Positioning method of high-precision servo linear motor

Abstract

The invention relates to the technical field of motion control, and discloses a positioning method for a high-precision servo linear motor, and the method comprises the steps: carrying out the signal mapping of a positioning instruction inputted into the servo linear motor, and obtaining a control signal; performing driving control on the servo linear motor based on the control signal to obtain a preliminary motion state; detecting the initial motion state in real time to obtain a position feedback signal; performing error identification on the target position information and the position feedback signal to obtain an initial position error signal; performing fusion compensation on the initial position error signal and the multi-source sensing data to obtain a high-precision position error signal; the motion parameters of the servo linear motor are subjected to real-time compensation control based on the high-precision position error signal, a high-precision positioning result is obtained, and the positioning precision and efficiency of the servo linear motor can be improved.

Description

Technical Field

[0001] This invention relates to the field of motion control technology, and in particular to a positioning method for a high-precision servo linear motor. Background Technology

[0002] In the field of servo linear motor positioning technology, existing positioning methods generally suffer from incomplete error control. Most methods rely solely on a single position feedback signal for error identification, failing to adequately consider the impact of environmental factors such as temperature, vibration, and humidity on motor motion. These uncompensated interference factors lead to significant deviations between the initial position error signal and the actual error, resulting in a lack of precise basis for subsequent motion parameter adjustments. Furthermore, existing methods often process the initial position error signal at a simple calculation level, without incorporating multi-source sensor data for fusion compensation. This makes it difficult to eliminate accumulated errors under complex operating conditions, ultimately resulting in motor positioning accuracy that fails to meet the demands of high-precision applications.

[0003] Existing servo linear motor positioning methods suffer from insufficient integration between signal processing and real-time control. After position data acquisition, some methods fail to adequately condition the raw position data, resulting in incomplete noise suppression and inadequate phase compensation. This leads to distortion of the filtered position data, causing the generated position feedback signal to fail to accurately reflect the motor's actual motion state. Furthermore, when compensating for motion parameters based on error signals, the response speed is slow, failing to adjust the control strategy in real-time according to error changes. This results in speed fluctuations and position overshoot during positioning, prolonging positioning time and reducing stability and efficiency, making it unsuitable for high-frequency, high-stability positioning requirements. Therefore, improving the accuracy and efficiency of servo linear motor positioning has become an urgent problem to be solved. Summary of the Invention

[0004] This invention provides a high-precision positioning method for a servo linear motor to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides a positioning method for a high-precision servo linear motor, comprising: S1. Map the positioning command of the input servo linear motor to obtain the control signal of the positioning command; S2. Drive and control the servo linear motor based on the control signal to obtain the initial motion state of the servo linear motor; S3. Real-time detection of the initial motion state to obtain the position feedback signal of the servo linear motor; S4. Perform error identification on the target position information and the position feedback signal to obtain the preliminary position error signal of the servo linear motor; S5. The preliminary position error signal is fused and compensated with the multi-source sensor data to obtain the high-precision position error signal of the servo linear motor. S6. Based on the high-precision position error signal, perform real-time compensation control on the motion parameters of the servo linear motor to obtain the high-precision positioning result of the servo linear motor.

[0006] In a preferred embodiment, the step of signal mapping the positioning command of the input servo linear motor to obtain the control signal of the positioning command includes: The positioning command of the input servo linear motor is parsed according to the protocol to obtain the motion parameters of the positioning command; The motion parameters are converted into signals to obtain the driving commands for the motion parameters; The drive command is shaped to obtain the control signal for the drive command.

[0007] In a preferred embodiment, the step of driving and controlling the servo linear motor based on the control signal to obtain the initial motion state of the servo linear motor includes: The control signal is converted into a motor drive command. Based on the motor drive command, the motion control of the servo linear motor is performed to obtain the motor motion response of the servo linear motor; The motion response of the motor is monitored to obtain the preliminary motion state of the servo linear motor.

[0008] In a preferred embodiment, the step of converting the control signal into a motor drive command includes: The control signal is deconstructed to obtain the parsed instruction of the control signal; The parsed instructions are parameter-mapped to obtain the formatted driver parameters of the parsed instructions; The formatted drive parameters are encapsulated into instructions to obtain the motor drive instructions for the control signals.

[0009] In a preferred embodiment, the step of real-time detection of the initial motion state to obtain the position feedback signal of the servo linear motor includes: Position data is collected from the initial motion state to obtain the original position data of the initial motion state; The original position data is subjected to signal conditioning to obtain filtered position data. The filtered position data is reconstructed to obtain the position feedback signal of the filtered position data.

[0010] In a preferred embodiment, the step of signal conditioning the original location data to obtain filtered location data from the original location data includes: Noise suppression is applied to the original location data to obtain smoothed location data of the original location data; Phase compensation is performed on the smoothed position data to obtain phase-calibrated data of the smoothed position data; The amplitude is normalized after phase calibration to obtain the filtered position data of the original position data.

[0011] In a preferred embodiment, the step of identifying the error between the target position information and the position feedback signal to obtain the preliminary position error signal of the servo linear motor includes: The target location information and the location feedback signal are aligned to obtain a synchronized position signal group of the target location information and the location feedback signal; The difference identification is performed on the synchronization position signal group to obtain the signal deviation of the synchronization position signal group; The signal deviation is normalized to obtain the preliminary position error signal of the servo linear motor.

[0012] In a preferred embodiment, the step of fusing and compensating the preliminary position error signal with multi-source sensor data to obtain the high-precision position error signal of the servo linear motor includes: Feature extraction is performed on the multi-source sensor data to obtain the feature vector of the multi-source sensor data; The preliminary position error signal and the feature vector are fused to obtain the fused error signal of the preliminary position error signal and the feature vector; The compensation amount is calculated on the fused error signal to obtain the high-precision position error signal of the servo linear motor. The calculation formula for the high-precision position error signal is as follows: ; In the formula, This refers to the high-precision position error signal. This is the initial position error signal. The preset temperature compensation coefficient, The temperature deviation in the fused error signal. To preset the vibration compensation coefficient, The effective value of the vibration velocity in the fused error signal. For the preset acceleration compensation coefficient, The vibration acceleration value in the fused error signal. The preset humidity compensation coefficient, The humidity deviation is the amount of humidity in the fused error signal.

[0013] In a preferred embodiment, the step of real-time compensation control of the motion parameters of the servo linear motor based on the high-precision position error signal to obtain the high-precision positioning result of the servo linear motor includes: The error features in the high-precision position error signal are mapped according to rules to obtain the motion parameter adjustment command of the error features; The operating status of the servo linear motor is controlled in real time based on the motion parameter adjustment command to obtain the precise position output of the servo linear motor. The positioning result of the precise position output is confirmed to obtain the high-precision positioning result of the servo linear motor.

