阅读说明：本技术 一种基于重复运动多轴控制的同步控制系统及方法 (Synchronous control system and method based on repeated motion multi-axis control ) 是由 于洋 姜丽婷 李真山 赵晓瑞 魏娟 于 2020-11-20 设计创作，主要内容包括：一种基于重复运动多轴控制的同步控制系统及方法,具备同步性能好、可靠性高、通用性好等特点。本发明通过内部总线下发时标,在时标间隔内驱动装置采用自身时标,以此来保障驱动装置的时标统一,保障同步性；本发明采用固定时刻计算相位偏差,降低计算量；本发明通过调整下发指令的相位差来改善驱动装置最终运行的相位差,提高控制装置的同步性。本发明通过内部总线与驱动装置进行连接,其可以同步的驱动装置数量由内部总线通讯速度及数量确定,可以挂接多个驱动装置。本发明易于实现,同时驱动模块的数据均上传总线,同步控制装置通过总线将数据进行存储记录,后期通过外部接口传出。(A synchronous control system and method based on repeated motion multi-axis control has the advantages of being good in synchronous performance, high in reliability, good in universality and the like. The invention issues time marks through an internal bus, and the driving device adopts self time marks in a time mark interval so as to ensure the unification of the time marks of the driving device and the synchronism; the invention adopts fixed time to calculate the phase deviation, thus reducing the calculated amount; the phase difference of the final operation of the driving device is improved by adjusting the phase difference of the issued command, and the synchronism of the control device is improved. The invention is connected with the driving device through the internal bus, the number of the driving devices which can be synchronized is determined by the communication speed and the number of the internal bus, and a plurality of driving devices can be connected. The invention is easy to realize, simultaneously, the data of the driving module are uploaded to the bus, the synchronous control device stores and records the data through the bus, and the data are transmitted out through the external interface at the later stage.)

1. A synchronous control system based on repeated motion multi-axis control is characterized in that: the system comprises a synchronous controller and a plurality of servo executing mechanisms:

the synchronous controller is used for receiving a control instruction of the upper computer and extracting an instruction keyword from the control instruction; simultaneously sending a synchronous time mark to a servo actuating mechanism; sending a start control instruction to the servo actuating mechanism to control the servo actuating mechanism to start swinging; and sending a control instruction to the servo execution mechanism in real time according to the instruction keyword; meanwhile, according to corresponding parameters fed back by the servo actuator and the calculated lag angle, the lag angle is compared with a preset lag angle in the control command, if the comparison difference does not meet the requirement, the preset lag angle in the control command is updated according to the comparison difference, and the phase difference of the servo actuator reaches the preset value requirement;

the servo execution mechanisms receive the synchronous time marks, and realize the correction of the internal time marks of the servo execution mechanisms and the time synchronization of each servo execution mechanism; and receiving the control instruction in real time, carrying out corresponding motion switching if the control instruction is updated, and simultaneously recording and feeding back corresponding parameters of the servo actuating mechanism driving device in real time.

2. The system and the method for synchronous control based on repeated motion multi-axis control as claimed in claim 1, wherein: the method for calculating the lag angle comprises the following steps:

first, the phase deviation is defined asWherein A is_iIs amplitude, omega is angular frequency, phi is initial phase, phi i is lag phase, beta_iIs an offset angle;

when in useWhen the temperature of the water is higher than the set temperature,n is an integer of not less than 0;

at t₀The time of day, from Δ e, the offset phase value is calculated.

3. The system and the method for synchronous control based on repeated motion multi-axis control as claimed in claim 1, wherein: the updated preset lag angle is phi_i0＝φ_i-K_CΔ e; wherein phi is_i0Is the updated preset angle value phi_iIs the initial preset angle value, Kc is the angle adjustment factor, and Δ e is the calculated offset phase value.

4. The system and the method for synchronous control based on repeated motion multi-axis control as claimed in claim 1, wherein: the command keywords include amplitude A, angular frequency omega, initial phase phi, lag phase phi i, and offset angle beta.

5. The system and the method for synchronous control based on repeated motion multi-axis control as claimed in claim 1, wherein: the synchronous controller comprises a RAM module; the RAM module is used for storing the running state parameters of the servo actuator and the lag angle fed back by the servo actuator in real time; the interface of the synchronous controller for external communication is an Ethernet interface, and is used for realizing data exchange between the RAM module and the outside.

