Synchronous shaft motion tracking control method and system

Abstract

The invention provides a synchronous shaft motion tracking control method and system in the technical field of synchronous shaft motion control. The method comprises the following steps: S1, establishing connection between a PLC (Programmable Logic Controller) and I-O equipment and a servo driver of each test equipment; step S2, the PLC configures each piece of I O equipment, and creates an FB function block based on each piece of configured I O equipment; s3, the PLC creates a virtual shaft as a driving shaft, and takes each entity shaft as a driven shaft; s4, the PLC configures process object parameters of the driving shaft; s5, the PLC controls the driving shaft to move based on the FB function block and the process object parameters, and synchronously controls the driven shafts to run along with the driving shaft; and S6, the PLC collects slave shaft operation data of each driven shaft, obtains main shaft operation data of the driving shaft based on the FB function block, compares the slave shaft operation data with the main shaft operation data to obtain deviation data, and dynamically compensates each driven shaft based on the deviation data. The method has the advantage that the precision and the stability of synchronous shaft motion control are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of synchronous axis motion control, and in particular to a synchronous axis motion tracking control method and system. Background Art

[0002] With the continuous development of the new energy industry, the new energy vehicle manufacturing industry has also undergone repeated updates and iterations. The production process requirements for the cells, modules and PACKs of power batteries, which are the power source of new energy vehicles, have become increasingly stringent. At the same time, the process precision of production and testing has become increasingly higher, so the corresponding mechanical precision and control precision have also become increasingly higher.

[0003] For example, after the power battery is produced, it needs to undergo a series of tests. In order to improve the test efficiency, the power battery needs to be tested in batches. Batch testing involves the synchronous control of multiple axes of the test equipment, that is, synchronous axis motion control. However, the traditional synchronous axis motion control method has the following disadvantages:

[0004] 1. The multi-axis synchronization accuracy is not high, and there are large relative errors between the axes; 2. There are large differences in the time of multi-axis driving, resulting in large deviations in the driving position; 3. When deviations occur, dynamic correction cannot be made and manual intervention is required, resulting in a long processing cycle. The time required for processing by different people cannot be strictly unified, and the technical requirements for the processing personnel are high.

[0005] Therefore, how to provide a synchronous axis motion tracking control method and system to improve the accuracy and stability of synchronous axis motion control has become a technical problem that needs to be solved urgently. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a synchronous axis motion tracking control method and system to improve the accuracy and stability of synchronous axis motion control.

[0007] In a first aspect, the present invention provides a synchronous axis tracking control method, comprising the following steps:

[0008] Step S1, PLC establishes connection with IO devices of each test equipment through Profinet bus, and establishes connection with servo drivers of each test equipment through IRT protocol;

[0009] Step S2, the PLC configures each IO device, and creates an FB function block based on each configured IO device;

[0010] Step S3, the PLC creates a virtual axis, uses the virtual axis as the driving axis, and uses the physical axis driven by the servo driver of each test device as the driven axis;

[0011] Step S4, PLC configures the process object parameters of the active axis;

[0012] Step S5, the PLC controls the active axis to move based on the FB function block and the process object parameters, and synchronously communicates with each servo driver through the IRT protocol to control each driven axis to follow the active axis to run;

[0013] Step S6, the PLC collects the slave axis running data of each slave axis through the encoder, obtains the main axis running data of the driving axis based on the FB function block, compares the slave axis running data with the main axis running data to obtain deviation data, and performs dynamic compensation on each slave axis based on the deviation data;

[0014] Step S7, the PLC displays the operating data of each slave axis and the main axis on the human-machine interaction interface, and generates and displays a monitoring view and an alarm view based on the deviation data.

[0015] Furthermore, in step S1, the servo driver is used to control the servo motor to drive the physical axis to move.

[0016] Furthermore, the step S2 is specifically as follows:

[0017] The PLC configures each IO device, encapsulates the control logic of each configured IO device in a FB function block, and sets the output format, input interface, and output interface of the FB function block.

[0018] Furthermore, in step S4, the process object parameters at least include a load gear ratio, a screw pitch, and an encoder installation type.

[0019] Furthermore, the step S7 further includes:

[0020] The PLC controls each driven axis to reset based on the reset coupling signal input from the human-machine interface.

