Rotating shaft control method and system

Abstract

The invention discloses a rotating shaft control method and system. The method comprises the steps that whether the number of first position comparison results larger than a preset threshold value is larger than a preset number threshold value or not is judged; if the number is larger than the preset number threshold value, second rotation position data of the rotating shaft are obtained within a second preset time period, at least one piece of rotation position deviation data is selected from the second rotation position data, and a rotation position deviation data sequence is obtained; judging whether the accumulation of a plurality of continuous rotation position deviation values or a certain rotation position deviation value is greater than a preset threshold value in the rotation position deviation data sequence; and if the rotation position deviation value is greater than the preset threshold value, controlling the rotation speed of the rotating shaft by adopting a preset adjustment strategy according to the rotation position deviation value. By judging the accumulation of a plurality of continuous deviation values, the potential deviation trend can be predicted, so that the rotating shaft can be more effectively intervened and controlled in advance.

Description

Technical Field

[0001] The present invention belongs to the technical field of shaft control, and particularly relates to a shaft control method and system. Background Art

[0002] A servo motor is a rotary actuator or a linear actuator that can precisely control the angular velocity, or the position, speed, and acceleration of a line. The servo motor includes a sensor connected to the motor for position feedback. In addition, the servo motor also includes a controller for controlling the rotation of the motor based on an external control command.

[0003] However, during the operation of the existing servo motor, the position error of the main shaft is not considered. Therefore, the movement position of the main shaft cannot be controlled by precisely controlling the operation of the servo motor. Summary of the Invention

[0004] The present invention provides a shaft control method and system for solving the technical problem of being unable to precisely control the movement position of the main shaft.

[0005] In a first aspect, the present invention provides a shaft control method, including:

[0006] Obtain the first rotation position data of the shaft within a first preset time period, and compare each first rotation position data with the position data at the corresponding time point in the time series to obtain at least one first position comparison result;

[0007] Determine whether the number of first position comparison results greater than a preset threshold is greater than a preset quantity threshold, where the first position comparison result is the difference between a certain first rotation position data and the corresponding position data;

[0008] If it is greater than the preset quantity threshold, obtain the second rotation position data of the shaft within a second preset time period, and select at least one rotation position deviation data from the second rotation position data to obtain a rotation position deviation data sequence, where one rotation position deviation data includes one rotation position deviation value;

[0009] Judge whether the accumulation of consecutive multiple rotation position deviation values or a certain rotation position deviation value in the rotation position deviation data sequence is greater than a preset set threshold;

[0010] If it is greater than the preset set threshold, control the rotation speed of the shaft according to the rotation position deviation value by using a preset adjustment strategy.

[0011] In a second aspect, the present invention provides a shaft control system, including:

[0012] A comparison module, configured to obtain first rotation position data of a rotating shaft within a first preset time period, and compare each first rotation position data with the position data at the corresponding time point in the time series to obtain at least one first position comparison result;

[0013] A first judgment module, configured to judge whether the number of first position comparison results greater than a preset threshold is greater than a preset quantity threshold, where the first position comparison result is the difference between a certain first rotation position data and the corresponding position data;

[0014] A selection module, configured to, if it is greater than the preset quantity threshold, obtain second rotation position data of the rotating shaft within a second preset time period, and select at least one rotation position deviation data from the second rotation position data to obtain a rotation position deviation data sequence, where one rotation position deviation data includes one rotation position deviation value;

[0015] A second judgment module, configured to judge whether the accumulation of consecutive multiple rotation position deviation values or a certain rotation position deviation value in the rotation position deviation data sequence is greater than a preset set threshold;

[0016] A control module, configured to, if it is greater than the preset set threshold, control the rotation speed of the rotating shaft according to the rotation position deviation value by using a preset adjustment strategy.

[0017] In a third aspect, there is provided an electronic device, which includes: at least one processor, and a memory communicatively connected to the at least one processor, where the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the steps of the rotating shaft control method according to any embodiment of the present invention.

[0018] In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the program instructions are executed by a processor, the processor is enabled to execute the steps of the rotating shaft control method according to any embodiment of the present invention.

