Method, device, industrial control computer and medium for eliminating residual vibration of terminal device

Abstract

The present invention discloses a method, device, industrial control computer, and medium for eliminating residual vibration of an end device. The method includes: obtaining variables input by a user, wherein the variables include a motion planning type, motion planning variables, and model variables; generating a motion plan based on the motion planning type and the motion planning variables; selecting a target shaper based on the model variables; obtaining a time lag corresponding to the target shaper, synchronously accelerating the motion plan and the target shaper based on the time lag to obtain an accelerated motion plan and an accelerated target shaper; generating a new motion plan based on the accelerated motion plan and the accelerated target shaper, and sending the new motion plan to a servo system for execution. The method can automatically select a target shaper for shaping processing based on the model variables input by the user, and the target shaper can effectively eliminate residual vibration.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of electromechanical control technology, and in particular to a method, device, industrial control computer, and medium for eliminating residual vibration of a terminal device. Background Art

[0002] After executing a motion command and coming to rest, some mechanical systems generate residual vibrations in their end devices that gradually decay over time. This residual vibration can affect the precision of the end devices and significantly impact the accuracy of equipment production.

[0003] To address this residual vibration, one existing method tends to reinforce or improve the damping of the terminal device, but this will increase the weight of the terminal device and increase the inertia that needs to be overcome during movement, resulting in a decrease in the maximum speed and maximum acceleration. Another existing method is to install sensors on the terminal device and establish a complex closed-loop control algorithm to directly manipulate the motion parameters to minimize the residual response as much as possible, but this will introduce oscillation and overshoot problems.

[0004] Therefore, how to eliminate the residual vibration of the end device without increasing the number of sensors and modifying the mechanical structure of the end device is a technical problem that needs to be solved urgently. Summary of the Invention

[0005] The present invention provides a method, device, industrial control computer and medium for eliminating residual vibration of an end device, so as to solve a series of problems caused by increasing the number of sensors and modifying the mechanical structure when eliminating residual vibration in the prior art.

[0006] According to one aspect of the present invention, a method for eliminating residual vibration of an end device is provided, comprising:

[0007] Obtaining variables input by a user, wherein the variables include motion planning type, motion planning variables, and model variables;

[0008] generating a motion plan according to the motion plan type and the motion plan variables;

[0009] selecting a target shaper according to the model variables through a rule-based reasoning engine;

[0010] Obtaining a time lag corresponding to the target shaper, and synchronously accelerating the motion plan and the target shaper according to the time lag to obtain an accelerated motion plan and an accelerated target shaper;

[0011] A new motion plan is generated according to the accelerated motion plan and the accelerated target shaper, and the new motion plan is sent to a servo system for execution.

[0012] According to another aspect of the present invention, there is provided a device for eliminating residual vibration of an end device, comprising:

[0013] An acquisition module is used to acquire variables input by a user, wherein the variables include motion planning type, motion planning variables and model variables;

[0014] A first generating module, configured to generate a motion plan according to the motion plan type and the motion plan variables;

[0015] a selection module for selecting a target shaper through a rule-based reasoning engine according to the model variables;

[0016] an acceleration module, configured to obtain a time lag corresponding to the target shaper, and synchronously accelerate the motion plan and the target shaper according to the time lag to obtain an accelerated motion plan and an accelerated target shaper;

[0017] The second generation module is configured to generate a new motion plan according to the accelerated motion plan and the accelerated target shaper, and send the new motion plan to the servo system for execution.

[0018] According to another aspect of the present invention, there is provided an industrial computer, the industrial computer comprising: at least one processor;

[0019] and a memory communicatively coupled to the at least one processor;

[0020] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for eliminating residual vibration of the terminal device described in any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for eliminating residual vibration of an end device according to any embodiment of the present invention when executed.

