Processing method and device for ensuring accurate synchronization of shaft motion position and port output, processor and computer readable storage medium

Abstract

The invention relates to a processing method for ensuring accurate synchronization of a shaft motion position and port output. The processing method comprises the following steps: calculating a multiple relation between the square of a distance between an actual position and a target position in a current period and the square of a speed vector in the current period; whether the current multiple is 1 is judged, if yes, the optimal point needing to be synchronized is obtained, and the port is directly controlled to synchronously output in the current period; otherwise, if the point gradually deviates from the optimal point, directly processing the port data in the current period if the point gradually deviates from the optimal point; otherwise, not processing in the current period, and continuing to judge the multiple of the next period. The invention also relates to a device for realizing accurate synchronization of the shaft motion position and the port output, a processor and a computer readable storage medium. By adopting the processing method and device for ensuring the accurate synchronization of the shaft motion position and the port output, the processor and the computer readable storage medium, the synchronous output of the port data at the expected optimal actual position is ensured, the synchronous output of the port can be effectively controlled, and the application range is wide.

Description

Technical Field

[0001] The present invention relates to the field of CNC machining, and in particular to the field of axis motion and port control synchronization, and specifically refers to a processing method, device, processor and computer-readable storage medium thereof for ensuring accurate synchronization between axis motion position and port output. Background Art

[0002] The laser production line-speed power and frequency regulation function has the problem of unstable power and frequency regulation and lag, and the regulation effect of existing technology products is quite different. The firmware needs to provide support for the synchronization function of the universal port to solve this problem. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a processing method, device, processor and computer-readable storage medium thereof that meet the requirements of high accuracy, simple operation and wide application range for ensuring accurate synchronization between the axis movement position and the port output.

[0004] In order to achieve the above-mentioned purpose, the processing method, device, processor and computer-readable storage medium thereof for ensuring accurate synchronization between the axis motion position and the port output of the present invention are as follows:

[0005] The processing method for ensuring accurate synchronization between the axis motion position and the port output is mainly characterized in that the method comprises the following steps:

[0006] (1) Calculate the multiple relationship between the square of the distance between the actual position and the target position in the current cycle and the square of the velocity vector in the current cycle;

[0007] (2) Determine whether the current multiple is 1. If so, obtain the optimal point that needs to be synchronized, and directly control the port to output synchronously in the current cycle; otherwise, proceed to step (3);

[0008] (3) If the point gradually deviates from the optimal point, if so, the port data is directly processed in the current cycle; otherwise, it is not processed in the current cycle and the multiple of the next cycle is determined.

[0009] Preferably, the step (3) specifically comprises the following steps:

[0010] Determine whether the current cycle multiple is greater than 4, and the cycle multiple calculated in the previous cycle is less than or equal to 4. If so, directly process the port data in the current cycle; otherwise, do not process it in the current cycle and continue to determine the multiple of the next cycle.

[0011] Preferably, the step (4) further comprises the following steps:

[0012] Determine whether the current cycle multiple is greater than the previous cycle multiple. If so, directly process the current port data; otherwise, do not process the current cycle.

[0013] The device for ensuring accurate synchronization between the axis motion position and the port output is mainly characterized in that the device comprises:

[0014] a processor configured to execute computer executable instructions;

[0015] The memory stores one or more computer executable instructions. When the computer executable instructions are executed by the processor, the various steps of the above-mentioned processing method for ensuring accurate synchronization between the axis movement position and the port output are implemented.

[0016] The processor for implementing the processing for ensuring accurate synchronization between the axis movement position and the port output has the main feature that the processor is configured to execute computer executable instructions, and when the computer executable instructions are executed by the processor, the various steps of the above-mentioned processing method for ensuring accurate synchronization between the axis movement position and the port output are implemented.

[0017] The main feature of the computer-readable storage medium is that a computer program is stored thereon, and the computer program can be executed by a processor to implement the various steps of the above-mentioned processing method for ensuring accurate synchronization between the axis movement position and the port output.

[0018] The processing method, device, processor and computer-readable storage medium of the present invention are used to ensure accurate synchronization between the axis movement position and the port output, which can ensure the synchronous output of the port data at the desired optimal actual position and can effectively control the synchronous output of the port, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The present invention is a flowchart of a processing method for ensuring accurate synchronization between the axis movement position and the port output.

[0020] Figure 2 The present invention is a data schematic diagram of a processing method for ensuring accurate synchronization between the axis movement position and the port output. DETAILED DESCRIPTION

[0021] In order to more clearly describe the technical content of the present invention, further description is given below in conjunction with specific embodiments.

