Dual-axis linear motion control methods, systems, devices, motion control cards, and media

Abstract

The present invention discloses a dual-axis linear motion control method, system, device, motion control card and medium. The dual-axis linear motion control method includes: obtaining the original planned position of the slow axis and the actual position of the slow axis; controlling the fast axis to follow the slow axis, obtaining a proportional mixed position according to the original planned position of the slow axis and the actual position of the slow axis; and using the proportional mixed position as the actual planned position of the fast axis. The present invention adopts a planning mode in which the fast axis follows the slow axis, obtains a proportional mixed position according to the original planned position of the slow axis and the actual position of the slow axis, and uses the proportional mixed position as the actual planned position of the fast axis, so as to unify the lag of the fast axis and the slow axis and eliminate them, thereby eliminating the position deviation of the load of the fast axis and the slow axis. Since there is no requirement for the response time of the motor, the motion accuracy of the motor in the dual-axis linear motion system under high-speed motion can be improved.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to a dual-axis linear motion control method, system, device, motion control card and medium. Background Art

[0002] In a two-axis linear motion system, each axis corresponds to a motor drive, and each axis drives a load. In a two-axis linear motion system, the axis with a slower actual motion speed but a smaller load and a faster response speed is the fast axis, while the axis with a faster actual speed but a larger load and a slower response speed is the slow axis.

[0003] In a two-axis linear motion system, when the load difference between the fast axis and the slow axis is too large, the response speed of the two axes will be different. In the case of high-speed motion, the delay of the motor will be amplified. The faster the speed, the greater the error, resulting in reduced motion accuracy, which will cause a deviation between the actual position of the load and the planned position. Among the existing solutions, there are two solutions to reduce motion accuracy. One is the two-axis linear interpolation method, that is, by planning the number of pulses in advance and strictly sending pulses in each cycle, but this does not eliminate the deviation caused by the driver response lag; the other is the two-axis following motion method, that is, choosing to follow the actual position or planned position of the spindle. When following the actual position of the spindle, because the slave axis itself also has a lag problem, the error cannot be completely eliminated. When following the planned position of the spindle, the actual effect is the same as the traditional two-axis linear interpolation motion.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a dual-axis linear motion control method, system, device, motion control card and medium to solve the problem that the motor in the existing dual-axis linear motion system may cause reduced motion accuracy under high-speed motion conditions.

[0006] The technical solution of the present invention is as follows:

[0007] In a first aspect, the present invention provides a dual-axis linear motion control method, comprising:

[0008] Obtain the original planned position of the slow axis and the actual position of the slow axis;

[0009] Controlling the fast axis to follow the slow axis, and obtaining a proportional mixed position according to the original planned position of the slow axis and the actual position of the slow axis;

[0010] The proportional mixing position is used as the actual planned fast axis position of the fast axis.

[0011] In a further configuration of the present invention, the step of controlling the fast axis to follow the slow axis and obtaining a proportional mixed position according to the original planned position of the slow axis and the actual position of the slow axis comprises:

[0012] Obtaining a speed proportional coefficient and a hysteresis error proportional coefficient of the fast axis and the slow axis;

[0013] The proportional mixing position is obtained according to the speed proportional coefficient, the hysteresis error proportional coefficient, the original planned position of the slow axis and the actual position of the slow axis.

[0014] According to a further configuration of the present invention, the speed proportional coefficient is a ratio of an original fast-axis planned position of the fast axis to an original slow-axis planned position of the slow axis.

[0015] According to a further configuration of the present invention, when the synchronous motion of the fast axis and the slow axis is a linear motion, the speed proportional coefficient is a constant value, and the hysteresis error proportional coefficient is a constant value.

[0016] According to a further configuration of the present invention, the hysteresis error proportionality coefficient corresponds to the movement speed of the slow axis.

[0017] According to a further configuration of the present invention, the expression for the actual planned position of the fast axis of the fast axis is:

[0018] T = a / b((b*X%+(b-m)*(1-X%)); wherein T represents the actual planned position of the fast axis, a represents the original planned position of the fast axis, b represents the original planned position of the slow axis, n represents the fast axis hysteresis deviation, m represents the slow axis hysteresis deviation, both n and m are constants, and X represents the hysteresis error proportional coefficient.

