A method for adjusting motion control parameters and a motion control card

Abstract

This application relates to the field of high-precision and high-speed motion control, and discloses a method for adjusting motion control parameters and a motion control card. The method includes: calculating the actual motion distance ratio; defining the motion distance ratio and setting the control optimization time to determine suitable motion control parameters; and calculating the optimized speed, optimized acceleration, and optimized deceleration based on the motion control parameters and the actual motion distance ratio. By adaptively adjusting the motion control parameters, this application effectively reduces the jitter of the motion equipment, improves the speed control accuracy of the motion equipment, and thus enhances the overall performance of the motion equipment.

Description

Technical Field

[0001] This application relates to the field of high-precision and high-speed motion control, and discloses a method for adjusting motion control parameters and a motion control card. Background Technology

[0002] A motion control card is a host control unit based on a PC or industrial PC, used in various motion control applications, such as controlling displacement, speed, and acceleration. Motion control cards typically use specialized motion control chips or high-speed digital signal processors (DSPs) as their motion control core, mostly for controlling stepper motors or servo motors. Generally, the motion control card and PC form a master-slave control structure: the PC is responsible for managing the human-machine interface and real-time monitoring of the control system, such as keyboard and mouse management, system status display, motion trajectory planning, sending control commands, and monitoring external signals; the control card handles all the details of motion control, including outputting pulse and direction signals, processing automatic acceleration and deceleration, and detecting signals such as origin and limit switches.

[0003] When using motion control cards to control the motion of equipment, most ordinary motion control cards only support T-shaped velocity curves. The advantage of T-shaped velocity curves is that the acceleration / deceleration is constant during acceleration / deceleration, and the equipment responds quickly. The disadvantage is that there are sudden changes in speed when transitioning from a stationary state to the start of acceleration, from acceleration to constant speed, from constant speed to deceleration, or directly from acceleration to deceleration, as well as when transitioning from deceleration to a stationary state. Under the same operating conditions, the greater the acceleration / deceleration, the more severe the speed change phenomenon, which can easily cause equipment vibration. This makes it more likely to cause overshoot problems under the same hardware configuration, ultimately resulting in excessively long motion control time and low motion control accuracy.

[0004] Meanwhile, the equipment will use the same set of parameters throughout the movement, such as speed Vmax, acceleration Amax, and deceleration Dmax. If the parameters are set too high, vibration and overshoot problems will be obvious, and speed Vmax cannot be reached in short-distance movement, so the actual time saved is very limited. If the parameters are set too low, the vibration and overshoot problems of the equipment will be significantly improved, but the movement time will be significantly increased, which will lead to failure to meet the design requirements. Summary of the Invention

[0005] This application provides a method for adjusting motion control parameters and a motion control card to solve the problems in the prior art where the greater the acceleration / deceleration of the motion device, the more severe the speed change phenomenon becomes, which easily causes the device to vibrate, resulting in overshoot under the same hardware configuration, ultimately leading to excessively long motion control time, low motion control accuracy, and significantly increased motion time due to excessively small parameter settings.

[0006] To address the above problems, the embodiments of this application provide the following technical solutions:

[0007] In a first aspect, this application provides a method for adjusting motion control parameters, applied to a motion control card, comprising:

[0008] Calculate the proportion of the actual movement distance of the motion equipment;

[0009] Define the motion distance ratio and set the control optimization time to determine the motion control parameters;

[0010] Based on the motion control parameters and the ratio of the actual motion distance, calculate the optimal speed, optimal acceleration, and optimal deceleration of the motion equipment.

[0011] In some embodiments, calculating the proportion of the actual movement distance of the motion device includes:

[0012] Obtain the maximum speed, maximum acceleration, and maximum deceleration of the motion equipment;

[0013] Calculate the acceleration time from zero to maximum speed and the deceleration time from maximum speed to zero, where the acceleration time and deceleration time are equal. The formulas for calculating the acceleration time from zero to maximum speed and the deceleration time from maximum speed to zero are as follows:

[0014] T acc =V max / A max

[0015] T dec =V max / D max =V max / A max

[0016] Among them, V max A is the maximum speed of the motion equipment. max D is the maximum acceleration of the moving equipment. max T is the maximum deceleration of the moving equipment. acc T is the acceleration time of a moving device from zero to its maximum speed. dec The deceleration time of a moving device from its maximum speed to zero.

[0017] In some embodiments, calculating the proportion of actual movement distance includes:

[0018] Based on the acceleration and deceleration times, calculate the acceleration distance from zero to maximum speed, the deceleration distance from maximum speed to zero, and the minimum distance traveled to reach maximum speed. The acceleration and deceleration distances are equal. The formulas for calculating these distances are as follows:

[0019]

[0020]

[0021] S vmax =S acc +S dec =2*S acc

[0022] Among them, S acc S is the acceleration distance of a moving device from zero to its maximum speed. dec S is the deceleration distance of a moving device from its maximum speed to zero. vmax A is the minimum distance traveled by a point to reach the maximum speed of the motion equipment. max D is the maximum acceleration of the moving equipment. max T is the maximum deceleration of the moving equipment. acc T is the acceleration time of a moving device from zero to its maximum speed. dec The deceleration time of a moving device from its maximum speed to zero.

[0023] In some embodiments, calculating the proportion of actual movement distance includes:

[0024] Obtain the actual distance traveled by the motion device;

[0025] Calculate the proportion of actual distance traveled based on the actual distance traveled, using the following formula:

[0026] P tgt =S tgt / S vmax

[0027] Among them, P tgt S represents the proportion of the actual movement distance of the motion equipment. tgt S represents the actual distance traveled by the motion equipment. vmax The minimum distance traveled by a point to reach the maximum speed of a motion device.

[0028] In some embodiments, defining a motion distance ratio and setting a control optimization time, and determining motion control parameters include:

[0029] A set of parameters (P1, T) arranged in ascending order of motion distance ratio and control optimization time are preset. opt1 ), (P2, T opt2 ), (P3, T opt3 ), where P1 is the first distance ratio, P2 is the second distance ratio, P3 is the third distance ratio, and T opt1 To optimize the timing parameters for the first control, T opt2 To optimize the time parameters for the second control, T opt3 Optimize the timing parameters for the third control.

