A nonlinear and linear transmission synchronization method, system, device and medium

Abstract

The present invention provides a method, system, device, and medium for synchronizing nonlinear and linear transmissions in the field of electrical control technology. The method comprises the following steps: Step S1, a programmable logic controller (PLC) performs a 2D analysis of a nonlinear transmission system to obtain a transmission relationship between the workpiece-side velocity of the linear transmission system, the motor speed of the nonlinear transmission system, and time; Step S2, the PLC calculates the motor speed at various times based on the input workpiece-side velocity using the transmission relationship; Step S3, the PLC overshoots the speed of the servo motor of the nonlinear transmission system based on the calculated motor speed to synchronize the transmissions of the nonlinear transmission system and the linear transmission system. The present invention has the advantage of greatly improving the convenience of synchronous control of the nonlinear transmission system and the linear transmission system.

Description

Technical Field

[0001] The present invention relates to the field of electrical control technology, and in particular to a nonlinear and linear transmission synchronization method, system, equipment and medium. Background Art

[0002] In the field of electrical control technology, two linear transmission systems are often used to synchronize the movement of two mechanisms. However, in some special scenarios, the screws or gears of traditional linear transmission systems cannot be used for transmission, but the two mechanisms still need to move synchronously. For example, in scenarios with space or torque limitations, it is necessary to synchronize the two mechanisms through a nonlinear transmission system and a linear transmission system. That is, the motor side speed is changed in real time through the nonlinear transmission system to ensure uniform motion on the workpiece side, thereby making the two mechanisms move synchronously.

[0003] Traditionally, although it is possible to synchronize a linear system with a nonlinear transmission system through the cam of a nonlinear transmission system, a cam table needs to be drawn to control the cam's movement. The same cam table cannot be used for synchronization at different positions, and the forward and reverse motion of the spindle in the non-rotating mode require separate cam tables. This makes the synchronous control of the nonlinear transmission system and the linear transmission system extremely cumbersome and inefficient.

[0004] Therefore, how to provide a nonlinear and linear transmission synchronization method, system, equipment and medium to improve the convenience of synchronous control of nonlinear transmission systems and linear transmission systems has become a technical problem that needs to be solved urgently. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a nonlinear and linear transmission synchronization method, system, equipment and medium to improve the convenience of synchronous control of nonlinear transmission systems and linear transmission systems.

[0006] In a first aspect, the present invention provides a method for synchronizing nonlinear and linear transmissions, comprising the following steps:

[0007] Step S1: The PLC performs 2D analysis on the nonlinear transmission system to obtain a transmission relationship between the workpiece side speed of the linear transmission system, the motor speed of the nonlinear transmission system, and time;

[0008] Step S2: The PLC calculates the motor speed at each time based on the input workpiece side speed using the transmission relationship;

[0009] Step S3: The PLC performs speed overshoot on the servo motor of the nonlinear transmission system based on the calculated motor speed, so as to synchronize the transmission of the nonlinear transmission system and the linear transmission system.

[0010] Furthermore, in step S1, the transmission relationship is specifically:

[0011] Motor speed = reduction ratio * 180 * workpiece side speed / (250 * 3.1415 * SQRT (1-EXPT ((workpiece side speed * time - 178.0065) / 250, 2))).

[0012] Furthermore, the step S2 is specifically as follows:

[0013] The PLC obtains the workpiece side speed input through the input device, and inputs the workpiece side speed into the transmission relationship in real time to calculate the motor speed at each time.

[0014] Furthermore, the step S3 is specifically as follows:

[0015] The PLC controls the servo motor of the nonlinear transmission system to return to the horizontal position, and after clearing the time of the timer, the PLC overshoots the speed of the servo motor based on the calculated motor speed at each time, and synchronously collects time with a period of 10ms through the timer to synchronize the transmission of the nonlinear transmission system and the linear transmission system.

[0016] In a second aspect, the present invention provides a nonlinear and linear transmission synchronization system, comprising the following modules:

[0017] The transmission relationship generation module is used by the PLC to perform 2D analysis on the nonlinear transmission system and obtain the transmission relationship between the workpiece side speed of the linear transmission system, the motor speed of the nonlinear transmission system and time;

[0018] The motor speed calculation module is used for the PLC to calculate the motor speed at each time based on the input workpiece side speed using the transmission relationship;

[0019] The transmission synchronization module is used for the PLC to overshoot the speed of the servo motor of the nonlinear transmission system based on the calculated motor speed, so as to synchronize the transmission of the nonlinear transmission system and the linear transmission system.

