Positioning control method, device and system, storage medium and program product

Abstract

The embodiment of the invention discloses a positioning control method and device, an industrial control system, a storage medium and a program product. The method comprises the following steps: acquiring positioning displacement given by a control condition and positioning time required by positioning completion; calculating a jerk, a maximum acceleration and a maximum speed by using the positioning displacement and the positioning time; the value of the maximum acceleration is used as the value of the maximum deceleration at the same time; the jerk, the maximum acceleration, the maximum deceleration, the maximum speed and the positioning displacement serve as control parameters to be provided for a controller, so that the controller completes positioning control over the positioning displacement within the positioning time according to the control data. According to the technical scheme, positioning displacement can be completed within the positioning time, and mechanical impact can be reduced.

Description

Technical Field

[0001] The present invention relates to the field of control technology, and in particular to a positioning control method, device, system, computer-readable storage medium and program product. Background Art

[0002] Positioning tasks are often performed in various control fields, such as pharmaceutical packaging control, metal processing control, woodworking machinery control, semiconductor manufacturing control and other industrial control fields. Usually, the control conditions given by the positioning task are the positioning displacement and the positioning time required to complete the positioning.

[0003] However, if only the positioning displacement and positioning time are given, there are countless velocity envelope curves for positioning, and correspondingly, there are countless combinations of positioning control parameters. At present, the triangular velocity curve with relatively small calculation amount is usually used, or it is modified to a trapezoidal velocity curve on this basis, but these two methods are usually difficult to ensure the accuracy of positioning time. For short-time and short-distance positioning control, on the one hand, the positioning accuracy cannot be guaranteed, and on the other hand, it is easy to produce mechanical shock. In addition, the calculation amount of the trapezoidal velocity curve is also significantly increased.

[0004] To this end, technicians in this field are still working on finding other positioning control solutions. Summary of the invention

[0005] In view of this, the embodiments of the present application propose a positioning control method on the one hand, and propose a positioning control device, an industrial control system, a computer-readable storage medium and a program product on the other hand, so as to improve the accuracy of positioning control and reduce mechanical shock.

[0006] A positioning control method proposed in an embodiment of the present application includes: obtaining a positioning displacement given by a control condition and a positioning time required for positioning completion; using the positioning displacement and the positioning time to calculate a jerk, a maximum acceleration and a maximum speed; using the value of the maximum acceleration as a value of a maximum deceleration at the same time; providing the jerk, the maximum acceleration, the maximum deceleration, the maximum speed and the positioning displacement as control parameters to a controller, so that the controller can achieve positioning control of completing the positioning displacement within the positioning time according to the control parameters; wherein a velocity envelope curve can be obtained based on the control parameters, and the velocity envelope curve is evenly divided into four stages in time; in the first stage and the fourth stage, the "jerk" is positive, and the "acceleration" rises uniformly with the "jerk"; in the second stage and the third stage, the "jerk" is negative, and the "acceleration" falls uniformly with the "jerk"; the first stage and the fourth stage are symmetrical about the midpoint of time, and the second stage and the third stage are symmetrical about the midpoint of time.

[0007] In one embodiment, the calculation of a jerk, a maximum acceleration and a maximum speed using the positioning displacement and the positioning time includes: dividing one-half of the positioning displacement by the cube of one-quarter of the positioning time to obtain a jerk; multiplying the jerk by one-quarter of the positioning time to obtain a maximum acceleration; and multiplying the acceleration by the square of one-quarter of the positioning time to obtain a maximum speed.

[0008] A positioning control device proposed in an embodiment of the present application includes: an acquisition module, which is used to acquire a positioning displacement given by a control condition and a positioning time required for positioning completion; a parameter determination module, which is used to calculate a jerk, a maximum acceleration and a maximum speed using the positioning displacement and the positioning time; and the value of the maximum acceleration is simultaneously used as the value of the maximum deceleration; a parameter output module, which is used to provide the jerk, the maximum acceleration, the maximum deceleration, the maximum speed and the positioning displacement as control parameters to a controller, so that the controller can achieve positioning control of completing the positioning displacement within the positioning time according to the control parameters; wherein a velocity envelope curve can be obtained based on the control parameters, and the velocity envelope curve is evenly divided into four stages in time; in the first stage and the fourth stage, the "jerk" is positive, and the "acceleration" rises uniformly with the "jerk"; in the second stage and the third stage, the "jerk" is negative, and the "acceleration" falls uniformly with the "jerk"; the first stage and the fourth stage are symmetrical about the midpoint of time, and the second stage and the third stage are symmetrical about the midpoint of time.

