Electromechanical system and control method and device thereof, electromechanical module, motion controller, trajectory planner and medium

Abstract

The embodiment of the invention discloses an electromechanical system, a control method and device thereof, an electromechanical module, a motion controller, a trajectory planner and a medium, and belongs to the technical field of industrial control. The electromechanical system control method comprises the steps that a motion instruction sent by a motion controller is received, and a machining instruction of a servo system is simulated according to the motion instruction and a preset electromechanical system model; if the machining instruction meets the machining requirement, the machining instruction is output to the servo system; if the machining instruction does not meet the machining requirement, the machining instruction is fed back to a motion controller and / or a track planner to adjust the motion instruction until the simulated machining instruction meets the machining requirement. According to the embodiment of the invention, the machining instruction of the servo system is simulated based on the preset electromechanical system model and is fed back to the motion controller or the trajectory planner upwards to correct the motion instruction, closed-loop management of effective data is formed, and finally, the high-speed and high-precision requirements of overall machining of the electromechanical system can be met.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of industrial control technology, and in particular to an electromechanical system and a control method and device thereof, an electromechanical module, a motion controller, a trajectory planner, and a medium. Background Art

[0002] With the rapid development of the manufacturing industry, various sub-industries have higher and higher requirements for machine tools as "industrial mother machines". Downstream products of machine tools include many fields such as automobiles, aerospace, 3C electronics, medical equipment, etc. Differentiated customer needs vary greatly, and the globalization of overall market competition has made machine tools have higher and higher performance requirements for control, drive, and electrical systems.

[0003] During the development process of machine tool products, key systems and components such as CAM (Computer Aided Manufacturing) systems, CNC systems, servo motor systems, and mechanical transmission systems will be selected and matched according to the needs of different industries for processing workpieces, so as to ensure that customers can produce qualified products under different processing scenarios, processing efficiency, and processing accuracy requirements. After the machine tool enters the processing stage, it is necessary to continuously verify and correct the processing program according to the requirements of different processing workpieces for processing accuracy and processing efficiency, and readjust the control parameters of the controller and the electrical, drive, and control systems. After the machine tool has been used for a period of time, due to mechanical wear, professionals are required to recalibrate the machine tool, compensate, or adjust parameters.

[0004] Since the quality of the workpiece table and the workpiece changes frequently during the machine tool processing, the trajectory generated by CAM and the servo instructions generated by CNC (Computer Numerical Control) sometimes change too suddenly, which can easily cause the motor speed and torque to be too large, making it impossible for the servo to track the instructions, resulting in a decrease in processing accuracy; sometimes it is too smooth and the motor's capacity is not fully utilized, which cannot meet the requirements of high-speed processing, that is, it is impossible to achieve trajectory planning with high speed and high precision requirements. Summary of the invention

[0005] The main purpose of the embodiments of the present application is to provide an electromechanical system and its control method and device, an electromechanical module, a motion controller, a trajectory planner and a medium, aiming to achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system.

[0006] To achieve the above object, the present application provides a method for controlling an electromechanical system, the method comprising:

[0007] Receiving motion instructions sent by the motion controller, and simulating processing instructions of the servo system according to the motion instructions and a preset electromechanical system model;

[0008] If the processing instruction meets the processing requirements, outputting the processing instruction to the servo system;

[0009] If the processing instruction does not meet the processing requirements, the processing instruction is fed back to the motion controller and / or the trajectory planner to adjust the motion instruction until the simulated processing instruction meets the processing requirements.

[0010] Optionally, feeding back the processing instruction to a motion controller and / or a trajectory planner to adjust the motion instruction comprises:

[0011] Feedback the motion related information in the processing instruction to the motion controller, so that the motion controller adjusts the motion instruction according to the motion related information; and / or,

[0012] The position-related information in the processing instruction is fed back to the trajectory planner, so that the trajectory planner adjusts the position instruction according to the position-related information.

[0013] Optionally, the method further comprises: receiving servo system feedback information uploaded by the servo system, wherein the servo system feedback information comprises servo model parameters and axis real-time quantities;

[0014] The simulating the processing instruction of the servo system according to the motion instruction and the preset electromechanical system model includes: simulating the processing instruction of the servo system according to the preset electromechanical system model based on the motion instruction and the servo system feedback information.

[0015] Optionally, the electromechanical system model includes a drive model, a transmission model and a device model, and the method further includes:

[0016] According to the model parameters of the transmission model and the device model and the servo model parameters, the drive parameters are adjusted through the drive model, and the adjusted drive parameters are sent to the servo system.

[0017] Optionally, the electromechanical system model includes a processing model, and the method further includes:

[0018] Whether the processing instruction meets the processing requirements is determined according to the processing model.

[0019] In order to achieve the above object, the present application also provides a mechatronic system control method, which is applied to a trajectory planner, and the method comprises:

[0020] When the processing instruction does not meet the processing requirements, receiving position-related information in the processing instruction, wherein the processing instruction is generated by simulating the motion instruction output by the motion controller and a preset electromechanical system model;

[0021] According to the position-related information in the processing instruction, the position instruction is adjusted and output to the motion controller, so that the motion controller adjusts the motion instruction until the processing instruction meets the processing requirements.

[0022] In order to achieve the above object, a mechatronic system control method is applied to a motion controller, the method comprising:

[0023] Receive position instructions sent by the trajectory planner;

[0024] When the processing instruction does not meet the processing requirements, receiving motion-related information in the processing instruction, wherein the processing instruction is generated by simulation based on the motion instruction and a preset electromechanical system model;

[0025] According to the motion related information in the processing instruction and the position instruction, the motion instruction is adjusted until the processing instruction meets the processing requirements.

