Cooperative motion control and actuator precision compensation method

Abstract

The invention discloses a cooperative motion control and actuator precision compensation method, relates to cooperative motion control of multiple actuators in the field of motion control, and is particularly suitable for scenes needing precision positioning. The invention provides an actuator cooperative motion control strategy, real-time action characteristics of each actuator are used as input parameters of the cooperative motion control strategy to be transmitted to a controller, a cooperative motion control algorithm is written into the controller, and an action curve, obtained through operation, of each actuator is used as output parameters of the cooperative motion control strategy. And meanwhile, aiming at deviation signals input and output by each actuator, a precision compensation method is adopted to ensure that the actual action characteristics of the plurality of actuators achieve the purpose of cooperative motion control. The method does not depend on an actuator of a specific type, and can achieve the functions of cooperative movement and precise positioning of multiple or more actuators with analog signal transmission characteristics.

Description

Technical Field

[0001] The present invention relates to the field of motion control, and in particular to the coordinated motion and precise positioning of multiple or more actuators. Background Art

[0002] Automation equipment is generally a working device composed of a controller, a sensor and an actuator. Among them, the controller is responsible for data reception, processing and output, the sensor is responsible for data collection and transmission, and the actuator is responsible for completing the actual action of the working device. Since the number of actuators is not unique or the type is at least greater than one, a single actuator is responsible for completing a single action of the working device, and multiple actuators work together to complete the composite action of the working device. The action state of the actuator directly determines the amount of material in the pipeline connected to the actuator, causing changes in physical parameters such as pressure, flow or temperature, and indirectly affecting the working quality and work efficiency of the automation equipment. Therefore, the collaborative action relationship between multiple or multiple actuators is crucial. Once the action characteristics of any one of the actuators are not coordinated, it will directly cause the single action associated with the actuator to fail, and indirectly cause the composite action of the working device to deviate, making the entire automation equipment in an abnormal or unsafe working state, which may seriously cause the equipment to be scrapped or cause a safety accident.

[0003] The present invention aims to propose a collaborative motion control and actuator precision compensation method. For automation equipment that needs to complete complex actions through the collaborative motion of multiple or more actuators, a collaborative motion control strategy and precision compensation method are adopted to realize the collaborative motion and precise positioning of multiple or more actuators. Summary of the invention

[0004] A method for collaborative motion control and actuator precision compensation relates to a collaborative motion control strategy for multiple actuators in the field of motion control, and is particularly suitable for scenarios that require precise positioning. The collaborative motion control strategy requires that the real-time motion characteristics of each actuator be passed to a controller as an input parameter of the collaborative motion control strategy, and a collaborative motion control algorithm be written inside the controller, and the motion curve of each actuator is calculated as an output parameter of the collaborative motion control strategy. At the same time, a precision compensation method is used for the deviation signal between the input and output of each actuator to ensure that the actual motion characteristics of multiple actuators achieve the purpose of collaborative motion control.

[0005] A method for coordinated motion control and actuator accuracy compensation uses the position coordination relationship curve between multiple or multiple actuators as the standard working state to characterize the relative motion characteristics of each actuator. Since the inherent motion characteristics of the actuators themselves are different, the present invention aims to coordinately control the motion state of multiple actuators to ensure that the motion characteristics of each actuator are on the position coordination relationship curve.

[0006] A method for coordinated motion control and actuator accuracy compensation, wherein the actuator is not limited to a specific type of actuator, and the actuator must have an analog signal transmission function, be able to transmit analog feedback information to a controller, receive analog output information output by the controller, and complete related actions.

[0007] A method for coordinated motion control and actuator precision compensation, wherein the position coordination relationship curve is used as the design basis of the coordinated motion control algorithm and is strictly dependent on the working state of the automation equipment or working device. Under specific working conditions, the position coordination relationship curve is clear and unique.

[0008] A method for coordinated motion control and actuator accuracy compensation, wherein the position coordination relationship curve is used to characterize the relative position relationship between actuators, such as the opening of the valve core for an electric valve, the frequency for a frequency converter, and the speed for a motor.

[0009] A method of coordinated motion control and actuator precision compensation, which coordinates the different motion characteristics of different types of actuators to achieve the purpose of coordinated motion and precision positioning. For example, a certain valve core opening must strictly correspond to a certain inverter frequency and a certain motor speed. For the same actuator, the calculation dimension of the data is consistent during the coordinated motion control process.

[0010] A method for coordinated motion control and actuator precision compensation, wherein the position coordination relationship curve selects any one of the actuators as the first actuator, and the other actuators as the second, third, fourth, ... nth actuators, wherein n>1, the second, third, fourth, ... nth actuators need to track the action of the first actuator in real time, and all actuators are on the position coordination relationship curve in real time.

