Multi-device linkage method, device, terminal device and computer storage medium

Abstract

The present invention relates to the field of automation equipment technology, and discloses a method, device, terminal device and computer storage medium for multi-device linkage, the method comprising: after the system time is the same as that of the master station device, reading the first motion data transmitted by the master station device in accordance with the data transmission protocol and the time beat mode; determining the access time when the first motion data is received, and reading the second motion data of the slave station device at the access time and the third motion data of the slave station device at the device linkage time, determining the advance dynamic compensation value of the slave station device according to the first motion data, the second motion data and the third motion data; superimposing the advance dynamic compensation value on the output of the PID controller to perform synchronous linkage control of the slave station device with the master station device. The present invention improves the synchronization accuracy and synchronization efficiency of the device.

Description

Technical Field

[0001] The present invention relates to the field of automation equipment technology, and in particular to a method, device, terminal equipment and computer storage medium for multi-equipment linkage. Background Art

[0002] With the continuous development of automation equipment technology, the length or width of many large parts often exceeds the equipment itself. Therefore, users will use multiple devices to process the large parts. Therefore, users have put forward higher requirements for the synchronization and efficiency of multi-device linkage processing of large parts.

[0003] At present, there are slight differences in the hardware structures of the existing devices, which not only requires a lot of time to fine-tune each device, but also there will be deviations in the positioning of each device and the processing time of large parts after fine-tuning, which can easily lead to handover marks at the joints of large parts processing of each device. That is, due to the poor synchronization accuracy of the large parts processing operations of each device, some handover marks will appear in the gaps of the linkage of each device, resulting in substandard process of the large parts; in addition, the work processes of each device are also prone to being out of sync. For example, when one device is shaping a large part, the back stop of another device moves forward, which will cause the large part to be scrapped, thereby increasing the processing cost.

[0004] In summary, the existing linkage of various equipment to process large parts has technical problems such as poor processing synchronization accuracy and low processing synchronization efficiency. Summary of the invention

[0005] The main purpose of the present invention is to provide a method, apparatus, terminal device and computer storage medium for multi-device linkage, aiming to improve the synchronization accuracy and synchronization efficiency of multi-device linkage in processing large parts.

[0006] To achieve the above object, the present invention provides a method for multi-device linkage, the method for multi-device linkage is applied to a slave station device, the slave station device establishes a communication connection with a master station device;

[0007] The multi-device linkage method includes:

[0008] After the system time is the same as that of the master station device, the first motion data transmitted by the master station device in accordance with the data transmission protocol and the time beat method is read, wherein the first motion data is the first position data and the first speed data of each working axis of the master station device at the time of device linkage;

[0009] Determine the access time when the first motion data is received, and read the second motion data of the slave device at the access time and the third motion data of the slave device at the device linkage time, wherein the second motion data is the second position data and the second speed data of each working axis of the slave device at the access time, and the third motion data is the third position data and the third speed data of each working axis of the slave device at the device linkage time;

[0010] Determine an advance dynamic compensation value of the slave device according to the first motion data, the second motion data and the third motion data;

[0011] The advance dynamic compensation value is superimposed on the output of the PID controller to perform synchronous linkage control on the slave station device and the master station device.

[0012] Optionally, before the step of reading the first motion data transmitted by the master station device according to the data transmission protocol and the time beat method, the step includes:

[0013] Receiving the master station process stage information uploaded by the master station device at the device linkage moment;

[0014] Determine whether the slave process phase information of the slave device at the device linkage moment is the same as the master process phase information;

[0015] If not, adjust the slave station process phase information or the master station process phase information to make the slave station process phase information the same as the master station process phase information.

[0016] Optionally, the step of adjusting the slave station process phase information or the master station process phase information includes:

[0017] Determine the sequential relationship between the working phase corresponding to the slave station process phase information and the working phase corresponding to the master station process phase information;

[0018] If the working phase corresponding to the process phase information of the slave station is before the working phase corresponding to the process phase information of the master station, the master station device suspends work and waits until the working phase corresponding to the process phase information of the slave station is the same as the working phase corresponding to the process phase information of the master station before continuing to work;

[0019] If the working stage corresponding to the slave station process stage information is after the working stage corresponding to the master station process stage information, the slave station device suspends work and waits until the working stage corresponding to the master station process stage information is the same as the working stage corresponding to the slave station process stage information, and then the slave station device continues to work.

[0020] Optionally, the step of determining the advance dynamic compensation value of the slave device according to the first motion data, the second motion data and the third motion data includes:

[0021] Obtaining motion difference data between the slave device and the master device according to the difference between the first motion data and the third motion data, wherein the motion difference data includes position difference data between the first position data and the third position data, and speed difference data between the first speed data and the third speed data;

[0022] Obtaining motion deviation data of the slave device according to a difference between the second motion data and the third motion data, wherein the motion deviation data includes position deviation data between the second position data and the third position data, and speed deviation data between the second speed data and the third speed data;

[0023] Obtaining a preset compensation coefficient;

[0024] Obtaining a position compensation value according to the compensation coefficient, the position difference data, and the position deviation data;

[0025] Obtaining a speed compensation value according to the compensation coefficient, the speed difference data, and the speed deviation data;

[0026] The position compensation value and the speed compensation value are used as advance dynamic compensation values ​​of the slave device.

