Gantry synchronous control method and gantry synchronous control system

Abstract

The invention discloses a gantry synchronous control method. The method comprises the following steps that S1, a gantry structure is built, wherein a left-right operation motor set and an up-down operation motor set are arranged on a gantry; a gantry bracket controlled by the two groups of operation motor groups is arranged on the gantry frame; s2, synchronous control, wherein control instructions are sent to the two running motor sets respectively, and motors of the corresponding motor sets run synchronously according to the control instructions; wherein when the two motors in the same running motor set are not synchronous, the motor with the high running speed is adjusted according to a preset adjustment strategy, and the two motors in the same running motor set are made to run synchronously. When the two motors in the same running motor set are not synchronous, synchronous running of the two motors in the same running motor set is guaranteed by adjusting the correction value of the motor with small resistance and high running speed, and high-precision synchronous control over gantry synchronization can be achieved. The invention further provides a gantry synchronous control system based on the gantry synchronous control method.

Description

Technical Field

[0001] The invention relates to an automation control method, in particular to a gantry synchronization control method and a gantry synchronization control system. Background Art

[0002] Gantry systems, as a mechanical structure consisting of various components working together to achieve precise and controlled multi-axis linear motion, have become an integral part of various industries and play a vital role in manufacturing, material handling and automation processes. These versatile systems offer a range of advantages, including improved accuracy, speed and flexibility in numerous applications. The gantry synchronization system is a control system widely used in industrial automation control systems. Its principle is to achieve synchronous operation between various control devices by controlling the generation and transmission of synchronization signals, thereby ensuring the stability and accuracy of the entire system. Specifically, the gantry synchronization system ensures the synchronous operation between various devices by receiving the synchronization signal from the master control device and transmitting the signal to the slave control device at a specific time.

[0003] Chinese patent document CN109189003A discloses a gantry synchronization control method, first, two groups of power mechanisms are divided into a main power mechanism and a slave power mechanism; then the frequency division output interface of the main driver is connected to the full closed loop interface of the slave driver, and the full closed loop interface of the main driver is connected to the frequency division output interface of the slave driver; second, the main driver is set as the gantry synchronization host through the gantry controller, and the frequency division output source of the main driver is set to the position command output; the slave driver is set as the gantry synchronization slave, the frequency division output source of the slave driver is set to the normal frequency division output, and the position command selection is set to the second encoder input; the position deviation threshold is set in the gantry controller; third, the torque loop controls the movement of the slave servo motor, and the main driver reads the position signal and speed signal of the main servo motor and the slave servo motor in real time, obtains the position and speed difference of the main servo motor and the slave servo motor, and then outputs the speed and torque compensation instruction. When outputting the speed and torque compensation instruction, specifically: when the actual position L1 of the main servo motor is greater than the actual position L2 of the slave servo motor, the main servo motor is controlled to reduce a certain speed, and the slave servo motor is controlled to increase a certain speed at the same time to reduce the position difference of the two servo motors. When the actual position L1 of the main servo motor is less than the actual position L2 of the slave servo motor, the main servo motor is controlled to increase a certain speed, and the slave servo motor is controlled to decrease a certain speed to reduce the position difference between the two servo motors, so as to achieve the purpose of synchronous operation of the main servo motor and the slave servo motor.

[0004] In this prior art, although the position difference between the two servo motors can be reduced by simultaneously adjusting the speeds of the main servo motor and the slave servo motor to achieve the purpose of synchronous operation of the two servo motors, during actual operation, the servo motor is prone to damage, which affects the normal use of the gantry equipment and increases the use cost of the gantry equipment. Summary of the invention

[0005] In order to solve the technical problem that the servo motor is easily damaged in the prior art gantry synchronization control method, the present invention provides a gantry synchronization control method, comprising the following steps:

[0006] S1. Build a gantry structure: set a left and right running motor group and a vertical running motor group on the gantry; set a gantry bracket controlled by the two running motor groups on the gantry;

[0007] S2, synchronous control: send control instructions to the two groups of running motors respectively, and the motors of the corresponding motor groups run synchronously according to the control instructions;

[0008] Wherein: when two motors in the same running motor group are not synchronous, the motor with faster running speed is adjusted according to a preset adjustment strategy so that the two motors in the same running motor group run synchronously.

