Feedback signal synchronization method for driver, electronic equipment and computer readable storage medium

Abstract

The invention discloses a feedback signal synchronization method for a driver, electronic equipment and a computer readable storage medium, and the method comprises the steps: obtaining feedback information used for representing the position information of a shaft based on the driver, and the feedback information is composed of a plurality of position points; and performing normalization processing on the target interval based on the target interpolation frequency to obtain normalization time in the target interval. And constructing a corresponding interpolation algorithm based on the motion state of the shaft in the target interval so as to perform interpolation processing on normalized time in the target interval. According to the feedback signal synchronization method for the driver, the feedback signals are synchronized by interpolating the feedback signals of the driver, so that the sampling frequencies of data from different sources for drawing the roundness at the moment are consistent, and the reliability of drawing the roundness is improved. According to the method, the speed and acceleration information of the low-frequency signal can be restored by adopting a sectional interpolation algorithm, so that an interpolation curve is smoother.

Description

Technical Field

[0001] The present invention belongs to the technical field of drive control, and particularly relates to a feedback signal synchronization method, an electronic device, and a computer-readable storage medium for a drive. Background Art

[0002] In the field of numerical control machining, roundness is usually used as an index to evaluate the servo synchronization of multi-axis drives, which is a concept used to describe the degree of approximation between the actual shape of a circular object or cross-section and an ideal perfect circle, and is of great significance in fields such as engineering, manufacturing, and metrology.

[0003] In the field of numerical control machine tool control, multi-axis linkage control is usually restricted by space and cannot adopt the same control signal transmission form. For example, PWM drives and bus drives need to be used in cooperation, but the two types of drives use different control signals. Under the coordinated control of PWM drives and bus drives, the position refresh frequencies of the two axes are different. The PWM drive continuously receives the commanded position sent by the controller, while the bus drive receives a commanded position only every communication cycle. This situation also exists in the feedback loop, resulting in a higher feedback position signal density of the PWM than that of the bus drive.

[0004] Figure 1 Shown is the original feedback signal of the axis. Figure 2 Shown is the feedback signal of the axis driven by the PWM drive. Figure 3 Shown is the feedback signal of the axis driven by the bus drive. The horizontal axis is the sampling time for all, and the vertical axis is the position point of the axis at the corresponding sampling time.

[0005] It can be seen that the feedback signal of the axis driven by the PWM drive has a higher sampling frequency, while the feedback signal of the axis driven by the bus drive has a lower sampling frequency. This ultimately causes distortion in the channel where the actual quasi-circular path of the numerical control machine tool is fed back to the control, further reducing the reliability of the roundness index in reflecting its servo matching degree.

[0006] Therefore, in multi-axis linkage control, it is necessary to synchronize the feedback signals of multiple drives with different frequencies. Then, the controller can perform calculations and controls based on the synchronized signals, thereby improving the control accuracy and reliability.

[0007] The information disclosed in this background art section is only intended to enhance the overall understanding of the present invention and should not be regarded as an admission or any form of suggestion that this information constitutes prior art already known to those of ordinary skill in the art. Summary of the Invention

[0008] The object of the present invention is to provide a feedback signal synchronization method, an electronic device and a computer-readable storage medium for a driver, which can synchronize the feedback signal by interpolating the feedback signal of the driver.

[0009] To achieve the above object, the technical solution provided by a specific embodiment of the present invention is as follows:

[0010] A feedback signal synchronization method for a driver, comprising: obtaining feedback information for characterizing the position information of an axis based on the driver, the feedback information being composed of a plurality of position points; performing normalization processing on a target interval based on a target interpolation frequency to obtain normalized time within the target interval, the target interval being composed of two position points; constructing a corresponding interpolation algorithm based on the motion state of the axis within the target interval to perform interpolation processing on the normalized time within the target interval.

[0011] In one or more embodiments of the present invention, performing normalization processing on a target interval based on the target interpolation frequency to obtain normalized time within the target interval includes: constructing a parameter n as the remainder of step modulo (k + ε); taking the normalized time as n / (k + ε); where k is the product of the target interpolation frequency and the length of the target interval, step is the current interpolation step number, and 1 ≤ step ≤ k - 1, and ε is a correction coefficient.

