Method and device for controlling synchronous arrival of multi-shaft continuous tracking dynamic main shaft

Abstract

The invention relates to a control method and device for synchronous arrival of a multi-axis continuous tracking dynamic main shaft, and the method comprises the following steps: setting the speed of the main shaft when passing through each track point and the maximum acceleration of each motion shaft based on the positions of a plurality of continuous track points of each motion shaft; controlling the main shaft to continuously move through a driving instruction based on the set position and speed of the track point; based on the current position of the main shaft in a plurality of preset continuous track points, calculating the time of the main shaft moving from the current track point to the next track point; according to the time when the main shaft moves from one point to the next point, the speed and acceleration of each slave shaft moving from the current track point to the next track point are calculated; and based on the speed and the acceleration of each slave shaft moving from the current track point to the next track point, sending a driving instruction of each slave shaft to a servo driver corresponding to each slave shaft, and controlling each slave shaft to move. The invention provides a control method for continuously tracking synchronous arrival of a dynamic main shaft.

Description

Technical Field

[0001] The invention belongs to the field of motion control, and in particular relates to a control method and a device for synchronously reaching a dynamic main axis by continuously tracking multiple axes. Background Art

[0002] At present, the main method to achieve multi-axis linkage and synchronous arrival of the position is multi-axis interpolation. When multiple continuous trajectories are required, the continuous interpolation function is enabled. Interpolation is a real-time data densification process. Regardless of the interpolation algorithm, the operation principle is basically the same. Its function is to perform digital calculations based on the given information, continuously calculate the feed instructions of each coordinate axis involved in the movement, and then drive the corresponding execution components to produce coordinated motion, so that the controlled mechanical components move according to the ideal route and speed.

[0003] The current method of implementing interpolation is that the motion controller interpolator calculates the trajectory points and end point coordinates of multiple axes, the feed speed V, where the feed speed V is generally the combined speed, and the moving speed and displacement of each axis according to a certain calculation method. When the continuous interpolation mode is turned on, there will be some axes in a certain interpolation trajectory that have no moving speed and displacement. When entering another interpolation trajectory, the axis may have a moving speed and displacement. The axis suddenly changes from being stationary to moving, but in the end, the size and direction of the feed speed V must remain unchanged. The initial moving speed of the axis will change dramatically, causing equipment vibration, which in turn affects equipment stability, photo imaging quality, equipment service life, etc. Summary of the invention

[0004] The present invention provides a control method and device for multi-axis continuous tracking of dynamic spindle synchronous arrival, aiming to solve at least one of the technical problems existing in the prior art.

[0005] The technical solution of the present invention relates to a control method for synchronously reaching a multi-axis continuous tracking dynamic spindle. The control method for synchronously reaching a multi-axis continuous tracking dynamic spindle is used on a multi-axis motion device. The multi-axis motion device at least includes a motion controller and a plurality of motion axes connected in sequence. One of the plurality of motion axes is set as a main axis, and the other motion axes are set as slave axes. The control method for synchronously reaching a multi-axis continuous tracking dynamic spindle includes the following steps:

[0006] S100, based on the positions of multiple continuous trajectory points of each motion axis, setting the speed of the main axis when passing through each trajectory point and the maximum acceleration of each motion axis;

[0007] S200, based on the set trajectory point position and speed, controlling the main axis to move continuously through the drive command;

[0008] S300, calculating the time for the spindle to move from the current trajectory point to the next trajectory point based on the current position of the spindle in a plurality of preset continuous trajectory points;

[0009] S400, calculating the speed and acceleration of each slave axis moving from a current trajectory point to a next trajectory point according to the time taken for the master axis to move from one point to the next point;

[0010] S500, based on the speed and acceleration of each slave axis moving from the current trajectory point to the next trajectory point, sending a drive instruction of each slave axis to a servo driver corresponding to each slave axis, and controlling the movement of each slave axis;

[0011] S600, when the main axis moves to the next trajectory point, the next trajectory point is set as the current trajectory point, and steps S300 to S500 are repeatedly executed until each axis moves to the position of the last trajectory point in the continuous trajectory points.