[0030] In some embodiments, optimizing speed, optimizing acceleration, and optimizing deceleration are calculated based on motion control parameters and the ratio of actual motion distance, including:

[0031] When the actual movement distance ratio is less than the first movement distance ratio, wherein the first movement distance ratio is greater than zero, and the first movement distance ratio is less than the second movement distance ratio and less than one;

[0032] Calculate the first acceleration time:

[0033]

[0034] Among them, T acc1 S is the first acceleration time of the motion device. tgt A represents the actual distance traveled by the motion equipment. max The maximum acceleration of the moving equipment.

[0035] Then calculate the optimization speedup time, which adds to the optimization time:

[0036]

[0037] Among them, T′ acc For optimizing acceleration time of sports equipment, T acc1 T is the first acceleration time of the motion device. opt1 Optimize the timing parameters for the first control.

[0038] Finally, the optimized acceleration is calculated:

[0039]

[0040] Among them, A opt For optimized acceleration of sports equipment, S tgt T′ represents the actual distance traveled by the motion device. acc To optimize acceleration time for sports equipment,

[0041] At this point, the optimized deceleration equals the optimized acceleration:

[0042] Dopt =A opt

[0043] Among them, D opt For optimized deceleration of motion equipment, A opt To optimize acceleration for sports equipment,

[0044] And the optimized speed is equal to the maximum speed:

[0045] V opt =V max

[0046] Among them, V opt For optimizing the speed of sports equipment, V max This refers to the maximum speed of the moving equipment.

[0047] In some embodiments, optimizing speed, optimizing acceleration, and optimizing deceleration are calculated based on motion control parameters and the ratio of actual motion distance, including:

[0048] When the actual movement distance ratio is greater than or equal to the first movement distance ratio and the actual movement distance ratio is less than the second movement distance ratio, wherein the first movement distance ratio is less than the second movement distance ratio and less than one;

[0049] Calculate the first acceleration time T acc1 :

[0050]

[0051] Among them, T acc1 S is the first acceleration time of the motion device. tgt A represents the actual distance traveled by the motion equipment. max The maximum acceleration of the moving equipment.

[0052] Next, calculate the optimized acceleration time. At this point, the entire optimized acceleration time is used for acceleration:

[0053]

[0054] Optimized speed and optimized acceleration are obtained.

[0055] At this point, the optimized deceleration equals the optimized acceleration:

[0056] D opt =A opt

[0057] When the actual movement distance ratio is greater than or equal to the second movement distance ratio and the actual movement distance ratio is less than the third movement distance ratio, wherein the third movement distance ratio is greater than one;

[0058] When the actual movement distance ratio is greater than or equal to the second movement distance ratio and the actual movement distance ratio is less than one;

[0059] Calculate the first acceleration time T acc1 :

[0060]

[0061] Calculate the maximum speed V′ reached. max :

[0062]

[0063] The formula for calculating the addition of a constant velocity segment is as follows:

[0064]

[0065] Right now,

[0066]

[0067] Obtain the optimized speed V opt ,

[0068] At this point, the optimized acceleration A opt With maximum acceleration A max Equal, optimize deceleration D opt With maximum deceleration D max equal:

[0069] A opt =A max D opt =D max .

[0070] In some embodiments, optimizing speed, optimizing acceleration, and optimizing deceleration are calculated based on motion control parameters and the ratio of actual motion distance, including:

[0071] When the actual distance ratio is greater than one and the actual distance ratio is less than the third distance ratio;

[0072] Calculate the first acceleration time T acc1 :

[0073] T acc1 =V max / A max

[0074] Calculate the original uniform motion time T cst :

[0075]

[0076] The optimized formula for the uniform velocity segment is as follows:

[0077]

[0078] Right now,

[0079]

[0080] Optimize speed

[0081] Optimize acceleration to be equal to maximum acceleration, and optimize deceleration to be equal to maximum deceleration:

[0082] A opt =A max D opt =D max .

[0083] In some embodiments, optimizing speed, optimizing acceleration, and optimizing deceleration are calculated based on motion control parameters and the ratio of actual motion distance, including:

[0084] When the actual distance traveled is greater than or equal to the third distance traveled;

[0085] The maximum speed is determined as the optimal speed;

[0086] The maximum acceleration is determined as the optimal acceleration;

[0087] The maximum deceleration is determined as the optimal deceleration.

[0088] Secondly, embodiments of this application provide a motion control card, including:

[0089] At least one processor; and

[0090] A memory communicatively connected to at least one processor; wherein the memory stores instructions executable by at least one processor, the instructions being executed by at least one processor to enable at least one processor to perform some or all of the methods as described in the first aspect.

[0091] The beneficial effects of this application's embodiments are as follows: Unlike existing technologies, this application provides a motion control parameter adjustment method and a motion control card. The motion control parameter adjustment method includes: calculating the actual motion distance ratio; defining the motion distance ratio and setting a control optimization time; determining suitable motion control parameters; and calculating optimized speed, optimized acceleration, and optimized deceleration based on the motion control parameters and the actual motion distance ratio. This application effectively reduces the vibration of motion equipment and improves the speed control accuracy of the motion equipment by adaptively adjusting the motion control parameters, thereby enhancing the overall performance of the motion equipment. Attached Figure Description

[0092] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0093] Figure 1 This is a schematic diagram of an application environment provided in an embodiment of this application;

[0094] Figure 2 This is a schematic flowchart of a motion control parameter adjustment method provided in an embodiment of this application;

[0095] Figure 3 yes Figure 2 A detailed flowchart of step S21;

[0096] Figure 4 yes Figure 2 A detailed flowchart of step S22;

[0097] Figure 5 yes Figure 2 A detailed flowchart of step S23;

[0098] Figure 6 yes Figure 2 A detailed flowchart of step S23;

[0099] Figure 7 yes Figure 2 A detailed flowchart of step S23;

[0100] Figure 8 yes Figure 2 A detailed flowchart of step S23;

[0101] Figure 9 yes Figure 2 A detailed flowchart of step S23;

[0102] Figure 10 This is a schematic diagram of the structure of a motion control card provided in an embodiment of this application. Detailed Implementation

[0103] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0104] It should be noted that, unless there is a conflict, the various features in the embodiments of this application can be combined with each other, all of which are within the protection scope of this application. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. In addition, the terms "first," "second," and "third" used herein do not limit the data or execution order, but only distinguish identical or similar items with essentially the same function and effect.