[0009] In one embodiment, the parameter determination module includes: a first calculation module, used to obtain an acceleration by dividing one-half of the positioning displacement by the cube of one-quarter of the positioning time; a second calculation module, used to obtain a maximum acceleration by multiplying the jerk by one-quarter of the positioning time; and a third calculation module, used to obtain a maximum speed by multiplying the acceleration by the square of one-quarter of the positioning time.

[0010] Another positioning control device proposed in an embodiment of the present application includes at least one memory and at least one processor, wherein the at least one memory is used to store a computer program; and the at least one processor is used to call the computer program stored in the at least one memory to execute the above-mentioned positioning control method.

[0011] An industrial control system proposed in an embodiment of the present application includes the above-mentioned positioning control device.

[0012] In one embodiment, the industrial control system includes: pharmaceutical packaging control, metal processing control, woodworking machinery control, or semiconductor manufacturing control.

[0013] The computer-readable storage medium proposed in the embodiments of the present application stores a computer program thereon; the computer program can be executed by a processor and implement the positioning control method as described in any of the above embodiments.

[0014] The computer program product proposed in the embodiments of the present application includes a computer program; the computer program can be executed by a processor and implement the positioning control method described in any of the above embodiments.

[0015] It can be seen from the above scheme that in the embodiment of the present application, the control data calculated based on the positioning time and the positioning displacement can enable the controller to achieve the positioning control of the positioning displacement within the positioning time. When the positioning control is for a short time and a short distance, the mechanical impact can be greatly reduced while satisfying the positioning time and displacement. And the positioning control is also a very smooth positioning control. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the above and other features and advantages of the present invention will be more apparent to those skilled in the art. In the accompanying drawings:

[0017] Figure 1 This is an exemplary flow chart of the positioning control method in an embodiment of the present application.

[0018] Figure 2 This is an exemplary structural diagram of a speed envelope curve obtained based on control parameters in an embodiment of the present application.

[0019] Figure 3A for Figure 2 Schematic diagram of the first stage; Figure 3B for Figure 2 Schematic diagram of the second stage.

[0020] Figure 4 This is an exemplary structural diagram of a positioning control device in one embodiment of the present application.

[0021] Figure 5 This is an exemplary structural diagram of a positioning control device in another embodiment of the present application.

[0022] The reference numerals are as follows:

[0023] Label meaning S11~S13 step 410 Get Module 420 Parameter determination module 421 The first calculation module 422 Second computing module 423 The third calculation module 430 Parameter output module 501 Memory 502 processor 503 bus DETAILED DESCRIPTION

[0024] In the embodiments of the present application, it is considered that the controller needs corresponding dynamic control data to perform positioning. For example, some controllers require control parameters such as speed, acceleration, deceleration, and jerk. Therefore, in the present application, it is necessary to determine the corresponding control parameters according to the positioning displacement and the positioning time, and the control parameters can make the positioning time just required while completing the positioning displacement, and the process control needs to be as smooth as possible to reduce mechanical shock. To this end, the inventor of the present application has proposed a positioning control scheme after a lot of creative work and experiments.

[0025] In order to make the purpose, technical solution and effect of the present application more clearly understood, the specific implementation mode of the present application is now described with reference to the accompanying drawings. The same reference numerals in each figure represent components with the same structure or similar structures but the same functions.

[0026] In this document, “exemplary” and “illustrative” mean “serving as an example, instance or illustration”, and any illustration or implementation described in this document as “exemplary” or “illustrative” should not be construed as a more preferred or more advantageous technical solution.

[0027] In order to simplify the drawings, each figure only schematically shows the parts related to the present invention, which do not represent the actual structure of the product.

[0028] In this document, "a" or "an" does not only mean "only one", but also means "more than one". In this document, "first", "second", etc. are only used to distinguish each other, rather than to indicate their importance and order. "Including" means "including but not limited to", and "according to..." means "at least according to...", but not limited to only according to...".

[0029] Figure 1 FIG. 1 is an exemplary flow chart of the positioning control method in the embodiment of the present application. Figure 1 As shown, the method may include the following steps:

[0030] Step S11, obtaining a positioning displacement given by a control condition and a positioning time required to complete the positioning.

[0031] Step S12, using the positioning displacement and the positioning time to calculate a jerk, a maximum acceleration and a maximum speed; and using the value of the maximum acceleration as a value of a maximum deceleration.

[0032] In the embodiment of the present application, a dynamic parameter calculation method based on a quarter acceleration arc is proposed to ensure the positioning time while making the speed curve smooth, thereby greatly reducing mechanical shock.