[0022] The technical solution of an embodiment of the present invention obtains variables input by a user, the variables including a motion plan type, motion plan variables, and model variables; generates a motion plan based on the motion plan type and the motion plan variables; selects a target shaper based on the model variables using a rule-based inference engine; obtains a time delay corresponding to the target shaper, synchronously accelerates the motion plan and the target shaper based on the time delay to obtain an accelerated motion plan and an accelerated target shaper; generates a new motion plan based on the accelerated motion plan and the accelerated target shaper, and sends the new motion plan to a servo system for execution. The above solution achieves the beneficial effect of eliminating residual vibration of the end device without increasing the number of sensors or modifying the mechanical structure.

[0023] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 A schematic flow chart of a method for eliminating residual vibration of a terminal device provided in the first embodiment of the present invention;

[0026] Figure 2 A schematic diagram of the mutual cancellation of residual vibrations generated by two signals provided in the first embodiment of the present invention;

[0027] Figure 3 A schematic diagram illustrating the working principle of a conventional input shaping technology provided in the first embodiment of the present invention;

[0028] Figure 4 A schematic flow chart of a method for eliminating residual vibration of a terminal device provided in the second embodiment of the present invention;

[0029] Figure 5 A schematic diagram of the structure of the inference engine provided in the second embodiment of the present invention;

[0030] Figure 6 A schematic structural diagram of a device for eliminating residual vibration of a terminal device provided in a third embodiment of the present invention;

[0031] Figure 7A structural schematic diagram of an industrial computer for a method of eliminating residual vibration of a terminal device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only embodiments of a part of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention. It should be understood that the various steps described in the method implementation mode of the present invention can be performed in different orders and / or in parallel. In addition, the method implementation mode may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0033] As used herein, the term "including" and its variations are open-ended, i.e., "including but not limited to." The term "based on" means "based, at least in part, on." The term "one embodiment" means "at least one embodiment," the term "another embodiment" means "at least one additional embodiment," and the term "some embodiments" means "at least some embodiments." Other terms are defined in the following description.

[0034] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] It should be noted that the modifications of "one" and "multiple" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0036] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0037] Example 1

[0038] Figure 1 A flow chart of a method for eliminating residual vibration of a terminal device provided in a first embodiment of the present invention is provided. The method can be applied to eliminating residual vibration generated by a terminal device after a mechanical system executes a motion instruction and stops. The method can be performed by a device for eliminating residual vibration of the terminal device, wherein the device can be implemented by software and / or hardware and is generally integrated on an industrial computer, wherein the mechanical system can be composed of an industrial computer, a driver and a motor.

[0039] like Figure 1 As shown, a method for eliminating residual vibration of an end device provided by a first embodiment of the present invention includes the following steps:

[0040] S110 , obtaining variables input by a user, wherein the variables include a motion planning type, motion planning variables, and model variables.

[0041] In this embodiment, after the user inputs a variable on the human-computer interaction interface in the industrial computer, the industrial computer can obtain the variable input by the user.

[0042] Among them, the motion planning type can be understood as the type of mechanical motion planned by the user. The motion planning types can include trapezoidal, S-shaped, and triangular. The trapezoidal shape indicates acceleration first, then uniform motion, and finally deceleration; the S-shaped shape indicates that the motion speed is constantly changing; the triangle shape indicates acceleration first and then deceleration.

[0043] Among them, motion planning variables can be understood as the variables of the mechanical motion planned by the user, which can include the maximum speed acceleration time, acceleration, jerk, jerk time and uniform speed time of the mechanical motion; model variables can include the natural frequency, damping ratio and tolerance value of the terminal device in the mechanical system.

[0044] S120: Generate a motion plan according to the motion plan type and the motion plan variables.

[0045] The motion plan can be automatically generated according to the motion plan type and motion plan variables in the user input variables. The motion plan can be a seven-segment S-shaped motion.

[0046] S130 : Select a target shaper according to the model variables through a rule-based reasoning engine.

