Truss manipulator driving and control integrated control method, system architecture and application of truss manipulator driving and control integrated control method

Abstract

The invention relates to a driving and control integrated control method and system architecture for a truss manipulator and application of the driving and control integrated control method for the truss manipulator, and the driving and control integrated control method comprises the following steps: giving a target position of each shaft of the manipulator through a man-machine operation box, planning a track, issuing a motion instruction, driving a servo motor to operate, and judging whether the operation of the servo motor reaches a control target or not; if yes, motion control is completed, and if not, the control signal is adjusted according to the deviation, and then returning is conducted. The driving and control integrated control method for the truss manipulator has the advantages that the integration level is improved, driving and control complete integration, multi-axis linkage synchronous control and high-precision control are achieved, the system architecture is simplified, and the hardware cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of truss manipulators, and in particular to a truss manipulator drive-control integrated control method, system architecture and application thereof. Background Art

[0002] At present, the traditional truss robot system adopts a separate control architecture, which is usually composed of an independent controller (such as a PLC or motion controller) and a servo drive. The controller is responsible for issuing motion instructions, and the drive executes the motion of each axis. The control system and the execution system communicate through a standard communication interface (such as MODBUS, CAN, EtherCAT, etc.).

[0003] There are some systems integrating drive and control in the market. Although these systems have some improvements compared with traditional solutions, they still have limitations. Most of them simply integrate the controller and the driver at the structural level or hardware level, so that they appear to be "drive and control integrated" in appearance, but the control software and algorithm are still separated, and the complete integration of control and drive is not achieved. There are deficiencies in high-precision, multi-axis linkage control, especially in complex working conditions, which are prone to synchronous control deviations.

[0004] That is, this control method has some obvious disadvantages: 1. Poor real-time performance: Due to the communication delay between control instructions and execution process, especially when performing synchronous control of multi-axis motion, the real-time response capability of the system is greatly affected.

[0005] 2. Complex system architecture: The separation of the drive system and the control system increases the complexity of the system and requires more communication hardware interfaces and software configurations.

[0006] 3. High maintenance difficulty: compatibility issues between equipment from different manufacturers, as well as the need for constant debugging and updating between the driver and the controller, make subsequent maintenance difficult.

[0007] 4. Cost issue: Using a separate controller and driver system increases equipment cost and power consumption.

[0008] To this end, we have developed a truss manipulator drive and control integrated control method to solve the above problems. Summary of the invention

[0009] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a truss manipulator drive-control integrated control method, which has the advantages of improving the level of integration, realizing full integration of drive and control, multi-axis linkage synchronous control, high-precision control, simplifying system architecture, and reducing hardware costs.

[0010] In order to achieve the above object, the technical solution adopted by the present invention is: a truss manipulator drive-control integrated control method, comprising the following steps: S10. Give the target position of each axis of the manipulator through the human-machine operation box; S20. Trajectory planning: control program module to implement motion planning and trajectory calculation; S30. Movement instruction issuance: The control program module is responsible for generating movement instructions and issuing them to the driver module; S40. Driving the servo motor to operate: The driver program is embedded with motion control algorithm and PID proportional-integral-differential control algorithm. The driver program converts motion instructions into signals to drive the servo motor to operate, thereby realizing motion control of the truss manipulator; S50. Determine whether the servo motor is driven to achieve the control target. If yes, complete the motion control. If no, adjust the control signal according to the deviation, and then return to step S40.

[0011] Preferably, the integrated drive and control method for the truss manipulator is characterized in that the integrated drive and control method is implemented through a system architecture, and the system architecture includes a man-machine operation box, a servo motor, and a first central processing unit and a second central processing unit that communicate through a dual-core SPI communication module, the first central processing unit is provided with a control program module, the second central processing unit is provided with a driver program module, the control program module and the driver program module perform high-speed and real-time data communication through on-chip SPI, the man-machine operation box and the first central processing unit are electrically connected through an Ethernet man-machine communication interface, and the second central processing unit and the servo motor are electrically connected through a motor control box and a communication line.

[0012] Preferably, after receiving the action instructions and the targets of each axis, the control program executes the trajectory planning algorithm in combination with the current position fed back by the motor encoder to obtain discrete trajectory points of each axis from the current position to the target position, and the control program module runs the control program and the application.

[0013] Preferably, the driver program uses a dual-core central processing unit as the main control unit of the integrated drive-control system architecture, the second central processing unit in the main control unit runs the driver program, and the first central processing unit runs the control program and the application program.

[0014] Preferably, the system monitors the encoder position feedback in real time through sensor data, feeds the data back to the main control unit, and the software program adjusts the control signal in real time according to the sensor data and adjusts the next movement according to the error.