[0021] In a second aspect, the present invention provides a synchronous axis tracking control system, comprising the following modules:

[0022] The equipment connection module is used for the PLC to establish a connection with the IO devices of each test equipment through the Profinet bus, and to establish a connection with the servo drive of each test equipment through the IRT protocol;

[0023] The FB function block creation module is used for the PLC to configure each IO device and create an FB function block based on each configured IO device;

[0024] A virtual axis creation module is used for the PLC to create a virtual axis, and the virtual axis is used as the active axis, and the physical axis driven by the servo driver of each test device is used as the driven axis;

[0025] A process object parameter configuration module, used for PLC to configure the process object parameters of the active axis;

[0026] A synchronous control module is used for the PLC to control the active axis to move based on the FB function block and the process object parameters, and synchronously communicate with each servo driver through the IRT protocol to control each driven axis to follow the active axis to run;

[0027] A dynamic compensation module is used for the PLC to collect the slave axis running data of each slave axis through an encoder, obtain the main axis running data of the driving axis based on the FB function block, compare the slave axis running data with the main axis running data to obtain deviation data, and perform dynamic compensation on each slave axis based on the deviation data;

[0028] The management module is used for the PLC to display the operation data of each slave axis and the main axis on the human-computer interaction interface, and to generate and display the monitoring view and the alarm view based on the deviation data.

[0029] Furthermore, in the device connection module, the servo driver is used to control the servo motor to drive the physical axis to move.

[0030] Furthermore, the FB function block creation module is specifically used for:

[0031] The PLC configures each IO device, encapsulates the control logic of each configured IO device in a FB function block, and sets the output format, input interface, and output interface of the FB function block.

[0032] Furthermore, in the process object parameter configuration module, the process object parameters at least include a load gear ratio, a screw pitch, and an encoder installation type.

[0033] Furthermore, the management module is also used for:

[0034] The PLC controls each driven axis to reset based on the reset coupling signal input from the human-machine interface.

[0035] The advantages of the present invention are:

[0036] The PLC establishes a connection with the IO devices of each test device through the Profinet bus, and establishes a connection with the servo drives of each test device through the IRT protocol, configures each IO device, and creates an FB function block based on each configured IO device; then the PLC creates a virtual axis as the active axis, and uses the physical axis driven by each servo drive as the driven axis, configures the process object parameters of the active axis, controls the active axis to move based on the FB function block and the process object parameters, and synchronizes the IRT protocol with the servo drive. The RT protocol communicates with each servo driver to control each driven axis to follow the active axis to run; then the PLC collects the slave axis running data of each driven axis through the encoder, obtains the main axis running data of the active axis based on the FB function block, compares the slave axis running data with the main axis running data to obtain the deviation data to dynamically compensate for each driven axis, and displays the slave axis running data and the main axis running data on the human-computer interaction interface, and generates and displays the monitoring view and the alarm view based on the deviation data; that is, the PLC communicates with the servo driver that drives the movement of each physical axis through the IRT protocol to reduce the communication delay and improve the synchronization of communication, and synchronizes the movement of each physical axis through the virtual axis. During the movement, the deviation data calculated based on the slave axis running data and the main axis running data is used to dynamically compensate for each driven axis, that is, each driven axis is dynamically corrected without manual intervention, thereby greatly improving the accuracy and stability of synchronous axis motion control. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be further described below in conjunction with embodiments with reference to the accompanying drawings.

[0038] Figure 1 It is a flow chart of a synchronous axis dynamic tracking control method of the present invention.

[0039] Figure 2 It is a structural schematic diagram of a synchronous axis dynamic tracking control system of the present invention. DETAILED DESCRIPTION

[0040] The technical solution in the embodiments of the present application has the following overall idea: the PLC communicates with the servo driver that drives the movement of each physical axis through the IRT protocol to reduce communication delay, and synchronizes the movement of each physical axis through the virtual axis. During the movement, each driven axis is dynamically compensated based on the deviation data without manual intervention, so as to improve the accuracy and stability of the synchronous axis motion control.

