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

Abstract

The application discloses a feedback signal synchronization method for a driver, electronic equipment and a computer readable storage medium, and the method comprises the following steps: obtaining feedback information for representing position information of a shaft based on the driver, wherein the feedback information is composed of multiple position points; performing normalization processing on a target interval based on a target interpolation frequency to obtain a normalized time in the target interval; and constructing a corresponding interpolation algorithm based on a motion state of the shaft in the target interval to perform interpolation processing on the normalized time in the target interval. The feedback signal synchronization method for the driver synchronizes the feedback signal of the driver by interpolating the feedback signal, thereby ensuring that the sampling frequencies of the data of different sources for drawing true circularity are consistent at this moment, and therefore the reliability of drawing true circularity is improved. The segmented interpolation algorithm adopted by the application can restore the speed and acceleration information of a low-frequency signal, thereby making the interpolation curve smoother.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of driver control, and particularly relates to a feedback signal synchronization method for a driver, an electronic device and a computer readable storage medium. BACKGROUND

[0002] In the field of numerical control machining, roundness is usually taken as an index for evaluating the servo synchronization of a multi-axis driver, and is used to describe the concept of the proximity between the actual shape of a circular object or section and an ideal perfect circle, which is of great significance in engineering, manufacturing, measurement and other fields.

[0003] In the field of numerical control machine tool control, multi-axis linkage control is usually limited by space and cannot use the same control signal transmission form. For example, PWM drivers and bus drivers need to be used in cooperation, but the two types of drivers use different control signals. Under the cooperative control of PWM drivers and bus drivers, the position refresh frequencies of the two axes are different, the PWM driver continuously receives the instructed position sent by the controller, while the bus driver receives an instructed position every other communication period. This situation exists in the feedback loop, resulting in the feedback position signal density of the PWM being greater than that of the bus driver.

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

[0005] As can be seen, the feedback signal sampling frequency of the axis driven by the PWM driver is higher, and the feedback signal sampling frequency of the axis driven by the bus driver is lower. This ultimately distorts the actual quasi-circular path of the numerical control machine tool in the channel of the bus driver feedback to the control, further reducing the reliability of the roundness index reflecting the servo matching degree.

[0006] Therefore, in multi-axis linkage control, the feedback signals of different frequencies of multiple drivers need to be synchronized, and the controller can then calculate and control based on the synchronized signals, so as to improve the control precision and reliability.

[0007] The information disclosed in this BACKGROUND section is only for the purpose of increasing the understanding of the background of the present application and should not be taken as admitting that the information forms prior art that is already known to those of ordinary skill in the art. SUMMARY

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

[0009] To achieve the above object, a specific embodiment of the application provides a technical solution as follows.

[0010] A feedback signal synchronization method for a driver comprises: obtaining feedback information for representing position information of a shaft based on the driver, the feedback information being composed of multiple position points; performing normalization processing on a target interval based on a target interpolation frequency to obtain a normalized time in the target interval, the target interval being composed of two position points; and constructing a corresponding interpolation algorithm based on a motion state of the shaft in the target interval to perform interpolation processing on the normalized time in the target interval.

[0011] In one or more embodiments of the application, performing normalization processing on the target interval based on the target interpolation frequency to obtain the normalized time in the target interval comprises: constructing a parameter n as a remainder of (k+ε) divided by step; and taking the normalized time as n / (k+ε); wherein k is a product of the target interpolation frequency and a length of the target interval, step is a current interpolation step number, and 1<=step<=k-1, and ε is a correction coefficient.

[0012] In one or more embodiments of the application, the method comprises: sequentially obtaining four uniformly distributed position points P0, P1, P2 and P3, and taking P1 and P2 as the two position points of the target interval, and constructing a segmented cubic Hermite interpolation algorithm as: P(Δt)=a0+a1·Δt+a2·Δt 2 +a3·Δt 3 ;

[0013] provided that:

[0014]

[0015] wherein T is a length of the target interval, and Δt is the normalized time.

[0016] In one or more embodiments of the application, the method comprises: sequentially obtaining four uniformly distributed position points P0, P1, P2 and P3, and taking P1 and P2 as the two position points of the target interval, and constructing an average speed interpolation algorithm as:

[0017]

[0018] wherein Δt is the normalized time.