[0033] Based on this calculation method, a jerk can be obtained by dividing half of the positioning displacement by the cube of one quarter of the positioning time; a maximum acceleration can be obtained by multiplying the jerk by one quarter of the positioning time; and a maximum speed can be obtained by multiplying the acceleration by the square of one quarter of the positioning time. That is, as shown in the following equations (1)-(3).

[0034] Jerk:

[0035] Maximum acceleration / deceleration:

[0036] Maximum speed:

[0037] Among them, s is the positioning displacement, t is the positioning time, j is the acceleration, a is the maximum acceleration / deceleration, and v is the maximum speed.

[0038] Based on the above control parameters, we can get Figure 2 The velocity envelope curve shown includes acceleration a curve, velocity v curve and displacement s curve. Figure 2 In the figure, the horizontal axis is time, and the vertical axis only shows the value of acceleration a. The velocity envelope curve has the following characteristics:

[0039] 1) The value of "jerk" remains unchanged; 2) The velocity envelope curve is evenly divided into four stages in time; in the first stage I and the fourth stage VI, "jerk" is positive, and "acceleration" rises uniformly at "jerk" until reaching the maximum acceleration; in the second stage II and the third stage III, "jerk" is negative, and "acceleration" decreases uniformly at "jerk" from the maximum acceleration; 3) The first stage I and the fourth stage IV are symmetrical about the midpoint of time, and the second stage II and the third stage III are symmetrical about the midpoint of time; 4) The acceleration and deceleration values ​​are the same.

[0040] Step S13, providing the jerk, maximum acceleration, maximum deceleration, maximum speed and the positioning displacement as control parameters to a controller, so that the controller implements positioning control that meets the positioning conditions according to the control parameters, that is, completes the positioning control of the positioning displacement within the positioning time.

[0041] The following is based on Figure 2 The velocity envelope curves shown are Figure 3A The first stage and Figure 3B Taking the second stage shown as an example, the control process based on the control parameters is explained.

[0042] Among them, in the first stage I, the jerk j is a constant with a positive sign, and the acceleration a, velocity v and displacement s satisfy the following relationship:

[0043]

[0044] Among them, Ca, Cv, and Cs are constants.

[0045] At time b in the first stage I, we have:

[0046] a=jb (7)

[0047]

[0048] In the second stage II, the jerk j is a constant with a negative sign, and the acceleration a, velocity v and displacement s satisfy the following relationship:

[0049]

[0050] Among them, Ca, Cv, and Cs are constants.

[0051] At time b in the second phase II, we have:

[0052] a=-jb+jb=0 (13)

[0053]

[0054] The positioning control method in the embodiment of the present application is described in detail above, and the positioning control device and industrial control system in the embodiment of the present application are described in detail below. The positioning control device and industrial control system in the embodiment of the present application can be used to implement the corresponding method in the embodiment of the present application. For details not disclosed in detail in the embodiment of the device of the present application, please refer to the corresponding description in the embodiment of the method of the present application, and will not be repeated here one by one.

[0055] Figure 4 : is an exemplary structural diagram of the positioning control device in the embodiment of the present application. Figure 4 As shown, the positioning control device may include: an acquisition module 410 , a parameter determination module 420 and a parameter output module 430 .

[0056] The acquisition module 410 is used to acquire the positioning displacement given by a control condition and the positioning time required to complete the positioning.

[0057] The parameter determination module 420 is used to calculate the jerk, the maximum acceleration and the maximum speed by using the positioning displacement and the positioning time; and use the value of the maximum acceleration as the value of the maximum deceleration at the same time.

[0058] In one implementation, the parameter determination module 420 may include: a first calculation module 421 , a second calculation module 422 , and a third calculation module 423 .

[0059] The first calculation module 421 is used to obtain a jerk by dividing one-half of the positioning displacement by one-quarter of the cube of the positioning time.

[0060] The second calculation module 422 is used to obtain a maximum acceleration by multiplying the jerk by one quarter of the positioning time.

[0061] The third calculation module 423 is used to obtain a maximum speed by multiplying the acceleration by the square of one quarter of the positioning time.

[0062] Among them, a velocity envelope curve can be obtained based on the control parameters, and the velocity envelope curve is evenly divided into four stages in time; in the first stage and the fourth stage, the "jerk" is positive, and the "acceleration" rises uniformly with the "jerk" until the maximum acceleration is reached; in the second stage and the third stage, the "jerk" is negative, and the "acceleration" decreases uniformly with the "jerk" from the maximum acceleration; the first stage and the fourth stage are symmetrical about the midpoint of time, and the second stage and the third stage are symmetrical about the midpoint of time.