[0026] Optionally, the method further comprises:

[0027] Receive the real-time axis data uploaded by the servo system;

[0028] The adjusting the motion instruction according to the motion related information in the processing instruction and the position instruction includes: adjusting the motion instruction according to the motion related information in the processing instruction, the position instruction and the real-time quantity of the axis.

[0029] In order to achieve the above objectives, the present application also provides a mechatronic system control device, including a memory, a processor, and a mechatronic system control program stored in the memory and executable on the processor, wherein the mechatronic system control program is configured to implement the steps of the above mechatronic system control method.

[0030] In order to achieve the above objectives, the present application also provides a computer-readable storage medium, on which a mechatronic system control program is stored, and when the mechatronic system control program is executed by a processor, the steps of the above mechatronic system control method are implemented.

[0031] In order to achieve the above object, the present application also provides an electromechanical module, the electromechanical module comprising a preset electromechanical system model and

[0032] A receiving unit, used for receiving a motion instruction sent by a motion controller;

[0033] A simulation unit, used for simulating a processing instruction of a servo system according to the motion instruction and a preset electromechanical system model;

[0034] The sending unit is used to output the processing instruction to the servo system when the processing instruction meets the processing requirements; when the processing instruction does not meet the processing requirements, the processing instruction is fed back to the motion controller and / or trajectory planner to adjust the motion instruction until the simulated processing instruction meets the processing requirements.

[0035] Optionally, when the processing instruction does not meet the processing requirements,

[0036] The sending unit is used to feed back the motion related information in the processing instruction to the motion controller, so that the motion controller adjusts the motion instruction according to the motion related information; and / or,

[0037] The sending unit is used to feed back the position-related information in the processing instruction to the trajectory planner, so that the trajectory planner adjusts the position instruction according to the position-related information.

[0038] Optionally, the receiving unit is further used to receive servo system feedback information uploaded by the servo system, wherein the servo system feedback information includes servo model parameters and axis real-time quantities;

[0039] The simulation unit is further used to simulate the processing instructions of the servo system according to a preset electromechanical system model based on the motion instructions and the servo system feedback information.

[0040] Optionally, the electromechanical system model includes a drive model, a transmission model and a device model, and the electromechanical system model also includes a parameter self-adjusting unit, and the parameter self-adjusting unit is used to:

[0041] According to the model parameters of the transmission model and the device model and the servo model parameters, the drive parameters are adjusted through the drive model, and the adjusted drive parameters are sent to the servo system.

[0042] Optionally, the electromechanical system model includes a processing model, and the electromechanical module further includes a judgment unit, and the judgment unit is used to:

[0043] Whether the processing instruction meets the processing requirements is determined according to the processing model.

[0044] In order to achieve the above-mentioned purpose, the present application also provides a motion controller, which includes the above-mentioned electromechanical module.

[0045] In order to achieve the above-mentioned purpose, the present application also provides a trajectory planner, which includes the above-mentioned electromechanical module.

[0046] In order to achieve the above-mentioned purpose, the present application also provides an electromechanical system, including a motion controller, a trajectory planner and the above-mentioned electromechanical module.

[0047] In order to achieve the above-mentioned object, the present application also provides an electromechanical system, including an electromechanical module, a motion controller, and a trajectory planner;

[0048] The electromechanical module is connected to the motion controller and is used to receive the motion instructions sent by the motion controller and simulate the processing instructions of the servo system according to the motion instructions and a preset electromechanical system model;

[0049] If the processing instruction meets the processing requirements, the electromechanical module outputs the processing instruction to the servo system; if the processing instruction does not meet the processing requirements, the electromechanical module feeds back the processing instruction to the motion controller and the trajectory planner to adjust the motion instruction until the simulated processing instruction meets the processing requirements;

[0050] The motion controller is connected to the trajectory planner and the electromechanical module respectively, and is used to adjust the processing instruction and send it to the electromechanical module according to the motion related information in the processing instruction sent by the electromechanical module and the position instruction sent by the trajectory planner when the processing instruction does not meet the processing requirements;

[0051] The trajectory planner is connected to the motion controller and the electromechanical module respectively, and is used to adjust the position instruction according to the position-related information in the processing instruction sent by the electromechanical module and send it to the motion controller when the processing instruction does not meet the processing requirements.

[0052] Optionally, the mechatronic module is also connected to the servo system to receive servo system feedback information uploaded by the servo system, and based on the motion instructions and the servo system feedback information, simulate the processing instructions of the servo system according to a preset mechatronic system model; wherein the servo system feedback information includes servo model parameters and axis real-time quantities.

[0053] The embodiment of the present application proposes an electromechanical system and its control method and device, an electromechanical module, a motion controller, a trajectory planner and a medium. In the electromechanical system control method, the electromechanical module receives the motion command sent by the motion controller, and simulates the processing command of the servo system according to the motion command and the preset electromechanical system model; if the processing command meets the processing requirements, the processing command is output to the servo system; if the processing command does not meet the processing requirements, the processing command is fed back to the motion controller and / or the trajectory planner to adjust the motion command until the simulated processing command meets the processing requirements. The embodiment of the present application simulates the processing command of the servo system based on the preset electromechanical system model, and feeds back to the motion controller or trajectory planner to correct the motion command, forming a closed-loop management of effective data, which can ultimately achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system, while reducing the difficulty of debugging and improving processing efficiency and processing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only part of the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0055] Figure 1 This is a schematic diagram of the existing CNC system architecture;

[0056] Figure 2 A schematic diagram of the structure of an electromechanical system provided in one embodiment of the present application;

[0057] Figure 3 A schematic diagram of a mechatronic module structure provided in one embodiment of the present application;

[0058] Figure 4 A schematic diagram of a mechatronic module structure provided in another embodiment of the present application;

[0059] Figure 5 A schematic diagram of a trajectory planner structure provided in one embodiment of the present application;

[0060] Figure 6 A schematic diagram of the structure of a motion controller provided in one embodiment of the present application;

[0061] Figure 7 A schematic flow chart of a method for controlling an electromechanical system provided in one embodiment of the present application;

[0062] Figure 8 A schematic flow chart of a method for controlling an electromechanical system provided in another embodiment of the present application;

[0063] Fig. 9 A schematic flow chart of a method for controlling an electromechanical system provided in another embodiment of the present application;

[0064] Fig.10 A flowchart of a method for controlling an electromechanical system provided in accordance with another embodiment of the present application. DETAILED DESCRIPTION

[0065] In the following description, specific details such as specific system structures, technologies, etc. are proposed for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the embodiments of the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from hindering the description of the embodiments of the present application.