[0011] The first actuator receives an output parameter of the controller, and the output parameter represents the action characteristics of the first actuator. The output parameter can be manually given on the upper computer interface, or can be automatically output and given by the controller after program operation.

[0012] The second, third, fourth, ... nth actuators receive output parameters of the controller, and the output parameters are automatically outputted by the controller after being processed by the coordinated motion control algorithm. The output parameters of the controller determine the action of the second, third, fourth, ... nth actuators and the coordinated motion relationship between the first, second, third, fourth, ... nth actuators.

[0013] There are differences in the motion characteristics of the first, second, third, fourth, ... nth actuators, and the motion differences are derived from the inherent motion characteristics of the actuators, which are manifested as a linear relationship between position and time, that is, except for collaborative motion control, for any actuator, the actuator is at an average speed under any motion condition.

[0014] The average speed cannot accurately describe the actual action of the actuator. During the action of the actuator, there must be two processes in which the speed increases from zero to a constant speed and decreases from a constant speed to zero, and it may also include a constant speed motion process. For collaborative motion control, the average speed is only used as a reference indicator for the collaborative motion control strategy. Problems such as overshoot and jitter indirectly caused by the average speed are solved by the collaborative motion control strategy.

[0015] The collaborative motion control strategy divides the position coordination relationship curves of the 1st, 2nd, 3rd, 4th...nth actuators into k position stages, including k-1 position intervals, satisfying k>1, wherein, when k=2, the 1st position stage corresponds to the minimum range value of the 1st, 2nd, 3rd, 4th...nth actuators, and the 2nd position stage corresponds to the maximum range value of the 1st, 2nd, 3rd, 4th...nth actuators.

[0016] The significance of the existence of the position stage k value is to divide the measuring range of the 1st, 2nd, 3rd, 4th...nth actuator into several position intervals. Within any position interval, the coordinated motion relationship of the 1st, 2nd, 3rd, 4th...nth actuator is in a standard working state.

[0017] The standard working state can ensure the optimal compound action of the automation equipment or working device, and characterizes the coordinated motion relationship between the actuators. The purpose of the coordinated motion control strategy is to ensure that the relative position relationship between the first, second, third, fourth...nth actuators is in the standard working state at any time.

[0018] The position interval represents the stage of cooperative motion control and is used to describe the action characteristics of the actuator. Different action characteristics cannot participate in the operation, while the same position characteristics can participate in the operation. Within the position interval, time is the only parameter that can support the operation for all actuators.

[0019] The position interval applies to the 1st, 2nd, 3rd, 4th...nth actuators at the same time. Assume that within a certain position interval (m-1~m), m≦k is satisfied. When the position of the 1st actuator is determined, the relative positions of the 2nd, 3rd, 4th...nth actuators can be obtained according to the position coordination relationship curve.

[0020] The position interval includes the action characteristic information of the 1st, 2nd, 3rd, 4th, ... nth actuators. According to the average speed inherent characteristics of the 1st, 2nd, 3rd, 4th, ... nth actuators, within a certain position interval, the action duration t1, t2, t3, t4, ... nth actuators can be obtained respectively. n .

[0021] The t1, t2, t3, t4...t n They represent the action duration parameters of the 1st, 2nd, 3rd, 4th, ... nth actuators in the position interval (m-1 to m), and the values ​​of the n action duration parameters are compared to obtain the maximum time t max .

[0022] The larger the value of the action duration parameter is, the slower the corresponding actuator moves in the position interval (m-1 to m). max Based on this, the operating speeds of the 1st, 2nd, 3rd, 4th, ... nth actuators in the position interval (m-1 to m) are corrected.

[0023] The significance of the correction speed is to obtain the standard speed characteristics of all actuators within a certain position range. Under the standard speed characteristics, once the direction of action is clear, the linear relationship between the relative position of each actuator and time can be obtained, and the relative position relationship between the actuators must be on the position coordination relationship curve.

[0024] The correction speed must be based on the judgment of the position interval. In different position intervals, the starting position and the end position of each actuator are different, so the action duration and the correction speed are different.

[0025] The maximum time t max The speed correction is completed by internal calculation of the controller, and the relative position of each actuator is obtained by internal calculation of the controller and output to the specific actuator through the hardware port.

[0026] The signal output by the controller to each actuator is a coordinated motion output parameter. When the first, second, third, fourth, ... nth actuators move accurately, coordinated motion control can be achieved.

[0027] The collaborative motion control strategy is for the collaborative control of output parameters between actuators. During the collaborative motion control process, since the characteristics of each actuator are different, its feedback signal may lead or lag behind the controller output parameter, causing positioning interference.

