A master-slave shaft phase deviation control method, system and related components

Abstract

The application discloses a master-slave shaft phase deviation control method and system and related components, and relates to the field of numerical control machine tool processing. The method comprises the following steps: acquiring control parameters and state parameters corresponding to the current interpolation period of the master-slave shaft; controlling the master shaft to move at a constant speed according to the control parameters; judging whether the slave shaft can decelerate to a target state according to the control parameters and the state parameters; if not, controlling the slave shaft to run at the maximum allowable speed under the constraints of the control parameters and the state parameters; and if yes, controlling the slave shaft to decelerate according to the control parameters and the state parameters, so that the slave shaft decelerates to the target state. The application controls the speed of the slave shaft by analyzing the current control parameters and the state parameters, so that the slave shaft moves at a variable speed, and finally reaches the target state in which the slave shaft moves at the same speed as the master shaft and the phase difference is the target phase difference. The method can accurately ensure that the slave shaft enters the target state, and has stable, reliable and accurate control effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of numerical control machine tool processing, and in particular to a master-slave shaft phase deviation control method and system and related components. BACKGROUND

[0002] Currently, in the field of numerical control machine tool processing, the master-slave shaft following setting requires the slave shaft to follow the master shaft action according to the user-specified curve. The slave shaft implementation has electronic cam, electronic gear, chasing shear, flying shear, etc. However, in actual operation, the actual response curve of the motion device has a lag, or the material transmitted by the master shaft has a certain lag, which will cause the master-slave shaft to be unable to act according to the specified phase, resulting in the master-slave shaft being unable to process the material at the specified relative position, and ultimately causing processing deviation.

[0003] Currently, in order to reduce the phase deviation between the master-slave shafts, a certain displacement is generally added to the slave shaft, so that the slave shaft can act according to the specified phase of the master-slave shaft. This method can be applied in electronic gears, but it cannot be used in periodic electronic cams, flying shears, etc. For example, the displacement added by the current cam period will affect the displacement of the next cam period, making it difficult to ensure the following accuracy between the master-slave shafts in real time.

[0004] Therefore, how to provide a solution to the above technical problems is a problem that needs to be solved by the technical personnel in the field at present. SUMMARY

[0005] Therefore, the purpose of the present application is to provide an accurate and effective master-slave shaft phase deviation control method, system and related components. The specific scheme is as follows:

[0006] A master-slave shaft phase deviation control method, the master-slave shaft comprising a master shaft and a slave shaft, the control method being executed in each interpolation period, comprising:

[0007] obtaining control parameters and state parameters corresponding to the master-slave shaft in the current interpolation period;

[0008] controlling the master shaft to move at a constant speed according to the control parameters;

[0009] judging whether the slave shaft can decelerate to a target state according to the control parameters and the state parameters, the target state comprising: the slave shaft moving at the same speed as the master shaft and the phase difference between the slave shaft and the master shaft being a target phase difference in the control parameters;

[0010] if not, controlling the slave shaft to run at the maximum allowable speed under the constraints of the control parameters and the state parameters;

[0011] If yes, then controlling the slave shaft to perform deceleration motion according to the control parameter and the state parameter, so as to make the slave shaft decelerate to the target state.

[0012] Preferably, the process of judging whether the slave shaft can decelerate to the target state according to the control parameter and the state parameter comprises:

[0013] Determining the phase difference between the slave shaft and the master shaft after the slave shaft decelerates to the same speed as the master shaft from the current slave shaft actual speed at the fastest under the constraint of the control parameter and the state parameter as a limit phase difference;

[0014] According to the limit phase difference and the actual phase difference in the state parameter, judging whether there is a phase difference between the slave shaft and the master shaft equal to the target phase difference in the process of the slave shaft decelerating to the same speed as the master shaft from the current slave shaft actual speed at the fastest;

[0015] If yes, it is determined that the slave shaft can decelerate to the target state;

[0016] If no, it is determined that the slave shaft cannot decelerate to the target state.

[0017] Preferably, before judging whether the slave shaft can decelerate to the target state according to the control parameter and the state parameter, it further comprises:

[0018] According to the state parameter, judging whether the current master shaft actual speed of the master shaft is greater than the current slave shaft actual speed of the slave shaft;

[0019] If yes, it is determined that the slave shaft cannot decelerate to the target state;

[0020] If no, the step of judging whether the slave shaft can decelerate to the target state according to the control parameter and the state parameter is performed.

[0021] Preferably, before judging whether there is a phase difference between the slave shaft and the master shaft equal to the target phase difference in the process of the slave shaft decelerating to the same speed as the master shaft from the current slave shaft actual speed at the fastest according to the limit phase difference and the actual phase difference in the state parameter, it further comprises:

[0022] Subtracting the actual phase difference of the last interpolation period from the actual phase difference of the current interpolation period to obtain a phase correction value;

[0023] According to the phase correction value, the limit phase difference is corrected.

