Operation instruction data control compensation method for driving motor to move in Z direction

Abstract

The invention relates to the field of driving motor operation compensation, in particular to an operation instruction data control compensation method for Z-direction movement of a driving motor, which comprises the following steps: respectively acquiring real-time operation instruction data of the Z-direction movement of the driving motor and real-time pose characteristics of the driving motor; establishing a standard running track of the driving motor according to the real-time running instruction data of the Z-direction movement of the driving motor; performing comparison processing on the real-time pose characteristics of the driving motor and a standard moving track of the driving motor to obtain a real-time operation control compensation point; and the operation instruction data control compensation result is obtained according to the real-time operation control compensation point, so that the accuracy of the control instruction is improved, and the stability and reliability of the whole system are ensured. By means of the method, the performance of the whole driving system can be effectively improved, and it is ensured that high-precision control can be kept under various complex working conditions.

Description

Technical Field

[0001] The invention relates to the field of drive motor operation compensation, and in particular to an operation instruction data control compensation method for driving a motor to move in the Z direction. Background Art

[0002] In traditional drive motor motion status monitoring solutions, an integrated processing method is usually adopted, which means that the motor is monitored as a whole, but there is a lack of detailed analysis and processing of the operating posture of each axial direction inside it. Although this approach can provide an overview of the overall performance of the motor to a certain extent, in actual applications, this rough monitoring method often cannot meet the requirements of high precision and high reliability. Summary of the invention

[0003] In view of the shortcomings of the prior art, the present invention provides a method for controlling and compensating operation instruction data for driving the Z-axis motion of a motor. By considering the X, Y, and Z axes of the driving motor in correlation, accurate monitoring and processing of the Z-axis motion posture is achieved.

[0004] To achieve the above object, the present invention provides a method for controlling and compensating operation instruction data for driving a motor to move in the Z direction, comprising: S1, respectively obtaining the real-time operation instruction data of the driving motor in the Z direction and the real-time posture characteristics of the driving motor; S2, establishing a standard operation trajectory of the drive motor according to the real-time operation instruction data of the drive motor in the Z direction; S3, using the real-time posture characteristics of the drive motor to compare with the standard operation trajectory of the drive motor to obtain a real-time operation control compensation point; S4. Obtaining an operation instruction data control compensation result according to the real-time operation control compensation point.

[0005] Preferably, the steps of respectively acquiring the real-time operation instruction data of the Z-direction motion of the drive motor and the real-time posture characteristics of the drive motor include: Acquire the real-time operation instruction of the driving motor Z-direction movement and the corresponding instruction issuance time as the real-time operation instruction data; Using the static initial position of the drive motor as the origin of the drive motor running coordinates; Establishing a three-dimensional operation coordinate system of the drive motor according to the operation coordinate origin of the drive motor; Acquire the real-time position coordinates of the drive motor at the current moment according to the three-dimensional operation coordinate system of the drive motor; A posture vector is established according to the X-axis coordinate and the Y-axis coordinate of the real-time position coordinate as the real-time posture feature of the drive motor.

[0006] Furthermore, establishing a standard operation trajectory of the drive motor according to the real-time operation instruction data of the drive motor in the Z direction includes: Acquire historical real-time operation instruction data according to the real-time operation instruction data of the drive motor moving in the Z direction; Using the historical real-time operation instruction data, respectively establish the X-axis historical motion trajectory, the Y-axis historical motion trajectory and the Z-axis historical motion trajectory of the drive motor according to the three-dimensional operation coordinate system of the drive motor; The X-axis historical motion trajectory, the Y-axis historical motion trajectory and the Z-axis historical motion trajectory of the drive motor are used as the standard operation trajectory of the drive motor.

[0007] Furthermore, the real-time operation control compensation point is obtained by comparing the real-time posture characteristics of the drive motor with the standard operation trajectory of the drive motor, including: S3-1, performing trajectory verification processing using the real-time posture characteristics of the drive motor and the standard running trajectory of the drive motor to obtain a trajectory verification processing result of the drive motor; S3-2. Perform posture verification processing on the real-time posture characteristics of the drive motor according to the trajectory verification processing result of the drive motor to obtain a real-time operation control compensation point.

