Double-drive gantry system operation control method and system and computer readable storage medium

Abstract

The invention provides a double-drive gantry system operation control method and system and a computer readable storage medium, and the method comprises the steps: obtaining a first position feedback signal from a first encoder, obtaining a second position feedback signal from a second encoder, and generating a linear position signal and a synchronous deviation signal; generating a first speed reference signal and a first torque reference signal according to the position command signal and the linear position signal, and generating a second speed reference signal and a second torque reference signal according to the synchronization deviation signal; generating a first pulse width modulation signal for controlling the operation of the first servo motor according to the first torque reference signal and the first decoupling signal; and generating a second pulse width modulation signal for controlling the operation of the second servo motor according to the second torque reference signal and the second decoupling signal. Through cross decoupling based on position errors, the stability and reliability of synchronous control over the two ends of the portal frame are improved.

Description

Technical Field

[0001] The present invention relates to the field of gantry mechanisms, and more specifically, to an operation control method and system for a dual-drive gantry system and a computer-readable storage medium. Background Art

[0002] In the field of industrial automation control, the gantry system is a widely used structural form, which can be divided into single-drive gantry system and dual-drive gantry system according to the control drive mode. Compared with the single-drive gantry system, the dual-drive gantry system has higher positioning accuracy, greater output torque, better dynamic response, and faster operating efficiency, so it is often used in precision manufacturing industry-related equipment with large spans and long strokes.

[0003] like Figure 1 As shown in FIG. 1 , it is a schematic diagram of a typical dual-drive gantry system, which includes two slide rails 11, a gantry, and a processing head or a Z-axis mechanism 14, wherein the gantry may include a crossbeam 12 and sliders located at both ends of the crossbeam 12. The two slide rails 11 are arranged in parallel along the x direction at a certain interval, and the two sliders are respectively mounted on the slide rails 11 and driven by two motors, respectively, and the motors can control the crossbeam 12 to move along the x direction. The processing head or the z-axis mechanism 14 is mounted on the crossbeam 12 and can slide along the length direction Y of the crossbeam.

[0004] For the above dual-drive gantry system, common control methods include:

[0005] Single feedback multiple motors: It is equivalent to connecting two motors in parallel and controlling the two motors simultaneously with one set of control signals, such as Figure 2 This solution is relatively simple to control, but since the consistency between the mechanics and the motor is difficult to ensure, the poor control accuracy of the two motor current loops leads to unbalanced thrust and poor control performance.

[0006] Master-slave control: The controller coordinates the synchronous movement of two drives, such as Figure 3 The disadvantage of this solution is that due to factors such as communication delay and command response delay, the synchronization performance of the two drives will deteriorate in high-speed motion situations. Any disturbance will only be corrected in a single-axis closed loop, while the other axis will not respond. The coupling between axes has a large impact and is not suitable for high-dynamic gantry control. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide a dual-drive gantry system operation control method, system and computer-readable storage medium to address the problem of insufficient stability of synchronous control at both ends of the gantry of the above-mentioned dual-drive gantry system.

[0008] The technical solution of the present invention to solve the above technical problems is to provide an operation control method of a dual-drive gantry system, wherein the dual-drive gantry system includes a gantry, a first servo motor for driving the first end of the gantry to move on a first guide rail, a first servo driver for controlling the operation of the first servo motor, a second servo motor for driving the second end of the gantry to move on a second guide rail, and a second servo driver for controlling the operation of the second servo motor, and the first servo driver and the second servo driver are interconnected via a high-speed bus, and the method includes:

[0009] Acquire a first position feedback signal from a first encoder installed at a first end of the gantry and acquire a second position feedback signal from a second encoder installed at a second end of the gantry, and generate a linear position signal and a synchronization deviation signal according to the first position feedback signal and the second position feedback signal;

[0010] generating a first speed reference signal according to the position command signal and the linear position signal and generating a first torque reference signal according to the first speed reference signal, and generating a second speed reference signal according to the synchronization deviation signal and generating a second torque reference signal according to the second speed reference signal;

[0011] A first pulse width modulation signal for controlling the operation of the first servo motor is generated according to the first torque reference signal and the first decoupling signal; and a second pulse width modulation signal for controlling the operation of the second servo motor is generated according to the second torque reference signal and the second decoupling signal.