[0022] The processing method of the present invention for ensuring accurate synchronization between the axis motion position and the port output includes the following steps:

[0023] (1) Calculate the multiple relationship between the square of the distance between the actual position and the target position in the current cycle and the square of the velocity vector in the current cycle;

[0024] (2) Determine whether the current multiple is 1. If so, obtain the optimal point that needs to be synchronized, and directly control the port to output synchronously in the current cycle; otherwise, proceed to step (3);

[0025] (3) If the point gradually deviates from the optimal point, if so, the port data is directly processed in the current cycle; otherwise, it is not processed in the current cycle and the multiple of the next cycle is determined.

[0026] As a preferred embodiment of the present invention, the step (3) specifically comprises the following steps:

[0027] Determine whether the current cycle multiple is greater than 4, and the cycle multiple calculated in the previous cycle is less than or equal to 4. If so, directly process the port data in the current cycle; otherwise, do not process it in the current cycle and continue to determine the multiple of the next cycle.

[0028] As a preferred embodiment of the present invention, the step (4) further comprises the following steps:

[0029] Determine whether the current cycle multiple is greater than the previous cycle multiple. If so, directly process the current port data; otherwise, do not process the current cycle.

[0030] The device for ensuring accurate synchronization between the axis motion position and the port output of the present invention comprises:

[0031] a processor configured to execute computer executable instructions;

[0032] The memory stores one or more computer executable instructions. When the computer executable instructions are executed by the processor, the various steps of the above-mentioned processing method for ensuring accurate synchronization between the axis movement position and the port output are implemented.

[0033] The processor of the present invention is used to implement the processing of ensuring accurate synchronization between the axis movement position and the port output, wherein the processor is configured to execute computer executable instructions, and when the computer executable instructions are executed by the processor, the various steps of the above-mentioned processing method for ensuring accurate synchronization between the axis movement position and the port output are implemented.

[0034] The computer-readable storage medium of the present invention stores a computer program thereon, and the computer program can be executed by a processor to implement the various steps of the above-mentioned processing method for ensuring accurate synchronization between the axis movement position and the port output.

[0035] In a specific implementation of the present invention, it is achieved to dynamically find the position point closest to the port requiring synchronous output during the processing process, and control the synchronous output of the port.

[0036] The specific implementation steps of the present invention are:

[0037] (1) Calculate the multiple relationship between the square of the distance between the actual position and the target position in the current cycle and the square of the velocity vector in the current cycle.

[0038] const s64_nDisAxis0=_ioSynCmd->tarPos.nAxis0-_nCurPosAxis0;

[0039] const s64_nDisAxis1=_ioSynCmd->tarPos.nAxis1-_nCurPosAxis1;

[0040] s64_nAxis0Vel=(s64)_nVelAxis0;

[0041] s64_nAxis1Vel=(s64)_nVelAxis1;

[0042] DEVIATION_VALUE_nDeviation=IoSyn_GetCurrentPosDeviation(_nDisAxis0*_nDisAxis0+_nDisAxis1*_nDisAxis1,_nAxis0Vel*_nAxis0Vel+_nAxis1Vel*_nAxis1Vel);

[0043] (2) If the current multiple is 1, it is considered that the optimal point that needs to be synchronized has been found, and the port can be directly controlled to synchronize the output in the current cycle.

[0044] if(_nDeviation==DEVIATION_PERIOD_ONE)

[0045] IoSyn_ProcessPortInfo(&_ioSynCmd->ioSynData);

[0046] (3) Otherwise, determine whether the current cycle multiple is greater than 4, and the cycle multiple calculated in the previous cycle is less than or equal to 4, indicating that the point will deviate more and more from the optimal point. In this case, the port data can be directly processed in the current cycle. Otherwise, the current cycle will not be processed and the multiple of the next cycle will continue to be determined (because the next cycle may move toward the optimal point).

[0047]

[0048]

[0049] (4) Otherwise (i.e., condition 3 is not satisfied), if the current multiple is greater than the previous cycle multiple (indicating that the data is moving further and further away from the optimal point), the current port data is processed directly; otherwise, the current cycle is not processed (because the next cycle may move closer to the optimal point).

[0050]

[0051] The interface for obtaining multiples is as follows:

[0052]

[0053]

[0054] The technical solution of the present invention has a maximum error range in the actual implementation process, that is, the error range of the actual trajectory from the optimal point is usually no more than 4. If the distance corresponding to the cycle is greater than this distance, the actual trajectory has deviated too much from the expected trajectory, and the processing is meaningless.