[0009] Ideally, the two motors in the same motor group are kept in synchronous operation. However, in the actual operation process, due to the influence of external objective factors such as resistance, motion inertia and gear transmission error on each motor, the two motors in the same motor group will be out of sync, and the motor needs to be adjusted. In the prior art, the speed of the main servo motor and the slave servo motor is adjusted simultaneously. However, for motors with low speeds, this is because the motors are greatly affected by objective factors, such as large resistance and heavy load. If the speed of the motor is increased at this time, it will cause the motor to overheat, increase parts wear and other problems, and then cause motor damage.

[0010] In this solution, when two motors in the same running motor group are not synchronized, it means that the two motors are subject to different resistances at this time. At this time, only the motor with faster speed is adjusted. This is because the faster the motor is, the less resistance it is subject to. Therefore, after adjusting it, the impact on it will not exceed the range it can bear, and there will be no problems such as overheating. While achieving gantry synchronization, it can also avoid the problem of motor damage.

[0011] Preferably, in the adjustment strategy, the motor is controlled and adjusted according to formula (1);

[0012] S = R * L + K …… (1);

[0013] Where S represents the actual stroke; R represents the number of rotations of the control command, which is the active variable; L represents the rotation lead of the gantry structure system, which is the passive variable; and K represents the correction value, which is the active variable. The control strategy in this scheme can be used to adjust the motor to ensure high-precision synchronous control.

[0014] Preferably, when determining the synchronization of two motors in the same running motor group, the actual stroke S when the CAN message is obtained, when the actual stroke S of the two motors are not equal, the two motors are determined to be out of synchronization. In this solution, the actual stroke of the motor can be accurately obtained, thereby improving the accuracy of the determination result.

[0015] Preferably, when two motors in the same running motor group are out of sync, when adjusting the motor with a faster running speed, the number of rotations of the motor with a faster running speed is adjusted according to the calculation result of formula (1) until the two motors in the same running motor group reach synchronization within the same time. In this solution, when two motors in the same running motor group are out of sync, the motor with a faster running speed is adjusted to control the motor with a faster running speed to reduce a certain number of rotations within the same time, that is, the number of rotations of the motor with a faster running speed is adjusted according to the R value obtained by formula (1), so as to further reduce the travel difference between the two motors, thereby shortening the time for the two motors to reach a synchronized state again, and finally shortening the time to reach the same command position.

[0016] Preferably, when it is detected that one of the motors in the same running motor group stops running, the other motor is controlled to stop. This solution can ensure that the two motors in the same running motor group stop at the same time.

[0017] Preferably, in synchronous control, when one motor in the same running motor group fails, a stop command is sent to both motors. In this solution, when a motor fails, sending a stop command can put the failed motor in a safe state to avoid possible damage or accidents, while sending a stop command to the normally running motor can ensure the synchronous and stable operation of the two motors in the same running motor group.

[0018] Preferably, in synchronous control, exactly the same position data is sent to the two motors in the same running motor group. This solution can ensure that the two motors in the same running motor group can start moving at the same time and reach the preset designated position at the same time through precise step control, thereby achieving high-precision synchronous control.

[0019] In a second aspect, the present invention provides a gantry synchronization control system, including a gantry, a gantry bracket being provided on the gantry, an up-and-down running motor group for controlling the up-and-down running of the gantry bracket and a left-and-right running motor group for controlling the left-and-right running of the gantry bracket, and also including a control module, wherein: the control module controls the up-and-down running motor group and the left-and-right running motor group to operate according to the above-mentioned gantry synchronization control method, and the control module communicates with the up-and-down running motor group and the left-and-right running motor group using CAN.

[0020] The present invention has the following beneficial effects:

[0021] 1. When two motors in the same running motor group are not synchronized, the present invention can achieve high-precision synchronous control of gantry synchronization by adjusting the correction value of the motor with small resistance and fast running speed to ensure that the two motors in the same running motor group run synchronously.