[0047] It is important to understand that a shaper is a feedforward filter, also known as a time-delay filter, which contains a series of pulse trains with different amplitudes and time delays. It is added to the entire control system as a feedforward unit and is an open-loop control method. Since sinusoidal signals with equal amplitude and period but a difference of one and a half cycles can cancel each other out, the source signal can be split into multiple parts through a shaper so that the residual vibrations generated by them can cancel each other out, such as Figure 2 As shown, taking two pulses as an example, Figure 2 This is a schematic diagram of the mutual cancellation of residual vibrations generated by two signals provided in the first embodiment of the present invention, where A1 and A2 represent the residual vibrations generated by the two signals respectively.

[0048] Figure 3 The working principle diagram of the traditional input shaping technology provided in the first embodiment of the present invention is as follows: Figure 3 As shown, a motion planning function is generated based on the selected planning form and input parameters. This motion planning function is then used to generate displacement / velocity point data in a time series. This displacement / velocity point data is convolved with the user-entered convolution kernel to generate displacement / velocity commands, which are then sent to the motor for execution. A set of convolution kernels corresponds to one shaper. Traditional input shaping techniques have the disadvantage of requiring the user to directly input the convolution kernel—a set of pulse amplitudes and time delays. This requires strong user expertise to ensure the correct input of the convolution kernel, making debugging difficult and subject to latency, making them unsuitable for certain high-speed machines.

[0049] In actual operation, the natural frequency and damping ratio of the end device vary within a certain range, and the natural frequency and damping ratio of the end device input by the engineer have errors compared with the actual values. To accommodate this error, it is necessary to replace the shaper with a more robust but larger time delay. However, how to choose the right shaper is also a challenge. The robustness and time delay of various shapers are shown in Table 1:

[0050]

[0051]

[0052] Table 1

[0053] In Table 1, the number of cycles in the time delay period refers to the inverse of the natural frequency of the end device. The larger the natural frequency, the smaller the period length. Robustness refers to the tolerance of the shaper to changes in the natural frequency. A higher robustness value indicates greater tolerance and better robustness. Insensitivity refers to the insensitivity of the shaper to the natural frequency. The higher the insensitivity, the smaller the change in the shaper to changes in the natural frequency.

[0054] In this embodiment, in order to solve the problem of shaper selection, the following method is provided for selecting a suitable shaper, namely a target shaper: a rule-based reasoning engine is used, which can perform reasoning based on factual results and automatically select a target shaper from a preset table.

[0055] It should be noted that step S120 and step S130 are not executed in any particular order and can be executed simultaneously.

[0056] S140 , obtaining a time lag corresponding to the target shaper, and synchronously accelerating the motion plan and the target shaper according to the time lag to obtain an accelerated motion plan and an accelerated target shaper.

[0057] The shaper causes a delay in the signal, which is called time lag. To offset this time lag, the signal and the target shaper need to be accelerated synchronously, accelerating them at the lowest possible cost to offset the time lag. The signal can be a signal corresponding to the motion plan.

[0058] Furthermore, the motion plan and the target shaper are synchronously accelerated according to the time lag to obtain an accelerated motion plan and an accelerated target shaper, including: determining a scaling ratio according to the time lag of the accelerated target shaper; scaling the motion plan according to the scaling ratio to obtain a new motion plan, and scaling the target shaper according to the scaling ratio to obtain a new target shaper.

[0059] Without using a shaper, let the input finite length signal be u(t) and the unit impulse response of the end device be h(t). Then the response of the end device is:

[0060]

[0061] If the length of the signal u(t) is t1 and the length of h(t) is T, the length of the output signal is the sum of their lengths t1+T.

[0062] When the shaper IS(t) is used, the response of the end device is:

[0063] y(t)=u(t)*IS(t)*h(t)

[0064] The length of IS is t0, and the length of the output signal becomes the sum of the three, with just t0 added, which is called time lag.