[0012] In one or more embodiments of the present invention, the method includes: sequentially obtaining four uniformly distributed position points P 0 , P 1 , P 2 and P 3 , and taking P 1 and P 2 as the two position points of the target interval, and constructing a piecewise cubic Hermite interpolation algorithm as: P(Δt) = a 0 + a 1 ·Δt + a 2 ·Δt 2 + a 3 ·Δt 3 ;

[0013] The conditions are:

[0014]

[0015] where T is the length of the target interval and Δt is the normalized time.

[0016] In one or more embodiments of the present invention, the method includes: sequentially obtaining four uniformly distributed position points P 0 , P 1 , P 2 and P3 , and using P 1 and P 2 as two position points of the target interval, the average velocity interpolation algorithm is constructed as follows:

[0017]

[0018] where Δt is the normalized time.

[0019] In one or more embodiments of the present invention, the method includes: obtaining two position points P 1 and P 2 , and using P 1 and P 2 as two position points of the target interval, the linear interpolation algorithm is constructed as follows:

[0020]

[0021] where T is the length of the target interval and Δt is the normalized time.

[0022] In one or more embodiments of the present invention, constructing a corresponding interpolation algorithm based on the motion state of the axis in the target interval includes: when the velocity of the axis in the target interval is greater than the first threshold, the acceleration of the axis at the end of the target interval is greater than the second threshold, and the sum of the acceleration of the axis at the start of the target interval and the acceleration of the axis at the end of the target interval is greater than the third threshold, then constructing a piecewise cubic Hermite interpolation algorithm.

[0023] In one or more embodiments of the present invention, constructing a corresponding interpolation algorithm based on the motion state of the axis in the target interval includes: when the velocity of the axis in the target interval is less than or equal to the first threshold or the acceleration of the axis at the end of the target interval is less than or equal to the second threshold, then constructing a linear interpolation algorithm.

[0024] In one or more embodiments of the present invention, constructing a corresponding interpolation algorithm based on the motion state of the axis in the target interval includes: when the velocity of the axis in the target interval is greater than the first threshold, the acceleration of the axis at the end of the target interval is greater than the second threshold, and the sum of the acceleration of the axis at the start of the target interval and the acceleration of the axis at the end of the target interval is less than or equal to the third threshold, then constructing an average velocity interpolation algorithm.

[0025] A specific embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where when the processor executes the program, the above-mentioned feedback signal synchronization method for the driver is implemented.

[0026] A specific embodiment of the present invention further provides a computer-readable storage medium, in which computer-executable instructions are carried. When the computer-executable instructions are executed by a processor, they are used to implement the above-mentioned feedback signal synchronization method for a driver.

[0027] Compared with the prior art, the feedback signal synchronization method, electronic device and computer-readable storage medium for a driver of the present invention synchronize the feedback signal by interpolating the feedback signal of the driver, thereby ensuring that the sampling frequencies of data from different sources of the true circle drawing accuracy at this moment are consistent, and thus improving the reliability of the true circle drawing accuracy. The present invention adopts a segmented interpolation algorithm, which can restore the speed and acceleration information of the low-frequency signal, so that the interpolation curve is smoother. At the same time, the present invention also has the advantages of fast calculation speed and high applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0029] Figure 1 It is a schematic diagram of the original feedback signal of the shaft in the prior art.

[0030] Figure 2 It is a schematic diagram of the feedback signal of the shaft driven by a PWM driver in the prior art.

[0031] Figure 3 It is a schematic diagram of the feedback signal of the shaft driven by a bus driver in the prior art.

[0032] Figure 4 It is a flowchart of the feedback signal synchronization method for a driver in an embodiment of the present invention.

[0033] Figure 5 It is a schematic diagram of the synchronized feedback signal in an embodiment of the present invention.

[0034] Figure 6 It is a hardware structure diagram of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] To enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the scope of protection of the present application.

[0036] In the specification, "coupled" or "connected" or "linked" includes both direct connection and indirect connection. Indirect connection is a connection through an intermediate medium, such as a connection through an electrical conduction medium, which may have parasitic inductance or parasitic capacitance; indirect connection may also include a connection through other active or passive devices on the basis of achieving the same or similar functional purposes, such as a connection through circuits or components such as switches and follower circuits. In addition, in the invention, words such as "first" and "second" are mainly used to distinguish one technical feature from another technical feature, and do not necessarily require or imply that there is a certain actual relationship, quantity or order between these technical features.