[0027] Optionally, the compensation coefficient includes a first compensation coefficient and a second compensation coefficient, and the step of obtaining the position compensation value according to the compensation coefficient, the position difference data, and the position deviation data includes:

[0028] The product of the first compensation coefficient and the position difference data is summed with the product of the second compensation coefficient and the position deviation data to obtain a position compensation value.

[0029] Optionally, the compensation coefficient includes a third compensation coefficient and a fourth compensation coefficient, and the step of obtaining the speed compensation value according to the compensation coefficient, the speed difference data, and the speed deviation data includes:

[0030] The product of the third compensation coefficient and the speed difference data is summed with the product of the fourth compensation coefficient and the speed deviation data to obtain a speed compensation value.

[0031] In addition, to achieve the above-mentioned purpose, the present invention also provides a method for multi-device linkage, the method for multi-device linkage is applied to a master station device, the master station device establishes a communication connection with a slave station device;

[0032] The multi-device linkage method further includes:

[0033] After the system time of the slave device is the same as that of the slave device, the first motion data is transmitted to the slave device in accordance with the data transmission protocol and the time beat method, so that the slave device determines the advance dynamic compensation value of the slave device according to the first motion data, the second motion data and the third motion data and superimposes the advance dynamic compensation value on the output of the PID controller to perform synchronous linkage control of the slave device with the master device;

[0034] The first motion data is the first position data and first speed data transmitted by each working axis of the master station device at the time of device linkage, the second motion data is the second position data and second speed data read by the slave station device at the access time of receiving the first motion data, and the third motion data is the third position data and third speed data read by the slave station device at the time of device linkage.

[0035] In addition, to achieve the above-mentioned purpose, the present invention further provides a multi-device linkage device, and the multi-device linkage device of the present invention includes:

[0036] A reading module is used to read the first motion data transmitted by the master device according to the data transmission protocol and the time beat mode after the system time is the same as that of the master device, wherein the first motion data is the first position data and the first speed data of each working axis of the master device at the time of device linkage;

[0037] A receiving module, used to determine the access time when the first motion data is received, and read the second motion data of the slave device at the access time and the third motion data of the slave device at the device linkage time, wherein the second motion data is the second position data and the second speed data of each working axis of the slave device at the access time, and the third motion data is the third position data and the third speed data of each working axis of the slave device at the device linkage time;

[0038] a compensation module, configured to determine an advance dynamic compensation value of the slave device according to the first motion data, the second motion data and the third motion data;

[0039] The synchronous linkage module is used to superimpose the advance dynamic compensation value on the output of the PID controller to perform synchronous linkage control on the slave station device and the master station device.

[0040] Each functional module of the apparatus for multi-device linkage of the present invention implements the steps of the method for multi-device linkage of the present invention as described above during operation.

[0041] In addition, to achieve the above-mentioned purpose, the present invention also provides a terminal device, which includes a memory, a processor, and a multi-device linkage program stored in the memory and executable on the processor, and the multi-device linkage program, when executed by the processor, implements the steps of the above-mentioned multi-device linkage method.

[0042] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer storage medium, on which a program for multi-device linkage is stored, and when the program for multi-device linkage is executed by a processor, the steps of the above-mentioned method for multi-device linkage are implemented.

[0043] In the present invention, the method of multi-device linkage is applied to the slave device, and the slave device establishes a communication connection with the master device. After the system time is the same as that of the master device, the first motion data transmitted by the master device in accordance with the data transmission protocol and the time beat mode is read, wherein the first motion data is the first position data and the first speed data of each working axis of the master device at the time of device linkage; then the access time when the first motion data is received is determined, and the second motion data of the slave device at the access time and the third motion data of the slave device at the time of device linkage are read, wherein the second motion data is the second position data and the second speed data of each working axis of the slave device at the access time, and the third motion data is the third position data and the third speed data of each working axis of the slave device at the time of device linkage; then the advance dynamic compensation value of the slave device is determined according to the first motion data, the second motion data and the third motion data; and then the advance dynamic compensation value is superimposed on the output of the PID controller to perform synchronous linkage control of the slave device with the master device.

[0044] Different from the traditional multi-device linkage scheme, the present application processes the data transmitted by the slave device and the master device respectively according to the data transmission protocol and the time beat method. In other words, the present application uses the time beat to mark the time of the transmission data transmitted by the slave device and the master device according to the data transmission protocol. According to the communication connection between the slave device and the master device, the time when the master device transmits the parameters can be determined, which is to prepare for the subsequent synchronous linkage control of the slave device with the master device, and then the first motion data of the master device at the device linkage moment is received by the slave device, and the second motion data corresponding to the access moment of the slave device receiving the first motion data, as well as the third motion data of the slave device at the device linkage moment are read, and then The advance dynamic compensation value of the slave device is determined according to the first motion data, the second motion data and the third motion data, and finally the advance dynamic compensation value is superimposed on the output of the PID controller to perform synchronous linkage control on the slave device and the master device, that is, the transmission data of the slave device and the transmission data of the master device are synchronously transmitted in real time, thereby ensuring the real-time synchronous linkage operation of the slave device and the master device, and effectively avoiding the problem of some handover marks appearing at the gaps of the linkage of each device when using the existing multi-device linkage solution to process large parts, resulting in substandard large parts and poor synchronous processing efficiency. The present application effectively improves the synchronization accuracy and synchronization efficiency of multi-device linkage in processing large parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a flowchart of a first embodiment of the method for multi-device linkage of the present invention;

