Adjustment method and related equipment for dual-axis servo ratio mismatch

Abstract

The present application discloses a method for adjusting the mismatch of the proportions of a dual-axis servo and related equipment, including: sending a circular measurement instruction to a servo driver to control the dual-axis servo to draw a circle by the circular measurement method, and using a ballbar to record the circular measurement method circle drawing data; determining the proportion mismatch of the dual-axis servo based on the circular measurement method circle drawing data; calculating the proportion mismatch compensation coefficient corresponding to each of the dual-axis servo according to the proportion mismatch and the ballbar length obtained through the ballbar parameters; writing the proportion mismatch compensation coefficient corresponding to each of the dual-axis servo into the servo driver corresponding to the dual-axis servo, respectively, to achieve adjustment of the proportion mismatch of the dual-axis servo. The present application can cope with various complex working environments, greatly improving the reliability and practicality of the equipment. At the same time, the present application only needs to adjust the data written to the servo driver, which is convenient and time-saving to operate, and greatly improves work efficiency.

Description

Technical Field

[0001] The present application relates to the field of servo motors, and more specifically, to a method for adjusting a dual-axis servo ratio mismatch and related equipment. Background Art

[0002] With the continuous development of the manufacturing industry, the requirements for the machining accuracy of parts in the field of high-end technology are increasing. Among the many factors that affect machining accuracy, the problem of proportional mismatch is particularly prominent. Proportional mismatch means that when the two axes are running synchronously, the actual operation of the two axes is not synchronized, and the running distance of one axis is slightly larger than that of the other axis. At present, when there is a large proportional mismatch, the actual solution is usually to grind the equipment or directly adjust the servo gain parameters.

[0003] However, the prior art has the following problems: first, the shaft grinding process is very time-consuming, which reduces production efficiency, and when the ratio mismatch is large, this method cannot reduce the ratio mismatch to the required range; second, increasing the servo driver gain can only ensure that the two axes are synchronized in theory. Once mechanical wear occurs, resulting in structural problems such as inconsistent actual pitch of the two axes, adjusting the servo driver gain parameters cannot guarantee the accuracy of synchronous operation of the two axes; third, although directly performing pitch compensation or adjusting the mechanical structure can reduce the ratio mismatch, the operation is cumbersome and time-consuming.

[0004] Based on this, the present application provides an adjustment solution for dual-axis servo ratio mismatch, aiming to solve the problem of dual-axis servo ratio mismatch while avoiding the shortcomings of the prior art. Summary of the invention

[0005] In view of this, the present application provides a dual-axis servo ratio mismatch adjustment method and related equipment, which solves the dual-axis servo ratio mismatch by adjusting the position command response speed through the ratio mismatch compensation coefficient. It can cope with various complex working environments and greatly improve the reliability and practicality of the equipment.

[0006] A method for adjusting a mismatched dual-axis servo ratio, comprising:

[0007] Sending circular measurement instructions to the servo driver to control the servo dual axes to draw a circle using the circular measurement method, and using the ballbar to record the circular measurement method circle drawing data;

[0008] Based on the circle measurement method circle drawing data, determining the ratio mismatch of the servo dual axes;

[0009] Calculating the proportional mismatch compensation coefficients corresponding to the servo dual axes according to the proportional mismatch degree and the ballbar length obtained through the ballbar parameters;

[0010] The proportion mismatch compensation coefficients corresponding to the two servo axes are written into the servo drivers corresponding to the two servo axes respectively, so as to adjust the proportion mismatch of the two-axis servo.

[0011] Optionally, after determining the mismatch degree of the ratio of the servo dual axes based on the circle measurement method circle drawing data, the method further includes:

[0012] Sending a detection instruction to the servo driver to control the servo dual-axis to draw a circle using the circular measurement method, and using a ballbar to record the circular measurement method circle drawing detection data;

[0013] Based on the circle drawing data of the detection circle measurement method, determining the detection ratio mismatch degree of the servo dual-axis;

[0014] If the detected proportion mismatch does not meet the preset requirements, based on the detected proportion mismatch and the proportion mismatch corresponding to the proportion mismatch compensation coefficient in each of the current servo drivers, the updated proportion mismatch compensation coefficient corresponding to each of the servo dual axes is determined, and the updated proportion mismatch compensation coefficient is written into the servo driver corresponding to the servo dual axis;

[0015] Return to execute the process of sending a detection instruction to the servo driver to control the servo dual-axis to draw a circle using the circular measurement method, until the detection ratio mismatch meets the preset requirements.

[0016] Optionally, the proportional mismatch compensation coefficients corresponding to the servo dual axes are calculated according to the proportional mismatch degree and the ballbar length obtained through the ballbar parameters, including:

[0017] Calculate the theoretical diameter of the circle drawn by the circular measurement method based on the ballbar length obtained through the ballbar parameters;

[0018] determining an axis response adjustment method according to the ratio mismatch;

[0019] Based on the theoretical diameter and the proportion mismatch degree, the proportion mismatch compensation coefficients corresponding to the respective servo dual axes are calculated in combination with the calculation formula corresponding to the axis response adjustment method.