[0019] In a second aspect, the present invention further provides a dual-axis linear motion control system based on the dual-axis linear motion control method described above, which includes a motion control card, a first servo driver, a second servo driver, a first motor and a second motor;

[0020] The motion control card is connected to the first servo driver and the second servo driver respectively; the first servo driver is connected to the first motor; the second servo driver is connected to the second motor;

[0021] The motion control card is used to obtain the original planned position and actual position of the slow axis, control the fast axis to follow the slow axis, and obtain a proportional mixed position according to the original planned position and actual position of the slow axis, and use the proportional mixed position as the actual planned position of the fast axis to control the first servo driver and the second servo driver to drive the first motor and the second motor to move synchronously.

[0022] In a third aspect, the present invention further provides a dual-axis linear motion control device based on the dual-axis linear motion control method described above, comprising:

[0023] An acquisition unit, the acquisition unit is used to acquire an original planned position of the slow axis and an actual position of the slow axis;

[0024] A control unit is used to control the fast axis to follow the slow axis, obtain a proportional mixing position according to the slow axis original planned position and the slow axis actual position of the slow axis, and use the proportional mixing position as the fast axis actual planned position of the fast axis.

[0025] In a fourth aspect, the present invention further provides a motion control card, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, it is used to implement the steps in the dual-axis linear motion control method as described above.

[0026] In a fifth aspect, the present invention further provides a medium on which a computer program is stored, and when the computer program is executed by a processor, it is used to implement the steps in the above-mentioned dual-axis linear motion control method.

[0027] The present invention provides a dual-axis linear motion control method, system, device, motion control card and medium. The dual-axis linear motion control method includes: obtaining the original planned position of the slow axis and the actual position of the slow axis; controlling the fast axis to follow the slow axis, and obtaining a proportional mixed position according to the original planned position of the slow axis and the actual position of the slow axis; and using the proportional mixed position as the actual planned position of the fast axis. The present invention adopts a planning mode in which the fast axis follows the slow axis, obtains a proportional mixed position according to the original planned position of the slow axis and the actual position of the slow axis, and uses the proportional mixed position as the actual planned position of the fast axis, so as to unify the lag of the fast axis and the slow axis and eliminate them, thereby eliminating the position deviation of the load of the fast axis and the slow axis. Since the lag time of the driver is constant and the lag error is only related to the planning speed, there is no requirement for the response time of the motor, thereby improving the motion accuracy of the motor in the dual-axis linear motion system under high-speed motion conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary personnel in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0029] Figure 1It is a schematic flow chart of the dual-axis linear motion control method of the present invention.

[0030] Figure 2 It is a principle block diagram of the dual-axis linear motion control system in the present invention.

[0031] Figure 3 It is a principle block diagram of the dual-axis linear motion control device in the present invention.

[0032] The symbols in the accompanying drawings are: 1, motion control card; 2, first servo driver; 3, second servo driver; 4, first motor; 5, second motor; 100, acquisition unit; 200, control unit. DETAILED DESCRIPTION

[0033] The present invention provides a dual-axis linear motion control method, system, device, motion control card and medium. In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0034] In the embodiments and the scope of the patent application, unless the text specifically defines the article, "a", "an", "the" and "the" may also include plural forms. If there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0035] It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when an element is said to be "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there can also be intermediate elements. In addition, the "connection" or "coupling" used herein can include wireless connection or wireless coupling. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0036] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as herein.

[0037] In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0038] See also Figure 1 The present invention provides a preferred embodiment of a dual-axis linear motion control method.

[0039] In some embodiments, the present invention provides a dual-axis linear motion control method, which includes the steps of:

[0040] S100, obtaining the original planned position of the slow axis and the actual position of the slow axis;

[0041] S200, controlling the fast axis to follow the slow axis, and obtaining a proportional mixed position according to the original planned position of the slow axis and the actual position of the slow axis;

[0042] S300: Using the proportional mixing position as the actual planned fast axis position of the fast axis.

