Servo control system and method of cable lifting in-place device and storage medium

Abstract

The invention discloses a servo control system and method for a cable lifting in-place device and a storage medium. A real-time controller module, a servo driver module, a sensor module, an upper computer, a multi-axis sequential control module and a control panel are arranged; the real-time controller module, the servo driver module, the sensor module, the upper computer and the multi-axis time sequence control module communicate with the control panel, so that under the action of the servo control system, a mechanical structure is driven, and multi-axis synchronous control in the axis direction is achieved. The technical problems that in the prior art, when a cable is lifted, the high-power servo control adjusting capacity is poor, so that the automation degree of a cable lifting in-place device is low, and the lifting completion rate is low are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of cable lifting devices, and in particular relates to a servo control system, method and storage medium for a cable lifting device. Background Art

[0002] In the prior art, when the cable lifting device is lifting the cable, the cable lifting device needs to move along the length direction of the cable and control the cable lifting while moving. A high-power servo controller is required to lift the cable, and under the control of the servo controller, the structural parts are driven to achieve multi-axis control along the axial direction. However, the servo control system in the prior art cannot communicate information with each system well, and the adjustment ability of the servo control system is poor, resulting in a low degree of automation of the cable lifting device and a low lifting completion rate.

[0003] A new servo control system is needed to solve the above technical problems. Summary of the invention

[0004] The object of the present invention is to provide a servo control system for a cable lifting device, which is used to solve the technical problems of low automation degree and low lifting completion rate of the cable lifting device in the prior art.

[0005] The present invention also aims to provide a servo control method for a cable lifting and positioning device.

[0006] Another object of the present invention is to provide a computer-readable storage medium.

[0007] The technical solution of the present invention to solve the technical problem is:

[0008] A servo control system for a cable lifting and positioning device, comprising:

[0009] A real-time controller module is used to process input signals, execute control algorithm programs, generate control instructions, and send control instructions to the servo drive module;

[0010] The servo driver module is used to execute the control instructions issued by the real-time controller module, drive the mechanical movement and feed back the actual position information of the mechanical movement to the real-time controller module;

[0011] The sensor module is used to detect the state information and position information of the mechanical movement, and feed back the state information and position information of the mechanical movement to the real-time controller module;

[0012] The host computer is used to display and save the multi-axis motor control quantity information of the real-time controller module and the actual position information fed back by the servo driver module, and provide a human-computer interaction interface;

[0013] Multi-axis timing control module, used to coordinate the motion relationship and timing relationship between the motors of each axis;

[0014] The control panel is used to coordinate and manage the communication and control processes between various modules, and provide access and control channels to the underlying hardware resources;

[0015] The real-time controller module, servo drive module, sensor module, host computer and multi-axis timing control module all communicate with the control board.

[0016] Furthermore, the real-time controller module comprises:

[0017] A task scheduling unit, used to manage the task scheduling of the servo control system;

[0018] Communication unit, used to realize data exchange and communication between the controller and the servo motor, sensor and host computer;

[0019] The trajectory control unit is used to receive control instructions; calculate the motion trajectory and state of each axis motor through a preset trajectory algorithm and control logic, and output the corresponding control voltage; receive sensor signals and perform corresponding feedback control.

[0020] The control instructions include position instructions, speed instructions and torque instructions.

[0021] Furthermore, the servo drive module comprises:

[0022] Servo motor unit, used to convert control instructions into rotation operations to perform mechanical movements;

[0023] The motor control algorithm unit is used to realize the speed and position control of each axis motor; according to the control instructions issued by the real-time controller module, the input voltage or input current of each axis motor is calculated;

[0024] The servo drive unit is used to receive control instructions, convert the received control instructions into switching signals of the inverter that controls the drive motor, and feed back the status information of the servo motor to the trajectory control unit.

[0025] Furthermore, the sensor module comprises:

[0026] The sensor unit is used to detect and collect system parameters during mechanical movement, and feed back the collected system parameters to the data processing unit;

[0027] The data processing unit is used to filter and process the received sensor data, extract the state information and position information of the mechanical movement, and send the state information and position information to the real-time controller module.