[0012] As a further improvement of the present invention, the linear position signal X1 is generated according to the following calculation formula: X1=(Y1+Y2) / 2; the synchronization deviation signal X2 is generated according to the following calculation formula: X2=(Y2-Y1) / 2; wherein Y1 is the first position feedback signal, and Y2 is the second position feedback signal;

[0013] Generating the first speed reference signal according to the position command signal and the linear position signal comprises: taking the difference between the position command signal and the linear position signal as the input of a first position loop, and generating the first speed reference signal by the first position loop;

[0014] Generating a second speed reference signal according to the synchronization deviation signal includes: taking a negative value of the synchronization deviation signal as an input of a second position loop, and generating a second speed reference signal by the second position loop.

[0015] As a further improvement of the present invention, the first decoupling signal is composed of the second torque reference signal, and the second decoupling signal is composed of the first torque reference signal;

[0016] The step of generating a first pulse width modulation signal for controlling the operation of the first servo motor according to the first torque reference signal and the first decoupling signal comprises: taking the difference between the first torque reference signal and the second torque reference signal as the input of a first current loop, and generating a first pulse width modulation signal by the first current loop;

[0017] The method of generating a second pulse width modulation signal for controlling the operation of the second servo motor according to the second torque reference signal and the second decoupling signal includes: taking the sum of the second torque reference signal and the first torque reference signal as the input of the second current loop, and generating a second pulse width modulation signal by the second current loop.

[0018] As a further improvement of the present invention, the method further comprises: performing a differential operation on the position command signal to obtain a speed feedforward signal;

[0019] Generating a first torque reference signal according to the first speed reference signal includes: taking the difference between the first speed reference signal and a speed feedforward signal as an input of a first speed loop, and generating a first torque reference signal by the first speed loop.

[0020] As a further improvement of the present invention, the method further comprises: performing a secondary differential operation on the position command signal to obtain a torque feedforward signal;

[0021] The method of generating a first pulse width modulation signal for controlling the operation of the first servo motor according to the first torque reference signal and the first decoupling signal includes: after superimposing the torque feedforward signal on the first decoupling signal, taking the difference between the first torque reference signal and the first decoupling signal superimposed with the torque feedforward signal as the input of the first current loop, and generating the first pulse width modulation signal by the first current loop.

[0022] As a further improvement of the present invention, the method further comprises:

[0023] Applying a first d-axis current to the first servo motor, and adjusting the electrical angle of the first d-axis current according to the feedback signal of the first encoder, until the displacement corresponding to the feedback signal of the first encoder is zero, thereby obtaining an initial electrical angle of the first servo motor;

[0024] A second d-axis current is applied to the second servo motor, and the electrical angle of the second d-axis current is adjusted according to the feedback signal of the second encoder until the initial electrical angle of the second servo motor is obtained when the displacement corresponding to the feedback signal of the second encoder is zero.

[0025] As a further improvement of the present invention, the first servo motor and the second servo motor are linear motors respectively, and the first encoder and the second encoder are linear encoders respectively.

[0026] The present invention also provides a dual-drive gantry control system for controlling the operation of a servo motor. The control system includes a first servo driver and a second servo driver. The first servo driver and the second servo driver respectively include a memory and a processor. The memory stores a computer program executable by the processor, and the processor implements the steps of the dual-drive gantry system operation control method as described above when executing the computer program.

[0027] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the dual-drive gantry system operation control method as described above are implemented.

[0028] The present invention has the following beneficial effects: a linear position signal and a synchronous deviation signal are generated according to the real-time positions of the two ends of the gantry, and the linear position signal and the synchronous deviation signal are used as position loop compensation signals of the two servo drives, thereby realizing cross-decoupling based on position error, thereby improving the stability and reliability of synchronous control at both ends of the gantry. The present invention also realizes equal load distribution between the master and slave axes by cross-decoupling based on common mode force, effectively reducing the running deviation between the two axes and improving the overall running rigidity. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of an existing single-feedback dual-motor controlled dual-drive gantry system.

[0030] Figure 2 It is a control principle diagram of an existing single-feedback dual-motor controlled dual-drive gantry system.