[0024] Preferably, before controlling the slave shaft to perform deceleration motion according to the control parameter and the state parameter, so as to make the slave shaft decelerate to the target state, it further comprises:

[0025] determining a rounding error according to the control parameter and the state parameter;

[0026] correspondingly, controlling the slave shaft to perform deceleration movement according to the control parameter and the state parameter, so that the slave shaft decelerates to the target state, including:

[0027] controlling the slave shaft to perform deceleration movement according to the control parameter and the state parameter and performing error correction according to the rounding error, so that the slave shaft decelerates to the target state.

[0028] Preferably, the control method further includes:

[0029] if the target phase difference in the control parameter of the current interpolation period is different from the target phase difference in the control parameter of the last interpolation period, then according to the size relationship between the target phase difference of the current interpolation period and the target phase difference of the last interpolation period, controlling the slave shaft to run at the maximum allowable speed under the constraint of the control parameter and the state parameter or controlling the slave shaft to decelerate to zero.

[0030] Preferably, the variable speed movement of the slave shaft is performed according to an S speed curve.

[0031] The application discloses a control system for phase deviation of master-slave shafts, the master-slave shafts including a master shaft and a slave shaft, the control system being executed in each interpolation period, including:

[0032] an information acquisition module, configured to acquire control parameters and state parameters of the master-slave shafts corresponding to a current interpolation period;

[0033] a master shaft control module, configured to control the master shaft to move at a constant speed according to the control parameters;

[0034] a slave shaft control module, configured to determine whether the slave shaft can decelerate to a target state according to the control parameters and the state parameters, the target state including: the slave shaft moving at the same speed as the master shaft and the phase deviation between the slave shaft and the master shaft being a target phase deviation in the control parameters; if not, controlling the slave shaft to run at the maximum allowable speed under the constraint of the control parameters and the state parameters; if yes, controlling the slave shaft to perform deceleration movement according to the control parameters and the state parameters, so that the slave shaft decelerates to the target state.

[0035] The application discloses an electronic device, including:

[0036] a memory, configured to store a computer program;

[0037] a processor, configured to implement the steps of the control method for phase deviation of master-slave shafts according to any one of the above when the computer program is executed.

[0038] The application discloses a readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps of the control method of the master-slave shaft phase deviation.

[0039] The application controls the speed of the slave shaft by analyzing the current control parameter and the state parameter, so that the slave shaft performs variable speed movement, and finally reaches the target state that the slave shaft has the same speed as the master shaft and the phase deviation is the target phase deviation. The method can accurately ensure that the slave shaft enters the target state, and has stable, reliable and accurate control effect. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only a part of the present application, and for those skilled in the art, other drawings can be obtained without creative labor based on the provided drawings.

[0041] Figure 1 A step flow chart of the control method of the master-slave shaft phase deviation in the embodiment of the present application;

[0042] Figure 2 A actual speed curve of the master-slave shaft in the embodiment of the present application;

[0043] Figure 3 A actual speed curve of the master-slave shaft in another embodiment of the present application;

[0044] Figure 4 A motion state of the system in the embodiment of the present application;

[0045] Figure 5 A structure distribution diagram of the control system of the master-slave shaft phase deviation in the embodiment of the present application. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0047] In order to reduce the phase deviation between the master shaft and the slave shaft, generally, a displacement is superimposed on the slave shaft, so that the slave shaft can move according to the specified phase of the master shaft and the slave shaft, this method can be applied in the electronic gear, but it cannot be used in the periodic electronic cam, flying shear and other actions, for example, the displacement superimposed on the current cam period will affect the displacement of the next cam period, it is difficult to ensure the following accuracy between the master shaft and the slave shaft in real time.

[0048] The application discloses a control method, by analyzing the current control parameters and state parameters, the speed of the slave shaft is controlled to make the slave shaft move at variable speed, and finally reaches the target state that the slave shaft and the master shaft have the same speed and the phase difference is the target phase difference, the method can accurately ensure that the slave shaft enters the target state, and has stable, reliable and accurate control effect.