[0066] It should be noted that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0067] It should also be understood that the references to "one embodiment" or "some embodiments" described in the specification of the embodiments of the present application mean that one or more embodiments of the embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Thus, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0068] The existing CNC system architecture is as follows Figure 1 As shown, the trajectory planner 11 transmits the overall trajectory output to the motion controller 12 through the imported workpiece model and processing parameters. The motion controller 12 outputs the motion command to the servo system 13 according to the set motion planning and other parameters. The servo system 13 only accepts commands and completes the drive and processing according to its own fixed parameters. Therefore, the existing CNC system architecture transmits data in one direction, and the workpiece processing is completed mechanically according to the issued instructions. However, in the actual processing process, the on-site working conditions, including the quality of the workpiece table and the workpiece, change frequently, and the motion command cannot adaptively match the on-site working conditions, which in turn affects the processing accuracy and progress.

[0069] In order to reduce the overall debugging difficulty of the electromechanical system, improve ease of use, achieve high speed, high precision and optimal control, and enable the system to adapt to different requirements in different sports scenarios, the embodiment of the present application provides a electromechanical system. Figure 2 As shown, the electromechanical system 2 includes a trajectory planner 21, a motion controller 22, and an electromechanical module 23 connected in sequence. In the physical structure, the electromechanical module 23 is either built into the trajectory planner 21, or built into the motion controller 22, or the trajectory planner 21, the motion controller 22, and the electromechanical module 23 are integrated into one, which is not limited here. It should be noted that the connection method in the embodiment of the present application can be a soft connection or a hard connection, which is not limited here.

[0070] Specifically, the electromechanical module 23 is connected to the motion controller, and is used to receive the motion instructions sent by the motion controller 22 and the processing instructions of the preset electromechanical system model simulation servo system 3. The electromechanical module 23 is also used to determine whether the processing instructions meet the processing requirements. If the processing instructions do not meet the processing requirements, the electromechanical module 23 feeds back the processing instructions to the motion controller 22 and / or the trajectory planner 21 to adjust the motion instructions until the simulated processing instructions meet the processing requirements.

[0071] As an example, the mechatronic module 23 may feed back only the motion-related information in the processing instructions to the motion controller 22, so that the motion controller 22 adjusts the motion instructions according to the motion-related information; it may also feed back only the position-related information in the processing instructions to the trajectory planner 21, so that the trajectory planner 21 adjusts the position instructions according to the position-related information; it may also feed back the motion-related information in the processing instructions to the motion controller 22 and feed back the position-related information in the processing instructions to the trajectory planner 21 at the same time, without limitation here.

[0072] The trajectory planner 21 is connected to the motion controller 22 and the electromechanical module 23 respectively, and is used to adjust the position instruction according to the position-related information in the processing instruction sent by the electromechanical module 23 and send it to the motion controller 22 when the processing instruction does not meet the processing requirements.

[0073] The motion controller 22 is connected to the trajectory planner 21 and the electromechanical module 23 respectively, and is used to adjust the processing instructions and send them to the electromechanical module 23 according to the motion-related information in the processing instructions sent by the electromechanical module 23 and the position instructions sent by the trajectory planner 21 when the processing instructions do not meet the processing requirements.

[0074] The electromechanical module 23 is also used to output the processing instruction to the servo system 3 when it is determined that the processing instruction meets the processing requirements, so that the servo system 3 completes driving and processing according to the above processing instruction.

[0075] The electromechanical system 2 provided in the embodiment of the present application simulates the processing instructions of the servo system 3 through the electromechanical system model preset in the electromechanical module 23, and feeds back to the motion controller 22 or the trajectory planner 21 to correct the motion instructions, forming a closed-loop management of effective data, so that the motion instructions can adaptively match the servo processing site conditions, and ultimately achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system, while reducing the difficulty of debugging and improving debugging efficiency and processing quality.

[0076] As an example, the motion controller 22 in the embodiment of the present application can be a CNC machine tool, the trajectory planner 21 can be a CAM, and the electromechanical system 2 can be a CNC machine tool system, which is used to achieve full closed-loop precision machining of the CNC machine tool system. It should be noted that the electromechanical system 2 in the embodiment of the present application can also be applied to other electromechanical systems for the purpose of achieving precision machining, which is not limited here.

[0077] In order to achieve more precise control, the electromechanical module 23 can also be connected to the servo system 3 to receive the servo system feedback information uploaded by the servo system 3, and simulate the processing instructions of the servo system 3 according to the preset electromechanical system model based on the motion instructions and the servo system feedback information; wherein the servo system feedback information includes servo model parameters and axis real-time quantities. Since the electromechanical module 23 takes the servo system feedback information into consideration when simulating the processing instructions of the electromechanical system, the simulated data is more accurate and real-time, so the adjusted motion instructions are adaptively matched to the servo processing site conditions, realizing the full closed-loop feedback control of the electromechanical system.

