High-precision positioning method for linear motors controlled by asymmetrical s-shaped speed curves

Abstract

The invention relates to a high-precision positioning method for a linear motor controlled by an asymmetrical S-shaped speed curve, belonging 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. According to the performance constraints of the linear motor, the method defines the proportional factor and sets the shape characteristics of the speed curve of the acceleration and deceleration section, so as to determine the appropriate motion control parameters; calculates the matching relationship of the S-shaped speed curve time period, and based on the point-to-point running distance constraints. Update; according to the relationship between jerk J and time t of the S-shaped velocity curve, the expressions of acceleration and time a-t, velocity and time v-t, and displacement and time s-t are obtained by using the successive integration method; according to the PLC scan cycle The movement command obtained by discrete expression is sent to the driver in real time, and the drive motor completes the action according to the set command to ensure the smooth 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.

Images