[0028] The positioning interference will cause two uncertainties: first, it is impossible to determine whether the action output of the actuator is accurate; second, it is impossible to determine whether the feedback signal of the actuator is accurate, thereby reducing the accuracy of the coordinated motion control, and in severe cases, causing the coordinated motion control to fail.

[0029] The absolute value of the difference between the actuator feedback signal and the controller output parameter is the feedback deviation. The allowable deviation can be set for the first, second, third, fourth, ... nth actuators respectively as a basis for determining whether the accuracy of the actuator coordinated action meets the requirements.

[0030] The controller calculates the feedback deviations of the 1st, 2nd, 3rd, 4th...nth actuators in real time. When all the feedback deviations are smaller than the allowable deviations, it is considered that the coordinated action of the actuators is accurate and the feedback signals are valid. Conversely, when at least one of the feedback deviations is larger than the allowable deviation, it is considered that there is positioning interference in the coordinated motion process of the actuators.

[0031] Once the positioning interference occurs, it needs to be solved by precision compensation method. The controller immediately introduces a delay function so that the output instruction of the actuator coordinated motion control strategy is in a holding state.

[0032] Considering that the actuator feedback signal is only used to track the controller output parameters, when the feedback signal can return to the allowable deviation range within a certain delay time, the actuator cooperative motion control is considered to be effective, and the program can jump out of the delay interrupt and re-enter the actuator cooperative motion control process. Otherwise, it is considered that at least one of the actuators has a problem that the feedback signal cannot accurately follow the controller output parameters.

[0033] Furthermore, the device information of the actuator is obtained through data monitoring, and specific alarm prompt information is issued to remind professionals to repair or replace the equipment in time.

[0034] In the process of coordinated motion control of the plurality of or more actuators, the setting parameters are different due to the different working characteristics of the automation equipment or working device, but the design principles of the solution are completely consistent. Since the working characteristics of the automation equipment or working device determine the coordinated motion relationship between the actuators, after the application scenario of the present invention is determined, the numbering sequence of the 1st, 2nd, 3rd, 4th...nth actuators can be determined, and the coordinated motion relationship between the 1st, 2nd, 3rd, 4th...nth actuators can be determined. Similarly, after the hardware equipment of the 1st, 2nd, 3rd, 4th...nth actuator is determined, the allowable deviation of the feedback signal can be determined.

[0035] The collaborative motion control algorithm can flexibly select the numbering sequence of the 1st, 2nd, 3rd, 4th...nth actuators, and has no necessary connection with the accuracy of the 1st, 2nd, 3rd, 4th...nth actuators themselves. After the numbering sequence of the 1st, 2nd, 3rd, 4th...nth actuators is determined, it is not recommended to change it easily for the convenience of algorithm design. If it is necessary to change the numbering sequence of the 1st, 2nd, 3rd, 4th...nth actuators, it is sufficient to redesign the input parameters and output parameters of the controller.

[0036] The input parameters of the controller are the action characteristic feedbacks of the 1st, 2nd, 3rd, 4th...nth actuators, and the output parameters of the controller are the actual action signals of the 1st, 2nd, 3rd, 4th...nth actuators.

[0037] The invention discloses a coordinated motion control and actuator precision compensation method, which focuses on the coordinated motion control between actuators and the precision compensation control of the actuator itself.

[0038] The beneficial effects of the present invention are:

[0039] The present invention proposes a method for coordinated motion control and actuator accuracy compensation. For the coordinated motion between multiple or multiple actuators, a control method for position interval, motion direction judgment, and speed correction is proposed. For the lag or lead phenomenon of actuator feedback signal, a method for determining allowable deviation and delay waiting accuracy compensation is proposed. The present invention can provide an effective solution for the coordinated motion control of multiple or multiple actuators with analog signal transmission characteristics. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] Figure 1 This is a simplified workflow diagram of a composite action of a working device in one of the application cases of the present invention;

[0042] Figure 2 This is a flow chart of fuel ratio control in a combustion chamber, one of the application cases of the present invention;

[0043] Figure 3 A schematic diagram of the position intervals for the coordinated motion control of multiple actuators of the present invention;

[0044] Figure 4 The present invention provides a method for implementing coordinated motion control and actuator precision compensation; DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0046] Figure 1 This is a simplified workflow diagram of the composite action of the working device in one of the application cases of the present invention. The energy conversion type is flexible and common, and the conversion process of the torque is not described. Figure 1 Focus on describing the relationship between the actuator and the single action. Figure 1 In the figure, the first actuator is associated with single action 1, the second actuator is associated with single action 2, the third actuator is associated with single action 3, and the nth actuator is associated with single action n. For the working device, the composite action composed of multiple single actions often has practical significance, which is manifested as action characteristics that can meet normal working conditions. The action characteristics can be decomposed into the action characteristics of a single actuator, that is, when the action characteristics of the first actuator, the second actuator, the third actuator and the nth actuator are on the position coordination relationship curve, it can ensure that the working device is in a normal working state.