[0028] The multi-axis timing control module comprises:

[0029] The timing planning unit is used to plan the timing relationship between the axes according to the processing technology and motion requirements;

[0030] The synchronous control unit is used to control the motors of each axis to achieve motion synchronization between the motors of each axis.

[0031] A servo control method for a cable lifting device comprises the following steps:

[0032] Y1: The real-time controller module reads the operation instruction and determines whether to start the servo control system. If so, execute step Y2; if not, shut down the cable lifting device;

[0033] Y2: Initialize the servo control system. The real-time controller module sets the mechanical motion parameters and working mode. The servo driver module calculates the mechanical motion trajectory. The multi-axis timing control module calculates the multi-axis control quantity and sends the calculation results to the real-time controller module, which generates control instructions.

[0034] Y3: Determine whether there is a deviation in the control instruction. If so, compensate the control amount of the control instruction and execute step Y3; if not, send the control instruction to the servo driver module, and the servo driver module drives the mechanical movement.

[0035] Furthermore, it also includes a control instruction conversion method for a servo drive, a servo timing control method for multi-axis timing, a trajectory optimization control method for a real-time controller, a torque control method for a servo motor, a task scheduling method for a timing planning unit, and a time compensation method for a synchronous control unit;

[0036] The control instruction conversion method of the servo drive comprises the following steps:

[0037] S1: The servo driver module receives and decodes the control instructions from the real-time controller module;

[0038] S2: The servo driver uses the PWM duty cycle to calculate the current signal corresponding to the decoded control instruction;

[0039] S3: adjusting the input voltage or current of each axis motor according to the current signal, the difference between the current speed of each axis motor and the expected speed, and the difference between the current position of each axis motor and the expected position;

[0040] The servo timing control method of multi-axis timing includes the following steps:

[0041] Motion trajectory planning: Calculate and plan the motion trajectory of each axis according to the system's process requirements and motion parameters;

[0042] Real-time control: According to the instructions of the task scheduling unit and the feedback data of the sensor module, the control instructions are calculated and sent to the servo drive module in real time to drive the axis motor to move;

[0043] Data processing and analysis: Filter, process and analyze the data collected by the sensor module to extract useful information or calculate specified parameters;

[0044] Synchronous control: Based on the timing parameters calculated by the timing planning unit, the closed-loop synchronous control algorithm is used to coordinate the control of each axis, so that multiple axes can perform synchronous precision control movements according to the set timing; System status monitoring and abnormality handling: Real-time monitoring of the system status parameters and the working status of each module, detection of abnormal conditions or faults, and taking protective measures once abnormalities or faults are detected;

[0045] The trajectory optimization control method of the real-time controller comprises the following steps:

[0046] The motion trajectory is calculated based on the motion parameter data, initial position, initial velocity, and acceleration fed back by the sensor. The specific calculation formula is:

[0047]

[0048] e(t)=[[e′ x,1 (t); ...; e′ x,i (t)],[e′ y,1 (t); ...; e′ y,i (t)]],i=1,…,n

[0049]

[0050] Among them, e x (t) represents the x-axis motion displacement error in the coordinate system; e y (t) represents the y-axis motion displacement error in the coordinate system; x0 represents the initial position; v0 represents the initial velocity; a represents the acceleration; t represents the motion time; Represents the motion parameter data of the X-axis; Represents the motion parameter data of the Y axis; e′ x,1 (t) represents the column vector of the first axis error of the multi-axis control system in the x-axis motion displacement of the coordinate system; e′ y,1 (t) represents the column vector of the first axis error of the multi-axis control system in the y-axis motion displacement of the coordinate system; e′ x,i (t) represents the column vector of the i-axis error of the multi-axis control system in the x-axis motion displacement of the coordinate system; e′ y,i(t) represents the column vector of the i-th axis error of the multi-axis control system in the y-axis motion displacement of the coordinate system; n represents the number of axes of the multi-axis control system; e(t) represents the motion trajectory error; d(t) represents the motion trajectory information; λ p represents the proportionality coefficient; λ q represents the integral coefficient; λ m represents the differential coefficient;