[0037] In the detailed description of the specification, reference is made to the accompanying drawings that form a part of it, in which the same reference numerals always represent the same components, and which are shown by way of exemplary embodiments that can be implemented. It should be understood that other embodiments can be utilized and structural or logical changes can be made without departing from the scope of the present application. Therefore, the following detailed description should not be construed as having a limiting meaning.

[0038] The various operations in the specification can be described as a plurality of discrete actions or operations in the order that is most helpful for understanding the claimed subject matter. However, the described order should not be construed as implying that these operations must be order-related. Specifically, these operations may not be executed in the order presented. The described operations can be executed in an order different from the described embodiments. Various additional operations can be performed in additional embodiments and / or the described operations can be omitted.

[0039] For the purposes of the present application, the phrase "A and / or B" means (A), (B) or (A and B). For the purposes of the present application, the phrase "A, B and / or C" means (A), (B), (C), (A and B), (A and C), (B and C) or (A, B and C).

[0040] Various components and devices may be referred to or shown in the singular form herein (e.g., "MOS transistor", "transistor", "switch", etc.), but this is only for convenience of discussion, and any element referred to in the singular form may include multiple such elements in accordance with the teachings herein.

[0041] The specification describes the use of the phrases "in one embodiment", "in other embodiments", or "in some embodiments", which may each refer to one or more of the same or different embodiments. In addition, the terms "comprising", "including", "having", etc. used in connection with the embodiments of the present application are synonymous.

[0042] As Figure 4 shown, the feedback signal synchronization method for a driver in Embodiment 1 of the present invention includes:

[0043] Obtaining feedback information for characterizing the position information of the axis based on the driver, where the feedback information is composed of multiple position points.

[0044] Normalizing the target interval based on the target interpolation frequency to obtain a normalized time Δt within the target interval, where the target interval is composed of two position points.

[0045] Constructing a corresponding interpolation algorithm based on the motion state of the axis within the target interval to perform interpolation processing on the normalized time Δt within the target interval.

[0046] In one embodiment, the feedback information can be provided by the feedback signal of the axis driven by the bus driver. Figure 3 Shown is a schematic diagram of this feedback signal, where the horizontal axis is the sampling time and the vertical axis is the position point where the axis is located at the corresponding sampling time. The frequency of this feedback signal is generally the signal transmission frequency of the bus driver.

[0047] The bus driver is a driving device connected to the bus, used to receive, enhance, convert, or control the signals on the bus, and perform a series of driving control behaviors according to the signals on the bus. Depending on its communication protocol, the signal transmission frequency of the bus driver fluctuates within 1 kHz - 30 kHz.

[0048] Since in an actual control system, it is often necessary to use the bus driver and the PWM driver in cooperation, but the two drivers use different control signals. At this time, the instruction calculation frequency of the controller is always greater than the bus signal transmission frequency. Therefore, it is necessary to perform interpolation operations on the feedback signal collected by the bus driver to make it have the same frequency as the feedback signal of the PWM driver, so as to meet the control instruction calculation requirements. This process is the synchronization of the feedback signal of the driver. Generally speaking, when performing interpolation on the feedback signal of this bus driver, the target interpolation frequency is the frequency of the feedback signal of the PWM driver.

[0049] Of course, it can be understood that in the actual operation process, when synchronizing the feedback signals of the drivers, the types of drivers here are not limited to bus drivers or PWM drivers. At the same time, synchronizing the feedback signals of the drivers is not limited to being carried out between two drivers. The method for synchronizing the feedback signals for drivers provided in this application can be extended to be carried out between any number of drivers. Specifically, only a standard frequency needs to be determined, and then all drivers are synchronized with this standard frequency as the target interpolation frequency. This standard frequency can be the same as the highest-frequency feedback signal in the actual multi-axis driver.

[0050] Specifically, the normalization processing of the target interval based on the target interpolation frequency to obtain the normalized time Δt in the target interval may include:

[0051] Construct the parameter n as the remainder of step modulo (k + ε).

[0052] Take the normalized time Δt as n / (k + ε).