[0020] Optionally, determining an axis response adjustment method according to the ratio mismatch degree includes:

[0021] If the ratio mismatch is greater than zero, determining that the axis response adjustment method is to increase the Y-axis response or decrease the X-axis response;

[0022] If the ratio mismatch is less than zero, determining that the axis response adjustment method is to reduce the Y-axis response or to increase the X-axis response;

[0023] Based on the theoretical diameter and the proportion mismatch degree, the proportion mismatch compensation coefficients corresponding to the servo dual axes are calculated in combination with the calculation formula corresponding to the axis response adjustment method, including:

[0024] When the proportion mismatch is greater than zero and the axis response adjustment method is to improve the Y-axis response, a proportion mismatch compensation coefficient of the Y-axis is calculated based on the theoretical diameter and the proportion mismatch according to a preset first calculation formula;

[0025] When the proportion mismatch is greater than zero and the axis response adjustment mode is to reduce the X-axis response, a proportion mismatch compensation coefficient of the X-axis is calculated based on the theoretical diameter and the proportion mismatch according to a preset second calculation formula;

[0026] When the proportion mismatch is less than zero and the axis response adjustment mode is to reduce the Y-axis response, a proportion mismatch compensation coefficient of the Y-axis is calculated based on the theoretical diameter and the proportion mismatch according to a preset first calculation formula;

[0027] When the proportion mismatch is less than zero and the axis response adjustment method is to improve the X-axis response, the proportion mismatch compensation coefficient of the X-axis is calculated based on the theoretical diameter and the proportion mismatch according to a preset second calculation formula.

[0028] Optionally, the first calculation formula is:

[0029]

[0030] The second calculation formula is:

[0031]

[0032] Among them, S Y and S X are the scale mismatch compensation coefficients of the Y axis and the X axis respectively, D is the theoretical diameter of the circle drawn by the circular measurement method, and d is the scale mismatch degree.

[0033] Optionally, based on the detected proportion mismatch degree and the proportion mismatch degree corresponding to the proportion mismatch compensation coefficient in each of the current servo drivers, determining the updated proportion mismatch compensation coefficient corresponding to each of the servo dual axes includes:

[0034] Determine the sum of the detected proportion mismatch degree and the proportion mismatch degree corresponding to the proportion mismatch compensation coefficient in each current servo driver as an updated proportion mismatch degree;

[0035] The update ratio mismatch compensation coefficients corresponding to the servo dual axes are calculated based on the update ratio mismatch degree and the ballbar length obtained through the ballbar parameters.

[0036] Optionally, also include:

[0037] If it is detected that the servo mechanism is worn out or aged, the process returns to the process of sending a detection instruction to the servo driver to control the servo dual axes to draw a circle using the circular measurement method.

[0038] A dual-axis servo ratio mismatch adjustment device, comprising:

[0039] The circular measurement and drawing unit is used to control the servo dual axes to draw a circle by the circular measurement method by sending a circular measurement instruction to the servo driver, and record the circular measurement and drawing data by using the ballbar;

[0040] A mismatch unit, used for determining the mismatch of the ratio of the servo dual axes based on the circle measurement method circle drawing data;

[0041] A compensation coefficient unit, used for calculating the proportional mismatch compensation coefficients corresponding to the servo dual axes according to the proportional mismatch degree and the ballbar length obtained through the ballbar parameters;

[0042] The servo adjustment unit is used to write the proportion mismatch compensation coefficients corresponding to the servo dual axes into the servo drivers corresponding to the servo dual axes respectively, so as to adjust the proportion mismatch of the dual axis servo.

[0043] A dual-axis servo ratio mismatch adjustment device includes a memory and a processor;

[0044] The memory is used to store programs;

[0045] The processor is used to execute the program to implement each step of the method for adjusting the dual-axis servo ratio mismatch as described in any one of the above items.

[0046] A readable storage medium stores a computer program thereon, wherein when the computer program is executed by a processor, each step of the method for adjusting the dual-axis servo ratio mismatch as described in any one of the above items is implemented.

[0047] It can be seen from the above technical scheme that the embodiment of the present application provides a method for adjusting the proportion mismatch of a dual-axis servo and related equipment. First, a circular measurement instruction is sent to the servo driver to control the servo dual axis to draw a circle by the circular measurement method, and the circular measurement method circle drawing data is recorded by the ballbar. Based on the circular measurement method circle drawing data, the proportion mismatch degree of the servo dual axis is determined. Then, the proportion mismatch compensation coefficient corresponding to each of the servo dual axis is calculated according to the proportion mismatch degree and the ballbar length obtained by the ballbar parameters. Finally, the proportion mismatch compensation coefficient corresponding to each of the servo dual axis is written into the servo driver corresponding to the servo dual axis. The servo driver can adjust the position instruction through the written proportion mismatch compensation coefficient, improve the responsiveness of the axis with slow response when the proportion mismatch occurs, or reduce the responsiveness of the axis with fast response when the proportion mismatch occurs, so that the response of the dual axis is consistent when the dual axis is running synchronously, reduce the proportion mismatch degree of the dual axis, and realize the adjustment of the proportion mismatch of the dual axis servo.