[0046] Figure 2 It is a schematic block diagram of the overall process of the multi-device linkage method system of the present invention;

[0047] Figure 3 It is a structural composition block diagram of the advance dynamic compensation involved in the method for multi-device linkage of the present invention;

[0048] Figure 4 It is a system structure diagram of the method for multi-device linkage of the present invention;

[0049] Figure 5 It is a schematic diagram of a device module for multi-device linkage of the present invention;

[0050] Figure 6 A schematic diagram of the structure of a terminal device involved in an embodiment of the present invention;

[0051] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0052] The embodiment of the present invention provides a method for multi-device linkage, referring to Figure 1 As shown, Figure 1 It is a flowchart of the first embodiment of the method for multi-device linkage of the present invention.

[0053] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0054] In this embodiment, the method for multi-device linkage of the present invention is applied to a slave device, and the slave device has established a communication connection with a master device;

[0055] The multi-device linkage method includes:

[0056] Step S10: after the system time is the same as that of the master station device, reading the first motion data transmitted by the master station device in accordance with the data transmission protocol and the time beat mode, wherein the first motion data is the first position data and the first speed data of each working axis of the master station device at the time of device linkage;

[0057] In this embodiment, according to the communication connection with the master station device, after determining that the system time of the slave station device is the same as the system time of the master station device, the slave station device first reads the first motion data transmitted by the master station device in accordance with the data transmission protocol and time beat method, wherein the first motion data is the first position data and first speed data of each working axis of the master station device at the moment of device linkage.

[0058] It should be noted that there can be one or more slave devices, and the slave devices can be understood as devices that follow the master device to process large parts. In other words, the slave devices perform the same operations as the master device. Each slave device has a communication connection with the master device, and each slave device also has a communication connection with each other. Among them, the slave devices and the master device include but are not limited to bending machines.

[0059] The data transmission protocol and the time beat method can be understood as the data transmission protocol cannot achieve synchronous control, and it is easy to lose the beat when the slave station device and the master station device interact with data, resulting in inaccurate transmission data, and then making the synchronization performance between the slave station device and the master station device worse. The present application uses the form of adding a time beat to the data transmission protocol to enable each slave station device to know the time when the master station device transmits the transmission data in real time, among which the data transmission protocol includes but is not limited to the MODBUS_TCP protocol.

[0060] Step S20: determining the access time when the first motion data is received, and reading the second motion data of the slave device at the access time and the third motion data of the slave device at the device linkage time, wherein the second motion data is the second position data and the second speed data of each working axis of the slave device at the access time, and the third motion data is the third position data and the third speed data of each working axis of the slave device at the device linkage time;

[0061] After determining the access time when the first motion data is received, the second motion data of the slave device at the access time will be read, and the third motion data of the slave device at the device linkage time will be read, wherein the second motion data is the second position data and second speed data of each working axis of the slave device at the access time, and the third motion data is the third position data and third speed data of each working axis of the slave device at the device linkage time.

[0062] Step S30: determining an advance dynamic compensation value of the slave device according to the first motion data, the second motion data and the third motion data;

[0063] In this embodiment, the slave station device first determines the working stage corresponding to the slave station process stage information, and then obtains the preset compensation coefficient based on the working stage, and then determines the motion difference data between the slave station device and the master station device at the device linkage time according to the difference between the first motion data and the third motion data, and determines the motion deviation data of the slave station device between the access time and the device linkage time according to the difference between the second motion data and the third motion data, and then determines the advance dynamic compensation value of the slave station device according to the motion deviation data, the motion difference data (that is, the difference between the data of the slave station device and the master station device at the same time) and the preset compensation coefficient.

[0064] It should be noted that when the working stages of the slave devices are different, the preset compensation coefficients for different working stages are also different. When there are multiple slave devices, even if the slave devices are in the same working stage, the preset compensation coefficients of each slave device are different, and the preset compensation coefficients can be customized according to user needs.

[0065] In addition, it should be noted that the motion difference data may include: the position difference data between the first position data and the third position data, and the speed difference data between the first speed data and the third speed data; the motion deviation data may include: the position deviation data between the second position data and the third position data, and the speed deviation data between the second speed data and the third speed data. Among them, the position compensation value can be obtained according to the preset compensation coefficient, the position difference data, and the position deviation data; in addition, the speed compensation value can be obtained according to the compensation coefficient, the speed difference data, and the speed deviation data, and then the position compensation value and the speed compensation value are used as the advance dynamic compensation value of the slave device. In other words, the advance dynamic compensation value may include the position compensation value and the speed compensation value, wherein the position compensation value can be understood as the sum of the product between the preset compensation coefficient and the position difference data and the product between the preset compensation coefficient and the position deviation data; the speed compensation value can be understood as the sum of the product between the preset compensation coefficient and the speed difference data and the product between the preset compensation coefficient and the speed deviation data.

[0066] Step S40: superimposing the advance dynamic compensation value onto the output of the PID controller to perform synchronous linkage control on the slave device and the master device.

[0067] In this embodiment, the slave device superimposes the advance dynamic compensation value onto the output of the PID controller, thereby realizing synchronous linkage control between the slave device and the master device.