[0019] The rotating shaft control method and system of the present application can more accurately identify abnormal rotating shaft positions through a dual detection mechanism of preliminary detection in a first preset time period + in-depth detection in a second preset time period, and through dual verification of a set quantity threshold + a set threshold, effectively reducing the misjudgment probability. By judging the accumulation of consecutive multiple deviation values, potential deviation trends can be predicted, so as to more effectively perform early intervention control on the rotating shaft. Description of the Drawings

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other accompanying drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a flowchart of a shaft control method provided by an embodiment of the present invention;

[0022] Figure 2 It is a structural block diagram of a shaft control system provided by an embodiment of the present invention;

[0023] Figure 3 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. Specific embodiments

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0025] Please refer to Figure 1 , which shows a flowchart of a shaft control method of the present application.

[0026] As Figure 1 shown, a shaft control method specifically includes the following steps:

[0027] Step S101, obtain the first rotation position data of the shaft within the first preset time period, and compare each first rotation position data with the position data at the corresponding time point in the time series to obtain at least one first position comparison result.

[0028] In this step, sort each first rotation position data and the position data at the corresponding time point based on the time sequence to obtain a first rotation position data sequence and a position data sequence; align the first rotation position data sequence and the position data sequence, and slide a preset sliding window on the first rotation position data sequence and the position data sequence. Each time it slides, calculate the difference between the first rotation position data and the position data in the sliding window to obtain a first position comparison result. Among them, each time it slides, only one first rotation position data and one position data are included in the sliding window.

[0029] Step S102: Determine whether the number of first position comparison results greater than a preset threshold is greater than a preset quantity threshold, where the first position comparison result is the difference between a certain first rotation position data and the corresponding position data.

[0030] In a specific embodiment, if it is not greater than the preset quantity threshold, obtain the second rotation position data of the rotating shaft within a second preset time period, and compare each second rotation position data with the position data at the corresponding time point in the time series to obtain at least one second position comparison result; determine whether the number of second position comparison results greater than the preset threshold is greater than the preset quantity threshold, where the second position comparison result is the difference between a certain second rotation position data and the corresponding position data.

[0031] Step S103: If it is greater than the preset quantity threshold, obtain the second rotation position data of the rotating shaft within the second preset time period, and select at least one rotation position deviation data from the second rotation position data to obtain a rotation position deviation data sequence, where one rotation position deviation data includes one rotation position deviation value.

[0032] In this step, sort each second rotation position data according to the time sequence to obtain a second rotation position data sequence;

[0033] Subtract a certain second rotation position data in the second rotation position data sequence from the initial target second rotation position data to obtain a first difference, where the initial target second rotation position data is the first second rotation position data in the second rotation position data sequence, and a certain second rotation position data is the second rotation position data adjacent to the initial target second rotation position data;

[0034] Determine whether the first difference is greater than a preset difference threshold;

[0035] If the first difference is greater than the preset difference threshold, define a certain second rotation position data as the rotation position deviation data, subtract another second rotation position data from the initial target second rotation position data to obtain a second difference, and determine whether the second difference is greater than the preset difference threshold;

[0036] If the second difference is greater than the preset difference threshold, define another second rotation position data as the rotation position deviation data, subtract yet another second rotation position data from the initial target second rotation position data to obtain a third difference, where yet another second rotation position data is the second rotation position data adjacent to another second rotation position data;

[0037] If the second difference is not greater than a preset difference threshold, define another second rotation position data as the first target second rotation position data, and subtract the further second rotation position data from the first target second rotation position data to obtain a third difference.

[0038] In a specific embodiment, after determining whether the first difference is greater than a preset difference threshold, if the first difference is not greater than the preset difference threshold, define a certain second rotation position data as the second target second rotation position data, and subtract another second rotation position data from the first target second rotation position data to obtain a fourth difference, where the another second rotation position data is a second rotation position data adjacent to the certain second rotation position data; continue to determine whether the fourth difference is greater than the preset difference threshold.

[0039] Step S104, determine whether the accumulation of consecutive multiple rotation position deviation values or a certain rotation position deviation value in the rotation position deviation data sequence is greater than a preset threshold.

[0040] In a specific embodiment, after determining whether the accumulation of consecutive multiple rotation position deviation values or a certain rotation position deviation value in the rotation position deviation data sequence is greater than a preset threshold, if it is not greater than the preset threshold, do not control the rotation speed of the rotating shaft.