[0031] Figure 3 It is a control principle diagram of an existing master-slave controlled dual-drive gantry system.

[0032] Figure 4 It is a flow chart of the operation control method of the dual-drive gantry system provided in an embodiment of the present invention.

[0033] Figure 5 It is a schematic diagram of the principle of the dual-drive gantry system operation control method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0035] The dual-drive gantry system operation control method of the present invention can be applied to the dual-drive gantry system, and realizes high-speed and high-precision control of the dual-drive gantry system. The dual-drive gantry system includes a gantry (including a crossbeam and two sliders), a first servo motor (for example, a main axis motor) for driving the first end of the gantry to move on the first guide rail, a first servo driver for controlling the operation of the first servo motor, a second servo motor (for example, a slave axis motor) for driving the second end of the gantry to move on the second guide rail, and a second servo driver for controlling the operation of the second servo motor, and the first servo driver and the second servo driver are interconnected through a high-speed bus.

[0036] The first servo motor and the second servo motor may be linear motors. In practical applications, the first servo motor and the second servo motor may also be composed of a rotary motor and a linear screw module, which may also use the dual-drive gantry system operation control method of the present invention to achieve synchronization of both ends of the gantry.

[0037] like Figure 4 , Figure 5 , which is a flow chart of a dual-drive gantry system operation control method provided by an embodiment of the present invention. The method can be integrated into a first servo drive and a second servo drive of the dual-drive gantry system, that is, the method of the present embodiment can be executed by the first servo drive and the second servo drive. Similar to the existing servo drive, the first servo drive includes a first position loop, a first speed loop and a first current loop, and the second servo drive includes a second position loop, a second speed loop and a second current loop, and the method includes the following steps:

[0038] Step S41: Obtain a first position feedback signal from a first encoder installed at the first end of the gantry and obtain a second position feedback signal from a second encoder installed at the second end of the gantry, and generate a linear position signal and a synchronous deviation signal according to the first position feedback signal and the second position feedback signal. The linear position signal corresponds to the linear movement of the gantry, and the synchronous deviation signal corresponds to the deflection of the gantry.

[0039] When the first servo motor is a linear motor, the first encoder can be installed on the slider of the linear motor, and the linear position can be used as the first feedback signal; when the first servo motor is a rotary motor, the above-mentioned first encoder can be installed on the end cover of the rotary motor, and it corresponds to the position of the first end of the gantry (such as the slider) on the first guide rail by collecting the rotor rotation angle. At this time, the rotor rotation angle can be used as the first feedback signal (of course, in actual applications, the first encoder can also be directly installed on the slider, and the detected position of the slider on the first guide rail can be used as the first position feedback signal).

[0040] Similarly, when the second servo motor is a linear motor, the second encoder can be installed on the slider of the linear motor, and the linear position can be used as the second feedback signal; when the second servo motor is a rotary motor, the above-mentioned second encoder can be installed on the end cover of the rotary motor, and it can correspond to the position of the second end of the gantry (such as the slider) on the second guide rail by collecting the rotor rotation angle. At this time, the rotor rotation angle can be used as the second feedback signal (of course, in actual applications, the second encoder can also be directly installed on the slider, and the detected position of the slider on the second guide rail can be used as the second position feedback signal).

[0041] The linear position signal is used to reflect the position of the gantry on the X-axis, while the synchronous deviation signal is used to reflect the position difference between the first end and the second end of the gantry.

[0042] Step S42: Generate a first speed reference signal according to the position command signal and the linear position signal and generate a first torque reference signal according to the first speed reference signal, and generate a second speed reference signal according to the synchronization deviation signal and generate a second torque reference signal according to the second speed reference signal.

[0043] Specifically, the position command signal may come from a host computer for operating the dual-drive gantry system, or may be formed by processing a command from the host computer.

[0044] In this step, the difference between the position command signal and the linear position signal can be used as the input of the first position loop, and the first speed reference signal is generated after the first position loop performs PID operation; the first speed reference signal is used as the input of the first speed loop, and the first torque reference signal is generated after the first speed loop performs PID operation. Similarly, the difference between the zero signal and the synchronization deviation signal is used as the input of the second position loop, and the second speed reference signal is generated after the second position loop performs PID operation; the second speed reference signal is used as the input of the second speed loop, and the second torque reference signal is generated after the second speed loop performs PID operation. The first position loop, the first speed loop, the second position loop, and the second speed loop respectively include PID controllers, which can all adopt the conventional technology in the field and will not be repeated here.