[0053] Wherein, k is the product of the target interpolation frequency and the length of the target interval, step is the current interpolation step number, and 1 ≤ step ≤ k - 1, and ε is a correction coefficient.

[0054] In one embodiment, the length of the target interval refers to the difference in the sampling times corresponding to the two position points of the target interval. Denote the length of the target interval as T. That is, the frequency of the feedback signal at the target interval is 1 / T. Therefore, k can also be regarded as the ratio of the target interpolation frequency to the frequency of the feedback signal at the target interval. In this embodiment, k = 5 is taken as an example for illustration.

[0055] The function of the correction coefficient ε is to prevent the denominator of the normalized time Δt from being 0 and avoid algorithm errors in the actual control process. The correction coefficient ε can be valued according to the actual signal frequency, and the correction coefficient ε is generally small and will not have a great impact on the actual interpolation position. In this embodiment, ε = 0.01 is taken as an example for illustration.

[0056] Based on the above, the normalized time Δt can be obtained as The normalized time Δt represents the specific position where interpolation processing needs to be carried out within the target interval. In this embodiment, it is to perform interpolation at the of the target interval. Through the normalization processing, when performing interpolation processing on each target interval, there is no need to consider the conversion relationship between the interval length and the target interpolation frequency anymore, and the dimensionless normalized time Δt is uniformly used for calculation.

[0057] Specifically, constructing the corresponding interpolation algorithm based on the motion state of the axis within the target interval may include:

[0058] When the speed of the axis within the target interval is less than or equal to the first threshold or the acceleration of the axis when the target interval ends is less than or equal to the second threshold, a linear interpolation algorithm is constructed.

[0059] When the speed of the axis within the target interval is greater than the first threshold, the acceleration of the axis when the target interval ends is greater than the second threshold, and the sum of the acceleration of the axis at the start of the target interval and the acceleration of the axis at the end of the target interval is greater than the third threshold, a piecewise cubic Hermite interpolation algorithm is constructed.

[0060] When the speed of the axis within the target interval is greater than the first threshold, the acceleration of the axis when the target interval ends is greater than the second threshold, and the sum of the acceleration of the axis at the start of the target interval and the acceleration of the axis at the end of the target interval is less than or equal to the third threshold, an average speed interpolation algorithm is constructed.

[0061] Combined with Figure 3 As shown, taking the position points P 1 and P 2 as the two position points of the target interval, the method for judging the motion state of the axis within the target interval is illustrated by way of example:

[0062] Specifically, when the speed of the axis within the target interval is less than or equal to the first threshold, the specific judgment condition can be:

[0063] |P 2 -P 1 |≤θ 1

[0064] where θ 1 is the first threshold. The first threshold is preferably 0, and at this time, it can be regarded that the axis is stationary within the target interval.

[0065] When the acceleration of the axis when the target interval ends is less than or equal to the second threshold, the specific judgment condition can be:

[0066]

[0067] where θ 2 is the second threshold, P 3 is the next position point of the position point P 2 , T is the length of the target interval, that is, the period of this feedback signal. The second threshold is preferably 0, and at this time, it can be regarded that the axis is in uniform motion when the target interval ends.

[0068] Preferably, when judging whether the speed of the axis within the target interval is less than or equal to the first threshold or whether the acceleration of the axis when the target interval ends is less than or equal to the second threshold, first judge whether the acceleration of the axis when the target interval ends is less than or equal to the second threshold, and then judge whether the speed of the axis within the target interval is less than or equal to the first threshold, because the credibility of the acceleration of the axis when the target interval ends is higher.

[0069] The sum of the acceleration of the axis at the start of the target interval and the acceleration at the end of the target interval is greater than the third threshold. The specific judgment condition may be:

[0070]

[0071] Among them, θ 3 is the third threshold, P 0 is the position point P 1 The value of the third threshold can be selected according to different feedback position states and acceptability. Preferably, the value of the third threshold fluctuates around 1. When the sum of the acceleration of the axis at the beginning of the target interval and the acceleration at the end of the target interval is greater than the third threshold, it can be approximately considered that the axis is performing accelerated motion, and when the sum of the acceleration of the axis at the beginning of the target interval and the acceleration at the end of the target interval is less than or equal to the third threshold, it can be approximately considered that the axis is performing uniform motion.