[0049] The embodiment of the application discloses a control method of master-slave shaft phase deviation, the master-slave shaft includes a master shaft and a slave shaft, the control method is executed in each interpolation period, referring to Figure 1 As shown in the figure, it includes:

[0050] S1: obtaining the control parameters and state parameters of the master-slave shaft corresponding to the current interpolation period;

[0051] Specifically, the control parameters include the target speed of the master shaft and the slave shaft, the target phase difference of the master shaft and the slave shaft, and the movement limit value of the master shaft and the slave shaft, wherein the master shaft and the slave shaft correspond to the same target speed, the target phase difference of the master shaft and the slave shaft is that the mark point on the master shaft and the mark point of the slave shaft respectively travel corresponding distances at a certain time, and the relative difference value between the travel distance of the mark point on the master shaft and the travel distance of the mark point of the slave shaft; the movement limit value includes but is not limited to the maximum speed, the maximum acceleration, the jerk and other constraint values of the speed curve.

[0052] Similarly, the state parameters of the current interpolation period include the actual speed parameters of the master-slave shaft and the actual phase difference of the master-slave shaft, wherein the actual speed parameters include the actual speed of the master shaft, the actual speed of the slave shaft, the actual acceleration and other parameter values of the actual speed curve, and the actual phase difference is similar to the target phase difference, which is the relative difference value between the travel distance of the mark point on the master shaft and the travel distance of the mark point of the slave shaft under the current state. The specific determination method of the phase difference can be carried out according to the conventional method in the art, which will not be described here.

[0053] S2: controlling the master shaft to move at constant speed according to the control parameters;

[0054] It can be understood that the main shaft moves uniformly according to the target speed in the control parameter, and the uniform motion of the main shaft may be converted from other speed states, such as zero acceleration state, acceleration state, deceleration state, etc. If the target speed in the control parameter no longer changes, the main shaft will be converted from other speed states to stable uniform motion and remain unchanged.

[0055] S3: According to the control parameter and the state parameter, it is judged whether the slave shaft can be decelerated to the target state, and the target state includes that the slave shaft is at the same speed as the main shaft and the phase difference between the slave shaft and the main shaft is the target phase difference in the control parameter;

[0056] S4: If not, control the slave shaft to run at the maximum allowable speed under the constraints of the control parameter and the state parameter;

[0057] S5: If yes, control the slave shaft to decelerate according to the control parameter and the state parameter, so that the slave shaft is decelerated to the target state.

[0058] It can be understood that if the slave shaft can be decelerated to the target state in step S3, the slave shaft is controlled to decelerate, and if the slave shaft cannot be decelerated to the target state, it needs to continue to run at the maximum allowable speed until the slave shaft can be decelerated to the target state.

[0059] It can be understood that the control method executes the contents of steps S1-S5 in each interpolation period, and the main reason is that the control parameter and the state parameter change with time in step S1, and there may be a situation that does not conform to the expected change. In addition to the possibility of objective operation, there is also a situation that the control parameter of the master and slave shafts is changed under subjective factors, so in order to ensure the real-time and accuracy of the control method, the control parameter and the state parameter are reacquired in step S1 in each interpolation period, step S2 can continue to control the control curve of the main shaft according to the control curve of the main shaft in the last interpolation period when the control speed of the main shaft does not change. The control curve includes a uniform motion curve or a speed curve converted from other speed states to uniform motion; step S3 needs to judge whether it can be decelerated to the target state according to the control parameter and the state parameter of the current interpolation period, if not, step S4 is performed, if yes, step S5 is performed, if the last interpolation period and the current interpolation period both enter step S4 or step S5, the speed control curve of the slave shaft is generally the same as that of the last interpolation period, only the speed control curve is performed with time, if the control parameter changes, the speed control curve of the slave shaft in steps S4 and S5 needs to be adjusted again according to the control parameter.

[0060] It can be understood that the motion of the slave axis in steps S4 and S5 is affected by mechanical inertia, the speed is continuous, and theoretically, the speed curve does not have a step form, and in practice, the change of the speed is performed according to the constraints within each interpolation period. In the embodiment, the variable speed motion of the master axis and the slave axis is performed under the constraints of the control parameters and the state parameters. Optionally, the variable speed motion of the master axis and the slave axis, especially the slave axis, can be performed according to the S speed curve.

[0061] The application discloses a control method, which controls the speed of the slave axis by analyzing the current control parameters and state parameters, so that the slave axis performs variable speed motion, and finally reaches a target state in which the slave axis has the same speed as the master axis and the phase difference is a target phase difference. The method can accurately ensure that the slave axis enters the target state, and has stable, reliable and accurate control effect.

[0062] The embodiment of the application discloses a specific control method for the phase difference between the master axis and the slave axis, and relative to the previous embodiment, the technical solution is further described and optimized.

[0063] Specifically, whether the slave axis can decelerate to the target state is primarily judged based on the actual speed of the slave axis. If the actual speed of the slave axis is less than the actual speed of the master axis, it is obviously impossible to achieve the effect of the same speed as the master axis by deceleration. If the actual speed of the slave axis is equal to the actual speed of the master axis, there is no speed space for adjusting the phase difference by deceleration, and therefore only when the actual speed of the slave axis is greater than the actual speed of the master axis, it can be further judged whether the slave axis can decelerate to the target state. Specifically, before judging whether the slave axis can decelerate to the target state based on the control parameters and the state parameters, the method further includes the following steps.

