Intelligent data processing system based on high-precision encoder

Abstract

The invention discloses an intelligent number processing system based on a high-precision encoder, and the invention relates to the technical field of motor calibration and analysis, and solves the problem that the original processing method cannot achieve a more accurate processing effect. The invention analyzes the acceleration data of the past speed of a servo motor based on a set speed when performing relevant tests on the servo motor, and from several groups of analyzed data, performs same-feature binding on relevant data with a low degree of data dispersion, determines relevant same-feature sequences, and then determines the number of accelerations involved in each same-feature sequence and the relevant variance, and selects the best same-feature sequence from several same-feature sequences, so that when performing subsequent data processing, the accuracy of its numerical calibration is higher, and a better calibration processing effect can be achieved, and the acceleration stage is eliminated, and the actual position and the theoretical position are calibrated, so that the servo motor can be guaranteed to be in a consistent state at subsequent relevant positions.

Description

Technical Field

[0001] The present invention relates to the technical field of motor calibration analysis, and in particular to an intelligent number processing system based on a high-precision encoder. Background Art

[0002] High-precision encoders are precise measuring devices used to detect and feedback position, speed, and direction information in motion control; high-precision encoders play a vital role in modern industrial automation and precision engineering. By providing accurate position and speed feedback, these devices enable systems to perform complex movements and operations with high accuracy.

[0003] The application with publication number CN114543718A discloses a calibration method for a rotary encoder, including: controlling a servo motor to drive the motor of the encoder to be calibrated to rotate; wherein the motor shaft of the motor is fixedly connected to the code disk of the encoder to be calibrated; when the motor reaches a uniform rotation state, the code disk position data of the encoder to be calibrated is read once every preset time interval; according to the speed and preset time of the uniform rotation state of the servo motor driving the motor, the theoretical position data corresponding to the code disk position data is determined; according to the theoretical position data and the code disk position data, the calibration amount of the encoder to be calibrated is determined. This application reads the code disk position data when the encoder to be calibrated is in a uniform rotation state, and derives the theoretical position data based on the speed and rotation time, and finally determines the calibration amount of the encoder to be calibrated; reduces the difficulty of calibration and achieves high-precision calibration.

[0004] When its high-precision encoder is used for calibration of servo motors, it is generally based on the rotation process of the corresponding servo motor. Its high-precision encoder displays the position of its related rotor, identifies the relevant differences between the two related positions, and identifies whether there are accuracy problems when the servo motor rotates. However, in the actual processing process, the servo motor has an acceleration stage, which can easily cause error accuracy, thereby causing problems with the accuracy of the servo motor. Its data processing process is not accurate and cannot achieve a more accurate processing effect. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an intelligent number processing system based on a high-precision encoder, which solves the problem that the original processing method cannot achieve a more accurate processing effect.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an intelligent number processing system based on a high-precision encoder, comprising:

[0007] At the speed calibration end, the speed calibration is performed by the relevant operators so that the servo motor runs at the calibrated speed, and the calibrated speed is the preset standard speed value;

[0008] The correlation analysis end obtains the past acceleration data of the servo motor at this speed based on the calibrated speed of the servo motor, and performs correlation analysis on the past acceleration data. From the specific analysis results, the standard acceleration value range belonging to the servo motor is selected. The specific method is as follows:

[0009] Based on the calibrated speed Z, obtain N sets of acceleration data corresponding to the servo motor accelerating to Z from the past acceleration data, where N is the preset value, and determine the acceleration A from the acceleration data i , where i represents different acceleration data, and i=1, 2, ..., N, and N represents the total number of acceleration data;

[0010] The determined groups of accelerations A i Sorting the values ​​from small to large generates an acceleration sequence, and determining the same characteristic sequence one by one from the acceleration sequence: starting from the first group of accelerations in the sequence, select the related accelerations in turn for uniform variance processing, and when the generated variance value F≤Y1, perform data selection again. When the variance value F>Y1, use the selected acceleration as the critical value, remove the critical value, and calibrate the selected groups of accelerations in this stage as the same characteristic sequence, and then start from the critical value, confirm the subsequent same characteristic sequences one by one, where Y1 is the preset value;

[0011] The number of groups of accelerations within the related sequence with the same characteristics is calibrated as G k , where k represents different sequences with the same characteristics, and the variances corresponding to different sequences with the same characteristics are calibrated as F k , using XD k =F k ×C1+G k ×C2 confirms the selected value XD corresponding to the same characteristic sequence k , where C1 and C2 are preset fixed coefficient factors;