[0019] In one or more embodiments of the present application, the method comprises: acquiring two position points P1 and P2, and constructing a linear interpolation algorithm with P1 and P2 as the two position points of the target interval.

[0020]

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

[0022] In one or more embodiments of the present application, constructing the corresponding interpolation algorithm based on the motion state of the shaft in the target interval comprises: when the speed of the shaft in the target interval is greater than a first threshold value, the acceleration of the shaft at the end of the target interval is greater than a second threshold value, and the sum of the acceleration of the shaft at the beginning of the target interval and the acceleration of the shaft at the end of the target interval is greater than a third threshold value, a segmented cubic Hermite interpolation algorithm is constructed.

[0023] In one or more embodiments of the present application, constructing the corresponding interpolation algorithm based on the motion state of the shaft in the target interval comprises: when the speed of the shaft in the target interval is less than or equal to a first threshold value or the acceleration of the shaft at the end of the target interval is less than or equal to a second threshold value, a linear interpolation algorithm is constructed.

[0024] In one or more embodiments of the present application, constructing the corresponding interpolation algorithm based on the motion state of the shaft in the target interval comprises: when the speed of the shaft in the target interval is greater than a first threshold value, the acceleration of the shaft at the end of the target interval is greater than a second threshold value, and the sum of the acceleration of the shaft at the beginning of the target interval and the acceleration of the shaft at the end of the target interval is less than or equal to a third threshold value, an average speed interpolation algorithm is constructed.

[0025] One specific embodiment of the present application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the above-mentioned feedback signal synchronization method for a drive when executing the program.

[0026] One specific embodiment of the present application further provides a computer readable storage medium, which carries computer execution instructions, and the computer execution instructions are used to implement the above-mentioned feedback signal synchronization method for a drive when executed by a processor.

[0027] Compared with the prior art, the feedback signal synchronization method for a driver, the electronic device and the computer readable storage medium of the present application synchronize the feedback signal by interpolating the feedback signal of the driver, thereby ensuring that the sampling frequencies of the data of different sources of the true circularity drawn at this moment are consistent, and thus improving the reliability of the true circularity drawn. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to make the technical solutions in the present application or the prior art clearer, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings described below are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of 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 the PWM driver in the prior art.

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

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

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

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

[0035] In order to make the technical solutions in the present application or the prior art clearer, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings described below are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0036] "connected" or "coupled" in the specification include both direct and indirect connections. Indirect connections are connections through intervening media, such as through intervening electrical conductors, which can have parasitic inductance or parasitic capacitance, and can include connections through other active or passive devices, such as connections through switches, follower circuits, or other circuits or components that serve the same or a similar function. In addition, the use of words like "first", "second", and the like in the present disclosure is not meant to imply a quantity or an order but rather is just to distinguish one technical feature from another.

[0037] In the detailed description of the application, reference is made to the accompanying drawings, which form a part thereof, in which, by way of illustration, and example embodiment is described. It is understood that other embodiments can be utilized, and structural or logical changes can be made, without departing from the scope of the present disclosure. Therefore, the following detailed description is not to be taken in a limiting sense.

[0038] Various operations can be described as multiple discrete actions or operations in turn, in a manner that is most helpful in understanding the claimed subject matter. However, the order of description should not be construed as to imply that these operations are necessarily order-dependent. In particular, these operations can not be performed in the order of presentation. Operations described can be performed in a different order than the described embodiment. Various additional operations can be performed and / or described operations can be omitted in additional embodiments.

[0039] For the purposes of this application, the phrase "A and / or B" means (A), (B), or (A and B). For the purposes of this 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, devices, etc. can be referred to herein in singular form, even if there are plural of the structures present. This is done for the ease of description. For example, a transistor or switch can be referred to herein using singular terminology even if there are plural of such transistors or switches present.

[0041] The specification describes using the phrases "in an embodiment" or "in other embodiments" or "in some embodiments", which can each refer to one or more embodiments with or without distinction to one another. Also, the use of the terms "including", "containing", "comprising", "having" and the like in the specification are synonymous with each other.