[0068] It should be noted that the PID controller includes a speed loop and a position loop. The position compensation value in the advance dynamic compensation value is superimposed on the position loop, and the speed compensation value in the advance dynamic compensation value is superimposed on the speed loop, thereby ensuring the real-time and rapidity of the slave device synchronously tracking the master device.

[0069] In summary, in the present invention, the method of multi-device linkage is applied to the slave device, and the slave device establishes a communication connection with the master device. After the system time is the same as that of the master device, the first motion data transmitted by the master device in accordance with the data transmission protocol and the time beat mode is read, wherein the first motion data is the first position data and the first speed data of each working axis of the master device at the time of device linkage; then the access time when the first motion data is received is determined, and the second motion data of the slave device at the access time and the third motion data of the slave device at the time of device linkage are read, wherein the second motion data is the second position data and the second speed data of each working axis of the slave device at the access time, and the third motion data is the third position data and the third speed data of each working axis of the slave device at the time of device linkage; then the advance dynamic compensation value of the slave device is determined according to the first motion data, the second motion data and the third motion data; and then the advance dynamic compensation value is superimposed on the output of the PID controller to perform synchronous linkage control of the slave device with the master device.

[0070] Different from the traditional multi-device linkage scheme, the present application processes the data transmitted by the slave device and the master device respectively according to the data transmission protocol and the time beat method. In other words, the present application uses the time beat to mark the time of the transmission data transmitted by the slave device and the master device according to the data transmission protocol. According to the communication connection between the slave device and the master device, the time when the master device transmits the parameters can be determined, which is to prepare for the subsequent synchronous linkage control of the slave device with the master device, and then the first motion data of the master device at the device linkage moment is received by the slave device, and the second motion data corresponding to the access moment of the slave device receiving the first motion data, as well as the third motion data of the slave device at the device linkage moment are read, and then The advance dynamic compensation value of the slave device is determined according to the first motion data, the second motion data and the third motion data, and finally the advance dynamic compensation value is superimposed on the output of the PID controller to perform synchronous linkage control on the slave device and the master device, that is, the transmission data of the slave device and the transmission data of the master device are synchronously transmitted in real time, thereby ensuring the real-time synchronous linkage operation of the slave device and the master device, and effectively avoiding the problem of some handover marks appearing at the gaps of the linkage of each device when using the existing multi-device linkage solution to process large parts, resulting in substandard large parts and poor synchronous processing efficiency. The present application effectively improves the synchronization accuracy and synchronization efficiency of multi-device linkage in processing large parts.

[0071] Further, based on the first embodiment of the multi-device linkage of the present invention, a second embodiment of the multi-device linkage of the present invention is proposed, referring to Figure 2 , Figure 2 It is a schematic block diagram of the overall process of the multi-device linkage method system of the present invention.

[0072] In this embodiment, before the above step S10: reading the first motion data transmitted by the master station device according to the data transmission protocol and the time beat method, the following implementation steps may also be included.

[0073] Step A10: receiving the master station process stage information uploaded by the master station device at the device linkage moment;

[0074] In this embodiment, according to the communication connection between the slave device and the master device, the slave device can receive the master process stage information uploaded by the master device at the device linkage moment.

[0075] Step A20: Determine whether the slave process phase information of the slave device at the device linkage moment is the same as the master process phase information;

[0076] After receiving the process phase information uploaded by the master device at the device linkage moment, the slave process phase information of the slave device at the device linkage moment is read, and it is determined whether the slave process phase information is the same as the master process phase information.

[0077] Step A30: If not, adjust the slave station process phase information or the master station process phase information to make the slave station process phase information the same as the master station process phase information;

[0078] In this embodiment, if the slave station process phase information of the slave station device at the moment of device linkage is different from the master station process phase information, the sequential relationship between the working phase corresponding to the slave station process phase information and the working phase corresponding to the master station process phase information is determined. If the working phase corresponding to the slave station process phase information is before the working phase corresponding to the master station process phase information, the master station device suspends work and waits until the working phase corresponding to the slave station process phase information is the same as the working phase corresponding to the master station process phase information before the master station device continues to work; if the working phase corresponding to the slave station process phase information is after the working phase corresponding to the master station process phase information, the slave station device suspends work and waits until the working phase corresponding to the master station process phase information is the same as the working phase corresponding to the slave station process phase information before the slave station device continues to work.

[0079] For example, the working stage corresponding to the process stage information during the movement of the bending machine may include: the fast-down stage, the working stage, the pressure relief stage, the return stage, and the zero return stage, etc., and the bending machine works in the order of the fast-down stage, the working stage, the pressure relief stage, the return stage, and the zero return stage. If at the same time the working stage corresponding to the slave process stage information of the first bending machine (i.e., the slave device) is the fast-down stage, and the working stage corresponding to the master process stage information of the second bending machine (i.e., the master device) is the working stage, that is, the working stage corresponding to the slave process stage information in the first bending machine lags behind the working stage corresponding to the master process stage information in the second bending machine, then the second bending machine will suspend work, and when the first bending machine runs from the fast-down stage to the same working stage as the second bending machine, the second bending machine will continue to work.

[0080] In another embodiment, if at the same moment the working stage corresponding to the slave process stage information of the first bending machine (i.e., the slave device) is the working stage, and the working stage corresponding to the master process stage information of the second bending machine (i.e., the master device) is the fast-down stage, that is, the working stage corresponding to the slave process stage information in the first bending machine is slightly faster than the working stage corresponding to the master process stage information in the working stage of the second bending machine. At this time, when the first bending machine waits for the second bending machine to move to the working stage, the first bending machine continues to work.