[0064] According to the state parameters, it is judged whether the current actual speed of the master axis is greater than the current actual speed of the slave axis.

[0065] If yes, it is determined that the slave axis cannot decelerate to the target state.

[0066] If no, the step of judging whether the slave axis can decelerate to the target state based on the control parameters and the state parameters is performed.

[0067] Similarly, in addition to the actual speed of the slave axis being greater than the actual speed of the master axis as a prerequisite for performing the step of judging whether the slave axis can decelerate to the target state, it can also be judged whether the slave axis can decelerate to the target state by whether the current actual phase difference is greater than the target phase difference. If the current actual phase difference is not greater than the target phase difference, deceleration will cause the phase difference to further decrease, and there is no possibility that the phase difference can reach the target phase difference by deceleration of the slave axis. Only when the current actual phase difference is greater than the target phase difference, the step of judging whether the slave axis can decelerate to the target state is performed.

[0068] Further, whether the slave shaft can be decelerated to the target state can be determined by calculating the limit deceleration to determine the phase difference range that the slave shaft can achieve, and then analyzing whether the target phase difference is in the phase difference range to determine whether the slave shaft can be decelerated to the target state. Therefore, according to the control parameters and the state parameters, the process of determining whether the slave shaft can be decelerated to the target state includes:

[0069] determining the phase difference between the slave shaft and the master shaft after the slave shaft is decelerated to the same speed as the master shaft from the current slave shaft actual speed under the constraints of the control parameters and the state parameters as the limit phase difference;

[0070] determining, according to the limit phase difference and the actual phase difference in the state parameters, whether the phase difference between the slave shaft and the master shaft is equal to the target phase difference during the process of the slave shaft being decelerated to the same speed as the master shaft from the current slave shaft actual speed;

[0071] if yes, determining that the slave shaft can be decelerated to the target state;

[0072] if no, determining that the slave shaft cannot be decelerated to the target state.

[0073] Further, according to the limit phase difference and the actual phase difference in the state parameters, determining, during the process of the slave shaft being decelerated to the same speed as the master shaft from the current slave shaft actual speed, whether the phase difference between the slave shaft and the master shaft is equal to the target phase difference before further including:

[0074] subtracting the actual phase difference of the last interpolation period from the actual phase difference of the current interpolation period to obtain a phase correction value;

[0075] correcting the limit phase difference according to the phase correction value.

[0076] Specifically, the process of determining the phase difference between the slave shaft and the master shaft after the slave shaft is decelerated to the same speed as the master shaft from the current slave shaft actual speed under the constraints of the control parameters and the state parameters as the limit phase difference is calculated by taking the S speed curve of the slave shaft as an example:

[0077] assuming that the number of interpolation periods corresponding to the acceleration and deceleration stage and the deceleration and deceleration stage is N1, the number of interpolation periods corresponding to the uniform deceleration stage is N2, Ts is the unit interpolation period time length, Jerk is the jerk of the acceleration and deceleration stage and the deceleration and deceleration stage, V_M_Cur is the current master shaft actual speed, V_S_Cur is the current slave shaft actual speed, and PH_Cur is the actual phase difference between the current master shaft and the slave shaft, then during the process of the slave shaft being decelerated to the same speed as the master shaft from the current slave shaft actual speed, the following calculation steps are included:

[0078] the master shaft travels a distance of D_M = V_M_Cur × (2 × N1 + N2 - 1) × Ts;

[0079] The distance of the slave axis is D_S_1 = 2*V_M_Cur*(2*N1+N2-1)*Ts+0.5*N1*(N1+N2)*(2*N1+N2)*Jerk*Ts*Ts*Ts;

[0080] The limit phase difference is PH_LIMIT_0 = PH_Cur+D_M-D_S_1;

[0081] Further, according to the change rule that the phase difference between the master axis and the slave axis gradually decreases during the deceleration of the slave axis, when the limit phase difference at the deceleration end is less than or equal to the target phase difference, there is a case that the phase difference during the deceleration of the slave axis is equal to the target phase difference PH_Req, that is, when PH_LIMIT_0≤PH_Req, it is determined that the slave axis can decelerate to the target state, and when PH_LIMIT_0>PH_Req, it is determined that the slave axis cannot decelerate to the target state.