6. The repetitive motion multi-axis control based synchronous control method realized by the repetitive motion multi-axis control based synchronous control system according to claim 1, characterized by comprising the following steps:

receiving a control instruction of an upper computer and extracting an instruction keyword from the control instruction;

sending a synchronization time mark to a servo actuating mechanism; the servo execution mechanisms receive the synchronous time marks, and realize the correction of the internal time marks of the servo execution mechanisms and the time synchronization of each servo execution mechanism;

sending a start control instruction to the servo actuating mechanism to control the servo actuating mechanism to start swinging;

sending a control instruction to a servo execution mechanism in real time according to the instruction keyword;

the servo actuating mechanism receives the control command in real time, if the control command is updated, corresponding motion switching is carried out, and meanwhile, corresponding parameters of a servo actuating mechanism driving device are recorded and fed back in real time;

and comparing the lag angle with a preset lag angle in the control command according to corresponding parameters and calculated lag angles fed back by the servo actuator, and if the comparison difference does not meet the requirement, updating the preset lag angle in the control command according to the comparison difference so as to enable the phase difference of the servo actuator to meet the requirement of a preset value.

7. The repetitive motion multi-axis control based synchronous control method according to claim 6, characterized in that: the method for calculating the lag angle comprises the following steps:

first, the phase deviation is defined asWherein A is_iIs amplitude, omega is angular frequency, phi is initial phase, phi i is lag phase, beta_iIs an offset angle;

when in useWhen the temperature of the water is higher than the set temperature,n is an integer of not less than 0;

at t₀The time of day, from Δ e, the offset phase value is calculated.

8. The repetitive motion multi-axis control based synchronous control method according to claim 6, characterized in that: the updated preset lag angle is phi_i0＝φ_i-K_CΔ e; wherein phi is_i0Is the updated preset angle value phi_iIs the initial preset angle value, Kc is the angle adjustment factor, and Δ e is the calculated offset phase value.

9. The repetitive motion multi-axis control based synchronous control method according to claim 6, characterized in that: the command keywords include amplitude A, angular frequency omega, initial phase phi, lag phase phi i, and offset angle beta.

10. The repetitive motion multi-axis control based synchronous control method according to claim 6, characterized in that: the running state parameters of the servo executing mechanism and the lag angle fed back by the servo executing mechanism in real time are stored in the RAM module; the RAM module and external data exchange are realized through an Ethernet interface.

Technical Field

The invention relates to a synchronous control system and method based on repeated motion multi-axis control, which have the characteristics of good synchronization performance, high reliability, good universality and the like.

Background

In a series of underwater bionic projects, repeated operation is power for guaranteeing the operation of an underwater vehicle, phase angles among motors are stable thrust for guaranteeing the underwater vehicle, therefore, a plurality of motors need to be synchronously controlled, in the prior control, a rudder angle instruction is directly issued by an upper computer, each motor swings according to the instruction, and because the motor control always lags behind the angle adjustment, the current change rate is large, the stable operation of a driving device is difficult to guarantee, and the constant deviation of the phase angles cannot be guaranteed; at present, control and drive are integrated, and instructions are generated by the control and drive integrated device, so that the advantages of strong synchronization performance, stable running current and stable track of the control and drive integrated device are achieved, but the problems caused by the control and drive integrated device are also prominent, and the control and drive integrated device is difficult to realize due to the concentrated space size; in another scheme, a controller and drivers are distributed to meet the self space requirement of the device, the controller converts a previous-level instruction and synchronously issues the instruction, the driving device installs a self time scale to synthesize the instruction, the synchronization problem is not obvious when the driving device runs in a short time, but the synchronization error caused by different driver time scales when the driving device runs in a long time and how to reduce the lag angle does not provide better measures.

Disclosure of Invention

The technical problem solved by the invention is as follows: the defects of the prior art are overcome, and the synchronous control system and method based on the repetitive motion multi-axis control are provided, are applied to the occasions of bionic propulsion devices, and have the characteristics of good synchronization performance, high reliability and good universality.