[0020] Furthermore, in the transmission relationship generating module, the transmission relationship is specifically:

[0021] Motor speed = reduction ratio * 180 * workpiece side speed / (250 * 3.1415 * SQRT (1-EXPT ((workpiece side speed * time - 178.0065) / 250, 2))).

[0022] Furthermore, the motor speed calculation module is specifically used to:

[0023] The PLC obtains the workpiece side speed input through the input device, and inputs the workpiece side speed into the transmission relationship in real time to calculate the motor speed at each time.

[0024] Furthermore, the transmission synchronization module is specifically used for:

[0025] The PLC controls the servo motor of the nonlinear transmission system to return to the horizontal position, and after clearing the time of the timer, the PLC overshoots the speed of the servo motor based on the calculated motor speed at each time, and synchronously collects time with a period of 10ms through the timer to synchronize the transmission of the nonlinear transmission system and the linear transmission system.

[0026] In a third aspect, the present invention provides a nonlinear and linear transmission synchronization device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the program.

[0027] In a fourth aspect, the present invention provides a nonlinear and linear transmission synchronization medium having a computer program stored thereon, which implements the method described in the first aspect when executed by a processor.

[0028] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0029] Through PLC, the nonlinear transmission system is analyzed in 2D to obtain the transmission relationship between the workpiece side speed of the linear transmission system, the motor speed of the nonlinear transmission system and time. The input workpiece side speed is substituted into the transmission relationship to calculate the motor speed at each time. Then, based on the calculated motor speed, the servo motor of the nonlinear transmission system is speed-overregulated to synchronize the transmission of the nonlinear transmission system and the linear transmission system, that is, to keep the workpiece side in uniform motion. There is no need to draw a cam table as traditionally. The speed of the servo motor can be quickly calculated and adjusted based on the transmission relationship, thereby greatly improving the convenience and efficiency of the synchronous control of the nonlinear transmission system and the linear transmission system.

[0030] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0032] Figure 1 It is a flow chart of a nonlinear and linear transmission synchronization method of the present invention.

[0033] Figure 2 It is a structural schematic diagram of a nonlinear and linear transmission synchronization system of the present invention.

[0034] Figure 3 It is a structural schematic diagram of a nonlinear and linear transmission synchronization device of the present invention.

[0035] Figure 4 It is a structural schematic diagram of a nonlinear and linear transmission synchronization medium of the present invention.

[0036] Figure 5 It is a schematic diagram of the relationship between the rotation angle of the servo motor side and the displacement of the workpiece side of the present invention. DETAILED DESCRIPTION

[0037] The embodiments of the present application provide a nonlinear and linear transmission synchronization method, system, device and medium to improve the convenience of synchronous control of nonlinear transmission systems and linear transmission systems.

[0038] The technical solution in the embodiments of the present application has the following overall idea: the nonlinear transmission system is subjected to 2D analysis through PLC to obtain the transmission relationship between the workpiece side speed of the linear transmission system, the motor speed of the nonlinear transmission system and time. Based on the transmission relationship, the speed of the servo motor can be quickly calculated and adjusted to synchronize the transmission of the nonlinear transmission system and the linear transmission system, thereby improving the convenience of synchronous control of the nonlinear transmission system and the linear transmission system. Example 1

[0039] This embodiment provides a method for synchronizing nonlinear and linear transmissions. Figure 1 、 5 As shown, the following steps are included:

[0040] Step S1: The PLC performs a 2D analysis on the nonlinear transmission system to obtain a transmission relationship between the workpiece-side velocity (vertical velocity) of the linear transmission system, the motor speed of the nonlinear transmission system, and time. The linear transmission system is installed on the nonlinear transmission system, and the synchronization requirement is that when the workpiece side of the nonlinear transmission system rises or falls, the workpiece side of the linear transmission system also falls or rises simultaneously, thereby ensuring that the height of the workpiece above the ground on the linear transmission system remains constant.

[0041] Step S2: The PLC calculates the motor speed at each time based on the input workpiece side speed using the transmission relationship;

[0042] Step S3: The PLC performs speed overshoot on the servo motor of the nonlinear transmission system based on the calculated motor speed, so as to synchronize the transmission of the nonlinear transmission system and the linear transmission system.

