Turntable rotation accuracy compensation method and system

Abstract

The present invention discloses a method and system for compensating the rotation accuracy of a turntable, comprising: determining an origin correction period as #imgabs0#; obtaining characterization information measured from a stationary position on the side of a turntable when the turntable rotates; when the characterization information changes, calculating the actual rotation speed of the turntable based on a time parameter and the origin; compensation correction, which includes: obtaining control parameters of the turntable; identifying and searching a preset database, and calling a set rotation speed #imgabs2# that matches the control parameters; if manually entered information is identified, indicating that the current processing accuracy requirement is a number of turns accuracy type, then: when the set rotation speed #imgabs3#> When the actual speed #imgabs4# is reached, the additional rotation amounts #imgabs5# and #imgabs6# are calculated; the additional times #imgabs7# and #imgabs8# are calculated; and the downtime matching the control parameters is updated using #imgabs9#. When the set speed #imgabs10# is less than the actual speed #imgabs11#, the reduction amounts #imgabs12# and #imgabs13# are calculated; the reduction times #imgabs14# and #imgabs15# are calculated; and the downtime matching the control parameters is updated using #imgabs16#. This application improves the control accuracy of the rotary table.

Description

Technical Field

[0001] The present application relates to the field of turntable control technology, and in particular to a turntable rotation accuracy compensation method and system. Background Art

[0002] A rotary table is a device that converts the rotational motion of a motor into the rotational motion of a table top.

[0003] Due to the increasing requirements for machining accuracy, the rotation accuracy of the rotary table needs to be improved; however, currently, the precision control of the rotary table relies on traditional servo motor control methods, such as:

[0004] The servo motor is equipped with a closed-loop negative feedback PID adjustment system, a current loop, which is performed inside the servo driver. The output current of each phase of the motor is detected by the Hall device, and negative feedback is given to the current setting for PID adjustment.

[0005] One method is to set up a speed loop, use the encoder of the output shaft to detect the speed of the motor, and perform negative feedback PID adjustment through the encoder signal. The PID output within the loop is directly the setting of the current loop, so the speed loop control includes the speed loop and the current loop. In other words, any mode must use the current loop. The current loop is the basis of control. While controlling speed and position, the system is actually also controlling current (torque) to achieve corresponding control of speed and position.

[0006] With respect to the above-mentioned related technologies, the inventors believe that the transmission accuracy error and wear between the turntable and the motor of the rotating table have an impact on whether the actual rotation amount of the turntable meets the set value. Therefore, this application proposes a new technical solution. Summary of the Invention

[0007] In order to improve the control accuracy of a turntable, the present application provides a turntable rotation accuracy compensation method and system.

[0008] In a first aspect, the present application provides a turntable rotation accuracy compensation method, which adopts the following technical solution:

[0009] A turntable rotation accuracy compensation method, comprising:

[0010] Q11. Calibration cycle Determine, which includes:

[0011] Obtain manually entered information and identify correction cycle change instructions;

[0012] According to the correction cycle change instruction, the origin correction cycle is determined to be ;

[0013] Q12. Define the origin of the turntable, which includes:

[0014] Obtaining characterization information measured from a stationary position on the side of the turntable while the turntable is rotating;

[0015] Obtain manually entered information and identify the origin definition instructions therein;

[0016] According to the origin definition instruction, search and determine a certain representation information as the origin representation;

[0017] Define the turntable position corresponding to the origin representation as the turntable origin;

[0018] Q2. Calculation of true speed, including:

[0019] When the representation information changes, the actual speed of the turntable is calculated based on the time parameter and the origin. ;

[0020] Q3. Compensation correction, which includes:

[0021] Get the control parameters of the rotating stage;

[0022] Identify, search the preset database, and call the set speed that matches the control parameters ;

[0023] If manually entered information is recognized, indicating that the current processing accuracy requirement is the number of turns accuracy type, then:

[0024] When setting the speed > Actual speed , then calculate the amount of rotation to be added , ; Calculate additional time , ;by Update control parameters to match downtime;

[0025] When setting the speed <True speed , then calculate the amount of rotation to be reduced , ; Calculate the time to be reduced , ;by Update control parameters to match downtime.

[0026] Optional, including:

[0027] Assume that the rotation amount is set to , then calculate the set rotation time , ;

[0028] Record the start time of the motor action and assign it to ;

[0029] Let the motor stop time be , ;

[0030] by or renew , and accumulated over the cycles.

[0031] Optionally, the method further includes: Q3, compensation correction, which further includes:

[0032] If manual input information is recognized, it means that the current processing accuracy requirement is speed accuracy, and ≠ , the preset origin tracing logic is executed, and the result is used to calibrate the speed loop of the motor of the rotary table.

