A synchronous shaft motion tracking control method and system

Abstract

This invention provides a synchronous axis motion tracking control method and system in the field of synchronous axis motion control technology. The method includes: Step S1, establishing connections between the PLC and the I / O devices and servo drivers of each test device; Step S2, configuring each I / O device in the PLC and creating FB function blocks based on the configured I / O devices; Step S3, creating a virtual axis as the active axis and using each physical axis as the driven axis; Step S4, configuring the process object parameters of the active axis in the PLC; Step S5, controlling the movement of the active axis based on the FB function blocks and process object parameters, and synchronously controlling each driven axis to follow the active axis; Step S6, collecting the driven axis running data of each driven axis, obtaining the main axis running data of the active axis based on the FB function blocks, comparing the driven axis running data with the main axis running data to obtain deviation data, and performing dynamic compensation for each driven axis based on the deviation data. The advantage of this invention is that it greatly improves the accuracy and stability of synchronous axis motion control.

Description

Technical Field

[0001] This invention relates to the field of synchronous shaft motion control technology, and in particular to a synchronous shaft motion tracking control method and system. Background Technology

[0002] With the continuous development of the new energy industry, the new energy vehicle manufacturing industry is also undergoing repeated updates and iterations. The production process requirements for the cells, modules and PACKs of the power batteries that serve as the power source of new energy vehicles are becoming increasingly stringent. At the same time, the process precision of production and testing is getting higher and higher, which in turn requires higher and higher mechanical precision and control precision.

[0003] For example, after the production of power batteries is completed, a series of tests need to be conducted. To improve testing efficiency, batch testing of power batteries is required. Batch testing involves the synchronous control of multiple axes of the testing equipment, i.e., synchronous axis movement control. However, traditional synchronous axis movement control methods have the following drawbacks:

[0004] 1. The synchronization accuracy of the multi-axis is not high, and there is a relatively large error between each axis; 2. There are large differences in the driving time of the multi-axis, resulting in large deviations in the driving position; 3. When deviations occur, they cannot be dynamically corrected, and manual intervention is required, resulting in excessively long processing cycles. The processing time required by different people cannot be strictly uniform, and the technical requirements for the processing personnel are high.

[0005] Therefore, how to provide a synchronous shaft motion tracking control method and system to improve the accuracy and stability of synchronous shaft motion control has become an urgent technical problem to be solved. Summary of the Invention

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

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

[0008] Step S1: The PLC establishes a connection with the I / O devices of each test device through the Profit bus, and establishes a connection with the servo driver of each test device through the IRT protocol;

[0009] Step S2: The PLC configures each IO device and creates FB function blocks based on the configured IO devices.

[0010] Step S3: The PLC creates a virtual axis, uses the virtual axis as the active axis, and uses the physical axes driven by the servo drives of each test device as the driven axes.

[0011] Step S4: The PLC configures the process parameters of the drive shaft;

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

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

[0014] Step S7: The PLC displays the running data of each slave axis and the running data of the main axis on the human-machine 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, step S2 specifically includes:

[0017] The PLC configures each I / O device, encapsulates the control logic of each configured I / O device in an 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 include at least the load gear ratio, the lead screw pitch, and the encoder mounting type.

[0019] Furthermore, step S7 also includes:

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

[0021] Secondly, the present invention provides a synchronous shaft motion tracking control system, comprising the following modules:

[0022] The device connection module is used for the PLC to establish a connection with the IO devices of each test device via the Profit bus, and to establish a connection with the servo driver of each test device via the IRT protocol.

[0023] The FB function block creation module is used by the PLC to configure each IO device and create FB function blocks based on the configured IO devices.

[0024] The virtual axis creation module is used by the PLC to create a virtual axis, which is used as the active axis, and the physical axes driven by the servo drives of each test device are used as the driven axes.

[0025] The process object parameter configuration module is used by the PLC to configure the process object parameters of the drive shaft;

[0026] The synchronous control module is used by the PLC to control the motion of the drive axis based on the FB function block and the process object parameters, and to communicate synchronously with each servo driver through the IRT protocol to control each driven axis to follow the drive axis.

