A control compensation method for operating instruction data to drive the Z-direction movement of a motor

Abstract

The present invention relates to the field of driving motor operation compensation, and particularly to a method for controlling and compensating operation instruction data for driving the Z-direction movement of a motor, including: respectively obtaining the real-time operation instruction data for driving the Z-direction movement of the motor and the real-time pose characteristics of the motor; establishing a standard operation trajectory of the motor according to the real-time operation instruction data for driving the Z-direction movement of the motor; using the real-time pose characteristics of the motor and the standard operation trajectory of the motor to perform a comparison process to obtain a real-time operation control compensation point; obtaining an operation instruction data control compensation result according to the real-time operation control compensation point, improving the accuracy of the control instruction, and ensuring the stability and reliability of the entire system. By this method, the performance of the entire driving system can be effectively improved, and it is ensured that high-precision control can be maintained under various complex working conditions.

Description

Technical Field

[0001] The present invention relates to the field of driving motor operation compensation, and specifically relates to a method for controlling and compensating operation instruction data for the Z-direction movement of a driving motor. Background Art

[0002] In traditional driving motor motion state monitoring schemes, an overall processing method is usually adopted. This means that the motor is monitored as a whole, and the operating postures of its internal various axes lack detailed analysis and processing. Although this approach can provide an overview of the overall performance of the motor to a certain extent, in practical applications, this rough monitoring method often fails to meet the requirements of occasions with high precision and high reliability. Summary of the Invention

[0003] Aiming at the deficiencies of the prior art, the present invention provides a method for controlling and compensating operation instruction data for the Z-direction movement of a driving motor, which realizes precise monitoring and processing of the Z-axis motion posture by considering the X, Y, and Z axes of the driving motor in an associated manner.

[0004] To achieve the above object, the present invention provides a method for controlling and compensating operation instruction data for the Z-direction movement of a driving motor, including:

[0005] S1. Respectively obtain the real-time operation instruction data of the Z-direction movement of the driving motor and the real-time pose characteristics of the driving motor;

[0006] S2. Establish a standard operation trajectory of the driving motor according to the real-time operation instruction data of the Z-direction movement of the driving motor;

[0007] S3. Use the real-time pose characteristics of the driving motor and the standard operation trajectory of the driving motor to perform a comparison process to obtain a real-time operation control compensation point;

[0008] S4. Obtain an operation instruction data control compensation result according to the real-time operation control compensation point.

[0009] Preferably, the respectively obtaining the real-time operation instruction data of the Z-direction movement of the driving motor and the real-time pose characteristics of the driving motor includes:

[0010] Obtain the real-time operation instruction of the Z-direction movement of the driving motor and the corresponding instruction issuing moment as the real-time operation instruction data;

[0011] Use the static initial position of the driving motor as the origin of the driving motor operation coordinate;

[0012] Establish a three-dimensional operation coordinate system of the driving motor according to the origin of the driving motor operation coordinate;

[0013] Obtain the real-time position coordinates of the drive motor at the current moment according to the three-dimensional operating coordinate system of the drive motor;

[0014] Establish an attitude vector based on the X-axis coordinate and Y-axis coordinate of the real-time position coordinates as the real-time pose feature of the drive motor.

[0015] Further, establishing the standard operating trajectory of the drive motor according to the real-time operating instruction data of the drive motor in the Z-direction includes:

[0016] Obtain the historical real-time operating instruction data according to the real-time operating instruction data of the drive motor in the Z-direction;

[0017] Use the historical real-time operating instruction data to establish the historical motion trajectory of the X-axis, the historical motion trajectory of the Y-axis, and the historical motion trajectory of the Z-axis of the drive motor respectively according to the three-dimensional operating coordinate system of the drive motor;

[0018] Use the historical motion trajectory of the X-axis, the historical motion trajectory of the Y-axis, and the historical motion trajectory of the Z-axis of the drive motor as the standard operating trajectory of the drive motor.

[0019] Further, comparing and processing the real-time pose feature of the drive motor with the standard operating trajectory of the drive motor to obtain the real-time operation control compensation point includes:

[0020] S3-1. Perform trajectory verification processing on the real-time pose feature of the drive motor and the standard operating trajectory of the drive motor to obtain the trajectory verification processing result of the drive motor;

[0021] S3-2. Perform pose verification processing on the real-time pose feature of the drive motor according to the trajectory verification processing result of the drive motor to obtain the real-time operation control compensation point.

