Servo flyer control system and method, and computer readable medium
The servo flight photography control system addresses precision issues in high-speed operations by calculating and compensating for position deviations, ensuring high precision and reducing defects through integrated servo and flight photography modules.
Patent Information
- Application Number
- CN202510466568.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-14
- Publication Date
- 2025-07-15
AI Technical Summary
When high-speed moving objects are controlled by flying beats, the signal delay caused by the servo operation cycle reduces the flying beat accuracy and cannot meet the product accuracy requirements. Especially in high-speed movements above 60m/min, it is difficult for the prior art to effectively eliminate the impact of position deviations.
The position information of the object is obtained through the first servo module, combined with the probe function block latch technology, the position deviation is calculated, and the position deviation compensation is performed through the second servo module to ensure accurate control of the object under high-speed motion.
Even in high-speed mode, the impact of servo computing cycle can be avoided, the accuracy of the final product can be ensured, and the product specification requirements of ±0.025mm can be met.
Smart Images
Figure CN120315484A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of industrial control, and particularly to a servo fly-shot control system, a servo fly-shot control method for controlling production equipment using servo fly-shot, and a computer-readable medium storing a program for executing the servo fly-shot control method. Background Art
[0002] In the scenario of industrial production, there are cases where high-speed shooting (hereinafter also referred to as "fly-shot") is performed on moving products, materials, labels, etc. using shooting devices such as cameras and high-speed cameras, thereby realizing various industrial uses such as shooting, detection, and control.
[0003] In addition, in order to achieve high-precision control of the production line, servo motors are often used as the drive sources for material conveyor belts, etc. and tool shafts equipped with tools, etc., and servo control is used to make multiple drive sources work in coordination, thereby achieving the purpose of high-precision industrial control.
[0004] Previously, a solution has been proposed to combine the above fly-shot function with a servo control system to achieve high-precision industrial control of the production line. As an example of the application scenario of this solution, for example, a servo control system can be cited in which a material on a conveyor belt is fly-shot, the position deviation of the conveyed material is determined based on the image of the material captured, and the servo drive of the tool shaft is compensated based on this position deviation, and then the material is cut using a tool fixed to the tool shaft. Summary of the Invention
[0005] Technical Problem to be Solved by the Present Invention
[0006] In the above application scenario, for example, when the moving speed of the conveyor belt carrying the material is running at a low speed of 20 m / min or less, through the above fly-shot control method, the influence of the position deviation of the material on the quality of the final product can be eliminated to a certain extent, and the accuracy of the final product can meet the specification requirements such as an error within ±0.025 mm.
[0007] However, in the actual production process, there are also cases where it is necessary to fly-shot an object moving at a high speed of 60 m / min or more. In this case, affected by the servo operation cycle, the signal triggering the fly-shot may be delayed, and thus the accuracy of the fly-shot will be reduced. Especially when the moving speed of the shooting object is much higher than the servo operation cycle, the accuracy of the fly-shot will drop significantly, resulting in the accuracy of the final product being unable to meet the basic specification requirements and causing a significant drop in the product qualification rate.
[0008] The present invention is completed to solve the above problems, and its object is to provide a servo fly-shot control system, a servo fly-shot control method, and a computer-readable medium storing a program for executing the servo fly-shot control method, which can avoid being affected by the servo operation cycle even when performing servo fly-shot control on an object in a high-speed mode, thereby ensuring the accuracy of the final product.
[0009] Technical solution for solving technical problems
[0010] To solve the above technical problems, the servo fly-shot control system according to the first aspect of the present invention includes: a first servo module that acquires first position information of a first controlled object in motion and hopes to trigger a fly-shot, acquires second position information of the first controlled object while actually sending a fly-shot trigger signal, and calculates a first position deviation based on the first position information and the second position information; a fly-shot module that receives and, based on the fly-shot trigger signal, performs a fly-shot on the first controlled object and acquires a second position deviation of the first controlled object; a control module that acquires the first position deviation from the first servo module, acquires the second position deviation from the fly-shot module, and generates a position deviation compensation amount based on the first position deviation and the second position deviation; and a second servo module that, based on the position deviation compensation amount, performs position deviation compensation on the motion of a second controlled object, so that the second controlled object acts on the first controlled object.
[0011] Optionally, the first servo module includes a probe function block that, while receiving the fly-shot trigger signal, triggers a latching function for latching the second position information.
[0012] Optionally, the first servo module further includes: a first encoder that acquires a first position feedback corresponding to the position of the first controlled object; and a first servo amplifier that simultaneously sends the fly-shot trigger signal to the fly-shot module and the probe function block, acquires the first position information from the control module, when the probe function block triggers the latching function, acquires the first position feedback as the second position information from the first encoder, and calculates the first position deviation based on the first position information and the second position information.