[0078] As an example, the servo system 3 may include a servo drive, a servo motor, a transmission mechanism, a device body, a servo feedback unit and other structures. The servo feedback unit can feed back the servo system feedback information including servo model parameters and axis real-time quantities to the mechatronic module 23 and the motion controller 21.

[0079] The present application embodiment also provides a mechatronic module 23, such as Figure 3 As shown, the electromechanical system model is preset in the electromechanical module 23, and the electromechanical system model includes several types of models such as a drive model 231, a motor model 232, a transmission model 233, a device model 234, and a processing model 253.

[0080] On the one hand, the electromechanical module 23 receives the motion instructions output by the motion controller 22, and the motion instructions include instructions such as the planned processing position, speed, torque, etc. On the other hand, the electromechanical module 23 can also receive the servo system feedback information sent by the servo system 3. The servo system feedback information includes servo model parameters and axis real-time quantities. Specifically, the servo model parameters include motor type, maximum torque, maximum torque, and axis-related parameters, and the axis real-time feedback includes actual processing feedback information such as processing position, speed, torque, feedback current, etc.

[0081] In one embodiment, the electromechanical module 23 simulates the processing instructions of the servo system according to the motion instructions and the preset electromechanical system model. Specifically, the electromechanical module 23 simulates the processing instructions of the servo system 3 according to the motion instructions based on the constraints of the preset motor model 232, the transmission model 233, and the device model 234. The processing instructions may include processing position information.

[0082] In another embodiment, the electromechanical module 23 simulates the processing instructions of the servo system according to a preset electromechanical system model based on the motion instructions and the servo system feedback information. Specifically, the electromechanical module 23 simulates the processing instructions of the servo system 3 according to the motion instructions and the servo system feedback information based on the constraints of the preset motor model 232, the transmission model 233, and the device model 234.

[0083] As an example, the electromechanical module 23 can also determine whether the above-mentioned processing instructions meet the processing requirements based on the processing model 235 in the electromechanical system model, where the processing requirements include torque fluctuation, position deviation, position overshoot and other requirements.

[0084] When the processing instruction meets the processing requirements, the electromechanical module 23 outputs the processing instruction that meets the processing requirements to the servo system 3, so that the servo system 3 completes the driving and workpiece processing according to the processing instruction. When the processing instruction does not meet the processing requirements, the electromechanical module 23 feeds back the processing instruction to the motion controller 22 and / or the trajectory planner 21 to adjust the motion instruction until the simulated processing instruction meets the processing requirements.

[0085] As an example, the mechatronic module 23 may feed back only the motion-related information in the processing instructions to the motion controller 22, so that the motion controller 22 adjusts the motion instructions according to the motion-related information; it may also feed back only the position-related information in the processing instructions to the trajectory planner 21, so that the trajectory planner 21 adjusts the position instructions according to the position-related information; it may also feed back the motion-related information in the processing instructions to the motion controller 22 and feed back the position-related information in the processing instructions to the trajectory planner 21 at the same time, without limitation here.

[0086] As an example, the motion-related information in the processing instruction includes information such as motor speed, processing position, processing acceleration, and motor torque percentage.

[0087] As an example, the position-related information in the processing instruction includes information such as the trajectory error amount and the error requirement range.

[0088] The electromechanical module 23 provided in the embodiment of the present application simulates the processing instructions of the servo system 3 based on the motion instructions and the preset electromechanical system model, and feeds back to the motion controller 22 or the trajectory planner 21 to correct the motion instructions, forming a closed-loop management of effective data, so that the motion instructions can adaptively match the servo processing site conditions, and ultimately achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system, while reducing the difficulty of debugging and improving debugging efficiency and processing quality.

[0089] In order to achieve more precise control, the electromechanical module 23 can also simulate the processing instructions of the servo system 3 according to the preset electromechanical system model based on the motion instructions and the servo system feedback information, and feed back to the motion controller 22 or the trajectory planner 21 to correct the motion instructions. Since the electromechanical module 23 also takes the servo system feedback information into consideration when simulating the processing instructions of the electromechanical system, the simulated data is more accurate and real-time, so the adjusted motion instructions are adaptively matched to the servo processing site conditions, realizing the full closed-loop feedback control of the electromechanical system.

[0090] Specifically, the electromechanical module 23 sets the drive parameters 236. The electromechanical module 23 can adjust the drive parameters 236 through the drive model 231 in combination with the model parameters such as the motor model 232, the transmission model 233 and the device model 234 (such as load characteristics, motor drive model, screw transmission parameters, etc.) and the servo model parameters, and send the adjusted drive parameters to the servo system 3. The adjusted drive parameters include servo parameters such as position gain, velocity gain, feedforward adjustment, gain level, and rigidity level. Therefore, the electromechanical module 23 can realize adaptive adjustment of the drive parameters, thereby reducing the overall debugging difficulty of the electromechanical system.

[0091] It should be noted that the motion controller 22 in the embodiment of the present application may be a CNC controller for a numerically controlled machine tool, and the trajectory planner 21 may be a CAM. In the physical structure, the electromechanical module 23 may be built into the trajectory planner 21, or may be built into the motion controller 22, or the trajectory planner 21, the motion controller 22 and the electromechanical module 23 may be integrated into one, which is not limited here.

[0092] As an example, the servo system 3 may include a servo drive, a servo motor, a transmission mechanism, a device body, a servo feedback unit and other structures. The servo feedback unit can feed back the servo system feedback information including servo model parameters and axis real-time quantities to the mechatronic module 23 and the motion controller 21.