[0047] The composite action of the working device can be realized by a collaborative motion control algorithm, as an application case of a collaborative motion control and actuator precision compensation method of the present invention. The collaborative motion control algorithm is parameterized based on the working characteristics of the working device. Since the design principle or design framework of the algorithm remains unchanged, all other working device embodiments obtained by technicians in the field without creative work also fall within the protection scope of the present invention. To further describe a collaborative motion control and actuator precision compensation method of the present invention, another application case is introduced below.

[0048] Figure 2This is a fuel ratio control flow chart for the combustion chamber in one of the application cases of the present invention. In this embodiment, there are four actuators, namely, feed valve 1, feed valve 2, feed pump and discharge valve. Among them, feed valve 1 is responsible for adjusting the feed amount of fuel 1 in the pipeline, feed valve 2 is responsible for adjusting the feed amount of fuel 2 in the pipeline, feed pump is responsible for adjusting the feed amount of fuel 3 in the pipeline, and discharge valve is responsible for adjusting the discharge amount of the mixed fuel in the combustion chamber. When the combustion chamber is in normal working state, it is necessary to ensure that the ratio of feed 1, feed 2, feed 3 and discharge is stable near a certain suitable value, otherwise it is easy to cause uneven mixing and produce abnormal working conditions or cause safety accidents. Therefore, the action characteristics between feed valve 1, feed valve 2, feed pump and discharge valve in the combustion chamber under normal working state must be on the position coordination relationship curve. The position coordination relationship curve needs to be configured according to the parameters of the combustion chamber, that is, to meet the working condition characteristics of the combustion chamber under normal working state.

[0049] During the operation of the combustion chamber, the feed valve 1 adjusts the valve core opening by receiving the analog output parameters of the controller, and the sensor feeds back the valve core opening signal to the controller in real time through the analog input parameters. The feed valve 2 adjusts the valve core opening by receiving the analog output parameters of the controller, and the sensor feeds back the valve core opening signal to the controller in real time through the analog input parameters. The feed pump adjusts the speed by receiving the analog output parameters of the controller, and the sensor feeds back the speed signal of the feed pump to the controller in real time through the analog input parameters. The discharge valve adjusts the valve core opening by receiving the analog output parameters of the controller, and the sensor feeds back the valve core opening signal to the controller in real time through the analog input parameters.

[0050] In this embodiment, the purpose of regulating the fuel ratio in the combustion chamber to be stable is achieved through the coordinated motion control between the feed valve 1, the feed valve 2, the feed pump and the discharge valve. In order to fully describe a coordinated motion control and actuator accuracy compensation method of the present invention, the position coordination relationship curve between the first actuator, the second actuator and the third actuator of a certain automation equipment or working device is introduced in the form of a case.

[0051] Figure 3 This is a schematic diagram of the position range of the coordinated motion control of multiple actuators of the present invention. Figure 3 The position interval division of the coordinated motion control of multiple actuators is introduced by taking the first actuator, the second actuator and the third actuator as examples. The number of actuators is not the focus of attention, and the principle of position interval division will be emphasized below.

[0052] exist Figure 3 There is an abscissa and three ordinates, wherein the abscissa represents the position interval, the ordinate w represents the position characteristic of the first actuator, the ordinate p represents the position characteristic of the second actuator, and the ordinate f represents the position characteristic of the third actuator. Figure 3 The position coordination relationship curve of the first actuator, the second actuator and the third actuator is included in the position coordination relationship curve, which includes 10 position nodes, and the position interval is between each two adjacent position nodes. The real-time positions of all actuators must be located within these nine position intervals or at ten position nodes. If the real-time position of any actuator exceeds these nine position intervals or ten position nodes, it means that the actuators cannot meet the coordinated motion, and the automation equipment or working device cannot work normally. In the position coordination relationship curve of the first actuator, the second actuator and the third actuator, for any actuator, the value of the latter position node must be greater than the value of the former position node, and in each position interval, the action characteristics of the first actuator, the second actuator and the third actuator are not completely the same, that is, the initial position nodes of the first actuator, the second actuator and the third actuator are not completely the same, and the final position nodes of the first actuator, the second actuator and the third actuator are not completely the same.