[0041] Step S105, if it is greater than the preset threshold, control the rotation speed of the rotating shaft according to the rotation position deviation value by using a preset adjustment strategy.

[0042] In this step, obtain the second rotation position values corresponding to multiple rotation position deviation values or a certain rotation position deviation value, where the second rotation position values are the second rotation position values in the second rotation position data before and adjacent to the multiple rotation position deviation data or a certain rotation position deviation value; calculate the target ratio of the first input current value corresponding to the second rotation position value to the second rotation position value; when the second rotation position value is negative, increase the input current according to the target ratio and the second rotation position value, and when the second rotation position value is positive, decrease the input current according to the target ratio and the second rotation position value.

[0043] In summary, the method of the present application can more accurately identify abnormal rotating shaft positions through a dual detection mechanism of preliminary detection in the first preset time period + in-depth detection in the second preset time period, and the dual verification of the set quantity threshold + the set threshold effectively reduces the misjudgment probability. By judging the accumulation of consecutive multiple deviation values, potential deviation trends can be predicted, so as to more effectively perform early intervention control on the rotating shaft.

[0044] Please refer to Figure 2 , which shows a structural block diagram of a rotating shaft control system according to the present application.

[0045] As shown in Figure 2 , the rotating shaft control system 200 includes a comparison module 210, a first judgment module 220, a selection module 230, a second judgment module 240, and a control module 250.

[0046] Among them, the comparison module 210 is configured to obtain the first rotation position data of the rotating shaft within a first preset time period, and compare each first rotation position data with the position data at the corresponding time point in the time series to obtain at least one first position comparison result; the first judgment module 220 is configured to judge whether the number of first position comparison results greater than a preset threshold is greater than a preset number threshold, where the first position comparison result is the difference between a certain first rotation position data and the corresponding position data; the selection module 230 is configured to, if it is greater than the preset number threshold, obtain the second rotation position data of the rotating shaft within a second preset time period, and select at least one rotation position deviation data from the second rotation position data to obtain a rotation position deviation data sequence, where one rotation position deviation data includes one rotation position deviation value; the second judgment module 240 is configured to judge whether the accumulation of consecutive multiple rotation position deviation values or a certain rotation position deviation value in the rotation position deviation data sequence is greater than a preset set threshold; the control module 250 is configured to, if it is greater than the preset set threshold, control the rotation speed of the rotating shaft according to the rotation position deviation value by using a preset adjustment strategy.

[0047] It should be understood that Figure 2 The modules described in Figure 1 correspond to the respective steps in the method described with reference to Figure 2 . Therefore, the operations, features, and corresponding technical effects described above for the method also apply to the modules in

[0048] and will not be elaborated here.

[0049] In some other embodiments, the embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored. When the program instructions are executed by a processor, the processor executes the rotating shaft control method in any of the above method embodiments;

[0049] As an implementation, the computer-readable storage medium of the present invention stores computer-executable instructions, and the computer-executable instructions are set as:

[0050] Obtain the first rotation position data of the rotating shaft within a first preset time period, and compare each first rotation position data with the position data at the corresponding time point in the time series to obtain at least one first position comparison result;

[0051] Determine whether the number of first position comparison results greater than a preset threshold is greater than a preset quantity threshold, where the first position comparison result is the difference between a certain first rotation position data and the corresponding position data;

[0052] If it is greater than the preset quantity threshold, obtain the second rotation position data of the rotating shaft within a second preset time period, and select at least one rotation position deviation data from the second rotation position data to obtain a rotation position deviation data sequence, where one rotation position deviation data includes one rotation position deviation value;

[0053] Judge whether the accumulation of consecutive multiple rotation position deviation values or a certain rotation position deviation value in the rotation position deviation data sequence is greater than a preset setting threshold;

[0054] If it is greater than the preset setting threshold, control the rotation speed of the rotating shaft according to the rotation position deviation value by using a preset adjustment strategy.