[0105] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0106] Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0107] Please see Figure 1 , Figure 1 This is a schematic diagram of an application environment provided in an embodiment of this application;

[0108] like Figure 1 As shown, the application environment 100 includes: a Programmable Logic Controller (PLC) 10, a control card 20, and a stepper motor 30. The PLC 10 and control card 20 are connected via network communication, and the control card 20 and stepper motor 30 are connected via network communication. This network includes wired and / or wireless networks. It is understood that the network includes wireless networks such as 2G, 3G, 4G, 5G, Wi-Fi, and Bluetooth, and may also include wired networks such as serial cables and Ethernet cables.

[0109] In this embodiment, the programmable logic controller 10 includes a central processing unit (CPU), a power supply, memory, and input / output interface circuits. The CPU is the control center of the programmable logic controller and its core component; its performance determines the performance of the programmable logic controller. The CPU consists of a controller, an arithmetic logic unit (ALU), and registers, and is connected to the memory's input / output interface circuits via an address bus and a control bus. Located within the main body of the programmable logic controller, the CPU is responsible for reading instructions, decoding and executing instructions, processing and running user programs, and performing logical and mathematical operations during solder paste detection.

[0110] In this embodiment, the power supply is used to convert AC power into DC power required by the programmable logic controller 10. The internal switching power supply provides DC power to the central processing unit, memory and other circuits of the programmable logic controller 10, so that the programmable logic controller can work normally.

[0111] It is understood that the power supply includes, but is not limited to, 220V AC power and 24V DC power. The DC power supply provided to the central processing unit, memory and other circuits of the programmable logic controller includes, but is not limited to, 5V, 12V and 24V DC power. The power supply method adopted by the programmable logic controller 10 includes, but is not limited to, switching power supply.

[0112] In this embodiment, the memory is a semiconductor circuit with memory function, which stores system programs, user programs, logic variables, and other information. The system program is the program that controls the programmable logic controller to perform various functions. It is written by the manufacturer of the programmable logic controller 10 and stored in a read-only memory (ROM), which cannot be accessed by the user.

[0113] It is understood that the memory includes, but is not limited to, one or more of the following devices: FLASH flash memory, NAND flash memory, vertical NAND flash memory (VNAND), NOR flash memory, resistive random access memory (RRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), spin-transfer torque random access memory (STT-RAM).

[0114] In this embodiment, the input / output interface (I / O interface) is a connection circuit for exchanging information between the central processing unit (CPU) and external devices. The I / O interface is connected to the CPU via a bus. Specifically, the input interface is connected to the control card 20, and the output interface is connected to the stepper motor 30. During solder paste detection, the control card 20 issues a command, which is transmitted to the CPU via the input interface. The CPU decodes and executes the command, driving the stepper motor 30 via the output interface, which in turn drives the slide rail.

[0115] Input / output interfaces (I / O interfaces) are divided into two categories: bus interfaces and communication interfaces. The function of input / output interface circuits is to input signals generated by buttons, limit switches, or sensors into the central processing unit (CPU). The function of the output interface circuit of a programmable logic controller (PLC) is to convert the signals output by the CPU into signals that can drive external actuators to control the on / off state of electrical appliances such as contactor coils.

[0116] Computer input / output interfaces are used for data and information exchange and control between external devices or user circuits and the central processing unit. When in use, the microcomputer bus interface connects the external devices and user circuits through the microcomputer bus.

[0117] The input interface circuit of a programmable logic controller (PLC) can be divided into DC input circuits and AC input circuits. Similarly, the output interface circuit types include, but are not limited to, relay output type, transistor output type, and thyristor output type. The output circuits of relay output type, transistor output type, and thyristor output type are similar, except that a transistor or thyristor replaces the relay to control the external load.

[0118] In this embodiment, the control card 20 is a high-performance stepper motor motion control card based on a computer bus, utilizing a high-performance microprocessor and large-scale programmable devices to achieve multi-axis coordinated control of multiple stepper motors. It includes functions such as pulse output, pulse counting, digital input, digital output, and D / A output. The control card can emit continuous, high-frequency pulse trains. By changing the frequency of the emitted pulses, the speed of the motor is controlled; by changing the number of emitted pulses, the position of the motor is controlled. Its pulse output modes include pulse / direction and pulse / pulse. Pulse counting can be used for encoder position feedback, providing accurate machine position and correcting errors generated during transmission. Specifically, it integrates the underlying software and hardware for motion control, enabling it to possess various speed and position control functions required for stepper motor control, which can be easily accessed via a computer.

[0119] In this embodiment, the control card can be a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), microcontroller, ARM (Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. The controller can also be any conventional processor, controller, microcontroller, or state machine. The controller can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP and / or any other such configuration, or one or more combinations of a microcontroller unit (MCU), field-programmable gate array (FPGA), and system-on-chip (SoC).

[0120] In this embodiment, a stepper motor is an actuator that performs digital mode conversion, receiving digital control signals (electrical pulse signals) and converting them into corresponding angular or linear displacement. The angular displacement of the stepper motor is strictly proportional to the number of input pulses and is synchronized with the pulses in time. Therefore, by controlling the number of pulses, the frequency, and the phase sequence of the motor windings, the desired angle, speed, and direction can be obtained. A stepper motor is a type of electric motor that converts electrical pulse signals into corresponding angular or linear displacement. For each input pulse signal, the rotor rotates by an angle or moves forward one step, and its output angular or linear displacement is proportional to the number of input pulses, while the rotational speed is proportional to the pulse frequency.

[0121] Please see Figure 2 , Figure 2 This is a schematic flowchart of a motion control parameter adjustment method provided in an embodiment of this application;

[0122] like Figure 2 As shown, this motion control parameter adjustment method, applied to a motion control card, includes:

[0123] Step S21: Calculate the proportion of the actual movement distance of the motion equipment.

[0124] Specifically, by acquiring the motion control parameters stored in the motion control card of the motion device, including maximum speed, maximum acceleration, and maximum deceleration, the acceleration time from zero to maximum speed and the deceleration time from maximum speed to zero can be calculated. Next, based on the acceleration and deceleration times, the acceleration distance from zero to maximum speed, the deceleration distance from maximum speed to zero, and the minimum point distance required to reach maximum speed are calculated. Here, the acceleration distance is the distance the motion device travels from zero to maximum speed, the deceleration distance is the distance the motion device travels from maximum speed to zero, and the minimum point distance is the distance the motion device needs to travel from zero to maximum speed and then immediately decelerate to zero. Finally, by acquiring the actual movement distance from the motion control card of the motion device, the proportion of the actual movement distance is calculated based on the minimum point distance.

[0125] Step S22: Define the motion distance ratio and set the control optimization time to determine the motion control parameters.