[0042] As Figure 4 The feedback signal synchronization method for a driver in the embodiment one of the present application includes:

[0043] The feedback information used to represent the position information of the axis is obtained based on the driver, and the feedback information is composed of a plurality of position points.

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

[0045] The corresponding interpolation algorithm is constructed 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 an embodiment, the feedback information can be provided by the feedback signal of the axis driven by the bus driver. Figure 3 The feedback signal is shown in the schematic diagram, the horizontal axis is the sampling time, and the vertical axis is the position point of the axis at the corresponding sampling time, and the frequency of the feedback signal is generally the signal transmission frequency of the bus driver.

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

[0048] Because in the actual control system, the bus driver often needs to be used with the PWM driver, but the two drivers use different control signals, so the instruction calculation frequency of the controller is always greater than the bus signal transmission frequency, so the feedback signal collected by the bus driver needs to be interpolated to make it the same frequency as the feedback signal of the PWM driver, so as to meet the control instruction calculation requirement, which is the process of synchronizing the feedback signal of the driver. Generally speaking, when interpolating the feedback signal of the 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 the feedback signal of the driver is synchronized, the type of the driver is not limited to the bus driver or the PWM driver. At the same time, the synchronization of the feedback signal of the driver is not limited to between two drivers, and the method for synchronizing the feedback signal of the driver provided by the application can be expanded between any number of drivers. Specifically, only a standard frequency needs to be determined, and all drivers are synchronized with the standard frequency as the target interpolation frequency, and the standard frequency can be the same frequency as the highest frequency feedback signal in the actual multi-axis driver.

[0050] Specifically, the target interval is normalized based on the target interpolation frequency to obtain a normalized time Δt within the target interval, which can include:

[0051] The construction parameter n is the remainder of step divided by (k+ε).

[0052] The normalized time Δt is 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, and 1≤step≤k-1, and ε is a correction coefficient.

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

[0055] The role of the correction coefficient ε is to prevent the denominator of the normalized time Δt from being 0, so as to 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 is The normalized time Δt indicates the specific position in the target interval that needs to be interpolated, that is, in this embodiment, interpolation is performed at the position of the target interval. Through normalization, the conversion relationship between the interval length and the target interpolation frequency does not need to be considered when interpolating each target interval, and the dimensionless normalized time Δt is used for calculation.

[0057] Specifically, constructing the corresponding interpolation algorithm based on the motion state of the shaft in the target interval can include:

[0058] When the speed of the shaft in the target interval is less than or equal to a first threshold value or the acceleration of the shaft at the end of the target interval is less than or equal to a second threshold value, a linear interpolation algorithm is constructed.

[0059] When the speed of the shaft in the target interval is greater than the first threshold value, the acceleration of the shaft at the end of the target interval is greater than the second threshold value, and the sum of the acceleration of the shaft at the beginning of the target interval and the acceleration of the shaft at the end of the target interval is greater than a third threshold value, a segmented cubic Hermite interpolation algorithm is constructed.

[0060] When the speed of the shaft in the target interval is greater than the first threshold value, the acceleration of the shaft at the end of the target interval is greater than the second threshold value, and the sum of the acceleration of the shaft at the beginning of the target interval and the acceleration of the shaft at the end of the target interval is less than or equal to the third threshold value, an average speed interpolation algorithm is constructed.

[0061] In combinationFigure 3 As shown, the following takes the position points P1 and P2 as the two position points of the target interval to illustrate the motion state judgment mode of the shaft in the target interval:

[0062] Specifically, the speed of the shaft in the target interval is less than or equal to a first threshold value, and the specific judgment condition can be:

[0063] |P2-P1|≤θ1

[0064] wherein θ1 is the first threshold value. The first threshold value is preferably 0, and at this time, the shaft in the target interval can be considered to be stationary.

[0065] The acceleration of the shaft at the end of the target interval is less than or equal to a second threshold value, and the specific judgment condition can be:

[0066]

[0067] wherein θ2 is the second threshold value, P3 is the next position point of the position point P2, and T is the length of the target interval, i.e., the period of the feedback signal. The second threshold value is preferably 0, and at this time, the shaft at the end of the target interval can be considered to be uniformly moving.