[0093] The present application embodiment also provides a mechatronic module 21, such as Figure 4 As shown, the electromechanical module 21 includes a preset electromechanical system model and a receiving unit 41, a simulation unit 42 and a sending unit 43:

[0094] A receiving unit 41, configured to receive a motion instruction sent by the motion controller 22;

[0095] A simulation unit 42, used to simulate the processing instructions of the servo system 3 according to the motion instructions and the preset electromechanical system model;

[0096] The sending unit 43 is used to output the processing instructions to the servo system 3 when the processing instructions meet the processing requirements; when the processing instructions do not meet the processing requirements, the processing instructions are fed back to the motion controller 22 and / or the trajectory planner 21 to adjust the motion instructions until the simulated processing instructions meet the processing requirements.

[0097] The electromechanical module 21 provided in the embodiment of the present application simulates the processing instructions of the servo system 3 based on the motion instructions and the preset electromechanical system model, and feeds back to the motion controller 22 or the trajectory planner 21 to correct the motion instructions, forming a closed-loop management of effective data, so that the motion instructions can adaptively match the servo processing site conditions, and ultimately achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system, while reducing the difficulty of debugging and improving debugging efficiency and processing quality.

[0098] As an example, the sending unit 43 may feed back only the motion-related information in the processing instruction to the motion controller 22, so that the motion controller 22 adjusts the motion instruction according to the motion-related information; or it may feed back only the position-related information in the processing instruction to the trajectory planner 21, so that the trajectory planner 21 adjusts the position instruction according to the position-related information; or it may feed back the motion-related information in the processing instruction to the motion controller 22 and feed back the position-related information in the processing instruction to the trajectory planner 21 at the same time, without limitation here.

[0099] As an example, the motion-related information in the processing instruction includes information such as motor speed, processing position, processing acceleration, and motor torque percentage.

[0100] As an example, the position-related information in the processing instruction includes information such as the trajectory error amount and the error requirement range.

[0101] As an example, on the one hand, the receiving unit 41 receives the motion instructions output by the motion controller 22, and the motion instructions include instructions such as the planned processing position, speed, torque, etc.; on the other hand, the receiving unit 41 can also receive the servo system feedback information sent by the servo system 3. The servo system feedback information includes servo model parameters and axis real-time quantities. Specifically, the servo model parameters include motor type, maximum torque, maximum torque, and axis-related parameters, and the axis real-time feedback includes actual processing feedback information such as processing position, speed, torque, feedback current, etc.

[0102] The simulation unit 42 simulates the processing instructions of the servo system according to the preset electromechanical system model based on the motion instructions and the servo system feedback information. Specifically, the simulation unit 42 simulates the processing instructions of the servo system 3 according to the motion instructions and the servo system feedback information based on the constraints of the preset motor model 232, the transmission model 233, and the device model 234. Since the electromechanical system of the electromechanical module 23 also considers the servo system feedback information when simulating the processing instructions, the simulated data is more accurate and real-time, so the adjusted motion instructions are adaptively matched to the servo processing site conditions, and the full closed-loop feedback control of the electromechanical system is realized.

[0103] As an example, the electromechanical module 23 also includes a judgment unit, which can judge whether the above-mentioned processing instructions meet the processing requirements based on the processing model 235 in the electromechanical system model, where the processing requirements include torque fluctuation, position deviation, position overshoot and other requirements.

[0104] In order to achieve the effect of adaptive adjustment of driving parameters, for example, when the parameter response is insufficient, the device rigidity is high and the servo system driving parameters are set low, and the device is not compatible, etc., the adaptive adjustment of driving parameters can be achieved through the electromechanical module 23 in the embodiment of the present application.

[0105] Specifically, the electromechanical module 23 also includes a parameter self-adjusting unit, which includes a preset drive parameter 236. The parameter self-adjusting unit can combine model parameters such as motor model 232, transmission model 233 and device model 234 (such as inertia, motor drive model, screw transmission parameters, etc.) and servo model parameters, adjust the drive parameter 236 through the drive model 231, and send the adjusted drive parameter to the servo system 3. The adjusted drive parameters include servo parameters such as position gain, speed gain, feedforward adjustment, gain level, and rigidity level. Therefore, the parameter self-adjusting unit can realize adaptive adjustment of the drive parameters, thereby reducing the overall debugging difficulty of the electromechanical system.

[0106] The embodiment of the present application further provides a motion controller, which may specifically be a CNC controller for a numerically controlled machine tool. The motion controller includes the above-mentioned electromechanical module, that is, the electromechanical module is built into the motion controller.

[0107] An embodiment of the present application further provides a trajectory planner, which may be specifically a CAM. The trajectory planner includes the above-mentioned electromechanical module, that is, the electromechanical module is built into the trajectory planner.

[0108] An embodiment of the present application also provides an electromechanical system, including a motion controller, a trajectory planner and the above-mentioned electromechanical module, that is, the trajectory planner, the motion controller and the electromechanical module are integrated into one.

[0109] The present application also provides a trajectory planner, such as Figure 5As shown, the trajectory planner 21 includes a workpiece model unit 211, a typesetting and nesting unit 212, a trajectory generation unit 213 and a trajectory correction unit 214. The trajectory planner 21 supports the import of the workpiece model unit 211. After the workpiece model is imported, within the constraints of the precision control, the trajectory is generated based on the trajectory generation unit 213 after the typesetting and nesting unit 212. At the same time, the trajectory correction is performed based on the trajectory correction unit 214 based on the offline simulation and detection technology to ensure that the trajectory can be processed normally without interference. At the same time, the trajectory correction unit 214 can also receive the position-related information in the processing instruction sent by the electromechanical module 23 when the processing instruction does not meet the processing requirements, and adjust the position instruction according to the position-related information in the processing instruction and output it to the motion controller 22, so that the motion controller 22 adjusts the motion instruction until the processing instruction meets the processing requirements.