[0051] The torque control method of the servo motor comprises the following steps:

[0052] Q1: Calculate the motor control quantity of each axis according to the motor running angular velocity, the motor angular velocity, moment of inertia and torque target value obtained by the sensor and the current axis motor state. The specific calculation formula is:

[0053]

[0054] Where, E represents the output torque; J represents the moment of inertia; a w represents angular acceleration, D represents damping coefficient, and w represents motor running angular velocity; represents the motor angular velocity obtained by the sensor; m represents the motor mass; Δu represents the multi-axis motor control quantity; The current in the motor obtained by the sensor; i x represents the motor running current; η represents the torque constant; p n represents the number of pole pairs;

[0055] Q2: Input the calculated multi-axis motor control quantity into the servo driver;

[0056] The task scheduling method of the timing planning unit includes the following steps:

[0057] R1: Use the task scheduling algorithm to assign task priorities according to the motion trajectory information, set the time slice length, put the tasks into the queue according to the priority order of the tasks, and then take out the tasks one by one according to the queue order and execute a time slice. When a time slice is used up, the current task is suspended and the system switches to the next task until all tasks are completed on time, and the execution time and scheduling order of the tasks are obtained;

[0058] R2: According to the execution time and scheduling order of the tasks, the timing parameters are calculated to determine the motion timing and time interval of each axis, and a closed-loop control strategy is adopted to generate control instructions based on the motion parameter data fed back by the sensor and the motion trajectory information. The specific calculation formula is:

[0059] s={T1,e x,y (t),φ x,y (t),v,a,E,E l};

[0060]

[0061] e1(s)=r(s)-d(s),d(t)∈{d(s)}

[0062]

[0063] Among them, S represents the timing parameter; T1 represents the time interval; e x,y (t) represents the motion displacement error in the coordinate system; φ x,y (t) represents the phase difference of motion in the coordinate system; ν represents the initial velocity; E l represents the load moment; A column vector representing the motion parameter data of the 1st to ith axes of the multi-axis control system in the x-axis in the sensor feedback data; represents the column vector of the motion parameter data of the 1st to ith axis of the multi-axis control system in the y-axis in the data fed back by the sensor; r(s) represents the column vector of the motion parameter data fed back by the sensor; e1(s) represents the error between the motion parameter data fed back by the sensor and the actual motion parameter data; d(s) represents the actual motion parameter data; d1(s) represents the generated control instruction;

[0064] R3: According to the control instructions, coordinate and control each axis, monitor the system status and parameter changes in real time, and adjust the control instructions in time;

[0065] The time compensation method of the synchronous control unit comprises the following steps:

[0066] W1: The synchronous control unit monitors the position and speed status information of each axis in real time and receives the timing parameters sent in step R1;

[0067] W2: Compare the monitored status information with the motion timing parameters to determine whether there is a deviation. If there is a deviation, apply compensation and feed back the axis status information and real-time control instructions to the timing planning unit. The specific formula of the compensation strategy is:

[0068] Δt=K×(T1-T);

[0069] Among them, Δt represents the time compensation amount; K represents the time compensation coefficient; T represents the current time of the system.

[0070] A computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the device where the computer-readable storage medium is located executes a servo control method for a cable lifting device.