[0048] The present application solves the problem of dual-axis servo ratio mismatch by adjusting the position command response speed through the ratio mismatch compensation coefficient. Under the condition that the mechanical equipment is in poor working condition, the ratio mismatch can be significantly reduced. Therefore, it can cope with various complex working environments and greatly improve the reliability and practicality of the equipment. At the same time, the present application only needs to adjust the data written to the servo driver, which is easy to operate and time-saving, greatly improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present application 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 embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0050] Figure 1 A connection diagram of a ratio mismatch compensation system disclosed in an embodiment of the present application;

[0051] Figure 2 A control block diagram of a ratio mismatch compensation system disclosed in an embodiment of the present application;

[0052] Figure 3 A flow chart of a method for adjusting a dual-axis servo ratio mismatch disclosed in an embodiment of the present application;

[0053] Figure 4 A comparison diagram before and after the ratio mismatch compensation disclosed in an embodiment of the present application;

[0054] Figure 5 A schematic diagram of a dual-axis servo ratio mismatch adjustment device disclosed in an embodiment of the present application;

[0055] Figure 6 A hardware structure block diagram of a dual-axis servo ratio mismatch adjustment device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0057] The present application can be used in many general or special computing device environments or configurations, such as personal computers, server computers, handheld or portable devices, tablet devices, multi-processor devices, distributed computing environments including any of the above devices or equipment, etc.

[0058] An embodiment of the present application provides a method for adjusting dual-axis servo ratio mismatch, which can be applied to a ratio mismatch compensation system. Figure 1 Connection diagram for the scale mismatch compensation system. Figure 2 This is the control block diagram of the ratio mismatch compensation system. Figure 1 and Figure 2 As shown, in the present application, the controller 1 sends control instructions to the servo driver 2-1 and the servo driver 2-2, and the servo driver 2-1 and the servo driver 2-2 send drive instructions to the motor 3-1 and the motor 3-2 respectively. The motor 3-1 drives the base 4 to move along the X-axis direction, and the motor 3-2 drives the spindle 5 to move along the Y-axis direction. The base 4 and the spindle 5 are connected through the ballbar 6. Under the action of the controller 1, the servo driver 2 and the motor 3, the base 4 and the spindle 5 move synchronously to draw a circle by the circular measurement method. The ballbar 6 records the movement process data and transmits the data to the computer host software 7 for processing.

[0059] Next, the present application scheme is introduced. The present application proposes the following technical scheme, please see below for details.

[0060] Figure 3 The present invention is a flowchart of a method for adjusting dual-axis servo ratio mismatch disclosed in an embodiment of the present application.

[0061] like Figure 3 As shown, the method may include:

[0062] Step S1, sending a circular measurement instruction to a servo driver to control the servo dual-axis to draw a circle using the circular measurement method, and using a ballbar to record the circular measurement method circle drawing data.

[0063] Step S2: determining the ratio mismatch of the servo dual axes based on the circle drawing data using the circular measurement method.

[0064] Specifically, by sending a circular measurement command to the servo driver, the servo dual-axis can be controlled to perform the circular measurement method to draw a circle. This process aims to use the circular measurement method to obtain parameter information of the mechanical equipment drawing a circular trajectory under dual-axis linkage. As an effective means of accuracy assessment, the circular measurement method relies on standard reference objects or simple measuring instruments. By collecting and analyzing these data, the relevant errors of the mechanical equipment can be theoretically derived, thereby providing an important basis for subsequent accuracy diagnosis and necessary error compensation.

[0065] During the implementation of the circular measurement method, the ballbar can capture and record a variety of error characteristics exhibited by mechanical equipment during the circular measurement process, including but not limited to scale mismatch, verticality deviation, reverse jump phenomenon and periodic error. Among them, scale mismatch is particularly critical. It refers to the fact that in the dual-axis synchronous motion, there is a slight difference in the actual operation of the two axes, resulting in a deviation in the running distance of one axis compared to the other axis, which in turn affects the machining accuracy. In the actual application of the circular measurement method, this mismatch will be intuitively manifested as the drawn circular trajectory deviating from the perfect circle and presenting an ellipse. For example, the running distance of the X axis may be significantly greater than that of the Y axis.

[0066] In summary, by sending circular measurement commands to the servo drive and combining them with the precise measurement of the ballbar, the servo dual-axis linkage accuracy can be systematically evaluated, and key error sources such as scale mismatch can be identified and quantified, laying a solid foundation for subsequent accuracy improvement and the formulation of error compensation strategies.

[0067] Step S3: Calculate the scale mismatch compensation coefficients corresponding to the servo dual axes according to the scale mismatch degree and the ballbar length obtained through the ballbar parameters.

[0068] Specifically, the proportion mismatch between the two servo axes can be quantified by combining the circular measurement method with the ballbar measurement. This indicator directly reflects the slight difference in speed or displacement of the two axes during synchronous operation. Subsequently, based on the proportion mismatch and the ballbar length obtained through the ballbar parameters, the proportion mismatch compensation coefficient corresponding to each of the two servo axes can be calculated. These compensation coefficients are key parameters for accurately adjusting the servo control system and optimizing the dual-axis synchronization performance. By applying these compensation coefficients to the control program of the servo drive, the operating status of the two axes can be finely adjusted, thereby effectively reducing or eliminating the proportion mismatch phenomenon and ensuring that the two axes can maintain a high degree of synchronization and consistency during the linkage process.

[0069] Step S4, writing the proportion mismatch compensation coefficients corresponding to the two servo axes into the servo drivers corresponding to the two servo axes respectively, so as to adjust the proportion mismatch of the two-axis servo.

