The method, device, processor and computer readable storage medium for processing ensure the accurate synchronization of the shaft motion position and the port output

Abstract

The present application relates to a kind of processing method for realizing the synchronization of shaft motion position and port output, comprising the following steps: the square of the distance of current cycle actual position and target position is multiplied with the square of current cycle speed vector relationship;Judge whether current multiple is 1, if yes, then get the optimal point that needs to be synchronized, directly control port current cycle synchronization output;Otherwise, if point gradually deviates from the optimal point, if yes, then directly handle port data in current cycle;Otherwise, do not handle in current cycle, continue to judge the multiple of next cycle.The present application also relates to a kind of device for realizing the synchronization of shaft motion position and port output, processor and its computer readable storage medium.Using the processing method for realizing the synchronization of shaft motion position and port output, device, processor and its computer readable storage medium of the present application, guarantee the synchronization of port data in the desired optimal actual position, and can effectively control the synchronization output of port, with wide application range.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of numerical control machining, in particular to the field of shaft motion and port control synchronization, and more particularly to a processing method and device for ensuring accurate synchronization of shaft motion position and port output, a processor and a computer readable storage medium thereof. BACKGROUND

[0002] The laser line-speed power and frequency adjustment function has the problems of unstable power frequency adjustment and lag, and the adjustment effect of the prior art products is quite different, which needs the support of firmware to provide synchronization function for general ports to solve the problem. SUMMARY

[0003] The present application overcomes the shortcomings of the prior art, and provides a processing method and device for ensuring accurate synchronization of shaft motion position and port output, a processor and a computer readable storage medium thereof, which have high accuracy, are easy to operate, and are widely applicable.

[0004] To achieve the above-mentioned purpose, the processing method, device, processor and computer readable storage medium for ensuring accurate synchronization of shaft motion position and port output of the present application are as follows:

[0005] The processing method for ensuring accurate synchronization of shaft motion position and port output mainly comprises the following steps:

[0006] (1) calculating the square of the distance between the actual position and the target position in the current period and the square of the speed vector in the current period;

[0007] (2) determining whether the current multiple is 1, if yes, obtaining the optimal point that needs to be synchronized, and directly controlling the current period synchronization output of the port; otherwise, continuing step (3);

[0008] (3) if the point gradually deviates from the optimal point, if yes, directly processing the port data in the current period; otherwise, not processing in the current period, and continuing to determine the multiple of the next period.

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

[0010] determining whether the current period multiple is greater than 4 and the period multiple calculated in the last period is less than or equal to 4, if yes, directly processing the port data in the current period; otherwise, not processing in the current period, and continuing to determine the multiple of the next period.

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

[0012] Judge whether the current cycle multiple is greater than the last cycle multiple, if yes, directly process the current port data; otherwise, the current cycle is not processed.

[0013] The device for implementing the processing of ensuring the accurate synchronization of the shaft motion position and the port output, mainly characterized in that the device comprises:

[0014] The processor is configured to execute computer executable instructions.

[0015] The memory stores one or more computer executable instructions, which, when executed by the processor, implement each step of the processing method for implementing the processing of ensuring the accurate synchronization of the shaft motion position and the port output.

[0016] The processor for implementing the processing of ensuring the accurate synchronization of the shaft motion position and the port output, mainly characterized in that the processor is configured to execute computer executable instructions, which, when executed by the processor, implement each step of the processing method for implementing the processing of ensuring the accurate synchronization of the shaft motion position and the port output.

[0017] The computer readable storage medium, mainly characterized in that a computer program is stored thereon, which can be executed by a processor to implement each step of the processing method for implementing the processing of ensuring the accurate synchronization of the shaft motion position and the port output.

[0018] The processing method, device, processor and computer readable storage medium for implementing the processing of ensuring the accurate synchronization of the shaft motion position and the port output adopted by the present application can guarantee the synchronization of the output of the port at the desired optimal actual position and effectively control the synchronization output of the port, and have a wide range of applications. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 The flowchart of the processing method for implementing the processing of ensuring the accurate synchronization of the shaft motion position and the port output of the present application.

[0020] Figure 2 The data schematic diagram of the processing method for implementing the processing of ensuring the accurate synchronization of the shaft motion position and the port output of the present application. DETAILED DESCRIPTION

[0021] In order to more clearly describe the technical content of the present application, further description will be made in combination with specific embodiments.

[0022] The processing method for implementing the processing of ensuring the accurate synchronization of the shaft motion position and the port output of the present application, comprising the following steps:

[0023] (1) calculating the square of the distance between the actual position and the target position in the current period and the square of the velocity vector in the current period;

[0024] (2) determining whether the current multiple is 1, if yes, obtaining the optimal point needing synchronization, and directly controlling the port to output in the current period; otherwise, continuing step (3);

[0025] (3) if the point gradually deviates from the optimal point, if yes, directly processing the port data in the current period; otherwise, not processing in the current period, and continuing to determine the multiple of the next period.

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

[0027] determining whether the multiple of the current period is greater than 4 and the multiple of the last period is less than or equal to 4, if yes, directly processing the port data in the current period; otherwise, not processing in the current period, and continuing to determine the multiple of the next period.

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

[0029] determining whether the multiple of the current period is greater than the multiple of the last period, if yes, directly processing the current port data; otherwise, not processing in the current period.

[0030] The device for implementing the processing for ensuring the accurate synchronization between the shaft motion position and the port output of the present application, wherein the device comprises:

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

[0032] a memory storing one or more computer executable instructions, which, when executed by the processor, implement each step of the processing method for ensuring the accurate synchronization between the shaft motion position and the port output.