[0055] A computer-readable storage medium may include a storage program area and a storage data area. Among them, the storage program area can store an operating system and application programs required for at least one function; the storage data area can store data created according to the use of the rotating shaft control system, etc. In addition, the computer-readable storage medium may include high-speed random access memory, and may also include memories, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the computer-readable storage medium may optionally include a memory remotely provided with respect to the processor, and these remote memories can be connected to the rotating shaft control system through a network. Examples of the above networks include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0056] Figure 3 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention, as Figure 3 shown. The device includes: a processor 310 and a memory 320. The electronic device may further include: an input device 330 and an output device 340. The processor 310, the memory 320, the input device 330, and the output device 340 may be connected through a bus or other means, Figure 3 taking the connection through the bus as an example. The memory 320 is the above-mentioned computer-readable storage medium. The processor 310 executes various functional applications and data processing of the server by running non-volatile software programs, instructions, and modules stored in the memory 320, that is, implements the rotating shaft control method in the above method embodiment. The input device 330 can receive input digital or character information, and generate key signal inputs related to user settings and function controls of the rotating shaft control system. The output device 340 may include a display device such as a display screen.

[0057] The above-mentioned electronic device can execute the method provided by the embodiments of the present invention, and has the corresponding functional modules and beneficial effects for executing the method. For the technical details not described in detail in this embodiment, reference may be made to the method provided by the embodiments of the present invention.

[0058] As an implementation manner, the above-mentioned electronic device is applied to a rotating shaft control system and is used for a client, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to:

[0059] Obtain the first rotation position data of the rotating shaft within a first preset time period, and compare each first rotation position data with the position data at the corresponding time point in the time series to obtain at least one first position comparison result;

[0060] Determine whether the number of first position comparison results greater than a preset threshold is greater than a preset quantity threshold, where the first position comparison result is the difference between a certain first rotation position data and the corresponding position data;

[0061] If it is greater than the preset quantity threshold, obtain the second rotation position data of the rotating shaft within a second preset time period, and select at least one rotation position deviation data from the second rotation position data to obtain a rotation position deviation data sequence, where one rotation position deviation data includes one rotation position deviation value;

[0062] Judge whether the accumulation of consecutive multiple rotation position deviation values or a certain rotation position deviation value in the rotation position deviation data sequence is greater than a preset set threshold;

[0063] If it is greater than the preset set threshold, control the rotation speed of the rotating shaft according to the rotation position deviation value by using a preset adjustment strategy.

[0064] Through the description of the above implementation manners, those skilled in the art can clearly understand that each implementation manner can be realized by means of software plus a necessary general hardware platform, and of course, it can also be realized by hardware. Based on such an understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiments.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for controlling a rotating shaft, characterized in that: include: Acquire first rotational position data of the rotating shaft within a first preset time period, and compare each first rotational position data with the position data at a corresponding time point in the time series to obtain at least one first position comparison result; Determine whether the number of first position comparison results greater than a preset threshold is greater than a preset number threshold, wherein the first position comparison result is a difference between a first rotation position data and a corresponding position data; If it is greater than a preset number threshold, obtaining second rotational position data of the rotating shaft within a second preset time period, and selecting at least one rotational position deviation data from the second rotational position data to obtain a rotational position deviation data sequence, wherein one rotational position deviation data includes one rotational position deviation value; Determining whether the accumulation of a plurality of consecutive rotational position deviation values ​​or a certain rotational position deviation value in the rotational position deviation data sequence is greater than a preset threshold; If it is greater than a preset threshold, the rotation speed of the shaft is controlled using a preset adjustment strategy according to the rotation position deviation value.

2. A method for controlling a rotating shaft according to claim 1, characterized in that: The step of comparing each first rotation position data with the position data at the corresponding time point in the time series to obtain at least one first position comparison result comprises: Sorting the first rotational position data and the position data at the corresponding time points based on the time sequence to obtain a first rotational position data sequence and a position data sequence; The first rotational position data sequence and the position data sequence are aligned, and a preset sliding window is used to slide on the first rotational position data sequence and the position data sequence, and the difference between the first rotational position data and the position data in the sliding window is calculated each time the sliding occurs to obtain a first position comparison result, wherein each time the sliding occurs, the sliding window contains only one first rotational position data and one position data.