[0070] Specifically, the proportional mismatch compensation coefficients corresponding to the servo dual axes are written into the servo drivers corresponding to the servo dual axes. The servo driver can adjust the position command through the written proportional mismatch compensation coefficients, improve the responsiveness of the axis that responds slowly when the proportional mismatch occurs, or reduce the responsiveness of the axis that responds quickly when the proportional mismatch occurs, so that the dual axes have consistent responses when running synchronously, reduce the proportional mismatch of the dual axes, and achieve adjustment of the proportional mismatch of the dual axis servo.

[0071] like Figure 2 As shown, the proportional mismatch compensation coefficient S of the X-axis servo is written into the servo driver 2-1 that drives the base 4 to move along the X-axis direction. X , or write the Y-axis servo proportional mismatch compensation coefficient S into the servo driver 2-2 that drives the spindle 5 to move along the Y-axis direction Y The proportional mismatch compensation coefficient S can be written directly through the servo driver 2, or the controller can be used to write the proportional mismatch compensation coefficient S to the servo driver 2 indirectly through the communication protocol. After writing, the servo driver 2 will amplify or reduce the position command after the electronic gear ratio according to the written proportional mismatch compensation coefficient S, and then output the current through the position loop, speed loop and current loop to drive the motor 3 to run. By amplifying or reducing the position command through the proportional mismatch compensation coefficient S, the response ability of the servo driver to drive the motor can be improved or reduced, so that the running distance of the X-axis and the Y-axis remain consistent, thereby realizing the compensation of the proportional mismatch of the XY dual-axis servo.

[0072] Figure 4 This is a comparison diagram before and after the ratio mismatch compensation disclosed in the embodiment of this application. Figure 4 As shown in the figure, the figure is elliptical before compensation, and the X-axis movement distance is greater than the Y-axis movement distance. After the proportion mismatch compensation, the proportion mismatch is significantly reduced and the roundness is improved.

[0073] It can be seen from the above technical scheme that the embodiment of the present application provides a method for adjusting the proportion mismatch of a dual-axis servo and related equipment. First, a circular measurement instruction is sent to the servo driver to control the servo dual axis to draw a circle by the circular measurement method, and the circular measurement method circle drawing data is recorded by the ballbar. Based on the circular measurement method circle drawing data, the proportion mismatch degree of the servo dual axis is determined. Then, the proportion mismatch compensation coefficient corresponding to each of the servo dual axis is calculated according to the proportion mismatch degree and the ballbar length obtained by the ballbar parameters. Finally, the proportion mismatch compensation coefficient corresponding to each of the servo dual axis is written into the servo driver corresponding to the servo dual axis. The servo driver can adjust the position instruction through the written proportion mismatch compensation coefficient, improve the responsiveness of the axis with slow response when the proportion mismatch occurs, or reduce the responsiveness of the axis with fast response when the proportion mismatch occurs, so that the response of the dual axis is consistent when the dual axis is synchronously operated, reduce the proportion mismatch degree of the dual axis, and realize the adjustment of the proportion mismatch of the dual axis servo.

[0074] The present application solves the problem of dual-axis servo ratio mismatch by adjusting the position command response speed through the ratio mismatch compensation coefficient. Under the condition that the mechanical equipment is in poor working condition, the ratio mismatch can be significantly reduced. Therefore, it can cope with various complex working environments and greatly improve the reliability and practicality of the equipment. At the same time, the present application only needs to adjust the data written to the servo driver, which is easy to operate and time-saving, greatly improving work efficiency.

[0075] In some embodiments of the present application, the process of step S3, calculating the scale mismatch compensation coefficients corresponding to the servo dual axes according to the scale mismatch degree and the ballbar length obtained through the ballbar parameters, is described, which may specifically include:

[0076] Step S31: Calculate the theoretical diameter of a circle drawn by the circular measurement method based on the ballbar length obtained through the ballbar parameters.

[0077] Specifically, the calculation formula for calculating the theoretical diameter D of a circle drawn by the circular measurement method is:

[0078]

[0079] Where L is the ballbar length.

[0080] Step S32: determining an axis response adjustment method according to the ratio mismatch degree.

[0081] Specifically, the scale mismatch determines the axis response adjustment method, including:

[0082] If the ratio mismatch is greater than zero, determining that the axis response adjustment method is to increase the Y-axis response or decrease the X-axis response;

[0083] If the ratio mismatch is less than zero, it is determined that the axis response adjustment method is to reduce the Y-axis response or to increase the X-axis response.

[0084] like Figure 1 As shown in the figure, when the ratio mismatch d>0, it means that the distance that the base 4 moves along the X-axis direction is greater than the distance that the spindle 5 moves along the Y-axis direction. In this case, the Y-axis response needs to be increased or the X-axis response needs to be reduced. When the ratio mismatch d<0, it means that the distance that the base 4 moves along the X-axis direction is less than the distance that the spindle 5 moves along the Y-axis direction. In this case, the Y-axis response needs to be reduced or the X-axis response needs to be increased.

[0085] Step S33: Based on the theoretical diameter and the proportion mismatch degree, the proportion mismatch compensation coefficients corresponding to the servo dual axes are calculated in combination with the calculation formula corresponding to the axis response adjustment method.

