A servo system product position calibration device and method

Abstract

The present invention provides a servo system product position calibration device and method, the device comprising: a high-precision displacement measuring instrument, connected to the calibrated servo system product, used to collect the actual physical position information of the servo system product, and send the actual physical position information to the calibration device controller through a test bus; a servo system calibration station device, connected to the servo system product, used to match the corresponding mechanical interface, power interface and control power supply interface for the servo system product; a calibration device controller, used to obtain the displacement feedback information of the calibrated servo system product, combine the displacement feedback information and the actual physical position information at the same time to form a corresponding relationship, and calibrate the position of the servo system product based on the corresponding relationship. Through the servo system product position calibration device and method provided by the present invention, the position of the servo system product can be calibrated according to the corresponding relationship, and the accuracy of the servo displacement can be improved.

Description

Technical Field

[0001] The present invention relates to the field of servo systems, and in particular to a servo system product position calibration device and method. Background Art

[0002] At present, the feedback sensor of the servo system is mostly a potentiometer, which has the advantages of high reliability, good stability, long life, small size and low cost, but the precision of the potentiometer is poor, usually the precision of the potentiometer is 0.2mm or greater. However, as the precision requirements for the servo system are getting higher and higher, the potentiometer cannot meet the precision requirements.

[0003] In the prior art, digital position sensors such as LVDT (Linear Variable Differential Transformer) are used to replace potentiometers. However, digital position sensors have the disadvantages of high cost, complex electrical design, large product size and heavy weight. Summary of the invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defects of digital position sensors in the prior art, such as high cost, complex electrical design, large product size and heavy weight, thereby providing a servo system product position calibration device and method.

[0005] In a first aspect, the present invention provides a servo system product position calibration device, comprising: a high-precision displacement measuring instrument, a servo system calibration station device and a calibration device controller, wherein:

[0006] A high-precision displacement measuring instrument, connected to the servo system product to be calibrated, for collecting actual physical position information of the servo system product and sending the actual physical position information to the calibration device controller through a test bus;

[0007] A servo system calibration station device, connected to the servo system product, for matching the corresponding mechanical interface, power interface and control power supply interface for the servo system product;

[0008] The calibration device controller is used to obtain the displacement feedback information of the calibrated servo system product, combine the displacement feedback information and the actual physical position information at the same time to form a corresponding relationship, and calibrate the position of the servo system product based on the corresponding relationship.

[0009] In this method, the actual physical position information of the servo system product is collected through a high-precision displacement measuring instrument to improve the accuracy and precision of the actual physical position information; the corresponding interface is flexibly matched according to different types of servo system products through a servo system calibration station device, so that different types of servo system products can be adapted to increase flexibility and matching with the servo system products; and the displacement feedback information and the actual physical position information within the same moment are combined by the calibration device controller to form a corresponding relationship, thereby realizing the position of the servo system product based on the corresponding relationship, thereby improving the accuracy of the servo displacement and realizing the calibration of the servo system without changing the servo system hardware.

[0010] In one embodiment, the actual physical position information of the servo system product collected by the high-precision displacement measuring instrument includes: angular displacement or linear displacement measurement.

[0011] In this way, the high-precision displacement measuring instrument can adapt the corresponding angular displacement or linear displacement according to different servo system products to adapt to different models of servo system products, which increases flexibility and increases the accuracy of the angular displacement or linear displacement values ​​by measuring the corresponding angular displacement or linear displacement through the high-precision displacement measuring instrument.

[0012] In a second aspect, the present invention provides a servo system product position calibration method, comprising:

[0013] When it is detected that the servo system product is connected, the servo system calibration station device is controlled to match the mechanical interface, power interface and control power supply interface corresponding to the servo system product;

[0014] Acquiring actual physical position information and displacement feedback information of the servo system product;

[0015] Combining the actual physical position information and the displacement feedback information at the same time to form a corresponding relationship;

[0016] Based on the corresponding relationship, the current actual physical position information corresponding to the current displacement feedback information is determined, and the position of the servo system product is calibrated based on the current actual physical position information.