[0072] It is understandable that in other embodiments, the corresponding interpolation algorithm can also be constructed based on the motion state of the axis in the target interval according to other logics. Of course, the constructed interpolation algorithm may not be limited to the linear interpolation algorithm, the segmented cubic Hermite interpolation algorithm and the average speed interpolation algorithm, and the number of constructed interpolation algorithms may be one or more. The constructed interpolation algorithm may include one or more of the linear interpolation algorithm, the segmented cubic Hermite interpolation algorithm and the average speed interpolation algorithm, and may also include other interpolation algorithms, or may only include other interpolation algorithms.

[0073] In one embodiment, constructing a linear interpolation algorithm may include:

[0074] Get two position points P 1 and P 2 , and P 1 and P 2 For two position points in the target interval, the linear interpolation algorithm is constructed as follows:

[0075]

[0076] Where T is the length of the target interval and Δt is the normalized time.

[0077] The linear interpolation algorithm has the advantages of simplicity, fast calculation, and short delay time. When the movement speed of the axis is small or uniform, this algorithm can quickly fit and restore the movement information of the axis. However, the linear interpolation algorithm also causes the loss of the second-order information of the original signal. The second-order information is the second derivative, and its meaning here is acceleration. The loss of acceleration means that the feedback position curve will show discontinuous phenomena, resulting in step changes in the feedback speed signal and problems such as unequal left and right derivatives near the refresh point of the feedback position signal.

[0078] In one embodiment, constructing a piecewise cubic Hermite interpolation algorithm may include:

[0079] Successively obtain four uniformly distributed position points P 0 、P 1 、P 2 and P 3 , and taking P 1 and P 2 as the two position points of the target interval, the constructed piecewise cubic Hermite interpolation algorithm is: P(Δt) = a 0 + a 1 ·Δt + a 2 ·Δt 2 + a 3 ·Δt 3 .

[0080] The conditions are:

[0081]

[0082] where T is the length of the target interval and Δt is the normalized time.

[0083] Since P 0 、P 1 、P 2 and P 3 are four uniformly distributed position points, the sampling times t 0 、t 1 、t 2 、t 3 corresponding to these four position points satisfy:

[0084] t 3 - t 2 = t 2 - t 1 = t 1 - t 0 = T

[0085] By specifying the above constraints, the curve of the piecewise cubic Hermite interpolation algorithm can pass through the original feedback position points P 1 、P 2, and the second derivative of the interpolation curve at the original position points P 1 and P 2 is also consistent with the original second derivative.

[0086] Taking the derivative of the interpolation formula gives:

[0087]

[0088] Based on the above conditions, the following equations can be obtained:

[0089] P(0) = P 1 = a 0

[0090] P(1) = P 2 = a 0 + a 1 + a 2 + a 3

[0091]

[0092] By solving the above four equations for the interpolation coefficients a 0 , a 1 , a 2 , a 3 , the following coefficient recurrence formula is obtained:

[0093] a 0 = P 1

[0094]

[0095] Combined with the cubic Hermite interpolation formula:

[0096] P(Δt) = a 0 + a 1 ·Δt + a 2 ·Δt 2 + a 3 ·Δt 3

[0097] Thus, the interpolation results at each normalized time Δt can be obtained.

[0098] Although the interpolated data updated in this way will have a time delay of two cycles, this piecewise cubic Hermite interpolation method divides the entire interpolation target interval into multiple sub-intervals, and performs cubic Hermite interpolation on each sub-interval, effectively reducing the influence of the Runge phenomenon in the traditional high-degree Hermite interpolation algorithm, and improving the stability and accuracy of interpolation. In the case where the change of the feedback position point is complex, the traditional overall high-degree Hermite interpolation algorithm may have severe oscillations at both ends of the interval and cannot fit well. The piecewise interpolation provided by this method can flexibly adjust the interpolation polynomial on each sub-interval according to the change characteristics of the feedback position point in different intervals, better adapt to local changes, and make the interpolation result more conform to the change of the position point before bus communication sampling.

[0099] In one embodiment, constructing the average velocity interpolation algorithm may include:

[0100] Successively obtain four uniformly distributed position points P0, P1, P2, and P3, and use P1 and P2 as the two position points of the target interval to construct the average velocity interpolation algorithm as:

[0101]

[0102] where Δt is the normalized time.