[0022] Further, performing trajectory verification processing on the real-time pose feature of the drive motor and the standard operating trajectory of the drive motor to obtain the trajectory verification processing result of the drive motor includes:

[0023] Establish a set of historical attitude vectors according to the historical motion trajectory of the X-axis and the historical motion trajectory of the Y-axis corresponding to the standard operating trajectory of the drive motor;

[0024] Use the set of historical attitude vectors and the historical motion trajectory of the Z-axis corresponding to the standard operating trajectory of the drive motor to establish an attitude pointing mapping set of the drive motor;

[0025] Judge whether there is a corresponding attitude pointing mapping in the attitude pointing mapping set of the drive motor for the real-time pose feature of the drive motor. If so, obtain the corresponding attitude pointing mapping as the trajectory verification processing result of the drive motor. Otherwise, the trajectory verification processing result of the drive motor is void.

[0026] Furthermore, performing pose verification processing on the real-time pose 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 includes:

[0027] S3-2-1. Judging whether the trajectory verification processing result of the drive motor is a no-load situation. If so, the real-time operation control compensation point does not exist; otherwise, execute S3-2-2;

[0028] S3-2-2. Respectively obtaining the real-time operation instruction data corresponding to the trajectory verification processing result of the drive motor as the real-time operation control instruction monitoring point, and the instruction issuing moment corresponding to the trajectory verification processing result of the drive motor as the real-time operation control moment monitoring point;

[0029] S3-2-3. Using 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.

[0030] Furthermore, obtaining the operation instruction data control compensation result according to the real-time operation control compensation point includes:

[0031] S4-1. Performing operation simulation compensation processing according to the real-time operation control compensation point to obtain the operation simulation compensation processing result of the Z-direction movement of the drive motor;

[0032] S4-2. Using the operation simulation compensation processing result to obtain the operation instruction data control compensation result.

[0033] Furthermore, performing operation simulation compensation processing according to the real-time operation control compensation point to obtain the operation simulation compensation processing result of the Z-direction movement of the drive motor includes:

[0034] S4-1-1. Judging whether the real-time operation control compensation point exists. If so, execute S4-1-2; otherwise, the operation simulation compensation processing result is empty;

[0035] S4-1-2. Using the real-time operation control instruction monitoring point corresponding to the real-time operation control compensation point to obtain the corresponding historical operation control moment monitoring point as the simulation compensation injection data;

[0036] S4-1-3. Using the real-time operation control moment monitoring point corresponding to the real-time operation control compensation point to obtain the corresponding historical operation control instruction monitoring point as the simulation compensation verification data;

[0037] S4-1-4. Using the simulation compensation injection data and the simulation compensation verification data as the operation simulation compensation processing result of the Z-direction movement of the drive motor.

[0038] Further, obtaining the operation instruction data control compensation result by using the operation simulation compensation processing result includes:

[0039] S4-2-1. Obtain the motion state of the driving motor in the Z direction corresponding to the simulation compensation injection data of the operation simulation compensation processing result as the idle state data;

[0040] S4-2-2. Determine whether the idle state data is superior to the motion state of the driving motor in the Z direction corresponding to the real-time operation instruction data. If so, execute S4-2-3; otherwise, retain the current real-time operation instruction data as the operation instruction data control compensation result;

[0041] S4-2-3. Determine whether the operation state of the driving motor corresponding to the simulation compensation verification data of the operation simulation compensation processing result is consistent with the operation state of the driving motor corresponding to the real-time operation instruction data. If so, use the simulation compensation injection data as the operation instruction data control compensation result; otherwise, execute S4-2-4;

[0042] S4-2-4. Determine whether the execution times of S4-2-1 at the current moment are greater than 1. If so, abandon the processing; otherwise, delete the current operation instruction data control compensation result and return to S3-1.