[0081] In addition, it is worth explaining that the master device and the slave device may be required to be synchronized in each working phase of the movement process, or it may be sufficient to ensure that the master device and the slave device are synchronized in the same working phase, and other working phases may be asynchronous. For example, it may be sufficient to ensure that the master device and the slave device are synchronized in the working phase, and other working phases may be asynchronous.

[0082] Further, in some feasible embodiments, the above step A30: the step of adjusting the slave station process phase information or the master station process phase information may also be implemented as follows:

[0083] Step A301: Determine the sequence relationship between the working phase corresponding to the slave station process phase information and the working phase corresponding to the master station process phase information;

[0084] In this embodiment, it is determined whether the working phase corresponding to the slave station process phase information is in the working phase corresponding to the master station process phase information; if not, the working phase corresponding to the slave station process phase information is after the working phase corresponding to the master station process phase information.

[0085] Step A302: If the working phase corresponding to the slave station process phase information is before the working phase corresponding to the master station process phase information, the master station device suspends work and waits until the working phase corresponding to the slave station process phase information is the same as the working phase corresponding to the master station process phase information before the master station device continues to work;

[0086] In this embodiment, if the working stage corresponding to the slave station process stage information is before the working stage corresponding to the master station process stage information, the master station device suspends work and waits until the working stage corresponding to the slave station process stage information is the same as the working stage corresponding to the master station process stage information, and then the master station device continues to work.

[0087] Step A303: If the working stage corresponding to the slave station process stage information is after the working stage corresponding to the master station process stage information, the slave station device suspends work and waits until the working stage corresponding to the master station process stage information is the same as the working stage corresponding to the slave station process stage information, and then the slave station device continues to work.

[0088] In this embodiment, if the working stage corresponding to the slave station process stage information is after the working stage corresponding to the master station process stage information, the slave station device suspends work and waits until the working stage corresponding to the master station process stage information is the same as the working stage corresponding to the slave station process stage information, and then the slave station device continues to work.

[0089] Furthermore, in some other feasible embodiments, the above step S30: the step of determining the advance dynamic compensation value of the slave device according to the first motion data, the second motion data and the third motion data, may also include the following implementation steps.

[0090] Step S301: obtaining motion difference data between the slave device and the master device according to the difference between the first motion data and the third motion data, wherein the motion difference data includes position difference data between the first position data and the third position data, and speed difference data between the first speed data and the third speed data;

[0091] In this embodiment, refer to Figure 3 , Figure 3 The invention is a block diagram of the structure of the advance dynamic compensation involved in the method of multi-device linkage of the present invention. The slave device obtains the motion difference data between the slave device and the master device according to the difference between the first motion data and the third motion data, wherein the motion difference data includes the position difference data between the first position data and the third position data, and the speed difference data between the first speed data and the third speed data.

[0092] Step S302: obtaining motion deviation data of the slave device according to the difference between the second motion data and the third motion data, wherein the motion deviation data includes position deviation data between the second position data and the third position data, and speed deviation data between the second speed data and the third speed data;

[0093] In this embodiment, refer to Figure 3 The slave device obtains motion deviation data of the slave device according to the difference between the second motion data and the third motion data, wherein the motion deviation data includes position deviation data between the second position data and the third position data, and speed deviation data between the second speed data and the third speed data.

[0094] Step S303: obtaining a preset compensation coefficient;

[0095] In this embodiment, the slave device determines the working stage corresponding to the slave process stage information, and then obtains a preset compensation coefficient corresponding to the working stage.

[0096] It should be noted that the compensation coefficient corresponding to each working stage is different. For example, the working stages of the bending machine equipment include the fast-down stage, the working stage, the pressure relief stage, the return stage, the zero return stage, etc. The compensation coefficients corresponding to the above five working stages are different.

[0097] Step S304: obtaining a position compensation value according to the compensation coefficient, the position difference data, and the position deviation data;

[0098] In this embodiment, the preset compensation coefficient may include a first compensation coefficient and a second compensation coefficient, and the product between the first compensation coefficient and the position difference data is summed with the product between the second compensation coefficient and the position deviation data to obtain a position compensation value.

[0099] Step S305: obtaining a speed compensation value according to the compensation coefficient, the speed difference data, and the speed deviation data;

[0100] In this embodiment, the preset compensation coefficient may further include a third compensation coefficient and a fourth compensation coefficient, and the product between the third compensation coefficient and the speed difference data is summed with the product between the fourth compensation coefficient and the speed deviation data to obtain a speed compensation value.

[0101] Step S306: Using the position compensation value and the speed compensation value as the advance dynamic compensation value of the slave device.

[0102] In this embodiment, the position compensation value and the speed compensation value may be used as the advance dynamic compensation value of the slave device.

[0103] It should be noted that the advance dynamic compensation value will change with the changes in the position compensation value and the speed compensation value.

[0104] Furthermore, in some feasible embodiments, the above step S304: obtaining a position compensation value according to the compensation coefficient, the position difference data, and the position deviation data, may also include the following implementation steps.

[0105] Step S3041: summing the product of the first compensation coefficient and the position difference data and the product of the second compensation coefficient and the position deviation data to obtain a position compensation value.