[0043] In step S1, the transmission relationship is specifically:

[0044] Motor speed = reduction ratio * 180 * workpiece side speed / (250 * 3.1415 * SQRT (1-EXPT ((workpiece side speed * time - 178.0065) / 250, 2))).

[0045] The step S2 is specifically as follows:

[0046] The PLC obtains the workpiece side speed input through the input device, and inputs the workpiece side speed into the transmission relationship in real time to calculate the motor speed at each time.

[0047] The step S3 is specifically as follows:

[0048] The PLC controls the servo motor of the nonlinear transmission system to return to the horizontal position, and after clearing the time of the timer, the PLC overshoots the speed of the servo motor based on the calculated motor speed at each time, and synchronously collects time with a period of 10ms through the timer to synchronize the transmission of the nonlinear transmission system and the linear transmission system; no acceleration or deceleration settings are performed inside the servo motor to prevent speed errors caused by acceleration and deceleration time.

[0049] That is, the PLC adjusts the motor speed of the servo motor to the corresponding calculated value at each time point based on the time collected by the timer; since the speed override frequency directly affects the synchronization stability, the PLC is a high-performance PLC. Example 2

[0050] This embodiment provides a nonlinear and linear transmission synchronization system, such as Figure 2 、 5 As shown, it includes the following modules:

[0051] The transmission relationship generation module is used by the PLC to perform 2D analysis on the nonlinear transmission system, obtaining the transmission relationship between the workpiece side velocity (vertical velocity) of the linear transmission system, the motor speed of the nonlinear transmission system, and time. The linear transmission system is installed on the nonlinear transmission system. The synchronization requirement is that when the workpiece side of the nonlinear transmission system rises or falls, the workpiece side of the linear transmission system also falls or rises, thereby ensuring that the height of the workpiece above the ground on the linear transmission system remains unchanged.

[0052] The motor speed calculation module is used for the PLC to calculate the motor speed at each time based on the input workpiece side speed using the transmission relationship;

[0053] The transmission synchronization module is used for the PLC to overshoot the speed of the servo motor of the nonlinear transmission system based on the calculated motor speed, so as to synchronize the transmission of the nonlinear transmission system and the linear transmission system.

[0054] In the transmission relationship generation module, the transmission relationship is specifically:

[0055] Motor speed = reduction ratio * 180 * workpiece side speed / (250 * 3.1415 * SQRT (1-EXPT ((workpiece side speed * time - 178.0065) / 250, 2))).

[0056] The motor speed calculation module is specifically used for:

[0057] The PLC obtains the workpiece side speed input through the input device, and inputs the workpiece side speed into the transmission relationship in real time to calculate the motor speed at each time.

[0058] The transmission synchronization module is specifically used for:

[0059] The PLC controls the servo motor of the nonlinear transmission system to return to the horizontal position, and after clearing the time of the timer, the PLC overshoots the speed of the servo motor based on the calculated motor speed at each time, and synchronously collects time with a period of 10ms through the timer to synchronize the transmission of the nonlinear transmission system and the linear transmission system; no acceleration or deceleration settings are performed inside the servo motor to prevent speed errors caused by acceleration and deceleration time.

[0060] That is, the PLC adjusts the motor speed of the servo motor to the corresponding calculated value at each time point based on the time collected by the timer; since the speed override frequency directly affects the synchronization stability, the PLC is a high-performance PLC.

[0061] Based on the same inventive concept, this application provides an electronic device embodiment corresponding to the first embodiment, see the third embodiment for details. Example 3

[0062] This embodiment provides a nonlinear and linear transmission synchronization device, such as Figure 3 As shown, it includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any implementation method in the first embodiment can be implemented.

[0063] Since the electronic device described in this embodiment is the device used to implement the method in Example 1 of this application, based on the method described in Example 1 of this application, those skilled in the art will be able to understand the specific implementation of the electronic device of this embodiment and its various variations. Therefore, how the electronic device implements the method in the embodiment of this application will not be described in detail here. As long as the device used by those skilled in the art to implement the method in the embodiment of this application falls within the scope of protection to be provided by this application.

[0064] Based on the same inventive concept, this application provides a storage medium corresponding to Example 1, see Example 4 for details. Example 4

[0065] This embodiment provides a nonlinear and linear transmission synchronization medium, such as Figure 4 As shown, a computer program is stored thereon, and when the computer program is executed by a processor, any implementation method in Example 1 can be implemented.