3. A method for controlling a rotating shaft according to claim 1, characterized in that: After determining whether the number of first position comparison results greater than a preset threshold is greater than a preset number threshold, the method further includes: If it is not greater than the preset number threshold, the second rotational position data of the rotating shaft within the second preset time period are obtained, and each second rotational position data is compared with the position data at the corresponding time point in the time series to obtain at least one second position comparison result; It is determined whether the number of second position comparison results greater than a preset threshold is greater than a preset number threshold, wherein the second position comparison result is a difference between a second rotation position data and corresponding position data.

4. A method for controlling a rotating shaft according to claim 1, characterized in that: The step of selecting at least one rotational position deviation data from the second rotational position data to obtain a rotational position deviation data sequence comprises: Sorting each second rotation position data according to the time sequence to obtain a second rotation position data sequence; Subtracting a second rotational position data in the second rotational position data sequence from the initial target second rotational position data to obtain a first difference value, wherein the initial target second rotational position data is the first second rotational position data in the second rotational position data sequence, and the second rotational position data is the second rotational position data adjacent to the initial target second rotational position data; Determining whether the first difference is greater than a preset difference threshold; If the first difference is greater than a preset difference threshold, the second rotational position data is defined as rotational position deviation data, another second rotational position data is subtracted from the initial target second rotational position data to obtain a second difference, and it is determined whether the second difference is greater than a preset difference threshold; If the second difference is greater than a preset difference threshold, another second rotational position data is defined as rotational position deviation data, and a third difference is obtained by subtracting another second rotational position data from the initial target second rotational position data, wherein the another second rotational position data is the second rotational position data adjacent to the another second rotational position data; If the second difference is not greater than the preset difference threshold, another second rotational position data is defined as the first target second rotational position data, and another second rotational position data is subtracted from the first target second rotational position data to obtain a third difference.

5. A method for controlling a rotating shaft according to claim 4, characterized in that: After determining whether the first difference is greater than a preset difference threshold, the method further includes: If the first difference is not greater than a preset difference threshold, defining the certain second rotational position data as second target second rotational position data, and subtracting another second rotational position data from the first target second rotational position data to obtain a fourth difference, wherein the another second rotational position data is the second rotational position data adjacent to the certain second rotational position data; Continue to determine whether the fourth difference is greater than a preset difference threshold.

6. A method for controlling a rotating shaft according to claim 1, characterized in that: After determining whether the accumulation of a plurality of consecutive rotation position deviation values ​​or a certain rotation position deviation value in the rotation position deviation data sequence is greater than a preset threshold, the method further includes: If it is not greater than the preset threshold, the rotation speed of the shaft is not controlled.

7. A method for controlling a rotating shaft according to claim 1, characterized in that: The method of controlling the rotation speed of the rotating shaft by using a preset adjustment strategy according to the rotation position deviation value includes: Obtaining a second rotational position value corresponding to a plurality of rotational position deviation values ​​or a certain rotational position deviation value, wherein the second rotational position value is a second rotational position value in second rotational position data that is before the plurality of rotational position deviation data or the certain rotational position deviation value and is adjacent to the plurality of rotational position deviation data or the certain rotational position deviation value; calculating a target ratio of the first input current value corresponding to the second rotational position value to the second rotational position value; When the second rotation position value is a negative value, the input current is increased according to the target ratio and the second rotation position value, and when the second rotation position value is a positive value, the input current is reduced according to the target ratio and the second rotation position value.

8. A shaft control system, characterized in that: include: A comparison module, configured to obtain first rotational position data of the rotating shaft within a first preset time period, and compare each first rotational position data with the position data at a corresponding time point in the time series to obtain at least one first position comparison result; A first judgment module is configured to judge whether the number of first position comparison results greater than a preset threshold is greater than a preset number threshold, wherein the first position comparison result is a difference between a first rotation position data and a corresponding position data; a selection module configured to obtain second rotational position data of the rotating shaft within a second preset time period if the number is greater than a preset number threshold, and select at least one rotational position deviation data from the second rotational position data to obtain a rotational position deviation data sequence, wherein one rotational position deviation data includes one rotational position deviation value; A second judgment module is configured to judge whether the accumulation of a plurality of consecutive rotation position deviation values ​​or a certain rotation position deviation value in the rotation position deviation data sequence is greater than a preset threshold value; The control module is configured to control the rotation speed of the shaft using a preset adjustment strategy according to the rotation position deviation value if it is greater than a preset threshold.

9. An electronic device, characterized in that: include: At least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images