to obtain n₂Constant speed interval T_2n＝T₂/n₂(ii) a Will slow down for a time T₃Is equally divided into n₃Segment to obtain n₃A deceleration interval T_3n＝T₃/n₃；

S3: before the pulse is output at each interval time, the pulse value corresponding to the interval time is subjected to pulse compensation calculation, and the compensation quantity is D_ΔThen outputting the compensated pulse value until the time period of the interval is over;

s4: the operation of step S3 is repeated until the current time is the last time of the pulse output.

As shown in FIG. 2, the burst pulse includes an acceleration section, a constant speed section and a deceleration section, wherein the acceleration section has a duration T₁Duration of constant speed section is T₂Duration of the deceleration section being T₃Dividing the acceleration section into n₁Segment, constant speed segment, etc. being n₂Segment, deceleration segment, etc. being n₃And (4) section.

Within an acceleration time

Acceleration interval (i.e. acceleration period per time) T_1n＝T₁/n₁；

Acceleration of a vehicle

Acceleration segment first segment pulse

Second stage pulse of acceleration stage

Third segment pulse of acceleration segment

…

The ith pulse of the acceleration section can be obtained

Within two, constant speed time

Constant speed interval (i.e. constant speed section per time) T_2n＝T₂/n₂；

Because the constant speed pulse output is parallel to the horizontal axis time line, each pulse output of the constant speed section is equal, namely the pulse of the ith section of the constant speed section

Third, within deceleration time

Deceleration interval (i.e. each time of deceleration segment) T_3n＝T₃/n₃；

Deceleration rate

First stage pulse of deceleration stage

Second stage pulse of deceleration section

Third stage pulse of deceleration stage

…

The ith pulse of the deceleration section can be obtained

Before the controller sends out the pulse, the time required to be sent out at each interval in different time periods can be obtained according to the analysisOf (2) is performed. During each time period, the first pulse period needs to be pulse compensated before it is sent out (as shown in fig. 3-6). To ensure the pulse compensation quantity D_ΔThe accuracy of the method is characterized in that a swing roller position sensor is arranged on a group of swing rollers between two servos, the position of the swing rollers is detected by the swing roller position sensor, and a program determines compensation amount according to detection signals of the swing rollers, wherein the specific compensation mode is as follows:

as shown in fig. 4-6, assuming that the current time is the ith time in the time period, then:

(1) positive compensation: when the swing roller is positioned above, the pulse of the acceleration section required to be sent at the current section is D_1i＝D_1i+D_Δ(if the moment is in the constant speed time, constant speed section pulse D needs to be sent out_2i＝D_2i+D_Δ(ii) a If the moment is within the deceleration time, a deceleration section pulse D needs to be sent_3i＝D_3i+D_Δ)

(2) Negative compensation: the position of the swing roller is below, and the pulse of the acceleration section required to be sent at the current section is D_1i＝D_1i-D_Δ(if the moment is in the constant speed time, constant speed section pulse D needs to be sent out_2i＝D_2i-D_Δ(ii) a If the moment is within the deceleration time, a deceleration section pulse D needs to be sent_3i＝D_3i-D_Δ)

By analogy of the mode, the pulse quantity is compensated before each section of the swing roller position sends pulse, servo compensation in the material dragging process is achieved, and compared with the prior art, the method is more beneficial to achieving a synchronous control process.

In order to further improve the synchronism, when the acceleration section, the constant speed section and the deceleration section are equally divided, n is controlled₁、n₂And n₃Of such an amount that T_1n、T_2nAnd T_3nEquality, i.e. the output interval of the acceleration time, the output interval of the constant speed time and the output interval of the deceleration time are equal, so that only at the same time interval is the pulse output and the pulse compensation quantity D_ΔTherefore, the synchronous control of the servo system can be realized. The pulse compensation amount D is_ΔCan also adopt the fixingAnd (4) setting the value, and compensating by the pulse segment output in each interval time segment to achieve synchronous control. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.