[0027] The dynamic compensation module is used by the PLC to collect the driven shaft running data of each driven shaft through the encoder, obtain the main shaft running data of the driving shaft based on the FB function block, compare the running data of each driven shaft with the main shaft running data to obtain deviation data, and perform dynamic compensation on each driven shaft based on the deviation data.

[0028] The management module is used by the PLC to display the operating data of each slave axis and the operating data of the main axis on the human-machine interface, and to generate and display monitoring views and alarm views 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 I / O device, encapsulates the control logic of each configured I / O device in an 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 include at least the load gear ratio, the lead screw pitch, and the encoder mounting 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 through the human-machine interface.

[0035] The advantages of this invention are:

[0036] The PLC establishes connections with the I / O devices of each test device via the ProNet bus and with the servo drives of each test device via the IRT protocol. It configures each I / O device and creates FB function blocks based on the configured I / O devices. Next, the PLC creates virtual axes as active axes and the physical axes driven by each servo drive as driven axes. It configures the process object parameters of the active axes and controls the movement of the active axes based on the FB function blocks and process object parameters, synchronously controlling the movement via IRT. The RT protocol communicates with each servo drive to control each driven axis to follow the drive axis. Then, the PLC collects the driven axis running data from the encoder, obtains the drive axis's spindle running data based on the FB function block, compares the driven axis running data with the spindle running data to obtain deviation data for dynamic compensation of each driven axis, and displays the driven axis running data and spindle running data on the human-machine interface. Based on the deviation data, a monitoring view and an alarm view are generated and displayed. In other words, the PLC communicates with the servo drives that drive each physical axis through the IRT protocol to reduce communication latency and improve communication synchronization. Through virtual axis synchronization, each physical axis moves in conjunction with the other. During movement, the deviation data calculated based on the driven axis running data and the spindle running data is used to dynamically compensate for each driven axis, i.e., to dynamically correct the deviation of each driven axis without manual intervention, thus greatly improving the accuracy and stability of synchronous axis motion control. Attached Figure Description

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

[0038] Figure 1 This is a flowchart of a synchronous shaft motion tracking control method according to the present invention.

[0039] Figure 2 This is a schematic diagram of the structure of a synchronous shaft motion tracking control system according to the present invention. Detailed Implementation

[0040] The technical solution in this application embodiment has the following general idea: the PLC communicates with the servo driver that drives the motion of each physical axis through the IRT protocol to reduce communication latency. The physical axes are moved synchronously through virtual axes. During the motion, the driven axes are dynamically compensated based on the deviation data without manual intervention, thereby improving the accuracy and stability of synchronous axis motion control.

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

[0042] Step S1: The PLC establishes a connection with the I / O devices of each test device through the ProNet bus (a non-real-time communication based on TCP / UDP and IP technologies), and establishes a connection with the servo drives of each test device through the IRT protocol (data cycle refresh time is less than 1ms, and the jitter time of the cycle scan is no more than 1µs). Classified communication can effectively reduce the communication load and improve the performance of the PLC.

[0043] Step S2: The PLC configures each IO device and creates FB function blocks based on the configured IO devices.

[0044] Step S3: The PLC uses the Siemens MC_GEARIN function block to create a virtual axis, and uses the virtual axis as the active axis, and the physical axes driven by the servo drives of each test device as the driven axes.

[0045] Step S4: The PLC configures the process parameters of the drive shaft;

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

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

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

[0049] This invention uses a PLC as the control center to build a control system. It transmits time-critical data in motion control through IRT protocol timed communication, and then establishes a virtual axis as the active axis, coupling multiple physical axes. The virtual axis synchronously drives the physical axes to achieve multi-axis synchronous operation. During operation, deviation data is calculated and dynamically compensated, solving the problems of low accuracy and time error in traditional multi-axis linkage.