[0014] In a preferred embodiment, confirming the positioning result of the precise position output to obtain the high-precision positioning result of the servo linear motor includes: The stability of the precise position output is determined to obtain the stability evaluation result of the precise position output; The positioning accuracy is verified based on the stability assessment results to obtain the accuracy verification data of the positioning accuracy. The accuracy verification data are synthesized to obtain the high-precision positioning result of the servo linear motor.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention achieves precise signal mapping by parsing, converting, and shaping the input positioning commands, ensuring that the generated control signals accurately match the motor motion parameter requirements and avoiding command transmission deviations. Simultaneously, it performs noise suppression, phase compensation, and amplitude normalization on the original position data to reduce data distortion and ensure that the position feedback signal truly reflects the motor's motion state. Furthermore, by fusing and compensating for the initial position error signal with multi-source sensor data, incorporating the effects of factors such as temperature, vibration, and humidity, it generates a high-precision position error signal, effectively improving the positioning accuracy of the servo linear motor. 2. Based on high-precision position error signals, this invention rapidly generates motion parameter adjustment commands through error feature quantity rule mapping, and performs real-time compensation control on the motor's operating status. It can respond promptly to error changes and reduce speed fluctuations and position overshoot. Furthermore, through stability judgment and accuracy verification of precise position output, the positioning results are ensured to be stable and reliable, significantly improving the efficiency of servo linear motor positioning and meeting the requirements of high-precision and high-stability positioning applications. Attached Figure Description

[0016] Figure 1This is a flowchart illustrating a high-precision servo linear motor positioning method according to an embodiment of the present invention. The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0017] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0018] This application provides a high-precision servo linear motor positioning method. The execution subject of this high-precision servo linear motor positioning method includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application embodiment: a server, a terminal, etc. In other words, the high-precision servo linear motor positioning method can be executed by software or hardware installed on a terminal device or a server device. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster. The server can be an independent server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms.

[0019] Reference Figure 1 The diagram shown is a flowchart illustrating a high-precision servo linear motor positioning method according to an embodiment of the present invention. In this embodiment, the high-precision servo linear motor positioning method includes: S1. Map the positioning command of the input servo linear motor to obtain the control signal of the positioning command; In this embodiment of the invention, the step of mapping the positioning command of the input servo linear motor to obtain the control signal of the positioning command includes: The positioning command of the input servo linear motor is parsed according to the protocol to obtain the motion parameters of the positioning command; The motion parameters are converted into signals to obtain the driving commands for the motion parameters; The drive command is shaped to obtain the control signal for the drive command.

[0020] Specifically, the positioning command from the input servo linear motor is first obtained, and the communication protocol type followed by the command is identified. According to the frame structure specification of the corresponding protocol, the address field, function code field, and data field in the command frame are split. Address identifiers and function control information that are not related to motor motion are removed, and the focus is on the motion-related content recorded in the data field. Key information such as target position, motion speed, and motion acceleration are extracted. This information is sorted according to the specific numerical requirements corresponding to the motion attributes. The sorted key information is the motion parameters of the positioning command.

[0021] Furthermore, the preset signal conversion rules are retrieved. These rules clearly define the correspondence between different motion attributes and motor drive signal formats. For example, the target position corresponds to the digital pulse signal format, and the motion speed corresponds to the analog voltage signal format. This provides a clear basis for subsequent signal conversion and avoids signal format matching errors during the conversion process.

[0022] Furthermore, the motion attributes in the motion parameters are identified one by one, and the specific numerical requirements corresponding to each attribute are determined. For example, the set position information corresponding to the "target position" attribute and the set speed information corresponding to the "motion speed" attribute are identified to ensure that each motion attribute can be accurately associated with the corresponding value and that there is no misalignment between the attribute and the value.

[0023] Furthermore, according to the signal conversion rules, the specific numerical requirements corresponding to each motion attribute are converted into a signal type that the motor drive module can recognize. For example, the set speed information corresponding to the motion speed is converted into an analog signal with a corresponding voltage range, so that the converted signal can be accurately received and interpreted by the drive module without the problem of signal type incompatibility.

[0024] Furthermore, the converted signals are arranged in the logical order of motor startup, such as first arranging the target position signal, then the motion speed signal, and finally the motion acceleration signal, forming an ordered sequence of drive signals, which is the drive command for motion parameters.

[0025] Furthermore, the drive command input signal shaping unit is activated, and the waveform detection component inside the unit is started. The component captures the signal waveform of the drive command in real time to check whether there are problems such as slow rising edge, jittery falling edge, or amplitude fluctuation, so as to provide a clear judgment basis for subsequent shaping operations.

[0026] Furthermore, if waveform detection detects a problem of a slow rising edge or jittering falling edge, the waveform correction circuit inside the signal shaping unit is activated to adjust the steepness of the signal edges, eliminate jitter, and ensure that the edges of the signal waveform meet the timing requirements of the driver module, thus ensuring the accuracy of the signal in the time dimension.

[0027] Furthermore, if waveform detection detects amplitude fluctuations, the internal amplitude stabilization circuit of the unit is activated to calibrate the signal amplitude to the fixed range required by the motor drive module, so as to avoid abnormal response of the motor after receiving the signal due to amplitude instability and ensure that the signal amplitude remains consistent at different times.

[0028] Furthermore, after completing waveform correction and amplitude calibration, the processed drive command is tested a second time to confirm that the signal waveform is normal and the amplitude is stable. At this time, the quality of the drive command signal fully meets the receiving standard of the servo linear motor drive module. This optimized drive command is the control signal of the drive command.

[0029] In summary, the entire process, from protocol parsing of positioning commands to extraction of motion parameters, to multi-step signal conversion to form drive commands, and finally to obtaining control signals through meticulous signal shaping, revolves around "ensuring accurate signal transmission to meet positioning requirements." The products of each stage are progressively improved and of controllable quality, laying a reliable signal foundation for the subsequent precise drive control of servo linear motors.

[0030] S2. Drive and control the servo linear motor based on the control signal to obtain the initial motion state of the servo linear motor; In this embodiment of the invention, the step of driving and controlling the servo linear motor based on the control signal to obtain the initial motion state of the servo linear motor includes: The control signal is converted into a motor drive command. Based on the motor drive command, the motion control of the servo linear motor is performed to obtain the motor motion response of the servo linear motor; The motion response of the motor is monitored to obtain the preliminary motion state of the servo linear motor.

[0031] The step of converting the control signal into a motor drive command includes: The control signal is deconstructed to obtain the parsed instruction of the control signal; The parsed instructions are parameter-mapped to obtain the formatted driver parameters of the parsed instructions; The formatted drive parameters are encapsulated into instructions to obtain the motor drive instructions for the control signals.

[0032] Specifically, the control signal generated in the early stage is first acquired. This signal contains the basic instruction information for driving the servo linear motor, providing the original basis for subsequent instruction conversion and ensuring that the conversion operation revolves around the existing control signal and does not deviate from the core requirements of signal transmission.

[0033] Furthermore, the preset instruction conversion rules are retrieved. These rules store the correspondence between different types of control signals and motor drive parameters, clearly defining the signal characteristics such as voltage and pulse in the control signals as corresponding to the motor's speed, displacement, and other drive parameters. At the same time, the format specifications of the parameters are defined, providing a clear standard for the conversion of control signals to motor drive commands and avoiding parameter confusion during the conversion process.

[0034] Furthermore, the control signal is deconstructed by using a signal parsing component to break down different signal segments in the control signal, distinguishing the signal segments corresponding to motor speed, displacement, and start or stop. Redundant checksum information in the signal is removed, and only the valid signal content directly related to motor drive is retained, ensuring that the deconstructed signal segments can accurately correspond to the drive requirements.

[0035] Furthermore, according to the instruction conversion rules, the deconstructed valid signal segments are mapped one by one to formatted drive parameters: for example, the voltage signal segment corresponding to the rotational speed is mapped to the specific rotational speed control parameter, and the pulse signal segment corresponding to the displacement is mapped to the specific displacement control parameter. The mapping of each signal segment and drive parameter strictly follows the correspondence in the rules, and no parameter mismatch occurs.

[0036] Furthermore, the mapped formatted drive parameters are organized according to the logical order of motor drive, and the instruction header identifier and instruction tail verification information required by the motor drive module are added to form a complete and standardized instruction text, which is the motor drive instruction of the control signal.