[0103] When using the piecewise cubic Hermite interpolation algorithm for interpolation calculation, frequently calculating coefficients in the actual control system will consume additional system computing power. It is known that during uniform motion, the acceleration is constantly zero. In this algorithm, when the sum of the acceleration at the start of the target interval and the acceleration at the end of the target interval of the axis is less than or equal to the third threshold, it can be approximately considered that the axis is in uniform motion. At this time, using the average velocity interpolation algorithm can describe this motion form as accurately as possible and smooth this approximately uniform motion.

[0104] Finally, perform interpolation processing on the normalized time within the target interval based on the constructed interpolation algorithm, that is, substitute the normalized time Δt into the corresponding interpolation algorithm and calculate the corresponding value, and insert it into the target interval.

[0105] As Figure 5 shown, by inserting the corresponding value at the normalized time Δt: The position information of the axis is restored, the overall frequency of the feedback signal is increased, so that during the process of calculation and control based on the feedback position, the feedback signal can be synchronized with the high-frequency signal to improve the accuracy of drive control.

[0106] During the actual working process, the normalized time Δt can be calculated first based on the actual feedback signal frequencies of the bus driver and the PWM driver. Then, after obtaining the position point P 0, P 1 , P 2 and P 3 After that, first determine whether the acceleration of the axis is less than or equal to the second threshold when the target interval ends. If not, then determine whether the speed of the axis within the target interval is less than or equal to the first threshold. When any of the above judgments is affirmative, interpolation is performed within the target interval based on the linear interpolation algorithm. At this time, the calculation speed is the fastest and no computing power is consumed.

[0107] When all of the above judgments are negative, then continue to determine whether the sum of the acceleration of the axis at the start of the target interval and the acceleration of the axis at the end of the target interval is greater than the third threshold. If so, interpolation is performed within the target interval based on the piecewise cubic Hermite interpolation algorithm. At this time, it can be considered that the axis is moving with a relatively large acceleration, and the piecewise cubic Hermite interpolation algorithm can quickly and accurately restore the actual position of the axis, improving the stability and accuracy of the interpolation.

[0108] Finally, when the sum of the acceleration of the axis at the start of the target interval and the acceleration of the axis at the end of the target interval is less than or equal to greater than the third threshold, interpolation is performed within the target interval based on the average velocity interpolation algorithm. At this time, it can be considered that the axis is moving at a constant speed. Using the average velocity interpolation algorithm can save more computing power than the piecewise cubic Hermite interpolation algorithm and reduce the computational burden on the system.

[0109] Interpolate the feedback signal of the driver based on the above method, so that the low-frequency sampling results can be restored to the greatest extent, ensuring that the sampling frequencies of the data from different sources for drawing the true roundness at this moment are consistent. In addition, the above method also has the advantages of fast calculation speed and high applicability.

[0110] An embodiment of the present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the method for synchronizing the feedback signal of the driver as described in Embodiment 1.

[0111] An embodiment of the present invention also provides a computer-readable storage medium. As Figure 6 shown, the electronic device 30 may include at least one processor 31, a memory 32 (such as a non-volatile memory), a memory 33, and a communication interface 34, and at least one processor 31, the memory 32, the memory 33, and the communication interface 34 are connected together via a bus 35. At least one processor 31 executes at least one computer-readable instruction stored or encoded in the memory 32.

[0112] It should be understood that the computer-executable instructions stored in the memory 32, when executed, cause at least one processor 31 to perform the method for synchronizing the feedback signal of the driver described in this specification.

[0113] In the embodiments of this specification, the electronic device 30 may include, but is not limited to: personal computers, server computers, workstations, desktop computers, laptop computers, notebook computers, mobile electronic devices, smart phones, tablet computers, cellular phones, personal digital assistants (PDAs), handheld devices, messaging devices, wearable electronic devices, consumer electronic devices, and the like.

[0114] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) that contain computer-usable program code.

