A control method and device for multi-axis continuous tracking and dynamic spindle synchronous arrival

Abstract

The present invention relates to a control method and device for the synchronous arrival of a multi-axis continuous tracking dynamic main shaft. The method comprises the following steps: based on the positions of multiple continuous trajectory points of each moving axis, setting the speed of the main shaft and the maximum acceleration of each moving axis when passing through each trajectory point; based on the set trajectory point positions and speeds, controlling the continuous movement of the main shaft through drive instructions; based on the current position of the main shaft in the preset multiple continuous trajectory points, calculating the time for the main shaft to move from the current trajectory point to the next trajectory point; based on the time for the main shaft to move from one point to the next point, calculating the speed and acceleration of each slave shaft from the current trajectory point to the next trajectory point; based on the speed and acceleration of each slave shaft from the current trajectory point to the next trajectory point, sending drive instructions for each slave shaft to the servo driver corresponding to each slave shaft, and controlling the movement of each slave shaft. The present invention provides a control method for the synchronous arrival of a continuous tracking dynamic main shaft.

Description

Technical Field

[0001] The present invention belongs to the field of motion control, and in particular relates to a control method and device for multi-axis continuous tracking of dynamic main shaft synchronous arrival. Background Art

[0002] Currently, the primary method for achieving synchronized positioning across multiple axes is multi-axis interpolation. Continuous interpolation is enabled when multiple continuous trajectories are required. Interpolation is a real-time data densification process. Regardless of the interpolation algorithm, the operating principles are essentially the same: digital calculations based on given information are performed to continuously calculate feed instructions for each axis involved in the motion. These calculations then drive their respective actuators to produce coordinated motion, ensuring that the controlled mechanical components move along the desired path 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, and the feed speed V, where the feed speed V is generally the combined speed, according to a certain calculation method to calculate the moving speed and displacement of each axis. When the continuous interpolation mode is turned on, there will be some axes in a certain section of the interpolation trajectory that have no moving speed and displacement. When entering another section of the 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 be guaranteed to 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 main shaft 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 multi-axis continuous tracking of dynamic spindle synchronous arrival. The control method is used on a multi-axis motion device, which includes at least a motion controller and multiple motion axes connected in sequence, wherein one of the multiple motion axes is set as a main axis and the other motion axes are set as slave axes. The control method comprises 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 and the maximum acceleration of each motion axis when passing through each trajectory point;

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

[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 the current trajectory point to the next trajectory point based on the time it takes 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 the 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] Furthermore, 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,

[0014] The coordinates of multiple trajectory points are expressed as ( , , ,…, ), ( , , ,…, ),……and ( , , ,…, ),

[0015] 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 The coordinate values on the x-axis, y-axis, z-axis, and w-axis.

[0016] Furthermore, in step S100,

[0017] When the main axis is the x-axis, the x-axis passes through each trajectory point 、 ,……and When the spindle speed is 、 ,……and ;

[0018] 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 , from the trajectory point To track point When , the acceleration of each motion axis is 、 、 ……and .

[0019] Further, in the step S300: assuming that the main axis is the x-axis, from the trajectory point Move to the trajectory point hour,

[0020] The x-axis is Move to Time required for:

[0021] .

[0022] Furthermore, in step S400:

[0023] When the main axis is the x-axis, the y-axis, z-axis...w-axis are all slave axes. Calculate the speed and acceleration of each slave axis in turn.

[0024] The y-axis is Move to Acceleration for:

[0025] ;

[0026] zz axis from Move to Acceleration for:

[0027] ;

[0028] w axis from Move to Acceleration for:

[0029] .

[0030] Furthermore, in step S400:

[0031] The y-axis starts from Move to Speed for:

[0032] ;

[0033] The z-axis Move to Speed for:

[0034] ;

[0035] w axis from Move to Speed for:

[0036] .

[0037] 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.

[0038] Furthermore, when the servo drivers corresponding to each slave axis receive the driving instructions, they generate motor control instructions and send them to the motor of the corresponding axis to control the motor movement. At the same time, they collect the encoding information of the encoder set on the corresponding axis and send the encoding information to the motion controller through the servo driver of the axis.

[0039] Furthermore, the present invention also proposes a multi-axis motion device for implementing the control method for multi-axis continuous tracking of dynamic spindle synchronous arrival, wherein the multi-axis motion device at least comprises:

[0040] Motion controllers and multiple motion axes connected in sequence,

[0041] Set one of the multiple motion axes as the master axis and the others as slave axes.

[0042] Furthermore, the present invention also proposes a computer-readable storage medium having program instructions stored thereon. When the program instructions are executed by a processor, the control method for the multi-axis continuous tracking dynamic spindle synchronous arrival is implemented.