[0082] Further, considering the positioning error of the master axis and the slave axis, the limit phase difference can also be corrected by the actual phase difference of the previous two interpolation periods. The phase correction value is PH_delta = PH_Cur-PH_Last, where PH_Last is the actual phase difference of the previous interpolation period. The limit phase difference is corrected by using the phase correction value. The corrected limit phase difference is:

[0083] PH_LIMIT_1 = PH_LIMIT_0+PH_delta = PH_Cur+D_M-D_S_1+ PH_Cur-PH_Last

[0084] PH_Cur-PH_Last = 2*PH_Cur+D_M-D_S_1-PH_Last;

[0085] It can be understood that when determining whether the slave axis can decelerate to the target state, the corrected limit phase difference PH_LIMIT_1 can be used for analysis and comparison, that is, when PH_LIMIT_1≤PH_Req, it is determined that the slave axis can decelerate to the target state, and when PH_LIMIT_1>PH_Req, it is determined that the slave axis cannot decelerate to the target state.

[0086] It can be understood that the calculation of the phase difference can be the distance of the slave axis minus the distance of the master axis, or the distance of the master axis minus the distance of the slave axis, as long as all the phase differences such as the actual phase difference, the limit phase difference, and the target phase difference are of the same calculation method. Here, no limitation is made.

[0087] Further, when the slave shaft cannot decelerate to the target state, the slave shaft is controlled to run at the maximum allowable speed under the constraints of the control parameters and the state parameters, which include jerk, maximum acceleration, maximum speed, and in particular, the process of running at the maximum allowable speed is determined according to the current actual speed of the slave shaft. If the current actual speed of the slave shaft reaches the maximum speed, the slave shaft is continuously controlled to run at the maximum speed; if the current actual speed of the slave shaft does not reach the maximum speed, the slave shaft is first controlled to accelerate to the maximum speed and then run at the maximum speed, wherein the acceleration process can be performed according to an S speed curve.

[0088] Further, if the constraints of the last interpolation period and the constraints of the current interpolation period are the same, the speed control curve of the slave shaft does not change, and the speed of the slave shaft changes over time on the speed control curve; if the constraints of the last interpolation period and the constraints of the current interpolation period are different, that is, the control parameters change, the maximum allowable speed of the slave shaft needs to be adjusted again, that is, the speed control curve is updated according to the constraints of the current interpolation period. It needs to be noted that updating the speed control curve needs to consider the motion state of the current slave shaft, so that the slave shaft quickly connects from the current state parameters to the maximum allowable speed corresponding to the new constraints. For example, if the current speed is greater than the maximum speed of the new constraints, the slave shaft is controlled to decelerate to the maximum speed of the new constraints and then run at a constant speed; for example, if the current speed is less than the maximum speed of the new constraints, the slave shaft is controlled to accelerate to the new maximum speed and then run at a constant speed.

[0089] Further, according to the control parameters and the state parameters, the slave shaft is controlled to perform deceleration motion, so that the slave shaft decelerates to the target state. The process of decelerating to the target state is targeted at deceleration motion, and the travel distance is D_S_2=PH_Cur+D_M-PH_Req.

[0090] It can be understood that, according to the control parameters and the state parameters, the slave shaft is controlled to perform deceleration motion, so that the slave shaft decelerates to the target state, and before the slave shaft decelerates to the target state, the process further includes:

[0091] According to the control parameters and the state parameters, a rounding error is determined.

[0092] Wherein, the rounding error R_Err=D_S_2-D_S_1+V_S_Cur×Ts.

[0093] Correspondingly, according to the control parameters and the state parameters, the slave shaft is controlled to perform deceleration motion, so that the slave shaft decelerates to the target state, and the process includes:

[0094] According to the control parameters and the state parameters, the slave shaft is controlled to perform deceleration motion, and according to the rounding error, an error correction is performed, so that the slave shaft decelerates to the target state.

[0095] It is understandable that the deceleration of the driven shaft can be performed according to the S-speed curve. The timing of error correction for rounding errors must meet the following constraints:

[0096] R_Err / Ts≥V_M_Cur, and R_Err / Ts≤V_M_Last.

[0097] Where V_M_Last is the actual speed of the slave axis in the previous interpolation cycle.

[0098] It is understandable that when the slave axis decelerates to the same speed as the master axis, it will switch to uniform motion. At this time, the slave axis has achieved the target state, that is, the slave axis is at the same speed as the master axis and the phase difference between the slave axis and the master axis is the target phase difference in the control parameters.

[0099] like Figure 2 As shown in the example, assuming the target phase difference between the master and slave axes is 5, the maximum velocity of the slave axis is 15, the maximum acceleration and maximum deceleration are both 100, and the jerk is 10, the actual velocity curves of the master and slave axes are as follows. Figure 2 As shown, the axis accelerates directly to its maximum speed and then begins to move at a constant speed. Once it is determined that the axis can decelerate to the target state, it decelerates directly to the synchronous speed. Figure 2 The display shows that after the slave axis reaches the synchronous speed, the actual phase deviation between the master and slave axes is 5 ohms, which is the target phase difference. Figure 2 The horizontal axis represents the interpolation period number.

