A method and system for synchronizing control of multiple robots based on PLCs

CN119871399BActive Publication Date: 2026-08-28WUHAN MARINE MACHINERY PLANT
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Patent Information

Application Number
CN202510065387.7
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2025-01-16
Publication Date
2026-08-28
Estimated Expiration
2045-01-16

AI Technical Summary

Technical Problem

[0006]本发明的目的是克服现有技术中存在的不能实现对多个机器人高效、高精度的同步控制的缺陷与问题，提供一种能够实现对多个机器人高效、高精度的同步控制的基于PLC的多个机器人的同步控制方法及系统

Benefits of technology

[0041]1、一种基于PLC的多个机器人的同步控制方法及系统，所述基于PLC的多个机器人的同步控制系统包括PLC控制模块、通信模块、同步控制算法模块、状态监测模块、故障诊断模块与用户界面模块，先依据同步误差生成初步控制指令，再从比例、积分与微分参数三个方面对初步控制指令进行调整，生成最终控制指令，然后将最终控制指令发送给该机器人；应用时，首先状态监测模块先对机器人的状态信息进行实时检测与收集，并通过通信模块传递给PLC控制模块，同步控制算法模块接收到的状态信息数据，并计算每个机器人的同步误差，然后检测同步误差，当同步误差超出允许范围，同步控制算法模块则对该机器人执行同步控制逻辑生成初步控制指令，而PID控制算法从比例、积分和微分参数对初步控制指令进行优化，生成最终控制指令，并通过通信模块发送给相应的机器人，机器人接收并执行指令后，使每个机器人保持同步，由于使用PID控制算法，从比例、积分和微分参数三个方面对机器人的运动进行精确同步控制，从而减少误差并提高同步精度。因此，本发明不仅能够对多个机器人进行同步控制，而且能够实现对多个机器人高效、高精度的同步控制。

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Abstract

A kind of synchronization control method and system of multiple robots based on PLC, the control method includes: first, the state information of each robot is monitored and collected in real time;Second, the synchronization error of each robot is calculated according to the above state information, then the synchronization error is detected, if the synchronization error exceeds the range, then execute the third step;Third, generate preliminary control instruction according to the synchronization error of robot, then adjust the preliminary control instruction from three aspects of proportion, integral and differential parameter, then send the adjusted control instruction to the corresponding robot;Fourth step: the corresponding robot receives and executes the control instruction, thereby synchronizing the state of robot;The system includes PLC control module, communication module, synchronization control algorithm module, state monitoring module, fault diagnosis module and user interface module.Therefore, the design can realize the high-efficiency, high-precision synchronization control of multiple robots.
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Citation Information

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