[0066] Since the storage medium described in this embodiment is the storage medium used to implement the method in Example 1 of this application, based on the method described in Example 1 of this application, those skilled in the art will be able to understand the specific implementation and various variations of the storage medium of this embodiment, so how the storage medium implements the method in the embodiment of this application will not be described in detail here. As long as those skilled in the art implement the storage medium used in the method in the embodiment of this application, it falls within the scope of protection of this application.

[0067] The technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0068] Through PLC, the nonlinear transmission system is analyzed in 2D to obtain the transmission relationship between the workpiece side speed of the linear transmission system, the motor speed of the nonlinear transmission system and time. The input workpiece side speed is substituted into the transmission relationship to calculate the motor speed at each time. Then, based on the calculated motor speed, the servo motor of the nonlinear transmission system is speed-overregulated to synchronize the transmission of the nonlinear transmission system and the linear transmission system, that is, to keep the workpiece side in uniform motion. There is no need to draw a cam table as traditionally. The speed of the servo motor can be quickly calculated and adjusted based on the transmission relationship, thereby greatly improving the convenience and efficiency of the synchronous control of the nonlinear transmission system and the linear transmission system.

[0069] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0070] The present invention is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products of the embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as the combination of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0071] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0072] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0073] Although the specific embodiments of the present invention are described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A method for synchronizing nonlinear and linear transmission, characterized by: The steps include: Step S1: The PLC performs a 2D analysis on the nonlinear transmission system to obtain a transmission relationship between the workpiece side speed of the linear transmission system, the motor speed of the nonlinear transmission system, and time; wherein the linear transmission system is installed on the nonlinear transmission system; The transmission relationship is specifically: Motor speed = reduction ratio * 180 * workpiece side speed / (250 * 3.1415 * SQRT (1-EXPT ((workpiece side speed * time - 178.0065) / 250, 2))); Step S2: The PLC calculates the motor speed at each time based on the input workpiece side speed using the transmission relationship; Step S3: The PLC performs speed overshoot on the motor of the nonlinear transmission system based on the calculated motor speed, so as to synchronize the transmission of the nonlinear transmission system and the linear transmission system.

2. A method for synchronizing nonlinear and linear transmissions according to claim 1, characterized in that: The step S2 is specifically as follows: The PLC obtains the workpiece side speed input through the input device, and inputs the workpiece side speed into the transmission relationship in real time to calculate the motor speed at each time.

3. The method for synchronizing nonlinear and linear transmissions according to claim 1, wherein: The step S3 is specifically as follows: The PLC controls the motor of the nonlinear transmission system to return to the horizontal position, and after clearing the time of the timer, the PLC overshoots the speed of the motor based on the calculated motor speed at each time, and synchronously collects time with a period of 10ms through the timer to synchronize the transmission of the nonlinear transmission system and the linear transmission system.

4. A nonlinear and linear transmission synchronization system, characterized by: Includes the following modules: The transmission relationship generation module is used by the PLC to perform 2D analysis on the nonlinear transmission system to obtain the transmission relationship between the workpiece side speed of the linear transmission system, the motor speed of the nonlinear transmission system, and time; wherein the linear transmission system is installed on the nonlinear transmission system; The transmission relationship is specifically: Motor speed = reduction ratio * 180 * workpiece side speed / (250 * 3.1415 * SQRT (1-EXPT ((workpiece side speed * time - 178.0065) / 250, 2))); The motor speed calculation module is used for the PLC to calculate the motor speed at each time based on the input workpiece side speed using the transmission relationship; The transmission synchronization module is used for the PLC to overshoot the speed of the motor of the nonlinear transmission system based on the calculated motor speed, so as to synchronize the transmission of the nonlinear transmission system and the linear transmission system.

5. The nonlinear and linear transmission synchronization system according to claim 4, characterized in that: The motor speed calculation module is specifically used for: The PLC obtains the workpiece side speed input through the input device, and inputs the workpiece side speed into the transmission relationship in real time to calculate the motor speed at each time.

6. The nonlinear and linear transmission synchronization system according to claim 4, characterized in that: The transmission synchronization module is specifically used for: The PLC controls the motor of the nonlinear transmission system to return to the horizontal position, and after clearing the time of the timer, the PLC overshoots the speed of the motor based on the calculated motor speed at each time, and synchronously collects time with a period of 10ms through the timer to synchronize the transmission of the nonlinear transmission system and the linear transmission system.

7. A nonlinear and linear transmission synchronization device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 3 is implemented.

8. A nonlinear and linear transmission synchronization medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 3 is implemented.

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