[0106] In this embodiment, the preset compensation coefficient may include a first compensation coefficient and a second compensation coefficient. The product between the first compensation coefficient and the position difference data, and the product between the second compensation coefficient and the position deviation data are calculated respectively, and then the product between the first compensation coefficient and the position difference data and the product between the second compensation coefficient and the position deviation data are summed to obtain a position compensation value.

[0107] Furthermore, in some other feasible embodiments, the above step S305: obtains a speed compensation value according to the compensation coefficient, the speed difference data, and the speed deviation data.

[0108] Step S3051: summing the product of the third compensation coefficient and the speed difference data and the product of the fourth compensation coefficient and the speed deviation data to obtain a speed compensation value.

[0109] In this embodiment, the preset compensation coefficient may also include a third compensation coefficient and a fourth compensation coefficient. The product between the third compensation coefficient and the speed difference data, and the product between the fourth compensation coefficient and the speed deviation data are calculated respectively, and then the product between the third compensation coefficient and the speed difference data and the product between the fourth compensation coefficient and the speed deviation data are summed to obtain the speed compensation value.

[0110] Further, based on the first embodiment or the second embodiment of the multi-device linkage of the present invention, a third embodiment of the multi-device linkage of the present invention is proposed. In this embodiment, the multi-device linkage method is applied to a master station device, and a communication connection is established between the master station device and the slave station device;

[0111] The multi-device linkage method includes:

[0112] Step C10: after the system time of the slave device is the same as that of the slave device, the first motion data is transmitted to the slave device according to the data transmission protocol and the time beat mode, so that the slave device determines the advance dynamic compensation value of the slave device according to the first motion data, the second motion data and the third motion data and superimposes the advance dynamic compensation value on the output of the PID controller to perform synchronous linkage control of the slave device with the master device;

[0113] In this embodiment, according to the communication connection between the master station device and the slave station device, after the system time is the same as that of the slave station device, the master station device transmits the first motion data to the slave station device in accordance with the data transmission protocol and time beat method. In this way, the slave station device can determine the advance dynamic compensation value of the slave station device based on the first motion data, the second motion data and the third motion data, and superimpose the advance dynamic compensation value on the output of the PID controller to perform synchronous linkage control of the slave station device with the master station device.

[0114] Step C20: The first motion data is the first position data and first speed data transmitted by each working axis of the master device at the time of device linkage; the second motion data is the second position data and second speed data read by the slave device at the access time of receiving the first motion data; the third motion data is the third position data and third speed data read by the slave device at the time of device linkage.

[0115] In yet another embodiment, in this embodiment, referring to Figure 4 , Figure 4This is a system structure diagram of the method for multi-device linkage of the present invention. According to setting the site type 8, the slave station device and the master station device can be set, wherein the number of slave station devices includes but is not limited to 5. In addition, after determining the slave station device, the number of slave stations corresponding to the slave station device is set according to setting the number of slave stations 9, and the IP address of the slave station device is set on the master station device according to setting the IP address 10, and the set slave station IP address is displayed on the human-computer interaction window of the master station device; according to the communication connection between the slave station device and the master station device, in the slave station device, according to the alarm module 11, whether the IP address of the slave station device is the same as the slave station IP address in the master station device, if the IP address of the slave station device is the same as the slave station IP address in the master station device, the slave station device and the master station device are connected. The communication connection between them is correct; if the IP address of the slave device is different from the slave IP address in the master device, the IP configuration error code is passed to the master device for the master device to display a prompt that the slave device has a fault through a preset human-computer interaction window, and report its own error on the slave device, and then determine the IP address adjustment parameters corresponding to the slave device failure. The slave device then calls out the slave IP address in the master device from its own memory storing the IP address according to the IP address adjustment parameters, and configures the slave IP address with the slave device so that the alarm module 11 no longer alarms, and then executes any of the above-mentioned multi-device linkage methods of the present application after determining that a correct communication connection is established between the slave device and the master device.

[0116] In another embodiment, after the slave device and the master device no longer alarm, the external power supply of the slave device and the master device can be cut off and then powered on again to further eliminate the fault error of the slave device itself.

[0117] In summary, after the correct communication connection is established between the slave station device and the master station device, the present invention connects the process stage information and motion data between the slave station device and the master station device in accordance with the data transmission protocol and the time beat method, accurately locates the working stage corresponding to the process stage information of the slave station device, and determines the compensation coefficient corresponding to the working stage, and then obtains the advance dynamic compensation value of the slave station device according to the motion data and the compensation coefficient, and then superimposes the advance dynamic compensation value on the output of the PID controller to realize the synchronous linkage control of the slave station device with the master station device, thereby improving the flexibility, operability, convenience and processing efficiency of multiple devices in processing complex large parts. In other words, the present application effectively improves the synchronization accuracy and synchronization efficiency of the linkage of multiple devices in processing large parts.

[0118] Furthermore, the present invention also provides a device for multi-device linkage. Figure 5 , Figure 5 It is a schematic diagram of the device module of the multi-device linkage of the present invention.