[0065] If we only accelerate the signal, in order to offset the time lag, we need to shorten the duration of the original signal by t0, then:

[0066] a1t1+t0=t1

[0067] The solution is:

[0068]

[0069] The response of the end device at this time is:

[0070]

[0071] The signal length then becomes a1t1+T+t0=t1+T, which matches the original signal length and cancels out the skew. However, if a more robust shaper is used, especially if the natural frequency of the end device is relatively low, resulting in a longer skew and a shortened signal length of more than half, the input signal must be accelerated significantly, resulting in a significantly uneven and unsmooth new signal.

[0072] To solve the above problem, the signal and the reshaper can be accelerated simultaneously. This requires that the scaled signal and the IS scaled signal can correspond one-to-one to the original signal. To do this, the following conditions must be met:

[0073] a2(t1+t0)=t1

[0074] The solution is:

[0075]

[0076] So the signal response becomes:

[0077]

[0078] In this way, the signal length becomes a2t1+T+a2t0=t1+T, which is the same as the original signal length, achieving the purpose of offsetting the time delay.

[0079] Moreover, it is easy to prove that:

[0080] because:

[0081] t1 2 >t1 2 -t0 2

[0082] so:

[0083]

[0084] This means that when achieving the same effect of offsetting time lag, the acceleration cost required for simultaneous acceleration is minimal.

[0085] Exemplarily, the motion planning is a seven-segment S-shaped planning, which includes four smooth control segments, one uniform acceleration control segment, one uniform deceleration control segment and one constant speed control segment. Accordingly, the motion planning is scaled according to the scaling ratio, including: setting the acceleration of the smooth control segment to the cube of a preset value, setting the acceleration of the uniform acceleration control segment and the acceleration of the uniform deceleration control segment to the square of a preset value, and setting the maximum speed of the constant speed control segment to a preset value.

[0086] If you need to shorten the time to the original times, it is necessary to change the maximum speed of the uniform speed control section to a times of the original; change the acceleration of the uniform acceleration control section and the uniform deceleration control section to a times of the original 2 times; change the jerk of the smooth control section to the original a 3 times.

[0087] S150 , generating a new motion plan according to the accelerated motion plan and the accelerated target shaper, and sending the new motion plan to a servo system for execution.

[0088] In this embodiment, generating a new motion plan according to the accelerated motion plan and the accelerated target shaper includes: generating a new motion plan by performing a point-by-point convolution algorithm on the accelerated motion plan and the accelerated target shaper.

[0089] A method for eliminating residual vibration of an end device provided in a first embodiment of the present invention first obtains user-input variables, including a motion plan type, motion plan variables, and model variables; secondly, generates a motion plan based on the motion plan type and motion plan variables; then, selects a target shaper based on the model variables using a rule-based inference engine; then, obtains the time lag corresponding to the target shaper, synchronously accelerates the motion plan and the target shaper based on the time lag, obtaining an accelerated motion plan and an accelerated target shaper; finally, generates a new motion plan based on the accelerated motion plan and the accelerated target shaper, and sends the new motion plan to the servo system for execution. This method uses debugging parameters familiar to engineers to automatically recommend an appropriate shaper for shaping, reducing debugging difficulty. The target shaper can effectively eliminate residual vibration. By synchronously accelerating the motion plan and the target shaper to offset time lag, this method achieves zero-delay shaping at a low cost.

[0090] Example 2

[0091] Figure 4 This is a flow chart of a method for eliminating residual vibration of a terminal device provided in the second embodiment of the present invention. The second embodiment is optimized based on the above embodiments. For details not yet provided in this embodiment, please refer to the first embodiment.

[0092] like Figure 4 As shown, a method for eliminating residual vibration of an end device provided by a second embodiment of the present invention includes the following steps:

[0093] S210 : Obtain variables input by the user, where the variables include motion planning type, motion planning variables, and model variables.

[0094] S220: Generate a motion plan according to the motion plan type and the motion plan variables.

[0095] S230 : Select a target shaper according to the model variables through a rule-based reasoning engine.