[0045] Step S43: Generate a first pulse width modulation signal for controlling the operation of the first servo motor according to the first torque reference signal and the first decoupling signal; and generate a second pulse width modulation signal for controlling the operation of the second servo motor according to the second torque reference signal and the second decoupling signal. The first decoupling signal is related to the control signal of the slave motor (e.g., the second torque reference signal), and the second decoupling signal is related to the control signal of the main motor (e.g., the first torque reference signal).

[0046] In this step, the difference between the first torque reference signal and the first decoupling signal is used as the input of the first current loop, and the first current loop generates a pulse width modulation (PWM) signal after PID operation. The pulse width modulation signal can be used as the control signal of the first inverter, and the first inverter outputs the corresponding drive current to the first servo motor winding to achieve the operation control of the first servo motor. Similarly, the sum of the second torque reference signal and the second decoupling signal is used as the input of the second current loop, and the second current loop generates a pulse width modulation signal after PID operation. The pulse width modulation signal can be used as the control signal of the second inverter, and the second inverter outputs the corresponding drive current to the second servo motor winding to achieve the operation control of the second servo motor. The above-mentioned first current loop and second current loop respectively include PID controllers, which can adopt the conventional technology in the field. The control of the operation of the first servo motor and the second servo motor by pulse width modulation signals also adopts the conventional technology in the field, which will not be repeated here.

[0047] The above-mentioned dual-drive gantry system operation control method generates a linear position signal and a synchronization deviation signal according to the real-time positions of the two ends of the gantry, and uses the above-mentioned linear position signal and synchronization deviation signal as position loop compensation signals of the two servo drives. While realizing the linear motion control of the gantry in the Y-axis direction, the deflection of the gantry is adjusted in real time, and cross-decoupling based on position error is realized, thereby improving the stability and reliability of the synchronous control of the two ends of the gantry.

[0048] In one embodiment of the present invention, in step S41, the linear position signal and the synchronization deviation signal may be generated by the following calculation formula:

[0049]

[0050] Among them, X1 is the linear position signal, X2 is the synchronous deviation signal, Y1 is the first position feedback signal, and Y2 is the second position feedback signal.

[0051] Accordingly, in step S41, generating a first speed reference signal according to the position command signal and the linear position signal includes: using the difference between the position command signal and the linear position signal as the input of the first position loop, and generating the first speed reference signal by the first position loop. Generating a second speed reference signal according to the synchronization deviation signal includes: using the negative value of the synchronization deviation signal as the input of the second position loop, and generating the second speed reference signal by the second position loop.

[0052] By using the difference between the position command signal and the linear position signal as the input of the first position loop, the linear motion of the gantry in the Y-axis direction can be effectively controlled. By directly using the negative value of the synchronization deviation signal as the input of the second position loop, the rotational motion of the gantry can be effectively controlled. While achieving synchronous motion of the two axes, the control calculation is simplified and the stability of the system is improved.

[0053] In one embodiment of the present invention, the first decoupling signal is composed of the second torque reference signal, and the second decoupling signal is composed of the first torque reference signal.

[0054] Correspondingly, in step S43, a first pulse width modulation signal for controlling the operation of the first servo motor is generated according to the first torque reference signal and the first decoupling signal, including: taking the difference between the first torque reference signal and the second torque reference signal as the input of the first current loop, and generating the first pulse width modulation signal by the first current loop; and a second pulse width modulation signal for controlling the operation of the second servo motor is generated according to the second torque reference signal and the second decoupling signal, including: taking the sum of the second torque reference signal and the first torque reference signal as the input of the second current loop, and generating the second pulse width modulation signal by the second current loop.

[0055] By exchanging the output of the speed loop (i.e., the torque reference signal) to each other through communication, the Y1 axis subtracts the torque command of the Y2 axis, and the Y2 axis superimposes the torque command of the Y1 axis. As a result, the loop control between the two axes is decoupled from each other, achieving an even load distribution between the master and slave axes, effectively reducing the operating deviation between the two axes, and improving the overall operating rigidity.