[0126] Specifically, the parameters such as maximum speed, maximum acceleration, and maximum deceleration mentioned in step S21 above are the maximum values ​​that the motion device can use during movement. Based on the above analysis, in this embodiment of the application, when controlling the movement of the device, it is not necessary to use these parameters as unified control parameters for all movements. Instead, a set of parameter combinations (P1, T1, T2, T3) arranged from smallest to largest, representing the ratio of movement distance to control optimization time, is preset. opt1), (P2, T opt2 ), (P3, T opt3 ), where P1 is the first motion distance ratio, P2 is the second motion distance ratio, P3 is the third motion distance ratio, and T opt1 is the first control optimization time parameter, and T opt2 is the second control optimization time parameter, and T opt3 is the third control optimization time parameter. And 0 < P1 < P2 < 1 and P3 > 1. The optimized optimization speed, optimized acceleration, and optimized deceleration can be calculated according to the technical solution of step S23 below.

[0127] Step S23: Calculate the optimized speed, optimized acceleration, and optimized deceleration of the motion device according to the motion control parameters and the actual motion distance ratio.

[0128] Specifically, according to the motion control parameters and the actual motion distance ratio, control the adaptive adjustment of the motion control parameters. Specifically, divide it into five stages to control the adaptive adjustment of the motion control parameters. The first stage represents the situation where the actual motion distance is much smaller than the minimum point position motion distance, the second stage represents the situation where the actual motion distance is less than the minimum point position motion distance, the third stage represents the situation where the actual motion distance is slightly less than the minimum point position motion distance, the fourth stage is the situation where the actual motion distance is slightly greater than the minimum point position motion distance, and the fifth stage is the situation where the actual motion distance is significantly greater than the minimum point position motion distance. Control the adaptive adjustment of the motion control parameters according to the above five different stages, that is, calculate the optimized speed, optimized acceleration, and optimized deceleration of the motion device according to the motion control parameters and the actual motion distance ratio to complete the adaptive adjustment of the motion control parameters.

[0129] Please refer to Figure 3 , Figure 3 is Figure 2 the detailed process schematic diagram of step S21 in

[0130] As <000​​​​​​​​​​​​Specifically, the calculation includes the acceleration time from zero to maximum speed and the deceleration time from maximum speed to zero, where the acceleration time and deceleration time are equal.

[0135] The formulas for calculating the acceleration time from zero to maximum speed and the deceleration time from maximum speed to zero are as follows:

[0136] T acc =V max / A max

[0137] T dec =V max / D max =V max / A max

[0138] Among them, V max A is the maximum speed of the motion equipment. max D is the maximum acceleration of the moving equipment. max T is the maximum deceleration of the moving equipment. acc T is the acceleration time of a moving device from zero to its maximum speed. dec The deceleration time of a moving device from its maximum speed to zero.

[0139] Step S213: Based on the acceleration and deceleration times, calculate the acceleration distance from zero to maximum speed, the deceleration distance from maximum speed to zero, and the minimum point distance required to reach maximum speed.

[0140] Specifically, based on the acceleration and deceleration times, the acceleration distance from zero to maximum speed and the deceleration distance from maximum speed to zero are calculated, as well as the minimum point distance required to reach maximum speed, where the acceleration and deceleration distances are equal.

[0141] The formulas for calculating the acceleration distance from zero to maximum speed, the deceleration distance from maximum speed to zero, and the minimum distance traveled to reach maximum speed are as follows:

[0142]

[0143]

[0144] S vmax =S acc +S dec =2*S acc

[0145] Among them, S acc S is the acceleration distance of a moving device from zero to its maximum speed. decS is the deceleration distance of a moving device from its maximum speed to zero. vmax A is the minimum distance traveled by a point to reach the maximum speed of the motion equipment. max D is the maximum acceleration of the moving equipment. max T is the maximum deceleration of the moving equipment. acc T is the acceleration time of a moving device from zero to its maximum speed. dec The deceleration time of a moving device from its maximum speed to zero.

[0146] Step S214: Obtain the actual movement distance of the motion device.

[0147] Specifically, the actual movement distance is obtained from the motion control card of the motion device, where the motion control parameters also include the actual movement distance.

[0148] Step S215: Calculate the proportion of actual movement distance based on the actual movement distance.

[0149] Specifically, the proportion of actual movement distance is calculated based on the actual movement distance, using the following formula:

[0150] P tgt =S tgt / S vmax

[0151] Among them, P tgt S represents the proportion of the actual movement distance of the motion equipment. tgt S represents the actual distance traveled by the motion equipment. vmax The minimum distance traveled by a point to reach the maximum speed of a motion device.

[0152] Please see Figure 4 , Figure 4 yes Figure 2 A detailed flowchart of step S22;

[0153] like Figure 4 As shown, the motion distance ratio is defined and the control optimization time is set to determine the motion control parameters, including:

[0154] Step S221: Preset a set of parameter combinations (P1, T) arranged from smallest to largest, representing the ratio of movement distance to the control optimization time. opt1 ), (P2, T opt2 ), (P3, T opt3 ).

[0155] Specifically, in the embodiments of this application, a set of parameter combinations (P1, T) arranged from smallest to largest, representing the ratio of movement distances and the control optimization time, is preset. opt1 ), (P2, T opt2 ), (P3, Topt3 ), where P1 is the first motion distance ratio, P2 is the second motion distance ratio, P3 is the third motion distance ratio, T opt1 is the first control optimization time parameter, T opt2 is the second control optimization time parameter, T opt3 is the third control optimization time parameter. And 0 < P1 < P2 < 1 and P3 > 1. The optimized optimization speed, optimized acceleration, and optimized deceleration can be calculated according to the technical solution of step S23 below.

[0156] Please refer to Figure 5 , [[ID=1十三]] Figure 5 is Figure 2 the detailed process schematic diagram of step S23 in

[0157] As Figure 5 shown, according to the motion control parameters and the actual motion distance ratio, calculate the optimized speed, optimized acceleration, and optimized deceleration, including:

[0158] Step S251: When the actual motion distance ratio is less than the first motion distance ratio.

[0159] Specifically, divide it into five stages to control the adaptive adjustment of the motion control parameters. When the motion state of the motion device is in the first stage, that is, when the actual motion distance ratio of the motion device is less than the first motion distance ratio, where the first motion distance ratio is greater than zero, and the first motion distance ratio is less than the second motion distance ratio and less than one. <eighty-two]]

[0160] Step S252: Calculate the first acceleration time.