[0115] An embodiment of the present invention also provides a program product for a computer-readable storage medium. The computer-readable storage medium may have instructions (i.e., the elements implemented in software as described above), which when executed by a machine, cause the machine to execute the feedback signal synchronization method for a driver described in this specification. Specifically, a system or device equipped with a readable storage medium can be provided, on which software program code for implementing the functions of any one of the above embodiments is stored, and the computer or processor of the system or device reads and executes the instructions stored in the readable storage medium.

[0116] In this case, the program code read from the readable medium itself can implement the functions of any one of the above embodiments, so the machine-readable code and the readable storage medium storing the machine-readable code constitute a part of this specification.

[0117] Examples of readable storage media include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROMs, CD-Rs, CD-RWs, DVD-ROMs, DVD-RAMs, DVD-RWs, DVD-RWs), magnetic tapes, non-volatile memory cards, and ROMs. Optionally, the program code can be downloaded from a server computer or a cloud via a communication network.

[0118] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices produce means for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or in multiple blocks.

[0119] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or in multiple blocks.

[0120] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or in multiple blocks.

[0121] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, in any regard, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0122] In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in the various embodiments can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A feedback signal synchronization method for a driver, characterized in that: include: Acquiring feedback information for characterizing position information of the shaft based on the driver, wherein the feedback information is composed of a plurality of position points; normalizing the target interval based on the target interpolation frequency to obtain a normalized time within the target interval, wherein the target interval consists of two position points; A corresponding interpolation algorithm is constructed based on the motion state of the axis in the target interval to perform interpolation processing in normalized time in the target interval.

2. The feedback signal synchronization method for a driver according to claim 1, characterized in that: Normalizing the target interval based on the target interpolation frequency to obtain a normalized time within the target interval includes: The construction parameter n is the modulo step (k+ε); Take the normalized time as n / (k+ε); Wherein, k is the product of the target interpolation frequency and the length of the target interval, step is the current interpolation step number, and 1≤step≤k-1, and ε is the correction coefficient.

3. The feedback signal synchronization method for a driver according to claim 1, characterized in that: The method comprises: obtaining four evenly distributed position points P0, P1, P2 and P3 in sequence, and taking P1 and P2 as two position points of the target interval, constructing a segmented cubic Hermite interpolation algorithm as follows: P(Δt)=a0+a1·Δt+a2·Δt 2 +a3·Δt 3 ; The conditions are: Where T is the length of the target interval and Δt is the normalized time.

4. The feedback signal synchronization method for a driver according to claim 1, characterized in that: The method includes: obtaining four evenly distributed position points P0, P1, P2 and P3 in sequence, and taking P1 and P2 as two position points of the target interval, constructing an average speed interpolation algorithm as follows: Where Δt is the normalized time.

5. The feedback signal synchronization method for a driver according to claim 1, characterized in that: The method includes: obtaining two position points P1 and P2, and using P1 and P2 as two position points of the target interval, and constructing a linear interpolation algorithm as follows: Wherein, T is the length of the target interval, and Δt is the normalized time.

6. The feedback signal synchronization method for a driver according to claim 1, characterized in that: Constructing a corresponding interpolation algorithm based on the motion state of the axis within the target interval includes: When the speed of the axis in the target interval is greater than a first threshold, the acceleration of the axis at the end of the target interval is greater than a second threshold, and the sum of the acceleration of the axis at the beginning of the target interval and the acceleration at the end of the target interval is greater than a third threshold, a segmented cubic Hermite interpolation algorithm is constructed.

7. The feedback signal synchronization method for a driver according to claim 1, characterized in that: Constructing a corresponding interpolation algorithm based on the motion state of the axis within the target interval includes: When the speed of the axis in the target interval is less than or equal to a first threshold or the acceleration of the axis at the end of the target interval is less than or equal to a second threshold, a linear interpolation algorithm is constructed.

8. The feedback signal synchronization method for a driver according to claim 1, characterized in that: Constructing a corresponding interpolation algorithm based on the motion state of the axis within the target interval includes: When the speed of the axis in the target interval is greater than a first threshold, the acceleration of the axis at the end of the target interval is greater than a second threshold, and the sum of the acceleration of the axis at the beginning of the target interval and the acceleration at the end of the target interval is less than or equal to a third threshold, an average speed interpolation algorithm is constructed.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the feedback signal synchronization method for a driver according to any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium carries computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the feedback signal synchronization method for a driver according to any one of claims 1 to 8.

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