[0037] Furthermore, the motor drive command is sent to the drive module of the servo linear motor through the signal transmission channel of the motor main control unit. During the transmission process, the signal verification mechanism of the channel is activated to ensure that the command is not lost or tampered with during transmission. After the drive module successfully receives the command, it sends back a reception confirmation signal to avoid command transmission failure.

[0038] Furthermore, the drive module parses the received motor drive command, extracts control parameters such as speed and displacement from the command, and activates the internal power amplifier circuit to convert the parameters into current signals required for motor operation: for example, adjusting the current output frequency according to the speed parameter, controlling the current output duration according to the displacement parameter, and driving the stator winding of the motor to generate a magnetic field through the current signal, thereby driving the rotor to move in a straight line.

[0039] Furthermore, the motor begins to move under the drive of the current signal, and provides real-time feedback on its own operation: the motor's built-in feedback component converts the speed and displacement changes during the movement into electrical signals, which are then transmitted to the main control unit. This feedback electrical signal, which contains real-time information on speed and displacement changes, is the motor motion response of the servo linear motor.

[0040] Furthermore, start the status monitoring component supporting the servo linear motor. This component includes a position sensor and a speed sensor. The detection range of the sensors covers the entire stroke of the motor movement, ensuring that the whole process of the motor movement can be captured and avoiding monitoring blind spots.

[0041] Furthermore, the position sensor collects real-time position information during the motor movement in real time, and the speed sensor synchronously collects real-time speed information. The collected position and speed information are recorded one by one in chronological order. Each time node corresponds to a set of position and speed data, forming a continuous monitoring data sequence.

[0042] Furthermore, sort out the monitoring data sequence, remove the abnormal values generated by the instantaneous interference of the sensors in the data, and associate the remaining valid data in chronological order, forming structured data including the position change trend and speed change trend during the motor movement. This structured data is the preliminary motion state of the servo linear motor.

[0043] Specifically, first obtain the control signal generated in the previous stage. This signal contains core instruction information such as the rotational speed, displacement, start and stop required for the movement of the servo linear motor, and the signal is organized in a specific coding format, providing complete original data for subsequent signal deconstruction, ensuring that the deconstruction operation is carried out around the valid control signal and does not deviate from the core requirements of motor drive.

[0044] Furthermore, retrieve the preset signal deconstruction rules. This rule clarifies the coding format specifications of the control signal, including the division criteria of signal segments, the instruction types corresponding to different signal segments, and at the same time stipulates the identification characteristics of redundant information, providing a clear basis for accurately splitting the signal and avoiding confusing valid instructions with redundant information during deconstruction.

[0045] Furthermore, start the signal parsing component. This component scans the control signal segment by segment according to the signal deconstruction rules: first identify the identification characters in the signal, determine the start and end positions of each signal segment according to the identification characters, and split the control signal into a rotational speed signal segment, a displacement signal segment, a start / stop signal segment and a redundant signal segment; then remove the check codes and padding characters in the redundant signal segment, and only retain the valid signal segments related to rotational speed, displacement, and start / stop, ensuring that the split signal segments are all directly related to the motor drive instructions.

[0046] Furthermore, classify and sort out the obtained valid signal segments according to the instruction types, label the corresponding instruction types for each valid signal segment, and form a set of instruction segments with clear structure and definite types. This set is the parsed instructions of the control signal.

[0047] Furthermore, the preset parameter mapping rules are retrieved. These rules store the unique correspondence between each type of valid signal segment in the parsed instruction and the motor drive parameters. For example, "speed - valid signal segment" corresponds to the motor speed control parameters, and "displacement - valid signal segment" corresponds to the motor displacement control parameters. At the same time, the conversion standard between the numerical range of the signal segment and the numerical range of the drive parameters is clearly defined to ensure that the mapped parameters meet the motor drive requirements and that there are no out-of-range parameter issues.

[0048] Furthermore, each valid signal segment in the parsed instruction is extracted, and the type of drive parameter corresponding to each signal segment is determined according to the parameter mapping rules. For example, the "speed - valid signal segment" is extracted, and its corresponding speed control parameter is determined according to the rules. Then, the values ​​in the signal segment are converted into standard values ​​of the drive parameters according to the conversion standard, and the voltage values ​​in the signal segment are converted into the corresponding speed values. The conversion process of each signal segment strictly follows the rule requirements to ensure the accuracy of the parameter values.

[0049] Furthermore, the converted drive parameters are arranged in the logical order of motor drive, and each parameter is labeled with its corresponding unit identifier to form a parameter set with a unified format and complete information. This set is the formatted drive parameters of the parsed instruction.

[0050] Furthermore, the preset instruction encapsulation rules are retrieved. These rules clearly define the structural composition of the motor drive instructions, specify the fixed identifier characters in the instruction header, the parameter arrangement order in the parameter area, and the verification rules in the instruction tail. This ensures that the encapsulated instructions meet the receiving format requirements of the servo linear motor drive module, avoiding the inability of the drive module to recognize the instructions due to format incompatibility.

[0051] Furthermore, motor drive instructions are constructed according to instruction encapsulation rules: First, a fixed identifier character is added to the beginning of the instruction to form an instruction header, indicating that the instruction is a motor drive instruction; then, the formatted drive parameters are filled into the parameter area in the order of the rules to ensure that the parameter arrangement is consistent with the parsing order of the drive module; finally, according to the instruction tail verification rules, the contents of the instruction header and the parameter area are verified and calculated, a verification character is generated and added to the end of the instruction to form the instruction tail, thus completing the complete construction of the instruction.

[0052] Furthermore, the format of the encapsulated instruction is validated to check whether the instruction header identifier is correct, whether the parameters in the parameter area are arranged in the correct order, and whether the checksum characters at the end of the instruction are accurate. If the validation passes, the instruction structure is confirmed to be complete and the format is standardized. This instruction is the motor drive instruction for the control signal.

[0053] In summary, the entire process starts with the control signal, and completes the instruction conversion to obtain the motor drive instruction by retrieving rules, deconstructing the signal, mapping parameters, and encapsulating the instruction. Motion control is achieved through instruction transmission, drive execution, and motor feedback to obtain the motor motion response. Then, the monitoring component collects and processes the data to complete the status monitoring and obtain the preliminary motion status. Each step revolves around clear signal processing and equipment interaction to ensure that the products of each link accurately transmit motor motion information, laying the foundation for subsequent position feedback and error identification.

[0054] In summary, the entire process starts with the control signal, decomposes the signal by calling the deconstruction rules to obtain the parsed instructions, transforms the parameters by relying on the mapping rules to obtain the formatted drive parameters, and then constructs the instructions according to the encapsulation rules to obtain the motor drive instructions. Each step is carried out around clear rules and specific operations to ensure that the products of each stage accurately convey the motor drive requirements, providing a standardized and effective instruction foundation for the subsequent motion control of the servo linear motor.

[0055] S3. Real-time detection of the initial motion state to obtain the position feedback signal of the servo linear motor; In this embodiment of the invention, the step of real-time detection of the initial motion state to obtain the position feedback signal of the servo linear motor includes: Position data is collected from the initial motion state to obtain the original position data of the initial motion state; The original position data is subjected to signal conditioning to obtain filtered position data. The filtered position data is reconstructed to obtain the position feedback signal of the filtered position data.

[0056] The step of performing signal conditioning on the original location data to obtain filtered location data from the original location data includes: Noise suppression is applied to the original location data to obtain smoothed location data of the original location data; Phase compensation is performed on the smoothed position data to obtain phase-calibrated data of the smoothed position data; The amplitude is normalized after phase calibration to obtain the filtered position data of the original position data.