[0015] Preferably, the system architecture is applied to automatic handling, automatic loading and unloading, or material assembly.

[0016] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art: 1. The drive-control integration technology enables the control system and drive system to run on the same platform, achieving faster real-time response and more precise motion control.

[0017] 2.Integrated controller and driver simplify the system architecture and reduce communication interfaces and hardware connections.

[0018] 3. Integrated design brings lower hardware cost and easy maintenance.

[0019] 4. Compared with the existing integrated drive and control technology solutions, the controller and driver run on a main control chip with a dual-core central processing unit, achieving the maximum degree of integration and unification at the hardware level. High-speed real-time communication between the controller and driver is achieved through the dual-core communication interface, providing the necessary conditions for the coordinated control of software and hardware, thereby realizing the complete integration of control and drive.

[0020] 5. Through highly integrated hardware and software-hardware collaborative control technology, high-precision position control can be achieved and the synchronization of multi-axis linkage control can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the system architecture structure of the truss manipulator drive-control integrated control system described in the present invention.

[0022] Figure 2 The present invention is a flowchart of the integrated drive and control method for the truss manipulator. DETAILED DESCRIPTION

[0023] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0024] Figure 1 to Figure 2 The composition of the integrated drive and control system: The core of the integrated drive and control technology lies in the highly integrated hardware design and the realization of coordinated control of software and hardware. The integrated drive and control system can be divided into the software layer and the hardware layer, which work closely together to achieve a high degree of integration of the controller and driver software and hardware.

[0025] The integrated drive and control software includes: 1. Driver: The interface through which the driver module communicates with the hardware and is used to control various components of the device, such as servo motors, sensors, etc.

[0026] 2. Control program: The control program module implements motion planning and trajectory calculation, and is responsible for generating motion instructions and sending them to the driver.

[0027] 3. Application: software module that implements specific business logic.

[0028] The integrated drive and control hardware includes: 1. Main control unit (dual core): The core processor responsible for executing the software and controlling the operation of the entire system. The second central processor runs the driver program, and the first central processor runs the control program and application program.

[0029] 2. Dual-core SPI (Serial Peripheral Interface) communication module: SPI is a synchronous serial communication protocol, commonly used for short-distance data exchange between master and slave devices. SPI has the characteristics of high communication speed and full-duplex, and is widely used in embedded systems. This system realizes data interaction between two central processor cores based on SPI, and realizes high-speed and real-time communication between control program and driver.

[0030] 3. Other peripheral interface modules: such as human-machine communication interface (Ethernet), motor control and communication interface.

[0031] Hardware parts related to software: This system uses a dual-core CPU as the main control unit, which is responsible for running all software, executing task scheduling, algorithm processing and communication tasks. One CPU runs the driver, and the other runs the control program and application. The two CPU cores realize data communication through the on-chip SPI. The software directly manages all resources of the processor and peripherals, realizing the high integration of the drive-control hardware, and the software and hardware work together at runtime.

[0032] The integrated drive-control method is implemented through a system architecture, which includes a human-machine operation box, a servo motor, and a first central processing unit and a second central processing unit that communicate through a dual-core SPI communication module. The first central processing unit is provided with a control program module, and the second central processing unit is provided with a driver program module. The control program module and the driver program module perform high-speed and real-time data communication through the on-chip SPI. The human-machine operation box and the first central processing unit are electrically connected through an Ethernet human-machine communication interface, and the second central processing unit and the servo motor are electrically connected through a motor control box and a communication line.

[0033] After receiving the action instructions and the targets of each axis, the control program executes the trajectory planning algorithm in combination with the current position fed back by the motor encoder to obtain the discrete trajectory points of each axis from the current position to the target position. The control program module runs the control program and application programs.

[0034] The driver program uses a dual-core central processing unit as the main control unit of the integrated drive-control system architecture. The second central processing unit in the main control unit runs the driver program, and the first central processing unit runs the control program and the application program.

[0035] The system monitors the encoder position feedback in real time through sensor data and feeds the data back to the main control unit. The software program adjusts the control signal in real time based on the sensor data and adjusts the next movement based on the error.

[0036] A truss manipulator drive-control integrated control method comprises the following steps: S10. The target position of each axis of the robot is given through the human-machine operation box; the target position drives the servo motor to operate through the servo motor control interface and current and voltage signals, and the current position information of each axis of the robot is obtained through the encoder interface.

[0037] S20. The process of executing the program in the hardware part, trajectory planning: the control program module realizes motion planning and trajectory calculation; after the control program running in the main control unit receives instructions and targets (such as the target position of each axis), it executes the trajectory planning algorithm in combination with the current position feedback from the motor encoder to obtain the discrete trajectory points of each axis from the current position to the target position.