[0008] Furthermore, the trajectory verification processing of the drive motor is performed using the real-time posture characteristics of the drive motor and the standard running trajectory of the drive motor to obtain the trajectory verification processing result of the drive motor, including: Establishing a historical posture vector set according to the standard running trajectory of the drive motor corresponding to the historical motion trajectory of the X-axis and the historical motion trajectory of the Y-axis; Establishing a posture pointing mapping set of the drive motor by using the historical posture vector set and the Z-axis historical motion trajectory corresponding to the standard running trajectory of the drive motor; Determine whether the real-time posture feature of the drive motor has a corresponding posture pointing mapping in the posture pointing mapping set of the drive motor. If so, obtain the corresponding posture pointing mapping as the trajectory verification processing result of the drive motor. Otherwise, the trajectory verification processing result of the drive motor is a bye.

[0009] Further, performing posture verification processing on the real-time posture characteristics of the drive motor according to the trajectory verification processing result of the drive motor to obtain the real-time operation control compensation point includes: S3-2-1, determining whether the trajectory verification processing result of the driving motor is a wheel blank, if so, the real-time operation control compensation point does not exist, otherwise, executing S3-2-2; S3-2-2, respectively obtain the real-time operation instruction data corresponding to the trajectory verification processing result of the driving motor as the real-time operation control instruction monitoring point, and the instruction issuing time corresponding to the trajectory verification processing result of the driving motor as the real-time operation control time monitoring point; S3-2-3. Utilize the real-time operation control instruction monitoring point and the real-time operation control moment monitoring point as the real-time operation control compensation point.

[0010] Further, obtaining the operation instruction data control compensation result according to the real-time operation control compensation point includes: S4-1, performing operation simulation compensation processing according to the real-time operation control compensation point to obtain an operation simulation compensation processing result of the drive motor moving in the Z direction; S4-2, using the operation simulation compensation processing result to obtain the operation instruction data control compensation result.

[0011] Furthermore, the operation simulation compensation processing is performed according to the real-time operation control compensation point to obtain the operation simulation compensation processing result of the drive motor Z-direction motion, which includes: S4-1-1, determine whether the real-time operation control compensation point exists, if so, execute S4-1-2, otherwise, the operation simulation compensation processing result is empty; S4-1-2, using the real-time operation control compensation point corresponding to the real-time operation control instruction monitoring point to obtain the corresponding historical operation control moment monitoring point as simulation compensation injection data; S4-1-3, using the real-time operation control compensation point corresponding to the real-time operation control moment monitoring point to obtain the corresponding historical operation control instruction monitoring point as simulation compensation verification data; S4-1-4. Use the simulation compensation injection data and the simulation compensation verification data as the operation simulation compensation processing result of the drive motor Z-direction motion.

[0012] Further, obtaining the operation instruction data control compensation result by using the operation simulation compensation processing result includes: S4-2-1, obtaining the simulation compensation injection data of the running simulation compensation processing result corresponding to the Z-direction motion state of the driving motor as idle state data; S4-2-2, judging whether the idle state data is better than the Z-direction motion state of the driving motor corresponding to the real-time operation instruction data, if so, executing S4-2-3, otherwise, retaining the current real-time operation instruction data as the operation instruction data control compensation result; S4-2-3, judging whether the running state of the driving motor corresponding to the simulation compensation verification data of the running simulation compensation processing result is consistent with the running state of the driving motor corresponding to the real-time running instruction data, if so, using the simulation compensation injection data as the running instruction data to control the compensation result, otherwise, executing S4-2-4; S4-2-4. Determine whether the execution count of S4-2-1 at the current moment is greater than 1. If so, abandon the process. Otherwise, delete the current running instruction data control compensation result and return to S3-1.