[0063] The parameter output module 430 is used to provide the jerk, maximum acceleration, maximum deceleration, maximum speed and the positioning displacement as control parameters to a controller, so that the controller can implement positioning control that meets the positioning conditions according to the control parameters, that is, complete the positioning control of the positioning displacement within the positioning time.

[0064] In fact, the positioning control device provided by this embodiment of the present application can be implemented in various ways. For example, the positioning control device can be compiled into a plug-in installed in the intelligent terminal by using an application programming interface that complies with specific rules, or can be packaged into an application to form a program product for users to download and use.

[0065] When compiled as a plug-in, the positioning control device can be implemented in a variety of plug-in forms, such as ocx, dll and cab. The positioning control device provided by this implementation of the present application can also be implemented by using specific technologies, such as Flash plug-in technology, RealPlayer plug-in technology, MMS plug-in technology, MIDI plug-in technology or ActiveX plug-in technology.

[0066] It should be noted that not all steps and modules in the above processes and structure diagrams are necessary, and some steps or modules can be ignored according to actual needs. The execution order of each step is not fixed and can be adjusted as needed. The division of each module is only for the convenience of describing the functional division adopted. In actual implementation, a module can be implemented by multiple modules, and the functions of multiple modules can also be implemented by the same module. These modules can be located in the same device or in different devices.

[0067] The modules in the above-mentioned embodiments can be software modules implemented in a computer, or they can be hardware modules, and the hardware modules can be implemented mechanically or electronically. For example, a hardware module can include specially designed permanent circuits or logic devices (such as dedicated processors, such as FPGA or ASIC) for completing specific operations. The hardware module can also include programmable logic devices or circuits (such as general-purpose processors or other programmable processors) temporarily configured by software for performing specific operations. As for whether to implement the hardware module mechanically, or using a dedicated permanent circuit, or using a temporarily configured circuit (such as configured by software), it can be decided based on cost and time considerations.

[0068] The positioning control method provided in the embodiment of the present application can be packaged into an application program in the form of instructions or instruction sets to form a program product for users to download and use; or, it can be stored in various storage media in the form of instruction storage or instruction set storage.

[0069] In addition, a computer program product is also provided in the embodiment of the present application, including a computer program, which can be executed by a processor and implement the positioning control method described in the embodiment of the present application. A computer-readable storage medium is also provided in the embodiment of the present application, on which a computer program is stored, and the computer program can be executed by a processor and implement the positioning control method described in the embodiment of the present application. Specifically, a system or device equipped with a storage medium can be provided, on which a software program code that implements the function of any of the above-mentioned embodiments is stored, and the computer (or CPU or MPU) of the system or device reads out and executes the program code stored in the storage medium. In addition, the operating system operated on the computer can also be used to complete part or all of the actual operation based on the instructions of the program code. The program code read from the storage medium can also be written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion unit connected to the computer, and then the CPU installed on the expansion board or the expansion unit is made to perform part and all of the actual operation based on the instructions of the program code, thereby realizing the function of any of the above-mentioned embodiments. Storage media implementations for providing program codes include, but are not limited to, floppy disks, optical disks, DVDs, hard disks, flash memories, USB flash memories, CF cards, SD cards, SDHC cards, MMC cards, SM cards, memory sticks, xD cards, non-volatile memory cards, and ROMs, etc.

[0070] It should be clear that the operating system operating in the computer can implement the functions of any of the above embodiments not only by executing the program code read by the computer from the storage medium, but also by using instructions based on the program code to implement part or all of the actual operations.

[0071] For example, Figure 5 This is an exemplary structural diagram of another positioning control device in the embodiment of the present application. The device can be used to perform Figure 1 The method shown, or for implementing Figure 4 Devices in Figure 5 As shown, the device may include at least one memory 501 and at least one processor 502. In addition, some other components may also be included, such as a communication port, an input / output controller, a network communication interface, etc. These components communicate via a bus 503 or the like.

[0072] At least one memory 501 is used to store a computer program. In one example, a computer program may be understood to include Figure 4In addition, at least one memory 501 can store an operating system, etc. The operating system includes but is not limited to: Android operating system, Symbian operating system, Windows operating system, Linux operating system, etc.

[0073] At least one processor 502 is used to call a computer program stored in at least one memory 501 to execute the scanning program determination method described in the example of the present application. The processor 502 can be a CPU, a processing unit / module, an ASIC, a logic module or a programmable gate array, etc., and it can receive and send data through a communication port.

[0074] In addition, an industrial control system is provided in an embodiment of the present application, and the industrial control system may include the positioning control device proposed in the embodiment of the present application. The industrial control system may include: drug packaging control, metal processing control, woodworking machinery control, or semiconductor manufacturing control, etc.