[0053] The significance of the position coordination relationship curve of the first actuator, the second actuator and the third actuator is that the horizontal coordinate of any position interval is mapped to the vertical coordinate of the position of the first actuator, the second actuator and the third actuator, respectively, which means that the position coordination effect of the first actuator, the second actuator and the third actuator is optimal and the automation equipment or working device is in a standard working state. The position parameters of the position coordination relationship curve of the first actuator, the second actuator and the third actuator are determined according to the working characteristics of the automation equipment or the working device. In order to fully describe a method of coordinated motion control and actuator accuracy compensation of the present invention, the following is combined with Figure 3 , Figure 4 The design and implementation of the coordinated motion control algorithm between the first actuator, the second actuator and the third actuator are introduced.

[0054] Figure 4The present invention is a method for implementing a method of coordinated motion control and actuator precision compensation. The controller, sensor, and actuator are hardware-based. The controller is responsible for receiving input parameters, coordinated motion control algorithms, precision compensation control implementation, and output control parameters. The sensor is responsible for collecting, processing, and transmitting the real-time position information of the actuator to the controller. The actuator is responsible for converting the output control parameters of the controller into actual action states. Among them, the scanning cycle of the controller determines the effect of the coordinated motion control. Generally, a controller with a millisecond scanning cycle can meet the needs of automation equipment or working devices. The method of coordinated motion control and actuator precision compensation mainly includes the steps of the controller receiving input parameters, determining the initial position interval, determining the target position interval, determining the motion direction, calculating the action duration, correcting the speed, precision compensation, and the controller outputting control parameters. If the position coordination of any of the actuators cannot be met after the coordinated motion control algorithm and precision compensation control are implemented, it means that the actuator itself has a more serious feedback signal leading or lagging behind the action signal. Position coordinated control cannot be achieved through program design, and the problem must be solved by repairing or replacing hardware.

[0055] Combination Figure 3 and Figure 4 ,by Figure 3 The first actuator, the second actuator and the third actuator in the embodiment are used as examples to introduce the specific implementation process of a method for coordinated motion control and actuator precision compensation of the present invention. The method requires that the three actuators, the first actuator, the second actuator and the third actuator, can achieve real-time position coordination. Among them, the numbering sequence of multiple actuators has no actual meaning. The coordinated motion control algorithm and the precision compensation control method can still be implemented under different numbers. The difference is that the action signal of the first actuator can be manually given in the upper computer interface, or automatically output and given by the controller after program operation, and the action signals of other actuators only support automatic output and given by the controller after program operation. The controller takes the output control parameter of the first actuator as the reference, captures the real-time action characteristics of the first actuator, the second actuator and the third actuator in each scanning cycle, obtains the actual position interval of the actuator, and judges the action direction according to the target position interval, and then calculates the action duration, obtains the corrected speed of each actuator, and sends the output control parameter to the first actuator, the second actuator and the third actuator after precision compensation. The hardware line connection between the controller, sensor, and actuator, and the processing and transmission of input and output signals, including position range acquisition, movement direction judgment, etc., are technical solutions that are easily obtained by professionals and will not be introduced in detail. The present invention focuses on the introduction of collaborative motion control algorithms and precision compensation methods.

[0056] On the premise that the inherent travel range, inherent travel time and inherent speed characteristics of the first actuator, the second actuator and the third actuator are known, the action time of the first actuator, the second actuator and the third actuator in the position interval can be obtained respectively according to the initial position node and the end position node information of the current position interval of the first actuator.

[0057] The specific implementation process is as follows: If the first actuator, the second actuator, and the third actuator move from the beginning of the kth stage to the end of the kth stage, where k∈[1, 10], let the position of the first actuator be w k-1 Action to w k , the natural velocity v of the first actuator is known a , find the action time t of the first actuator a :

[0058] t a = (w k -w k-1 ) / v a (1)

[0059] Similarly, let the position of the second actuator be changed from p k-1 Action to p k , the inherent velocity v of the second actuator is known b , find the action time t of the second actuator b :

[0060] t b = (p k -p k-1 ) / v b (2)

[0061] Similarly, let the position of the third actuator be changed from f k-1 Action to f k , the inherent velocity v of the third actuator is known c , find the action time t of the third actuator c :

[0062] t c = (f k -f k-1 ) / v c (3)

[0063] According to the above formula, the time t taken by the first actuator, the second actuator, and the third actuator from the beginning of the kth stage to the end of the kth stage can be obtained respectively: a ,t b and t c .

[0064] In order to ensure that the first actuator, the second actuator and the third actuator can reach the end of the kth stage at the same time, and that the action characteristics of the first actuator, the second actuator and the third actuator are on the position coordination relationship curve in real time during the movement, it is necessary to find the actuator that takes the longest time and its speed characteristics do not need to be corrected, and correct the speed characteristics of the other two actuators.