[0013] Compared with the closest prior art, the present invention has the following beneficial effects: In order to achieve precise control of the drive motor, it is first necessary to build an accurate vector correlation mapping to closely link the movement of the XY axis with the movement of the Z axis. This mapping can monitor the movement change state of the Z axis in real time to ensure that it is coordinated with the movement of the XY axis. And collect a large amount of historical data, which records the movement performance of the motor under different instructions. Through in-depth analysis of these data, it is possible to identify points that deviate from the expected instructions. Once these deviations are found, data compensation processing measures must be taken to accurately adjust these points. This compensation processing not only improves the accuracy of the control instructions, but also ensures the stability and reliability of the entire system. In this way, the performance of the entire drive system can be effectively improved, ensuring that it can maintain high-precision control under various complex working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The present invention provides a flow chart of a method for controlling and compensating an operation instruction data for driving a motor to move in the Z direction. DETAILED DESCRIPTION

[0015] The specific implementation modes of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0016] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0017] Embodiment 1: The present invention provides a method for controlling and compensating the operation instruction data for driving the motor to move in the Z direction, such as Figure 1 As shown, including: S1, respectively obtaining the real-time operation instruction data of the driving motor in the Z direction and the real-time posture characteristics of the driving motor; S2, establishing a standard operation trajectory of the drive motor according to the real-time operation instruction data of the drive motor in the Z direction; S3, using the real-time posture characteristics of the drive motor to compare with the standard operation trajectory of the drive motor to obtain a real-time operation control compensation point; S4. Obtaining an operation instruction data control compensation result according to the real-time operation control compensation point.

[0018] S1 specifically includes: S1-1, obtaining the real-time operation instruction of the driving motor for Z-direction movement and the corresponding instruction issuance time as the real-time operation instruction data; S1-2, using the static initial position of the drive motor as the origin of the drive motor running coordinates; S1-3, establishing a three-dimensional operation coordinate system of the drive motor according to the operation coordinate origin of the drive motor; S1-4, obtaining the real-time position coordinates of the drive motor at the current moment according to the three-dimensional operation coordinate system of the drive motor; S1-5. Establish a posture vector as the real-time posture feature of the drive motor according to the X-axis coordinate and the Y-axis coordinate of the real-time position coordinate.

[0019] S2 specifically includes: S2-1, acquiring historical real-time operation instruction data according to the real-time operation instruction data of the driving motor moving in the Z direction; S2-2, using the historical real-time operation instruction data to establish the X-axis historical motion trajectory, Y-axis historical motion trajectory and Z-axis historical motion trajectory of the drive motor according to the three-dimensional operation coordinate system of the drive motor; S2-3, using the X-axis historical motion trajectory, the Y-axis historical motion trajectory and the Z-axis historical motion trajectory of the drive motor as the standard operation trajectory of the drive motor.

[0020] S3 specifically includes: S3-1, performing trajectory verification processing using the real-time posture characteristics of the drive motor and the standard running trajectory of the drive motor to obtain a trajectory verification processing result of the drive motor; S3-2. Perform posture verification processing on the real-time posture characteristics of the drive motor according to the trajectory verification processing result of the drive motor to obtain a real-time operation control compensation point.

[0021] S3-1 specifically includes: S3-1-1, establishing a historical posture vector set corresponding to the X-axis historical motion trajectory and the Y-axis historical motion trajectory according to the standard running trajectory of the drive motor; S3-1-2, using the historical posture vector set and the standard running trajectory of the driving motor to correspond to the Z-axis historical motion trajectory to establish a posture pointing mapping set of the driving motor; S3-1-3. Determine whether the real-time posture feature of the drive motor has a corresponding posture pointing mapping in the posture pointing mapping set of the drive motor. If so, obtain the corresponding posture pointing mapping as the trajectory verification processing result of the drive motor. Otherwise, the trajectory verification processing result of the drive motor is a bye.

[0022] S3-2 specifically includes: S3-2-1, determining whether the trajectory verification processing result of the driving motor is a wheel blank, if so, the real-time operation control compensation point does not exist, otherwise, executing S3-2-2; S3-2-2, respectively obtain the real-time operation instruction data corresponding to the trajectory verification processing result of the driving motor as the real-time operation control instruction monitoring point, and the instruction issuing time corresponding to the trajectory verification processing result of the driving motor as the real-time operation control time monitoring point; S3-2-3. Utilize the real-time operation control instruction monitoring point and the real-time operation control moment monitoring point as the real-time operation control compensation point.

[0023] S4 specifically includes: S4-1, performing operation simulation compensation processing according to the real-time operation control compensation point to obtain an operation simulation compensation processing result of the drive motor moving in the Z direction; S4-2, using the operation simulation compensation processing result to obtain the operation instruction data control compensation result.