[0038] S30. Sending motion instructions: The control program module is responsible for generating motion instructions and sending them to the driver; the trajectory points are converted into motion instructions and sent to the driver through the dual-core communication interface.

[0039] S40. Drive the servo motor to operate: The driver program is embedded with motion control algorithms and PID (Proportional-Integral-Derivative) proportional-integral-differential control algorithms. The driver program converts motion instructions into signals that drive the servo motor to operate, thereby realizing motion control of the truss manipulator. The signals are current and voltage signals. During the execution process, the system will monitor the encoder position in real time and feed the data back to the main control unit. The software program will adjust the control signal in real time according to the sensor data and adjust the next movement according to the error until the control target is achieved.

[0040] S50. Real-time feedback control of the whole process: Determine whether the operation of the driving servo motor reaches the control target. If yes, complete the motion control. If not, adjust the control signal according to the deviation, and then return to step S40. That is, during the execution process, the system will monitor the encoder position feedback in real time and feed the data back to the main control unit. The software adjusts the control signal in real time according to the sensor data, and adjusts the next movement according to the error to ensure the accuracy of the execution.

[0041] The integrated drive-control method of the truss robot and the system architecture are applied to automatic handling, automatic loading and unloading or material assembly.

[0042] The above are only specific application examples of the present invention and do not constitute any limitation on the protection scope of the present invention. Any technical solution formed by equivalent transformation or equivalent replacement shall fall within the protection scope of the present invention.

Claims

1. A truss manipulator drive-control integrated control method, characterized in that: The following steps are involved: S10. Give the target position of each axis of the robot through the human-machine operation box; S20. Trajectory planning: control program module to implement motion planning and trajectory calculation; S30. Movement instruction issuance: The control program module is responsible for generating movement instructions and issuing them to the driver module; S40. Driving the servo motor to operate: The driver program is embedded with motion control algorithm and PID proportional-integral-differential control algorithm. The driver program converts motion instructions into signals to drive the servo motor to operate, thereby realizing motion control of the truss manipulator; S50. Determine whether the servo motor is driven to achieve the control target. If yes, complete the motion control. If not, adjust the control signal according to the deviation, and then return to step S40.

2. The truss manipulator drive-control integrated control method according to claim 1, characterized in that: In step S10, the target position is driven by the servo motor control interface and current and voltage signals to operate the servo motor, and the current position information of each axis of the manipulator is obtained through the encoder interface.

3. The truss manipulator drive-control integrated control method according to claim 1, characterized in that: In step S20, after receiving the instruction and target, the control program running in the main control unit executes the trajectory planning algorithm in combination with the current position fed back by the motor encoder to obtain the discrete trajectory points of each axis from the current position to the target position.

4. The truss manipulator drive-control integrated control method according to claim 1, characterized in that: In step S30, the trajectory points are converted into motion instructions and sent to the driver through the dual-core communication interface.

5. The truss manipulator drive-control integrated control method according to claim 1, characterized in that: In step S40, the signal is a current and voltage signal. During the execution process, the system will monitor the encoder position in real time and feed the data back to the main control unit. The software program adjusts the control signal in real time according to the sensor data and adjusts the next movement according to the error until the control target is achieved.

6. The truss manipulator drive-control integrated control method according to claim 1, characterized in that: The integrated drive and control method is implemented through a system architecture, which includes a human-machine operation box, a servo motor, and a first central processing unit and a second central processing unit that communicate through a dual-core SPI communication module. The first central processing unit is provided with a control program module, and the second central processing unit is provided with a driver module. The control program module and the driver module perform high-speed and real-time data communication through on-chip SPI. The human-machine operation box and the first central processing unit are electrically connected through an Ethernet human-machine communication interface, and the second central processing unit and the servo motor are electrically connected through a motor control box and a communication line.

7. The truss manipulator drive-control integrated control method according to claim 6, characterized in that: After receiving the action instructions and the targets of each axis, the control program executes the trajectory planning algorithm in combination with the current position fed back by the motor encoder to obtain the discrete trajectory points of each axis from the current position to the target position. The control program module runs the control program and application programs.

8. The truss manipulator drive-control integrated control method according to claim 6, characterized in that: The driver program uses a dual-core central processing unit as the main control unit of the integrated drive-control system architecture. The second central processing unit in the main control unit runs the driver program, and the first central processing unit runs the control program and the application program.

9. The truss manipulator drive-control integrated control method according to claim 6, characterized in that: The system monitors the encoder position feedback in real time through sensor data and feeds the data back to the main control unit. The software program adjusts the control signal in real time based on the sensor data and adjusts the next movement based on the error.

10. The truss manipulator drive-control integrated control method according to claim 6, characterized in that: The system architecture is applied to automatic handling, automatic loading and unloading or material assembly.

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