Servo position smoothing method and device, electronic equipment and storage medium

Abstract

The invention discloses a servo position smoothing method and device, electronic equipment and a storage medium, and relates to the technical field of servo control. The method comprises the following steps: extracting a current interpolation parameter corresponding to a current interpolation period, and extracting a previous interpolation parameter corresponding to a previous interpolation period; converting the current interpolation parameter into a current motor pulse parameter, and converting the previous interpolation parameter into a previous motor pulse parameter; obtaining an interpolation period value, and obtaining a servo position loop sampling period; performing interpolation calculation according to the current motor pulse parameter, the previous motor pulse parameter, the interpolation period value and the servo position loop sampling period to obtain a motor pulse position; and performing position smoothing processing on the servo system based on the motor pulse position. According to the servo position smoothing method, servo position smoothing can be simply and effectively achieved, the calculated amount is small, and the control precision of a servo system is improved.

Description

Technical field[0001]The present invention relates to the field of servo control, and in particular, to a servo position smooth method, apparatus, electronic device, and storage medium.Background technique[0002]The servo system is an automatic control system that changes the position, orientation, state, and the like of the object, and can change the automatic control system that changes arbitrarily changed in an input amount (or given value). The motion controller in the servo system performs speed planning, trajectory interpolation according to the motion command given by the user programming, and then transforms the pulse position of each shaft motor, and the controlled object is set by user. Set path motion. The smoother the motor pulse position is, the better the servo follow the effect, usually the current glitch reduction, the motor noise is reduced.[0003]In motion controllers, speed planning is typically used for speed planning, such as cosine velocity, S-type speed) to ensu...

AI Technical Summary

Problems solved by technology

The simplest splitting method is to split evenly according to the pulse positions of two adjacent motors. In terms of the position loop sampling cycle scale, this splitting method will cause the pulse speed of the motor to jump, the servo following effect will deteriorate, and the servo system will be affected. control performance

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