The technical solution of the invention is as follows: a synchronous control system based on repeated motion multi-axis control comprises a synchronous controller and a plurality of servo execution mechanisms:

the synchronous controller is used for receiving a control instruction of the upper computer and extracting an instruction keyword from the control instruction; simultaneously sending a synchronous time mark to a servo actuating mechanism; sending a start control instruction to the servo actuating mechanism to control the servo actuating mechanism to start swinging; and sending a control instruction to the servo execution mechanism in real time according to the instruction keyword; meanwhile, according to corresponding parameters fed back by the servo actuator and the calculated lag angle, the lag angle is compared with a preset lag angle in the control command, if the comparison difference does not meet the requirement, the preset lag angle in the control command is updated according to the comparison difference, and the phase difference of the servo actuator reaches the preset value requirement;

the servo execution mechanisms receive the synchronous time marks, and realize the correction of the internal time marks of the servo execution mechanisms and the time synchronization of each servo execution mechanism; and receiving the control instruction in real time, carrying out corresponding motion switching if the control instruction is updated, and simultaneously recording and feeding back corresponding parameters of the servo actuating mechanism driving device in real time.

Further, the method of calculating the lag angle:

first, the phase deviation is defined asWherein A is_iIs amplitude, omega is angular frequency, phi is initial phase, phi i is lag phase, beta_iIs an offset angle;

when in useWhen the temperature of the water is higher than the set temperature,n is an integer of not less than 0;

at t₀The time of day, from Δ e, the offset phase value is calculated.

Further, the updated preset lag angle is phi_i0＝φ_i-K_CΔ e; wherein phi is_i0Is the updated preset angle value, [ phi ] i is the initial preset angle value, [ Kc ] is the angle adjustment coefficient, and [ delta ] e is the calculated deviation phase value.

Further, the command key includes a magnitude a, an angular frequency ω, an initial phase Φ, a lag phase Φ i, and an offset angle β.

Further, the synchronous controller comprises a RAM module; the RAM module is used for storing the running state parameters of the servo actuator and the lag angle fed back by the servo actuator in real time; the interface of the synchronous controller for external communication is an Ethernet interface, and is used for realizing data exchange between the RAM module and the outside.

The synchronous control method based on the repeated motion multi-axis control, which is realized according to the synchronous control system based on the repeated motion multi-axis control, comprises the following steps:

receiving a control instruction of an upper computer and extracting an instruction keyword from the control instruction;

sending a synchronization time mark to a servo actuating mechanism; the servo execution mechanisms receive the synchronous time marks, and realize the correction of the internal time marks of the servo execution mechanisms and the time synchronization of each servo execution mechanism;

sending a start control instruction to the servo actuating mechanism to control the servo actuating mechanism to start swinging;

sending a control instruction to a servo execution mechanism in real time according to the instruction keyword;

the servo actuating mechanism receives the control command in real time, if the control command is updated, corresponding motion switching is carried out, and meanwhile, corresponding parameters of a servo actuating mechanism driving device are recorded and fed back in real time;

and comparing the lag angle with a preset lag angle in the control command according to corresponding parameters and calculated lag angles fed back by the servo actuator, and if the comparison difference does not meet the requirement, updating the preset lag angle in the control command according to the comparison difference so as to enable the phase difference of the servo actuator to meet the requirement of a preset value.

Further, the method of calculating the lag angle:

first, the phase deviation is defined asWherein A is_iIs amplitude, omega is angular frequency, phi is initial phase, phi i is lag phase, beta_iIs an offset angle;

when in useWhen the temperature of the water is higher than the set temperature,n is an integer of not less than 0;

at t₀The time of day, from Δ e, the offset phase value is calculated.

Further, the updated preset lag angle is phi_i0＝φ_i-K_CΔ e; wherein phi is_i0Is the updated preset angle value, [ phi ] i is the initial preset angle value, [ Kc ] is the angle adjustment coefficient, and [ delta ] e is the calculated deviation phase value.

Further, the command key includes a magnitude a, an angular frequency ω, an initial phase Φ, a lag phase Φ i, and an offset angle β.

Further, the running state parameters of the servo actuator and the lag angle fed back by the servo actuator in real time are stored in the RAM module; the RAM module and external data exchange are realized through an Ethernet interface.

Compared with the prior art, the invention has the advantages that:

1. the invention issues time marks through an internal bus, and the driving device adopts self time marks in a time mark interval so as to ensure the unification of the time marks of the driving device and the synchronism;

2. the invention adopts fixed time to calculate the phase deviation, thus reducing the calculated amount;

3. the phase difference of the final operation of the driving device is improved by adjusting the phase difference of the issued command, and the synchronism of the control device is improved.