[0043] In this embodiment, the fast axis refers to an axis with a relatively slow actual speed but a relatively small load and a relatively fast response speed, and the slow axis refers to an axis with a relatively fast actual speed but a relatively large load and a relatively slow response speed. The response speed refers to the response speed of the driver. Since the load of the slow axis is relatively large, the driver response time of the slow axis is relatively long, and thus there will be a deviation between the planned position and the actual position of the slow axis. Among them, the actual position of the slow axis refers to the position of the encoder (an encoder is a device that converts angular displacement or linear displacement into an electrical signal).

[0044] The present invention adopts a planning mode in which a fast axis follows a slow axis. The slow axis planning position of the slow axis is pre-set in a motion control card. After obtaining the original planning position of the slow axis and the actual position of the slow axis, the motion control card can obtain a proportional mixed position according to the original planning position of the slow axis and the actual position of the slow axis, and use the proportional mixed position as the actual planning position of the fast axis, so as to unify the lags of the fast axis and the slow axis and eliminate them, thereby eliminating the position deviation of the load of the fast axis and the slow axis. Since the lag time of the driver is constant and the lag error is only related to the planning speed, there is no requirement for the response time of the motor, thereby improving the motion accuracy of the motor in the dual-axis linear motion system under high-speed motion conditions.

[0045] In some embodiments, the step of controlling the fast axis to follow the slow axis and obtaining a proportional mixed position according to the slow axis original planned position and the slow axis actual position of the slow axis comprises:

[0046] S210, obtaining a speed proportional coefficient and a hysteresis error proportional coefficient of the fast axis and the slow axis;

[0047] S220, obtaining the proportional mixed position according to the speed proportional coefficient, the hysteresis error proportional coefficient, the original planned position of the slow axis, and the actual position of the slow axis.

[0048] In this embodiment, the speed proportional coefficient is the ratio of the original fast-axis planned position a of the fast axis to the original slow-axis planned position b of the slow axis, that is, a / b.

[0049] Although the fast axis has a fast response speed, there is still a delay. If the fast axis completely follows the actual position of the slow axis, it is equivalent to that the error of the fast axis has not been eliminated. Therefore, the fast axis will not follow the actual position of the slow axis 100%, but will use a mixed following method to synchronize the response delay between the fast axis and the slow axis, so that the error of the slow axis can be synchronized to the fast axis.

[0050] The actual planned position of the fast axis is equal to the sum of the original planned position of the slow axis * X% plus the actual position of the slow axis * (1-X)% multiplied by the speed proportional coefficient. The expression of the actual planned position of the fast axis is:

[0051] T = a / b((b*X%+(b-m)*(1-X%)); wherein T represents the actual planned position of the fast axis, a represents the original planned position of the fast axis, b represents the original planned position of the slow axis, n represents the fast axis hysteresis deviation, m represents the slow axis hysteresis deviation, both n and m are constants, and X represents the hysteresis error proportional coefficient.

[0052] It should be noted that the actual motion speed of the present invention is not uniform, so the dual-axis linear motion control method provided by the present invention is only applicable to linear motion. When the synchronous motion of the fast axis and the slow axis is linear motion, the speed proportional coefficient is a fixed value, and the hysteresis error proportional coefficient is a fixed value. The hysteresis error proportional coefficient is obtained by actual motion measurement, and the hysteresis error proportional coefficient corresponds to the motion speed of the slow axis, which can be archived in the form of a table.

[0053] The principle of the hybrid following method adopted in the present invention is: unify the hysteresis of the fast axis and the slow axis, slow down the fast axis, and then eliminate the hysteresis error by selecting the proportional coefficient. Because the hysteresis time of the motor driver can be considered constant, the hysteresis error is only related to the planned speed. Therefore, the hysteresis error can be eliminated by the proportional coefficient. The specific principle is as follows:

[0054] Assume that the original fast axis planning position at a certain moment is a, the original slow axis planning position at a certain moment is b, the fast axis lag deviation can be represented by n, the slow axis lag can be represented by m, and T is the planned position at the current moment, that is, the actual planned position of the fast axis, and the following formula is used:

[0055] (T-n) / (b-m)=a / b; we can get: T=a / b(b-m)+n;

[0056] When the two axes move in a straight line, a / b is a constant, and m and n are both constants. Therefore, it can be seen that when the lag time of the motor driver is fixed, the position deviation can be eliminated by setting a proportional coefficient.

