Frictional force prediction and compensation method of feeding system and computer readable storage medium

A technology of feed system and compensation method, which is applied in the general control system, control/adjustment system, test/monitoring control system, etc., can solve the problems affecting the processing quality and precision of the feed system, and achieve the improvement of processing quality and precision. degree, to overcome the effect of lack of motivation

Pending Publication Date: 2021-12-03
DELTA ELECTRONICS INC
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Problems solved by technology

[0002] Generally speaking, the motor used in the feed system (such as automation equipment) will have a speed discontinuity at the moment of reverse rotation because there is not enough power to overcome the maximum static friction generated by the mechanical components. The processing lines are produced in the direction, which affects the processing quality and precision of the feeding system

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  • Frictional force prediction and compensation method of feeding system and computer readable storage medium
  • Frictional force prediction and compensation method of feeding system and computer readable storage medium
  • Frictional force prediction and compensation method of feeding system and computer readable storage medium

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Embodiment Construction

[0046] A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0047] The invention discloses a method for predicting and compensating the friction force of a feed system, which is mainly used to predict the friction force of the feed system during operation, and timely compensate the motor inside the feed system, so as to avoid The power is not enough to overcome the friction of the feed system and affect the processing quality and precision provided.

[0048] See first figure 2 , is the first specific embodiment of the block diagram of the feeding system of the present invention. The friction prediction and compensation method of the present invention (hereinafter referred to as the compensation method for short in the specification) is mainly applied to such as figure 2 The feeding system 3 is shown. At figure 2 In the embodiment, the feeding system 3 mainly includes a motor driver 31, a motor 3...

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Abstract

Disclosed are a frictional force prediction and compensation method of a feeding system and a computer readable storage medium, wherein the frictional force prediction and compensation method of the feeding system includes the following steps: after the feeding system is started, continuously acquiring a current signal and an angular position signal when a motor rotates through a motor driver; estimating the friction force of the motor at each rotation position according to the current signal and the angular position signal, and generating a plurality of friction force data; establishing a friction force model according to the plurality of estimated friction force data and each corresponding angular position signal; converging the current angular position signal of the motor into a friction force model to predict the predicted friction force of the feeding system; calculating a compensation current based on the predicted friction force; and controlling the motor driver to additionally apply compensation current to the motor, so that the motor overcomes the friction force.

Description

technical field [0001] The invention relates to a feed system, in particular to a friction prediction and compensation method for the feed system. Background technique [0002] Generally speaking, the motor used in the feed system (such as automation equipment) will have a speed discontinuity at the moment of reverse rotation because there is not enough power to overcome the maximum static friction generated by the mechanical components. Processing lines are produced in all directions, which affects the processing quality and precision of the feeding system. [0003] refer to figure 1 , is a schematic diagram of the feed system and friction force. like figure 1 As shown in (a), the feed system 1 is generally equipped with one or more sets of mechanical components 11. After the feed system 1 is started, the motor (not shown) can be controlled to rotate, and the rotation of the motor drives the mechanical components 11. Move repeatedly towards up, down, left, right, front,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/20G06F111/10G06F119/14
CPCG06F30/20G06F2111/10G06F2119/14G05B23/0283G05B19/404G05B2219/41161G05B19/4163G05B19/414
Inventor 李家岩郑宇翔陈家慧蔡秉均
Owner DELTA ELECTRONICS INC
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