[0075] It should be understood that "and / or" used herein is intended to include any and all possible combinations of one or more of the associated listed items.

[0076] The number of embodiments of the present application is only used for description and does not represent the advantages of the embodiments.

[0077] It can be seen from the above scheme that in the embodiment of the present application, the control data calculated based on the positioning time and the positioning displacement can enable the controller to achieve the positioning control of the positioning displacement within the positioning time. When the positioning control is for a short time and a short distance, the mechanical impact can be greatly reduced while satisfying the positioning time and displacement. And the positioning control is also a very smooth positioning control.

[0078] Nouns and pronouns relating to persons in this patent application are not limited to a specific gender.

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A positioning control method, characterized in that: include: Obtaining a positioning displacement given by a control condition and a positioning time required to complete the positioning (S11); Calculating a jerk, a maximum acceleration and a maximum speed using the positioning displacement and the positioning time; and using the value of the maximum acceleration as a value of a maximum deceleration (S12); Providing the jerk, maximum acceleration, maximum deceleration, maximum speed and the positioning displacement as control parameters to a controller, so that the controller can achieve positioning control of completing the positioning displacement within the positioning time according to the control parameters (S13); Wherein, a velocity envelope curve can be obtained based on the control parameters, and the velocity envelope curve is evenly divided into four stages in time; in the first stage and the fourth stage, the "jerk" is positive, and the "acceleration" increases uniformly with the "jerk" until the maximum acceleration is reached; In the second and third stages, the "jerk" is negative, and the "acceleration" decreases uniformly from the maximum acceleration at the "jerk"; the first and fourth stages are symmetrical about the midpoint of time, and the second and third stages are symmetrical about the midpoint of time.

2. The positioning control method according to claim 1, characterized in that: The step of calculating a jerk, a maximum acceleration and a maximum speed by using the positioning displacement and the positioning time (S12) comprises: A jerk is obtained by dividing one half of the positioning displacement by one quarter of the cube of the positioning time; Multiplying the jerk by one quarter of the positioning time to obtain a maximum acceleration; A maximum speed is obtained by multiplying the acceleration by the square of one quarter of the positioning time.

3. A positioning control device, characterized in that: include: An acquisition module (410) is used to acquire a positioning displacement given by a control condition and a positioning time required to complete the positioning; A parameter determination module (420) is used to calculate the jerk, the maximum acceleration and the maximum speed using the positioning displacement and the positioning time; and use the value of the maximum acceleration as the value of the maximum deceleration; and A parameter output module (430) is used to provide the jerk, maximum acceleration, maximum deceleration, maximum speed and the positioning displacement as control parameters to a controller, so that the controller can achieve positioning control of completing the positioning displacement within the positioning time according to the control parameters; Wherein, a velocity envelope curve can be obtained based on the control parameters, and the velocity envelope curve is evenly divided into four stages in time; in the first stage and the fourth stage, the "jerk" is positive, and the "acceleration" increases uniformly with the "jerk" until the maximum acceleration is reached; In the second and third stages, the "jerk" is negative, and the "acceleration" decreases uniformly from the maximum acceleration at the "jerk"; the first and fourth stages are symmetrical about the midpoint of time, and the second and third stages are symmetrical about the midpoint of time.

4. The positioning control device according to claim 3, characterized in that: The parameter determination module (420) comprises: A first calculation module (421) is used to obtain a jerk by dividing one-half of the positioning displacement by one-quarter of the cube of the positioning time; A second calculation module (422) is used to obtain a maximum acceleration by multiplying the jerk by one quarter of the positioning time; and The third calculation module (423) is used to obtain a maximum speed by multiplying the acceleration by the square of one quarter of the positioning time.

5. The positioning control device is characterized in that: include: At least one memory (501) and at least one processor (502), wherein: The at least one memory (501) is used to store a computer program; The at least one processor (502) is used to call the computer program stored in the at least one memory (501) to execute the positioning control method according to claim 1 or 2.

6. Industrial control system, characterized in that, include: A positioning control device as claimed in any one of claims 3 to 5.

7. The industrial control system according to claim 6, characterized in that: The industrial control system includes: pharmaceutical packaging control, metal processing control, woodworking machinery control, or semiconductor manufacturing control.

8. A computer-readable storage medium having a computer program stored thereon; characterized in that: The computer program can be executed by a processor and implements the positioning control method as claimed in claim 1 or 2.

9. A computer program product comprising a computer program; characterized in that The computer program can be executed by a processor and implements the positioning control method as claimed in claim 1 or 2.

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