[0161] According to the motion distance calculation formula in the acceleration / deceleration section It can be deduced that That is, the acceleration is inversely proportional to the square of the time. When the distance remains unchanged and the motion time is slightly increased, the acceleration / deceleration can be significantly reduced, which is beneficial to reducing equipment vibration and increasing equipment stability.

[0162] Specifically, first calculate the first acceleration time:

[0163]

[0164] where T acc1 is the first acceleration time of the motion device, S tgt is the actual motion distance of the motion device, A max is the maximum acceleration of the motion device.Since S tgt is the actual motion distance of the current motion device, that is, the straight-line distance between the current point and the next point. Because the acceleration / deceleration process is symmetric, the acceleration distance is After simplification, the above equation is obtained.

[0165] Step S253: Calculate the optimization acceleration time that has increased the optimization time.

[0166] Specifically, the computation increases the optimization time and speeds up the optimization process:

[0167]

[0168] Among them, T a ' cc For optimizing acceleration time of sports equipment, T acc1 T is the first acceleration time of the motion device. opt1 Optimize the timing parameters for the first control. T opt1 It sets parameters to allow for an acceptable increase in movement time for the current movement distance, in order to achieve better movement results. The 1 / 2 is used because the other 1 / 2 is used for symmetrical deceleration.

[0169] Step S254: Calculate the optimized acceleration.

[0170] Specifically, calculate the optimized acceleration A. opt :

[0171]

[0172] Similarly, because the acceleration and deceleration processes are symmetrical, the acceleration distance is... The simplified equation is as follows.

[0173] Step S255: Optimize the deceleration to be equal to the optimization acceleration, and optimize the speed to be equal to the maximum speed.

[0174] Specifically, since the acceleration and deceleration process is symmetrical in this stage, the optimized deceleration is equal to the optimized acceleration, i.e., D. opt With A opt They are equal, and during this stage, deceleration begins immediately upon reaching maximum speed; there is no period of uniform motion. Therefore, V opt It does not participate in calculations or control; at this stage, a given value can be assigned. In this embodiment, V at this stage... opt Assign a constant value V max V opt =V max .

[0175] In summary, when the motion equipment is in the first stage, i.e., when the actual motion distance ratio is less than the first motion distance ratio, the actual motion distance is much smaller than the minimum point motion distance. Therefore, by setting the first control optimization time parameter T... opt1 Calculate the optimized acceleration time, and then calculate the optimized acceleration A based on the optimized acceleration time. optAt this point, because the acceleration and deceleration processes are symmetrical, the optimized deceleration is equal to the optimized acceleration. Furthermore, since the moving equipment reaches its maximum speed and begins deceleration immediately, there is no period of uniform motion. Therefore, V... opt It does not participate in calculation and control; at this time, the maximum speed is assigned to the optimized speed.

[0176] Please see Figure 6 , Figure 6 yes Figure 2 A detailed flowchart of step S23;

[0177] like Figure 6 As shown, based on the motion control parameters and the ratio of the actual motion distance, the optimized speed, optimized acceleration, and optimized deceleration are calculated, including:

[0178] Step S261: When the actual movement distance ratio is greater than or equal to the first movement distance ratio and the actual movement distance ratio is less than the second movement distance ratio.

[0179] Specifically, five stages are defined to control the adaptive adjustment of motion control parameters. When the motion state of the motion device is in the second stage, that is, when the actual motion distance ratio is greater than or equal to the first motion distance ratio and the actual motion distance ratio is less than the second motion distance ratio, wherein the first motion distance ratio is less than the second motion distance ratio and less than one.

[0180] Step S262: Calculate the first acceleration time.

[0181] Based on the formula for calculating the distance traveled during acceleration / deceleration phases It can be deduced That is, acceleration is inversely proportional to the square of time. When the distance remains constant, slightly increasing the motion time can significantly reduce acceleration / deceleration, which helps to reduce equipment vibration and increase equipment stability.

[0182] Specifically, first calculate the first acceleration time:

[0183]

[0184] Among them, T acc1 S is the first acceleration time of the motion device. tgt A represents the actual distance traveled by the motion equipment. max This is the maximum acceleration of the moving equipment. Because S... tgt This is the actual distance traveled by the moving device, which is the straight-line distance between the current point and the next point. Because the acceleration and deceleration processes are symmetrical, the acceleration distance is... The simplified equation is as follows.

[0185] Step S263: Calculate the optimized acceleration time.

[0186] Specifically, the optimized acceleration time is calculated, whereby it is entirely used for acceleration. The optimized velocity and optimized acceleration are obtained based on the set of equations relating the optimized acceleration time, the second control optimization time parameter, the optimized velocity, the optimized acceleration, and the maximum velocity. The set of equations relating the optimized acceleration time, the second control optimization time parameter, the optimized velocity, the optimized acceleration, and the maximum velocity is as follows:

[0187]

[0188] Among them, T a ' cc For optimizing acceleration time of sports equipment, T acc1 T is the first acceleration time of the motion device. opt2 To optimize the timing parameters for the second control, A max A is the maximum acceleration of the moving equipment. opt For optimized acceleration of sports equipment, V opt Optimize the speed for sports equipment.

[0189] Step S264: Obtain the optimized velocity and optimized acceleration.

[0190] Furthermore, the optimized velocity and optimized acceleration are obtained based on the above set of equations. It should be noted that the solutions for the optimized velocity and optimized acceleration under the above conditions are not unique. In this embodiment, the optimal optimized velocity and optimized acceleration are determined by combining the best approach with the actual situation.

[0191] Step S265: Optimize deceleration to be equal to optimize acceleration.

[0192] Specifically, since the acceleration and deceleration process is symmetrical in this stage, the optimized deceleration is equal to the optimized acceleration, i.e., D. opt With A opt equal.

[0193] In summary, when the motion equipment is in the second stage, i.e., when the actual motion distance ratio is greater than or equal to the first motion distance ratio and less than the second motion distance ratio, the actual motion distance is less than the minimum point motion distance. Therefore, by setting the second control optimization time parameter T... opt2 By combining the optimized acceleration time, the second control optimized time parameter, the optimized speed, and the relationship equations between the optimized acceleration and the maximum speed, the optimized acceleration time is calculated. Then, the optimized speed and optimized acceleration are determined based on the actual situation. Since the acceleration and deceleration processes are symmetrical, the optimized deceleration is equal to the optimized acceleration, i.e., D. opt With A opt equal.

