CANBUS-based servo driver clock synchronization and position reconstruction method
A servo driver and clock synchronization technology, applied in the direction of instruments, simulators, program control, etc., can solve the problems of easy loss of pulses, poor anti-interference ability, cumbersome wiring, etc., and achieve low cost, high cost performance, and compensation for communication delays Effect
Active Publication Date: 2021-10-08
杭州力超智能科技有限公司
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Problems solved by technology
Aiming at the disadvantages of cumbersome pulse wiring, easy loss of pulse, poor anti-interference ability and high cost of real-time Ethernet, this technical solution designs a multi-axis synchronization system based on CANBUS bus to solve the above problems
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[0042] In order to better understand the technical solutions of the present application, the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.
[0043] It should be clear that the described embodiments are only some of the embodiments of the present application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.
[0044]Terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of this application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.
[0045] The invention discloses a low-cost CANBUS-ba...
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The invention discloses a CANBUS-based servo driver clock synchronization and position reconstruction method, and particularly relates to a control method for realizing motion synchronization between a master axis and a slave axis in a multi-axis synchronous servo system. According to the method, the problem of poor anti-interference performance of a traditional pulse synchronization mode can be solved, and compared with a synchronization system based on the real-time industrial Ethernet, the cost is low, and the structure is simple. According to the method, firstly, network internal clock synchronization is realized based on the CANBUS, and each node driver has a unified time reference; and meanwhile, information such as the speed, the position and the position change rate of the main shaft is transmitted by adopting a CANBUS data message. For compensating position lag caused by transmission delay and possible data loss and ensuring the performance of position synchronization, the invention designs a position compensation and reconstruction algorithm, provides a high-cost-performance solution for the multi-axis synchronous servo system, and has important application value.
Description
technical field [0001] The invention relates to a clock synchronization and position reconstruction method of a servo driver based on the field bus CANBUS, in particular to a control method used in a multi-axis synchronous servo system to realize motion synchronization between a main shaft and a slave shaft. Background technique [0002] Such as figure 1 As shown, a typical multi-axis synchronous motion control system consists of multiple servo units, servo motors, a motion controller and synchronization network. In workplaces that require a high degree of automation, require multiple motors to coordinate and synchronize work, and accurately control parameters such as position, speed, and torque, such as packaging machinery, color printing, textile machinery, flying shears, papermaking machinery, precision machine tools, and industrial robots. It is widely used in important fields such as high-speed elevators and high-speed elevators. Synchronous motion control is developi...
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IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/24215
Inventor 马风力孙志锋
Owner 杭州力超智能科技有限公司