A multi-axis pulse spatial trajectory reconstruction method and terminal

Abstract

The present invention discloses a multi-axis pulse spatial trajectory reconstruction method and terminal, which collects pulse axis signal data and servo axis signal data; uses the servo axis signal data as a reference to convert the pulse axis signal data into the correlation data of time and relative displacement; samples and synchronizes all converted pulse axis signal data at the same time point; resamples the converted pulse axis signal data at equal intervals according to a preset sampling frequency; calculates the combined speed and combined acceleration according to the sampling results and draws a curve. The present invention converts the pulse axis signal data into the correlation data of time and relative displacement with reference to the display mode of the servo axis signal data, and samples and synchronizes the converted multiple pulse axis signal data at the same time point, and summarizes the multiple pulse axis data on the same time scale, so as to realize the observation of the actual position and the corresponding trajectory when the pulse axis and the bus servo axis are jointly controlled.

Description

Technical Field

[0001] The present invention relates to the field of industrial control, and in particular to a multi-axis pulse space trajectory reconstruction method and a terminal. Background Art

[0002] In industrial scenarios, processing needs to be performed on machines. For PLCs and motion controllers, it is often necessary to verify whether the processing trajectory is consistent with the plan. In trajectory processing, the speed of the running trajectory and the planned path are crucial. However, due to its particularity, the pulse axis has almost no correlation with the time slice. Therefore, it is difficult to diagnose the machine trajectory of the pulse axis operation, and it is difficult to perform a certain analysis of the machine condition during the operation of the pulse axis.

[0003] In the existing analysis method, motion control is mainly performed based on known three-dimensional information, and the speed curve of a single axis is disassembled. A logic analyzer is used to collect single-axis pulse data and calculate the corresponding speed. However, it is only applicable to a single axis. There is a problem of synchronization when there are multiple axes, and the efficiency of testing each axis separately is low. It is impossible to obtain the combined speed and combined acceleration curves, and the machine operation status cannot be comprehensively analyzed. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method and a terminal for reconstructing multi-axis pulse spatial trajectory, so as to solve the problem that multi-pulse axis data information is difficult to analyze.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A method for reconstructing a multi-axis pulse spatial trajectory comprises the steps of:

[0007] S1, collecting pulse axis signal data and servo axis signal data;

[0008] S2, using the servo axis signal data as a reference, converting the pulse axis signal data into correlation data of time and relative displacement;

[0009] S3, sampling and synchronizing all the converted pulse axis signal data at the same time point;

[0010] S4, resampling the converted pulse axis signal data at equal intervals according to a preset sampling frequency;

[0011] S5. Calculate the combined velocity and combined acceleration according to the sampling results and draw a curve.

[0012] In order to solve the above technical problems, another technical solution adopted by the present invention is:

[0013] A multi-axis pulse spatial trajectory reconstruction terminal comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor completes the following steps when executing the computer program:

[0014] S1, collecting pulse axis signal data and servo axis signal data;

[0015] S2, using the servo axis signal data as a reference, converting the pulse axis signal data into correlation data of time and relative displacement;

[0016] S3, sampling and synchronizing all the converted pulse axis signal data at the same time point;

[0017] S4, resampling the converted pulse axis signal data at equal intervals according to a preset sampling frequency;

[0018] S5. Calculate the combined velocity and combined acceleration according to the sampling results and draw a curve.

[0019] The beneficial effects of the present invention are: providing a method and terminal for reconstructing a multi-axis pulse spatial trajectory. Since the pulses displayed by the pulse axis signal data are fixed but the sending time interval is not fixed, the pulse axis signal data is converted into related data of time and relative displacement with reference to the display method of the servo axis signal data, and the converted multiple pulse axis signal data are sampled and synchronized at the same time point, so that the multiple pulse axis data are summarized on the same time scale, and then the combined velocity and acceleration are calculated by the equal interval resampling method and the corresponding curves are drawn, so as to realize the observation of the actual position and the corresponding trajectory when the pulse axis and the bus servo axis are jointly controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a flow chart of a method for reconstructing a multi-axis pulse spatial trajectory in an embodiment of the present invention;

[0021] Figure 2 Schematic diagram of pulse axis signal data conversion in an embodiment of the present invention;

[0022] Figure 3 is a flow chart of pulse axis signal data conversion in an embodiment of the present invention;

[0023] Figure 4 A flowchart of multi-axis synchronization in an embodiment of the present invention;

[0024] Figure 5 is a flow chart of calculating the combined velocity and combined acceleration in an embodiment of the present invention;