[0043] Compared with the closest prior art, the beneficial effects of the present invention are:

[0044] In order to achieve precise control of the driving motor, first, an accurate vector correlation mapping needs to be constructed to closely link the motion of the XY axis with the motion of the Z axis. Through this mapping, the motion change state of the Z axis can be monitored in real time to ensure its coordination with the motion of the XY axis. And a large amount of historical data is collected, which records the motion performance of the motor under different instructions. By in-depth analysis of these data, the points that deviate from the expected instructions can be identified. Once these deviations are found, data compensation processing measures need to be taken to precisely 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. By this method, the performance of the entire drive system can be effectively improved to ensure its high-precision control under various complex working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a flowchart of a method for controlling and compensating operation instruction data for the Z-direction motion of a driving motor provided by the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0046] The following further details the specific embodiments of the present invention with reference to the accompanying drawings.

[0047] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0048] Embodiment 1: The present invention provides a method for controlling and compensating operation instruction data for driving a motor to move in the Z direction, as Figure 1 shown, including:

[0049] S1. Obtain the real-time operation instruction data for driving the motor to move in the Z direction and the real-time pose characteristics of the driving motor respectively;

[0050] S2. Establish a standard operation trajectory of the driving motor according to the real-time operation instruction data for driving the motor to move in the Z direction;

[0051] S3. Compare and process the real-time pose characteristics of the driving motor with the standard operation trajectory of the driving motor to obtain real-time operation control compensation points;

[0052] S4. Obtain the operation instruction data control compensation result according to the real-time operation control compensation points.

[0053] S1 specifically includes:

[0054] S1-1. Obtain the real-time operation instruction for driving the motor to move in the Z direction and the corresponding instruction issuance moment as the real-time operation instruction data;

[0055] S1-2. Use the static initial position of the driving motor as the origin of the driving motor operation coordinate;

[0056] S1-3. Establish a three-dimensional operation coordinate system of the driving motor according to the origin of the driving motor operation coordinate;

[0057] S1-4. Obtain the real-time position coordinate of the driving motor at the current moment according to the three-dimensional operation coordinate system of the driving motor;

[0058] S1-5. Establish an attitude vector according to the X-axis coordinate and Y-axis coordinate of the real-time position coordinate as the real-time pose characteristics of the driving motor.

[0059] S2 specifically includes:

[0060] S2-1. Obtain historical real-time operation instruction data according to the real-time operation instruction data for driving the motor to move in the Z direction;

[0061] S2-2. Establish the historical motion trajectories of the X-axis, Y-axis, and Z-axis of the drive motor respectively according to the three-dimensional operating coordinate system of the drive motor using the historical real-time operation instruction data;

[0062] S2-3. Use the historical motion trajectories of the X-axis, Y-axis, and Z-axis of the drive motor as the standard operating trajectories of the drive motor.

[0063] S3 specifically includes:

[0064] S3-1. Perform trajectory verification processing on the real-time pose characteristics of the drive motor and the standard operating trajectory of the drive motor to obtain the trajectory verification processing result of the drive motor;

[0065] S3-2. Perform pose verification processing on the real-time pose 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.

[0066] S3-1 specifically includes:

[0067] S3-1-1. Establish a set of historical pose vectors according to the historical motion trajectories of the X-axis and Y-axis corresponding to the standard operating trajectory of the drive motor;

[0068] S3-1-2. Use the set of historical pose vectors and the historical motion trajectory of the Z-axis corresponding to the standard operating trajectory of the drive motor to establish a pose pointing mapping set of the drive motor;

[0069] S3-1-3. Determine whether there is a corresponding pose pointing mapping in the pose pointing mapping set of the drive motor for the real-time pose characteristics of the drive motor. If so, obtain the corresponding pose pointing mapping as the trajectory verification processing result of the drive motor. Otherwise, the trajectory verification processing result of the drive motor is void.

[0070] S3-2 specifically includes:

[0071] S3-2-1. Determine whether the trajectory verification processing result of the drive motor is void. If so, the real-time operation control compensation point does not exist. Otherwise, execute S3-2-2;

[0072] S3-2-2. Obtain the real-time operation instruction data corresponding to the trajectory verification processing result of the drive motor as the real-time operation control instruction monitoring point, and the instruction issuing moment corresponding to the trajectory verification processing result of the drive motor as the real-time operation control moment monitoring point;

[0073] S3-2-3. Use 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.