[0056] To further improve the stability of the system, in one embodiment of the present invention, in addition to steps S41-S43, the above method further includes: performing a differential operation on the position command signal to obtain a speed feedforward signal. Accordingly, in step S42, a first torque reference signal is generated according to the first speed reference signal, including: using the difference between the first speed reference signal and the speed feedforward signal as the input of the first speed loop, and generating the first torque reference signal by the first speed loop. In this way, the transient response of the dual-drive gantry system can be improved.

[0057] In addition, in one embodiment of the present invention, the above method further includes: performing a quadratic differential operation on the position command signal to obtain a torque feedforward signal. Accordingly, in step S43, a first pulse width modulation signal for controlling the operation of the first servo motor is generated according to the first torque reference signal and the first decoupling signal, including: after superimposing the torque feedforward signal on the first decoupling signal, the difference between the first torque reference signal and the first decoupling signal of the superimposed torque feedforward signal is used as the input of the first current loop, and the first pulse width modulation signal is generated by the first current loop. This method can also improve the transient response of the dual-drive gantry system.

[0058] Since the relationship between the encoder installed on the first servo motor and the second servo motor body and the phase angle of the motor rotor is not fixed, the initial phase angle identification is required when the power is first turned on (if it is an absolute encoder feedback, the feedback position will not be lost, and only one identification is required). Accordingly, the above method also includes: applying a first d-axis current to the first servo motor, and adjusting the electrical angle of the first d-axis current according to the feedback signal of the first encoder, until the initial electrical angle of the first servo motor is obtained when the displacement corresponding to the feedback signal of the first encoder is zero; applying a second d-axis current to the second servo motor, and adjusting the electrical angle of the second d-axis current according to the feedback signal of the second encoder, until the initial electrical angle of the second servo motor is obtained when the displacement corresponding to the feedback signal of the second encoder is zero. The initial electrical angle of the first servo motor and the initial electrical angle of the second servo motor can be obtained by the micro-motion method, thereby improving the subsequent precise control of the first servo motor and the second servo motor.

[0059] The present invention also provides a dual-drive gantry control system for controlling the operation of a servo motor. The control system includes a first servo driver and a second servo driver. The first servo driver and the second servo driver respectively include a memory and a processor. The memory stores a computer program executable by the processor, and the processor implements the steps of the dual-drive gantry system operation control method as described above when executing the computer program.

[0060] The dual-drive gantry control system in this embodiment is the same as the above Figure 4-5 The operation control method of the dual-drive gantry control system in the corresponding embodiment belongs to the same concept. Its specific implementation process is detailed in the corresponding method embodiment, and the technical features in the method embodiment are applicable in the embodiment of this device, which will not be repeated here.

[0061] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the dual-drive gantry system operation control method as described above are implemented.

[0062] The computer-readable storage medium in this embodiment is the same as the above Figure 4-5 The operation control method of the dual-drive gantry control system in the corresponding embodiment belongs to the same concept, and its specific implementation process is detailed in the corresponding method embodiment, and the technical features in the method embodiment are correspondingly applicable in the storage medium embodiment, which will not be repeated here.

[0063] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0064] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed. The functional units and modules in the embodiments can be integrated into a processor, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0065] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0066] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0067] In the embodiments provided in the present application, it should be understood that the disclosed dual-drive gantry control system operation control method and system can be implemented in other ways. For example, the servo drive embodiments described above are merely illustrative.

[0068] In addition, each functional unit in each embodiment of the present application may be integrated into one processor, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0069] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or interface switching device that can carry the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0070] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for controlling the operation of a dual-drive gantry system, the dual-drive gantry system comprising a gantry, a first servo motor for driving a first end of the gantry to move on a first guide rail, a first servo driver for controlling the operation of the first servo motor, a second servo motor for driving a second end of the gantry to move on a second guide rail, and a second servo driver for controlling the operation of the second servo motor, wherein the first servo driver and the second servo driver are interconnected via a high-speed bus, characterized in that: The method comprises: Acquire a first position feedback signal from a first encoder installed at a first end of the gantry and acquire a second position feedback signal from a second encoder installed at a second end of the gantry, and generate a linear position signal and a synchronization deviation signal according to the first position feedback signal and the second position feedback signal; generating a first speed reference signal according to the position command signal and the linear position signal and generating a first torque reference signal according to the first speed reference signal, and generating a second speed reference signal according to the synchronization deviation signal and generating a second torque reference signal according to the second speed reference signal; A first pulse width modulation signal for controlling the operation of the first servo motor is generated according to the first torque reference signal and the first decoupling signal; and a second pulse width modulation signal for controlling the operation of the second servo motor is generated according to the second torque reference signal and the second decoupling signal.