[0057] Specifically, the initial motion state of the servo linear motor is first obtained. This state includes the trend information of the position change over time during the motor's motion, providing a clear monitoring object for position data acquisition and ensuring that the acquisition operation revolves around the actual motion position of the motor and does not deviate from the core monitoring requirements of the motion state.

[0058] Furthermore, a position acquisition component is deployed, which includes a position sensor. The sensor is fixed to the motion slider of the servo linear motor to ensure that the sensor can move synchronously with the slider and capture the position changes of the slider in real time. At the same time, the detection range of the sensor covers the entire motion stroke of the motor to avoid the loss of position data due to insufficient detection range.

[0059] Furthermore, the position acquisition component is activated and set to capture the real-time position of the motor slider at fixed time intervals. Each time it captures, the current time node and the corresponding position information are recorded. The time node and the position information are matched one by one to form a raw data pair that is associated with time and position. All raw data pairs are arranged in chronological order to form a continuous position data sequence. This data sequence is the raw position data of the initial motion state.

[0060] Furthermore, the original position data is input into the signal conditioning unit, and the noise suppression circuit inside the unit is activated first. This circuit filters out the high-frequency noise signals generated by electromagnetic interference in the original position data through a specific filtering component, retains the effective signal components that reflect the actual position of the motor, and avoids the position data from being distorted by noise signals. The position data after noise suppression is the smoothed position data of the original position data.

[0061] Furthermore, phase compensation is performed on the smoothed position data. Due to the signal transmission delay between the position sensor and the signal receiver, there is a deviation between the phase of the smoothed position data and the phase of the actual motor position. The phase calibration circuit is activated to adjust the phase of the smoothed position data according to the preset delay time parameter, so that the adjusted phase is consistent with the phase of the actual motor position, eliminating the phase deviation caused by the transmission delay. The position data after phase calibration is the phase-calibrated data of the smoothed position data.

[0062] Furthermore, the amplitude normalization process is performed on the phase-calibrated data. The amplitude calibration circuit is activated to adjust the amplitude of the phase-calibrated data to the fixed range required by the signal receiving module. This ensures that the amplitude of the position data at different time points is at a uniform standard, avoiding deviations in subsequent signal processing due to amplitude fluctuations. The position data after amplitude normalization is the filtered position data of the original position data.

[0063] Furthermore, the preset signal reconstruction rules are retrieved. These rules clarify the correspondence between the filtered position data and the position feedback signal format, specify the different pulse widths or voltage levels of the feedback signals corresponding to different position value ranges, and clarify the signal transmission format, including the signal start identifier, data segment arrangement order, and end identifier, providing a clear standard for signal reconstruction.

[0064] Furthermore, according to the signal reconstruction rules, the filtered position data is converted into corresponding signal segments one by one in time order. For example, the value of a certain position is converted into a pulse signal segment with a specific pulse width, and the value of the next position is converted into a voltage signal segment with the corresponding voltage level. All signal segments are spliced ​​together in time order, and signal start and end markers are added to form a complete signal stream.

[0065] Furthermore, the spliced ​​signal stream undergoes an integrity check to confirm that no signal segments are missing or start and end markers are missing, ensuring that the signal stream can be accurately received and parsed by the subsequent error identification module. The signal stream after the integrity check is the position feedback signal of the filtered position data.

[0066] Specifically, the initial position data of the preliminary motion state is first acquired. This data contains low-frequency effective signals that reflect the actual position of the servo linear motor, while also containing high-frequency noise signals generated by electromagnetic interference and sensor vibration. These noises can cause irregular fluctuations in the position data, providing a clear target for noise suppression and ensuring that the operation revolves around eliminating noise and retaining effective signals.

[0067] Furthermore, the raw location data is connected to the input of the low-pass filter circuit via a shielded signal transmission line. The metal mesh on the outer layer of the shield is connected to the circuit grounding terminal, which can isolate the influence of external electromagnetic interference on data transmission and ensure that the raw data enters the circuit in a state free from new interference.

[0068] Furthermore, power is turned on to the low-pass filter circuit, and the cutoff frequency is set using the frequency adjustment knob on the circuit panel. The adjustment is based on the inherent frequency range of the position change when the servo linear motor moves. The cutoff frequency is set to be slightly higher than the maximum value of this range to ensure that all low-frequency effective signals reflecting the actual position can pass through, while blocking high-frequency noise.

[0069] Furthermore, observe the output signal through the waveform display device connected to the circuit output terminal. If there are sharp high-frequency jitters in the waveform, slowly fine-tune the frequency adjustment knob until the waveform shows a continuous and stable trend with no jitter caused by noise, confirming that the noise has been effectively filtered.

[0070] Furthermore, the stable position data output by the circuit at this time is recorded, which is the smoothed position data of the original position data.

[0071] Furthermore, the actual position signal of the motor is obtained from a reference position sensor installed next to the motion guide rail of the servo linear motor. This sensor is directly mechanically connected to the motor slider and can capture real position information without transmission delay in real time, serving as a reference for phase comparison.

[0072] Furthermore, the reference position signal and smoothed position data are connected to the input of the phase calibration circuit through two independent shielded signal channels. The line lengths of the two channels are kept consistent to avoid introducing new phase deviations due to differences in transmission paths.

[0073] Furthermore, the phase detection module of the phase calibration circuit is activated. The module synchronously captures the rising edge times of the two signals and calculates the delay time of the rising edge of the smoothed position data relative to the rising edge of the reference signal. This time is the specific value of the phase deviation.

[0074] Furthermore, the phase compensation knob on the circuit is adjusted according to the calculated delay time. Each adjustment is checked using the phase difference display instrument built into the circuit until the instrument displays a zero phase difference, at which point the waveforms of the two signals are completely synchronized.

[0075] Furthermore, the position data output by the acquisition circuit is the phase-calibrated data of the smoothed position data.

[0076] Furthermore, the technical specifications of the signal receiving module in the servo linear motor control system were consulted to determine the required standard range of position data amplitude for the module. This range parameter was then input into the storage unit of the amplitude calibration circuit through the circuit's setting interface as the basis for amplitude adjustment.

[0077] Furthermore, the phase-calibrated data is connected to the signal input terminal of the amplitude calibration circuit through a signal line with grounding protection. The grounding terminal of the signal line is reliably connected to the grounding terminal of the circuit to prevent amplitude drift caused by poor grounding.

[0078] Furthermore, the amplitude detection function of the start circuit is activated. The circuit performs real-time amplitude measurement on each input data point and compares it with the preset standard range. If the amplitude is lower than the lower limit of the standard, the internal gain amplification unit is automatically adjusted to increase the voltage amplitude; if it is higher than the upper limit of the standard, the attenuation unit is adjusted to decrease the voltage amplitude.

[0079] Furthermore, after all data points have completed amplitude adjustment, a portion of the data points are extracted through the circuit's output verification interface to retest the amplitude, confirming that they are all within the standard range, thus ensuring reliable adjustment results.

[0080] In summary, the entire process starts with the initial motion state, and obtains the raw position data by deploying acquisition components and capturing the position in real time. Then, the signal is conditioned through noise suppression, phase compensation, and amplitude normalization to obtain filtered position data. Finally, the signal is converted according to the reconstruction rules and its integrity is checked to obtain the position feedback signal. Each step relies on specific hardware components and clear rules to ensure that the products of each stage accurately reflect the actual position of the motor, providing a reliable data foundation for error identification of the subsequent target position and feedback signal.