[0065] If t a >t b >t c , then the time consumed by the first actuator from the beginning of the kth stage to the end of the kth stage is the longest. When the action time of the three actuators is t a Under the premise of B :

[0066] v B = (p k -p k-1 ) / t a (4)

[0067] Correct the speed v of the third actuator C :

[0068] v C = (f k -f k-1 ) / t a (5)

[0069] Similarly, if t b >t a >t c , then the time consumed by the second actuator from the beginning of the kth stage to the end of the kth stage is the longest. When the action time of the three actuators is t b Under the premise of A :

[0070] v A = (w k -w k-1 ) / t b (6)

[0071] Correct the speed v of the third actuator C :

[0072] v C = (f k -f k-1 ) / t b (7)

[0073] Similarly, if t c >t a >t b, then the time consumed by the third actuator from the beginning of the kth stage to the end of the kth stage is the longest. When the action time of the three actuators is t c Under the premise of A :

[0074] v A = (w k -w k-1 ) / t c (8)

[0075] Correct the speed v of the second actuator B :

[0076] v B = (p k -p k-1 ) / t c (9)

[0077] After determining the correction speed, it is necessary to establish a functional relationship between the position information of the first actuator, the second actuator and the third actuator changing with time, which is used as the output control parameter of the controller.

[0078] exist Figure 3 In the figure, a vertical line is drawn randomly to intersect the motion curves of the first actuator, the second actuator, and the third actuator, and the intersection value represents the coordinated motion position of the first actuator, the second actuator, and the third actuator. When the actual positions of the first actuator, the second actuator, and the third actuator are in the coordinated motion position, it means that the position coordination relationship of the three actuators is correct. Otherwise, when the actual position of any actuator is not in the coordinated motion position, it means that the position coordination of the three actuators fails.

[0079] Figure 4 The workflow diagram of the collaborative motion control strategy and actuator accuracy compensation method of the present invention is described. In each scanning cycle, the controller captures the real-time position information of the first actuator, the second actuator, and the third actuator. The controller uses the real-time position of the first actuator as a reference to control the output positions of the second actuator and the third actuator to coordinate with it. In the process of the collaborative motion of the first actuator, the second actuator, and the third actuator, the target position of the first actuator is known, that is, it is considered that the motion directions of the first actuator, the second actuator, and the third actuator are clear. Figure 3 The position coordination relationship curve shown can obtain the real-time position range and target position range of the first actuator, the second actuator and the third actuator, complete the speed correction in combination with the movement direction, and update the real-time positions of the first actuator, the second actuator and the third actuator at the beginning of the next operation cycle, thereby realizing the coordinated movement of the first actuator, the second actuator and the third actuator.

[0080] The specific implementation process is as follows: let the initial coordinated positions of the first actuator, the second actuator and the third actuator be w0, p0 and f0 respectively, which are the real-time positions captured by the controller in the last scanning cycle, and let the target coordinated positions of the first actuator, the second actuator and the third actuator be w0, p0 and f0 respectively. m 、p m and f m , is the expected value of the control system. Let the initial positions of the first actuator, the second actuator, and the third actuator be in the interval (k0-1, k0), and the target positions be in the interval (k m -1, k m ). Among them, the starting point value of the position interval of the first actuator is w (k0-1) , the end point value of the position interval is w (k0) , the starting point value of the position interval of the second actuator is p (k0-1) , the end point value of the position interval is p (k0) , the starting point value of the position interval of the third actuator is f (k0-1) , the end point value of the position interval is f (k0) In the initial position interval (k0-1, k0), calling formulas (1)-(9) can obtain the corrected speed v of the first actuator, the second actuator and the third actuator. A 、v B and v C , let the real-time output position signals of the first actuator, the second actuator and the third actuator be w, p and f respectively.

[0081] When k m When -k0>0, it means that the positions of the first actuator, the second actuator, and the third actuator need to be enlarged, then:

[0082] w = w0 + v A t (10)

[0083] p = p0 + v B t (11)

[0084] f = f0 + v C t (12)

[0085] When k m When -k0<0, it means that the positions of the first actuator, the second actuator, and the third actuator need to be reduced, then:

[0086] w = w0-v A t (13)

[0087] p = p0-v B t (14)

[0088] f = f0-v Ct (15)

[0089] When k m = k0, it means that the first actuator, the second actuator and the third actuator are already at the target position. For the design of the position coordinated motion control algorithm, logical processing is required to avoid the abnormal situation of division by 0.