[0071] The beneficial effects of the present invention are as follows: a real-time controller module is provided to process input signals, execute control algorithm programs, generate control instructions and send the control instructions to a servo driver module; a servo driver module is provided to execute control instructions issued by the real-time controller module, drive mechanical motion and feed back actual position information of the mechanical motion to the real-time controller module; a sensor module is provided to detect state information and position information of the mechanical motion, and feed back the state information and position information of the mechanical motion to the real-time controller module; a host computer is provided to display and save multi-axis motor control quantity information of the real-time controller module and actual position information fed back by the servo driver module, and to provide a human-computer interaction interface; a multi-axis timing control module is provided to coordinate the motion relationship and timing relationship between the motors of each axis; a control board is provided to coordinate and manage the communication and control processes between the modules, and provide access and control channels to the underlying hardware resources; the real-time controller module, the servo driver module, the sensor module, the host computer and the multi-axis timing control module all communicate with the control board. The servo control system drives the mechanical structure to realize multi-axis synchronous control along the axis direction, thereby solving the technical problems in the prior art of poor adjustment capability of high-power servo control during cable lifting, resulting in low automation degree and low lifting completion rate of the cable lifting device. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 It is a structural schematic diagram of the servo control system of the present invention;

[0073] Figure 2 is a flow chart of the servo control method of the present invention. DETAILED DESCRIPTION

[0074] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0075] Embodiment 1:

[0076] like Figure 1 As shown, the present invention discloses a servo control system for a cable lifting device, comprising:

[0077] The real-time controller module is used to process input signals, execute control algorithm programs, generate control instructions and send the control instructions to the servo drive module; the control instructions include position instructions, speed instructions and torque instructions.

[0078] Specifically, the real-time controller module includes:

[0079] A task scheduling unit, used to manage the task scheduling of the servo control system;

[0080] Communication unit, used to realize data exchange and communication between the controller and the servo motor, sensor and host computer;

[0081] The trajectory control unit is used to receive control instructions; calculate the motion trajectory and state of each axis motor through a preset trajectory algorithm and control logic, and output the corresponding control voltage; receive sensor signals and perform corresponding feedback control.

[0082] The servo driver module is used to execute the control instructions issued by the real-time controller module, drive the mechanical movement and feed back the actual position information of the mechanical movement to the real-time controller module;

[0083] Specifically, the servo drive module includes:

[0084] Servo motor unit, used to convert control instructions into rotation operations to perform mechanical movements;

[0085] The motor control algorithm unit is used to realize the speed and position control of each axis motor; according to the control instructions issued by the real-time controller module, the input voltage or input current of each axis motor is calculated;

[0086] The servo drive unit is used to receive control instructions, convert the received control instructions into switching signals of the inverter that controls the drive motor, and feed back the status information of the servo motor to the trajectory control unit.

[0087] The sensor module is used to detect the state information and position information of the mechanical movement, and feed back the state information and position information of the mechanical movement to the real-time controller module;

[0088] Specifically, the sensor module includes:

[0089] The sensor unit is used to detect and collect system parameters during mechanical movement, and feed back the collected system parameters to the data processing unit;

[0090] The data processing unit is used to filter and process the received sensor data, extract the state information and position information of the mechanical movement, and send the state information and position information to the real-time controller module.

[0091] The host computer is used to display and save the multi-axis motor control quantity information of the real-time controller module and the actual position information fed back by the servo driver module, and provide a human-computer interaction interface;

[0092] Multi-axis timing control module, used to coordinate the motion relationship and timing relationship between the motors of each axis;

[0093] Specifically, the multi-axis timing control module includes:

[0094] The timing planning unit is used to plan the timing relationship between the axes according to the processing technology and motion requirements;

[0095] The synchronous control unit is used to control the motors of each axis to achieve motion synchronization between the motors of each axis.

[0096] The control panel is used to coordinate and manage the communication and control processes between various modules, and provide access and control channels to the underlying hardware resources;

[0097] The real-time controller module, servo drive module, sensor module, host computer and multi-axis timing control module all communicate with the control board.

[0098] Embodiment 2:

[0099] A servo control method for a cable lifting device comprises the following steps:

[0100] Y1: The real-time controller module reads the operation instruction and determines whether to start the servo control system. If so, execute step Y2; if not, shut down the cable lifting device;

[0101] Y2: Initialize the servo control system. The real-time controller module sets the mechanical motion parameters and working mode. The servo driver module calculates the mechanical motion trajectory. The multi-axis timing control module calculates the multi-axis control quantity and sends the calculation results to the real-time controller module, which generates control instructions.