[0025] Figure 6 A schematic diagram of spatial trajectory reconstruction in an embodiment of the present invention;

[0026] Figure 7 is a schematic diagram of a combined speed curve in an embodiment of the present invention;

[0027] Figure 8 is a schematic diagram of a combined acceleration curve in an embodiment of the present invention;

[0028] Fig. 9 Schematic diagram of a multi-axis pulse spatial trajectory reconstruction terminal in an embodiment of the present invention;

[0029] Description of labels:

[0030] 1. A multi-axis pulse spatial trajectory reconstruction terminal; 2. Memory; 3. Processor. DETAILED DESCRIPTION

[0031] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in combination with the implementation modes and the accompanying drawings.

[0032] Please refer to Figure 1 , a method for reconstructing a multi-axis pulse spatial trajectory, comprising the steps of:

[0033] S1, collecting pulse axis signal data and servo axis signal data;

[0034] S2, using the servo axis signal data as a reference, converting the pulse axis signal data into correlation data of time and relative displacement;

[0035] S3, sampling and synchronizing all the converted pulse axis signal data at the same time point;

[0036] S4, resampling the converted pulse axis signal data at equal intervals according to a preset sampling frequency;

[0037] S5. Calculate the combined velocity and combined acceleration according to the sampling results and draw a curve.

[0038] It can be understood that a pulse axis is a system that controls a mechanical device or a moving axis by sending a series of electrical pulse signals. Each pulse represents a fixed unit of displacement, the number of pulses determines the distance the axis moves, and the frequency (time interval) of the pulses determines the speed of the axis. Pulse axes are commonly used for stepper motor control, such as CNC (numerical control machine tools), printers, etc. This type of system usually controls the speed and position of mechanical movement by controlling the number and frequency of pulse signals. Its characteristics are that the number of pulses is controllable, but the pulse frequency (time interval) is uncertain; the control is relatively simple, and there is no real-time feedback mechanism, so the position or speed error cannot be automatically corrected. This means that if there is external interference or load changes, the pulse axis may have positioning errors or instability.

[0039] The servo axis is a motion axis driven by a servo control system. The servo system is a system with closed-loop feedback control that can monitor and adjust the speed, position and acceleration of the motor in real time to ensure that the axis moves accurately along the predetermined trajectory; servo axes are often used in scenarios with high precision requirements, such as robot arms, automated production lines, high-precision processing equipment, etc. It can accurately control the mechanical position, speed and acceleration, and can self-adjust and compensate for deviations. Its characteristics are that the servo axis has the advantages of high precision, feedback control, and fast dynamic response. Even if there is external interference, the system can be adjusted to ensure precise control.

[0040] From the above description, it can be seen that the beneficial effects of the present invention are: providing a method for reconstructing a multi-axis pulse spatial trajectory. Since the pulses displayed by the pulse axis signal data are fixed but the sending time interval is not fixed, the pulse axis signal data is converted into related data of time and relative displacement with reference to the display method of the servo axis signal data, and the converted multiple pulse axis signal data are sampled and synchronized at the same time point, so that the multiple pulse axis data are summarized on the same time scale, and then the combined velocity and acceleration are calculated by the equal interval resampling method and the corresponding curves are drawn, so as to realize the observation of the actual position and the corresponding trajectory when the pulse axis and the bus servo axis are jointly controlled.

[0041] Please refer to Figures 2 to 3 In an embodiment of the present invention, step S2 specifically includes the following steps:

[0042] S21, time-calibrating the pulse axis signal data and the servo axis signal data;

[0043] S22, extracting the rising edge point in the pulse axis signal data;

[0044] S23, obtaining the pulse direction of the rising edge point and calculating the current position according to the pulse direction;

[0045] S24, obtaining the current time and converting the pulse axis signal data into correlation data of time and relative displacement in combination with the current position.

[0046] It can be understood that the rising edge point refers to the moment when a digital signal jumps from a low level (usually represented as 0) to a high level (usually represented as 1). The rising edge signal here is obtained by counting the time difference of the same pulse with the same sending reference to make corresponding speed adjustments, using the rising edge as the reference.

[0047] Specifically, the following are some examples:

[0048] 1. Initialize data

[0049] The last relative distance ;

[0050] The last pulse signal ;

[0051] 2. Time calibration

[0052] Get the first data T0 of the pulse axis and servo axis, subtract T0 from all time intervals, and get a TS data starting with 0;

[0053] 3. Get the rising edge point of the pulse;

[0054] Cycle judgment

[0055] when And when the current pulse signal Signal=1, this is the rising edge point;

[0056] 4. Calculate current position based on direction

[0057] When the Signal rises:

[0058] If the current pulse direction ;

[0059] If the current pulse direction ;

[0060] 5. Record data

[0061] The data information is re-saved according to the current time T and the current relative position S, that is, the pulse axis signal data is converted into a TS curve that matches the bus servo axis signal data.