[0096] There are many types of inference engines, and the most widely used ones are Figure 5 As shown, Figure 5 This is a schematic diagram of the inference engine structure provided in Example 2 of the present invention. The inference engine employed combines a knowledge base and an inference engine, which avoids the problem of reduced solution efficiency caused by pure inference. It should be understood that updates to the knowledge base are independent of the inference engine and do not require modifications to the inference engine.

[0097] The reasoning engine mimics the process of human forward reasoning, reverse reasoning, or bidirectional reasoning and is divided into the following three parts:

[0098] 1) Rule table: A knowledge set expressed in rules, containing the knowledge required for reasoning, generally in the form of if-then;

[0099] 2) Workspace: A collection of facts, including the data needed for reasoning;

[0100] 3) Inference engine: completes the inference process and finds out which rule needs to be activated in the current cycle.

[0101] Specifically, step S230 may include the following steps:

[0102] S2301, sending the model variables to a fact collection unit;

[0103] The model variables include at least: the natural frequency of the end device, the damping ratio of the end device, and the tolerance of the end device.

[0104] S2302, arranging a trial run of a preset shaper by the inference engine to obtain a fact result;

[0105] S2303: Compare the model variables and the fact results by the fact collection unit to obtain a model error, and input the model error into the working area of ​​the knowledge base through the inference engine;

[0106] S2304: Determine a target shaper according to a preset rule table and the model error through the inference engine.

[0107] In which, in the initial case, the fact collection unit only collects the model variables input by the user and does not receive the actual output of the system model. At this time, the inference engine can automatically arrange a pre-set shaper. The pre-set shaper can be a ZV shaper. The ZV shaper is first tested once to obtain the fact result as the actual output value of the system model. The fact result can be the residual vibration size. The fact collection unit can use the model variables input by the user, such as the natural frequency of the terminal device, as the theoretical output value of the system model. The theoretical output value of the system model is compared with the actual output value of the system model to obtain the model error. The model error is passed into the workspace. The inference engine can find at least one rule corresponding to the model error from the preset rule table and activate at least one rule. Then, the inference engine can infer the target shaper from the shaper library according to at least one rule.

[0108] Furthermore, the method of determining the target shaper according to the preset rule table and the model error by the inference engine includes: activating corresponding rules according to the preset rule table and the model error by the inference engine; wherein the preset rule table includes rules corresponding to different model error values, and the rules are used to select a shaper that meets specific conditions; if the number of the rules is one, the inference engine selects a target shaper from a shaper library according to the one rule; if the number of the rules is at least two, the inference engine arranges the at least two rules into an agenda module according to a preset strategy, and executes all the rules in the agenda module in the order of arrangement until all the rules are executed, and uses the shaper selected according to the last rule as the target shaper.

[0109] If only one rule is activated, for example, the rule to select a shaper with a smaller lag tolerance, the inference engine can select a shaper with a smaller lag tolerance from the shaper library as the target shaper based on this rule. The shaper library can include multiple types of shapers to suit different application scenarios.

[0110] Among them, if multiple rules are activated at the same time, it means that there is a conflict. The inference engine can arrange multiple rules into the agenda module according to the preset strategy, for example, according to the order of robustness from low to high. At this time, the conflict is resolved; according to the arrangement order of multiple rules in the agenda module, the rules are selected in turn to continue reasoning until all rule reasoning is completed, and the shaper obtained by the last reasoning is used as the target shaper.

[0111] For example, the debugger inputs a terminal device natural frequency of 100 Hz. After passing through the ZV shaper, it is found that the ratio of the input natural frequency to the actual natural frequency is 1.2, and the residual vibration is still 40%. The inference engine will recommend a target shaper as follows: the model error obtained by the ZV shaper, that is, the residual vibration of 40%, is transferred to the working area of ​​the knowledge base; the inference engine compares the rules and model errors in the rule table and activates three rules. According to the first rule, ZVD, MISZVD-6, EI, ZVDD, ZVDDD, 2H-EI, and 3H-EI shapers that meet the conditions can be selected from the shaper library; according to the second rule, that is, shapers with smaller time delay tolerance, ZVD, MISZVD-6, and EI shapers can be selected from the shaper library; according to the third rule, that is, shapers with better robustness, the EI shaper can be selected from the shaper library and the EI shaper can be used as the target shaper.

