Equipment and method for controlling two-parallel axis synchronous movement servo system

Abstract

The invention provides an algorithm for synchronously controlling the position and the speed of two parallel axes. Initial synchronous positions of the two parallel positions marked by measuring tool are used, two corresponding initial points are taken as zero points of the two axes, the direct search method is used, one of the two parallel axes is used as the X axis, and the other is used as the Y axis; the projections of a straight line, of which the interpolation slope on the XOY plane is one, on the two axes are the same, so that the position synchronism of the two axes is achieved; and according to the direct search method, the displacements of the two axes are equal in the same interpolation period, so that the speed synchronism of the two axes is achieved. The technical proposal of the invention has the advantages that the two axes in a large span adopt two servo motors for independent drive so as to realize the synchronism of the speed and the position; no driving or driven axis is arranged; the synchronism of the speed and the position are completely achieved; the synchronism of the speed and the position can be successfully achieved on the common movement control card; and the method is quite good in actual meaning.

Description

technical field [0001] The invention relates to a method for synchronous control, in particular to a method for synchronously controlling the positions and speeds of two parallel shafts. Background technique [0002] In robot motion control, synchronous control of the position and velocity of two parallel axes is required. [0003] As far as the two parallel axes are concerned, there are currently two most common methods, one is that the two parallel axes are connected by a rigid synchronous axis, and the other is that the two axes are controlled by two servo motors respectively. The former has the advantages of simple structure, low control cost, stable and reliable operation, and has been applied in industrial Cartesian coordinate robots. The disadvantage is that it is difficult to process the synchronous axis with a long axial direction and the processing cost is extremely high, so it is generally impossible. It is made very long, which limits the span of two parallel sh...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a method for synchronously controlling the position and speed of two parallel shafts, which aims to effectively solve the problem of synchronous control of the position and speed of two synchronous shafts with a large span at high speed. The method does not set active and passive shafts, The two position, speed, and torque three closed-loop systems operate independently according to the interpolation rules, which can fully achieve position synchronization and speed synchronization, and can be successfully implemented on ordinary motion control cards, and the main frequency requirement is not high

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