[0062] Please refer to Figure 4 In an embodiment of the present invention, step S3 specifically includes the following steps:

[0063] S31, obtaining the minimum time point in all pulse axis signal data;

[0064] S32, calculate the synchronization point of the current positions of the other two axes:

[0065] ;

[0066] Where P is the synchronization position; T is the minimum time point, is the time point of the last action, Indicates the time point of the next action; is the position of the last action; The position for the next action;

[0067] S33. Synchronize all pulse axis signal data according to the same time axis.

[0068] From the above description, it can be seen that by sampling and synchronizing the converted pulse axis signals at the same time point, it can ensure that the data of all axes are observed on the same time scale. For multi-axis systems, especially in motion control in three-dimensional space, it is crucial to ensure that the movement of each axis is synchronized at the same time point. Through this synchronization process, the problem of data mismatch or asynchrony between different axes can be effectively avoided, thereby improving the control accuracy of the entire system.

[0069] Please refer to Figure 5 In an embodiment of the present invention, the step S4 specifically includes the steps of:

[0070] Each synchronized point is traversed according to a preset sampling frequency, and each synchronization point corresponding to the preset sampling frequency is calculated using a linear interpolation method.

[0071] From the above description, it can be seen that the converted pulse axis signal is resampled at equal intervals by presetting the sampling frequency to ensure the smoothness and consistency of the data. Equal interval resampling can not only improve the accuracy of data processing, but also eliminate the problem of uneven time intervals of pulse signal transmission, making data analysis more reliable. In this way, more accurate parameters such as speed and acceleration can be obtained for further analysis.

[0072] Please refer to Figures 6 to 8 In an embodiment of the present invention, the step S5 specifically includes the steps of:

[0073] The resultant velocity and the resultant acceleration are calculated according to the synchronization point, and a resultant velocity curve and a resultant acceleration curve are drawn respectively.

[0074] From the above description, it can be seen that in multi-axis motion control, the combined speed and combined acceleration are important indicators for measuring the operating status of the system. By calculating the combined speed (i.e., the vector sum of the speeds on multiple axes) and the combined acceleration (i.e., the rate of change of speed), the actual state of the machine motion can be more accurately reflected. The calculation method of the present invention ensures the accuracy of these data, and by drawing the combined speed and combined acceleration curves, the dynamic performance of the system operation is intuitively displayed, which is helpful for diagnosing and optimizing the motion control system.

[0075] Please refer to Fig. 9 A multi-axis pulse space trajectory reconstruction terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the processor completes the steps in a multi-axis pulse space trajectory reconstruction method.

[0076] From the above description, it can be seen that an execution carrier of a method for reconstructing a multi-axis pulse spatial trajectory is provided. In the process of executing the above method, since the pulses displayed by the pulse axis signal data are fixed but the sending time interval is not fixed, the pulse axis signal data is converted into related data of time and relative displacement with reference to the display method of the servo axis signal data, and the converted multiple pulse axis signal data are sampled and synchronized at the same time point, so that the multiple pulse axis data are summarized on the same time scale, and then the combined velocity and acceleration are calculated by the equal interval resampling method and the corresponding curves are drawn, so as to realize the observation of the actual position and the corresponding trajectory when the pulse axis and the bus servo axis are jointly controlled.

[0077] The present invention provides a multi-axis pulse space trajectory reconstruction method and terminal, which are mainly used for the reconstruction of multi-axis pulse trajectories in the field of industrial automation.

[0078] Please refer to Figure 1 , Embodiment 1 of the present invention is:

[0079] A method for reconstructing a multi-axis pulse spatial trajectory comprises the steps of:

[0080] S1, collecting pulse axis signal data and servo axis signal data;

[0081] That is, collect relevant signals, pulse axis signals, bus servo axis signals

[0082] Pulse axis signal data: Time[s], channel 0 (pulse), channel 1 (direction)

[0083] Servo axis signal data: Time[s], relative displacement S;

[0084] S2. Using the servo axis signal data as a reference, the pulse axis signal data is converted into the correlation data of time and relative displacement; since only the pulse data T is of indefinite length and S is of fixed length, only the pulse data needs to be specially processed, that is, only the pulse axis signal data is processed and converted into TS data to match the data format of the servo axis;

[0085] S3, sampling and synchronizing all converted pulse axis signal data at the same time point;

[0086] S4, resampling the converted pulse axis signal data at equal intervals according to a preset sampling frequency;

[0087] S5. Calculate the combined velocity and combined acceleration according to the sampling results and draw a curve.