[0110] Specifically, the processing instructions are generated based on the motion instructions output by the motion controller and the preset electromechanical system model simulation.

[0111] It should be noted that when the processing instruction meets the processing requirements, the trajectory correction unit 214 can also receive position-related information in the processing instruction sent by the electromechanical module 23, which is not limited here.

[0112] The trajectory planner 21 provided in the embodiment of the present application adjusts the position instruction based on the position-related information in the processing instruction to correct the motion instruction, forming a closed-loop management of effective data, so that the motion instruction can adaptively match the servo processing site conditions, and ultimately achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system, while reducing the difficulty of debugging and improving debugging efficiency and processing quality.

[0113] The present application also provides a motion controller, such as Figure 6 As shown, the motion controller 22 includes a forward processing unit 221, a speed planning unit 222, and a single-axis position instruction generating unit 223. The motion controller 22 performs speed planning through the forward processing unit 221 and the speed planning unit 222 based on the position instruction sent by the trajectory planner 21 within the constraint range of the precision control, and finally generates a single-axis position instruction through the single-axis position instruction generating unit 223. In addition, when the processing instruction does not meet the processing requirements, the motion controller 22 receives the motion-related information in the processing instruction sent by the electromechanical module 23, and adjusts the motion instruction according to the motion-related information and the position instruction in the processing instruction until the processing instruction meets the processing requirements.

[0114] Specifically, the processing instructions are generated based on the motion instructions output by the motion controller and the preset electromechanical system model simulation.

[0115] It should be noted that when the processing instruction meets the processing requirements, the motion controller 22 can also receive position-related information in the processing instruction sent by the electromechanical module 23, which is not limited here.

[0116] The motion controller 22 provided in the embodiment of the present application adjusts the position instruction based on the motion-related information in the processing instruction to correct the motion instruction, forming a closed-loop management of effective data, so that the motion instruction can adaptively match the servo processing site conditions, and ultimately achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system, while reducing the difficulty of debugging, improving debugging efficiency and processing quality.

[0117] As an example, the motion controller 22 can also receive the real-time axis quantity uploaded by the servo system 3, and adjust the motion instruction according to the motion-related information, position instruction and the real-time axis quantity in the processing instruction, so that the adjusted motion instruction is more accurate and matches the processing site conditions.

[0118] In addition, the present application also provides a method for controlling an electromechanical system. Figure 7 , Figure 7 A schematic flow chart of a mechatronic system control method provided in an embodiment of the present application, the mechatronic system control method can be applied to the above-mentioned mechatronic module, such as Figure 7 As shown, a mechatronic system control method provided in this embodiment includes steps S11 to S14.

[0119] Step S11: receiving a motion instruction sent by a motion controller;

[0120] Step S12: simulating the processing instructions of the servo system according to the motion instructions and the preset electromechanical system model;

[0121] Step S13: if the processing instruction meets the processing requirements, output the processing instruction to the servo system;

[0122] Step S14: If the processing instruction does not meet the processing requirements, the processing instruction is fed back to the motion controller and / or trajectory planner to adjust the motion instruction until the simulated processing instruction meets the processing requirements.

[0123] The electromechanical system control method provided in the embodiment of the present application simulates the processing instructions of the servo system based on the motion instructions and the preset electromechanical system model, and feeds back to the motion controller or trajectory planner to correct the motion instructions, forming a closed-loop management of effective data, so that the motion instructions can adaptively match the servo processing site conditions, and ultimately achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system, while reducing the difficulty of debugging and improving debugging efficiency and processing quality.

[0124] As an example, in step S14, only the motion-related information in the processing instruction can be fed back to the motion controller, so that the motion controller adjusts the motion instruction according to the motion-related information; only the position-related information in the processing instruction can be fed back to the trajectory planner, so that the trajectory planning device adjusts the position instruction according to the position-related information; or the motion-related information in the processing instruction can be fed back to the motion controller and the position-related information in the processing instruction can be fed back to the trajectory planner at the same time, without limitation here.

[0125] As an example, the motion-related information in the processing instruction includes information such as motor speed, processing position, processing acceleration, and motor torque percentage.

[0126] As an example, the position-related information in the processing instruction includes information such as the trajectory error amount and the error requirement range.

[0127] As an example, step S11 receives motion instructions output by the motion controller, and the motion instructions include instructions such as the planned processing position, speed, and torque; on the other hand, step S11 can also receive servo system feedback information sent by the servo system. The servo system feedback information includes servo model parameters and axis real-time quantities. Specifically, the servo model parameters include motor type, maximum torque, maximum torque, and axis-related parameters, and the axis real-time feedback includes actual processing feedback information such as processing position, speed, torque, and feedback current.

[0128] Furthermore, step S12 can simulate the processing instructions of the servo system according to the preset electromechanical system model based on the motion instructions and the servo system feedback information. Specifically, in step S12, based on the constraints of the preset motor model 232, the transmission model 233, and the device model 234, the processing instructions of the servo system are simulated according to the motion instructions and the servo system feedback information. Since the servo system feedback information is also considered when simulating the processing instructions in step S12, the simulated data is more accurate and real-time, so the adjusted motion instructions are adaptively matched to the servo processing site conditions, and the full closed-loop feedback control of the electromechanical system is realized.

[0129] As an example, Figure 8 As shown, the electromechanical system control method provided in the embodiment of the present application also includes step S15.

[0130] Step S15: judging whether the processing instruction meets the processing requirements based on the processing model in the electromechanical system model, wherein the processing requirements include torque fluctuation, position deviation, position overshoot and other requirements.