[0013] Optionally, the first servo module further includes: a first driver that generates a first driving torque based on a first driving instruction; and a first controlled axis that rotates based on the first driving torque to perform movement control on the first controlled object. The first servo amplifier generates the first driving instruction based on a first position control instruction from the control module and the first position feedback from the first encoder, and provides the first driving instruction to the first driver. The first encoder obtains the first position feedback from the first controlled axis.
[0014] Optionally, the probe function block is a function block inside the first servo amplifier.
[0015] Optionally, the control module generates a second position control instruction based on the position deviation compensation amount. The second servo module includes: a second servo amplifier that generates a second driving instruction based on the second position control instruction and a second position feedback corresponding to the movement of the second controlled object; a second driver that generates a second driving torque based on the second driving instruction; and a second controlled axis that rotates based on the second driving torque to perform position deviation compensation on the movement of the second controlled object.
[0016] Optionally, the second servo module further includes a second encoder that obtains the second position feedback from the second controlled axis.
[0017] In addition, to solve the above technical problems, the servo fly-shot control method according to the second aspect of the present invention includes: a first position deviation calculation step in which first position information of a first controlled object that is moving and is desired to trigger a fly-shot is obtained, second position information of the first controlled object is obtained while actually sending a fly-shot trigger signal, and a first position deviation is calculated based on the first position information and the second position information; a second position deviation acquisition step in which, based on the fly-shot trigger signal, a fly-shot is performed on the first controlled object, and a second position deviation of the first controlled object is obtained; a position deviation compensation amount generation step in which a position deviation compensation amount is generated based on the first position deviation and the second position deviation; and a position deviation compensation step in which, based on the position deviation compensation amount, position deviation compensation is performed on the movement of a second controlled object, so that the second controlled object acts on the first controlled object.
[0018] Optionally, the first position deviation calculation step includes a position latching step, in which, when receiving the flying shot trigger signal, a latching function for latching the second position information is triggered.
[0019] Optionally, the first position deviation calculation step further includes: a flying shot trigger signal sending step, in which the flying shot trigger signal is sent simultaneously to the second position deviation obtaining step and the position latching step; a first position information obtaining step, in which the first position information is obtained; a second position information obtaining step, in which, when the latching function is triggered in the position latching step, a first position feedback corresponding to the position of the first controlled object is obtained as the second position information; and a deviation calculation step, in which, based on the first position information and the second position information, the first position deviation is calculated.
[0020] In addition, to solve the above technical problem, a computer-readable medium according to a third aspect of the present invention stores a program as follows, and this program is used to execute the servo flying shot control method as described in the second aspect of the present invention above.
[0021] Advantages of the Invention
[0022] According to the servo flying shot control system, the servo flying shot control method, and the computer-readable medium storing a program for executing the servo flying shot control method according to the present invention, even when performing servo flying shot control on an object in a high-speed mode, the influence of the servo operation cycle can be avoided, thereby ensuring the accuracy of the final product. Brief Description of the Drawings
[0023] Figure 1 is a schematic diagram of an example of an application scenario of the servo flying shot control system according to the present invention.
[0024] Figure 2 is a schematic diagram for explaining the relationship between the servo operation cycle and the flying shot trigger position.
[0025] Figure 3 is a schematic diagram for explaining the relationship between the position of the captured image and the cutting position.
[0026] Figure 4 is a block diagram showing the structure of the servo flying shot control system according to the present invention.
[0027] Figure 5 is a flowchart showing the servo flying shot control method according to the present invention. Detailed Description of the Embodiment
[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of this application, and are not used to limit the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts belong to the scope protected by this application.
[0029] Figure 1 is a schematic diagram of an example of the application scenario of the servo fly-shot control system involved in this embodiment. In Figure 1 it, a servo fly-shot control system of an automatic cutting production line is shown. The automatic cutting production line is used to automatically cut the materials on the conveyor belt.
[0030] As Figure 1 shown, the automatic cutting production line includes: a conveyor belt on which the materials to be cut are placed; a material shaft (not shown) that drives the conveyor belt to move at a certain speed; a cutter shaft that is cylindrical, and a cutter with a specified shape is arranged on the cylindrical surface of the cutter shaft. The cutter shaft rotates to drive the cutter to cut the materials moving below it; and a support roller that is arranged below the cutter shaft and is used to support the conveyor belt moving below the cutter shaft. In the following description, sometimes the materials to be cut are defined as the "first controlled object", the material shaft is defined as the "first controlled shaft", the cutter is defined as the "second controlled object", and the cutter shaft is defined as the "second controlled shaft".