[0090] In each scanning cycle, the controller will use the real-time positions of the first, second and third actuators as the initial positions of this operation and update the initial position interval. At the same time, the starting time when calculating the controller output control parameters must start from zero. Taking the first actuator as the reference, the initial position and target position respectively satisfy the following mathematical relationships:

[0091] (ww (k0-1) ) / (w (k0) -w (k0-1) ) = (pp (k0-1) ) / (p (k0) -p (k0-1) ) = (ff (k0-1) ) / (f (k0) -f (k0-1) ) (16)

[0092] (ww (km-1) ) / (w (km) -w (km-1) ) = (pp (km-1) ) / (p (km) -p (km-1) ) = (ff (km-1) ) / (f (km) -f (km-1) ) (17)

[0093] In the process of coordinated movement of the positions of the first actuator, the second actuator and the third actuator, formulas (16) and (17) are necessary conditions for the real-time coordination of the positions of the first actuator, the second actuator and the third actuator.

[0094] For any actuator, the feedback signal and the action signal often have the characteristics of follow-up, and there may be feedback signal lag or lead phenomenon. In order to solve the problem that the actual position of the first actuator, the second actuator and the third actuator are inconsistent with the controller output parameters, the controller must calculate the feedback deviation of the first actuator, the second actuator and the third actuator in real time. When all feedback deviations are less than the allowable deviation, it is considered that the coordinated action of the first actuator, the second actuator and the third actuator is accurate and the feedback signal is valid. On the contrary, when the feedback deviation of at least one of the actuators is greater than the allowable deviation, it is considered that the feedback signal lag or lead phenomenon of the actuator causes positioning interference to the coordinated motion process. Once the positioning interference occurs, it is necessary to adopt the accuracy compensation method to solve it. The controller introduces a delay function based on the position collaborative control algorithm, so that the output command of the coordinated motion control of the first actuator, the second actuator and the third actuator is in a holding state. The feedback deviation is generally expressed as a percentage of the position information and can be set to 1%. It is assumed that the accuracy of the coordinated position control of the first actuator, the second actuator, and the third actuator is maintained within 1%. The delay time can be set to 3s. It is assumed that within 3s, the feedback signals of the first actuator, the second actuator, and the third actuator must be able to strictly follow the action signal. The configuration parameters can be adjusted according to the working conditions. In principle, the feedback deviation should not be too large and the waiting time should not be too long.

[0095] Considering that the actuator feedback signal is only used to track the controller output control parameters, when the feedback signal can return to the set allowable deviation range within the set delay time, it is considered that the coordinated motion control of the first actuator, the second actuator and the third actuator is effective, and the program can jump out of the delay interrupt and re-enter the coordinated motion control process of the first actuator, the second actuator and the third actuator. On the contrary, it is considered that at least one of the actuators has a feedback signal that cannot accurately follow the controller's output control parameters. Furthermore, the device information of the actuator is obtained through data monitoring, and a specific alarm prompt message is issued to remind professionals to repair or replace the equipment in time.

[0096] In an embodiment of a coordinated motion control and actuator precision compensation method of the present invention, the first actuator is suitable for a PID output control object and supports automatic control and manual control.

[0097] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0098] Obviously, those skilled in the art may make various modifications and alterations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and alterations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and alterations.

Claims

1. A method for coordinated motion control and actuator accuracy compensation, characterized in that: The method involves the coordinated motion control of multiple or multiple actuators, which can be used for compound actions of automated equipment or working devices, and fuel ratio control in a fuel chamber, etc., and is particularly suitable for scenarios requiring precise positioning; the method involves a controller, a sensor, and an actuator, wherein the controller is used to receive input parameters, realize coordinated motion control and actuator accuracy compensation, and output control parameters, the sensor is used to collect, process, and transmit the real-time position information of the actuator to the controller, and the actuator is used to convert the output control parameters of the controller into actual action states; a position coordinated motion control algorithm is written into the controller, and the action curve of each actuator is obtained as the output parameter of the coordinated motion control according to the position coordinated motion control algorithm, and the accuracy compensation method is combined to solve the interference caused to the position coordination of multiple or multiple actuators when the output signal of the coordinated motion control algorithm is ahead or behind; Since the inherent motion characteristics of the actuators themselves are different, the position coordination relationship curve between multiple or multiple actuators is used as the standard working state to characterize the relative motion characteristics of each actuator, coordinately control the motion state of multiple actuators, and ensure that the motion characteristics of each actuator are on the position coordination relationship curve; the position coordination relationship curve is used as the design basis of the collaborative motion control algorithm, which strictly depends on the working state of the automation equipment or working device. Under specific working conditions, the position coordination relationship curve is clear and unique; a collaborative motion control and actuator precision compensation method is not limited to a specific type of actuator. The actuator must have an analog signal transmission function, be able to transmit analog feedback information to the controller, receive analog output information output by the controller, and complete related actions.