[0081] In summary, the entire process starts with the raw position data, and through multiple refinement steps, noise suppression is completed to obtain smooth position data. Phase deviation is eliminated through multiple operations to obtain phase-calibrated data. Then, through a series of adjustments and verifications to unify the amplitude range, filtered position data is obtained. Each step relies on specific hardware operations to ensure the effect, ultimately making the filtered position data accurate and stable, laying a high-quality foundation for subsequent signal reconstruction.

[0082] S4. Perform error identification on the target position information and the position feedback signal to obtain the preliminary position error signal of the servo linear motor; In this embodiment of the invention, the step of identifying the error between the target position information and the position feedback signal to obtain the preliminary position error signal of the servo linear motor includes: The target location information and the location feedback signal are aligned to obtain a synchronized position signal group of the target location information and the location feedback signal; The difference identification is performed on the synchronization position signal group to obtain the signal deviation of the synchronization position signal group; The signal deviation is normalized to obtain the preliminary position error signal of the servo linear motor.

[0083] Specifically, the target position information of the servo linear motor and the previously generated position feedback signal are first obtained. The target position information is the preset position command that the motor needs to reach, which includes the target position value corresponding to different time nodes. The position feedback signal is the position data collected during the actual movement of the motor, which also includes the time node and the corresponding actual position value, providing complete raw data for signal alignment and ensuring that the alignment operation revolves around these two types of position-related signals.

[0084] Furthermore, the system retrieves a pre-set unified time reference signal, which is generated by the clock module of the servo control system. This signal provides a consistent time marking standard for all signals, avoiding alignment deviations caused by different time references and laying the foundation for subsequent time axis synchronization.

[0085] Furthermore, the target location information and the location feedback signal are respectively connected to the signal synchronization module. The module adds a unified format timestamp to each data point of the two types of signals through the time reference signal, ensuring that each target location value of the target location information and each actual location value of the location feedback signal corresponds to a unique and consistent timestamp, eliminating alignment obstacles caused by differences in timestamp format.

[0086] Furthermore, the target location information and location feedback signals after the timestamps are added are sorted according to the timestamp order, and the target location value and actual location value corresponding to the same timestamp are paired to form a combination of "timestamp - target location value - actual location value" data, ensuring that each time node has corresponding target and actual location data.

[0087] Furthermore, examine the paired combined data. If a certain timestamp contains only the target position value or only the actual position value, supplement the missing position value according to the position change trend of adjacent combined data before and after that timestamp. Ensure that all timestamps have complete target and actual position data. At this time, the complete "timestamp-target position value-actual position value" combined data set is the synchronous position signal group of target position information and position feedback signal.

[0088] Furthermore, the synchronous position signal group is input into the difference identification module. The module extracts the target position value and the actual position value from the combined data one by one, and directly compares the two values ​​under the same timestamp to clarify the relationship between the actual position value and the target position value, and to determine whether the actual position is higher or lower than the target position, so as to provide a directional basis for subsequent difference quantification.

[0089] Furthermore, the difference between the actual position value and the target position value at the same timestamp is calculated, and the magnitude of the difference corresponding to each timestamp is recorded. If the actual position value is higher than the target position value, the difference is marked as positive; if the actual position value is lower than the target position value, the difference is marked as negative, forming difference data that includes timestamp, difference magnitude and difference direction. The set of all difference data is the signal deviation of the synchronization position signal group.

[0090] Furthermore, the position range parameter of the servo linear motor is retrieved. This parameter is the difference between the upper and lower limits of the motor's movable position range, reflecting the overall fluctuation range of the motor's position data. It provides a quantitative reference standard for error normalization and avoids the normalization results from deviating from the actual motion capability of the motor.

[0091] Furthermore, each difference in the signal deviation is divided by the motor position range parameter to obtain the ratio of each difference to the position range. This ratio can uniformly convert the differences of different absolute values ​​into relative deviations, eliminating the problem of incomparable deviations caused by different motor models and position ranges, and achieving standardized deviation processing.

[0092] Furthermore, the converted relative deviation is constrained by range, and the relative deviation exceeding the range of "-1 to 1" is corrected to the boundary value to ensure that all relative deviations are within a reasonable standardized range and to avoid extreme deviations from interfering with subsequent error processing.

[0093] Furthermore, the constrained relative deviations are arranged into a continuous deviation sequence according to the timestamp order. Each deviation value can reflect the standardized difference between the actual position of the motor and the target position at the corresponding time node. This deviation sequence is the initial position error signal of the servo linear motor.

[0094] In summary, the entire process starts with the target position information and position feedback signal. It obtains a synchronized position signal group through time base synchronization and data pairing and completion. The signal deviation is calculated through numerical comparison. Then, the preliminary position error signal is obtained through range normalization and range constraint. Each step relies on a specific signal processing module and clear operation logic to ensure that the products of each stage accurately reflect the differences in motor position, providing a clear error data foundation for subsequent high-precision error compensation.

[0095] S5. The preliminary position error signal is fused and compensated with the multi-source sensor data to obtain the high-precision position error signal of the servo linear motor. In this embodiment of the invention, the step of fusing and compensating the preliminary position error signal with multi-source sensor data to obtain the high-precision position error signal of the servo linear motor includes: Feature extraction is performed on the multi-source sensor data to obtain the feature vector of the multi-source sensor data; The preliminary position error signal and the feature vector are fused to obtain the fused error signal of the preliminary position error signal and the feature vector; The compensation amount is calculated on the fused error signal to obtain the high-precision position error signal of the servo linear motor. The calculation formula for the high-precision position error signal is as follows: ; In the formula, This refers to the high-precision position error signal. This is the initial position error signal. The preset temperature compensation coefficient, The temperature deviation in the fused error signal. To preset the vibration compensation coefficient, The effective value of the vibration velocity in the fused error signal. For the preset acceleration compensation coefficient, The vibration acceleration value in the fused error signal. The preset humidity compensation coefficient, The humidity deviation is the amount of humidity in the fused error signal.

[0096] Specifically, first, multi-source sensor data during the operation of the servo linear motor and the preliminary position error signal obtained earlier are acquired. The multi-source sensor data comes from sensors installed at different locations on the motor and in the surrounding environment, including a temperature sensor to detect motor temperature, a vibration sensor to capture motor vibration, a voltage sensor to monitor the power supply voltage, and a humidity sensor to detect ambient humidity. Each sensor outputs continuous monitoring values ​​at fixed time intervals. The preliminary position error signal is... It is the basic error signal obtained after the target location information and location feedback signal are aligned, the difference is identified and the error is normalized in the early stage. It has not been compensated by too many factors and provides comprehensive and core raw data for subsequent data processing and error calculation.

[0097] Furthermore, the multi-source sensor data are respectively input into the signal preprocessing circuit. The temperature drift suppression module is activated for the temperature sensor data to eliminate the interference of slow changes in ambient temperature on the measured value. The difference between this data and the motor operating reference temperature is calculated to obtain the temperature deviation contained in the fused error signal. The high-frequency filtering component is activated on the vibration sensor data to filter out high-frequency noise in the mechanical vibration, and then the effective value of the vibration velocity is calculated from the effective value. The vibration acceleration value is obtained through differentiation. Both are vibration-related parameters in the fused error signal; the amplitude stabilization unit is activated for the voltage sensor data to calibrate the fluctuating voltage value to the standard measurement range; the humidity drift correction module is activated for the humidity sensor data to eliminate the influence of slow fluctuations in ambient humidity, and the difference between this data and the reference humidity is calculated to obtain the humidity deviation contained in the fused error signal. The preprocessed sensor data and corresponding parameters are all in a stable and pure state, laying a reliable foundation for feature extraction and compensation coefficient application.