[0041] Please refer to Figure 1 to Figure 2 As shown, a preferred embodiment of a synchronous axis tracking control method of the present invention comprises the following steps:

[0042] Step S1, PLC establishes connection with IO devices of each test equipment through Prof i net bus (non-real-time communication based on TCP / UDP and IP technology), and establishes connection with servo drivers of each test equipment through IRT protocol (data cycle refresh time is less than 1ms, and jitter time of cycle scan period is not more than 1us microsecond); classified communication can effectively reduce communication load and improve PLC performance;

[0043] Step S2, the PLC configures each IO device, and creates an FB function block based on each configured IO device;

[0044] Step S3, the PLC uses the Siemens MC_GEARIN function block to create a virtual axis, the virtual axis is used as the active axis, and the physical axis driven by the servo driver of each test device is used as the driven axis;

[0045] Step S4, PLC configures the process object parameters of the active axis;

[0046] Step S5, the PLC controls the active axis to move based on the FB function block and the process object parameters, and synchronously communicates with each servo driver through the IRT protocol to control each driven axis to follow the active axis to run;

[0047] Step S6, the PLC collects the slave axis running data of each slave axis through the encoder, obtains the main axis running data of the driving axis based on the FB function block, compares the slave axis running data with the main axis running data to obtain deviation data, and performs dynamic compensation on each slave axis based on the deviation data;

[0048] Step S7, the PLC displays the operating data of each slave axis and the main axis on the human-machine interaction interface, and generates and displays a monitoring view and an alarm view based on the deviation data.

[0049] The present invention uses PLC as the control center to build a control system, uses IRT protocol for regular communication to transmit time-critical data in motion control, then establishes a virtual axis as the active axis, couples multiple physical axes, and uses the virtual axis to synchronously drag the physical axis to achieve multi-axis synchronous operation. During the operation, the deviation data is calculated and dynamic compensation is performed to solve the problem of low precision and time error in traditional multi-axis linkage.

[0050] In the step S1, the servo driver is used to control the servo motor to drive the physical axis to move.

[0051] The step S2 is specifically as follows:

[0052] The PLC configures each IO device, encapsulates the control logic of each configured IO device in a FB function block, and sets the output format, input interface, and output interface of the FB function block.

[0053] That is, the PLC program is modularized and configured through the Siemens TIA Portal V16 SP1 programming software. It can configure up to 128 IO devices. At the same time, it uses IRT protocol communication and abandons the TCP / IP or UDP / IP part, which greatly shortens the frame length and reduces the time required for the communication stack to ensure the transmission data rate performance; it uses Siemens process object control calculation, all operating data is calculated internally, and after the calculation is completed, it is output in one scan cycle to ensure the timeliness of the drive; the FB function block is written using the FB function block in the Siemens TIA Portal V16 SP1 programming software, and the control logic of various IO devices is encapsulated in the FB function block. Through the block interface (input interface, output interface, I nOut pin) to call the corresponding control program; the data acquisition logic of various IO devices is encapsulated in the FB function block, converted into a unified format output, the block interface is called for data exchange, and the jump instruction is used in the FB function block. The uncalled program does not occupy the PLC scan cycle; the HMI communication interface adopts S7 communication. Since Siemens reserves a separate communication channel for HMI, it does not occupy the overall communication resources, avoids affecting the data transmission of key parts, and realizes event operations such as dynamic display, monitoring, and processing in HMI. At the same time, the HMI login user can be opened to capture HMI information on the host computer.

[0054] In step S4, the process object parameters at least include a load gear ratio, a lead screw pitch, and an encoder installation type.

[0055] The step S7 further comprises:

[0056] The PLC controls each driven axis to reset based on the reset coupling signal input from the human-machine interface.

[0057] A preferred embodiment of a synchronous axis tracking control system of the present invention includes the following modules:

[0058] The device connection module is used for PLC to establish a connection with the IO devices of each test device through the Prof i net bus (non-real-time communication based on TCP / UDP and IP technology), and to establish a connection with the servo driver of each test device through the I RT protocol (the cycle refresh time of data is less than 1ms, and the jitter time of the cycle scan period is not more than 1us microsecond); through classified communication, the communication load can be effectively reduced and the PLC performance can be improved;

[0059] The FB function block creation module is used for the PLC to configure each IO device and create an FB function block based on each configured IO device;

[0060] A virtual axis creation module is used for PLC to create a virtual axis using Siemens MC_GEARIN function block, and the virtual axis is used as the active axis, and the physical axis driven by the servo driver of each test device is used as the driven axis;

