Multi-axis synchronous control method and control system

Abstract

The invention discloses a multi-axis synchronous control method and system, and the system comprises an adjustment device which comprises a plurality of motors and a lifting structure, and the methodcomprises the following steps that a controller carries out the serial communication with a plurality of motor drivers, the controller and the motor drivers carry out the data exchange through an Ethercat communication protocol, and the controller records the current encoder values of the plurality of motors and records the current encoder values as initial positions; and the controller obtains the target height needing to be adjusted by an adjusting device and transmits information into the controller, and the controller obtains a corresponding control command through calculation, converts the command into a motion command and transmits the motion command to the motor drivers to be executed. Compared with the prior art, all the lifting structures can be controlled to be always kept synchronous in real time according to the movement distance of each lifting structure, so that industrial equipment mounted on the adjusting device can be lifted in parallel when gravity center movement occurs, and the plane angle of the industrial equipment is kept unchanged; therefore, the industrial equipment can obtain a stable reference coordinate system.

Description

technical field [0001] The invention relates to the technical field of mechanical control, in particular to a multi-axis synchronous control method and a control system. Background technique [0002] In many industrial equipment, in order to increase the range of use of industrial equipment, an adjustment device is often added to the base of the industrial equipment. When the industrial equipment reaches the limit range but the distance is still not enough, the operating range of the industrial equipment can be increased by controlling the adjustment device. For example, installing the industrial robot arm on a liftable adjustment device can expand the working range of the industrial robot arm in the vertical direction. [0003] Existing adjustment devices are mainly divided into manual lift type, push rod type and single motor type. The manual lifting type is adjusted by manually turning the handwheel, which lacks automation. The push rod type is adjusted by controlling th...

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Problems solved by technology

[0005] The purpose of the present invention is to overcome the above-mentioned technical deficiencies, and propose a multi-axis synchronous control method and control system to solve the problem that if the center of gravity of the industrial equipment installed on the adjustment device is It is not fixed. For example, when the industrial mechanical arm is working, the simple synchronous power-on and power-off control does not guarantee that each lifting structure can be extended or shortened by a uniform distance.

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