[0100] Similarly, such as Figure 3 As shown in the example, assuming the target phase difference between the master and slave axes is 5, the maximum velocity of the slave axis is 30, the maximum acceleration and maximum deceleration are both 100, and the jerk is 10, the actual velocity curves of the master and slave axes are as follows. Figure 3 As shown, under the constraints of control parameters and state parameters, the slave axis cannot accelerate to its maximum speed because there is no rounding error at maximum speed. After the slave axis enters acceleration mode, it first accelerates to the synchronous speed of the master axis, then calculates the actual achievable maximum speed of the slave axis, and after reaching the actual achievable maximum speed, it directly decelerates to the synchronous speed. Figure 3 The display shows that after the slave axis finally decelerates to the synchronous speed, the actual phase deviation between the master and slave axes is 5 ohms, which is the target phase difference. Figure 3 The horizontal axis represents the interpolation period number.

[0101] Understandably, if the control parameters suddenly change during deceleration, such as a change in the target phase difference, the driven shaft will be adjusted to accelerate or decelerate again. Specifically, if the target phase difference in the control parameters of the current interpolation cycle is different from the target phase difference in the control parameters of the previous interpolation cycle, the driven shaft will be controlled to run at the maximum permissible speed under the constraints of the control parameters and state parameters, or the driven shaft will be controlled to decelerate to zero, based on the relationship between the target phase difference of the current interpolation cycle and the target phase difference of the previous interpolation cycle.

[0102] It can be understood that the static mode from the shaft zero speed is used to process the mode from the shaft waiting for the master-slave shaft to enter the target phase difference, and if the current actual phase difference is greater than the target phase difference, the slave shaft is controlled to run at the maximum allowed speed.

[0103] It can be understood that the control method of the embodiment is continuously running in the movement process of the master-slave shaft, and there is a possibility that the control parameters and the state parameters change at any time, so the control parameters and the state parameters need to be reacquired in each interpolation period, and whether the movement state of the slave shaft needs to be changed is analyzed according to the control parameters and the state parameters, and finally the control effect to be achieved is that the slave shaft and the master shaft run at the target phase difference and the target speed, that is, the target state is reached. According to the description of the above embodiment, the basic movement states of the slave shaft include acceleration, constant speed, deceleration to the target state, and the target state. In addition to these basic movement states, there are transition movement states caused by changes in control parameters, including static, deceleration to constant speed, and the like. The conversion relationship diagram between these movement states can be referred to as shown in Figure 4 .

[0104] The embodiment of the present application discloses a control system for phase difference of master-slave shafts, the master-slave shafts include a master shaft and a slave shaft, the control system is executed in each interpolation period, as shown in Figure 5 , including:

[0105] An information acquisition module 10 is configured to acquire control parameters and state parameters corresponding to a current interpolation period of the master-slave shafts;

[0106] A master shaft control module 11 is configured to control the master shaft to move at a constant speed according to the control parameters;

[0107] A slave shaft control module 12 is configured to determine whether the slave shaft can decelerate to a target state according to the control parameters and the state parameters, the target state includes that the slave shaft moves at the same speed as the master shaft and the phase difference between the slave shaft and the master shaft is a target phase difference in the control parameters; if not, the slave shaft is controlled to run at the maximum allowed speed under the constraints of the control parameters and the state parameters; if yes, the slave shaft is controlled to decelerate according to the control parameters and the state parameters, so that the slave shaft decelerates to the target state.

[0108] In the embodiment, the control system analyzes the current control parameters and the state parameters, controls the speed of the slave shaft to make the slave shaft move at variable speed, and finally reaches the target state that the slave shaft moves at the same speed as the master shaft and the phase difference is the target phase difference. This method can accurately ensure that the slave shaft enters the target state, and has stable, reliable and accurate control effect.

[0109] In some specific embodiments, the process of determining whether the slave shaft can decelerate to the target state according to the control parameters and the state parameters includes:

[0110] determining a boundary phase difference of the slave shaft from a current slave shaft actual speed to a same speed as the master shaft under constraints according to the control parameters and the state parameters;

[0111] judging, according to the boundary phase difference and an actual phase difference in the state parameters, whether the phase difference of the slave shaft to the master shaft is equal to the target phase difference during the process of the slave shaft from the current slave shaft actual speed to the same speed as the master shaft;

[0112] if yes, determining that the slave shaft can be decelerated to the target state;

[0113] if no, determining that the slave shaft cannot be decelerated to the target state.