[0061] A process object parameter configuration module, used for PLC to configure the process object parameters of the active axis;

[0062] A synchronous control module is used for the PLC to control the active axis to move based on the FB function block and the process object parameters, and synchronously communicate with each servo driver through the IRT protocol to control each driven axis to follow the active axis to run;

[0063] A dynamic compensation module is used for the PLC to collect the slave axis running data of each slave axis through an encoder, obtain the main axis running data of the driving axis based on the FB function block, compare the slave axis running data with the main axis running data to obtain deviation data, and perform dynamic compensation on each slave axis based on the deviation data;

[0064] The management module is used for the PLC to display the operation data of each slave axis and the main axis on the human-computer interaction interface, and to generate and display the monitoring view and the alarm view based on the deviation data.

[0065] The present invention uses PLC as the control center to build a control system, uses IRT protocol for regular communication to transmit time-critical data in motion control, then establishes a virtual axis as the active axis, couples multiple physical axes, and uses the virtual axis to synchronously drag the physical axis to achieve multi-axis synchronous operation. During the operation, the deviation data is calculated and dynamic compensation is performed to solve the problem of low precision and time error in traditional multi-axis linkage.

[0066] In the device connection module, the servo driver is used to control the servo motor to drive the physical axis to move.

[0067] The FB function block creation module is specifically used for:

[0068] The PLC configures each IO device, encapsulates the control logic of each configured IO device in a FB function block, and sets the output format, input interface, and output interface of the FB function block.

[0069] That is, the PLC program is modularly operated. The configuration is done through the Siemens TIA Portal V16 SP1 programming software, which can configure less than 128 IO devices. At the same time, the IRT protocol is used for communication, and the TCP / IP or UDP / IP part is discarded, which greatly shortens the frame length, reduces the time required for the communication stack, and ensures the transmission data rate performance; the Siemens process object control calculation is used, all operating data are calculated internally, and after the calculation is completed, they are output in one scan cycle to ensure the timeliness of the drive; the FB function block is written using the FB function block in the Siemens TIA Portal V16 SP1 programming software, and the control logic of various IO devices is encapsulated in the FB function block, and the corresponding control program is called through the block interface (input interface, output interface, InOut pin); the data acquisition logic of various IO devices is encapsulated in the FB function block, converted into a unified format output, the block interface is called for data exchange, and the jump instruction is used in the FB function block. The program that is not called does not occupy the PLC scan cycle; the HMI communication interface uses S7 communication. Since Siemens reserves HMI separately, the HMI communication interface is used for data exchange. The jump instruction is used in the FB function block, and the program that is not called does not occupy the PLC scan cycle. I's communication channel does not occupy the overall communication resources, avoids affecting the data transmission of key parts, realizes event operations such as dynamic display, monitoring, and processing in HM I, and at the same time can open HM I login users to capture HM I information in the host computer.

[0070] In the process object parameter configuration module, the process object parameters at least include a load gear ratio, a lead screw pitch, and an encoder installation type.

[0071] The management module is also used for:

[0072] The PLC controls each driven axis to reset based on the reset coupling signal input from the human-machine interface.

[0073] In summary, the advantages of the present invention are:

[0074] The PLC establishes a connection with the IO devices of each test device through the Profinet bus, and establishes a connection with the servo drives of each test device through the IRT protocol, configures each IO device, and creates an FB function block based on each configured IO device; then the PLC creates a virtual axis as the active axis, and uses the physical axis driven by each servo drive as the driven axis, configures the process object parameters of the active axis, controls the active axis to move based on the FB function block and the process object parameters, and synchronizes the IRT protocol with the servo drive. The RT protocol communicates with each servo driver to control each driven axis to follow the active axis to run; then the PLC collects the slave axis running data of each driven axis through the encoder, obtains the main axis running data of the active axis based on the FB function block, compares the slave axis running data with the main axis running data to obtain the deviation data to dynamically compensate for each driven axis, and displays the slave axis running data and the main axis running data on the human-computer interaction interface, and generates and displays the monitoring view and the alarm view based on the deviation data; that is, the PLC communicates with the servo driver that drives the movement of each physical axis through the IRT protocol to reduce the communication delay and improve the synchronization of communication, and synchronizes the movement of each physical axis through the virtual axis. During the movement, the deviation data calculated based on the slave axis running data and the main axis running data is used to dynamically compensate for each driven axis, that is, each driven axis is dynamically corrected without manual intervention, thereby greatly improving the accuracy and stability of synchronous axis motion control.