[0086] Specifically, the process of calculating the proportional mismatch compensation coefficients corresponding to the servo dual axes may include the following four cases:

[0087] The first method is to calculate the Y-axis mismatch compensation coefficient based on the theoretical diameter and the mismatch in proportion according to a preset first calculation formula when the mismatch in proportion is greater than zero and the axis response adjustment method is to improve the Y-axis response;

[0088] The second method is to calculate the X-axis mismatch compensation coefficient based on the theoretical diameter and the mismatch according to a preset second calculation formula when the mismatch is greater than zero and the axis response adjustment method is to reduce the X-axis response;

[0089] The third method is to calculate the Y-axis mismatch compensation coefficient based on the theoretical diameter and the mismatch in proportion according to a preset first calculation formula when the mismatch in proportion is less than zero and the axis response adjustment method is to reduce the Y-axis response;

[0090] Fourthly, when the proportion mismatch is less than zero and the axis response adjustment method is to improve the X-axis response, the proportion mismatch compensation coefficient of the X-axis is calculated based on the theoretical diameter and the proportion mismatch according to a preset second calculation formula.

[0091] Wherein, the first calculation formula is:

[0092]

[0093] The second calculation formula is:

[0094]

[0095] Among them, S Y and SX are the scale mismatch compensation coefficients of the Y axis and the X axis respectively, D is the theoretical diameter of the circle drawn by the circular measurement method, and d is the scale mismatch degree.

[0096] In some embodiments of the present application, considering that in actual operation, after the proportion mismatch compensation is completed, the proportion mismatch degree may increase again after the mechanical equipment has run for a period of time, the present application adds an iterative compensation method, by obtaining the proportion mismatch degree again and re-performing the proportion mismatch compensation to reduce the proportion mismatch degree.

[0097] Specifically, after determining the mismatch degree of the ratio of the servo dual axes based on the circle measurement method circle drawing data, the method further includes:

[0098] Step S5, sending a detection instruction to the servo driver to control the servo dual-axis to draw a circle using the circular measurement method, and using a ballbar to record the detection circular measurement method circle drawing data;

[0099] Step S6, determining the detection ratio mismatch of the servo dual-axis based on the circle drawing data of the detection circle measurement method;

[0100] Step S7: If the detected proportion mismatch does not meet the preset requirements, based on the detected proportion mismatch and the proportion mismatch corresponding to the proportion mismatch compensation coefficient in each of the current servo drives, determine the updated proportion mismatch compensation coefficient corresponding to each of the servo dual axes, and write the updated proportion mismatch compensation coefficient into the servo drives corresponding to the servo dual axes.

[0101] Specifically, the process of determining the update ratio mismatch compensation coefficients corresponding to the two servo axes may include:

[0102] ① Determine the sum of the detected proportion mismatch degree and the proportion mismatch degree corresponding to the proportion mismatch compensation coefficient in each current servo driver as the updated proportion mismatch degree;

[0103] ② Based on the update ratio mismatch degree and the ballbar length obtained through the ballbar parameters, the update ratio mismatch compensation coefficients corresponding to the servo dual axes are calculated.

[0104] Step S8, returning to execute the process of sending a detection instruction to the servo driver to control the servo dual-axis to draw a circle using the circular measurement method, until the detection ratio mismatch meets the preset requirements.

[0105] Specifically, the ballbar is used to draw a circle again by the circular measurement method to obtain the proportion mismatch degree again, that is, to detect the proportion mismatch degree d ’ , if the detection ratio does not match d ’If it does not meet the preset requirements, the detection ratio mismatch degree d ’ The last proportional mismatch degree d is accumulated, which is the proportional mismatch degree corresponding to the proportional mismatch compensation coefficient in each of the current servo drivers. The proportional mismatch compensation coefficient S of the X-axis servo is recalculated according to the formula shown below. X ’ , and the Y-axis servo proportional mismatch compensation coefficient S Y ’ The mismatch compensation coefficient is repeatedly iterated until the detection ratio mismatch degree meets the preset requirement.

[0106]

[0107]

[0108] Where D is the theoretical diameter of a circle drawn by the circular measurement method, which can be calculated using the ballbar length obtained from the ballbar parameters.

[0109] In addition, since mechanical equipment may suffer from mechanical wear and aging, the mismatch in proportions may increase again. Therefore, the application may also include:

[0110] Step S9: If it is detected that the servo mechanism is worn out or aged, the process returns to the process of sending a detection instruction to the servo driver to control the servo dual axes to draw a circle using the circular measurement method.

[0111] Specifically, if the mechanical equipment runs for a period of time and mechanical wear and aging occur, the ratio mismatch will increase again. The ratio mismatch compensation can be performed again in the manner of steps 5 to 8 to reduce the ratio mismatch.

[0112] A dual-axis servo ratio mismatch adjustment device provided in an embodiment of the present application is described below. The dual-axis servo ratio mismatch adjustment device described below and the dual-axis servo ratio mismatch adjustment method described above can correspond to each other.

[0113] See also Figure 5 , Figure 5 A schematic diagram of a dual-axis servo ratio mismatch adjustment device disclosed in an embodiment of the present application.