[0088] That is, in this embodiment, since the pulses displayed by the pulse axis signal data are fixed but the sending time interval is not fixed, the pulse axis signal data is converted into related data of time and relative displacement with reference to the display method of the servo axis signal data, and the converted multiple pulse axis signal data are sampled and synchronized at the same time point, so that the multiple pulse axis data are summarized on the same time scale, and then the combined velocity and acceleration are calculated by the equal interval resampling method and the corresponding curves are drawn, so as to realize the observation of the actual position and the corresponding trajectory when the pulse axis and the bus servo axis are jointly controlled.

[0089] Please refer to Figures 2 to 3 , Embodiment 2 of the present invention is:

[0090] Based on the first embodiment, step S2 specifically includes the following steps:

[0091] S21. Initialize data

[0092] The last relative distance ;

[0093] The last pulse signal ;

[0094] Perform time calibration on the pulse axis signal data and the servo axis signal data; that is, obtain the first data of the pulse axis and the servo axis , subtract all time intervals from , get a TS data starting with 0.

[0095] S22, extract the rising edge point in the pulse axis signal data; loop judgment, when And when the current pulse signal Signal=1, this is the rising edge point;

[0096] S23, obtaining the pulse direction of the rising edge point and calculating the current position according to the pulse direction;

[0097] When the Signal rises:

[0098] If the current pulse direction ;

[0099] If the current pulse direction ;

[0100] S24, obtaining the current time and converting the pulse axis signal data into the correlation data of time and relative displacement in combination with the current position. Re-save the data information according to the current time T and the current relative position S, that is, convert the pulse axis signal data into the TS curve matching the bus servo axis signal data.

[0101] Please refer to Figures 4 to 8 , Embodiment 3 of the present invention is:

[0102] Based on Example 2, please refer to Figure 4 , step S3 specifically includes the steps of:

[0103] S31, obtaining the minimum time point in all pulse axis signal data;

[0104] S32, calculate the synchronization point of the current positions of the other two axes:

[0105] ;

[0106] Where P is the synchronization position; T is the minimum time point, is the time point of the last action, Indicates the time point of the next action; is the position of the last action; The position for the next action;

[0107] S33. All pulse axis signal data are synchronized according to the same time axis, and all data are stored in a data format synchronized with the same time axis, namely (t, x, y, z).

[0108] Step S4 specifically includes the following steps:

[0109] Please refer to Figure 5 , traverse each point after synchronization according to the preset sampling frequency, and use linear interpolation to calculate each synchronization point corresponding to the preset sampling frequency. Specifically, the steps are as follows: Set the synchronization period ;

[0110] 1. Through time , traverse each point

[0111] 2. Calculate each synchronization point P (linear interpolation calculation), the current position ;Where: the current time is TT; For the previous time point; for a later time point; For the previous data source; is the next data point;

[0112] The converted pulse axis signal is resampled at equal intervals by presetting the sampling frequency to ensure the smoothness and consistency of the data. Equal interval resampling can not only improve the accuracy of data processing, but also eliminate the problem of uneven time intervals of pulse signal transmission, making data analysis more reliable. In this way, more accurate parameters such as speed and acceleration can be obtained for further analysis.

[0113] Please refer to Figures 6 to 8 , step S5 specifically includes the steps of:

[0114] The resultant velocity and the resultant acceleration are calculated according to the synchronization point and the resultant velocity curve and the resultant acceleration curve are drawn respectively.

[0115] Calculate the total speed , total acceleration , refer to the following formula for details:

[0116] ;

[0117] ;

[0118] Where x, y and z are the vector velocities of the three axes calculated based on the synchronization point.

[0119] Please refer to Fig. 9 , Embodiment 4 of the present invention is:

[0120] A multi-axis pulse space trajectory reconstruction terminal 1 includes a memory 2, a processor 3, and a computer program stored in the memory 2 and executable on the processor 3. When the processor 3 executes the computer program, the steps in a multi-axis pulse space trajectory reconstruction method are completed.

