Rapid flexible mechanical beam end positioning algorithm for point-to-point small displacement translation

[0031] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that, in the case of no conflict, the embodiments of the present application The features in the embodiments and the embodiments can be combined with each other.

[0032] Such as figure 1 As shown, in the translational flexible mechanical beam system applied in the present invention, the slider O moves left and right along the horizontal plane, one end of the mechanical beam is fixed on the slider, and the other end is seamlessly connected to a mass body. When the slider moves in the horizontal direction with a small displacement from point to point quickly, the beam with the end mass also moves in the horizontal direction and vibrates relative to the slider. The power source of the whole system is the servo motor, and the control target point is the mass at the end of the mechanical beam. Such as figure 2 As shown, in the mechanical beam control system, the servo motor directly drives the slider O in the mechanical beam system. There is a mechanical beam mechanism between the slider O and the end mass. Therefore, when the system is to make small displacements from point to point, the end The quality stops accurately at the target point, and the control algorithm of the servo motor must be designed.

[0033] Such as image 3 As shown, the control algorithm of the present invention includes the following steps:

[0034] S1, the vibration period T of the mechanical beam 0 Calculation:

[0035] T 0 = 2 π ml 3 3 EI Z - - - ( 1 )

[0036] Among them, m is the total mass of the beam and the end mass; l is the beam length of the mechanical beam; E is the Young's modulus of the mechanical beam material; I Z Is the section moment of inertia of the mechanical beam.

[0037] S2, divide the time of one cycle of point-to-point movement equally

[0038] The mechanical beam system makes rapid and frequent small displacement movement from the starting point to the target point in the plane. This movement of small displacement is regarded as a movement cycle, and the time of this movement cycle is divided into n equal parts, and the value of n for:

[0039] n=T 0 (2)

[0040] S3. Calculate the speed v at each equal point i

[0041] During a rapid point-to-point motion cycle of the mechanical beam system, the speed at each equidistant point i (0≤i≤n-1) is calculated as follows:

[0042] v i = 8 s n 2 i , i A [ 0 , n 4 ] 4 s n - 8 s n 2 i , i A ( n 4 , n 2 ] 8 s n 2 i - 4 s n , i A ( n 2 , 3 n 4 ] 8 s n - 8 s n 2 i , i A ( 3 n 4 , n ] , ( i A Z , 0 ≤ i ≤ n - 1 ) - - - ( 3 )

[0043] Among them, s is the displacement of the mechanical beam from the starting point to the target point, v i It is the speed of the mechanical beam system from the 0th division point to the (n-1)th division point.

[0044] S4. Calculate the number of pulses W sent by each step of the servo motor i

[0045] The mechanical beam system is driven by a servo motor. At each equidistant point, the servo motor sends a pulse, the number of pulses sent is W i Calculated as:

[0046] W i = 1 2 ( v i + v i + 1 ) X p 1000 - - - ( 4 )

[0047] Where W i Is the number of pulses sent by the servo motor at the i-th equidistant point, and p is the number of pulses sent by the servo motor for 1mm.

[0048] S5. Interpolate and calculate the pulse number W at the last equal division point n n

[0049] W n = p X s X 1000 - X i = 1 n - 1 W i - - - ( 5 )

[0050] Where W n It is the number of pulses sent by the servo motor at the nth equivalence point.

[0051] In the above description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, it should not be understood as a limitation on the protection scope of the present invention.

[0052] In short, although the present invention exemplifies the above preferred embodiments, it should be noted that although those skilled in the art can make various changes and modifications, unless such changes and modifications deviate from the scope of the present invention, they should all include Within the protection scope of the present invention.