[0017] In this method, the actual physical position information and displacement feedback information of the servo system product are obtained to improve the accuracy and precision of the actual physical position information. The calibration device controller combines the displacement feedback information and the actual physical position information at the same time to form a corresponding relationship, thereby calibrating the position of the servo system product based on the corresponding relationship, improving the accuracy of the servo displacement, and realizing the calibration of the servo system without changing the servo system hardware.

[0018] In one embodiment, combining the actual physical position information and the displacement feedback information at the same time to form a corresponding relationship includes:

[0019] Combining the actual physical position information and the displacement feedback information at the same time within a preset number of times to form a corresponding relationship;

[0020] The corresponding relationship includes a search function and a fitting function.

[0021] In one embodiment, the lookup function is: ,

[0022] in, R x is the current actual physical location information, ( S 1, R 1) and ( S 2, R 2) for ( S x , R x ), S x Feedback information for current displacement;

[0023] The fitting function is: ,

[0024] in, Y is the actual physical location information, X It is the displacement feedback information.

[0025] In one embodiment, after combining the actual physical position information and the displacement feedback information at the same time within a preset number of times to form a corresponding relationship, the method further includes:

[0026] The lookup function and / or the fitting function are bound to the servo system product via a servo control bus.

[0027] In this manner, the corresponding relationship is bound to the servo system, so that the calibration device controller can determine the actual physical position information corresponding to the displacement feedback information according to the bound corresponding relationship.

[0028] In one embodiment, when the servo system product is detected to be connected, after controlling the servo calibration station device to match the mechanical interface, power interface and control power supply interface corresponding to the servo system product, the method further includes:

[0029] Control the high-precision displacement measuring instrument to measure the initial value of the servo system product.

[0030] In this manner, the calibration device controller controls the high-precision displacement measuring instrument to measure the initial value of the servo system product, which can increase the accuracy of the initial value of the servo system product.

[0031] In one embodiment, before obtaining the actual physical position information and displacement feedback information of the servo system product, the method further includes:

[0032] A displacement instruction is sent to the servo system product, wherein the displacement instruction includes a displacement distance.

[0033] In this method, the calibration device controller first sends a displacement instruction to the servo system product to control the servo system product to perform a corresponding displacement according to the received displacement instruction.

[0034] In a third aspect, the present invention provides a computer device comprising a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the servo system product position calibration method of the second aspect and any one of its optional implementations by executing the computer instructions.

[0035] In a fourth aspect, the present invention provides a computer-readable storage medium storing computer instructions for causing the computer to execute the servo system product position calibration method of the second aspect and any one of its optional implementations. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 It is a structural block diagram of a servo system product position calibration device proposed in an embodiment of the present invention.

[0038] Figure 2 The present invention is a flowchart of a method for calibrating the position of a servo system product according to an embodiment of the present invention.

[0039] Figure 3 It is a schematic diagram of a function curve of the fitting function proposed in an embodiment of the present invention.

[0040] Figure 4 It is a schematic diagram of the hardware structure of a computer device proposed in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] In order to facilitate the calibration of the position of a servo system product, a servo system product position calibration device is provided in an embodiment of the present invention. Figure 1 As shown, the device includes a high-precision displacement measuring instrument 1, a calibration device controller 2 and a servo system calibration station device 3.

[0043] In one embodiment, the high-precision displacement measuring instrument 1 is connected to the calibrated servo system product through a test interface to collect actual physical position information of the servo system product; and is connected to the calibration device controller 2 through a test bus to send actual physical position information to the calibration device controller 2.

[0044] Specifically, the test bus may be Ethernet, GPIB (General-Purpose Interface Bus) or USB (Universal Serial Bus), which are only used as examples and are not limited thereto.

[0045] In one embodiment, the calibration device controller 2 is connected to the calibrated servo system product through a servo control bus, and is used to obtain the displacement feedback information of the calibrated servo system product, and combine the displacement feedback information and the actual physical position information at the same time to form a corresponding relationship, and calibrate the position of the servo system product based on the corresponding relationship.