[0098] Furthermore, feature extraction components are deployed for each type of preprocessed sensor data. For temperature data, the average rate of change and peak value within a fixed time period are extracted; for vibration data, the main components of vibration frequency and the maximum fluctuation value of amplitude are extracted; for voltage data, the average stable value of voltage and the number of instantaneous fluctuations are extracted; and for humidity data, the average rate of change and fluctuation amplitude of humidity are extracted. These features are classified and organized according to sensor type, and each feature is labeled with its corresponding physical meaning. They are then arranged in a preset order to form an ordered feature set containing multi-dimensional operating status information. This set is the feature vector of the multi-source sensor data.

[0099] Furthermore, the time stamps of the preliminary position error signal and the feature vector are checked for consistency. If a time discrepancy exists, the timestamps of the feature vectors are adjusted using the time calibration module to ensure a one-to-one correspondence with the time nodes of the preliminary position error signal. This ensures that the two types of data are synchronized in the time dimension, avoiding distortion of the fusion result due to time misalignment. Simultaneously, preset weight allocation rules and various preset compensation coefficients are retrieved, including the preset temperature compensation coefficient. The positional error was obtained through multiple experimental calibrations. The changes in positional error under different temperature deviations were recorded during the experiments, and the error impact value corresponding to a unit temperature deviation was calculated. Preset vibration compensation coefficient Vibration tests were conducted to determine the positional error at different vibration velocities. The error impact value per unit vibration velocity was then calculated. Preset acceleration compensation coefficient The influence of acceleration was obtained through experiments, in which the changes in position error under different vibration accelerations were recorded, and the error influence value corresponding to unit acceleration was calculated as [the result]. Preset humidity compensation coefficient Humidity environment testing was conducted to determine the positional error under different humidity deviations. The error impact value corresponding to a unit humidity deviation was calculated as [the value of the error]. These coefficients provide a clear basis for data fusion and error compensation.

[0100] Furthermore, using the preliminary position error signal as the base signal, each feature value in the feature vector is transformed into a corresponding error correction amount according to the weighting distribution rule. This is then combined with preset compensation coefficients and multi-source sensor data. , , , ,Will and Multiplying them together yields the temperature error compensation amount. and Multiplying them together yields the vibration velocity error compensation amount. and Multiplying them together yields the vibration acceleration error compensation amount. and Multiplying these values ​​yields the humidity error compensation, and all compensation values ​​are consistent with the units of the initial position error signal.

[0101] Furthermore, all error corrections and various compensations are superimposed on the corresponding preliminary position error signal data points. The preliminary error value at the same time node is added to all corrections and compensations at that node to obtain the error value that integrates the influence of multiple sources and compensations from multiple environmental factors. These fused error values ​​are arranged in chronological order to form a continuous error sequence, which is the fused error signal of the preliminary position error signal and the feature vector.

[0102] Furthermore, the compensation amount of the fused error signal is verified a second time to ensure... , , , The calculation results accurately reflect the influence of corresponding factors on the position error. Then, the fused error signal after verification undergoes final correction to obtain an error signal that accurately reflects the subtle differences between the actual motor position and the target position. This error signal is the high-precision position error signal of the servo linear motor, corresponding to the formula... .

[0103] Furthermore, the significance of the formula upon which the above calculation process is based lies in the fact that it uses the preliminary position error signal as the foundation. This is combined with error compensation amounts caused by four types of factors: temperature, vibration velocity, vibration acceleration, and humidity. By using preset compensation coefficients, the influence of each factor on the position error is quantified, ultimately yielding a high-precision position error signal that comprehensively considers the influence of multiple factors. ,make It more closely reflects the actual position deviation of the motor during operation, avoiding the problem of insufficient accuracy caused by ignoring environmental and operating conditions due to a single error signal.

[0104] Furthermore, the trend of this formula is as follows: when When it increases, if It is a positive value. Will follow The increase in temperature deviation indicates a greater impact on high-precision position error signals. The more significant the positive effect, the better. Decrease Then it will decrease accordingly; when When it increases, if It is a positive value. Will follow The increase in the value of vibration velocity indicates that the larger the effective value of vibration velocity, the better it is for vibration. The more significant the positive impact, the better. Decrease Then it will decrease accordingly; when When it increases, if It is a positive value. Will follow The increase in the value of vibration acceleration means that the greater the vibration acceleration value, the greater the impact on... The more prominent the positive impact, the better. Decrease Then it will decrease accordingly; when When it increases, if It is a positive value. Will follow The increase in humidity indicates that the greater the humidity deviation, the greater the impact on humidity. The more significant the positive effect, the better. Decrease Then it will decrease accordingly; and The changes will directly lead to Changes in the same direction and with the same amplitude are The basic components determine the basic range of the error signal.

[0105] In summary, the entire process starts with multi-source sensor data and preliminary position error signals, and then obtains... , , , The parameters are extracted to obtain feature vectors, and data fusion and error compensation are completed by combining preset compensation coefficients to finally obtain a high-precision position error signal. At the same time, the meaning and trend of the formula are clarified. Each step is implemented based on specific hardware modules, experimental calibration methods and clear operation logic to ensure that the products and parameters of each link are accurately matched. This provides a comprehensive and reliable error basis for the high-precision control of servo linear motors and meets the technical requirements of high-precision positioning.

[0106] S6. Based on the high-precision position error signal, perform real-time compensation control on the motion parameters of the servo linear motor to obtain the high-precision positioning result of the servo linear motor.

[0107] In this embodiment of the invention, the step of performing real-time compensation control on the motion parameters of the servo linear motor based on the high-precision position error signal to obtain the high-precision positioning result of the servo linear motor includes: The error features in the high-precision position error signal are mapped according to rules to obtain the motion parameter adjustment command of the error features; The operating status of the servo linear motor is controlled in real time based on the motion parameter adjustment command to obtain the precise position output of the servo linear motor. The positioning result of the precise position output is confirmed to obtain the high-precision positioning result of the servo linear motor.

[0108] The step of confirming the positioning result of the precise position output to obtain the high-precision positioning result of the servo linear motor includes: The stability of the precise position output is determined to obtain the stability evaluation result of the precise position output; The positioning accuracy is verified based on the stability assessment results to obtain the accuracy verification data of the positioning accuracy. The accuracy verification data are synthesized to obtain the high-precision positioning result of the servo linear motor.

[0109] Specifically, the high-precision position error signal of the servo linear motor obtained in the early stage is first acquired. This signal contains error values ​​corresponding to different time nodes, which can reflect the subtle differences between the actual position of the motor and the target position. This signal is then connected to the error feature extraction module to provide the core data foundation for subsequent feature recognition and command generation.

[0110] Furthermore, the error feature extraction module initiates point-by-point analysis to first identify the magnitude of the error in the error signal: through the module's built-in numerical reading component, it obtains the absolute value of the error value at each time node, clarifies the degree to which the error deviates from the target position, and ensures accurate capture of the quantitative information of the error.

[0111] Furthermore, the module calculates the error change rate: by comparing the error values ​​of two adjacent time points, the difference is obtained and the sign of the difference is recorded, thereby determining the direction and speed of error change and improving the extraction of error dynamic features.

[0112] Furthermore, the module statistically analyzes the duration of errors: it tracks the time when errors in the same direction occur consecutively, starting from the first occurrence of an error in the same direction and stopping when the error direction changes, recording the duration of the time, and forming the time characteristics of the error. At this point, the set consisting of the error magnitude, the error rate of change, and the error duration is the error characteristic quantity.