[0055] from Figure 2 It can be seen that this scheme can find a feedback position point that is closest to the target instruction position, thereby ensuring that the synchronous port output is executed at the optimal point. Figure 2 The changing trend of the distance between the actual trajectory and the optimal point is shown, which shows that it first approaches the optimal point and then moves away from it. Figure 2 The specific values ​​in the table are irrelevant to this technical solution.

[0056] The technical solution of the present invention is completely implemented based on a soft core; the technical solution of the present invention calculates and judges the strategy for finding the optimal point in real time, and dynamically finds the optimal point; the port synchronization of the technical solution of the present invention can synchronize various bit ports and analog ports, not necessarily specific ports related to laser cutting.

[0057] In the specification of the present invention, the current target position refers to the target position data cached at the head of the IO synchronization instruction queue of the current controller.

[0058] The current actual position indicates the actual position data fed back by the encoder of the current servo.

[0059] nDisAxis0 represents the projection of the vector from the current actual position to the current target position in the direction of axis 0 (X axis).

[0060] nDisAxis1 represents the projection of the vector from the current actual position to the current target position in the direction of axis 1 (Y axis).

[0061] nAxis0Vel represents the projection of the velocity vector of the current cycle in the direction of axis 0 (X axis).

[0062] _nAxis1Vel represents the projection of the velocity vector of the current cycle in the direction of axis 1 (Y axis).

[0063] nDeviation represents the multiple relationship between the square of the distance between the current actual position and the target position and the square of the current periodic velocity vector.

[0064] DEVIATION_PERIOD_ONE means that the square of the distance between the current actual position and the target position is a multiple of the square of the current period velocity vector, which is 1.

[0065] The specific implementation scheme of this embodiment can refer to the relevant description in the above embodiment, which will not be repeated here.

[0066] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0067] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0068] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0069] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution device. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0070] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the corresponding program may be stored in a computer-readable storage medium, which, when executed, includes one of the steps of the method embodiment or a combination thereof.

[0071] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0072] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0073] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0074] The processing method, device, processor and computer-readable storage medium of the present invention are used to ensure accurate synchronization between the axis movement position and the port output, which can ensure the synchronous output of the port data at the desired optimal actual position and can effectively control the synchronous output of the port, and has a wide range of applications.

[0075] In this specification, the present invention has been described with reference to specific embodiments thereof. However, it is apparent that various modifications and variations may be made without departing from the spirit and scope of the present invention. Therefore, the specification and drawings should be regarded as illustrative rather than restrictive.

Claims

1. A processing method for ensuring accurate synchronization between the axis motion position and the port output, characterized in that: The method comprises the following steps: (1) Calculate the multiple relationship between the square of the distance between the actual position and the target position in the current cycle and the square of the velocity vector in the current cycle; (2) Determine whether the current multiple is 1. If so, obtain the optimal point that needs to be synchronized, and directly control the port to output synchronously in the current cycle; otherwise, proceed to step (3); (3) If the point gradually deviates from the optimal point, if so, the port data is directly processed in the current cycle; otherwise, it is not processed in the current cycle and the multiple of the next cycle is determined.

2. The processing method for ensuring accurate synchronization between the axis motion position and the port output according to claim 1 is characterized in that: The step (3) specifically comprises the following steps: Determine whether the current cycle multiple is greater than 4, and the cycle multiple calculated in the previous cycle is less than or equal to 4. If so, directly process the port data in the current cycle; otherwise, do not process it in the current cycle and continue to determine the multiple of the next cycle.

3. The processing method for ensuring accurate synchronization between the axis motion position and the port output according to claim 1 is characterized in that: The step (4) further comprises the following steps: Determine whether the current cycle multiple is greater than the previous cycle multiple. If so, directly process the current port data; otherwise, do not process the current cycle.

4. A device for ensuring accurate synchronization of shaft motion position and port output, characterized in that: The device comprises: a processor configured to execute computer executable instructions; A memory storing one or more computer executable instructions, wherein when the computer executable instructions are executed by the processor, the steps of the processing method for ensuring accurate synchronization between the axis motion position and the port output as described in any one of claims 1 to 3 are implemented.

5. A processor for implementing a process for ensuring accurate synchronization of an axis motion position and a port output, characterized in that: The processor is configured to execute computer executable instructions. When the computer executable instructions are executed by the processor, the various steps of the processing method for ensuring accurate synchronization between the axis movement position and the port output as described in any one of claims 1 to 3 are implemented.

6. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program can be executed by a processor to implement the various steps of the processing method for ensuring accurate synchronization between the axis movement position and the port output as described in any one of claims 1 to 3.

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