[0114] like Figure 5 As shown, the dual-axis servo ratio mismatch adjustment device may include:

[0115] The circular measurement and drawing unit 110 is used to control the servo dual axes to draw a circle by circular measurement by sending a circular measurement instruction to the servo driver, and record the circular measurement and drawing data by using a ballbar;

[0116] A mismatch unit 120, configured to determine a ratio mismatch of the servo dual axes based on the circle measurement method circle drawing data;

[0117] A compensation coefficient unit 130, configured to calculate the scale mismatch compensation coefficients corresponding to the servo dual axes according to the scale mismatch degree and the ballbar length obtained through the ballbar parameters;

[0118] The servo adjustment unit 140 is used to write the ratio mismatch compensation coefficients corresponding to the servo dual axes into the servo drivers corresponding to the servo dual axes, so as to adjust the ratio mismatch of the dual axes servo.

[0119] It can be seen from the above technical scheme that the embodiment of the present application provides a method for adjusting the proportion mismatch of a dual-axis servo and related equipment. First, a circular measurement instruction is sent to the servo driver to control the servo dual axis to draw a circle by the circular measurement method, and the circular measurement method circle drawing data is recorded by the ballbar. Based on the circular measurement method circle drawing data, the proportion mismatch degree of the servo dual axis is determined. Then, the proportion mismatch compensation coefficient corresponding to each of the servo dual axis is calculated according to the proportion mismatch degree and the ballbar length obtained by the ballbar parameters. Finally, the proportion mismatch compensation coefficient corresponding to each of the servo dual axis is written into the servo driver corresponding to the servo dual axis. The servo driver can adjust the position instruction through the written proportion mismatch compensation coefficient, improve the responsiveness of the axis with slow response when the proportion mismatch occurs, or reduce the responsiveness of the axis with fast response when the proportion mismatch occurs, so that the response of the dual axis is consistent when the dual axis is running synchronously, reduce the proportion mismatch degree of the dual axis, and realize the adjustment of the proportion mismatch of the dual axis servo.

[0120] The present application solves the problem of dual-axis servo ratio mismatch by adjusting the position command response speed through the ratio mismatch compensation coefficient. Under the condition that the mechanical equipment is in poor working condition, the ratio mismatch can be significantly reduced. Therefore, it can cope with various complex working environments and greatly improve the reliability and practicality of the equipment. At the same time, the present application only needs to adjust the data written to the servo driver, which is easy to operate and time-saving, greatly improving work efficiency.

[0121] Optionally, the dual-axis servo ratio mismatch adjustment device may further include an iterative detection unit;

[0122] The iterative detection unit is used to execute the process of sending a detection instruction to the servo driver to control the servo dual-axis to draw a circle using the circular measurement method, and use a ballbar to record the detection circular measurement method circle drawing data, and determine the detection ratio mismatch of the servo dual-axis based on the detection circular measurement method circle drawing data. If the detection ratio mismatch does not meet the preset requirements, then based on the detection ratio mismatch and the ratio mismatch corresponding to the ratio mismatch compensation coefficient in each of the current servo drivers, determine the updated ratio mismatch compensation coefficient corresponding to each of the servo dual-axis, write the updated ratio mismatch compensation coefficient into the servo driver corresponding to the servo dual-axis, and return to execute the process of sending a detection instruction to the servo driver to control the servo dual-axis to draw a circle using the circular measurement method until the detection ratio mismatch meets the preset requirements.

[0123] Optionally, the compensation coefficient unit may include:

[0124] Theoretical diameter unit, used to calculate the theoretical diameter of a circle drawn by the circular measurement method based on the ballbar length obtained through the ballbar parameters;

[0125] an adjustment mode unit, configured to determine an axis response adjustment mode according to the ratio mismatch;

[0126] The coefficient calculation unit is used to calculate the proportional mismatch compensation coefficient corresponding to each of the servo dual axes based on the theoretical diameter and the proportional mismatch degree in combination with the calculation formula corresponding to the axis response adjustment method.

[0127] Optionally, the process of the adjustment mode unit determining the axis response adjustment mode according to the ratio mismatch degree may include:

[0128] If the ratio mismatch is greater than zero, determining that the axis response adjustment method is to increase the Y-axis response or decrease the X-axis response;

[0129] If the ratio mismatch is less than zero, determining that the axis response adjustment method is to reduce the Y-axis response or to increase the X-axis response;

[0130] The process in which the coefficient calculation unit calculates the proportional mismatch compensation coefficients corresponding to the servo dual axes based on the theoretical diameter and the proportional mismatch degree in combination with the calculation formula corresponding to the axis response adjustment method may include:

[0131] When the proportion mismatch is greater than zero and the axis response adjustment method is to improve the Y-axis response, a proportion mismatch compensation coefficient of the Y-axis is calculated based on the theoretical diameter and the proportion mismatch according to a preset first calculation formula;

[0132] When the proportion mismatch is greater than zero and the axis response adjustment mode is to reduce the X-axis response, a proportion mismatch compensation coefficient of the X-axis is calculated based on the theoretical diameter and the proportion mismatch according to a preset second calculation formula;

[0133] When the proportion mismatch is less than zero and the axis response adjustment mode is to reduce the Y-axis response, a proportion mismatch compensation coefficient of the Y-axis is calculated based on the theoretical diameter and the proportion mismatch according to a preset first calculation formula;

[0134] When the proportion mismatch is less than zero and the axis response adjustment method is to improve the X-axis response, the proportion mismatch compensation coefficient of the X-axis is calculated based on the theoretical diameter and the proportion mismatch according to a preset second calculation formula.