2. The dual-drive gantry system operation control method according to claim 1, characterized in that: The linear position signal X1 is generated according to the following calculation formula: X1=(Y1+Y2) / 2; the synchronous deviation signal X2 is generated according to the following calculation formula: X2=(Y2-Y1) / 2; wherein Y1 is the first position feedback signal, and Y2 is the second position feedback signal; Generating the first speed reference signal according to the position command signal and the linear position signal comprises: taking the difference between the position command signal and the linear position signal as the input of a first position loop, and generating the first speed reference signal by the first position loop; Generating a second speed reference signal according to the synchronization deviation signal includes: taking a negative value of the synchronization deviation signal as an input of a second position loop, and generating a second speed reference signal by the second position loop.

3. The dual-drive gantry system operation control method according to claim 2, characterized in that: The first decoupling signal is composed of the second torque reference signal, and the second decoupling signal is composed of the first torque reference signal; The step of generating a first pulse width modulation signal for controlling the operation of the first servo motor according to the first torque reference signal and the first decoupling signal comprises: taking the difference between the first torque reference signal and the second torque reference signal as the input of a first current loop, and generating a first pulse width modulation signal by the first current loop; The method of generating a second pulse width modulation signal for controlling the operation of the second servo motor according to the second torque reference signal and the second decoupling signal includes: taking the sum of the second torque reference signal and the first torque reference signal as the input of the second current loop, and generating a second pulse width modulation signal by the second current loop.

4. The dual-drive gantry system operation control method according to claim 1, characterized in that: The method further comprises: performing a differential operation on the position command signal to obtain a speed feedforward signal; Generating a first torque reference signal according to the first speed reference signal includes: taking the difference between the first speed reference signal and a speed feedforward signal as an input of a first speed loop, and generating a first torque reference signal by the first speed loop.

5. The dual-drive gantry system operation control method according to claim 4, characterized in that: The method further comprises: performing a secondary differential operation on the position command signal to obtain a torque feedforward signal; The method of generating a first pulse width modulation signal for controlling the operation of the first servo motor according to the first torque reference signal and the first decoupling signal includes: after superimposing the torque feedforward signal on the first decoupling signal, taking the difference between the first torque reference signal and the first decoupling signal superimposed with the torque feedforward signal as the input of the first current loop, and generating the first pulse width modulation signal by the first current loop.

6. The dual-drive gantry system operation control method according to any one of claims 1 to 5, characterized in that: The method further comprises: Applying a first d-axis current to the first servo motor, and adjusting the electrical angle of the first d-axis current according to the feedback signal of the first encoder, until the displacement corresponding to the feedback signal of the first encoder is zero, thereby obtaining an initial electrical angle of the first servo motor; A second d-axis current is applied to the second servo motor, and the electrical angle of the second d-axis current is adjusted according to the feedback signal of the second encoder until the initial electrical angle of the second servo motor is obtained when the displacement corresponding to the feedback signal of the second encoder is zero.

7. The dual-drive gantry system operation control method according to any one of claims 1 to 5, characterized in that: The first servo motor and the second servo motor are linear motors respectively, and the first encoder and the second encoder are linear encoders respectively.

8. A dual-drive gantry control system for controlling the operation of a servo motor, characterized in that: The control system includes a first servo drive and a second servo drive, the first servo drive and the second servo drive respectively include a memory and a processor, the memory stores a computer program executable by the processor, and the processor implements the steps of the dual-drive gantry system operation control method as described in any one of claims 1-7 when executing the computer program.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the steps of the dual-drive gantry system operation control method as described in any one of claims 1-7 are implemented.

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