[0075] Although the specific implementation modes of the present invention are described above, those skilled in the art should understand that the specific implementation modes described are only illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A synchronous axis tracking control method, characterized in that: The steps include: Step S1, the PLC establishes a connection with the IO device of each test device through the Profinet bus, and establishes a connection with the servo driver of each test device through the IRT protocol; Step S2, the PLC configures each IO device, and creates an FB function block based on each configured IO device; Step S3, the PLC creates a virtual axis, uses the virtual axis as the driving axis, and uses the physical axis driven by the servo driver of each test device as the driven axis; Step S4, PLC configures the process object parameters of the active axis; Step S5, the PLC controls the active axis to move based on the FB function block and the process object parameters, and synchronously communicates with each servo driver through the IRT protocol to control each driven axis to follow the active axis to run; Step S6, the PLC collects the slave axis running data of each slave axis through the encoder, obtains the main axis running data of the driving axis based on the FB function block, compares the slave axis running data with the main axis running data to obtain deviation data, and performs dynamic compensation on each slave axis based on the deviation data; Step S7, the PLC displays the operating data of each slave axis and the main axis on the human-machine interaction interface, and generates and displays a monitoring view and an alarm view based on the deviation data.

2. A synchronous axis tracking control method as claimed in claim 1, characterized in that: In the step S1, the servo driver is used to control the servo motor to drive the physical axis to move.

3. A synchronous axis tracking control method as claimed in claim 1, characterized in that: The step S2 is specifically as follows: The PLC configures each IO device, encapsulates the control logic of each configured IO device in a FB function block, and sets the output format, input interface, and output interface of the FB function block.

4. A synchronous axis tracking control method as claimed in claim 1, characterized in that: In step S4, the process object parameters at least include a load gear ratio, a lead screw pitch, and an encoder installation type.

5. A synchronous axis tracking control method as claimed in claim 1, characterized in that: The step S7 further comprises: The PLC controls each driven axis to reset based on the reset coupling signal input from the human-machine interface.

6. A synchronous axis tracking control system, characterized in that: Includes the following modules: The device connection module is used for the PLC to establish a connection with the IO devices of each test device through the Profinet bus, and to establish a connection with the servo drive of each test device through the IRT protocol; The FB function block creation module is used for the PLC to configure each IO device and create an FB function block based on each configured IO device; A virtual axis creation module is used for the PLC to create a virtual axis, and the virtual axis is used as the active axis, and the physical axis driven by the servo driver of each test device is used as the driven axis; A process object parameter configuration module, used for PLC to configure the process object parameters of the active axis; A synchronous control module is used for the PLC to control the active axis to move based on the FB function block and the process object parameters, and synchronously communicate with each servo driver through the IRT protocol to control each driven axis to follow the active axis to run; A dynamic compensation module is used for the PLC to collect the slave axis running data of each slave axis through an encoder, obtain the main axis running data of the driving axis based on the FB function block, compare the slave axis running data with the main axis running data to obtain deviation data, and perform dynamic compensation on each slave axis based on the deviation data; The management module is used for the PLC to display the operation data of each slave axis and the main axis on the human-computer interaction interface, and to generate and display the monitoring view and the alarm view based on the deviation data.

7. A synchronous axis tracking control system as claimed in claim 6, characterized in that: In the device connection module, the servo driver is used to control the servo motor to drive the physical axis to move.

8. A synchronous axis tracking control system as claimed in claim 6, characterized in that: The FB function block creation module is specifically used for: The PLC configures each IO device, encapsulates the control logic of each configured IO device in a FB function block, and sets the output format, input interface, and output interface of the FB function block.

9. A synchronous axis tracking control system as claimed in claim 6, characterized in that: In the process object parameter configuration module, the process object parameters at least include a load gear ratio, a lead screw pitch, and an encoder installation type.

10. A synchronous axis tracking control system as claimed in claim 6, characterized in that: The management module is also used for: The PLC controls each driven axis to reset based on the reset coupling signal input from the human-machine interface.

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