[0112] S240 , obtaining a time lag corresponding to the target shaper, and synchronously accelerating the motion plan and the target shaper according to the time lag to obtain an accelerated motion plan and an accelerated target shaper.

[0113] S250 , generating a new motion plan by performing a point-by-point convolution algorithm on the accelerated motion plan and the accelerated target shaper, and sending the new motion plan to a servo system for execution.

[0114] Furthermore, generating a new motion plan by applying a point-by-point convolution algorithm to the accelerated motion plan and the accelerated target shaper includes: calculating instruction point data from the accelerated motion plan according to a time sequence; multiplying the instruction point data with data in an array corresponding to the accelerated target shaper one by one to obtain multiple sequences; and performing staggered superposition of the multiple sequences according to a time lag corresponding to the accelerated target shaper to obtain a new array, and using the new array as a new motion plan.

[0115] Before calculating the instruction point data, storage space must be allocated to store the sequence. The length of the initialization space can be calculated as the sum of the maximum length of the accelerated motion plan and the maximum length of the accelerated target shaper, minus 1. The accelerated motion plan can be represented by an array, and the maximum length of the accelerated motion plan can be interpreted as the maximum length of the array. The accelerated target shaper can also be represented by a series of arrays, and the maximum length of the accelerated target shaper can also be interpreted as the maximum length of the array.

[0116] The accelerated target reshaper, i.e., the array, may be composed of an element number and an element. The element number represents the time delay. For example, if the element number is 3, the time delay is 3. It is understood that when the time delay is 3, a new array is obtained by superimposing multiple sequences with 3 data shifted.

[0117] A second embodiment of the present invention provides a method for eliminating residual vibration in an end device. This method embodies a process for selecting a target shaper based on model variables using a rule-based inference engine. This method uses a rule-based inference engine to automatically select the target shaper, reducing workload and ensuring timeliness. It is suitable for eliminating residual vibration in certain high-speed machinery.

[0118] Example 3

[0119] Figure 6 This is a structural schematic diagram of a device for eliminating residual vibration of a terminal device provided in Example 3 of the present invention. The device can be used to eliminate residual vibration generated by the terminal device after the terminal device executes a motion instruction and stops. The device can be implemented by software and / or hardware and is generally integrated on an industrial computer.

[0120] like Figure 6 As shown, the apparatus includes: an acquisition module 110 , a first generation module 120 , a selection module 130 , an acceleration module 140 and a second generation module 150 .

[0121] An acquisition module 110, configured to generate a motion plan according to the motion plan type and the motion plan variables;

[0122] A first generating module 120 is configured to select a target shaper according to the model variables through a rule-based reasoning engine;

[0123] A selection module 130 for selecting a target shaper according to the model variables through a rule-based reasoning engine;

[0124] an acceleration module 140 for acquiring a time lag corresponding to the target shaper, and synchronously accelerating the motion plan and the target shaper according to the time lag to obtain an accelerated motion plan and an accelerated target shaper;

[0125] The second generation module 150 is configured to generate a new motion plan according to the accelerated motion plan and the accelerated target shaper, and send the new motion plan to the servo system for execution.

[0126] In this embodiment, the device first obtains user input variables through the acquisition module 110, wherein the variables include a motion plan type, motion plan variables, and model variables. Then, the first generation module 120 generates a motion plan based on the motion plan type and the motion plan variables. The selection module 130 selects a target shaper based on the model variables using a rule-based reasoning engine. Then, the acceleration module 140 obtains a time lag corresponding to the target shaper, synchronously accelerates the motion plan and the target shaper based on the time lag, and obtains an accelerated motion plan and an accelerated target shaper. Finally, the second generation module 150 generates a new motion plan based on the accelerated motion plan and the accelerated target shaper, and sends the new motion plan to the servo system for execution.