[0046] In one embodiment, the servo system calibration station device 3 is connected to the servo system product by controlling the power supply interface, power interface and mechanical interface, and is used to match the appropriate servo calibration station interface according to the servo system product to be calibrated, and to match the appropriate power supply interface, power interface and mechanical interface for the servo system product, thereby increasing the flexibility of the servo system calibration station device and improving the matching degree between the servo system calibration station device and different servo system products.

[0047] In one embodiment, the high-precision displacement measuring instrument 1 collects actual physical position information of the servo system product including: angular displacement or linear displacement measurement.

[0048] Specifically, the calibration device controller 2 can match the corresponding high-precision angular displacement or linear displacement measuring instrument according to different servo system products. The high-precision displacement measuring instrument 1 collects the angular displacement or linear displacement of the servo system product and sends the measured data to the calibration device controller 2 through the test bus.

[0049] Through the above embodiments, the actual physical position information of the servo system product is collected through a high-precision displacement measuring instrument to improve the accuracy and precision of the actual physical position information; the servo system calibration station device is used to flexibly match the corresponding interface according to different models of servo system products, so that different models of servo system products can be adapted, increasing flexibility and matching with the servo system products; the calibration device controller combines the displacement feedback information and the actual physical position information within the same moment to form a corresponding relationship, thereby realizing calibration of the position of the servo system product based on the corresponding relationship, thereby improving the accuracy of the servo displacement and realizing the calibration of the servo system without changing the servo system hardware.

[0050] The present invention also provides a servo system product position calibration method, which is executed by a calibration device controller, such as Figure 2 As shown, the method includes the following steps S1 to S4.

[0051] Step S1: When it is detected that the servo system product is connected, the servo system calibration station device is controlled to match the mechanical interface, power interface and control power supply interface corresponding to the servo system product.

[0052] In an embodiment of the present invention, when the calibration device controller detects that the servo system product is connected, it controls the servo calibration station device and the servo system product to flexibly match the corresponding interface, so that it can adapt to different models of servo system products, increase flexibility and matching degree with the servo system product.

[0053] Step S2: Acquire the actual physical position information and displacement feedback information of the servo system product.

[0054] In the embodiment of the present invention: the calibration device controller obtains the actual physical position information collected by the high-precision displacement measuring instrument through the test bus, and obtains the displacement feedback information of the calibrated servo system product through the servo control bus.

[0055] Specifically, when the calibration device controller obtains the actual physical position information and displacement feedback information acquisition instruction, or obtains the actual physical position information and displacement feedback information of the servo system product at preset time intervals, where the preset time interval can be reasonably set according to the actual application scenario and is not specifically limited here.

[0056] Step S3: combining the actual physical position information and displacement feedback information at the same time to form a corresponding relationship.

[0057] In an embodiment of the present invention: the calibration device controller obtains displacement feedback information through the servo control bus and obtains actual physical position information through the test bus, and then combines the actual physical position information and displacement feedback information at the same time to form a corresponding relationship such as a search function or a fitting function.

[0058] Specifically, the calibration device controller combines the actual physical position information and the displacement feedback information at the same time within a preset number of times to form a corresponding relationship, and the corresponding relationship includes a search function and a fitting function.

[0059] The calibration device controller reads the displacement feedback information through the servo control bus and obtains the actual physical position information through the test bus. Each time the above process is completed, the calibration device controller successfully calibrates a point and records the data points in sequence based on the pre-set calibration quantity within the entire displacement control formation of the servo system.

[0060] Specifically, the search function is: ,

[0061] in, R x is the current actual physical location information, ( S 1, R 1) and ( S 2, R 2) for ( S x , R x ), S x Feedback information for the current displacement.

[0062] When the corresponding relationship is a lookup function, after a finite number of the above process, a lookup table is obtained, as shown in Table 1.

[0063] Table 1

[0064]

[0065] For example, if the current displacement feedback information is 3.5mm, and the adjacent marking points are (S2, R2) and (S3, R3), the corresponding actual physical position information is calculated to be 2.462mm through the lookup function.