[0119] The multi-device linkage device of the present invention comprises:

[0120] A reading module is used to read the first motion data transmitted by the master device according to the data transmission protocol and the time beat mode after the system time is the same as that of the master device, wherein the first motion data is the first position data and the first speed data of each working axis of the master device at the time of device linkage;

[0121] A receiving module, used to determine the access time when the first motion data is received, and read the second motion data of the slave device at the access time and the third motion data of the slave device at the device linkage time, wherein the second motion data is the second position data and the second speed data of each working axis of the slave device at the access time, and the third motion data is the third position data and the third speed data of each working axis of the slave device at the device linkage time;

[0122] a compensation module, configured to determine an advance dynamic compensation value of the slave device according to the first motion data, the second motion data and the third motion data;

[0123] The synchronous linkage module is used to superimpose the advance dynamic compensation value on the output of the PID controller to perform synchronous linkage control on the slave station device and the master station device.

[0124] Optionally, the reading module may further include:

[0125] A receiving unit, used for receiving the master station process stage information uploaded by the master station device at the device linkage moment;

[0126] A judgment unit, used to determine whether the slave process phase information of the slave device at the device linkage moment is the same as the master process phase information;

[0127] The adjusting unit is used to adjust the slave station process phase information or the master station process phase information if no, so that the slave station process phase information is the same as the master station process phase information.

[0128] Optionally, the reading module may further include:

[0129] A sequence unit, used to determine the sequence relationship between the working phase corresponding to the slave station process phase information and the working phase corresponding to the master station process phase information;

[0130] A first waiting unit is used for suspending the work of the master station device if the working phase corresponding to the slave station process phase information is before the working phase corresponding to the master station process phase information, and waiting for the working phase corresponding to the slave station process phase information to be the same as the working phase corresponding to the master station process phase information before the master station device continues to work;

[0131] The second waiting unit is used to suspend the work of the slave station device if the working stage corresponding to the slave station process stage information is after the working stage corresponding to the master station process stage information, and wait for the working stage corresponding to the master station process stage information to be the same as the working stage corresponding to the slave station process stage information, and then the slave station device continues to work.

[0132] Optionally, the compensation module may further include:

[0133] a first difference determination unit, configured to obtain motion difference data between the slave device and the master device according to a difference between the first motion data and the third motion data, wherein the motion difference data includes position difference data between the first position data and the third position data, and speed difference data between the first speed data and the third speed data;

[0134] a second difference determination unit, configured to obtain motion deviation data of the slave device according to a difference between the second motion data and the third motion data, wherein the motion deviation data includes position deviation data between the second position data and the third position data, and speed deviation data between the second speed data and the third speed data;

[0135] a compensation coefficient acquisition unit, configured to acquire a preset compensation coefficient, and sum a product between the compensation coefficient and the position difference data and a product between the compensation coefficient and the position deviation data to obtain a position compensation value;

[0136] An acquisition unit, used to acquire a preset compensation coefficient

[0137] A position compensation unit, used for obtaining a position compensation value according to the compensation coefficient, the position difference data, and the position deviation data;

[0138] A speed compensation unit, used to obtain a speed compensation value according to the compensation coefficient, the speed difference data, and the speed deviation data.

[0139] A dynamic compensation value determining unit is used to use the position compensation value and the speed compensation value as the advance dynamic compensation value of the slave device.

[0140] Optionally, the compensation module may further include:

[0141] The first summing unit is used to sum the product between the first compensation coefficient and the position difference data and the product between the second compensation coefficient and the position deviation data to obtain a position compensation value.

[0142] The second summing unit is used to sum the product between the third compensation coefficient and the speed difference data and the product between the fourth compensation coefficient and the speed deviation data to obtain a speed compensation value.

[0143] Each functional module of the apparatus for multi-device linkage of the present invention implements the steps of the method for multi-device linkage of the present invention as described above during operation.

[0144] In addition, the present invention also provides a terminal device. Figure 6 , Figure 6 The terminal device of the embodiment of the present invention may be a device for locally running multi-device linkage.

[0145] like Figure 6 As shown, the terminal device of the embodiment of the present invention may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005 and a sensing unit 1006. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wi-Fi interface).

[0146] The memory 1005 is arranged on the terminal device body, and a program is stored on the memory 1005, and the program implements the corresponding operation when it is executed by the processor 1001. The memory 1005 is also used to store parameters for use by the terminal device. The memory 1005 can be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 can also be a storage device independent of the aforementioned processor 1001.

[0147] Those skilled in the art will understand that Figure 6 The terminal device structure shown in the figure does not constitute a limitation on the terminal device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0148] like Figure 6As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a program for multi-device linkage of a terminal device.

[0149] exist Figure 6 In the terminal device shown, the processor 1001 can be used to call the multi-device linkage program of the terminal device stored in the memory 1005 to implement the steps of the above-mentioned multi-device linkage method.

[0150] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0151] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0152] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a computer storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0153] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for multi-device linkage, It is characterized in that The multi-device linkage method is applied to a slave device, and the slave device establishes a communication connection with a master device; The multi-device linkage method includes: After the system time is the same as that of the master station device, the first motion data transmitted by the master station device in accordance with the data transmission protocol and the time beat method is read, wherein the first motion data is the first position data and the first speed data of each working axis of the master station device at the time of device linkage; Determine the access time when the first motion data is received, and read the second motion data of the slave device at the access time and the third motion data of the slave device at the device linkage time, wherein the second motion data is the second position data and the second speed data of each working axis of the slave device at the access time, and the third motion data is the third position data and the third speed data of each working axis of the slave device at the device linkage time; Determine an advance dynamic compensation value of the slave device according to the first motion data, the second motion data and the third motion data; The advance dynamic compensation value is superimposed on the output of the PID controller to perform synchronous linkage control on the slave station device and the master station device.