[0012] Further, in step S100,

[0013] The multiple continuous trajectory points of each motion axis are points connected in sequence in three-dimensional space. ,point , ... and dot ,in, The coordinates of multiple trajectory points are expressed as ( , , ,…, ), ( , , ,…, ),……and ( , , ,…, ), in, , , and Track points The coordinate values ​​on the x-axis, y-axis, z-axis and w-axis, , , and Track points The coordinate values ​​on the x-axis, y-axis, z-axis and w-axis, , , and Track points Coordinate values ​​on the x-axis, y-axis, z-axis, and w-axis.

[0014] Further, in step S100,

[0015] When the main axis is the x-axis, the x-axis passes through each trajectory point , ,……and When , ,……and ;

[0016] From the track point To track point When , the acceleration of each motion axis is , , ……and , from the trajectory point To track point When , the acceleration of each motion axis is , , ……and , from the trajectory point To track point When , the acceleration of each motion axis is , , ……and .

[0017] Further, in step S300: assuming that the main axis is the x-axis, from the trajectory point Move to the trajectory point hour, The x-axis is Move to Time required for: .

[0018] Further, in step S400:

[0019] When the main axis is the x-axis, the y-axis, z-axis, ..., w-axis are all slave axes. The speed and acceleration of each slave axis are calculated in turn.

[0020] The y-axis is Move to Acceleration for: ;

[0021] ZZ axis from Move to Acceleration for: ; The w axis is Move to Acceleration for: .

[0022] Further, in step S400:

[0023] The y-axis is Move to Speed for: ; The z-axis Move to Speed for: ; The w axis is Move to Speed for: .

[0024] Furthermore, in step S200 and step S500, the driving instruction can be configured as a bus communication instruction or a pulse sequence instruction, and sent to the servo driver corresponding to each slave axis.

[0025] Furthermore, when the servo drivers corresponding to each slave axis receive the driving instructions, they generate motor control instructions and send them to the motors of the corresponding axes to control the movement of the motors. At the same time, they collect the encoding information of the encoders set on the corresponding axes and send the encoding information to the motion controller through the servo drivers of the axes.

[0026] Furthermore, the present invention also proposes a multi-axis motion device for realizing the control method of multi-axis continuous tracking of dynamic spindle synchronous arrival, wherein the multi-axis motion device at least comprises:

[0027] Motion controllers and multiple motion axes connected in sequence,

[0028] Set one of the multiple motion axes as the master axis and the other motion axes as slave axes.

[0029] Furthermore, the present invention also proposes a computer-readable storage medium, on which program instructions are stored. When the program instructions are executed by a processor, the control method for synchronous arrival of a multi-axis continuous tracking dynamic spindle is implemented.

[0030] Compared with the prior art, the present invention has the following characteristics:

[0031] The present invention provides a control method and device for the synchronous arrival of a multi-axis continuous tracking dynamic spindle, and provides a control method for the synchronous arrival of a dynamic spindle continuously. When the spindle is in a continuous or variable speed multi-axis operation, multiple slave axes follow the position correspondence between the spindle and the multiple slave axes. When the spindle reaches a set position, all the slave axes also reach the set position accordingly and are in a stationary state. A control method is provided. The technical effect of fast and smooth speed transition is achieved in the process of multi-axis continuous tracking dynamic spindle synchronous arrival, that is, the multi-axis reaches the position set by each axis at the same time, and the speed changes during the entire action process, when passing the position of the track point, starting at zero speed, and decelerating to zero. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 The present invention is a flow chart of the control method for the synchronous arrival of multi-axis continuous tracking dynamic spindles.

[0033] Figure 2 This is a control schematic diagram of a multi-axis motion device. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] The concept, specific structure and technical effects of the present invention will be clearly and completely described below in combination with the embodiments and drawings to fully understand the purpose, scheme and effect of the present invention.

[0036] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to another feature, or it may be indirectly fixed or connected to another feature. The singular forms "a", "said" and "the" used herein are also intended to include the plural forms, unless the context clearly indicates otherwise. In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art. The terms used in this specification are intended only to describe specific embodiments and are not intended to limit the invention. The term "and / or" used herein includes any combination of one or more of the related listed items.

[0037] It should be understood that although the terms first, second, third, etc. may be used to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, without departing from the scope of the present disclosure, the first element may also be referred to as the second element, and similarly, the second element may also be referred to as the first element. The use of any and all examples or exemplary language ("for example", "such as", etc.) provided herein is intended only to better illustrate embodiments of the present invention, and unless otherwise required, will not impose limitations on the scope of the present invention. In addition, the industry term "posture" used herein refers to the position and attitude of a certain element relative to a spatial coordinate system.

