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

A technology of speed curve and linear motor, which is applied in the direction of electric speed/acceleration control, etc., and can solve problems such as inability to meet high-precision positioning at the end

Active Publication Date: 2021-02-05
DALIAN UNIV OF TECH
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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

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

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Embodiment Construction

[0053] The specific embodiment of the present invention will be described in detail in conjunction with the technical scheme and the accompanying drawings

[0054] In the high-speed and high-precision packaging process of semiconductors, reasonable motion speed planning can avoid the impact or large vibration of the motor mover due to high-speed movement, which will affect the placement accuracy of the high-speed placement machine, and improve the stability of the placement process and improve the placement. The film speed and accuracy are of great significance. Based on this, a high-precision positioning method for linear motors controlled by an asymmetrical S-shaped speed curve was invented. The flow of the method is shown in Figure 1.

[0055] In the present invention, the TwinCAT2 software in the Beckhoff industrial computer is used as the soft PLC. According to the method proposed in the text, the position, speed, acceleration and time instructions are transmitted to the ...

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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 ...

Claims

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Application Information

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IPC IPC(8): G05D13/62
CPCG05D13/62
Inventor 马建伟左一鸣胡国庆王云峰闫惠腾司立坤
Owner DALIAN UNIV OF TECH
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