[0194] Please see Figure 7 , Figure 7 yes Figure 2 A detailed flowchart of step S23;

[0195] like Figure 7 As shown, based on the motion control parameters and the ratio of the actual motion distance, the optimized speed, optimized acceleration, and optimized deceleration are calculated, including:

[0196] Step S271: When the actual movement distance ratio is greater than or equal to the second movement distance ratio and the actual movement distance ratio is less than the third movement distance ratio.

[0197] Specifically, five stages are defined to control the adaptive adjustment of motion control parameters. When the motion state of the motion device is in the third stage, that is, when the actual motion distance ratio is greater than or equal to the second motion distance ratio and the actual motion distance ratio is less than the third motion distance ratio, the third motion distance ratio is greater than one.

[0198] Step S272: Calculate the first acceleration time.

[0199] Specifically, based on the formula for calculating the distance traveled during acceleration / deceleration phases... It can be deduced That is, acceleration is inversely proportional to the square of time. When the distance remains constant, slightly increasing the motion time can significantly reduce acceleration / deceleration, which helps to reduce equipment vibration and increase equipment stability.

[0200] Specifically, first calculate the first acceleration time:

[0201]

[0202] Among them, T acc1 S is the first acceleration time of the motion device. tgt A represents the actual distance traveled by the motion equipment. max This is the maximum acceleration of the moving equipment. Because S... tgt This is the actual distance traveled by the moving device, which is the straight-line distance between the current point and the next point. Because the acceleration and deceleration processes are symmetrical, the acceleration distance is... The simplified equation is as follows.

[0203] Step S273: Calculate the maximum speed achieved.

[0204] Specifically, calculate the maximum speed V′ reached. max :

[0205]

[0206] Among them, V′ max A represents the actual maximum speed reached by the moving equipment during its movement. maxT is the maximum acceleration of the moving equipment. acc1 S is the first acceleration time of the motion device. tgt This represents the actual distance traveled by the motion device.

[0207] Step S274: Calculate the corresponding formula for adding the constant speed segment to obtain the optimized speed.

[0208] Specifically, the formula for calculating the additional uniform speed segment is as follows:

[0209]

[0210] Right now,

[0211]

[0212] Among them, V′ max T is the maximum speed achieved by the motion equipment. acc1 T is the first acceleration time of the motion device. opt3 To optimize the timing parameters for the third control, A max A is the maximum acceleration of the moving equipment. opt For optimized acceleration of sports equipment, V opt Optimize the speed for sports equipment.

[0213] Based on the above set of equations, the optimal speed V is calculated. opt .

[0214] Step S275: Optimize the acceleration to be equal to the maximum acceleration, and optimize the deceleration to be equal to the maximum deceleration.

[0215] In this case, the motion equipment begins to move at a constant speed when it reaches its maximum speed. At this time, the optimal acceleration of the motion equipment is equal to the maximum acceleration. Similarly, the optimal deceleration of the motion equipment is equal to the maximum deceleration.

[0216] That is, A opt =A max D opt =D max .

[0217] In summary, when the motion equipment is in the third stage, that is, when the actual motion distance ratio is greater than or equal to the second motion distance ratio and less than the third motion distance ratio, the actual motion distance is slightly less than the minimum point motion distance. By setting the third control optimization time parameter Topt3 and combining the relationship equations of the corresponding formula for adding the uniform speed segment, the optimized speed is calculated. Since the motion equipment starts to move at a uniform speed when it reaches the maximum speed, the optimized acceleration of the motion equipment is equal to the maximum acceleration. Similarly, the optimized deceleration of the motion equipment is equal to the maximum deceleration.

[0218] Please see Figure 8 , Figure 8 yes Figure 2 A detailed flowchart of step S23;

[0219] like Figure 8 As shown, based on the motion control parameters and the ratio of the actual motion distance, the optimized speed, optimized acceleration, and optimized deceleration are calculated, including:

[0220] Step S281: When the actual movement distance ratio is greater than one and the actual movement distance ratio is less than the third movement distance ratio.

[0221] Specifically, five stages are defined to control the adaptive adjustment of motion control parameters. When the motion state of the motion device is in the fourth stage, that is, when the actual motion distance ratio is greater than one and the actual motion distance ratio is less than the third motion distance ratio.

[0222] Step S282: Calculate the first acceleration time.

[0223] Specifically, calculate the first acceleration time T. acc1 :

[0224] T acc1 =V max / A max

[0225] Among them, T acc1 For the first acceleration time of the motion device, A max This represents the maximum acceleration of the moving equipment.

[0226] Since the actual distance traveled in this case is greater than the distance traveled at the minimum point, the first acceleration time of the motion device in this case is composed of the above equation.

[0227] Step S283: Calculate the original uniform motion time.

[0228] Specifically, calculate the original uniform motion time T. cst :

[0229]

[0230] Among them, T cst For the original uniform motion time, S tgt S represents the actual distance traveled by the motion equipment. vmax Let T be the minimum distance traveled by the moving device to reach its maximum speed. Since the actual distance traveled in this case is greater than the minimum distance traveled by the moving device, the original uniform motion time T is calculated. cst It consists of the above equations.

[0231] Step S284: Calculate the optimized speed by following the formula corresponding to the optimized uniform speed segment.

[0232] Specifically, the formula corresponding to the optimized uniform velocity segment is as follows:

[0233]

[0234] Right now,

[0235]

[0236] Among them, V max T represents the maximum speed of the motion equipment. cst For the original uniform motion time, T opt3 To optimize the timing parameters for the third control, A max V is the maximum acceleration of the moving equipment. opt Optimize the speed for sports equipment.

[0237] Based on the above set of equations, the optimal speed V is calculated. opt .

[0238] Step S285: Optimize the acceleration to be equal to the maximum acceleration, and optimize the deceleration to be equal to the maximum deceleration.

[0239] Specifically, in this case, the motion equipment begins to move at a constant speed when it reaches its maximum speed. At this time, the optimal acceleration of the motion equipment is equal to the maximum acceleration. Similarly, the optimal deceleration of the motion equipment is equal to the maximum deceleration.

[0240] That is, A opt =A max D opt =D max .

[0241] In summary, when the motion equipment is in the fourth stage, that is, when the actual motion distance ratio is greater than one and less than the third motion distance ratio, the actual motion distance is slightly greater than the minimum point motion distance. By setting the third control optimization time parameter Topt3 and combining the relationship equations of the corresponding formulas of the uniform speed segment, the optimized speed is calculated. Since the motion equipment starts to move at a constant speed when it reaches the maximum speed, the optimized acceleration of the motion equipment is equal to the maximum acceleration. Similarly, the optimized deceleration of the motion equipment is equal to the maximum deceleration.