[0121] To summarize, the present invention provides a method and terminal for reconstructing a multi-axis pulse spatial trajectory. Since the pulses displayed by the pulse axis signal data are fixed but the sending time interval is not fixed, the pulse axis signal data is converted into related data of time and relative displacement with reference to the display method of the servo axis signal data, and the converted multiple pulse axis signal data are sampled and synchronized at the same time point, so that the multiple pulse axis data are summarized on the same time scale, and then the combined velocity and acceleration are calculated by the equal interval resampling method and the corresponding curves are drawn, so as to realize the observation of the actual position and the corresponding trajectory when the pulse axis and the bus servo axis are jointly controlled.

[0122] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for reconstructing multi-axis pulse spatial trajectory, characterized in that: Includes steps: S1, collecting pulse axis signal data and servo axis signal data; S2, using the servo axis signal data as a reference, converting the pulse axis signal data into correlation data of time and relative displacement; S3, sampling and synchronizing all the converted pulse axis signal data at the same time point; S4, resampling the converted pulse axis signal data at equal intervals according to a preset sampling frequency; S5. Calculate the combined velocity and combined acceleration according to the sampling results and draw a curve.

2. A method for reconstructing multi-axis pulse spatial trajectory according to claim 1, characterized in that: The step S2 specifically includes the following steps: S21, time-calibrating the pulse axis signal data and the servo axis signal data; S22, extracting the rising edge point in the pulse axis signal data; S23, obtaining the pulse direction of the rising edge point and calculating the current position according to the pulse direction; S24, obtaining the current time and converting the pulse axis signal data into correlation data of time and relative displacement in combination with the current position.

3. A method for reconstructing multi-axis pulse spatial trajectory according to claim 2, characterized in that: The step S3 specifically comprises the following steps: S31, obtaining the minimum time point in all pulse axis signal data; S32, calculate the synchronization point of the current positions of the other two axes: ； Where P is the synchronization position; T is the minimum time point, is the time point of the last action, Indicates the time point of the next action; is the position of the last action; The position for the next action; S33. Synchronize all pulse axis signal data according to the same time axis.

4. The method for reconstructing a multi-axis pulse spatial trajectory according to claim 3, characterized in that: The step S4 specifically comprises the following steps: Each point after synchronization is traversed according to a preset sampling frequency, and each synchronization point corresponding to the preset sampling frequency is calculated using a linear interpolation method.

5. A method for reconstructing multi-axis pulse spatial trajectory according to claim 4, characterized in that: The step S5 specifically includes the following steps: The resultant velocity and the resultant acceleration are calculated according to the synchronization point, and a resultant velocity curve and a resultant acceleration curve are drawn respectively.

6. A multi-axis pulse spatial trajectory reconstruction terminal, characterized in that: The invention comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are performed: S1, collecting pulse axis signal data and servo axis signal data; S2, using the servo axis signal data as a reference, converting the pulse axis signal data into correlation data of time and relative displacement; S3, sampling and synchronizing all the converted pulse axis signal data at the same time point; S4, resampling the converted pulse axis signal data at equal intervals according to a preset sampling frequency; S5. Calculate the combined velocity and combined acceleration according to the sampling results and draw a curve.

7. The multi-axis pulse spatial trajectory reconstruction terminal according to claim 6, characterized in that: The step S2 specifically includes the following steps: S21, time-calibrating the pulse axis signal data and the servo axis signal data; S22, extracting the rising edge point in the pulse axis signal data; S23, obtaining the pulse direction of the rising edge point and calculating the current position according to the pulse direction; S24, obtaining the current time and converting the pulse axis signal data into correlation data of time and relative displacement in combination with the current position.

8. The multi-axis pulse spatial trajectory reconstruction terminal according to claim 7, characterized in that: The step S3 specifically comprises the following steps: S31, obtaining the minimum time point in all pulse axis signal data; S32, calculate the synchronization point of the current positions of the other two axes: ； Where P is the synchronization position; T is the minimum time point, is the time point of the last action, Indicates the time point of the next action; is the position of the last action; The position for the next action; S33. Synchronize all pulse axis signal data according to the same time axis.

9. The multi-axis pulse spatial trajectory reconstruction terminal according to claim 8, characterized in that: The step S4 specifically comprises the following steps: Each synchronized point is traversed according to a preset sampling frequency, and each synchronization point corresponding to the preset sampling frequency is calculated using a linear interpolation method.

10. The multi-axis pulse spatial trajectory reconstruction terminal according to claim 9, characterized in that: The step S5 specifically includes the following steps: The resultant velocity and the resultant acceleration are calculated according to the synchronization point, and a resultant velocity curve and a resultant acceleration curve are drawn respectively.

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