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Multi-axis linkage mechanical motion control method, device and system, and readable storage medium

A technology of mechanical motion and multi-axis linkage, applied in the field of multi-axis linkage mechanical motion control method, system and computer-readable storage medium, and device, can solve the problem of inaccurate pulse frequency control, multi-axis interpolator output frequency jumping, interpolation The interpolation time cannot be divisible by the interpolation period, etc.

Active Publication Date: 2021-05-11
HANGZHOU ECHO SCI TECH
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Problems solved by technology

[0007] This application provides a multi-axis linkage mechanical motion control method, device, system and computer-readable storage medium, which solves the problem of inaccurate pulse frequency control caused by the output frequency jump of multi-axis interpolators and the interpolation time cannot be divisible by the interpolation period. problems, effectively improving the control accuracy of multi-axis linkage mechanical motion

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  • Multi-axis linkage mechanical motion control method, device and system, and readable storage medium

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[0054] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0055] The terms "first", "second", "third" and "fourth" in the specification and claims of this application and the above drawings are used to distinguish different objects, rather than to describe a specific order . Furthermore, the terms "comprising" and "having", and any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product or device comprisi...

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Abstract

The invention discloses a multi-axis linkage mechanical motion control method, device and system, and a computer readable storage medium. The method comprises the following steps: calculating the total motion time of a target trajectory point according to the total pulse number, the acceleration shape and the speed shape of the target trajectory point when the target trajectory point is interpolated; if the total motion time is not greater than a preset interpolation threshold value, taking the total motion time value as a first-stage interpolation period; if the total motion time is greater than a preset interpolation threshold value, calculating a first-stage interpolation period according to the total motion time and the number of interpolation times; and based on first-stage interpolation period parameter information and a second-stage interpolation period which are obtained through calculation according to the first-stage interpolation period, the acceleration shape and the speed shape, obtaining the output pulse of each axis, wherein the second-stage interpolation period is a fixed microsecond-stage period. The problems that the output frequency of the multi-axis interpolator jumps and the interpolation time cannot be exactly divided by the interpolation period, so that the pulse frequency control is inaccurate are solved, and the control precision of the multi-axis linkage mechanical motion is effectively improved.

Description

technical field [0001] The present application relates to the technical field of automation control, in particular to a multi-axis linkage mechanical motion control method, device, system and computer-readable storage medium. Background technique [0002] With the acceleration of industrial automation process and increasingly fierce market competition, a large number of manufacturers seek more efficient production methods in order to survive. As domestic small and medium-sized enterprises have more and more demand for low-end motion control equipment, multi-axis linkage mechanical motion control platforms such as template cutting machines, inkjet machines, and cutting machines are favored. The multi-axis linkage mechanical motion control platform Control systems are also maturing. The control method of the multi-axis linkage mechanical motion control platform usually adopts the trapezoidal or S-shaped speed curve planning method. For the multi-axis linkage mechanical motio...

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Application Information

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IPC IPC(8): G05B19/41
CPCG05B19/41G05B2219/34083
Inventor 伍郁杰白燕吴超
Owner HANGZHOU ECHO SCI TECH
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