[0022] 2. The present invention can put the motor into a safe state when a fault occurs, avoiding possible damage or accidents, thereby ensuring the stable operation of the entire motor gantry synchronization system. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the gantry in the embodiment of the gantry synchronization control method and the gantry synchronization control system of the present invention;

[0024] Figure 2 The circuit diagram of the control module;

[0025] Figure 3 This is the circuit diagram of CAN;

[0026] Figure 4 This is the driving circuit diagram of the motor. DETAILED DESCRIPTION

[0027] The following is further described in detail through specific implementation methods:

[0028] 1. Definition

[0029] Gantry: refers to a rectangular frame.

[0030] 2. The reference numerals in the drawings of the specification include: gantry 1, gantry bracket 2, first motor 3a, second motor 3b, third motor 4a, fourth motor 4b.

[0031] The embodiment is basically as shown in the attached Figure 1 As shown: A gantry synchronization control method, comprising the following steps:

[0032] S1, build a gantry structure: set a left and right running motor group and a vertical running motor group on the gantry 1; in this embodiment, a gantry bracket 2 controlled by two groups of running motor groups is set on the gantry 1;

[0033] The up-and-down movement motor group includes a first motor 3a and a second motor 3b, which control the up-and-down movement of the gantry bracket 2; the left-and-right movement motor group includes a third motor 4a and a fourth motor 4b, which control the left-and-right movement of the gantry bracket 2.

[0034] S2, synchronous control: send control instructions to the two running motor groups respectively, and the motors of the corresponding motor groups run synchronously according to the control instructions; send exactly the same terminal position data to the two motors in the same running motor group.

[0035] Determine the synchronization status of two motors in the same running motor group. When the two motors in the same running motor group are not synchronized, adjust the motor with faster running speed according to the preset adjustment strategy so that the two motors in the same running motor group run synchronously until the two motors in the same running motor group reach synchronization.

[0036] Specifically, in the adjustment strategy, the motor is controlled and adjusted according to formula (1);

[0037] S = R * L + K …… (1);

[0038] Where S represents the actual stroke; R represents the number of rotations of the control command, which is an active variable; L represents the rotation lead of the gantry structure system, which is a passive variable; and K represents the correction value, which is an active variable. The control strategy in this scheme is used to adjust the motor to ensure high-precision synchronous control. During the adjustment, the motor with a fast running speed is controlled to reduce a certain number of rotations in the same time, that is, the R value is adjusted until the two motors in the same running motor group are synchronized at the same time.

[0039] When determining the synchronization status of two motors in the same running motor group, the actual stroke S when the CAN message is obtained, when the actual stroke S of the two motors are not equal, it is determined that the two motors are not synchronized.

[0040] When it is detected that one of the motors in the same running motor group stops running, the other motor is controlled to stop. When one motor in the same running motor group fails, a stop command is sent to both motors.

[0041] The present embodiment also discloses a gantry synchronization control system, including a gantry frame 1, a gantry bracket 2 is provided on the gantry frame 1, a vertical movement motor group for controlling the vertical movement of the gantry bracket 2 and a left and right movement motor group for controlling the left and right movement of the gantry bracket 2 are provided on the gantry frame 1, and also includes a control module, wherein: the control module controls the vertical movement motor group and the left and right movement motor group to operate according to the above-mentioned gantry synchronization control method, and the control module communicates with the vertical movement motor group and the left and right movement motor group using CAN, such as Figure 2 , Figure 3 and Figure 4 shown.

[0042] The specific implementation process is as follows: when working, the four motors receive the control command at the same time point, and execute the corresponding control command to drive the gantry bracket 2 to run in the four directions of up, down, left and right. The working modes of the two groups of running motor groups are the same. In this embodiment, the left and right running motor groups are taken as an example, in which the third motor 4a is the main motor and the fourth motor 4b is the auxiliary motor.