[0242] Please see Figure 9 , Figure 9 yes Figure 2 A detailed flowchart of step S23;

[0243] like Figure 9 As shown, based on the motion control parameters and the ratio of the actual motion distance, the optimized speed, optimized acceleration, and optimized deceleration are calculated, including:

[0244] Step S291: When the actual movement distance ratio is greater than or equal to the third movement distance ratio.

[0245] Specifically, five stages are defined to control the adaptive adjustment of motion control parameters. When the motion state of the motion device is in the fifth stage, that is, when the actual motion distance ratio is greater than or equal to the third motion distance ratio.

[0246] Step S292: Determine the maximum speed as the optimized speed.

[0247] Step S293: Determine the maximum acceleration as the optimal acceleration.

[0248] Step S294: Determine the maximum deceleration as the optimal deceleration.

[0249] Specifically, since the distance traveled is large enough at this point, the maximum speed, maximum acceleration, and maximum deceleration are assigned to the optimized speed, optimized acceleration, and optimized deceleration, respectively.

[0250] V opt =V max

[0251] A opt =A max

[0252] D opt =D max

[0253] In summary, when the motion device is in the fifth stage, that is, when the actual motion distance ratio is greater than or equal to the third motion distance ratio, the actual motion distance is significantly greater than the minimum point motion distance. Since the motion distance is large enough at this time, the maximum speed, maximum acceleration, and maximum deceleration are assigned to the optimized speed, optimized acceleration, and optimized deceleration to complete the adaptive adjustment of motion control parameters.

[0254] Please see Figure 10 , Figure 10 This is a schematic diagram of the structure of a motion control card provided in an embodiment of this application;

[0255] like Figure 10 As shown, the motion control card 1000 includes: at least one processor 1001; and a memory 1002 communicatively connected to the at least one processor 1001. Figure 10 Taking a processor 1001 as an example, memory 1002 stores instructions that can be executed by at least one processor 1001. These instructions are executed by at least one processor 1001 to enable at least one processor 1001 to perform the aforementioned... Figures 2 to 9 The method for adjusting motion control parameters. The processor 1001 and memory 1002 can be connected via a bus or other means. Figure 10 Taking the example of a connection between China and Israel via a bus.

[0256] In this embodiment of the application, the motion control card 1000 includes, but is not limited to:

[0257] (1) Mobile communication devices: These devices are characterized by their mobile communication capabilities and primarily aim to provide voice and data communication. These motion control cards include: smartphones (e.g., iPhones), multimedia phones, feature phones, and low-end phones, etc.

[0258] (2) Mobile Personal Computer Devices: These devices fall under the category of personal computers, possessing computing and processing capabilities, and generally also have mobile internet access features. These motion control cards include PDAs, MIDs, and UMPCs, such as the iPad.

[0259] (3) Portable entertainment devices: These devices can display and play video content and generally also have mobile internet access capabilities. This category includes: video players, handheld game consoles, as well as smart toys and portable car navigation devices.

[0260] (4) Other motion control cards with video playback and internet access functions.

[0261] The memory 1002, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the motion control parameter adjustment method in the embodiments of this application. The processor 1001 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions, and modules stored in the memory 1002, thereby implementing the motion control parameter adjustment method in the above method embodiments.

[0262] The memory 1002 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the use of the motion control parameter adjustment device. Furthermore, the memory 1002 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 1002 may optionally include memory remotely located relative to the processor 1001, and these remote memories can be connected to the motion control parameter adjustment device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0263] One or more modules are stored in memory 1002. When executed by one or more processors 1001, they perform the motion control parameter adjustment method in any of the above method embodiments, for example, the method described above. Figures 2 to 9 The method and steps.

[0264] The above-described product can perform the methods provided in the embodiments of this application, and has the corresponding functional modules and beneficial effects for performing the methods. Technical details not described in detail in this embodiment can be found in the methods provided in the embodiments of this application.

[0265] This application also provides a non-volatile computer-readable storage medium storing computer-executable instructions that are executed by one or more processors, for example, to execute the instructions described above. Figures 2 to 9 The method and steps.

[0266] This application also provides a computer program product, including a computing program stored on a non-volatile computer-readable storage medium. The computer program includes program instructions, which, when executed by a computer, cause the computer to perform the motion control parameter adjustment method described in any of the above method embodiments, for example, to perform the above-described... Figures 2 to 9 The method and steps.

[0267] This application provides a method for adjusting motion control parameters, a motion control card, and a vehicle. The method includes: calculating the actual motion distance ratio; defining the motion distance ratio and setting a control optimization time; determining suitable motion control parameters; and calculating optimized speed, optimized acceleration, and optimized deceleration based on the motion control parameters and the actual motion distance ratio. This application effectively reduces the vibration of motion equipment and improves the speed control accuracy of the motion equipment by adaptively adjusting the motion control parameters, thereby enhancing the overall performance of the motion equipment.

[0268] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0269] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0270] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; under the concept of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for adjusting motion control parameters, characterized in that, Applications to motion control cards include: Calculate the proportion of the actual movement distance of the motion equipment; Define the motion distance ratio and set the control optimization time to determine the motion control parameters; Based on the motion control parameters and the actual motion distance ratio, the optimized speed, optimized acceleration, and optimized deceleration of the motion device are calculated. The process of defining the motion distance ratio and setting the control optimization time, and determining the motion control parameters, includes: A set of parameters (P1, T) arranged in ascending order of motion distance ratio and control optimization time are preset. opt1 (P2, T) opt2 (P3, T) opt3 ), where P1 is the first distance ratio, P2 is the second distance ratio, P3 is the third distance ratio, and T opt1 To optimize the timing parameters for the first control, T opt2 To optimize the time parameters for the second control, T opt3 Optimize timing parameters for the third control; The step of calculating optimized speed, optimized acceleration, and optimized deceleration based on the motion control parameters and the ratio of the actual motion distance includes: When the actual motion distance ratio is less than the first motion distance ratio, the optimized acceleration and optimized deceleration are calculated based on the first control optimization time parameter. When the actual motion distance ratio is greater than or equal to the first motion distance ratio and the actual motion distance ratio is less than the second motion distance ratio, the optimized speed, optimized acceleration, and optimized deceleration are calculated based on the second control optimization time parameter. When the actual movement distance ratio is greater than one and the actual movement distance ratio is less than the third movement distance ratio, the optimized speed is calculated based on the third control optimization time parameter. When the actual movement distance ratio is greater than or equal to the first movement distance ratio and the actual movement distance ratio is less than the second movement distance ratio, wherein the first movement distance ratio is less than the second movement distance ratio and less than one; Calculate the first acceleration time: in, The first acceleration time of the motion device. The actual distance traveled by the motion device. This refers to the maximum acceleration of the moving equipment; Calculate the optimized acceleration time, where all of the optimized acceleration time is used for acceleration: Optimized speed and optimized acceleration are obtained. in, For the optimized acceleration time of the aforementioned motion device, As an intermediate variable, The first acceleration time of the motion device. Optimize the timing parameters for the second control. For the optimized speed of the aforementioned motion device, For the optimized acceleration of the motion device, This refers to the maximum acceleration of the moving equipment; At this point, the optimized deceleration is equal to the optimized acceleration.