[0057] In some embodiments, Figure 2 As shown, the present invention also provides a dual-axis linear motion control system based on the dual-axis linear motion control method described above, which includes a motion control card 1, a first servo driver 2, a second servo driver 3, a first motor 4 and a second motor 5. The motion control card 1 is connected to the first servo driver 2 and the second servo driver 3 respectively; the first servo driver 2 is connected to the first motor 4; the second servo driver 3 is connected to the second motor 5; the motion control card 1 is used to obtain the original planned position of the slow axis and the actual position of the slow axis, control the fast axis to follow the slow axis, and obtain a proportional mixed position according to the original planned position of the slow axis and the actual position of the slow axis, and use the proportional mixed position as the actual planned position of the fast axis to control the first servo driver 2 and the second servo driver 3 to drive the first motor 4 and the second motor 5 to move synchronously.

[0058] Specifically, the motion control card 1 is a host control unit based on a PC and an industrial PC, and is used in various motion control occasions (including displacement, speed, acceleration, etc.). The motion control card 1 is a high-performance stepper / servo motor motion control card 1 based on a PC bus, using a high-performance microprocessor (such as DSP) and a large-scale programmable device to realize multi-axis coordinated control of multiple servo motors, including pulse output, pulse counting, digital input, digital output, D / A output and other functions. It can send out continuous, high-frequency pulse trains, control the speed of the motor by changing the frequency of the pulses sent, and control the position of the motor by changing the number of pulses sent. Its pulse output mode includes pulse / direction and pulse / pulse mode. Pulse counting can be used for position feedback of the encoder, provide the accurate position of the machine, and correct the errors generated during the transmission process. Digital input / output points can be used for limit, origin switch, etc. The library functions include S-type, T-type acceleration, linear interpolation and circular interpolation, multi-axis linkage functions, etc. The product is widely used in the field of industrial automation control, which requires precise positioning and fixed-length position control systems and PC-based NC control systems. Specifically, the underlying software and hardware for motion control are integrated together so that it has various speed and position control functions required for servo motor control, and these functions can be easily called through a computer.

[0059] The motion control card 1 communicates with the PC host computer, and can control the first servo driver to drive the first motor 4 to work according to the parameters sent by the PC host computer, so as to drive the fast axis connected to the first motor 4 to rotate, thereby driving the load on the fast axis to move, and control the second servo driver 3 to drive the second motor 5 to work, so as to drive the slow axis connected to the second motor 5 to rotate, thereby driving the load on the slow axis to move. When the motion control card 1 controls the first four-degree driver and the second servo driver 3, the motion control card 1 obtains the original planned position and the actual position of the slow axis of the slow axis, controls the fast axis to follow the slow axis, and obtains the proportional mixed position according to the original planned position and the actual position of the slow axis of the slow axis, and uses the proportional mixed position as the actual planned position of the fast axis of the fast axis, so as to control the first servo driver 2 and the second servo driver 3 to drive the first motor 4 and the second motor 5 to move synchronously, so as to unify the lag of the fast axis and the slow axis and eliminate them, thereby eliminating the position deviation of the load of the fast axis and the slow axis, thereby improving the motion accuracy of the motor in the dual-axis linear motion system under high-speed motion conditions.

[0060] In some embodiments, Figure 3As shown, the present invention also provides a dual-axis linear motion control device based on the dual-axis linear motion control method described above, which includes: an acquisition unit 100 and a control unit 200, wherein the acquisition unit 100 is used to acquire the slow axis original planned position and the slow axis actual position of the slow axis; the control unit 200 is used to control the fast axis to follow the slow axis, obtain a proportional mixed position according to the slow axis original planned position and the slow axis actual position of the slow axis, and use the proportional mixed position as the fast axis actual planned position of the fast axis. The specific details are as described in an embodiment of a dual-axis linear motion control method, and will not be repeated here.

[0061] In some embodiments, the present invention further provides a motion control card, comprising a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the following steps are implemented:

[0062] S100, obtaining the original planned position of the slow axis and the actual position of the slow axis;

[0063] S200, controlling the fast axis to follow the slow axis, and obtaining a proportional mixed position according to the original planned position of the slow axis and the actual position of the slow axis;

[0064] S300: Using the proportional mixing position as the actual planned fast axis position of the fast axis.