[0066] Specifically, when the corresponding relationship is a fitting function, the fitting function is: .

[0067] in, Yis the actual physical location information, X is the displacement feedback information, such as Figure 3 As shown, the actual physical position information corresponding to any displacement feedback information can be determined according to the fitting function.

[0068] It should be noted that the above correspondence varies according to the usage scenarios and specific parameters of different servo system products.

[0069] Step S4: Based on the corresponding relationship, determine the current actual physical position information corresponding to the current displacement feedback information, and calibrate the position of the servo system product based on the current actual physical position information.

[0070] In the embodiment of the present invention: the calibration device controller determines the current actual physical position information corresponding to the current displacement feedback information based on the corresponding relationship, and calibrates the position of the servo system product to improve the accuracy of the servo displacement.

[0071] Through the above embodiment, the actual physical position information of the servo system product is collected by a high-precision displacement measuring instrument to improve the accuracy and precision of the actual physical position information, and then the displacement feedback information and the actual physical position information at the same time are combined by the calibration device controller to form a corresponding relationship, thereby realizing the position of the servo system product based on the corresponding relationship, improving the accuracy of the servo displacement, and realizing the calibration of the servo system without changing the servo system hardware.

[0072] In one embodiment, when it is detected that the servo system product is connected, after controlling the servo calibration station device to match the mechanical interface, power interface and control power supply interface corresponding to the servo system product, the method further includes:

[0073] Control the high-precision displacement measuring instrument to measure the initial value of the servo system product.

[0074] In an embodiment of the present invention, after detecting the interface connection between the servo system product and the corresponding servo calibration station device, the calibration device controller controls the high-precision displacement measuring instrument to collect the initial value of the servo system product, so as to store the initial values ​​such as the initial displacement when the servo system product does not change.

[0075] In one embodiment, before obtaining the actual physical position information and displacement feedback information of the servo system product, the method further includes: sending a displacement instruction to the servo system product, wherein the displacement instruction includes a displacement distance.

[0076] In an embodiment of the present invention, the calibration device controller first sends a displacement instruction to the servo system product. For example, the displacement instruction is "3mm". After receiving the displacement instruction, the servo system product will jitter between 2.99mm, 3.00mm, 3.01mm and 3.02mm. When it is detected that the servo system product is stable at a certain displacement, the displacement feedback information is obtained to increase the stability and accuracy of the displacement feedback information.

[0077] In one embodiment, after combining the actual physical position information and the displacement feedback information at the same time within a preset number of times to form a corresponding relationship, the method further includes:

[0078] The lookup function and / or the fitting function are bound to the servo system product via the servo control bus.

[0079] In an embodiment of the present invention, a search function, or a fitting function, or a search function and a fitting function are bound to a servo system product to store the corresponding relationship in the servo system product, so that the calibration device controller can determine the actual physical position information corresponding to the displacement feedback information based on the stored corresponding relationship.

[0080] Figure 4 FIG. 1 is a schematic diagram of a hardware structure of a computer device according to an exemplary embodiment. Figure 4 As shown, the device includes one or more processors 410 and a memory 420, and the memory 420 includes a persistent memory, a volatile memory, and a hard disk. Figure 4 A processor 410 is taken as an example. The device may also include: an input device 430 and an output device 440.

[0081] The processor 410, the memory 420, the input device 430 and the output device 440 may be connected via a bus or other means. Figure 4 The example of connecting through bus is taken in the following.

[0082] The processor 410 may be a central processing unit (CPU). The processor 410 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips. A general-purpose processor may be a microprocessor or the processor may be any conventional processor.

[0083] The memory 420 is a non-transient computer-readable storage medium, including a persistent memory, a volatile memory, and a hard disk, and can be used to store non-transient software programs, non-transient computer executable programs, and modules, such as program instructions / modules corresponding to the business management method in the embodiment of the present application. The processor 410 executes various functional applications and data processing of the server by running the non-transient software programs, instructions, and modules stored in the memory 420, that is, to implement any of the above-mentioned servo system product position calibration methods.