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

[0051] Step S2 specifically involves:

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

[0053] This involves modularizing the PLC program, configuring it using Siemens TIA Portal V16 SP1 programming software, and configuring up to 128 I / O devices. It also employs the IRT protocol for communication, discarding TCP / IP or UDP / IP components, significantly shortening frame length, reducing communication stack time, and ensuring high data transmission rate performance. Siemens process object control calculations are used, with all operational data calculated internally and output within a single scan cycle, ensuring timely drive operation. FB function blocks are written using the FB function blocks in Siemens TIA Portal V16 SP1 programming software, encapsulating the control logic of various I / O devices within FB function blocks, and communicating through block interfaces (input interfaces, output interfaces, I / O...). The nOut pin calls the corresponding control program; the data acquisition logic of various IO devices is encapsulated in the FB function block, converted into a unified output format, and the call block interface is used for data exchange. Jump instructions are used in the FB function block. Programs not called do not occupy the PLC scan cycle; the HMI communication interface adopts S7 communication. Since Siemens has reserved a separate communication channel for the HMI, it does not occupy the overall communication resources, avoids affecting the data transmission of key parts, realizes dynamic display, monitoring, processing and other event operations in the HMI, and can also open HMI login users to capture HMI information from the host computer.

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

[0055] Step S7 further includes:

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

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

[0058] The device connection module is used for the PLC to establish connections with the I / O devices of each test device via the ProNet bus (a non-real-time communication based on TCP / UDP and IP technologies), and to establish connections with the servo drives of each test device via the IRT protocol (data cycle refresh time is less than 1ms, and the jitter time of the cycle scan is no more than 1µs). Classified communication can effectively reduce communication load and improve PLC performance.

[0059] The FB function block creation module is used by the PLC to configure each IO device and create FB function blocks based on the configured IO devices.

[0060] The virtual axis creation module is used by the PLC to create a virtual axis using the Siemens MC_GEARIN function block, and to use the virtual axis as the active axis and the physical axes driven by the servo drives of each test device as the driven axes.

[0061] The process object parameter configuration module is used by the PLC to configure the process object parameters of the drive shaft;

[0062] The synchronous control module is used by the PLC to control the motion of the drive axis based on the FB function block and the process object parameters, and to communicate synchronously with each servo driver through the IRT protocol to control each driven axis to follow the drive axis.

[0063] The dynamic compensation module is used by the PLC to collect the driven shaft running data of each driven shaft through the encoder, obtain the main shaft running data of the driving shaft based on the FB function block, compare the running data of each driven shaft with the main shaft running data to obtain deviation data, and perform dynamic compensation on each driven shaft based on the deviation data.

[0064] The management module is used by the PLC to display the operating data of each slave axis and the operating data of the main axis on the human-machine interface, and to generate and display monitoring views and alarm views based on the deviation data.

[0065] This invention uses a PLC as the control center to build a control system. It transmits time-critical data in motion control through IRT protocol timed communication, and then establishes a virtual axis as the active axis, coupling multiple physical axes. The virtual axis synchronously drives the physical axes to achieve multi-axis synchronous operation. During operation, deviation data is calculated and dynamically compensated, solving the problems of low accuracy 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 I / O device, encapsulates the control logic of each configured I / O device in an FB function block, and sets the output format, input interface, and output interface of the FB function block.

[0069] This involves modularizing the PLC program, configuring it using Siemens TIA Portal V16 SP1 programming software, and configuring up to 128 I / O devices. It employs the IRT protocol for communication, discarding TCP / IP or UDP / IP components, significantly shortening frame length, reducing communication stack time, and ensuring high data transmission rate. Siemens process object control calculations are used, with all operational data calculated internally and output within a single scan cycle, ensuring timely drive operation. FB function blocks are written using Siemens TIA Portal V16 SP1 programming software, encapsulating the control logic of various I / O devices within these blocks. The corresponding control programs are called through block interfaces (input interfaces, output interfaces, and InOut pins). Data acquisition logic for various I / O devices is also encapsulated within FB function blocks, converted to a unified output format, and used for data exchange via block interfaces. Jump instructions are used within FB function blocks; uncalled programs do not occupy PLC scan cycles. The HMI communication interface uses S7 communication, as Siemens has reserved HMI... The communication channel of HMI does not occupy overall communication resources, avoids affecting the data transmission of critical parts, and enables dynamic display, monitoring, and processing of events in HMI. At the same time, it can open HMI login users and capture HMI information on the host computer.