[0043] During operation, the actual travel distance S of the third motor 4a and the fourth motor 4b is obtained from the CAN message, and the actual travel distance S satisfies formula (1):

[0044] S=R*L+K……(1),

[0045] Therefore, the actual travel distance S of the third electric machine 4a 4a =R 4a *L 4a +K 4a ; The actual stroke S of the fourth motor 4b 4b =R 4b *L 4b +K 4b In actual operation, the control unit initially sends the same number of rotations in the control instructions to the third motor 4a and the fourth motor 4b, that is, R 4a =R 4b , so R 4b =R 4a -K 4b ; and the correction value K 4a And the correction value K 4b In the initial state, the default value is 0, so formula (1) can be equivalent to formula (2):

[0046] S 4b =(R 4a -K 4b )*L 4b ;

[0047] As the motor runs longer, it is affected by external factors, and the actual strokes of the two motors in the same motor group may be unequal, that is, S 4a and S 4b When they are not equal, the control module will adjust the motor with less resistance and faster running speed. If the speed of the third motor 4a is fast, the active variable K of the third motor 4a will be adjusted. 4a , so that it guarantees the target S 4a =S 4b , which ensures that the gantry is synchronized in real time, the gantry tray is balanced, and there is no tilt or shaking.

[0048] Select the four vertices of the gantry bracket 2. Before the motor is running, the gantry bracket 2 is in a horizontal state, and the four vertices are on the same horizontal plane. The positions of the four vertices are M1 (500, 500, 1000), M2 (1500, 500, 1000), M3 (500, 2000, 1000), and M4 (1500, 2000, 1000). After the gantry synchronization system is controlled by the above control method, after running for a period of time, the coordinates of the four vertices are measured respectively during the operation. The results of five measurements are shown in the following table.

[0049]

[0050] As shown in the above table, since there is a tolerance of ±2 mm in the measurement process, it can be known that the control method in this solution can ensure that the gantry bracket 2 can be in the same horizontal plane during operation.

[0051] The above is only an embodiment of the present invention. The common sense such as the known specific structure and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The protection scope required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A gantry synchronous control method, comprising the following steps: S1. Build a gantry structure: set a left and right running motor group and a vertical running motor group on the gantry; set a gantry bracket controlled by the two running motor groups on the gantry; S2, synchronous control: send control instructions to the two groups of running motors respectively, and the motors of the corresponding motor groups run synchronously according to the control instructions; The characteristic is that when two motors in the same running motor group are not synchronous, the motor with faster running speed is adjusted according to a preset adjustment strategy so that the two motors in the same running motor group can run synchronously.

2. The gantry synchronous control method according to claim 1, characterized in that: In the adjustment strategy, the motor is controlled and adjusted according to formula (1); S=R*L+K……(1); Among them, S represents the actual stroke; R represents the number of rotations of the control command, which is the active variable; L represents the rotation lead of the gantry structure system, which is the passive variable; K represents the correction value, which is the active variable.

3. The gantry synchronous control method according to claim 2, characterized in that: When determining the synchronization status of two motors in the same running motor group, the actual stroke S when the CAN message is obtained, when the actual stroke S of the two motors are not equal, it is determined that the two motors are not synchronized.

4. The gantry synchronous control method according to claim 3, characterized in that: When two motors in the same running motor group are not synchronized, when adjusting the motor with a faster running speed, the number of revolutions of the motor with a faster running speed is adjusted according to the calculation result of formula (1) until the two motors in the same running motor group are synchronized within the same time.

5. The gantry synchronization control method according to any one of claims 1 to 4, characterized in that: When it is detected that one of the motors in the same running motor group stops running, the other motor is controlled to stop.

6. The gantry synchronous control method according to claim 5, characterized in that: In the synchronous control, when a motor in the same running motor group fails, a stop command is sent to both motors.

7. The gantry synchronous control method according to claim 6, characterized in that: In the synchronous control, at startup, exactly the same terminal position data is sent to the two motors in the same running motor group. During operation, real-time adjustments are made according to the movement speeds of the two motors until the two motors in the same running motor group achieve dynamic synchronization.

8. A gantry synchronous control system, comprising a gantry frame, a gantry bracket disposed on the gantry frame, a vertical movement motor group for controlling the vertical movement of the gantry bracket and a horizontal movement motor group for controlling the horizontal movement of the gantry bracket, and a control module, characterized in that: The control module controls the operation of the up-and-down running motor group and the left-and-right running motor group according to the gantry synchronization control method according to any one of claims 1 to 7, and the control module communicates with the up-and-down running motor group and the left-and-right running motor group using CAN.

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