[0038] Reference Figure 1 to Figure 2 The embodiment of the present invention provides a control method for multi-axis continuous tracking dynamic spindle synchronous arrival, the control method for multi-axis continuous tracking dynamic spindle synchronous arrival is used on a multi-axis motion device, the multi-axis motion device at least includes a motion controller and a plurality of motion axes connected in sequence, one of the plurality of motion axes is set as the main axis, and the other motion axes are set as slave axes, referring to Figure 1 The control method for multi-axis continuous tracking of dynamic spindle synchronous arrival comprises the following steps:

[0039] S100, based on the positions of multiple continuous trajectory points of each motion axis, setting the speed of the main axis when passing through each trajectory point and the maximum acceleration of each motion axis;

[0040] S200, based on the set trajectory point position and speed, controlling the main axis to move continuously through the drive command;

[0041] S300, calculating the time for the spindle to move from the current trajectory point to the next trajectory point based on the current position of the spindle in a plurality of preset continuous trajectory points;

[0042] S400, calculating the speed and acceleration of each slave axis moving from a current trajectory point to a next trajectory point according to the time taken for the master axis to move from one point to the next point;

[0043] S500, based on the speed and acceleration of each slave axis moving from the current trajectory point to the next trajectory point, sending a drive instruction of each slave axis to a servo driver corresponding to each slave axis, and controlling the movement of each slave axis;

[0044] S600, when the main axis moves to the next trajectory point, the next trajectory point is set as the current trajectory point, and steps S300 to S500 are repeatedly executed until each axis moves to the position of the last trajectory point in the continuous trajectory points.

[0045] Compared with the prior art, the present invention has the following characteristics:

[0046] The present invention provides a control method and device for the synchronous arrival of a multi-axis continuous tracking dynamic spindle, and provides a control method for the synchronous arrival of a dynamic spindle continuously. When the spindle is in a continuous or variable speed multi-axis operation, multiple slave axes follow the position correspondence between the spindle and the multiple slave axes. When the spindle reaches a set position, all the slave axes also reach the set position accordingly and are in a stationary state. A control method is provided. The technical effect of fast and smooth speed transition is achieved in the process of multi-axis continuous tracking dynamic spindle synchronous arrival, that is, the multi-axis reaches the position set by each axis at the same time, and the speed changes during the entire action process, when passing the position of the track point, starting at zero speed, and decelerating to zero.

[0047] Further, refer to Figure 1 In the step S100,

[0048] The multiple continuous trajectory points of each motion axis are points connected in sequence in three-dimensional space. ,point , ... and dot ,in, The coordinates of multiple trajectory points are expressed as ( , , ,…, ), ( , , ,…, ),……and ( , , ,…, ), in, , , and Track points The coordinate values ​​on the x-axis, y-axis, z-axis and w-axis, , , and Track points The coordinate values ​​on the x-axis, y-axis, z-axis and w-axis, , , and Track points Coordinate values ​​on the x-axis, y-axis, z-axis, and w-axis.

[0049] Further, refer to Figure 1 In the step S100,

[0050] When the main axis is the x-axis, the x-axis passes through each trajectory point , ,……and When , ,……and ;

[0051] From the track point To track point When , the acceleration of each motion axis is , , ……and , from the trajectory point To track point When , the acceleration of each motion axis is , , ……and , from the trajectory point To track point When , the acceleration of each motion axis is , , ……and .

[0052] Further, refer to Figure 1 In step S300: when the main axis is the x-axis, from the trajectory point Move to the trajectory point hour, The x-axis is Move to Time required for: .

[0053] Specifically, the time for the main axis x-axis to move from point P1 to point P2 is calculated based on the distance between point P1 and point P2, the current speed of P1, the target speed of P2, and the acceleration according to the motion formula of the object.

[0054] Further, refer to Figure 1 , in step S400:

[0055] When the main axis is the x-axis, the y-axis, z-axis, ..., w-axis are all slave axes. The speed and acceleration of each slave axis are calculated in turn.

[0056] The y-axis is Move to Acceleration for: ;

[0057] The z-axis Move to Acceleration for: ; The w axis is Move to Acceleration for: .

[0058] Further, refer to Figure 1 , in step S400:

[0059] The y-axis is Move to Speed for: ; The z-axis Move to Speed for: ; The w axis is Move to Speed for: .