[0043] Compared with the existing technology, the present invention has the following characteristics:

[0044] The present invention provides a control method and device for continuously tracking the synchronous arrival of a dynamic main shaft, and provides a control method for continuously tracking the synchronous arrival of a dynamic main shaft. When the main shaft is in continuous or variable speed multi-axis operation, multiple slave shafts follow the position correspondence between the main shaft and the multiple slave shafts. When the main shaft reaches a set position, all the slave shafts also reach the set position accordingly and are in a stationary state. This method achieves the technical effect of rapid and smooth speed transition during the process of speed change, passing through the position of the index track point, zero speed start, and deceleration to zero during the multi-axis continuous tracking dynamic main shaft synchronous arrival, that is, the multi-axis reaches the position set by each axis at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 The flowchart of the control method for multi-axis continuous tracking dynamic spindle synchronous arrival.

[0046] Figure 2 This is a control diagram of a multi-axis motion device. DETAILED DESCRIPTION

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0048] The following will provide a clear and complete description of the concept, specific structure and technical effects of the present invention in conjunction with the embodiments and drawings to fully understand the purpose, scheme and effects of the present invention.

[0049] 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 the other feature, or it may be indirectly fixed or connected to the other 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 commonly understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments and are not intended to limit the invention. The term "and / or" used herein includes any combination of one or more related listed items.

[0050] 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 only intended 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.

[0051] Reference Figures 1 to 2 The embodiment of the present invention provides a control method for multi-axis continuous tracking dynamic main axis synchronous arrival, the control method for multi-axis continuous tracking dynamic main axis 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, with reference to Figure 1 The control method for multi-axis continuous tracking dynamic spindle synchronous arrival comprises the following steps:

[0052] S100, based on the positions of multiple continuous trajectory points of each motion axis, setting the speed of the main axis and the maximum acceleration of each motion axis when passing through each trajectory point;

[0053] S200, based on the set trajectory point position and speed, controlling the main shaft to move continuously through the drive instruction;

[0054] 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;

[0055] S400, calculating the speed and acceleration of each slave axis moving from the current trajectory point to the next trajectory point based on the time it takes for the master axis to move from one point to the next point;

[0056] 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 the servo driver corresponding to each slave axis, and controlling the movement of each slave axis;

[0057] 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.

[0058] Compared with the existing technology, the present invention has the following characteristics:

[0059] The present invention provides a control method and device for continuously tracking the synchronous arrival of a dynamic main shaft, and provides a control method for continuously tracking the synchronous arrival of a dynamic main shaft. When the main shaft is in continuous or variable speed multi-axis operation, multiple slave shafts follow the position correspondence between the main shaft and the multiple slave shafts. When the main shaft reaches a set position, all the slave shafts also reach the set position accordingly and are in a stationary state. This method achieves the technical effect of rapid and smooth speed transition during the process of speed change, passing through the position of the index track point, zero speed start, and deceleration to zero during the multi-axis continuous tracking dynamic main shaft synchronous arrival, that is, the multi-axis reaches the position set by each axis at the same time.

[0060] Further, refer to Figure 1 In the step S100,

[0061] The multiple continuous trajectory points of each motion axis are points connected in sequence in three-dimensional space ,point , ... and dot ,in,

[0062] The coordinates of multiple trajectory points are expressed as ( , , ,…, ), ( , , ,…, ),……and ( , , ,…, ),

[0063] 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 The coordinate values on the x-axis, y-axis, z-axis, and w-axis.

[0064] Further, refer to Figure 1 In the step S100,

[0065] When the main axis is the x-axis, the x-axis passes through each trajectory point 、 ,……and When the spindle speed is 、 ,……and ;

[0066] 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 , from the trajectory point To track point When , the acceleration of each motion axis is 、 、 ……and .

[0067] 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,

[0068] The x-axis is Move to Time required for:

[0069] .

[0070] Specifically, the time it takes for the main axis x-axis to move from point P1 to point P2 is calculated based on the distance between points P1 and P2, the current speed of P1, the target speed of P2, and the acceleration according to the motion formula of the object.

[0071] Further, refer to Figure 1 , in step S400:

[0072] When the main axis is the x-axis, the y-axis, z-axis...w-axis are all slave axes. Calculate the speed and acceleration of each slave axis in turn.

[0073] The y-axis is Move to Acceleration for:

[0074] ;

[0075] The z-axis Move to Acceleration for:

[0076] ;

[0077] w axis from Move to Acceleration for:

[0078] .

[0079] Further, refer to Figure 1 , in step S400:

[0080] The y-axis starts from Move to Speed for:

[0081] ;

[0082] The z-axis Move to Speed for:

[0083] ;

[0084] w axis from Move to Speed for:

[0085] .

[0086] Specifically, 、 and These are the maximum speeds to which the slave axis can accelerate during this process.

[0087] 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.