[0068] Preferably, when judging whether the speed of the shaft in the target interval is less than or equal to the first threshold value or whether the acceleration of the shaft at the end of the target interval is less than or equal to the second threshold value, the acceleration of the shaft at the end of the target interval is first judged to be less than or equal to the second threshold value, and then whether the speed of the shaft in the target interval is less than or equal to the first threshold value is judged, because the acceleration of the shaft at the end of the target interval has higher reliability.

[0069] The sum of the acceleration of the shaft at the beginning of the target interval and the acceleration of the shaft at the end of the target interval is greater than a third threshold value, and the specific judgment condition can be:

[0070]

[0071] wherein θ3 is the third threshold value, and P0 is the previous position point of the position point P1. The value of the third threshold value can be selected according to different feedback position states and acceptability, and preferably, the value of the third threshold value is around 1 with a floating range. When the sum of the acceleration of the shaft at the beginning of the target interval and the acceleration of the shaft at the end of the target interval is greater than the third threshold value, it can be approximately considered that the shaft is in accelerated motion, and when the sum of the acceleration of the shaft at the beginning of the target interval and the acceleration of the shaft at the end of the target interval is less than or equal to the third threshold value, it can be approximately considered that the shaft is in uniform motion.

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

[0073] In an embodiment, constructing the linear interpolation algorithm can include:

[0074] Two position points P1 and P2 are obtained, and the linear interpolation algorithm is constructed with P1 and P2 as the two position points of the target interval as:

[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 motion speed of the shaft is small or uniform, the algorithm can quickly fit and restore the motion information of the shaft. However, the linear interpolation algorithm will also cause the loss of the second-order information of the original signal. The second-order information is the second derivative, which means acceleration in this context. The loss of acceleration means that the feedback position curve will appear discontinuous, resulting in a step change in the feedback speed signal, and the left and right derivatives are not equal near the refresh point of the feedback position signal.

[0078] In an embodiment, constructing the piecewise cubic Hermite interpolation algorithm can include:

[0079] Four uniformly distributed position points P0, P1, P2 and P3 are obtained in turn, and the piecewise cubic Hermite interpolation algorithm is constructed with P1 and P2 as the two position points of the target interval as: P(Δt)=a0+a1·Δt+a2·Δt 2 +a3·Δt 3 .

[0080] The condition is:

[0081]

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

[0083] Since P0, P1, P2 and P3 are four uniformly distributed position points, the sampling times t0, t1, t2 and t3 corresponding to the four position points respectively satisfy:

[0084] t3-t2=t2-t1=t1-t0=T

[0085] By defining the above constraint conditions, the segmented cubic Hermite interpolation algorithm curve can pass through the original feedback position points P1, P2, and the second-order derivative of the interpolation curve at the original position points P1, P2 is also consistent with the original second-order derivative.

[0086] Taking the derivative of the interpolation formula, we have:

[0087]

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

[0089] P(0)=P1=a0

[0090] P(1)=P2=a0+a1+a2+a3

[0091]

[0092] By solving the above four equations for the interpolation coefficients a0, a1, a2, a3, the following coefficient recursive formula is obtained:

[0093] a0=P1

[0094]

[0095] In combination with the cubic Hermite interpolation formula:

[0096] P(Δt)=a0+a1·Δt+a2·Δt 2 +a3·Δt 3

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

[0098] Although the interpolation data updated in this way will have a two-cycle delay, this segmented cubic Hermite interpolation method divides the entire interpolation target interval into multiple subintervals, and performs cubic Hermite interpolation on each subinterval, effectively reducing the influence of the Runge phenomenon in traditional high-order Hermite interpolation algorithms, and improving the stability and accuracy of the interpolation. In the case of complex changes in feedback position points, the traditional overall high-order Hermite interpolation algorithm may have severe oscillation at both ends of the interval, and cannot be well fitted. The segmented interpolation provided by this method can flexibly adjust the interpolation polynomial on each subinterval according to the change characteristics of the feedback position points in different intervals, better adapt to local changes, and make the interpolation result more consistent with the changes of the position points before sampling by the bus communication.