[0012] Set the selected value to XD k The largest sequence with the same characteristics is calibrated as the standard sequence, and the maximum and minimum acceleration values ​​are selected from the standard sequence to determine the standard acceleration value range;

[0013] The associated position determination end determines the acceleration period of the servo motor based on the determined standard acceleration value interval, and determines the theoretical position of the servo motor at the end of the test cycle based on the set test cycle and the speed of the servo motor, wherein the test cycle is a preset cycle, and the specific method is as follows:

[0014] Select the minimum acceleration from the standard acceleration value range, and identify the time t1 for the servo motor to accelerate to the calibrated speed under the acceleration state of the minimum acceleration, where t1=Z÷A imin, where A i min is the minimum acceleration, where Z is the calibrated speed. The relevant position of the rotor inside the servo motor after the acceleration time t1 is confirmed based on the high-precision encoder and calibrated as the initial position;

[0015] Based on the set test cycle T and the rotation speed Z of the servo motor, the relevant rotation timeline (T-t1) is confirmed. Based on the preset rotation speed Z, the number of rotations of the internal rotor of the servo motor is determined: Q=Z×(T-t1), where Q is the number of rotations. Based on the determined number of rotations and the initial position, the theoretical position that the internal rotor of the servo motor can reach at the end of the test cycle T is determined, and the confirmed theoretical position is transmitted to the position analysis and verification terminal;

[0016] At the end of the test cycle, the position analysis and verification end uses a high-precision encoder to confirm the actual position of the rotor inside the corresponding servo motor, and then performs a position check based on the confirmed theoretical position to determine whether the two sets of positions are the same position:

[0017] If they belong to the same position, no processing is performed, and a normal signal of numerical processing is generated and displayed;

[0018] If they are not at the same position, a position abnormality signal is generated and displayed, and the speed value calibration terminal is executed to perform speed calibration, so that the subsequently confirmed theoretical position and the actual position are at the same position;

[0019] The speed value calibration end identifies the associated speed difference between the two sets of positions based on the determined actual position and theoretical position, and performs relevant calibration on the running speed of the servo motor based on the confirmed speed difference. The specific method is as follows:

[0020] Based on the determined actual position and theoretical position, the causal relationship between the two sets of positions is confirmed:

[0021] If the actual position is behind the theoretical position, record the distance circumference ZS between the two positions, and then determine the rotation circumference SS of the rotor for one revolution, and confirm that the circumference distance difference ratio ZB=ZS÷SS;

[0022] Based on the set speed Z and the determined distance difference ratio, the set speed Z is calibrated to increase the speed Z to (Z+ZB), and then (Z+ZB) is used as Z for related operations to keep the actual position consistent with the theoretical position;

[0023] If the actual position is ahead of the theoretical position, a test error signal is generated for display.

[0024] The present invention provides an intelligent number processing system based on a high-precision encoder. Compared with the prior art, it has the following beneficial effects:

[0025] The present invention analyzes the acceleration data of the past speeds based on the set speed when performing relevant tests on the servo motor, and from the analyzed several groups of data, performs same-feature binding on the relevant data with a low degree of data dispersion, determines the relevant same-feature sequences, and then determines the number of accelerations involved in each same-feature sequence and the relevant variance, and selects the best same-feature sequence from the several same-feature sequences, so that the accuracy of the numerical calibration is higher when performing subsequent data processing, and a better calibration processing effect can be achieved;

[0026] Subsequently, during the position calibration process, a relevant acceleration period is determined based on the determined acceleration, and then the acceleration process of the acceleration period is eliminated. After eliminating such a process, the actual position and the theoretical position are calibrated. Based on the calibration result, the subsequent specific calibration value is determined to ensure that the servo motor is in a consistent state in the subsequent related positions. Similarly, for other speeds, proportional adjustments can be performed. Based on the high-precision encoder, a better calibration processing effect can be achieved for the servo motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the principle framework of the present invention;

[0028] Figure 2 It is a schematic diagram of the flow chart of the rotation speed calibration of the present invention. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Example 1

[0031] See also Figure 1 , the present application provides an intelligent number processing system based on a high-precision encoder, including a speed calibration end, an associated analysis end, an associated position determination end, a position analysis verification end and a speed value calibration end, wherein the speed calibration end is electrically connected to an input node of the associated analysis end, and the associated analysis end is electrically connected to an input node of the associated position determination end, and the associated position determination end, the position analysis verification end and the speed value calibration end are electrically connected in sequence from an output node to an input node;