[0131] In order to achieve the effect of adaptive adjustment of driving parameters, for example, when the parameter response is insufficient, the equipment rigidity is high but the servo system driving parameters are set low, and it is not compatible with the equipment, the adaptive adjustment of driving parameters can be achieved through the electromechanical system control method provided in the embodiment of the present application.

[0132] Specifically, the electromechanical module also includes preset drive parameters. The electromechanical system control method provided in this embodiment also includes step S16: combining model parameters such as motor model, transmission model and equipment model (such as inertia, motor drive model, screw transmission parameters, etc.) and servo model parameters, adjusting the drive parameters through the drive model, and sending the adjusted drive parameters to the servo system. The adjusted drive parameters include servo parameters such as position gain, speed gain, feedforward adjustment, gain level, and rigidity level. Therefore, the parameter self-adjustment unit can realize adaptive adjustment of drive parameters, thereby reducing the overall debugging difficulty of the electromechanical system.

[0133] In addition, the present application also provides a method for controlling an electromechanical system. Fig. 9 , Fig. 9 A schematic flow chart of a mechatronic system control method provided in one embodiment of the present application, which can be applied to the above-mentioned trajectory planner, such as Fig. 9 As shown, a mechatronic system control method provided in this embodiment includes steps S21 to S22.

[0134] Step S21: when the processing instruction does not meet the processing requirements, receiving position-related information in the processing instruction, wherein the processing instruction is generated based on the motion instruction output by the motion controller and the preset electromechanical system model simulation;

[0135] Step S22: adjusting the position instruction according to the position-related information in the processing instruction and outputting it to the motion controller, so that the motion controller adjusts the motion instruction until the processing instruction meets the processing requirements.

[0136] Specifically, the processing instructions are generated based on the motion instructions output by the motion controller and the preset electromechanical system model simulation.

[0137] It should be noted that when the processing instructions meet the processing requirements, the trajectory planner can also receive position-related information in the processing instructions sent by the electromechanical module, and there is no limitation here.

[0138] The trajectory planner provided in the embodiment of the present application adjusts the position instruction based on the position-related information in the processing instruction to correct the motion instruction, forming a closed-loop management of effective data, so that the motion instruction can adaptively match the servo processing site conditions, and ultimately achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system, while reducing the difficulty of debugging and improving debugging efficiency and processing quality.

[0139] In addition, the present application also provides a method for controlling an electromechanical system. Fig.10 , Fig.10 A schematic flow chart of a mechatronic system control method provided in one embodiment of the present application, the mechatronic system control method can be applied to the above-mentioned motion controller, such as Fig.10 As shown, a mechatronic system control method provided in this embodiment includes steps S31 to S32.

[0140] Step 31: Receive the position instruction sent by the trajectory planner;

[0141] Step 32: When the processing instruction does not meet the processing requirements, receiving motion-related information in the processing instruction, wherein the processing instruction is generated by simulation based on the motion instruction and a preset electromechanical system model;

[0142] Step 33: Adjust the motion instruction according to the motion-related information in the processing instruction and the position instruction until the processing instruction meets the processing requirements.

[0143] It should be noted that when the processing instruction meets the processing requirements, the motion controller can also receive position-related information in the processing instruction sent by the electromechanical module, and there is no limitation here.

[0144] The motion controller provided in the embodiment of the present application adjusts the position instructions based on the motion-related information in the processing instructions to correct the motion instructions, forming a closed-loop management of effective data, so that the motion instructions can adaptively match the servo processing site conditions, and ultimately achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system, while reducing the difficulty of debugging and improving debugging efficiency and processing quality.

[0145] As an example, the motion controller can also receive the real-time quantity of the axis uploaded by the servo system, and adjust the motion instruction according to the motion-related information, position instruction and the real-time quantity of the axis in the processing instruction, so that the adjusted motion instruction is more accurate and matches the working conditions at the processing site.

[0146] An embodiment of the present application also provides a mechatronic system control device, comprising: a memory, a processor, and a mechatronic system control program stored in the memory and executable on the processor, wherein the mechatronic system control program is configured to implement the steps of the mechatronic system control method as described above.

[0147] The embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium provided by the embodiment of the present application stores an electromechanical system control program configured to implement the steps of the electromechanical system control method described above.

[0148] Among them, the method implemented when the electromechanical system control program running on the processor is executed can refer to the various embodiments of the electromechanical system control method of the present application, and will not be repeated here.

[0149] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0150] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0151] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a computer-readable storage medium (such as ROM / RAM, disk, CD) as described above, including a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0152] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for controlling an electromechanical system, characterized in that: The method comprises: Receiving motion instructions sent by the motion controller, and simulating processing instructions of the servo system according to the motion instructions and a preset electromechanical system model; If the processing instruction meets the processing requirements, outputting the processing instruction to the servo system; If the processing instruction does not meet the processing requirements, the processing instruction is fed back to the motion controller and / or the trajectory planner to adjust the motion instruction until the simulated processing instruction meets the processing requirements.

2. The electromechanical system control method according to claim 1, characterized in that: Feeding back the processing instruction to the motion controller and / or trajectory planner to adjust the motion instruction includes: Feeding back the motion related information in the processing instruction to the motion controller, so that the motion controller adjusts the motion instruction according to the motion related information; and / or, The position-related information in the processing instruction is fed back to the trajectory planner, so that the trajectory planner adjusts the position instruction according to the position-related information.

3. The electromechanical system control method according to claim 1, characterized in that: The method further comprises: Receiving servo system feedback information uploaded by the servo system, wherein the servo system feedback information includes servo model parameters and axis real-time quantities; The simulating the processing instruction of the servo system according to the motion instruction and the preset electromechanical system model includes: Based on the motion instruction and the servo system feedback information, a processing instruction of the servo system is simulated according to a preset electromechanical system model.