[0074] S4 specifically includes:

[0075] S4-1. Perform operation simulation compensation processing based on the real-time operation control compensation point to obtain the operation simulation compensation processing result for the Z-direction movement of the drive motor;

[0076] S4-2. Obtain the operation instruction data control compensation result using the operation simulation compensation processing result.

[0077] S4-1 specifically includes:

[0078] S4-1-1. Determine whether the real-time operation control compensation point exists. If it does, execute S4-1-2; otherwise, the operation simulation compensation processing result is empty;

[0079] S4-1-2. Use the monitoring point corresponding to the real-time operation control instruction of the real-time operation control compensation point to obtain the corresponding historical operation control moment monitoring point as the simulation compensation injection data;

[0080] S4-1-3. Use the monitoring point corresponding to the real-time operation control moment of the real-time operation control compensation point to obtain the corresponding historical operation control instruction monitoring point as the simulation compensation verification data;

[0081] S4-1-4. Use the simulation compensation injection data and the simulation compensation verification data as the operation simulation compensation processing result for the Z-direction movement of the drive motor.

[0082] S4-2 specifically includes:

[0083] S4-2-1. Obtain the movement state of the drive motor corresponding to the simulation compensation injection data of the operation simulation compensation processing result as the idle state data;

[0084] S4-2-2. Determine whether the idle state data is better than the movement state of the drive motor corresponding to the real-time operation instruction data. If it is, execute S4-2-3; otherwise, retain the current real-time operation instruction data as the operation instruction data control compensation result;

[0085] S4-2-3. Determine whether the operation state of the drive motor corresponding to the simulation compensation verification data of the operation simulation compensation processing result is consistent with the operation state of the drive motor corresponding to the real-time operation instruction data. If it is, use the simulation compensation injection data as the operation instruction data control compensation result; otherwise, execute S4-2-4;

[0086] S4-2-4. Determine whether the execution count of S4-2-1 at the current moment is greater than 1. If it is, abandon the processing; otherwise, delete the current operation instruction data control compensation result and return to S3-1.

[0087] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) that contain computer-usable program code.

[0088] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows 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 the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0089] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing devices to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0090] These computer program instructions can also be loaded onto a computer or other programmable data processing devices, such that a series of operation steps are executed on the computer or other programmable devices to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable devices provide steps for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: still can modify the specific implementation manners of the present invention or make equivalent replacements, and any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. A control compensation method for operation instruction data for driving the Z-direction movement of a motor, characterized in that, Including: S1. Obtain the real-time operation instruction data for the Z-direction movement of the driving motor and the real-time pose characteristics of the driving motor respectively; The obtaining of the real-time operation instruction data for the Z-direction movement of the driving motor and the real-time pose characteristics of the driving motor respectively includes: Obtain the real-time operation instruction for the Z-direction movement of the driving motor and the corresponding instruction issuing moment as the real-time operation instruction data; Use the static initial position of the driving motor as the origin of the driving motor operation coordinate; Establish a three-dimensional operation coordinate system of the driving motor according to the origin of the driving motor operation coordinate; Obtain the real-time position coordinate of the driving motor at the current moment according to the three-dimensional operation coordinate system of the driving motor; Establish an attitude vector according to the X-axis coordinate and the Y-axis coordinate of the real-time position coordinate as the real-time pose characteristic of the driving motor; S2. Establish a standard operation trajectory of the driving motor according to the real-time operation instruction data for the Z-direction movement of the driving motor; Establishing a standard operation trajectory of the driving motor according to the real-time operation instruction data for the Z-direction movement of the driving motor includes: Obtain the historical real-time operation instruction data according to the real-time operation instruction data for the Z-direction movement of the driving motor; Use the historical real-time operation instruction data to establish the X-axis historical movement trajectory, the Y-axis historical movement trajectory and the Z-axis historical movement trajectory of the driving motor respectively according to the three-dimensional operation coordinate system of the driving motor; Use the X-axis historical movement trajectory, the Y-axis historical movement trajectory and the Z-axis historical movement trajectory of the driving motor as the standard operation trajectory of the driving motor; S3. Compare and process the real-time pose characteristic of the driving motor with the standard operation trajectory of the driving motor to obtain a real-time operation control compensation point; Comparing and processing the real-time pose characteristic of the driving motor with the standard operation trajectory of the driving motor to obtain a real-time operation control compensation point includes: S3-1. Compare and process the trajectory of the driving motor using the real-time pose characteristic of the driving motor and the standard operation trajectory of the driving motor to obtain the trajectory verification processing result of the driving motor; S3-2. Perform pose verification processing on the real-time pose characteristic of the driving motor according to the trajectory verification processing result of the driving motor to obtain a real-time operation control compensation point; S4. Obtain the control compensation result of the operation instruction data according to the real-time operation control compensation point; Obtaining the control compensation result of the operation instruction data according to the real-time operation control compensation point includes: S4-1. Perform operation simulation compensation processing according to the real-time operation control compensation point to obtain the operation simulation compensation processing result for the Z-direction movement of the driving motor; S4-2. Obtain the control compensation result of the operation instruction data using the operation simulation compensation processing result.