[0032] Among them, at the speed calibration end, the speed calibration is performed by the relevant operator, so that the servo motor runs at the calibrated speed. The calibrated speed is a preset standard speed value, which is the most suitable speed for the relevant servo motor under the use state, that is, when the servo motor is rotating, there is an optimal operating speed. Under this speed operation state, the servo motor is in the best operating state. The selection of the standard speed value is set by the relevant operator according to practical experience;

[0033] The correlation analysis end obtains the past acceleration data of the servo motor under the speed state based on the calibrated speed of the servo motor, and performs correlation analysis on the past acceleration data. From the specific analysis results, the standard acceleration value interval belonging to the servo motor is selected. The specific method of selection is as follows:

[0034] Based on the calibrated speed Z, obtain N sets of acceleration data corresponding to the servo motor accelerating to Z from the past acceleration data, where N is a preset value. Its specific value is determined by the operator, generally 30. Determine the acceleration A from the acceleration data. i , where i represents different acceleration data, and i=1, 2, ..., N, N represents the total number of acceleration data. If there are multiple accelerations in a set of acceleration data, the multiple accelerations are averaged to determine the relevant acceleration average. Specifically, during the operation of the servo motor, it needs to climb to the set relevant speed to run, then there is a corresponding climbing acceleration during the climbing process, that is, the determined acceleration;

[0035] The determined groups of accelerations A i The acceleration sequence is generated by sorting the values ​​from small to large, and the same characteristic sequences are determined one by one from the acceleration sequence: starting from the first group of accelerations in the sequence, the relevant accelerations are selected in turn for uniform variance processing. When the variance value F≤Y1 is generated, data selection is performed again. When the variance value F>Y1, the selected acceleration is used as the critical value. The several groups of accelerations selected in this stage are calibrated as the same characteristic sequences by removing the critical value. Starting from the critical value, the subsequent same characteristic sequences are confirmed one by one, where Y1 is a preset value, and its specific value is determined by the operator. The staff formulated it based on experience. For example, the corresponding acceleration sequence is {1, 1.1, 1.05, 1.08, 2, 2.1, 2.085, 2.04, 2.08}. After variance processing, there are two groups of sequences with the same characteristics. The first group of sequences with the same characteristics is: 1, 1.1, 1.05, 1.08, and the corresponding second group of sequences with the same characteristics is: 2, 2.1, 2.085, 2.04, 2.08. When the first group of sequences with the same characteristics are processed one by one, the corresponding value 2 belongs to the critical value, so the value 2 is not considered in the first group of sequences with the same characteristics.

[0036] The number of groups of accelerations within the related sequence with the same characteristics is calibrated as G k , where k represents different sequences with the same characteristics (each sequence with the same characteristics contains a different number of accelerations), and the variance corresponding to different sequences with the same characteristics is calibrated as F k , using XD k =F k ×C1+G k ×C2 confirms the selected value XD corresponding to the same characteristic sequence k , where C1 and C2 are preset fixed coefficient factors, and their specific values ​​are determined by the operator based on experience;

[0037] Set the selected value to XD k The largest sequence with the same characteristics is calibrated as the standard sequence, and the maximum and minimum values ​​of acceleration are selected from the standard sequence to determine the standard acceleration value interval. Specifically, the maximum value of this acceleration value interval is the determined maximum acceleration value, and the minimum value within the interval is the determined minimum acceleration value. The determined acceleration value interval is a string of data with the lowest degree of discreteness in the past acceleration data. This type of data has certain considerations during the analysis and processing process, which is convenient for the subsequent confirmation of the theoretical position.

[0038] Example 2

[0039] In the specific implementation process, the main difference between this embodiment and the above embodiment is that the position is mainly confirmed by the relevant associated position determination end, and the confirmed position includes the theoretical position and the actual position confirmed by the encoder, and the confirmed related position is transmitted to the position analysis and verification end;

[0040] The associated position determination end determines the acceleration period of the servo motor based on the determined standard acceleration value interval, and determines the theoretical position of the servo motor at the end of the test cycle based on the set test cycle and the speed of the servo motor, wherein the test cycle is a preset cycle, and its specific value is determined by the operator based on experience, wherein the specific method of confirming the theoretical position is:

[0041] Select the minimum acceleration from the standard acceleration value range, and identify the time t1 for the servo motor to accelerate to the calibrated speed under the acceleration state of the minimum acceleration, where t1=Z÷A i min, where A i min is the minimum acceleration, where Z is the calibrated speed. The relevant position of the rotor inside the servo motor after the acceleration time t1 is confirmed based on the high-precision encoder and calibrated as the initial position;