[0099] In an embodiment, constructing the average speed interpolation algorithm can include:

[0100] In sequence, four evenly distributed position points P0, P1, P2 and P3 are obtained, and P1 and P2 are taken as two position points of the target interval, and the average speed interpolation algorithm is constructed as:

[0101]

[0102] Wherein, Δt is the normalized time.

[0103] When the piecewise cubic Hermite interpolation algorithm is used for interpolation calculation, the system calculation power is additionally consumed in the actual control system. It is known that in the uniform motion process, the acceleration is constant zero, and in the algorithm, when the sum of the acceleration 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 value, it can be approximately considered that the shaft is in uniform motion. At this time, the average speed interpolation algorithm can accurately describe this motion form as much as possible, and smooth the approximate uniform motion.

[0104] Finally, based on the constructed interpolation algorithm, interpolation processing is performed in the target interval on the normalized time, that is, the corresponding value is substituted into the normalized time Δt in the corresponding interpolation algorithm, and the corresponding value is calculated and inserted into the target interval.

[0105] As shown in the following formula: Figure 5 By inserting the corresponding value into the normalized time Δt: The position information of the shaft is restored, the overall frequency of the feedback signal is improved, and in 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 the driving control.

[0106] In the actual working process, the normalized time Δt can be calculated based on the actual feedback signal frequency of the bus driver and the PWM driver. Then, after obtaining the position points P0, P1, P2 and P3, it is first judged whether the acceleration of the shaft at the end of the target interval is less than or equal to the second threshold value, if not, then it is judged whether the speed of the shaft in the target interval is less than or equal to the first threshold value. When any of the above judgments is yes, interpolation is performed in the target interval based on the linear interpolation algorithm, at this time the calculation speed is the fastest, and no calculation power is consumed.

[0107] When all the above judgments are no, it is further judged whether the sum of the acceleration of the shaft at the beginning of the target interval and the acceleration of the shaft at the end of the target interval is greater than the third threshold value, if yes, interpolation is performed in the target interval based on the piecewise cubic Hermite interpolation algorithm, at this time it can be considered that the shaft is moving at a large acceleration, and the piecewise cubic Hermite interpolation algorithm can quickly and accurately restore the actual position of the shaft, and improve the stability and precision of the interpolation.

[0108] Finally, when the sum of the acceleration when the shaft starts in the target interval and the acceleration when the target interval ends is less than or equal to greater than the third threshold value, interpolation is performed in the target interval based on the average speed interpolation algorithm, at this time, it can be considered that the shaft is in uniform motion, and the average speed interpolation algorithm can save more computing power and reduce the computing burden of the system than the piecewise cubic Hermite interpolation algorithm.

[0109] Based on the above method, the feedback signal of the driver is interpolated, so that the low-frequency sampling result can be restored to the greatest extent, and the sampling frequencies of the different source data for drawing the true circularity 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 application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the feedback signal synchronization method for the driver in the embodiment one when executing the program.

[0111] An embodiment of the present application also provides a computer readable storage medium, such as Figure 6 As shown in the figure, the electronic device 30 can include at least one processor 31, a memory 32 (for example, a non-volatile memory), an internal memory 33, and a communication interface 34, and the at least one processor 31, the memory 32, the internal memory 33, and the communication interface 34 are connected together via a bus 35. The 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, make the at least one processor 31 perform the feedback signal synchronization method for the driver described in the specification.

[0113] In the embodiments of the present application, the electronic device 30 can include but is not limited to: a personal computer, a server computer, a workstation, a desktop computer, a laptop computer, a notebook computer, a mobile electronic device, a smart phone, a tablet computer, a cellular phone, a personal digital assistant (PDA), a handheld device, a messaging device, a wearable electronic device, a consumer electronic device, and the like.

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

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

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

[0117] Embodiments of the readable storage medium include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as a CD-ROM, a CD-R, a CD-RW, a DVD-ROM, a DVD-RAM, a DVD- RW, a DVD-RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer or a cloud over a communication network.

[0118] The present application is described with reference to the flowcharts and / or block diagrams of the methods, apparatus (systems) and computer program products according to embodiments of the present application. 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 a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The flow or flows and / or blocks in a flowchart and / or a combination of flows and / or blocks in a flowchart can be implemented by computer program instructions. Figure 1 An apparatus with one or more specific functions specified in a flow or flows and / or 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 apparatus to work in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction apparatus that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The flow or flows and / or blocks in a flowchart and / or a combination of flows and / or blocks in a flowchart can be implemented by computer program instructions. Figure 1 An apparatus with one or more specific functions specified in a flow or flows and / or blocks.