[0135] Optionally, the first calculation formula is:

[0136]

[0137] The second calculation formula is:

[0138]

[0139] Among them, S Y and S X are the scale mismatch compensation coefficients of the Y axis and the X axis respectively, D is the theoretical diameter of the circle drawn by the circular measurement method, and d is the scale mismatch degree.

[0140] Optionally, the process in which the iterative detection unit determines the updated proportional mismatch compensation coefficients corresponding to the respective servo dual axes based on the detected proportional mismatch and the proportional mismatch corresponding to the proportional mismatch compensation coefficients in the current servo drivers may include:

[0141] Determine the sum of the detected proportion mismatch degree and the proportion mismatch degree corresponding to the proportion mismatch compensation coefficient in each current servo driver as an updated proportion mismatch degree;

[0142] The update ratio mismatch compensation coefficients corresponding to the servo dual axes are calculated based on the update ratio mismatch degree and the ballbar length obtained through the ballbar parameters.

[0143] Optionally, the dual-axis servo ratio mismatch adjustment device may further include a mechanical detection unit;

[0144] The mechanical detection unit is used to return to the process of controlling the servo dual axes to draw a circle using the circular measurement method by sending a detection instruction to the servo driver when it is detected that the servo mechanism is worn out or aged.

[0145] The dual-axis servo ratio mismatch adjustment device provided in the embodiment of the present application can be applied to a dual-axis servo ratio mismatch adjustment device. Figure 6 The hardware structure diagram of the dual-axis servo ratio mismatch adjustment device is shown in FIG. Figure 6 , the hardware structure of the dual-axis servo ratio mismatch adjustment device may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;

[0146] In the embodiment of the present application, the number of the processor 1, the communication interface 2, the memory 3, and the communication bus 4 is at least one, and the processor 1, the communication interface 2, and the memory 3 communicate with each other through the communication bus 4;

[0147] The processor 1 may be a central processing unit CPU, or an application-specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention, etc.;

[0148] The memory 3 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), etc., such as at least one disk memory;

[0149] The memory stores a program, and the processor can call the program stored in the memory, wherein the program is used to:

[0150] Sending circular measurement instructions to the servo driver to control the servo dual axes to draw a circle using the circular measurement method, and using the ballbar to record the circular measurement method circle drawing data;

[0151] Based on the circle measurement method circle drawing data, determining the ratio mismatch of the servo dual axes;

[0152] Calculating the proportional mismatch compensation coefficients corresponding to the servo dual axes according to the proportional mismatch degree and the ballbar length obtained through the ballbar parameters;

[0153] The proportion mismatch compensation coefficients corresponding to the two servo axes are written into the servo drivers corresponding to the two servo axes respectively, so as to adjust the proportion mismatch of the two-axis servo.

[0154] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0155] The embodiment of the present application further provides a readable storage medium, which may store a program suitable for execution by a processor, wherein the program is used to:

[0156] Sending circular measurement instructions to the servo driver to control the servo dual axes to draw a circle using the circular measurement method, and using the ballbar to record the circular measurement method circle drawing data;

[0157] Based on the circle measurement method circle drawing data, determining the ratio mismatch of the servo dual axes;

[0158] Calculating the proportional mismatch compensation coefficients corresponding to the servo dual axes according to the proportional mismatch degree and the ballbar length obtained through the ballbar parameters;

[0159] The proportion mismatch compensation coefficients corresponding to the two servo axes are written into the servo drivers corresponding to the two servo axes respectively, so as to adjust the proportion mismatch of the two-axis servo.

[0160] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0161] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0162] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0163] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for adjusting the mismatched ratio of dual-axis servo, characterized in that: include: Sending circular measurement instructions to the servo driver to control the servo dual axes to draw a circle using the circular measurement method, and using the ballbar to record the circular measurement method circle drawing data; Based on the circle measurement method circle drawing data, determining the ratio mismatch of the servo dual axes; Calculating the proportional mismatch compensation coefficients corresponding to the servo dual axes according to the proportional mismatch degree and the ballbar length obtained through the ballbar parameters; Writing the corresponding ratio mismatch compensation coefficients of the servo dual axes into the servo drivers corresponding to the servo dual axes respectively, so as to adjust the mismatch of the dual-axis servo ratios; The proportional mismatch compensation coefficients corresponding to the servo dual axes are calculated according to the proportional mismatch degree and the ballbar length obtained through the ballbar parameters, including: Calculate the theoretical diameter of the circle drawn by the circular measurement method based on the ballbar length obtained through the ballbar parameters; If the ratio mismatch is greater than zero, determining that the axis response adjustment method is to increase the Y-axis response or decrease the X-axis response; If the ratio mismatch is less than zero, determining that the axis response adjustment method is to reduce the Y-axis response or to increase the X-axis response; When the proportion mismatch is greater than zero and the axis response adjustment method is to improve the Y-axis response, a proportion mismatch compensation coefficient of the Y-axis is calculated based on the theoretical diameter and the proportion mismatch according to a preset first calculation formula; When the proportion mismatch is greater than zero and the axis response adjustment mode is to reduce the X-axis response, a proportion mismatch compensation coefficient of the X-axis is calculated based on the theoretical diameter and the proportion mismatch according to a preset second calculation formula; When the proportion mismatch is less than zero and the axis response adjustment mode is to reduce the Y-axis response, a proportion mismatch compensation coefficient of the Y-axis is calculated based on the theoretical diameter and the proportion mismatch according to a preset first calculation formula; When the proportion mismatch is less than zero and the axis response adjustment method is to improve the X-axis response, the proportion mismatch compensation coefficient of the X-axis is calculated based on the theoretical diameter and the proportion mismatch according to a preset second calculation formula.