[0024] S4-1 specifically includes: S4-1-1, determine whether the real-time operation control compensation point exists, if so, execute S4-1-2, otherwise, the operation simulation compensation processing result is empty; S4-1-2, using the real-time operation control compensation point corresponding to the real-time operation control instruction monitoring point to obtain the corresponding historical operation control moment monitoring point as simulation compensation injection data; S4-1-3, using the real-time operation control compensation point corresponding to the real-time operation control moment monitoring point to obtain the corresponding historical operation control instruction monitoring point as simulation compensation verification data; S4-1-4. Use the simulation compensation injection data and the simulation compensation verification data as the operation simulation compensation processing result of the drive motor Z-direction motion.

[0025] S4-2 specifically includes: S4-2-1, obtaining the simulation compensation injection data of the running simulation compensation processing result corresponding to the Z-direction motion state of the driving motor as idle state data; S4-2-2, judging whether the idle state data is better than the Z-direction motion state of the driving motor corresponding to the real-time operation instruction data, if so, executing S4-2-3, otherwise, retaining the current real-time operation instruction data as the operation instruction data control compensation result; S4-2-3, judging whether the running state of the driving motor corresponding to the simulation compensation verification data of the running simulation compensation processing result is consistent with the running state of the driving motor corresponding to the real-time running instruction data, if so, using the simulation compensation injection data as the running instruction data to control the compensation result, otherwise, executing S4-2-4; S4-2-4. Determine whether the execution count of S4-2-1 at the current moment is greater than 1. If so, abandon the process. Otherwise, delete the current running instruction data control compensation result and return to S3-1.

[0026] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0027] The present invention is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0028] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0029] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for controlling and compensating the operation instruction data for driving the motor in the Z direction, characterized in that: include: S1, respectively obtaining the real-time operation instruction data of the driving motor in the Z direction and the real-time posture characteristics of the driving motor; S2, establishing a standard operation trajectory of the drive motor according to the real-time operation instruction data of the drive motor in the Z direction; S3, using the real-time posture characteristics of the drive motor to compare with the standard operation trajectory of the drive motor to obtain a real-time operation control compensation point; S4. Obtaining an operation instruction data control compensation result according to the real-time operation control compensation point.

2. A method for controlling and compensating the operation instruction data for driving the motor in the Z direction according to claim 1, characterized in that: The real-time operation instruction data of the Z-direction motion of the drive motor and the real-time posture characteristics of the drive motor are respectively obtained, including: Acquire the real-time operation instruction of the driving motor Z-direction movement and the corresponding instruction issuance time as the real-time operation instruction data; Using the static initial position of the drive motor as the origin of the drive motor running coordinates; Establishing a three-dimensional operation coordinate system of the drive motor according to the operation coordinate origin of the drive motor; Acquire the real-time position coordinates of the drive motor at the current moment according to the three-dimensional operation coordinate system of the drive motor; A posture vector is established according to the X-axis coordinate and the Y-axis coordinate of the real-time position coordinate as the real-time posture feature of the drive motor.

3. A method for controlling and compensating the operation instruction data for driving the motor in the Z direction according to claim 2, characterized in that: Establishing a standard running trajectory of the drive motor according to the real-time running instruction data of the drive motor Z-direction movement includes: Acquire historical real-time operation instruction data according to the real-time operation instruction data of the drive motor moving in the Z direction; Using the historical real-time operation instruction data, respectively establish the X-axis historical motion trajectory, the Y-axis historical motion trajectory and the Z-axis historical motion trajectory of the drive motor according to the three-dimensional operation coordinate system of the drive motor; The X-axis historical motion trajectory, the Y-axis historical motion trajectory and the Z-axis historical motion trajectory of the drive motor are used as the standard operation trajectory of the drive motor.

4. A method for controlling and compensating the operation instruction data for driving the motor in the Z direction according to claim 3, characterized in that: The real-time operation control compensation points obtained by comparing the real-time posture characteristics of the drive motor with the standard operation trajectory of the drive motor include: S3-1, performing trajectory verification processing using the real-time posture characteristics of the drive motor and the standard running trajectory of the drive motor to obtain a trajectory verification processing result of the drive motor; S3-2. Perform posture verification processing on the real-time posture characteristics of the drive motor according to the trajectory verification processing result of the drive motor to obtain a real-time operation control compensation point.