[0033] The processor for implementing the processing for ensuring the accurate synchronization between the shaft motion position and the port output of the present application, wherein the processor is configured to execute computer executable instructions, which, when executed by the processor, implement each step of the processing method for ensuring the accurate synchronization between the shaft motion position and the port output.

[0034] The computer readable storage medium of the present application, which stores a computer program, wherein the computer program can be executed by a processor to implement each step of the processing method for ensuring the accurate synchronization between the shaft motion position and the port output.

[0035] In the embodiment of the present application, the position point closest to the required synchronization output port is dynamically searched during the processing, and the synchronization output of the port is controlled.

[0036] The embodiment of the present application is as follows:

[0037] (1) The square of the distance between the actual position and the target position in the current period and the square of the velocity vector in the current period are calculated.

[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 for synchronization is found, and the port is directly controlled to output in the current period.

[0044] if(_nDeviation == DEVIATION_PERIOD_ONE)

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

[0046] (3) Otherwise, it is judged whether the multiple in the current period is greater than 4 and the multiple calculated in the last period is less than or equal to 4, which indicates that the point is deviating from the optimal point, and the port data is directly processed in the current period. Otherwise, the current period is not processed, and the multiple in the next period is continued to be judged (because the next period may move towards the optimal point).

[0047]

[0048]

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

[0050]

[0051] The multiple interface is as follows:

[0052]

[0053]

[0054] In the actual execution process of the technical solution of the present application, a maximum error range is that the error range of the actual trajectory distance from the optimal point is usually not more than 4. If the distance corresponding to the cycle is greater than this distance, the actual trajectory has deviated from the expected trajectory too much, and the processing has no meaning.

[0055] From Figure 2 It can be seen that the present solution can find a feedback position point closest to the target instruction position, thereby ensuring the execution of the synchronous port output at the optimal point. Figure 2 The distance change trend of the actual trajectory from the optimal point is shown, which illustrates that the optimal point is first approached and then deviated. Figure 2 The specific numerical values in the table in the present application are irrelevant to the technical solution.

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

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

[0058] The current actual position represents 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 a projection of the velocity vector of the current period in the direction of axis 0 (X axis).

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

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

[0064] DEVIATION_PERIOD_ONE represents that the multiple relationship of the square of the distance between the current actual position and the target position and the square of the velocity vector of the current period is 1.

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

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

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

[0068] Any process or method descriptions in flow charts or otherwise described herein can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for implementing specific logic functions (or steps) in the process, and the various embodiments of the present application include additional implementations in which the order of steps can be different, including use of a different order of executing functions, and "cutting" functions described as sequential into substantially simultaneous or overlapping functions, which can be understood by one of ordinary skill in the art of the embodiments of the present application.

[0069] It should be understood that each part of the present application can be realized by hardware, software, firmware or their combination. In the above embodiments, a plurality of steps or methods can be realized by software or firmware stored in a memory and executed by a suitable instruction execution device. For example, if realized by hardware, and as in another embodiment, it can be realized by any one or their combination of the following technologies known in the art: discrete logic circuit with logic gate circuit for implementing logic function on data signal, application specific integrated circuit with suitable combination logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) and the like.

[0070] Those skilled in the art can understand that all or part of the steps of the method carried out by the above-mentioned embodiments can be instructed by a program to relevant hardware, and the corresponding program can be stored in a computer readable storage medium. When the program is executed, it 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 application can be integrated into one processing module, or each unit can exist physically independently, or two or more units can be integrated into one module. The integrated module can be realized in the form of hardware or in the form of a software functional module. When the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can 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 the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0074] The implementation of the present application ensures that the processing method, device, processor and computer readable storage medium thereof for synchronizing the shaft motion position and the port output accurately, can guarantee the synchronization of the output of the port data at the desired optimal actual position, and can effectively control the synchronization output of the port, and has a wide range of applications.

[0075] In this specification, the present application has been described with reference to its specific embodiments. However, it is obvious that various modifications and changes can be made without departing from the spirit and scope of the present application. Therefore, the specification and drawings should be considered as illustrative rather than limiting.

Claims

1. A processing method for ensuring accurate synchronization between the axis motion position and the port output, characterized in that, The method includes the following steps: (1) Calculate the 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 if the current multiplier is 1. If it is, obtain the optimal point that needs to be synchronized and directly control the port to output synchronously in the current cycle; otherwise, continue to step (3). (3) If the point gradually deviates from the optimal point, then process the port data directly in the current cycle; otherwise, do not process it in the current cycle and continue to judge the multiple of the next cycle. Step (3) specifically includes the following steps: Determine if 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, process the port data directly in the current cycle; otherwise, do not process in the current cycle and continue to determine the multiple of the next cycle. If the current cycle multiple is greater than the previous cycle multiple, process the current port data directly; otherwise, do not process in the current cycle.

2. An apparatus for implementing a process to ensure accurate synchronization between the shaft movement position and the port output, characterized in that, The device includes: A processor is configured to execute computer-executable instructions; The memory stores one or more computer-executable instructions, which, when executed by the processor, implement the steps of the processing method of claim 1 for ensuring accurate synchronization between axis movement position and port output.

3. A processor for implementing a process to ensure accurate synchronization between the axis motion position and the port output, characterized in that, The processor is configured to execute computer-executable instructions, which, when executed by the processor, implement the steps of the processing method of claim 1 for ensuring accurate synchronization between the axis movement position and the port output.

4. A computer-readable storage medium, characterized in that, It stores a computer program that can be executed by a processor to implement the steps of the processing method described in claim 1 for ensuring accurate synchronization between the axis movement position and the port output.

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