[0102] Y3: Determine whether there is a deviation in the control instruction. If so, compensate the control amount of the control instruction and execute step Y3; if not, send the control instruction to the servo driver module, and the servo driver module drives the mechanical movement.

[0103] The servo control method also includes a control instruction conversion method for a servo drive, a servo timing control method for a multi-axis timing, a trajectory optimization control method for a real-time controller, a torque control method for a servo motor, a task scheduling method for a timing planning unit, and a time compensation method for a synchronous control unit;

[0104] The control instruction conversion method of the servo drive comprises the following steps:

[0105] S1: The servo driver module receives and decodes the control instructions from the real-time controller module;

[0106] S2: The servo driver uses the PWM duty cycle to calculate the current signal corresponding to the decoded control instruction;

[0107] S3: adjusting the input voltage or current of each axis motor according to the current signal, the difference between the current speed of each axis motor and the expected speed, and the difference between the current position of each axis motor and the expected position;

[0108] The servo timing control method of multi-axis timing includes the following steps:

[0109] Motion trajectory planning: Calculate and plan the motion trajectory of each axis according to the system's process requirements and motion parameters;

[0110] Real-time control: According to the instructions of the task scheduling unit and the feedback data of the sensor module, the control instructions are calculated and sent to the servo drive module in real time to drive the axis motor to move;

[0111] Data processing and analysis: Filter, process and analyze the data collected by the sensor module to extract useful information or calculate specified parameters;

[0112] Synchronous control: Based on the timing parameters calculated by the timing planning unit, the closed-loop synchronous control algorithm is used to coordinate the control of each axis, so that multiple axes can perform synchronous precision control movements according to the set timing; System status monitoring and abnormality handling: Real-time monitoring of the system status parameters and the working status of each module, detection of abnormal conditions or faults, and taking protective measures once abnormalities or faults are detected;

[0113] The trajectory optimization control method of the real-time controller comprises the following steps:

[0114] The motion trajectory is calculated based on the motion parameter data, initial position, initial velocity, and acceleration fed back by the sensor. The specific calculation formula is:

[0115]

[0116] e(t)=[[e′ x,1 (t); ...; e′ x,i (t)],[e′ y,1 (t); ...; e′ y,i (t)]],i=1,…,n

[0117]

[0118] Among them, e x (t) represents the x-axis motion displacement error in the coordinate system; e y (t) represents the y-axis motion displacement error in the coordinate system; x0 represents the initial position; v0 represents the initial velocity; a represents the acceleration; t represents the motion time; Represents the motion parameter data of the X-axis; Represents the motion parameter data of the Y axis; e′ x,1 (t) represents the column vector of the first axis error of the multi-axis control system in the x-axis motion displacement of the coordinate system; e′ y,1(t) represents the column vector of the first axis error of the multi-axis control system in the y-axis motion displacement of the coordinate system; e′ x,i (t) represents the column vector of the i-axis error of the multi-axis control system in the x-axis motion displacement of the coordinate system; e′ y,i (t) represents the column vector of the i-th axis error of the multi-axis control system in the y-axis motion displacement of the coordinate system; n represents the number of axes of the multi-axis control system; e(t) represents the motion trajectory error; d(t) represents the motion trajectory information; λ p represents the proportionality coefficient; λ q represents the integral coefficient; λ m represents the differential coefficient;

[0119] The torque control method of the servo motor comprises the following steps:

[0120] Q1: Calculate the motor control quantity of each axis according to the motor running angular velocity, the motor angular velocity, moment of inertia and torque target value obtained by the sensor and the current axis motor state. The specific calculation formula is:

[0121]

[0122] Where, E represents the output torque; J represents the moment of inertia; a w represents angular acceleration, D represents damping coefficient, and w represents motor running angular velocity; represents the motor angular velocity obtained by the sensor; m represents the motor mass; Δu represents the multi-axis motor control quantity; The current in the motor obtained by the sensor; i x represents the motor running current; η represents the torque constant; p n represents the number of pole pairs;