4. The invention is connected with the driving device through the internal bus, the number of the driving devices which can be synchronized is determined by the communication speed and the number of the internal bus, and a plurality of driving devices can be connected.

5. The invention is easy to realize, simultaneously, the data of the driving module are uploaded to the bus, the synchronous control device stores and records the data through the bus, and the data are transmitted out through the external interface at the later stage.

Drawings

FIG. 1 is a schematic diagram of the internal structure of the synchronous control device according to the present invention;

FIG. 2 is a schematic diagram of the synchronous control system of the present invention;

FIG. 3 is a schematic diagram illustrating a phase difference modification according to the present invention;

FIG. 4 is a flow chart of the synchronization control of the present invention;

FIG. 5 is a control flow chart of the driving device of the present invention.

Detailed Description

In order to better understand the technical solutions, the technical solutions of the present application are described in detail below with reference to the drawings and specific embodiments, and it should be understood that the specific features in the embodiments and examples of the present application are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application, and the technical features in the embodiments and examples of the present application may be combined with each other without conflict.

The following describes in further detail a synchronous control system and method based on repetitive motion multi-axis control provided by an embodiment of the present application with reference to the drawings in the specification, and specific implementations may include (as shown in fig. 1):

the synchronous control system consists of a synchronous control device and a corresponding driving module, the driving module finishes the driving of the mechanism, and the synchronous control device realizes the synchronization of the instructions and the guarantee of the phase difference.

In the scheme provided by the embodiment of the application, the synchronous control device is composed of a shell, a control board, an interface board and an internal cable. The control panel mainly comprises a DSP and peripheral circuit, a logic processing circuit, an Ethernet interface circuit, an external storage interface circuit, a CAN interface circuit, an RS485 interface circuit and the like, and is used for finishing communication with an upper computer and a driving device; the power panel is composed of a power filter circuit, a power conversion circuit, an interface power circuit and the like, and the power supply function of the corresponding circuit of the control panel is completed.

In a possible implementation scheme, the connection relationship between the synchronous control device and the driving module is as shown in the figure, the synchronous control device completes the processing of signals and the issuing of instructions of each driving module, and the driving module completes the control of each executing mechanism. The connection relationship is shown in fig. 1, and the synchronous control device completes the connection with each drive module through an internal bus.

Further, in a possible implementation scheme, on the internal bus, the synchronization control device completes time scale unification of each driving module by issuing time scales. In the drive device, the self time scale is adopted in the synchronous time scale interval, so that the time scales of the finished instructions are unified. Meanwhile, the synchronous control device issues command parameters of each driving device through the bus, wherein the command parameters comprise amplitude A, angular frequency omega, initial phase phi, lag phase phi i and offset angle beta. (the command is y ═ Asin (ω t + φ)_i)+β)

In one possible implementation, the key to synchronization is to calculate the lag angle, i.e., the phase offset. Defining a phase index parameter e:

when ω t + φ_iWhen 2n pi (n is 0,1, 2.), that is to sayWhen the temperature of the water is higher than the set temperature,

when sin phi_{i actual measurement}>sinφ_{i instruction}In time, the phase command phi to the i-drive is adjusted_{i instruction}The synchronous lag angle of the driving device is reduced, and the effect of improvement is achieved, and the adjustment can be referred to as the following figure:

further, the synchronous control system of the present invention is shown in fig. 2, the synchronous control flow is shown in fig. 4, and the corresponding control flow of the driving device is shown in fig. 5:

1. the synchronous control device receives an upper computer instruction;

2. the synchronous control device sends an instruction keyword and simultaneously sends a synchronous time mark, and the driving device forms an instruction time mark through the synchronous time mark and an internal time mark;

3. and the synchronous control device sends a start control instruction, each driving mechanism of the driving device starts to swing, the driving device inquires about instruction updating in the period, and if the instruction updating exists, the instruction is updated, and the movement switching is completed.

4. The synchronous control device is at T ═ T₀Recording corresponding parameters of a driving device at moment, and calculating by a formula to obtain a lag angle;

5. and comparing the lag angle with the command phase difference, and if the lag angle does not meet the requirement, adjusting the command issuing phase difference to reduce the synchronous lag angle, so as to ensure the phase difference of the driving device and meet the requirement of long-term reliable operation.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.