2. The method for multi-device linkage as claimed in claim 1, It is characterized in that Before the step of reading the first motion data transmitted by the master station device according to the data transmission protocol and the time beat method, the method includes: Receiving the master station process stage information uploaded by the master station device at the device linkage moment; Determine whether the slave process phase information of the slave device at the device linkage moment is the same as the master process phase information; If not, adjust the slave station process phase information or the master station process phase information to make the slave station process phase information the same as the master station process phase information.

3. The method for multi-device linkage as claimed in claim 2, It is characterized in that The step of adjusting the slave station process phase information or the master station process phase information comprises: Determine the sequential relationship between the working phase corresponding to the slave station process phase information and the working phase corresponding to the master station process phase information; If the working phase corresponding to the process phase information of the slave station is before the working phase corresponding to the process phase information of the master station, the master station device suspends work and waits until the working phase corresponding to the process phase information of the slave station is the same as the working phase corresponding to the process phase information of the master station before continuing to work; If the working stage corresponding to the slave station process stage information is after the working stage corresponding to the master station process stage information, the slave station device suspends work and waits until the working stage corresponding to the master station process stage information is the same as the working stage corresponding to the slave station process stage information, and then the slave station device continues to work.

4. The method for multi-device linkage as claimed in claim 1, It is characterized in that The step of determining the advance dynamic compensation value of the slave device according to the first motion data, the second motion data and the third motion data comprises: Obtaining motion difference data between the slave device and the master device according to the difference between the first motion data and the third motion data, wherein the motion difference data includes position difference data between the first position data and the third position data, and speed difference data between the first speed data and the third speed data; Obtaining motion deviation data of the slave device according to a difference between the second motion data and the third motion data, wherein the motion deviation data includes position deviation data between the second position data and the third position data, and speed deviation data between the second speed data and the third speed data; Obtaining a preset compensation coefficient; Obtaining a position compensation value according to the compensation coefficient, the position difference data, and the position deviation data; Obtaining a speed compensation value according to the compensation coefficient, the speed difference data, and the speed deviation data; The position compensation value and the speed compensation value are used as advance dynamic compensation values ​​of the slave device.

5. The method for multi-device linkage as claimed in claim 4, It is characterized in that The compensation coefficients include a first compensation coefficient and a second compensation coefficient. The step of obtaining a position compensation value according to the compensation coefficients, the position difference data, and the position deviation data includes: The product of the first compensation coefficient and the position difference data is summed with the product of the second compensation coefficient and the position deviation data to obtain a position compensation value.

6. The method for multi-device linkage as claimed in claim 4, It is characterized in that The compensation coefficients include a third compensation coefficient and a fourth compensation coefficient. The step of obtaining a speed compensation value according to the compensation coefficients, the speed difference data, and the speed deviation data includes: The product of the third compensation coefficient and the speed difference data is summed with the product of the fourth compensation coefficient and the speed deviation data to obtain a speed compensation value.

7. A method for multi-device linkage, It is characterized in that The multi-device linkage method is applied to a master station device, and a communication connection is established between the master station device and the slave station device; The multi-device linkage method further includes: After the system time of the slave device is the same as that of the slave device, the first motion data is transmitted to the slave device in accordance with the data transmission protocol and the time beat method, so that the slave device determines the advance dynamic compensation value of the slave device according to the first motion data, the second motion data and the third motion data and superimposes the advance dynamic compensation value on the output of the PID controller to perform synchronous linkage control of the slave device with the master device; The first motion data is the first position data and first speed data transmitted by each working axis of the master station device at the time of device linkage, the second motion data is the second position data and second speed data read by the slave station device at the access time of receiving the first motion data, and the third motion data is the third position data and third speed data read by the slave station device at the time of device linkage.

8. A device for multi-device linkage, It is characterized in that The multi-device linkage device comprises: A reading module is used to read the first motion data transmitted by the master device according to the data transmission protocol and the time beat mode after the system time is the same as that of the master device, wherein the first motion data is the first position data and the first speed data of each working axis of the master device at the time of device linkage; A receiving module, used to determine the access time when the first motion data is received, and read the second motion data of the slave device at the access time and the third motion data of the slave device at the device linkage time, wherein the second motion data is the second position data and the second speed data of each working axis of the slave device at the access time, and the third motion data is the third position data and the third speed data of each working axis of the slave device at the device linkage time; a compensation module, configured to determine an advance dynamic compensation value of the slave device according to the first motion data, the second motion data and the third motion data; The synchronous linkage module is used to superimpose the advance dynamic compensation value on the output of the PID controller to perform synchronous linkage control on the slave station device and the master station device.

9. A terminal device, It is characterized in that The terminal device includes a memory, a processor, and a multi-device linkage program stored in the memory and executable on the processor. When the processor executes the multi-device linkage program, the processor implements the steps of the multi-device linkage method as described in any one of claims 1 to 7.

10. A computer storage medium, It is characterized in that The computer storage medium stores a program for multi-device linkage, and when the program for multi-device linkage is executed by a processor, the steps of the method for multi-device linkage as claimed in any one of claims 1 to 7 are implemented.

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