5. The operation instruction data control compensation method for driving the motor to move in the Z direction as claimed in claim 4, characterized in that: The trajectory verification processing of the drive motor is performed by using the real-time posture characteristics of the drive motor and the standard running trajectory of the drive motor to obtain the trajectory verification processing result of the drive motor, including: Establishing a historical posture vector set according to the standard running trajectory of the drive motor corresponding to the historical motion trajectory of the X-axis and the historical motion trajectory of the Y-axis; Establishing a posture pointing mapping set of the drive motor by using the historical posture vector set and the Z-axis historical motion trajectory corresponding to the standard running trajectory of the drive motor; Determine whether the real-time posture feature of the drive motor has a corresponding posture pointing mapping in the posture pointing mapping set of the drive motor. If so, obtain the corresponding posture pointing mapping as the trajectory verification processing result of the drive motor. Otherwise, the trajectory verification processing result of the drive motor is a bye.

6. A method for controlling and compensating the operation instruction data for driving the motor to move in the Z direction as claimed in claim 5, characterized in that: Performing posture verification processing on the real-time posture characteristics of the drive motor according to the trajectory verification processing result of the drive motor to obtain the real-time operation control compensation point includes: S3-2-1, determining whether the trajectory verification processing result of the driving motor is a wheel blank, if so, the real-time operation control compensation point does not exist, otherwise, executing S3-2-2; S3-2-2, respectively obtain the real-time operation instruction data corresponding to the trajectory verification processing result of the driving motor as the real-time operation control instruction monitoring point, and the instruction issuing time corresponding to the trajectory verification processing result of the driving motor as the real-time operation control time monitoring point; S3-2-3. Utilize the real-time operation control instruction monitoring point and the real-time operation control moment monitoring point as the real-time operation control compensation point.

7. A method for controlling and compensating the operation instruction data for driving the motor in the Z direction according to claim 4, characterized in that: Obtaining the operation instruction data control compensation result according to the real-time operation control compensation point includes: S4-1, performing operation simulation compensation processing according to the real-time operation control compensation point to obtain an operation simulation compensation processing result of the drive motor moving in the Z direction; S4-2, using the operation simulation compensation processing result to obtain the operation instruction data control compensation result.

8. The operation instruction data control compensation method for driving the motor to move in the Z direction as claimed in claim 7, characterized in that: The operation simulation compensation processing is performed according to the real-time operation control compensation point to obtain the operation simulation compensation processing result of the drive motor Z-direction motion, which includes: S4-1-1, determine whether the real-time operation control compensation point exists, if so, execute S4-1-2, otherwise, the operation simulation compensation processing result is empty; S4-1-2, using the real-time operation control compensation point corresponding to the real-time operation control instruction monitoring point to obtain the corresponding historical operation control moment monitoring point as simulation compensation injection data; S4-1-3, using the real-time operation control compensation point corresponding to the real-time operation control moment monitoring point to obtain the corresponding historical operation control instruction monitoring point as simulation compensation verification data; S4-1-4. Use the simulation compensation injection data and the simulation compensation verification data as the operation simulation compensation processing result of the drive motor Z-direction motion.

9. The operation instruction data control compensation method for driving the motor to move in the Z direction as claimed in claim 8, characterized in that: Obtaining the operation instruction data control compensation result by using the operation simulation compensation processing result includes: S4-2-1, obtaining the simulation compensation injection data of the running simulation compensation processing result corresponding to the Z-direction motion state of the driving motor as idle state data; S4-2-2, judging whether the idle state data is better than the Z-direction motion state of the driving motor corresponding to the real-time operation instruction data, if so, executing S4-2-3, otherwise, retaining the current real-time operation instruction data as the operation instruction data control compensation result; S4-2-3, judging whether the running state of the driving motor corresponding to the simulation compensation verification data of the running simulation compensation processing result is consistent with the running state of the driving motor corresponding to the real-time running instruction data, if so, using the simulation compensation injection data as the running instruction data to control the compensation result, otherwise, executing S4-2-4; S4-2-4. Determine whether the execution count of S4-2-1 at the current moment is greater than 1. If so, abandon the process. Otherwise, delete the current running instruction data control compensation result and return to S3-1.

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