[0123] Q2: Input the calculated multi-axis motor control quantity into the servo driver;

[0124] The task scheduling method of the timing planning unit includes the following steps:

[0125] R1: Use the task scheduling algorithm to assign task priorities according to the motion trajectory information, set the time slice length, put the tasks into the queue according to the priority order of the tasks, and then take out the tasks one by one according to the queue order and execute a time slice. When a time slice is used up, the current task is suspended and the system switches to the next task until all tasks are completed on time, and the execution time and scheduling order of the tasks are obtained;

[0126] R2: According to the execution time and scheduling order of the tasks, the timing parameters are calculated to determine the motion timing and time interval of each axis, and a closed-loop control strategy is adopted to generate control instructions based on the motion parameter data fed back by the sensor and the motion trajectory information. The specific calculation formula is:

[0127] s={T1,e x,y (t),φ x,y (t),v,a,E,E l};

[0128]

[0129] e1(s)=r(s)-d(s),d(t)∈{d(s)}

[0130]

[0131] Among them, S represents the timing parameter; T1 represents the time interval; e x,y (t) represents the motion displacement error in the coordinate system; φ x,y (t) represents the phase difference of motion in the coordinate system; ν represents the initial velocity; E l represents the load moment; A column vector representing the motion parameter data of the 1st to ith axes of the multi-axis control system in the x-axis in the sensor feedback data; represents the column vector of the motion parameter data of the 1st to ith axis of the multi-axis control system in the y-axis in the data fed back by the sensor; r(s) represents the column vector of the motion parameter data fed back by the sensor; e1(s) represents the error between the motion parameter data fed back by the sensor and the actual motion parameter data; d(s) represents the actual motion parameter data; d1(s) represents the generated control instruction;

[0132] R3: According to the control instructions, coordinate and control each axis, monitor the system status and parameter changes in real time, and adjust the control instructions in time;

[0133] The time compensation method of the synchronous control unit comprises the following steps:

[0134] W1: The synchronous control unit monitors the position and speed status information of each axis in real time and receives the timing parameters sent in step R1;

[0135] W2: Compare the monitored status information with the motion timing parameters to determine whether there is a deviation. If there is a deviation, apply compensation and feed back the axis status information and real-time control instructions to the timing planning unit. The specific formula of the compensation strategy is:

[0136] Δt=K×(T1-T);

[0137] Among them, Δt represents the time compensation amount; K represents the time compensation coefficient; T represents the current time of the system.

[0138] Embodiment 3:

[0139] A computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the device where the computer-readable storage medium is located executes a servo control method for a cable lifting device.

[0140] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

Claims

1. A servo control system for a cable lifting device, characterized in that: include: A real-time controller module is used to process input signals, execute control algorithm programs, generate control instructions, and send control instructions to the servo drive module; The servo driver module is used to execute the control instructions issued by the real-time controller module, drive the mechanical movement and feed back the actual position information of the mechanical movement to the real-time controller module; The sensor module is used to detect the state information and position information of the mechanical movement, and feed back the state information and position information of the mechanical movement to the real-time controller module; The host computer is used to display and save the multi-axis motor control quantity information of the real-time controller module and the actual position information fed back by the servo driver module, and provide a human-computer interaction interface; Multi-axis timing control module, used to coordinate the motion relationship and timing relationship between the motors of each axis; The control panel is used to coordinate and manage the communication and control processes between various modules, and provide access and control channels to the underlying hardware resources; The real-time controller module, servo drive module, sensor module, host computer and multi-axis timing control module all communicate with the control board.

2. The servo control system of the cable lifting device according to claim 1, characterized in that: The real-time controller module comprises: A task scheduling unit, used for managing task scheduling of the servo control system; Communication unit, used to realize data exchange and communication between the controller and the servo motor, sensor and host computer; The trajectory control unit is used to receive control instructions; calculate the motion trajectory and state of each axis motor through a preset trajectory algorithm and control logic, and output the corresponding control voltage; receive sensor signals and perform corresponding feedback control.