[0065] In some embodiments, the present invention further provides a medium, namely a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is used to implement the following steps:

[0066] S100, obtaining the original planned position of the slow axis and the actual position of the slow axis;

[0067] S200, controlling the fast axis to follow the slow axis, and obtaining a proportional mixed position according to the original planned position of the slow axis and the actual position of the slow axis;

[0068] S300: Using the proportional mixing position as the actual planned fast axis position of the fast axis.

[0069] In summary, the dual-axis linear motion control method, system, device, motion control card and medium provided by the present invention have the following beneficial effects:

[0070] A planning mode of fast axis following slow axis is adopted, and a proportional mixed position is obtained according to the original planned position of the slow axis and the actual position of the slow axis, and the proportional mixed position is used as the actual planned position of the fast axis, so as to unify the lags of the fast axis and the slow axis and eliminate them, thereby eliminating the position deviation of the load of the fast axis and the slow axis. Because the lag time of the driver is constant and the lag error is only related to the planning speed, there is no requirement for the response time of the motor, thereby improving the motion accuracy of the motor in the dual-axis linear motion system under high-speed motion conditions.

[0071] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A dual-axis linear motion control method, characterized in that: include: Obtain the original planned position of the slow axis and the actual position of the slow axis; Controlling the fast axis to follow the slow axis, and obtaining a proportional mixed position according to the original planned position of the slow axis and the actual position of the slow axis; Specifically include: Obtaining a speed proportional coefficient and a hysteresis error proportional coefficient of the fast axis and the slow axis; the speed proportional coefficient is a ratio of an original planned position of the fast axis to an original planned position of the slow axis; The proportional mixed position is obtained according to the speed proportional coefficient, the hysteresis error proportional coefficient, the original planned position of the slow axis and the actual position of the slow axis; when the synchronous motion of the fast axis and the slow axis is a linear motion, the speed proportional coefficient is a fixed value, and the hysteresis error proportional coefficient is a fixed value; the hysteresis error proportional coefficient corresponds to the motion speed of the slow axis; Using the proportional mixing position as the fast axis actual planning position of the fast axis; The actual planned position of the fast axis is equal to the sum of the original planned position of the slow axis multiplied by X% plus the actual position of the slow axis multiplied by (1-X)% multiplied by the speed proportional coefficient; the expression of the actual planned position of the fast axis is: T = a / b*(b*X%+(b-m)*(1-X%)); wherein T represents the actual planned position of the fast axis, a represents the original planned position of the fast axis, b represents the original planned position of the slow axis, m represents the hysteresis deviation of the slow axis, m is a constant, and X represents the hysteresis error proportional coefficient.

2. A dual-axis linear motion control system based on the dual-axis linear motion control method according to claim 1, characterized in that: It includes a motion control card, a first servo driver, a second servo driver, a first motor and a second motor; The motion control card is connected to the first servo driver and the second servo driver respectively; The first servo driver is connected to the first motor; The second servo driver is connected to the second motor; The motion control card is used to obtain the original planned position and actual position of the slow axis, control the fast axis to follow the slow axis, and obtain a proportional mixed position according to the original planned position and actual position of the slow axis, and use the proportional mixed position as the actual planned position of the fast axis to control the first servo driver and the second servo driver to drive the first motor and the second motor to move synchronously.

3. A dual-axis linear motion control device based on the dual-axis linear motion control method according to claim 1, characterized in that: include: An acquisition unit, the acquisition unit is used to acquire an original planned position of the slow axis and an actual position of the slow axis; A control unit is used to control the fast axis to follow the slow axis, obtain a proportional mixing position according to the slow axis original planned position and the slow axis actual position of the slow axis, and use the proportional mixing position as the fast axis actual planned position of the fast axis.

4. A motion control card, comprising a memory and a processor, characterized in that: The memory stores a computer program, and when the computer program is executed by the processor, it is used to implement the steps in the dual-axis linear motion control method as claimed in claim 1.

5. A medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, it is used to implement the steps in the dual-axis linear motion control method as claimed in claim 1.

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