[0127] This embodiment provides a method for eliminating residual vibration of an end device, which can automatically select a target shaper for shaping processing, and the residual vibration can be effectively eliminated by the target shaper.

[0128] Furthermore, the motion planning types include at least: trapezoidal, S-shaped, and triangular, and the motion planning variables include at least two of maximum speed, acceleration time, acceleration, jerk, jerk time, and uniform speed time.

[0129] Based on the above optimization, the inference engine is constructed by an inference engine and a knowledge base. Accordingly, the selection module 130 is specifically used to: send the model variables to the fact collection unit; arrange for a preset shaper to be tested through the inference engine to obtain a fact result; compare the model variables and the fact result through the fact collection unit to obtain a model error, and input the model error into the working area of ​​the knowledge base through the inference engine; and determine the target shaper through the inference engine based on the preset rule table and the model error.

[0130] Furthermore, the model variables include at least: the natural frequency of the end device, the damping ratio of the end device, and the tolerance of the end device.

[0131] Based on the above technical solution, the target shaper is determined by the inference engine according to the preset rule table and the model error, including: activating the corresponding rules by the inference engine according to the preset rule table and the model error; wherein the preset rule table includes rules corresponding to different model error values, and the rules are used to select a shaper that meets specific conditions; if the number of the rules is one, the target shaper is selected from the shaper library according to the one rule by the inference engine; if the number of the rules is at least two, the at least two rules are arranged into an agenda module according to a preset strategy by the inference engine, and all rules in the agenda module are executed in the order of arrangement until all rules are executed, and the shaper selected according to the last rule is used as the target shaper.

[0132] Furthermore, the acceleration module 140 is specifically configured to determine a scaling ratio based on the time lag of the accelerated target shaper; scale the motion plan according to the scaling ratio to obtain a new motion plan; and scale the target shaper according to the scaling ratio to obtain a new target shaper. Furthermore, the second generation module 150 is configured to generate a new motion plan by performing a point-by-point convolution algorithm on the accelerated motion plan and the accelerated target shaper.

[0133] Furthermore, the second generation module 150 is specifically configured to: calculate instruction point data from the accelerated motion plan in a time sequence; multiply the instruction point data with the data in the array corresponding to the accelerated target shaper one by one to obtain multiple sequences; and stagger and superimpose the multiple sequences according to the time lag corresponding to the accelerated target shaper to obtain a new array, and use the new array as a new motion plan.

[0134] The above-mentioned device for eliminating residual vibration of a terminal device can execute the method for eliminating residual vibration of a terminal device provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0135] Example 4

[0136] Figure 7 The components, their connections and relationships, and their functions shown herein are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0137] like Figure 7As shown, the industrial computer 10 includes at least one processor 11 and memory, such as a read-only memory (ROM) 12 and a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from the storage unit 18 into the RAM 13. RAM 13 can also store various programs and data required for the operation of the industrial computer 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0138] Several components in the industrial computer 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard and mouse; an output unit 17, such as various types of displays and speakers; a storage unit 18, such as a magnetic disk and optical disk; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the industrial computer 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0139] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the method for eliminating residual vibration of the end device.

[0140] In some embodiments, the method for eliminating residual vibration of the terminal device can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the industrial computer 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for eliminating residual vibration of the terminal device described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the method for eliminating residual vibration of the terminal device in any other appropriate manner (for example, by means of firmware).