[0031] The servo fly-shot control system of this embodiment can be used to perform servo control on the cutting operation of the above-mentioned automatic material cutting production line. The servo fly-shot control system includes: a camera for performing fly-shot on the moving material when the material moves to a preset position (for example, before the material to be cut enters below the tool shaft); a tool shaft drive servo motor connected to the tool shaft for rotatingly driving the tool shaft; a tool shaft servo amplifier connected to the tool shaft drive servo motor and the camera respectively for providing a torque drive control signal to the tool shaft drive servo motor and sending a fly-shot trigger signal to the camera; a material shaft drive servo motor (not shown) connected to the material shaft for rotatingly driving the material shaft; a material shaft servo amplifier connected to the material shaft drive servo motor for providing a torque control drive signal to the material shaft drive servo motor; and a PLC (Programmable Logic Control), which is connected to the tool shaft servo amplifier and the material shaft servo amplifier (not shown) respectively for sending position commands to the tool shaft servo amplifier and the material shaft servo amplifier, thereby controlling the operation of the entire automatic material cutting production line. In Figure 1 only one "servo system controller" is shown, but actually it includes the above-mentioned tool shaft servo amplifier and the above-mentioned material shaft servo amplifier. Additionally, in the following description, sometimes the camera is defined as the "fly-shot module", the material shaft drive servo motor is defined as the "first driver", the material shaft servo amplifier is defined as the "first servo amplifier", the encoder (not shown) coupled to the first driver is defined as the "first encoder", the tool shaft drive servo motor is defined as the "second driver", the tool shaft servo amplifier is defined as the "second servo amplifier", the encoder (not shown) coupled to the second driver is defined as the "second encoder", and the PLC is defined as the "control module". Additionally, sometimes the module including the first servo amplifier, the first driver, the first encoder, and the first controlled axis is defined as the "first servo module", and the module including the second servo amplifier, the second driver, the second encoder, and the second controlled axis is defined as the "second servo module".
[0032] As Figure 1As shown, in this embodiment, it is assumed that the material (hexagonal in the figure) moves downward under the cutter shaft at a high speed (greater than or equal to 60 m / min) along with the conveyor belt. When the material moves to a position close to the cutter shaft (the area outlined by the rectangular frame in the figure, where the dashed line indicates the reference line of the center of the shooting area), the cutter shaft servo amplifier outputs a flying shot trigger signal to the camera, instructing the camera to perform a flying shot on the material moving at high speed. The camera transmits the captured image back to the cutter shaft servo amplifier, and the cutter shaft servo amplifier calculates the position deviation of the material relative to the reference line of the shooting area based on this image, and provides this position deviation to the PLC. The PLC calculates the cutter shaft compensation amount based on the position deviation and sends it back to the cutter shaft servo amplifier to compensate for the torque of the cutter shaft.
[0033] For the system according to this embodiment, it is required that the cutter shaft after compensation accurately cuts the material moving under it, so that the accuracy of the final product meets the product specification requirements of ±0.025 mm.
[0034] Next, with reference to Figure 2 、 Figure 3 , the principle of the error in the cutter shaft compensation amount due to the influence of the servo operation cycle in the prior art will be described.
[0035] Figure 2 FIG. is a schematic diagram for explaining the relationship between the servo operation cycle and the flying shot trigger position. In the figure, the hexagonal frame represents the moment when the material reaches the flying shot position, the unfilled rectangular frame represents the moment when the first servo amplifier receives the position update of the first encoder, and the shaded rectangular frame represents the moment when the first servo amplifier updates the operation state. Here, the period between two adjacent encoder position update moments (or operation state update moments) is defined as one "servo operation cycle". That is, the servo control system updates the position of the encoder at the beginning of a servo operation cycle and updates the operation state at the end of this servo operation cycle.
[0036] As Figure 2 shown, according to the requirements of the production line design, when the material reaches the desired trigger position P1 corresponding to the hexagonal frame, it is desired to trigger a flying shot at this position. However, since the encoder position update moment of this servo operation cycle has passed at this time, the first servo amplifier will not receive the position update of the first encoder, and thus will not know that the material has reached the desired trigger position P1. Therefore, even when the end of this servo operation cycle arrives, the first servo amplifier will not send a flying shot trigger signal to the flying shot module.
[0037] After that, the material continues to move towards the knife shaft along with the conveyor belt, and the first servo module enters the next servo operation cycle. In this servo operation cycle, the first servo amplifier detects that the material has passed the desired trigger position P1 at the encoder position update moment. Therefore, a fly-shot trigger signal will be sent to the fly-shot module at the end of this servo operation cycle. At this time, the material has actually reached Figure 2 the actual trigger position P2 in
[0038] In the above process, a position deviation occurs between the actual trigger position P2 and the desired trigger position P1, that is, the first position deviation Δp2 = P2 - P1. This first position deviation Δp2 will be reflected in the image captured by the fly-shot module, thus affecting the subsequent cutting position of the knife shaft.