[0033] Optionally, the origin tracing logic includes:

[0034] Get the number of pulses output by the encoder of the rotary table motor and calculate the correction cycle The number of pulses under ;

[0035] Calculate the calibration period The actual number of revolutions of the turntable below , , and calculate the actual single-circuit pulse number of the turntable , ;

[0036] Calculate the calibration period The number of revolutions set by the dial below , , and calculate the number of pulses per turntable , ;

[0037] Calculate the pulse compensation amount of the turntable single turn , ;

[0038] Pulse compensation Correct the speed of the rotary table.

[0039] Optionally, the pulse compensation amount Correct the speed of the rotary table, which includes:

[0040] Get the number of encoder pulses corresponding to one rotation of the motor output shaft ;

[0041] Calculate the number of revolutions of the motor output shaft when the turntable rotates one revolution , ;

[0042] Calculate the single-turn pulse compensation amount of the motor output shaft , ;

[0043] by Update encoder pulse number ,and ;in, The new encoder pulse number ;

[0044] Define the number of encoder pulses during the motor speed loop processing as The motor output shaft rotates one circle.

[0045] Optional, Q4, encoder self-test, which includes:

[0046] When setting the speed =True speed , statistical correction period The number of pulses under ;

[0047] make , and calculate the number of revolutions of the motor output shaft ;

[0048] Determine the number of revolutions of the motor output shaft Whether it meets the preset standard value, if yes, the self-test passes, if not, the encoder abnormality prompt message is output and the execution of the origin leveling logic is terminated.

[0049] In a second aspect, the present application provides a turntable rotation accuracy compensation system, which adopts the following technical solution:

[0050] A turntable rotation accuracy compensation system comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any of the above-mentioned turntable rotation accuracy compensation methods.

[0051] In summary, this application includes at least one of the following beneficial technical effects:

[0052] 1) When the processing requirement is the number of revolutions, the time required for the motor to be added or subtracted can be calculated based on the actual speed of the turntable and compensated to ensure that the actual number of revolutions is the same as the required number of revolutions;

[0053] 2) When the processing requirement is speed accuracy, the pulse deviation that needs to be compensated can be analyzed and calculated based on the actual speed of the turntable and the number of pulses output by the corresponding motor encoder, and used to correct the motor's speed loop to ensure the accuracy of the turntable. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is a schematic diagram of the architecture of this application. DETAILED DESCRIPTION

[0055] The following is combined with Figure 1 This application is described in further detail.

[0056] An embodiment of the present application discloses a method for compensating for turntable rotation accuracy.

[0057] Reference Figure 1 , the turntable rotation accuracy compensation methods include:

[0058] Q11. Calibration cycle Sure;

[0059] Q12. Define the origin of the turntable;

[0060] Q2, calculation of true speed; and,

[0061] Q3. Compensation correction.

[0062] It is understandable that the present method is implemented with a corresponding computer program, so the sequence numbers of the above steps are not a strict order of steps, and parallelism can exist in the computer, which is specifically determined by the causal logic of each link.

[0063] About Q11 and calibration cycle Determine, which includes:

[0064] Obtain manually entered information and identify correction cycle change instructions;

[0065] According to the correction cycle change instruction, the origin correction cycle is determined to be .

[0066] Manually entered information, i.e., interactive information actively input by the user or permission administrator, includes various control instructions. In this embodiment, the motor calibration period of the rotary table (turntable) is not fixed but can be adjusted by the user based on actual accuracy requirements. The shorter the calibration period, the higher the accuracy of the rotary table.

[0067] The above correction cycle change instruction can be specifically Update code + time value.

[0068] Regarding Q12, define the origin of the turntable, which includes:

[0069] Obtaining characterization information measured from a stationary position on the side of the turntable while the turntable is rotating;

[0070] Obtain manually entered information and identify the origin definition instructions therein;

[0071] According to the origin definition instruction, search and determine a certain representation information as the origin representation;

[0072] Define the turntable position corresponding to the origin representation as the turntable origin.

[0073] As can be seen from the above, a prerequisite for the implementation of this method is to continuously obtain representation information; this step can be implemented by:

[0074] A through hole is radially opened on the side of the turntable. A laser sensor is installed on the side of the turntable, with the detection end facing the side of the turntable, to perform radial detection. With this arrangement, the laser sensor's feedback can be used to obtain information about the turntable's position, and the through hole position can be used as the origin.

[0075] The above is only one method of obtaining the representation information of the turntable. Any other available continuous representation information of the turntable that meets the usage requirements can be used; this application focuses on the use of the representation information and the origin.

[0076] Regarding Q2, the true speed calculation includes:

[0077] When the representation information changes, the actual speed of the turntable is calculated based on the time parameter and the origin. .