3. The servo control system of the cable lifting device as claimed in claim 2, characterized in that: The control instructions include position instructions, speed instructions and torque instructions.

4. The servo control system of the cable lifting device according to claim 1, characterized in that: The servo drive module comprises: Servo motor unit, used to convert control instructions into rotation operations to perform mechanical movements; The motor control algorithm unit is used to realize the speed and position control of each axis motor; according to the control instructions issued by the real-time controller module, the input voltage or input current of each axis motor is calculated; The servo drive unit is used to receive control instructions, convert the received control instructions into switching signals of the inverter that controls the drive motor, and feed back the status information of the servo motor to the trajectory control unit.

5. The servo control system of the cable lifting device as claimed in claim 1, characterized in that: The sensor module comprises: The sensor unit is used to detect and collect system parameters during mechanical movement, and feed back the collected system parameters to the data processing unit; The data processing unit is used to filter and process the received sensor data, extract the state information and position information of the mechanical movement, and send the state information and position information to the real-time controller module.

6. The servo control system of the cable lifting device as claimed in claim 1, characterized in that: The multi-axis timing control module comprises: The timing planning unit is used to plan the timing relationship between the axes according to the processing technology and motion requirements; the synchronization control unit is used to control the motors of each axis to achieve motion synchronization between the motors of each axis.

7. A servo control method for a cable lifting device, characterized in that: The following steps are involved: Y1: The real-time controller module reads the operation instruction and determines whether to start the servo control system. If so, execute step Y2; if not, shut down the cable lifting device; Y2: Initialize the servo control system. The real-time controller module sets the mechanical motion parameters and working mode. The servo driver module calculates the mechanical motion trajectory. The multi-axis timing control module calculates the multi-axis control quantity and sends the calculation results to the real-time controller module, which generates control instructions. Y3: Determine whether there is a deviation in the control instruction. If so, compensate the control amount of the control instruction and execute step Y3; if not, send the control instruction to the servo driver module, and the servo driver module drives the mechanical movement.