2. The method according to claim 1, characterized in that After determining the ratio mismatch of the servo dual-axis based on the circle drawing data of the circle measurement method, the method further includes: Sending a detection instruction to the servo driver to control the servo dual-axis to draw a circle using the circular measurement method, and using a ballbar to record the circular measurement method circle drawing detection data; Based on the circle drawing data of the detection circle measurement method, determining the detection ratio mismatch degree of the servo dual-axis; If the detected proportion mismatch does not meet the preset requirements, based on the detected proportion mismatch and the proportion mismatch corresponding to the proportion mismatch compensation coefficient in each of the current servo drivers, the updated proportion mismatch compensation coefficient corresponding to each of the servo dual axes is determined, and the updated proportion mismatch compensation coefficient is written into the servo driver corresponding to the servo dual axis; Return to execute the process of sending a detection instruction to the servo driver to control the servo dual-axis to draw a circle using the circular measurement method, until the detection ratio mismatch meets the preset requirements.

3. The method according to claim 1, characterized in that The first calculation formula is: ； The second calculation formula is: ； Among them, S Y and S X are the scale mismatch compensation coefficients of the Y axis and the X axis respectively, D is the theoretical diameter of the circle drawn by the circular measurement method, and d is the scale mismatch degree.

4. The method according to claim 2, characterized in that: Based on the detected proportion mismatch degree and the proportion mismatch degree corresponding to the proportion mismatch compensation coefficient in each of the current servo drivers, determining the updated proportion mismatch compensation coefficient corresponding to each of the servo dual axes, including: Determine the sum of the detected proportion mismatch degree and the proportion mismatch degree corresponding to the proportion mismatch compensation coefficient in each current servo driver as an updated proportion mismatch degree; The update ratio mismatch compensation coefficients corresponding to the servo dual axes are calculated based on the update ratio mismatch degree and the ballbar length obtained through the ballbar parameters.

5. The method according to claim 2, characterized in that: Also includes: If it is detected that the servo mechanism is worn out or aged, the process returns to the process of sending a detection instruction to the servo driver to control the servo dual axes to draw a circle using the circular measurement method.

6. A dual-axis servo ratio mismatch adjustment device, characterized in that: include: The circular measurement and drawing unit is used to control the servo dual axes to draw a circle by the circular measurement method by sending a circular measurement instruction to the servo driver, and record the circular measurement and drawing data by using the ballbar; A mismatch unit, used for determining the mismatch of the ratio of the servo dual axes based on the circle measurement method circle drawing data; A compensation coefficient unit, used for calculating the proportional mismatch compensation coefficients corresponding to the servo dual axes according to the proportional mismatch degree and the ballbar length obtained through the ballbar parameters; A servo adjustment unit, used for writing the ratio mismatch compensation coefficients corresponding to the servo dual axes into the servo drivers corresponding to the servo dual axes, so as to adjust the ratio mismatch of the dual axis servos; The proportional mismatch compensation coefficients corresponding to the servo dual axes are calculated according to the proportional mismatch degree and the ballbar length obtained through the ballbar parameters, including: Calculate the theoretical diameter of the circle drawn by the circular measurement method based on the ballbar length obtained through the ballbar parameters; If the ratio mismatch is greater than zero, determining that the axis response adjustment method is to increase the Y-axis response or decrease the X-axis response; If the ratio mismatch is less than zero, determining that the axis response adjustment method is to reduce the Y-axis response or to increase the X-axis response; When the proportion mismatch is greater than zero and the axis response adjustment method is to improve the Y-axis response, a proportion mismatch compensation coefficient of the Y-axis is calculated based on the theoretical diameter and the proportion mismatch according to a preset first calculation formula; When the proportion mismatch is greater than zero and the axis response adjustment mode is to reduce the X-axis response, a proportion mismatch compensation coefficient of the X-axis is calculated based on the theoretical diameter and the proportion mismatch according to a preset second calculation formula; When the proportion mismatch is less than zero and the axis response adjustment mode is to reduce the Y-axis response, a proportion mismatch compensation coefficient of the Y-axis is calculated based on the theoretical diameter and the proportion mismatch according to a preset first calculation formula; When the proportion mismatch is less than zero and the axis response adjustment method is to improve the X-axis response, the proportion mismatch compensation coefficient of the X-axis is calculated based on the theoretical diameter and the proportion mismatch according to a preset second calculation formula.

7. A dual-axis servo ratio mismatch adjustment device, characterized in that: including memory and processor; The memory is used to store programs; The processor is used to execute the program to implement the various steps of the dual-axis servo ratio mismatch adjustment method as described in any one of claims 1-5.

8. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, each step of the method for adjusting the dual-axis servo ratio mismatch as described in any one of claims 1 to 5 is implemented.

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