[0113] Furthermore, a preset rule mapping table is retrieved. This mapping table is constructed based on multiple sets of positioning experimental data of the servo linear motor. The experiment recorded the optimal scheme for adjusting motor parameters under different combinations of error characteristics. The table clearly defines the correspondence between each combination of error characteristics and the unique motion parameter adjustment command. The mapping table is stored in a dedicated storage unit of the motor control system, which can be directly called without losing data.

[0114] Furthermore, the extracted error features are compared with the rule mapping table in multiple dimensions: first, the error size is matched with the error size range entries in the table to determine the corresponding range interval; then, the error change rate is compared with the rate interval entries in the table to find the matching rate classification; finally, the error duration is compared with the time length entries in the table to confirm the corresponding time level, ensuring that all three feature dimensions completely match a certain entry in the table and avoiding matching bias.

[0115] Furthermore, after finding a unique matching entry, the motion parameter adjustment instruction content corresponding to that entry is extracted and transmitted to the instruction buffer unit through the signal output interface. The buffer unit starts an integrity verification program to check whether the parameter adjustment type and identifier of the instruction are complete and whether the operation requirements are clearly described. After confirming that there is no data loss or format error, the instruction is the motion parameter adjustment instruction for the error characteristic quantity.

[0116] Furthermore, the motion parameter adjustment command is sent from the buffer unit to the motion control module of the servo linear motor. The command parsing component built into the control module starts working, first splitting the parameter adjustment type field in the command to distinguish whether the speed, acceleration or displacement compensation needs to be adjusted; then extracting the operation requirement field corresponding to each adjustment type to clarify the specific adjustment range, direction or value, ensuring that the core requirements of the command are fully parsed.

[0117] Furthermore, the motion control module sends control signals to the motor drive circuit based on the analysis results: if it is speed adjustment, it adjusts the energizing frequency of the motor stator winding by changing the output frequency of the pulse width modulation component in the drive circuit, thereby changing the rotor speed so that the speed changes according to the command requirements; if it is acceleration adjustment, it controls the speed change by adjusting the current rise or fall rate of the drive circuit; if it is displacement compensation adjustment, it supplements the displacement amount that the motor has not reached by changing the energizing sequence of the stator winding, thereby achieving precise control.

[0118] Furthermore, during the adjustment process, the motion control module receives real-time position data from the motor's built-in position sensor and compares the feedback data with the target parameters in the adjustment command at each time node. If a deviation is found between the actual parameters and the target parameters, the output signal amplitude or frequency of the drive circuit is immediately fine-tuned until the actual parameters match the target parameters.

[0119] Furthermore, when the motor moves to the vicinity of the target position and the real-time position data remains stable for multiple consecutive time points, the motion control module stops the adjustment operation. At this time, the actual position of the motor is the precise position output of the servo linear motor.

[0120] Furthermore, the precise position output is connected to the positioning result confirmation module, which then activates the stability judgment function: controls the high-precision position sensor to collect the position data of the motor at the precise position output at fixed intervals. The collection process continues for a preset duration to ensure sufficient time coverage to determine stability.

[0121] Furthermore, the module analyzes the fluctuation range of the collected position data. If all data are within the preset stable range and no data exceeds the range, the precise position output is determined to be stable, and a stability assessment result is generated. If there is data exceeding the range, a readjustment signal is immediately sent to the motion control module, and the motion control module re-executes the parameter adjustment process until the precise position output is stable.

[0122] Furthermore, based on the stability assessment results, the module initiates the accuracy verification function: it retrieves the preset target position information, directly compares the stabilized accurate position output with the target position information, calculates the difference between the two, and determines whether the difference is within the allowable range of the motor positioning accuracy requirements.

[0123] Furthermore, if the difference is within the allowable range, the accuracy is determined to be up to standard, and accuracy verification data is generated; if the difference exceeds the allowable range, the module re-extracts the current error feature quantity, repeats the rule mapping process to generate new motion parameter adjustment instructions, and sends them to the motion control module for further adjustment until the accuracy is up to standard.

[0124] Furthermore, the module synthesizes the stability assessment results and the accuracy verification data: if both meet the requirements, it integrates the specific values ​​of the precise position output, the duration of the stability judgment, and the difference data of the accuracy verification to form a result report containing complete information, which is the high-precision positioning result of the servo linear motor; if either result does not meet the requirements, the stability judgment or accuracy verification process is repeated until a qualified report is generated.

[0125] Specifically, the precise position output of the servo linear motor obtained in the early stage is first acquired. This output is the actual position data of the motor after the motion parameters are adjusted and it stops near the target position. This data is then connected to the positioning result confirmation module. The module has a built-in high-precision position sensor and data processing components. The high-precision position sensor is installed on the reference surface of the motor's moving slider to ensure that the real-time position of the slider can be directly captured, providing an accurate detection basis for stability determination.

[0126] Furthermore, a high-precision position sensor is activated, and the sensor is set to collect position data at a fixed time interval from the precise position output point. The collection process lasts for a fixed duration. During the collection, the sensor maintains stable contact with the slider reference surface to avoid data distortion due to loose contact. After each collection, the position data is immediately transmitted to the module's data recording component. The component stores the data in the order of collection time to form a continuous position data sequence, ensuring that position information at any time point is not missed.

[0127] Furthermore, the data processing component retrieves a preset stability range standard, which is determined based on the positioning accuracy level of the servo linear motor and clarifies the allowable position fluctuation range of the motor in a stable state. The component reads each position value in the position data sequence point by point, compares each position value with the stability range standard, and checks whether there are any position values ​​that exceed the range.

[0128] Furthermore, if all position values ​​are within the stable range standard and no data points exceed the range, the precise position output is determined to have stable performance. The data processing component generates a document containing the acquisition time, position fluctuation range, and stable state indicator. This document is the stability evaluation result of the precise position output. If there are position values ​​that exceed the range, the component immediately sends an unstable signal to the motion control module of the servo linear motor. The motion control module regenerates motion parameter adjustment instructions and fine-tunes the motor's operating state until the position data of the precise position output all meet the stable range standard, and then the stability judgment process is re-executed.

[0129] Furthermore, after obtaining the stability assessment results, the stability status in the results is confirmed as "qualified". If the status is "unqualified", the stability judgment process is repeated. If the status is "qualified", the positioning result confirmation module starts the accuracy verification component. The component retrieves the previously preset target position information from the system storage unit. This information is the standard position data that the servo linear motor needs to achieve, providing a comparison benchmark for accuracy verification.

[0130] Furthermore, the accuracy verification component outputs the precise location corresponding to the stability assessment result and directly compares it with the retrieved target location information. The component has a built-in numerical comparison unit that matches the position data output by the precise location with the corresponding data of the target location information point by point, calculates the difference of each set of corresponding data, and records the specific values ​​of all differences to ensure complete capture of the deviation between the actual location and the target location.

[0131] Furthermore, the component retrieves the allowable range of positioning accuracy requirements for the servo linear motor. This range is the maximum deviation limit determined based on the motor's application scenario. All calculated differences are compared with the allowable range. If all differences are within the allowable range, the positioning accuracy is deemed satisfactory. The component generates a document containing target position information, precise position output data, difference details, and accuracy compliance indicators. This document serves as the accuracy verification data for positioning accuracy. If any difference exceeds the allowable range, the component sends an accuracy failure signal to the motion control module. The motion control module then re-extracts the error features from the high-precision position error signal, generates new motion parameter adjustment instructions through rule mapping, and repeats the adjustment and precise position output acquisition process until the accuracy verification is passed.