2. A method for coordinated motion control and actuator accuracy compensation as claimed in claim 1, characterized in that: The position coordination relationship curve selects any one of the actuators as the first actuator, and the other actuators as the second, third, fourth, ... nth actuators, wherein n>1, and the second, third, fourth, ... nth actuators need to track the action of the first actuator in real time; the numbering order of the actuators has no actual meaning, and the coordinated motion control algorithm and the precision compensation method can still be realized under different numbers, and the difference is that the action signal of the first actuator can be manually given on the upper computer interface, or can be given by the output control parameters of the controller after the coordinated motion control algorithm is calculated, and the action signals of the actuators with other numbers can only be given by the output control parameters of the controller; the position coordination relationship curve of the first, second, third, fourth, ... nth actuators is divided into k position stages, including k-1 position intervals, satisfying k>1, wherein, when k=2, the first position stage corresponds to the minimum range value of the first, second, third, fourth, ... nth actuators, and the second position stage corresponds to the minimum range value of the first, second, third, fourth, ... nth actuators. The maximum value of the range of the 4th...nth actuators. In any position interval, the coordinated motion relationship of the 1st, 2nd, 3rd, 4th...nth actuators is in a standard working state. The position interval represents the stage of coordinated motion control and is used to describe the action characteristics of the actuators. Different action characteristics cannot participate in the operation, while the same position characteristics can participate in the operation. In the position interval, time is the only parameter that can support the operation of all actuators. Let in a certain position interval (m-1~m), satisfy m≦k, when the position of the first actuator is determined, the relative positions of the second, third, fourth,...nth actuators can be obtained according to the position coordination relationship curve; the position interval contains the action characteristic information of the first, second, third, fourth,...nth actuators, and according to the average speed inherent characteristics of the first, second, third, fourth,...nth actuators, within a certain position interval, the action duration t1, t2, t3, t4,...t of the first, second, third, fourth,...nth actuators can be obtained respectively. n , compare the values ​​of n action duration parameters and get the longest time t max , the movement speed of the 1st, 2nd, 3rd, 4th... and nth actuators in the position range (m-1~m) is corrected to obtain the functional relationship between the position characteristics and time. After combining with the accuracy compensation method, the controller sends the output control parameters to the 1st, 2nd, 3rd, 4th... and nth actuators.

3. The method for coordinated motion control and actuator accuracy compensation according to claim 1, characterized in that: The implementation process of collaborative motion control of multiple or more actuators includes the steps of the controller receiving input parameters, determining the initial position range, determining the target position range, determining the motion direction, calculating the action duration, correcting the speed, precision compensation, and the controller outputting control parameters; in each scanning cycle, the controller will use the real-time positions of the first actuator, the second actuator, the third actuator and the nth actuator as the initial positions of this operation, and update the initial position range; the collaborative motion control algorithm must start from zero when calculating the controller output control parameters. For the design of the position collaborative motion control algorithm, logical processing must be used to avoid the abnormal situation of division by 0.

4. A method for coordinated motion control and actuator accuracy compensation as described in claims 1, 2 and 3, characterized in that: The controller must calculate the feedback deviations of the first actuator, the second actuator, the third actuator and the nth actuator in real time. When all feedback deviations are less than the allowable deviation, it is considered that the coordinated action of the first actuator, the second actuator, the third actuator and the nth actuator is accurate and the feedback signal is valid; conversely, when the feedback deviation of at least one of the actuators is greater than the allowable deviation, it is considered that the lag or lead of the actuator's feedback signal has caused positioning interference to the coordinated motion process; once the positioning interference occurs, it is necessary to adopt an accuracy compensation method to solve it. The controller introduces a delay function based on the position collaborative control algorithm, so that the coordinated motion control output instructions of the first actuator, the second actuator, the third actuator and the nth actuator are in a held state.

5. A method for coordinated motion control and actuator accuracy compensation as claimed in claim 4, characterized in that: The feedback deviation is generally expressed as a percentage of the position information and can be set to 1%. It is assumed that the accuracy of the coordinated position control of the first actuator, the second actuator, the third actuator and the nth actuator is maintained within 1%. The delay time can be set to 3s. It is assumed that within 3s, the feedback signals of the first actuator, the second actuator, the third actuator and the nth actuator must strictly follow the action signal. The configuration parameters are adjusted according to the working conditions. In principle, the deviation range should not be too large and the waiting time should not be too long. Due to the different working characteristics of the automation equipment or working device, the setting parameters are different, but the design principle of the solution is completely consistent. The working characteristics of the automation equipment or working device determine the coordinated motion relationship between the actuators. Therefore, after the application scenario is determined, the numbering order of the 1st, 2nd, 3rd, 4th...nth actuators can be determined, and the coordinated motion relationship curve between the 1st, 2nd, 3rd, 4th...nth actuators can be determined.

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