A synchronous control system and method based on repetitive motion multi-axis control

Abstract

A synchronous control system and method based on repetitive motion multi-axis control has the characteristics of good synchronization performance, high reliability, good versatility and the like. The present invention issues the time scale through the internal bus, and the driving device adopts its own time scale in the time scale interval, thereby ensuring the uniformity of the time scale of the driving device and ensuring the synchronization; the present invention adopts a fixed time to calculate the phase deviation and reduces the amount of calculation; The invention improves the phase difference of the final operation of the driving device by adjusting the phase difference of the issued command, and improves the synchronization of the control device. The present invention is connected with the driving device through the internal bus, the number of the driving device that can be synchronized is determined by the communication speed and the number of the internal bus, and a plurality of driving devices can be connected. The invention is easy to implement, and the data of the drive modules are all uploaded to the bus, and the synchronous control device stores and records the data through the bus, and transmits the data through an external interface later.

Description

technical field [0001] The invention relates to a synchronous control system and method based on repetitive motion multi-axis control, and has the characteristics of good synchronous performance, high reliability, good versatility and the like. Background technique [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, it is necessary to control multiple motors synchronously. In the past control , Usually the rudder angle command is directly issued by the host computer, and each motor oscillates according to the command. Since the motor control always lags behind the angle adjustment, the current change rate is large, which is difficult to ensure the smooth operation of the drive device and the phase angle. Constant deviation; at present, there are also integrated design considerations for control ...

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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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