Synchronous control system and method based on repetitive motion multi-axis control

Abstract

The invention discloses a synchronous control system and method based on repetitive motion multi-axis control. The synchronous control system and method have the characteristics of good synchronization performance, high reliability, good universality and the like. According to the invention, time scale is issued through an internal bus, and a driving device adopts the self time scale in a time scale interval, so that the time scale unification of the driving device is ensured, and the synchronism is ensured; phase deviation is calculated at a fixed moment, so that the calculated amount is reduced; the phase difference of final operation of the driving device is improved by adjusting the phase difference of the issued instruction, so that the synchronism of the control device is improved; the internal bus is connected with the driving device, and the number of the driving devices which can be synchronized is determined by the communication speed and number of the internal bus, so that aplurality of driving devices can be hung; and the system is easy to implement, data of the driving modules are uploaded to the bus, and the synchronous control device stores and records the data through the bus and transmits the data out through an external interface in the later period.

Description

Technical field [0001] The present invention relates to a synchronous control system and method based on repetitive motion multi-axis control, with a good synchronous performance, high reliability, good versatility. Background technique [0002] In a series of water bionic projects, repetition is the driving force for ensuring the operation of the diving, and the phase angle between the motors is to ensure the stability of the diving, and the multiple motors need to be synchronously controlled in the past. , Usually by the upper machine directly, each motor is swinging according to the instruction, since the motor control always lags the angular adjustment, so that the current change rate is large, it is difficult to ensure smooth operation of the drive unit, and cannot guarantee the phase angle Constant deviation; there is currently controlled and drive integrated design considerations, and generates instructions, such a benefit is strong in synchronous performance, and the runn...

AI Technical Summary

Problems solved by technology

[0002] In a series of underwater bionic projects, repeated operation is the power to ensure the operation of the submersible, and the phase angle between the motors is to ensure the stable thrust of the submersible. For this reason, multiple motors need to be controlled synchronously. In the past control , usually the rudder angle command is directly issued by the host computer, and each motor swings according to the command. Since the motor control always lags behind the angle adjustment, the current change rate is relatively large, and it is difficult to ensure the smooth operation of the drive device and the phase angle. Constant deviation; at present, there are also control and drive integration design considerations, and generate instructions by itself. This has the advantages of strong synchronization performance, relatively stable operating current, and stable trajectory of itself, but the problems it brings are also more prominent. It needs to be concentrated space size, which is difficult to achieve for bionic devices; another solution is to disperse the controller and driver to meet the space requirements of the device itself, and the controller converts the upper-level instructions and sends them out synchronously , the driving device installs its own time scale for command synthesis, and its synchronization problem is not obvious in short-term operation, but in long-term operation, no better measures are proposed for the synchronization error caused by different drive time scales and how to reduce the lag angle

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