[0114] In some specific embodiments, before judging, according to the control parameters and the state parameters, whether the slave shaft can be decelerated to the target state, further comprising:

[0115] judging, according to the state parameters, whether a current master shaft actual speed of the master shaft is greater than a current slave shaft actual speed of the slave shaft;

[0116] if yes, determining that the slave shaft cannot be decelerated to the target state;

[0117] if no, performing the step of judging, according to the control parameters and the state parameters, whether the slave shaft can be decelerated to the target state.

[0118] In some specific embodiments, before judging, according to the boundary phase difference and an actual phase difference in the state parameters, whether the phase difference of the slave shaft to the master shaft is equal to the target phase difference during the process of the slave shaft from the current slave shaft actual speed to the same speed as the master shaft, further comprising:

[0119] subtracting an actual phase difference of a previous interpolation period from an actual phase difference of a current interpolation period to obtain a phase correction value;

[0120] correcting the boundary phase difference according to the phase correction value.

[0121] In some specific embodiments, before controlling, according to the control parameters and the state parameters, the slave shaft to perform a deceleration motion to make the slave shaft decelerate to the target state, further comprising:

[0122] determining a rounding error according to the control parameters and the state parameters;

[0123] Accordingly, the process of controlling the slave shaft to decelerate to the target state according to the control parameter and the state parameter comprises:

[0124] According to the control parameter and the state parameter, the slave shaft is controlled to decelerate and error correction is made according to the rounding error, so as to make the slave shaft decelerate to the target state.

[0125] In some specific embodiments, the slave shaft control module 12 is further used for:

[0126] If the target phase difference in the control parameter of the current interpolation period is different from the target phase difference in the control parameter of the last interpolation period, according to the size relationship between the target phase difference of the current interpolation period and the target phase difference of the last interpolation period, the slave shaft is controlled to run at the maximum allowable speed under the constraint of the control parameter and the state parameter or the slave shaft is controlled to decelerate to zero.

[0127] In some specific embodiments, the speed change of the slave shaft is performed according to an S speed curve.

[0128] Accordingly, the embodiments of the present application further disclose an electronic device, comprising:

[0129] a memory for storing a computer program;

[0130] a processor for executing the computer program to realize the steps of the control method of the master-slave shaft phase deviation as described in any of the above embodiments.

[0131] Accordingly, the embodiments of the present application further disclose a readable storage medium, wherein the readable storage medium stores a computer program, and the computer program is executed by a processor to realize the steps of the control method of the master-slave shaft phase deviation as described in any of the above embodiments.

[0132] Specific details of the control method of the master-slave shaft phase deviation can be referred to the related description in the above embodiments, which will not be described here.

[0133] In the present embodiment, the electronic device and the readable storage medium have the same technical effects as the control method of the master-slave shaft phase deviation in the above embodiments, which will not be described here.

[0134] Finally, it needs to be pointed out that, in this article, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the term "includes", "contains" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "includes a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0135] The above describes in detail the control method, system and related components of the master-slave shaft phase deviation provided by the application. The principles and implementation manners of the application are described by applying specific examples in this article. The above description of the examples is only used to help understand the method of the application and its core idea. Meanwhile, for those skilled in the art, according to the idea of the application, the specific implementation manners and application ranges will be changed. In summary, the content of the specification should not be understood as a limitation of the application.

Claims

1. A method for controlling master-slave axis phase deviation, characterized in that, The master and slave axes include a master axis and a slave axis, and the control method is executed in each interpolation cycle, including: Obtain the control parameters and status parameters of the master and slave axes in the current interpolation cycle; The spindle is controlled to move at a constant speed according to the control parameters; Based on the control parameters and the state parameters, it is determined whether the slave axis can decelerate to the target state. The target state includes: the slave axis and the master axis are moving at the same speed and the phase difference between the slave axis and the master axis is the target phase difference in the control parameters. If not, then control the slave axis to run at the maximum permissible speed under the constraints of the control parameters and the state parameters; If so, the slave shaft is controlled to decelerate according to the control parameters and the state parameters, so that the slave shaft decelerates to the target state; The process of determining whether the slave shaft can decelerate to the target state based on the control parameters and the state parameters includes: The phase difference between the slave axis and the master axis after the slave axis decelerates from its current actual speed to the same speed as the master axis under the constraints of the control parameters and the state parameters is determined as the boundary phase difference; Based on the boundary phase difference and the actual phase difference in the state parameters, determine whether, during the process of the slave axis decelerating from its current actual speed to the same speed as the master axis, the phase difference between the slave axis and the master axis is equal to the target phase difference. If so, then it is determined that the driven shaft can decelerate to the target state; If not, then it is determined that the slave axis cannot decelerate to the target state; Determining whether, during the process of the slave axis decelerating from its current actual speed to the same speed as the master axis, there exists a phase difference between the slave axis and the master axis that is equal to the target phase difference includes: If the boundary phase difference is less than or equal to the target phase difference, then there exists a situation where the phase difference between the slave axis and the master axis is equal to the target phase difference; if the boundary phase difference is greater than the target phase difference, then there exists a situation where the phase difference between the slave axis and the master axis is equal to the target phase difference.