[0120] These computer program instructions can also be loaded into a computer or other programmable data processing devices, so that a series of operational steps are performed on the computer or other programmable data processing devices to generate a computer implemented process, so that the instructions executed on the computer or other programmable data processing devices provide the function of implementing the flow Figure 1 one flow or a plurality of flows and / or the function specified in the block Figure 1 one block or a plurality of blocks.

[0121] It is apparent for those skilled in the art that the present application is not limited to the details of the above-described exemplary embodiments, but can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all aspects as illustrative and not restrictive, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended to embrace all changes falling within the meaning and range of equivalents of the claims. Any reference numerals in the claims should not be considered as limiting the claims involved.

[0122] Furthermore, it should be understood that although the present specification is described in terms of embodiments, not every embodiment exhibits every characteristic or option described in the specification. In addition, it should be understood that although the specification has been described in terms of embodiments, not every embodiment only contains one independent technical solution, and the specification is described in this way only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

Claims

1. A feedback signal synchronization method for a driver, characterized by, The method comprises: obtaining feedback information for representing position information of the shaft based on the driver, the feedback information being composed of a plurality of position points; normalizing a target interval based on a target interpolation frequency to obtain a normalized time within the target interval, the target interval being composed of two position points; constructing a corresponding interpolation algorithm based on a motion state of the shaft within the target interval to perform interpolation processing on the normalized time within the target interval; Wherein, the normalization processing of the target interval based on the target interpolation frequency to obtain a normalized time in the target interval comprises: constructing a parameter n as step mod; taking the normalized time as ; wherein, k is the product of the target interpolation frequency and the length of the target interval, step is the current interpolation step, and , is a correction coefficient; wherein the constructing of the corresponding interpolation algorithm based on the motion state of the shaft within the target interval comprises: when the speed of the shaft within the target interval is greater than a first threshold value, the acceleration of the shaft at the end of the target interval is greater than a second threshold value, and the sum of the acceleration of the shaft at the beginning of the target interval and the acceleration of the shaft at the end of the target interval is greater than a third threshold value, a segmented cubic Hermite interpolation algorithm is constructed; and / or when the speed of the shaft within the target interval is less than or equal to the first threshold value or the acceleration of the shaft at the end of the target interval is less than or equal to the second threshold value, a linear interpolation algorithm is constructed; and / or when the speed of the shaft within the target interval is greater than the first threshold value, the acceleration of the shaft at the end of the target interval is greater than the second threshold value, and the sum of the acceleration of the shaft at the beginning of the target interval and the acceleration of the shaft at the end of the target interval is less than or equal to the third threshold value, an average speed interpolation algorithm is constructed.

2. The feedback signal synchronization method for a driver according to claim 1, characterized by, The method comprises: sequentially acquiring four uniformly distributed position points P0, P1, P2 and P3, and taking P1 and P2 as two position points of the target interval, and constructing a segmented cubic Hermite interpolation algorithm as follows: ; with the proviso that: ； wherein T is the length of the target interval, and ∆t is the normalized time.

3. The feedback signal synchronization method for a driver according to claim 1, wherein The method comprises: sequentially obtaining four uniformly distributed position points P0, P1, P2 and P3, and taking P1 and P2 as the two position points of the target interval, and the average speed interpolation algorithm is constructed as: ； wherein, is the normalized time.

4. The feedback signal synchronization method for a driver according to claim 1, wherein The method comprises: obtaining two position points P1 and P2, and taking P1 and P2 as the two position points of the target interval, and the linear interpolation algorithm is constructed as: ； wherein T is the length of the target interval, is the normalized time.

5. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the feedback signal synchronization method for the driver according to any one of claims 1-4.

6. A computer-readable storage medium, characterized in that, The computer readable storage medium carries computer execution instructions, and the computer execution instructions are executed by the processor to implement the feedback signal synchronization method for the driver according to any one of claims 1-4.

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