8. The servo control method for the cable lifting device as claimed in claim 7, characterized in that: It also includes a control instruction conversion method for a servo drive, a servo timing control method for multi-axis timing, a trajectory optimization control method for a real-time controller, a torque control method for a servo motor, a task scheduling method for a timing planning unit, and a time compensation method for a synchronous control unit; The control instruction conversion method of the servo drive comprises the following steps: S1: The servo driver module receives and decodes the control instructions from the real-time controller module; S2: The servo driver uses the PWM duty cycle to calculate the current signal corresponding to the decoded control instruction; S3: adjusting the input voltage or current of each axis motor according to the current signal, the difference between the current speed of each axis motor and the expected speed, and the difference between the current position of each axis motor and the expected position; The servo timing control method of multi-axis timing includes the following steps: Motion trajectory planning: Calculate and plan the motion trajectory of each axis according to the system's process requirements and motion parameters; Real-time control: According to the instructions of the task scheduling unit and the feedback data of the sensor module, the control instructions are calculated and sent to the servo drive module in real time to drive the axis motor to move; Data processing and analysis: Filter, process and analyze the data collected by the sensor module to extract useful information or calculate specified parameters; Synchronous control: Based on the timing parameters calculated by the timing planning unit, the closed-loop synchronous control algorithm is used to coordinate the control of each axis, so that multiple axes can perform synchronous precision control movements according to the set timing; System status monitoring and abnormality handling: Real-time monitoring of the system status parameters and the working status of each module, detection of abnormal conditions or faults, and taking protective measures once abnormalities or faults are detected; The trajectory optimization control method of the real-time controller comprises the following steps: The motion trajectory is calculated based on the motion parameter data, initial position, initial velocity, and acceleration fed back by the sensor. The specific calculation formula is: Among them, e x (t) represents the x-axis motion displacement error in the coordinate system; e y (t) represents the y-axis motion displacement error in the coordinate system; x0 represents the initial position; v0 represents the initial velocity; a represents the acceleration; t represents the motion time; Represents the motion parameter data of the X-axis; Represents the motion parameter data of the Y axis; x ' ,1 (t) represents the column vector of the first axis error of the multi-axis control system in the x-axis motion displacement of the coordinate system; e′ y,1 (t) represents the column vector of the first axis error of the multi-axis control system in the y-axis motion displacement of the coordinate system; e x ' ,i (t) represents the column vector of the i-axis error of the multi-axis control system in the x-axis motion displacement of the coordinate system; e′ y,i (t) represents the column vector of the i-th axis error of the multi-axis control system in the y-axis motion displacement of the coordinate system; n represents the number of axes of the multi-axis control system; e(t) represents the motion trajectory error; d(t) represents the motion trajectory information; λ p represents the proportionality coefficient; λ q represents the integral coefficient; λ m represents the differential coefficient; The torque control method of a servo motor comprises the following steps: Q1: Calculate the motor control quantity of each axis according to the motor running angular velocity, the motor angular velocity, moment of inertia and torque target value obtained by the sensor and the current axis motor state. The specific calculation formula is: Where, E represents the output torque; J represents the moment of inertia; a w represents angular acceleration, D represents damping coefficient, and w represents motor running angular velocity; represents the motor angular velocity obtained by the sensor; m represents the motor mass; Δu represents the multi-axis motor control quantity; The current in the motor obtained by the sensor; i x represents the motor running current; η represents the torque constant; p n represents the number of pole pairs; Q2: Input the calculated multi-axis motor control quantity into the servo driver; The task scheduling method of the timing planning unit includes the following steps: R1: Use the task scheduling algorithm to assign task priorities according to the motion trajectory information, set the time slice length, put the tasks into the queue according to the priority order of the tasks, and then take out the tasks one by one according to the queue order and execute a time slice. When a time slice is used up, the current task is suspended and the system switches to the next task until all tasks are completed on time, and the execution time and scheduling order of the tasks are obtained; R2: According to the execution time and scheduling order of the tasks, the timing parameters are calculated to determine the motion timing and time interval of each axis, and a closed-loop control strategy is adopted to generate control instructions based on the motion parameter data fed back by the sensor and the motion trajectory information. The specific calculation formula is: s={T1,e x,y (t),φ x,y (t),v,a,E,E l }, e1(s)=r(s)-d(s),d(t)∈{d(s)} Among them, S represents the timing parameter; T1 represents the time interval; e x,y (t) represents the motion displacement error in the coordinate system; φ x,y (t) represents the phase difference of motion in the coordinate system; ν represents the initial velocity; E l represents the load moment; A column vector representing the motion parameter data of the 1st to ith axes of the multi-axis control system in the x-axis in the sensor feedback data; represents the column vector of the motion parameter data of the 1st to ith axis of the multi-axis control system in the y-axis in the data fed back by the sensor; r(s) represents the column vector of the motion parameter data fed back by the sensor; e1(s) represents the error between the motion parameter data fed back by the sensor and the actual motion parameter data; d(s) represents the actual motion parameter data; d1(s) represents the generated control instruction; R3: According to the control instructions, coordinate and control each axis, monitor the system status and parameter changes in real time, and adjust the control instructions in time; The time compensation method of the synchronous control unit comprises the following steps: W1: The synchronous control unit monitors the position and speed status information of each axis in real time and receives the timing parameters sent in step R1; W2: Compare the monitored status information with the motion timing parameters to determine whether there is a deviation. If there is a deviation, apply compensation and feed back the axis status information and real-time control instructions to the timing planning unit. The specific formula of the compensation strategy is: Δt=K×(T1-T); Among them, Δt represents the time compensation amount; K represents the time compensation coefficient; T represents the current time of the system.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the device where the computer-readable storage medium is located executes the control method according to any one of claims 7 or 8.

Images