2. The operating instruction data control compensation method for driving the motor to move in the Z direction according to claim 1, characterized in that, Comparing and processing the trajectory of the driving motor using the real-time pose characteristic of the driving motor and the standard operation trajectory of the driving motor to obtain the trajectory verification processing result of the driving motor includes: Establish a set of historical attitude vectors according to the X-axis historical movement trajectory and the Y-axis historical movement trajectory corresponding to the standard operation trajectory of the driving motor; Establish a pose pointing mapping set of the driving motor using the set of historical attitude vectors and the Z-axis historical movement trajectory corresponding to the standard operation trajectory of the driving motor; Determine whether there is a corresponding attitude pointing mapping in the attitude pointing mapping set of the driving motor for the real-time pose feature of the driving motor. If so, obtain the corresponding attitude pointing mapping as the trajectory verification processing result of the driving motor. Otherwise, the trajectory verification processing result of the driving motor is void.

3. The operating instruction data control compensation method for driving the motor to move in the Z direction according to claim 2, wherein, Performing pose verification processing on the real-time pose feature of the driving motor according to the trajectory verification processing result of the driving motor to obtain the real-time operation control compensation point includes: S3-2-1. Determine whether the trajectory verification processing result of the driving motor is void. If so, the real-time operation control compensation point does not exist. Otherwise, execute 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 moment corresponding to the trajectory verification processing result of the driving motor as the real-time operation control moment monitoring point; S3-2-3. Use 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.

4. A control compensation method for operating instruction data for driving the motor to move in the Z direction according to claim 1, characterized in that, Performing operation simulation compensation processing according to the real-time operation control compensation point to obtain the operation simulation compensation processing result of the Z-direction movement of the driving motor 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. Use the real-time operation control instruction monitoring point corresponding to the real-time operation control compensation point to obtain the corresponding historical operation control moment monitoring point as the simulation compensation injection data; S4-1-3. Use the real-time operation control moment monitoring point corresponding to the real-time operation control compensation point to obtain the corresponding historical operation control instruction monitoring point as the 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 Z-direction movement of the driving motor.

5. A running instruction data control compensation method for driving the motor to move in the Z direction as described in claim 4, characterized in that, Obtaining the operation instruction data control compensation result by using the operation simulation compensation processing result includes: S4-2-1. Obtain the Z-direction movement state of the driving motor corresponding to the simulation compensation injection data of the operation simulation compensation processing result as the idle state data; S4-2-2. Determine whether the idle state data is better than the Z-direction movement state of the driving motor corresponding to the real-time operation instruction data. If so, execute S4-2-3. Otherwise, retain the current real-time operation instruction data as the operation instruction data control compensation result; S4-2-3. Determine whether the operation state of the driving motor corresponding to the simulation compensation verification data of the operation simulation compensation processing result is consistent with the operation state of the driving motor corresponding to the real-time operation instruction data. If so, use the simulation compensation injection data as the operation instruction data control compensation result. Otherwise, execute S4-2-4; S4-2-4. Determine whether the execution times of S4-2-1 at the current moment are greater than 1. If so, abandon the processing. Otherwise, delete the current operation instruction data control compensation result and return to S3-1.

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