[0042] Based on the set test cycle T and the speed Z of the servo motor, the relevant rotation timeline (T-t1) is confirmed. Based on the preset speed Z, the number of rotations of the internal rotor of the servo motor is determined: Q=Z×(T-t1), where Q is the number of rotations. Based on the determined number of rotations and the initial position, the theoretical position that the internal rotor of the servo motor can reach at the end of the test cycle T is determined, and the confirmed theoretical position is transmitted to the position analysis and verification end. Specifically, in order to make the confirmed theoretical position more accurate, the acceleration stage is excluded, because the speed of the acceleration stage cannot be accurately controlled, and the change of its speed is affected by multiple different factors. Then, the minimum acceleration in the acceleration habit is used as the standard to confirm the acceleration time. After the acceleration time is accelerated, the corresponding initial position is identified. Based on the determined initial position, it can be identified how many times the servo motor has rotated in the subsequent continuous rotation time and the related speed, and then the theoretical position is locked by rotating the corresponding number of times at the initial position. The theoretical position determined in this way is more accurate and has better effect.

[0043] Among them, at the end of the test cycle, the position analysis and verification end confirms the actual position of the rotor inside the corresponding servo motor through a high-precision encoder, and then performs a position check based on the confirmed theoretical position to determine whether the two sets of positions are the same position:

[0044] If they belong to the same position, no processing is performed, and a normal signal of numerical processing is generated and displayed;

[0045] If they are not in the same position, a position abnormality signal is generated and displayed, and the speed value calibration end is executed to perform speed calibration, so that the subsequently confirmed theoretical position and the actual position are in the same position. Specifically, when the position is confirmed, the actual position generated is not in the same position as the theoretical position, which means that there is a relevant error in the rotor position of the servo motor during rotation. The reason for the relevant error is that when the servo motor rotates, there is relevant friction in its internal rotating components, which causes the speed generated by its rotor to have a certain numerical difference compared to the original theoretical speed. Then, when it rotates enough circles, the error generated will become larger and larger, and it may not be recognized in a very small cycle, but after the relevant rotation processing of the test cycle, the error will be more obvious, and then the confirmed theoretical position and the actual position are not in the same position.

[0046] Example 3

[0047] In the specific implementation process of this embodiment, compared with the above embodiment, this embodiment mainly focuses on the calibration processing of the internal rotor of the corresponding servo motor, so that there will be no large error between the theoretical position and the actual position confirmed later;

[0048] The speed value calibration end identifies the associated speed difference between the two sets of positions based on the determined actual position and the theoretical position, and performs relevant calibration on the running speed of the servo motor based on the confirmed speed difference. The specific method of performing the relevant calibration is as follows:

[0049] Based on the determined actual position and theoretical position (if there is a related error, the theoretical position is the standard position that can be achieved under the best operating state, then the theoretical position must be ahead of the actual position. If the actual position is ahead of the theoretical position, it means that there is a problem with the parameters set during the test of the servo motor, that is, the set speed is 300r / min, but the actual operating speed is 302r / min or greater, which will cause the actual position to be ahead of the theoretical position), confirm the causal relationship between the two sets of positions:

[0050] Combination Figure 2 , if the actual position is before the theoretical position, a test error signal is generated for display;

[0051] If the actual position is behind the theoretical position, record the distance circumference ZS between the two positions, and then determine the rotation circumference SS of the rotor for one revolution, and confirm that the circumference distance difference ratio ZB=ZS÷SS;

[0052] Based on the set speed Z and the determined distance difference ratio, the set speed Z is calibrated to increase the speed Z to (Z+ZB). Subsequently, (Z+ZB) is used as Z for related operations to keep the actual position consistent with the theoretical position. For example, the original set speed is 300r / min. After analysis and processing, it is found that the actual position is related to the theoretical position by half a circumference, that is, half a circle, which is 0.5r / min. In order to calibrate the relevant standards of the servo motor, in the subsequent operation process, (300r / min+0.5r / min) needs to be used as 300r / min. The set speed is 300.5r / min, but the actual speed is only 300r / min. After this calibration method, the servo motor can be guaranteed to be in a consistent state in the subsequent related positions. Similarly, for other speeds, proportional adjustments can be made.

[0053] Example 4

[0054] The specific implementation process of this embodiment includes all the implementation processes of the above three groups of embodiments.