2. The method according to claim 1, characterized in that, The calculation of the proportion of the actual movement distance of the motion device includes: Obtain the maximum speed, maximum acceleration, and maximum deceleration of the motion device; The acceleration time from zero to the maximum speed and the deceleration time from the maximum speed to zero are calculated, wherein the acceleration time and the deceleration time are equal. The formulas for calculating the acceleration time from zero to the maximum speed and the deceleration time from the maximum speed to zero are as follows: in, The maximum speed of the motion device. The maximum acceleration of the motion device. The maximum deceleration of the motion device. The acceleration time of the motion device from zero to the maximum speed. The deceleration time of the moving device from the maximum speed to zero.

3. The method according to claim 2, characterized in that, The calculation of the actual movement distance ratio includes: Based on the acceleration and deceleration times, the acceleration distance from zero to maximum speed, the deceleration distance from maximum speed to zero, and the minimum point distance required to reach maximum speed are calculated, wherein the acceleration distance and the deceleration distance are equal. The formulas for calculating the acceleration distance from zero to maximum speed, the deceleration distance from maximum speed to zero, and the minimum point distance required to reach maximum speed are as follows: in, The acceleration distance of the motion device from zero to its maximum speed. The deceleration distance of the motion device from its maximum speed to zero. This refers to the minimum distance the motion device needs to travel at a given point to reach its maximum speed. The maximum acceleration of the motion device. The maximum deceleration of the motion device. The acceleration time of the motion device from zero to the maximum speed. The deceleration time of the moving device from the maximum speed to zero.

4. The method according to claim 3, characterized in that, The calculation of the actual movement distance ratio includes: Obtain the actual distance traveled by the motion device; Based on the actual distance traveled, the proportion of the actual distance traveled is calculated using the following formula: in, This represents a proportion of the actual movement distance of the aforementioned motion device. The actual distance traveled by the motion device. The minimum distance traveled by the point to achieve the maximum speed of the motion device.

5. The method according to claim 1, characterized in that, When the actual movement distance ratio is less than the first movement distance ratio, the optimized acceleration and optimized deceleration are calculated based on the first control optimization time parameter, including: When the actual movement distance ratio is less than the first movement distance ratio, wherein the first movement distance ratio is greater than zero, and the first movement distance ratio is less than the second movement distance ratio and less than one; Calculate the first acceleration time: in, The first acceleration time of the motion device. The actual distance traveled by the motion device. This refers to the maximum acceleration of the moving equipment; The calculation increases the optimization time and speeds up the process: in, For the optimized acceleration time of the aforementioned motion device, The first acceleration time of the motion device. Optimize timing parameters for the first control; Calculate and optimize acceleration: in, For the optimized acceleration of the motion device, The actual distance traveled by the motion device. The optimized acceleration time for the aforementioned motion device; At this point, the optimized deceleration is equal to the optimized acceleration, and the optimized speed is equal to the maximum speed of the motion device.

6. The method according to claim 1, characterized in that, When the actual movement distance ratio is greater than or equal to the first movement distance ratio and the actual movement distance ratio is less than the second movement distance ratio, the optimized speed, optimized acceleration, and optimized deceleration are calculated based on the second control optimization time parameter, including: When the actual movement distance ratio is greater than or equal to the first movement distance ratio and the actual movement distance ratio is less than the second movement distance ratio, wherein the first movement distance ratio is less than the second movement distance ratio and less than one; Calculate the first acceleration time: in, The first acceleration time of the motion device. The actual distance traveled by the motion device. This refers to the maximum acceleration of the moving equipment; Calculate the optimized acceleration time, where all of the optimized acceleration time is used for acceleration: Optimized speed and optimized acceleration are obtained. in, For the optimized acceleration time of the aforementioned motion device, As an intermediate variable, The first acceleration time of the motion device. Optimize the timing parameters for the second control. For the optimized speed of the aforementioned motion device, For the optimized acceleration of the motion device, This refers to the maximum acceleration of the moving equipment; At this point, the optimized deceleration is equal to the optimized acceleration.

7. The method according to claim 1, characterized in that, When the actual movement distance ratio is greater than one and the actual movement distance ratio is less than the third movement distance ratio, the optimized speed is calculated based on the third control optimization time parameter, including: When the actual movement distance ratio is greater than one and the actual movement distance ratio is less than the third movement distance ratio; Calculate the first acceleration time: in, The first acceleration time of the motion device. The maximum speed of the motion device. This refers to the maximum acceleration of the moving equipment; Calculate the original uniform motion time: in, For the original uniform motion time, The actual distance traveled by the motion device. This refers to the minimum distance the motion device needs to travel at a given point to reach its maximum speed. The maximum speed of the motion device; The optimized formula for the uniform velocity segment is as follows: Right now, Optimize speed in, The maximum acceleration of the motion device. The maximum speed of the motion device. For the optimized speed of the aforementioned motion device, For the original uniform motion time, Optimize timing parameters for the third control; The optimized acceleration is equal to the maximum acceleration, and the optimized deceleration is equal to the maximum deceleration.

8. The method according to claim 1, characterized in that, The step of calculating optimized speed, optimized acceleration, and optimized deceleration based on the motion control parameters and the ratio of the actual motion distance includes: When the actual movement distance ratio is greater than or equal to the third movement distance ratio; The maximum speed is determined as the optimal speed; The maximum acceleration is determined as the optimal acceleration; The maximum deceleration is determined as the optimal deceleration.

9. A motion control card, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the motion control parameter adjustment method as described in any one of claims 1-8.

Images