Linear motor high-precision positioning method based on asymmetric S-shaped speed curve control

Abstract

The invention belongs to the field of high-precision and high-speed motion control, and relates to a linear motor high-precision positioning method based on asymmetric S-shaped speed curve control, inparticular to a linear motor high-precision positioning method based on asymmetric S-shaped speed curve control. The method includes: defininig a scaling factor and setting acceleration and deceleration section speed curve shape characteristics according to linear motor performance constraints, so as to determine appropriate motion control parameters; calculating an S-shaped speed curve time period matching relationship, and updating the S-shaped speed curve time period matching relationship based on point-to-point operation distance constraints; performing solving to obtain expressions of the acceleration and the time a-t, the speed and the time v-t and the displacement and the time s-t by adopting a successive integral method according to the relationship between the S-shaped speed curve plus the acceleration J and the time t; and dispersing the expression according to a PLC scanning period to obtain a motion instruction, transmitting the motion instruction to a driver in real time,and driving a motor to complete actions according to a set instruction to ensure the stability of the operation process.

Description

technical field [0001] The invention belongs to the field of high-precision and high-speed motion control, and relates to a high-precision positioning method for a linear motor controlled by an asymmetrical S-shaped speed curve. Background technique [0002] With the rapid development of the electronic packaging industry, there are more and more high-speed packaging equipment. The advanced packaging equipment represented by high-speed placement machines not only puts forward higher requirements for precision, but also has high speed as an important indicator. The high-speed operation of the high-speed placement machine from the pick-up point to the placement point requires the linear motor to start and stop frequently in a very short period of time with a large jerk, which will inevitably cause vibration of the equipment and reduce the placement accuracy, mainly reflected in the impact Point-to-point motion positioning accuracy under high-speed operation. Therefore, in the ...

AI Technical Summary

Problems solved by technology

This patent proposes the use of S-shaped acceleration and deceleration curves to avoid the impact of acceleration and deceleration. In the theoretical research, the acceleration and deceleration process is symmetrical. There is no derivation for the asymmetrical acceleration and deceleration process, which cannot meet the high-precision positioning of the end.

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