4. The electromechanical system control method according to claim 3, characterized in that: The electromechanical system model includes a drive model, a transmission model and a device model, and the method further includes: According to the model parameters of the transmission model and the device model and the servo model parameters, the drive parameters are adjusted through the drive model, and the adjusted drive parameters are sent to the servo system.

5. The electromechanical system control method according to claim 1, characterized in that: The electromechanical system model includes a processing model, and the method further includes: Whether the processing instruction meets the processing requirements is determined according to the processing model.

6. A method for controlling an electromechanical system, applied to a trajectory planner, characterized in that: The method comprises: When the processing instruction does not meet the processing requirements, receiving position-related information in the processing instruction, wherein the processing instruction is generated by simulating the motion instruction output by the motion controller and a preset electromechanical system model; According to the position-related information in the processing instruction, the position instruction is adjusted and output to the motion controller, so that the motion controller adjusts the motion instruction until the processing instruction meets the processing requirements.

7. A method for controlling an electromechanical system, applied to a motion controller, characterized in that: The method comprises: Receive position instructions sent by the trajectory planner; When the processing instruction does not meet the processing requirements, receiving motion-related information in the processing instruction, wherein the processing instruction is generated by simulation based on the motion instruction and a preset electromechanical system model; According to the motion related information in the processing instruction and the position instruction, the motion instruction is adjusted until the processing instruction meets the processing requirements.

8. The electromechanical system control method according to claim 7, characterized in that: The method further comprises: Receive the real-time axis data uploaded by the servo system; The adjusting the motion instruction according to the motion related information in the processing instruction and the position instruction comprises: The motion instruction is adjusted according to the motion-related information in the processing instruction, the position instruction and the real-time quantity of the axis.

9. A mechatronic system control device, characterized in that: The invention comprises a memory, a processor and a mechatronic system control program stored in the memory and executable on the processor, wherein the mechatronic system control program is configured to implement the steps of the mechatronic system control method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an electromechanical system control program, and when the electromechanical system control program is executed by a processor, the steps of the electromechanical system control method according to any one of claims 1 to 8 are implemented.

11. An electromechanical module, characterized in that: The electromechanical module includes a preset electromechanical system model and: A receiving unit, used for receiving a motion instruction sent by a motion controller; A simulation unit, used for simulating a processing instruction of a servo system according to the motion instruction and a preset electromechanical system model; The sending unit is used to output the processing instruction to the servo system when the processing instruction meets the processing requirements; when the processing instruction does not meet the processing requirements, the processing instruction is fed back to the motion controller and / or trajectory planner to adjust the motion instruction until the simulated processing instruction meets the processing requirements.

12. The electromechanical module according to claim 11, characterized in that It is also used when the processing instruction does not meet the processing requirements. The sending unit is used to feed back the motion related information in the processing instruction to the motion controller, so that the motion controller adjusts the motion instruction according to the motion related information; and / or, The sending unit is used to feed back the position-related information in the processing instruction to the trajectory planner, so that the trajectory planner adjusts the position instruction according to the position-related information.

13. The electromechanical module according to claim 11, characterized in that The receiving unit is also used to receive servo system feedback information uploaded by the servo system, wherein the servo system feedback information includes servo model parameters and axis real-time quantities; The simulation unit is further used to simulate the processing instructions of the servo system according to a preset electromechanical system model based on the motion instructions and the servo system feedback information.

14. The electromechanical module according to claim 13, characterized in that The electromechanical system model includes a drive model, a transmission model and a device model, and the electromechanical system model also includes a parameter self-adjusting unit, and the parameter self-adjusting unit is used to: According to the model parameters of the transmission model and the device model and the servo model parameters, the drive parameters are adjusted through the drive model, and the adjusted drive parameters are sent to the servo system.

15. The electromechanical module according to claim 11, characterized in that The electromechanical system model includes a processing model, and the electromechanical module also includes a judgment unit, which is used to: Whether the processing instruction meets the processing requirements is determined according to the processing model.

16. A motion controller, characterized in that: The motion controller comprises the electromechanical module according to any one of claims 11 to 15.

17. A trajectory planner, characterized in that: The trajectory planner comprises an electromechanical module as claimed in any one of claims 11 to 15.

18. An electromechanical system, characterized in that: The invention comprises a motion controller, a trajectory planner and an electromechanical module as claimed in any one of claims 11 to 15.

19. An electromechanical system, characterized in that: Includes electromechanical module, motion controller, trajectory planner; The electromechanical module is connected to the motion controller and is used to receive the motion instructions sent by the motion controller and simulate the processing instructions of the servo system according to the motion instructions and a preset electromechanical system model; If the processing instruction meets the processing requirements, the electromechanical module outputs the processing instruction to the servo system; if the processing instruction does not meet the processing requirements, the electromechanical module feeds back the processing instruction to the motion controller and the trajectory planner to adjust the motion instruction until the simulated processing instruction meets the processing requirements; The motion controller is connected to the trajectory planner and the electromechanical module respectively, and is used to adjust the processing instruction and send it to the electromechanical module according to the motion related information in the processing instruction sent by the electromechanical module and the position instruction sent by the trajectory planner when the processing instruction does not meet the processing requirements; The trajectory planner is connected to the motion controller and the electromechanical module respectively, and is used to adjust the position instruction according to the position-related information in the processing instruction sent by the electromechanical module and send it to the motion controller when the processing instruction does not meet the processing requirements.

20. The electromechanical system according to claim 19, characterized in that The electromechanical module is also connected to the servo system, and is used to receive servo system feedback information uploaded by the servo system, and based on the motion instructions and the servo system feedback information, simulate the processing instructions of the servo system according to a preset electromechanical system model; wherein the servo system feedback information includes servo model parameters and axis real-time quantities.

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