[0078] Specifically:

[0079] When the representation information is the origin representation, that is, the moment is the origin moment; the time difference between two adjacent origin moments is the actual time taken for the turntable to rotate one circle, that is, how long it takes for the turntable to rotate one circle; at this time, taking 1s as the unit length, substitute the calculation to get the turntable speed , the unit is r / s; where r is the number of turns.

[0080] Regarding Q3, compensation correction, it includes:

[0081] Get the control parameters of the rotating stage;

[0082] Identify, search the preset database, and call the set speed that matches the control parameters .

[0083] It is understandable that for high-precision equipment such as turntables and servo motors, suppliers provide data mapping relationships corresponding to control parameters to help users achieve automated control. These data mapping relationships can be regarded as design theoretical values such as rated voltage and rated power.

[0084] Under the above premise, this application has two precision adjustment paths. The first one is that if the manually entered information is recognized, indicating that the current processing precision requirement is the number of turns precision, that is, the number of turns required by the current turntable is the same as the number of turns expected by the user, then:

[0085] When setting the speed > Actual speed , then calculate the amount of rotation to be added , ; Calculate additional time , ;by Update the downtime to match the control parameters; that is, when the actual speed is too slow, the motor downtime of the rotary table is extended according to the calculated additional time to ensure that the actual number of rotations meets the requirements.

[0086] When setting the speed <True speed , then calculate the amount of rotation to be reduced , ; Calculate the time to be reduced , ;by Update the downtime matching the control parameters, that is, when the actual speed is too fast, the motor downtime of the rotary table is advanced according to the calculated reduction time to ensure that the actual number of rotations meets the requirements.

[0087] Regarding the stop time control of the motor, in one embodiment of the present application:

[0088] Assume that the rotation amount is set to (Control quantity), then calculate the set rotation time , ;

[0089] Record the start time of the motor action and assign it to ;

[0090] Let the motor stop time be , , this is the theoretical downtime.

[0091] Therefore, or Update (±) , and accumulated over several cycles, the accurate motor downtime can be obtained to achieve higher precision rotation requirements.

[0092] This application has another precision adjustment path: if the manually entered information is recognized, it means that the current processing precision requirement is speed precision, and ≠ , the preset origin tracing logic is executed, and the result is used to calibrate the speed loop of the motor of the rotary table.

[0093] It can be understood that the above-mentioned speed loop, that is, the negative feedback PID adjustment through the encoder signal described in the background technology, is a prior art and will not be repeated here. The following mainly describes how to correct the relevant parameters involved in the speed loop - which can be considered as the feedback response adjustment of the encoder.

[0094] Regarding the above origin tracing logic, it includes:

[0095] Get the number of pulses output by the encoder of the rotary table motor and calculate the correction cycle The number of pulses under .

[0096] It is understood that the output of the motor rotary encoder in this application is a pulse signal, such as outputting 1024 pulse signals for one rotation, and the rotary encoder moves with the motor output shaft; therefore, the above pulse number , which reflects the correction cycle The rotation amount of the output shaft of the internal motor, and this value is the result value after adding the transmission errors of each level.

[0097] A feature of the present application is that there is no need to specifically analyze the sources of the errors and the magnitude of each individual error. The correction can be performed directly based on the results, which reduces the difficulty of implementation. For example, there is no need to analyze each phase of the motor and the waveform of each phase.

[0098] Based on the above, calculate the correction period The actual number of revolutions of the turntable below , , and calculate the actual single-circuit pulse number of the turntable , ;

[0099] Calculate the calibration period The number of revolutions set by the dial below , , and calculate the number of pulses per turntable , ;

[0100] Calculate the pulse compensation amount of the turntable single turn , ;

[0101] Pulse compensation Correct the speed of the rotary table.

[0102] About pulse compensation Correct the speed of the rotary table, which includes:

[0103] Get the number of encoder pulses corresponding to one rotation of the motor output shaft ;

[0104] Calculate the number of revolutions of the motor output shaft when the turntable rotates one revolution , ; Among them, the number of rotations Analogous to the number of revolutions of the aforementioned turntable, on the premise that the matching rotary encoder is fault-free, the number of revolutions can be directly calculated using the feedback of the rotary encoder.

[0105] Calculate the single-turn pulse compensation amount of the motor output shaft , ;

[0106] by Update encoder pulse number ,and ;in, The new encoder pulse number ;

[0107] Define the number of encoder pulses during the motor speed loop processing as The motor output shaft rotates one circle.

[0108] That is, assuming that in the original speed loop, 1024 pulses are considered to be one revolution of the motor output shaft; in the above scheme, the data mapping relationship is adjusted, and 1024 pulses are no longer considered to be one revolution of the motor, but 1024+ When the motor rotates one circle, the speed loop of the motor is changed under the premise of 1024 pulses for one circle, and the final response control of the current of each phase of the motor is changed.