2. The control method according to claim 1, characterized in that, Before determining whether the slave shaft can decelerate to the target state based on the control parameters and the state parameters, the method further includes: Based on the state parameters, determine whether the current actual speed of the main spindle is greater than the current actual speed of the slave spindle. If so, then it is determined that the slave axis cannot decelerate to the target state; If not, then proceed to the step of determining whether the slave shaft can decelerate to the target state based on the control parameters and the state parameters.

3. The control method according to claim 1, characterized in that, Based on the boundary phase difference and the actual phase difference in the state parameters, determining whether, during the process of the slave axis decelerating from its current actual speed to the same speed as the master axis, before the phase difference between the slave axis and the master axis equals the target phase difference, further includes: The phase correction value is obtained by subtracting the actual phase difference of the previous interpolation cycle from the actual phase difference of the current interpolation cycle. The boundary phase difference is corrected based on the phase correction value.

4. The control method according to claim 1, characterized in that, Controlling the slave shaft to decelerate according to the control parameters and the state parameters, before the slave shaft decelerates to the target state, the method further includes: The rounding error is determined based on the control parameters and the state parameters; Accordingly, the process of controlling the slave shaft to decelerate according to the control parameters and the state parameters, so that the slave shaft decelerates to the target state, includes: The slave shaft is controlled to decelerate according to the control parameters and the state parameters, and error correction is performed according to the rounding error, so that the slave shaft decelerates to the target state.

5. The control method according to claim 1, characterized in that, Also includes: If the target phase difference in the control parameters of the current interpolation cycle is different from the target phase difference in the control parameters of the previous interpolation cycle, then based on the magnitude relationship between the target phase difference of the current interpolation cycle and the target phase difference of the previous interpolation cycle, the slave shaft is controlled to run at the maximum permissible speed under the constraints of the control parameters and the state parameters, or the slave shaft is controlled to decelerate to zero.

6. The control method according to any one of claims 1 to 5, characterized in that, The variable speed motion of the driven shaft follows the S-speed curve.

7. A control system for master-slave axis phase deviation, characterized in that, The master and slave axes include a master axis and a slave axis. The control system executes in each interpolation cycle, including: The information acquisition module is used to acquire the control parameters and status parameters of the master and slave axes in the current interpolation cycle; A spindle control module is used to control the spindle to move at a constant speed according to the control parameters. The slave axis control module is used to determine, based on the control parameters and the state parameters, whether the slave axis can decelerate to a target state, wherein the target state includes: the slave axis and the master axis moving at the same speed and the phase difference between the slave axis and the master axis being the target phase difference in the control parameters; if not, the slave axis is controlled to run at the maximum permissible speed under the constraints of the control parameters and the state parameters; if yes, the slave axis is controlled to decelerate according to the control parameters and the state parameters, so that the slave axis decelerates to the target state. When the slave axis control module determines whether the slave axis can decelerate to the target state based on the control parameters and the state parameters, it specifically performs the following steps: First, it determines the phase difference between the slave axis and the master axis after the slave axis decelerates from its current actual speed to the same speed as the master axis, under the constraints of the control parameters and the state parameters, as a boundary phase difference. Second, based on the boundary phase difference and the actual phase difference in the state parameters, it determines whether the phase difference between the slave axis and the master axis is equal to the target phase difference during the process of the slave axis decelerating from its current actual speed to the same speed as the master axis. If so, it determines that the slave axis can decelerate to the target state; otherwise, it determines that the slave axis cannot decelerate to the target state. Determining whether, during the process of the slave axis decelerating from its current actual speed to the same speed as the master axis, there exists a phase difference between the slave axis and the master axis that is equal to the target phase difference includes: If the boundary phase difference is less than or equal to the target phase difference, then there exists a situation where the phase difference between the slave axis and the master axis is equal to the target phase difference; if the boundary phase difference is greater than the target phase difference, then there exists a situation where the phase difference between the slave axis and the master axis is equal to the target phase difference.

8. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the steps of the master-slave axis phase deviation control method as described in any one of claims 1 to 6.

9. A readable storage medium, characterized in that, The readable storage medium stores a computer program that, when executed by a processor, implements the steps of the master-slave axis phase deviation control method as described in any one of claims 1 to 6.

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