[0084] The memory 420 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data required for use, etc. In addition, the memory 420 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 420 may optionally include a memory remotely arranged relative to the processor 410, and these remote memories may be connected to the data processing device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0085] The input device 430 can receive input digital or character information and generate key signal input related to user settings and function control. The output device 440 can include display devices such as a display screen.

[0086] One or more modules are stored in the memory 420, and when executed by one or more processors 410, the execution is as follows: Figure 2 The servo system product position calibration method shown.

[0087] The above-mentioned product can execute the method provided by the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to Figure 2 Related description of the illustrated embodiment.

[0088] The embodiment of the present invention also provides a non-transitory computer storage medium, which stores computer executable instructions, and the computer executable instructions can execute the authentication method in any of the above method embodiments. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (Flash Memory), a hard disk (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above types of memory.

[0089] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A servo system product position calibration device, characterized in that: include: High-precision displacement measuring instrument, servo system calibration station device and calibration device controller, wherein: A high-precision displacement measuring instrument, connected to the servo system product to be calibrated, for collecting actual physical position information of the servo system product and sending the actual physical position information to the calibration device controller through a test bus; A servo system calibration station device, connected to the servo system product, for matching the corresponding mechanical interface, power interface and control power supply interface for the servo system product; A calibration device controller, used to obtain displacement feedback information of the servo system product to be calibrated, combine the displacement feedback information and the actual physical position information at the same time to form a corresponding relationship, and calibrate the position of the servo system product based on the corresponding relationship; The corresponding relationship includes a search function and a fitting function; The search function is: , in, R x is the current actual physical location information, ( S 1, R 1) and ( S 2, R 2) for ( S x , R x ), S x Feedback information for current displacement; The fitting function is: , in, Y is the actual physical location information, X It is the displacement feedback information.

2. The device according to claim 1, characterized in that The high-precision displacement measuring instrument collects the actual physical position information of the servo system product including: angular displacement or linear displacement measurement.

3. A servo system product position calibration method, characterized in that: include: When it is detected that the servo system product is connected, the servo system calibration station device is controlled to match the mechanical interface, power interface and control power supply interface corresponding to the servo system product; Acquiring actual physical position information and displacement feedback information of the servo system product; Combining the actual physical position information and the displacement feedback information at the same time to form a corresponding relationship; Based on the corresponding relationship, determine the current actual physical position information corresponding to the current displacement feedback information, and calibrate the position of the servo system product based on the current actual physical position information; The corresponding relationship includes a search function and a fitting function; The search function is: , in, R x is the current actual physical location information, ( S 1, R 1) and ( S 2, R 2) for ( S x , R x ), S x Feedback information for current displacement; The fitting function is: , in, Y is the actual physical location information, X It is the displacement feedback information.

4. The method according to claim 3, characterized in that The combining the actual physical position information and the displacement feedback information at the same time to form a corresponding relationship includes: The actual physical position information and the displacement feedback information at the same time within a preset number of times are combined to form a corresponding relationship.

5. The method according to claim 4, characterized in that After combining the actual physical position information and the displacement feedback information at the same time within a preset number of times to form a corresponding relationship, the method further includes: The lookup function and / or the fitting function are bound to the servo system product via a servo control bus.

6. The method according to claim 3, characterized in that After the servo calibration station device is controlled to match the mechanical interface, power interface and control power supply interface corresponding to the servo system product when the servo system product is detected to be connected, the method further includes: Control the high-precision displacement measuring instrument to measure the initial value of the servo system product.

7. The method according to claim 3, characterized in that Before obtaining the actual physical position information and displacement feedback information of the servo system product, the method further includes: A displacement instruction is sent to the servo system product, wherein the displacement instruction includes a displacement distance.

8. A computer device, characterized in that: It comprises a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the servo system product position calibration method described in any one of claims 3-7 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the servo system product position calibration method according to any one of claims 3-7.

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