[0132] Furthermore, after obtaining the accuracy verification data, the accuracy is confirmed to meet the standard and marked as "qualified". If the mark is "unqualified", the accuracy verification is repeated. If the mark is "qualified", the positioning result confirmation module starts the result synthesis component. The component first reads the key information in the stability assessment result, including the acquisition time and the range of position fluctuation, and then reads the key information in the accuracy verification data, including the target position information, the precise position output data, and the difference details. The two types of information are integrated in the order of "positioning basic information - stability data - accuracy data".

[0133] Furthermore, the component standardizes the format of the integrated information, adds the result generation time and verification process identifier to ensure that the information is complete and the structure is clear, and forms a complete report containing all judgment processes and result data. This report is the high-precision positioning result of the servo linear motor. If information is found to be missing during the integration process, the component immediately backtracks to the corresponding step and re-acquires the missing information until the integrated information is complete and error-free.

[0134] In summary, the entire process starts with a high-precision position error signal, clarifies the error state through multi-step feature extraction, generates motion parameter adjustment instructions based on rule mapping and strict matching, obtains precise position output through refined control and real-time feedback, and then obtains high-precision positioning results through multiple rounds of stability judgment, accuracy verification and result synthesis. Each step relies on specific hardware operation and clear logic implementation to ensure product accuracy and process controllability, meeting the high-precision positioning requirements of servo linear motors.

[0135] In summary, the entire process starts with precise position output, collects data at fixed intervals, compares stable ranges to determine stability and obtain stability assessment results. Based on the qualified stability assessment results, the accuracy is verified by target position comparison and difference verification to obtain accuracy verification data. Then, through information integration and format standardization, the results are synthesized to obtain high-precision positioning results. Each step relies on specific hardware components and clear standards to ensure that the products of each stage accurately reflect the stability and accuracy of the motor positioning, providing reliable results support for the high-precision application of servo linear motors.

[0136] In the several embodiments provided by this invention, it should be understood that the disclosed methods can be implemented in other ways.

[0137] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0138] The embodiments of this application can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence is the theory, method, and technology that uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results.

[0139] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A positioning method of a high-precision servo linear motor, characterized by, The method comprises: S1, signal mapping of the positioning instruction of the input servo linear motor is performed to obtain a control signal of the positioning instruction; S2, driving control of the servo linear motor is performed based on the control signal to obtain a preliminary motion state of the servo linear motor; S3, real-time detection of the preliminary motion state is performed to obtain a position feedback signal of the servo linear motor; S4, error identification of target position information and the position feedback signal is performed to obtain a preliminary position error signal of the servo linear motor; S5, fusion compensation of the preliminary position error signal and multi-source sensing data is performed to obtain a high-precision position error signal of the servo linear motor; S6, real-time compensation control of the motion parameters of the servo linear motor is performed based on the high-precision position error signal to obtain a high-precision positioning result of the servo linear motor.

2. The positioning method of a high-precision servo linear motor according to claim 1, wherein The signal mapping of the positioning instruction of the input servo linear motor to obtain the control signal of the positioning instruction comprises: protocol analysis of the positioning instruction of the input servo linear motor is performed to obtain motion parameters of the positioning instruction; signal conversion of the motion parameters is performed to obtain driving instructions of the motion parameters; signal shaping of the driving instructions is performed to obtain the control signal of the driving instructions.

3. The positioning method of a high-precision servo linear motor according to claim 1, wherein The driving control of the servo linear motor based on the control signal to obtain the preliminary motion state of the servo linear motor comprises: instruction conversion of the control signal is performed to obtain motor driving instructions of the control signal; motion control of the servo linear motor based on the motor driving instructions is performed to obtain motor motion responses of the servo linear motor; state monitoring of the motor motion responses is performed to obtain the preliminary motion state of the servo linear motor.

4. The positioning method of a high-precision servo linear motor according to claim 3, wherein The instruction conversion of the control signal to obtain the motor driving instructions of the control signal comprises: signal deconstruction of the control signal is performed to obtain post-analysis instructions of the control signal; parameter mapping of the post-analysis instructions is performed to obtain formatted driving parameters of the post-analysis instructions; instruction packaging of the formatted driving parameters is performed to obtain the motor driving instructions of the control signal.

5. The positioning method of a high-precision servo linear motor as claimed in claim 1, wherein The real-time detection of the preliminary motion state to obtain the position feedback signal of the servo linear motor comprises: position data acquisition of the preliminary motion state is performed to obtain original position data of the preliminary motion state; signal conditioning of the original position data is performed to obtain filtered position data of the original position data; signal reconstruction of the filtered position data is performed to obtain the position feedback signal of the filtered position data.

6. The positioning method of a high-precision servo linear motor according to claim 5, wherein The signal conditioning of the original position data to obtain the filtered position data of the original position data comprises: noise suppression of the original position data is performed to obtain smoothed position data of the original position data; phase compensation of the smoothed position data is performed to obtain phase-calibrated data of the smoothed position data; amplitude normalization of the phase-calibrated data is performed to obtain the filtered position data of the original position data.

7. The positioning method of a high-precision servo linear motor as claimed in claim 1, wherein The target position information and the position feedback signal are error recognized to obtain a preliminary position error signal of the servo linear motor, including: The target position information and the position feedback signal are signal aligned to obtain a synchronous position signal group of the target position information and the position feedback signal; The synchronous position signal group is difference recognized to obtain a signal deviation of the synchronous position signal group; The signal deviation is error normalized to obtain the preliminary position error signal of the servo linear motor.

8. The positioning method of a high-precision servo linear motor as claimed in claim 1, wherein The preliminary position error signal and multi-source sensing data are fused and compensated to obtain a high-precision position error signal of the servo linear motor, including: The multi-source sensing data are feature extracted to obtain a feature vector of the multi-source sensing data; The preliminary position error signal and the feature vector are data fused to obtain a fused error signal of the preliminary position error signal and the feature vector; The fused error signal is compensated to obtain the high-precision position error signal of the servo linear motor, wherein a calculation formula of the high-precision position error signal is as follows: ； In the formula, is the high-precision position error signal, is the preliminary position error signal, is a preset temperature compensation coefficient, is a temperature deviation amount in the fused error signal, is a preset vibration compensation coefficient, is a vibration speed effective value in the fused error signal, is a preset acceleration compensation coefficient, is a vibration acceleration value in the fused error signal, is a preset humidity compensation coefficient, is a humidity deviation amount in the fused error signal.

9. The positioning method of a high-precision servo linear motor as claimed in claim 1, wherein The motion parameters of the servo linear motor are controlled in real time based on the high-precision position error signal to obtain a high-precision positioning result of the servo linear motor, including: Error characteristic quantities in the high-precision position error signal are rule mapped to obtain a motion parameter adjustment instruction of the error characteristic quantities; The servo linear motor running state is real-time regulated based on the motion parameter adjustment instruction to obtain an accurate position output of the servo linear motor; The accurate position output is positioned to obtain the high-precision positioning result of the servo linear motor.

10. The positioning method of a high-precision servo linear motor according to claim 9, wherein The accurate position output is positioned to obtain the high-precision positioning result of the servo linear motor, including: The accurate position output is stability judged to obtain a stability evaluation result of the accurate position output; The positioning accuracy is verified based on the stability evaluation result to obtain accuracy verification data of the positioning accuracy; The accuracy verification data is result synthesized to obtain the high-precision positioning result of the servo linear motor.

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