[0109] In one embodiment of the present application, the method further includes: Q4, encoder self-test, which includes:

[0110] When setting the speed =True speed , statistical correction period The number of pulses under ;

[0111] make , and calculate the number of revolutions of the motor output shaft ;

[0112] Determine the number of revolutions of the motor output shaft Whether it meets the preset standard value, if yes, the self-test passes, if not, the encoder abnormality prompt message is output and the execution of the origin leveling logic is terminated.

[0113] Because the second precision adjustment path of this application is highly dependent on the encoder, if the encoder self-check is not performed, it is easy to cause the turntable to rotate out of control when it is executed under fault conditions. Under the above premise, after calibration, it can be considered that the data mapping relationship between the control parameters and the speed has been re-established. Therefore, it can be considered that after calibration, the speed is set. =True speed , so the encoder's self-test is accompanied by the corresponding, better effect.

[0114] The embodiment of the present application also discloses a turntable rotation accuracy compensation system.

[0115] The turntable rotation accuracy compensation system includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed by any of the above-mentioned turntable rotation accuracy compensation methods.

[0116] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A turntable rotation accuracy compensation method, characterized in that: include: Q11. Calibration cycle Determine, which includes: Obtain manually entered information and identify correction cycle change instructions; According to the correction cycle change instruction, the origin correction cycle is determined to be ; Q12. Define the origin of the turntable, which includes: Obtain manually entered information and identify the origin definition instructions therein; According to the origin definition instruction, search and determine a certain representation information as the origin representation; Define the turntable position corresponding to the origin representation as the turntable origin; Q2. Calculation of true speed, including: Obtaining characterization information measured from a stationary position on the side of the turntable while the turntable is rotating; When the representation information changes, the actual speed of the turntable is calculated based on the time parameter and the origin. ; Q3. Compensation correction, which includes: Get the control parameters of the rotating stage; Identify, search the preset database, and call the set speed that matches the control parameters ; If manually entered information is recognized, indicating that the current processing accuracy requirement is the number of turns accuracy type, then: When setting the speed > Actual speed , then calculate the amount of rotation to be added , ; Calculate additional time , ;by Update control parameters to match downtime; When setting the speed <True speed , then calculate the amount of rotation to be reduced , ; Calculate the time to be reduced , ;by Update control parameters to match downtime.

2. The turntable rotation accuracy compensation method according to claim 1, characterized in that: include: Assume that the rotation amount is set to , then calculate the set rotation time , ; Record the start time of the motor action and assign it to ; Let the motor stop time be , ; by or renew , and accumulated over the cycles.

3. The turntable rotation accuracy compensation method according to claim 1, characterized in that: Also includes: The Q3, compensation correction, further includes: If manual input information is recognized, it means that the current processing accuracy requirement is speed accuracy, and ≠ , the preset origin tracing logic is executed, and the result is used to calibrate the speed loop of the motor of the rotary table.

4. The turntable rotation accuracy compensation method according to claim 3, characterized in that: The origin tracing logic includes: Get the number of pulses output by the encoder of the rotary table motor and calculate the correction cycle The number of pulses under ; Calculate the calibration period The actual number of revolutions of the turntable below , , and calculate the actual single-circuit pulse number of the turntable , ; Calculate the calibration period The number of revolutions set by the dial below , , and calculate the number of pulses per turntable , ; Calculate the pulse compensation amount of the turntable single turn , ; Pulse compensation Correct the speed of the rotary table.

5. The turntable rotation accuracy compensation method according to claim 4, characterized in that: The pulse compensation amount Correct the speed of the rotary table, which includes: Get the number of encoder pulses corresponding to one rotation of the motor output shaft ; Calculate the number of revolutions of the motor output shaft when the turntable rotates one revolution , ; Calculate the single-turn pulse compensation amount of the motor output shaft , ; by Update encoder pulse number ,and ;in, The new encoder pulse number ; Define the number of encoder pulses during the motor speed loop processing as The motor output shaft rotates one circle.

6. The turntable rotation accuracy compensation method according to claim 1, characterized in that: Also includes: Q4. Encoder self-test, which includes: When setting the speed =True speed , statistical correction period The number of pulses under ; make , and calculate the number of revolutions of the motor output shaft ; Determine the number of revolutions of the motor output shaft Whether it meets the preset standard value, if yes, the self-test passes, if not, the encoder abnormality prompt message is output and the execution of the origin leveling logic is terminated.

7. A turntable rotation accuracy compensation system, characterized by: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the turntable rotation accuracy compensation method according to any one of claims 1 to 6.

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