[0060] Specifically, , and They are the maximum speeds to which the slave axis can be accelerated during this process.

[0061] Further, refer to Figure 1 In step S200 and step S500, the driving instruction can be configured as a bus communication instruction or a pulse sequence instruction, and sent to the servo driver corresponding to each slave axis.

[0062] Specifically, bus communication instructions are usually sent to the driver at high frequency and high speed, and the displacement required for each communication cycle is sent to the driver. The driver converts the communication frequency and displacement into the speed of the drive motor. The pulse sequence sends the speed and displacement to the driver through a high-speed pulse generator. The driver analyzes the speed of movement according to the frequency of the received pulses and the displacement according to the number of pulses, and drives the motor to move accordingly.

[0063] Further, refer to Figure 1When the servo drivers corresponding to each slave axis receive the driving instructions, they generate motor control instructions and send them to the motors of the corresponding axes to control the motor movement. At the same time, they collect the encoding information of the encoders set on the corresponding axes and send the encoding information to the motion controller through the servo drivers of the axes.

[0064] Further, refer to Figure 2 The present invention also proposes a multi-axis motion device for realizing the control method of multi-axis continuous tracking dynamic spindle synchronous arrival, and the multi-axis motion device at least comprises:

[0065] Motion controllers and multiple motion axes connected in sequence,

[0066] Set one of the multiple motion axes as the master axis and the other motion axes as slave axes.

[0067] Reference Figure 2 In a specific embodiment, the multiple motion axes include an x-axis, a y-axis, a z-axis, ... a w-axis. All motion axes are connected to the motion controller respectively, and the servo drivers of all motion axes are connected to the corresponding motors respectively. A corresponding encoder is arranged on each axis, and the encoding information of the encoder is transmitted to the motion controller in real time through the respective servo drivers.

[0068] In addition, in another embodiment, the control method for the synchronous arrival of the multi-axis continuous tracking dynamic spindle described in the present invention is applied in an invention patent application document previously applied for by the applicant, entitled "A Multi-axis Detection Device", which at least includes xyz three-axis motion in three-dimensional space (the first direction is the X-axis direction, the second direction is the Y-axis direction, and the third direction is the Z-axis vertical direction), as well as the U-axis (the rotation axis of the rotating frame) and the R-axis (spin direction).

[0069] Furthermore, the present invention also proposes a computer-readable storage medium, on which program instructions are stored. When the program instructions are executed by a processor, the control method for synchronous arrival of a multi-axis continuous tracking dynamic spindle is implemented.

[0070] It should be appreciated that the method steps in the embodiments of the present invention can be implemented or implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The method can use standard programming techniques. Each program can be implemented in a high-level process or object-oriented programming language to communicate with a computer system. However, if necessary, the program can be implemented in an assembly or machine language. In any case, the language can be a compiled or interpreted language. In addition, the program can be run on a programmed ASIC for this purpose.

[0071] Furthermore, the operations of the processes described herein may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and / or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) that is executed collectively on one or more processors, by hardware, or a combination thereof. The computer program includes a plurality of instructions that may be executed by one or more processors.

[0072] Further, the method can be implemented in any type of computing platform that is operably connected to a suitable computer, including but not limited to a personal computer, a minicomputer, a mainframe, a workstation, a network or distributed computing environment, a separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, etc. Various aspects of the present invention can be implemented in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, an optical read and / or write storage medium, a RAM, a ROM, etc., so that it can be read by a programmable computer, and when the storage medium or device is read by the computer, it can be used to configure and operate the computer to perform the process described herein. In addition, the machine-readable code, or portions thereof, can be transmitted via a wired or wireless network. When such media includes instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor, the invention described herein includes these and other different types of non-transitory computer-readable storage media. When programmed according to the methods and techniques of the present invention, the present invention can also include the computer itself.

[0073] The computer program can be applied to input data to perform the functions described herein, thereby converting the input data to generate output data stored in a non-volatile memory. The output information can also be applied to one or more output devices such as a display. In a preferred embodiment of the present invention, the converted data represents physical and tangible objects, including specific visual depictions of physical and tangible objects produced on the display.

[0074] The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation. As long as the technical effect of the present invention is achieved by the same means, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of protection of the present invention. Within the scope of protection of the present invention, its technical scheme and / or implementation method may have various modifications and changes.

