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Motion control method suitable for extreme application conditions

A motion control and conditional technology, applied in general control systems, program control, comprehensive factory control, etc., can solve problems such as difficulty in adapting to extreme environmental conditions, poor control accuracy, etc., and achieve the effect of various motion control methods and high control sensitivity

Active Publication Date: 2020-01-03
BEIJING RES INST OF MECHANICAL & ELECTRICAL TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of the above analysis, the embodiment of the present invention aims to provide a motion control method suitable for extreme application conditions, so as to solve the problems that the existing technology is difficult to adapt to extreme environmental conditions and has poor control accuracy

Method used

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  • Motion control method suitable for extreme application conditions
  • Motion control method suitable for extreme application conditions
  • Motion control method suitable for extreme application conditions

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Embodiment 1

[0068] A specific embodiment of the present invention discloses a motion control method suitable for extreme application conditions, such as figure 1 shown, including the following steps:

[0069] S1. Obtain the motion task, slave station priority and coordination sequence of each slave station in the motion control system according to the received motion setting information input by the user;

[0070] S2. According to the priority and coordination order of the above slave stations and the motion tasks of each slave station, control the corresponding servo motors of each slave station to perform corresponding operations at corresponding times in turn;

[0071] S3. Collect the motion information of the corresponding servo motor of the slave station in real time, judge whether the extreme application condition occurs at the current moment according to the motion information, and immediately adjust the slave shaft acceleration of the motor to a state that has the least impact on ...

Embodiment 2

[0079] The optimization is carried out on the basis of Embodiment 1. In step S1, the motion task of each slave station includes: the start time of each slave axis of the servo motor, motion rules, motion time, motion priority and coordination sequence.

[0080] Specifically, the above-mentioned movement priority refers to, in some extreme cases, the slave axis does not move to the set preset position at the current moment, whether the slave station controls the slave axis to continue to move to the preset position or directly execute the next operation Sort. This situation often occurs in extreme application conditions, and the motion priority needs to be set according to actual needs.

[0081] Preferably, the above-mentioned coordination order refers to coordination according to priority, that is, in some extreme cases, the slave axis does not move to the set preset position at the current moment, whether the slave station controls the slave axis to continue to move to the pr...

Embodiment 3

[0120] A specific embodiment of the present invention discloses a motion control system applicable to extreme application conditions corresponding to Embodiment 1, such as figure 2 As shown, including the master station and more than 1 slave station.

[0121] The master station is used to receive the motion setting information input by the user, analyze it to obtain the motion task, slave station priority and coordination order of each slave station, and obtain feedback from the corresponding slave stations in turn according to the optimization level and coordination order information, according to the motion task and feedback information to obtain the control information of the slave station at the next moment, and send it to the corresponding slave station.

[0122] The slave station is used to monitor the motion information of the corresponding servo motor in real time, judge whether the extreme application condition occurs in real time according to the motion information,...

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Abstract

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 of difficulty in adapting to extreme environment conditions and poor control precision in the prior art. The motion control method comprises the following steps of acquiring motion tasks, the slave station priority and the coordination sequence of various slave stations in a motion control system according to motion setting information input by a user; according to the slave station priority and the coordination sequence, the motion tasks of various slave stations, controlling corresponding servo motors of various slave stations to perform corresponding operations at the corresponding moment in turn; acquiring motioninformation of corresponding servo motors of the slave stations in real time, judging whether the extreme application conditions occur at the current moment or not according to the motion information, and when the extreme application conditions occur, instantly adjusting the slave shaft acceleration of the motors to a state with the least impact on the motion; and acquiring control information ofvarious slave stations at the next moment, after the above adjustment is completed, controlling servo motors of various slave stations to execute the corresponding operations at the next moment according to the control information.

Description

technical field [0001] The invention relates to the technical field of motion control methods, in particular to a motion control method suitable for extreme application conditions. Background technique [0002] Motion control usually refers to transforming predetermined control schemes and planning instructions into desired mechanical motions under complex conditions to achieve precise position control, speed control, acceleration control, torque or force control of mechanical motion. [0003] The motion control method is a method to control the operation mode of the motor. For example, the AC contactor is controlled by the travel switch, so that the motor drags the object to run up to the specified position and then runs down, or the motor is controlled by the time relay. Stop for a while and then turn for a while and then stop. The application of motion control methods in the field of robots and CNC machine tools is more complex than in special-purpose machines, because t...

Claims

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Application Information

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IPC IPC(8): G05B19/418H02P5/46
CPCG05B19/41835H02P5/46Y02P90/02
Inventor 李岩刘雷赵伟陈海峰冯俊威刘毅珍张文叶
Owner BEIJING RES INST OF MECHANICAL & ELECTRICAL TECH
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