[0055] Some of the data in the above formulas are dimensionless and numerically calculated. Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0056] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. Intelligent number processing system based on high-precision encoder, characterized in that: include: At the speed calibration end, the operator calibrates the speed so that the servo motor runs at the calibrated speed, and the calibrated speed is the preset standard speed value; The correlation analysis end obtains the past acceleration data of the servo motor at this speed based on the calibrated speed of the servo motor, and performs correlation analysis on the past acceleration data. From the specific analysis results, the standard acceleration value range belonging to the servo motor is selected. The specific method is as follows: Based on the calibrated speed Z, obtain N sets of acceleration data corresponding to the servo motor accelerating to Z from the past acceleration data, where N is the preset value, and determine the acceleration A from the acceleration data i , where i represents different acceleration data, and i=1, 2, ..., N, and N represents the total number of acceleration data; The determined groups of accelerations A i Sorting the values ​​from small to large generates an acceleration sequence, and determining the same characteristic sequence one by one from the acceleration sequence: starting from the first group of accelerations in the sequence, select the related accelerations in turn for uniform variance processing, and when the generated variance value F≤Y1, perform data selection again. When the variance value F>Y1, use the selected acceleration as the critical value, remove the critical value, and calibrate the selected groups of accelerations in this stage as the same characteristic sequence, and then start from the critical value, confirm the subsequent same characteristic sequences one by one, where Y1 is the preset value; The number of groups of accelerations within the related sequence with the same characteristics is calibrated as G k , where k represents different sequences with the same characteristics, and the variances corresponding to different sequences with the same characteristics are calibrated as F k , using XD k =F k ×C1+G k ×C2 confirms the selected value XD corresponding to the same characteristic sequence k , where C1 and C2 are preset fixed coefficient factors; Set the selected value to XD k The largest sequence with the same characteristics is calibrated as the standard sequence, and the maximum and minimum acceleration values ​​are selected from the standard sequence to determine the standard acceleration value range; The associated position determination end determines the acceleration time of the servo motor based on the determined standard acceleration value interval, and confirms the theoretical position of the servo motor at the end of the test cycle based on the set test cycle and the speed of the servo motor, wherein the test cycle is a preset cycle, and the specific method is as follows: Select the minimum acceleration from the standard acceleration value range, and identify the time t1 for the servo motor to accelerate to the calibrated speed under the acceleration state of the minimum acceleration, where t1=Z÷A i min, where A i min is the minimum acceleration, where Z is the calibrated speed. The relevant position of the rotor inside the servo motor after the acceleration time t1 is confirmed based on the high-precision encoder and calibrated as the initial position; Based on the set test cycle T and the rotation speed Z of the servo motor, the relevant rotation timeline (T-t1) is confirmed. Based on the preset rotation speed Z, the number of rotations of the internal rotor of the servo motor is determined: Q=Z×(T-t1), where Q is the number of rotations. Based on the determined number of rotations and the initial position, the theoretical position that the internal rotor of the servo motor can reach at the end of the test cycle T is determined, and the confirmed theoretical position is transmitted to the position analysis and verification terminal; At the end of the position analysis and verification, at the end of the test cycle, the actual position of the rotor inside the corresponding servo motor is confirmed by a high-precision encoder, and then based on the confirmed theoretical position, the position is verified to determine whether the two sets of positions are the same position; The speed value calibration end identifies the associated speed difference between the two sets of positions based on the determined actual position and theoretical position, and performs relevant calibration on the operating speed of the servo motor based on the confirmed speed difference.

2. The intelligent number processing system based on high-precision encoder according to claim 1 is characterized in that: The position analysis and verification end determines whether the two sets of positions are the same position, including: If they belong to the same position, no processing is performed, and a normal signal of numerical processing is generated and displayed.

3. The intelligent number processing system based on high-precision encoder according to claim 2 is characterized in that: The position analysis and verification end determines whether the two sets of positions are the same position and further includes: If they do not belong to the same position, a position abnormality signal is generated and displayed, and the speed value calibration end is executed to perform speed calibration so that the subsequently confirmed theoretical position and the actual position are at the same position.

4. The intelligent number processing system based on high-precision encoder according to claim 1 is characterized in that: The speed value calibration end performs relevant calibration on the running speed of the servo motor in the following specific manner: Based on the determined actual position and theoretical position, the causal relationship between the two groups of positions is confirmed: If the actual position is behind the theoretical position, record the distance circumference ZS between the two positions, and then determine the rotation circumference SS of the rotor for one revolution, and confirm that the circumference distance difference ratio ZB=ZS÷SS; Based on the set speed Z and the determined distance difference ratio, the set speed Z is calibrated to increase the speed Z to (Z+ZB), and then (Z+ZB) is used as Z for related operations to keep the actual position consistent with the theoretical position.

5. The intelligent number processing system based on high-precision encoder according to claim 4 is characterized in that: If the actual position is ahead of the theoretical position, a test error signal is generated for display.

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