Claims

1. A control method for multi-axis continuous tracking of dynamic spindle synchronous arrival, characterized in that: The control method for multi-axis continuous tracking dynamic spindle synchronous arrival is used on a multi-axis motion device, which at least includes a motion controller and multiple motion axes connected in sequence, and one of the multiple motion axes is set as the main axis, and the other motion axes are set as slave axes. The control method for multi-axis continuous tracking dynamic spindle synchronous arrival includes the following steps: S100, based on the positions of multiple continuous trajectory points of each motion axis, setting the speed of the main axis when passing through each trajectory point and the maximum acceleration of each motion axis; S200, based on the set trajectory point position and speed, controlling the main axis to move continuously through the drive command; S300, calculating the time for the spindle to move from the current trajectory point to the next trajectory point based on the current position of the spindle in a plurality of preset continuous trajectory points; S400, calculating the speed and acceleration of each slave axis moving from a current trajectory point to a next trajectory point according to the time taken for the master axis to move from one point to the next point; S500, based on the speed and acceleration of each slave axis moving from the current trajectory point to the next trajectory point, sending a drive instruction of each slave axis to a servo driver corresponding to each slave axis, and controlling the movement of each slave axis; S600, when the main axis moves to the next trajectory point, the next trajectory point is set as the current trajectory point, and steps S300 to S500 are repeatedly executed until each axis moves to the position of the last trajectory point in the continuous trajectory points.

2. The control method for multi-axis continuous tracking dynamic spindle synchronous arrival according to claim 1 is characterized in that: In the step S100, The multiple continuous trajectory points of each motion axis are points connected in sequence in three-dimensional space. ,point , ... and dot ,in, The coordinates of multiple trajectory points are expressed as ( , , ,…, ), ( , , ,…, ),……and ( , , ,…, ), in, , , and Track points The coordinate values ​​on the x-axis, y-axis, z-axis and w-axis, , , and Track points The coordinate values ​​on the x-axis, y-axis, z-axis and w-axis, , , and Track points Coordinate values ​​on the x-axis, y-axis, z-axis, and w-axis.

3. The control method for multi-axis continuous tracking dynamic spindle synchronous arrival according to claim 2 is characterized in that: In the step S100, When the main axis is the x-axis, the x-axis passes through each trajectory point , ,……and When , ,……and ; From the track point To track point When , the acceleration of each motion axis is , , ……and , From the track point To track point When , the acceleration of each motion axis is , , ……and , From the track point To track point When , the acceleration of each motion axis is , , ……and .

4. The control method for multi-axis continuous tracking dynamic spindle synchronous arrival according to claim 3 is characterized in that: In the step S300: assuming that the main axis is the x-axis, from the trajectory point Move to the trajectory point hour, The x-axis is Move to Time required for: 。 5. The control method for multi-axis continuous tracking dynamic spindle synchronous arrival according to claim 4 is characterized in that: In step S400: When the main axis is the x-axis, the y-axis, z-axis, ..., w-axis are all slave axes. The speed and acceleration of each slave axis are calculated in turn. The y-axis is Move to Acceleration for: ； The z-axis Move to Acceleration for: ； The w axis is Move to Acceleration for: 。 6. The control method for multi-axis continuous tracking dynamic spindle synchronous arrival according to claim 5 is characterized in that: In step S400: The y-axis is Move to Speed for: ； The z-axis Move to Speed for: ； The w axis is Move to Speed for: 。 7. The control method for multi-axis continuous tracking dynamic spindle synchronous arrival according to claim 1, characterized in that: In step S200 and step S500, the driving instruction can be configured as a bus communication instruction or a pulse sequence instruction, and sent to the servo driver corresponding to each slave axis.

8. The control method for multi-axis continuous tracking dynamic spindle synchronous arrival according to claim 7, characterized in that: When the servo drivers corresponding to each slave axis receive the driving instructions, they generate motor control instructions and send them to the motors of the corresponding axes to control the motor movement. At the same time, they collect the encoding information of the encoders set on the corresponding axes and send the encoding information to the motion controller through the servo drivers of the axes.

9. A multi-axis motion device, used to implement the control method for multi-axis continuous tracking and dynamic spindle synchronous arrival as claimed in any one of claims 1 to 8, characterized in that: The multi-axis motion device at least comprises: Motion controllers and multiple motion axes connected in sequence, Set one of the multiple motion axes as the master axis and the other motion axes as slave axes.

10. A computer-readable storage medium having program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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