[0070] In the process object parameter configuration module, the process object parameters include at least the load gear ratio, the lead screw pitch, and the encoder mounting 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 through the human-machine interface.

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

[0074] The PLC establishes connections with the I / O devices of each test device via the ProNet bus and with the servo drives of each test device via the IRT protocol. It configures each I / O device and creates FB function blocks based on the configured I / O devices. Next, the PLC creates virtual axes as active axes and the physical axes driven by each servo drive as driven axes. It configures the process object parameters of the active axes and controls the movement of the active axes based on the FB function blocks and process object parameters, synchronously controlling the movement via IRT. The RT protocol communicates with each servo drive to control each driven axis to follow the drive axis. Then, the PLC collects the driven axis running data from the encoder, obtains the drive axis's spindle running data based on the FB function block, compares the driven axis running data with the spindle running data to obtain deviation data for dynamic compensation of each driven axis, and displays the driven axis running data and spindle running data on the human-machine interface. Based on the deviation data, a monitoring view and an alarm view are generated and displayed. In other words, the PLC communicates with the servo drives that drive each physical axis through the IRT protocol to reduce communication latency and improve communication synchronization. Through virtual axis synchronization, each physical axis moves in conjunction with the other. During movement, the deviation data calculated based on the driven axis running data and the spindle running data is used to dynamically compensate for each driven axis, i.e., to dynamically correct the deviation of each driven axis without manual intervention, thus greatly improving the accuracy and stability of synchronous axis motion control.

[0075] While specific embodiments of the present invention have been described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and not intended to limit the scope of the present invention. Equivalent modifications and variations made by those skilled in the art in accordance with the spirit of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

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

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

3. The synchronous shaft tracking control method as described in claim 1, characterized in that: Step S2 specifically involves: The PLC configures each I / O device, encapsulates the control logic of each configured I / O device in an FB function block, and sets the output format, input interface, and output interface of the FB function block.

4. The synchronous shaft motion tracking control method as described in claim 1, characterized in that: In step S4, the process object parameters include at least the load gear ratio, the lead screw pitch, and the encoder mounting type.

5. The synchronous shaft tracking control method as described in claim 1, characterized in that: Step S7 further includes: The PLC controls each driven axis to reset based on the reset coupling signal input through the human-machine interface.

6. A synchronous shaft motion 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 via the Profinet bus, and to establish a connection with the servo driver of each test device via the IRT protocol. The FB function block creation module is used by the PLC to configure each IO device and create FB function blocks based on the configured IO devices. The virtual axis creation module is used by the PLC to create a virtual axis, which is used as the active axis, and the physical axes driven by the servo drives of each test device are used as the driven axes. The process object parameter configuration module is used by the PLC to configure the process object parameters of the drive shaft; The synchronous control module is used by the PLC to control the motion of the drive axis based on the FB function block and the process object parameters, and to communicate synchronously with each servo driver through the IRT protocol to control each driven axis to follow the drive axis. The dynamic compensation module is used by the PLC to collect the driven shaft running data of each driven shaft through the encoder, obtain the main shaft running data of the driving shaft based on the FB function block, compare the running data of each driven shaft with the main shaft running data to obtain deviation data, and perform dynamic compensation on each driven shaft based on the deviation data. The management module is used by the PLC to display the operating data of each slave axis and the operating data of the main axis on the human-machine interface, and to generate and display monitoring views and alarm views based on the deviation data.

7. The synchronous shaft tracking control system as described 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 shaft tracking control system as described in claim 6, characterized in that: The FB function block creation module is specifically used for: The PLC configures each I / O device, encapsulates the control logic of each configured I / O device in an FB function block, and sets the output format, input interface, and output interface of the FB function block.

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

10. A synchronous shaft tracking control system as described 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 through the human-machine interface.

Images