[0141] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0142] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0143] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0144] To provide interaction with a user, the systems and techniques described herein can be implemented on an industrial computer that has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the industrial computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0145] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0146] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0147] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0148] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for eliminating residual vibration of an end device, characterized in that: The method comprises: Obtaining variables input by a user, wherein the variables include motion planning type, motion planning variables, and model variables; generating a motion plan according to the motion plan type and the motion plan variables; selecting a target shaper according to the model variables through a rule-based reasoning engine; Obtaining a time lag corresponding to the target shaper, and synchronously accelerating the motion plan and the target shaper according to the time lag to obtain an accelerated motion plan and an accelerated target shaper; A new motion plan is generated according to the accelerated motion plan and the accelerated target shaper, and the new motion plan is sent to a servo system for execution.

2. The method according to claim 1, characterized in that The motion planning types include at least: trapezoidal, S-shaped, and triangular. The motion planning variables include at least two of maximum speed, acceleration time, acceleration, jerk, jerk time, and uniform speed time.

3. The method according to claim 1, characterized in that The inference engine is constructed by an inference engine and a knowledge base. Accordingly, the target shaper is selected according to the model variables through the rule-based inference engine, including: sending the model variables to a fact collection unit; Arranging a preset shaper to run a trial by the inference engine to obtain a fact result; Comparing the model variables with the fact results to obtain a model error through the fact collection unit, and inputting the model error into the working area of ​​the knowledge base through the inference engine; The target shaper is determined by the inference engine according to a preset rule table and the model error.

4. The method according to claim 1 or 3, characterized in that The model variables include at least: the natural frequency of the end device, the damping ratio of the end device, and the tolerance of the end device.

5. The method according to claim 3, characterized in that The determining of the target shaper according to the preset rule table and the model error by the inference engine includes: activating corresponding rules according to a preset rule table and the model error through the inference engine; wherein the preset rule table includes rules corresponding to different model error values, and the rules are used to select a shaper that meets specific conditions; If the number of the rule is one, selecting a target shaper from a shaper library according to the one rule by the inference engine; If the number of the rules is at least two, the at least two rules are arranged into an agenda module according to a preset strategy by the inference engine, and all the rules in the agenda module are executed in the order of arrangement until all the rules are executed, and the shaper selected according to the last rule is used as the target shaper.

6. The method according to claim 1, characterized in that The step of synchronously accelerating the motion plan and the target shaper according to the time delay to obtain the accelerated motion plan and the accelerated target shaper comprises: determining a scaling ratio according to a time lag of the accelerated target shaper; The motion plan is scaled according to the scaling ratio to obtain a new motion plan, and the target shaper is scaled according to the scaling ratio to obtain a new target shaper.

7. The method according to claim 1, characterized in that Generating a new motion plan according to the accelerated motion plan and the accelerated target shaper includes: The accelerated motion plan and the accelerated target shaper are combined through a point-by-point convolution algorithm to generate a new motion plan.

8. The method according to claim 7, characterized in that The step of generating a new motion plan by applying a point-by-point convolution algorithm to the accelerated motion plan and the accelerated target shaper comprises: Calculate instruction point data from the accelerated motion plan in time sequence; Multiplying the instruction point data with the data in the array corresponding to the accelerated target shaper one by one to obtain a plurality of sequences; The multiple sequences are staggered and superimposed according to the time delay corresponding to the accelerated target shaper to obtain a new array, and the new array is used as a new motion plan.

9. A device for eliminating residual vibration of an end device, characterized in that: The device comprises: An acquisition module is used to acquire variables input by a user, wherein the variables include motion planning type, motion planning variables and model variables; A first generating module, configured to generate a motion plan according to the motion plan type and the motion plan variables; a selection module for selecting a target shaper through a rule-based reasoning engine according to the model variables; an acceleration module, configured to obtain a time lag corresponding to the target shaper, and synchronously accelerate the motion plan and the target shaper according to the time lag to obtain an accelerated motion plan and an accelerated target shaper; The second generation module is configured to generate a new motion plan according to the accelerated motion plan and the accelerated target shaper, and send the new motion plan to the servo system for execution.

10. An industrial computer, characterized in that: The industrial computer comprises: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for eliminating residual vibration of an end device according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for eliminating residual vibration of an end device according to any one of claims 1 to 8 when executed.

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