[0088] Specifically, bus communication commands are typically sent to the driver at high frequency and speed, specifying the required displacement per communication cycle. The driver then converts the communication frequency and displacement into the speed of the motor. A pulse train, on the other hand, uses a high-speed pulse generator to transmit the speed and displacement to the driver. The driver interprets the received pulse frequency as the speed and the pulse number as the displacement, driving the motor accordingly.

[0089] Further, refer to Figure 1 When the servo driver corresponding to each slave axis receives the drive instruction, it generates a motor control instruction and sends it to the motor of the corresponding axis to control the motor movement. At the same time, it collects the encoding information of the encoder set on the corresponding axis and sends the encoding information to the motion controller through the servo driver of the axis.

[0090] Further, refer to Figure 2 The present invention further proposes a multi-axis motion device for realizing the control method of multi-axis continuous tracking dynamic spindle synchronous arrival, wherein the multi-axis motion device at least comprises:

[0091] Motion controllers and multiple motion axes connected in sequence,

[0092] Set one of the multiple motion axes as the master axis and the others as slave axes.

[0093] Reference Figure 2 In a specific embodiment, the multiple motion axes include an x-axis, a y-axis, a z-axis, and a w-axis. Each motion axis is connected to a motion controller, and the servo drivers of each motion axis are connected to corresponding motors. Each axis is equipped with a corresponding encoder, and the encoder's encoding information is transmitted to the motion controller in real time via the respective servo drivers.

[0094] 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).

[0095] Furthermore, the present invention also proposes a computer-readable storage medium having program instructions stored thereon. When the program instructions are executed by a processor, the control method for the multi-axis continuous tracking dynamic spindle synchronous arrival is implemented.

[0096] It should be appreciated that the method steps in the embodiments of the present invention can be implemented or executed 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 procedural or object-oriented programming language to communicate with the computer system. However, if desired, the program can be implemented in assembly or machine language. In any case, the language can be a compiled or interpreted language. In addition, for this purpose, the program can be run on a programmed application-specific integrated circuit.

[0097] Furthermore, the operations of the processes described herein may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by the 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 can be executed by one or more processors.

[0098] Further, the methods 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 as 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, RAM, 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 processes described herein. In addition, the machine-readable code, or portions thereof, can be transmitted over 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.

[0099] The computer program can be applied to input data to perform the functions described herein, thereby converting the input data to generate output data that is 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 a physical and tangible object, including a specific visual depiction of the physical and tangible object produced on the display.

[0100] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the aforementioned embodiments. As long as the technical effects of the present invention are achieved by the same means, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention. Within the scope of protection of the present invention, various modifications and variations of the technical solutions and / or implementation methods are possible.

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 includes at least a motion controller and multiple motion axes connected in sequence, wherein 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 and the maximum acceleration of each motion axis when passing through each trajectory point; S200, based on the set trajectory point position and speed, controlling the main shaft to move continuously through the drive instruction; 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; In the 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: ， in, For trajectory points The coordinate value on the x-axis, For trajectory points Coordinate value on the x-axis; When the main axis is the x-axis, The x-axis passes through the trajectory point The spindle speed is The x-axis passes through the trajectory point The speed of the spindle; From the trajectory point To track point When , the acceleration of the x-axis; S400, calculating the speed and acceleration of each slave axis moving from the current trajectory point to the next trajectory point based on the time it takes 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 the 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, 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 The coordinate values on the x-axis, y-axis, z-axis, and w-axis.

3. The control method for multi-axis continuous tracking dynamic main axis synchronous arrival according to claim 2, 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 the spindle speed 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 , From the trajectory 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, 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. Calculate the speed and acceleration of each slave axis in turn. The y-axis is Move to Acceleration for: ， The z-axis Move to Acceleration for: ， w axis from Move to Acceleration for: 。 5. The control method for multi-axis continuous tracking dynamic main axis synchronous arrival according to claim 4, characterized in that: In step S400: The y-axis starts from Move to Speed for: ， The z-axis Move to Speed for: ， w axis from Move to Speed for: 。 6. 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 may be configured as a bus communication instruction or a pulse sequence instruction, and sent to the servo driver corresponding to each slave axis.

7. The control method for multi-axis continuous tracking dynamic main axis synchronous arrival according to claim 6, characterized in that: When the servo driver corresponding to each slave axis receives the drive instruction, it generates a motor control instruction and sends it to the motor of the corresponding axis to control the motor movement. At the same time, it collects the encoding information of the encoder set on the corresponding axis and sends the encoding information to the motion controller through the servo driver of the corresponding axis.

8. A multi-axis motion device for implementing the control method for multi-axis continuous tracking and dynamic spindle synchronous arrival as claimed in any one of claims 1 to 7, characterized in that: The multi-axis motion device at least includes: Motion controllers and multiple motion axes connected in sequence, Set one of the multiple motion axes as the master axis and the others as slave axes.

9. 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 7 is implemented.

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