[0039] Figure 3 is a schematic diagram for explaining the relationship between the position of the fly-shot image and the cutting position. In the figure, the shaded box represents the position of the area on the conveyor belt that is fly-shot. The single dotted line on the left represents the center line of the fly-shot area (i.e., the reference position). The single dotted line on the right represents the cutting position of the knife shaft corresponding to the single dotted line on the left. The dotted line on the left represents the actual position of the material when the material deviates from the center of the fly-shot area. The dotted line on the right represents the cutting position of the knife shaft corresponding to the dotted line on the left. The double dotted line on the left represents the actual position of the material when the material deviates from the center of the fly-shot area and is further affected by the servo operation cycle. The double dotted line on the right represents the cutting position of the knife shaft corresponding to the double dotted line on the left. The solid hexagon on the left represents the image of the material captured. The solid hexagon on the right represents the desired cutting position of the material. The double dotted line hexagon represents the position where mis-cutting occurs due to the influence of the servo operation cycle. In addition, Figure 3 (a) of Figure 3 shows the case where the material is at the center of the fly-shot area,[[]] Figure 3 (b) of
[0040] shows the case where the material deviates from the center of the fly-shot area,[[]] Figure 3 (c) of
[0041] shows the case after further considering the servo operation cycle on the basis of (b). Figure 2 and Figure 3As shown in (c), due to the influence of the servo operation cycle, the actual trigger position for fly shooting further deviates by Δp2 from the desired trigger position for fly shooting. Therefore, if the position deviation compensation amount is determined only based on the captured image, as shown by the dashed double-dotted line in (c) of Figure 3 a deviation will occur between the actual material cutting position and the desired material cutting position. Here, this deviation amount is defined as the first position deviation Δp2.
[0042] Therefore, the present invention eliminates the influence of this first position deviation Δp2 through the following system structure, enabling an accurate position deviation compensation amount Δp1 to be obtained, thereby ensuring that the accuracy of the final product is not affected by the servo operation cycle.
[0043] Figure 4 is a block diagram showing the structure of the servo fly shooting control system according to the present embodiment. As an example of this servo fly shooting control system, reference can be made to the above Figure 1 application scenario.
[0044] As Figure 4 shown, the servo fly shooting control system according to the present embodiment includes a first servo module 1, a second servo module 2, a fly shooting module 3, and a control module 4.
[0045] The first servo module 1, for example, obtains the first position information P1 of the desired trigger position for fly shooting of the first controlled object 5 in motion from the control module 4. At the same time as actually sending a fly shooting trigger signal, it obtains the second position information P2 related to the actual position of the first controlled object 5 at this moment, and calculates the first position deviation Δp2 based on the obtained first position information P1 and second position information P2.
[0046] Specifically, the first servo module 1 includes a first servo amplifier 11, a first driver 12, a first controlled axis 13, and a first encoder 14. Among them, the first servo amplifier 11 receives a first position control command from the control module 4, receives a first position feedback representing the rotational position of the first controlled axis 13, that is, corresponding to the actual position of the first controlled object 5, from the first encoder 14, and generates a first drive command based on the first position control command and the first position feedback and provides it to the first driver 12.
[0047] The first driver 12 generates a first driving torque based on a first driving instruction and supplies the first driving torque to a first controlled axis 13. The first controlled axis 13 rotates and drives based on the first driving torque, and thus controls the movement of a first controlled object 5 through a transmission mechanism (not shown) such as a conveyor belt. The first encoder 14 is, for example, an encoder such as an optical encoder, a magnetic encoder, or a capacitive encoder disposed on the first controlled axis 13, and obtains the above-mentioned first position feedback from the first controlled axis 13. Thus, the first servo amplifier 11, the first driver 12, the first controlled axis 13, and the first encoder 14 constitute a feedback control system, and thus can accurately perform servo control on the movement position of the first controlled object 5 based on a first position control instruction from the control module 4.
[0048] In addition, in the first servo module 1, a probe function block 10 is further included. The probe function block 10 can trigger a latching function for latching a position signal while receiving a flying-shot trigger signal. Specifically, the probe function block 10 can be a function block installed inside the first servo amplifier 11, or can be independently installed outside the first servo amplifier 11 by various other known methods. In this embodiment, in the first position control instruction sent by the control module 4, first position information P1 is further included. Therefore, when the first servo amplifier 11 learns from the first position feedback from the first encoder 14 that the first controlled object 5 has reached a desired flying-shot start position corresponding to the first position information P1, after the delay caused by the servo operation cycle as described above, when the first controlled object 5 reaches an actual trigger flying-shot position, the flying-shot trigger signal is sent to the flying-shot module 3 and the probe function block 10 simultaneously. The probe function block 10 that receives the flying-shot trigger signal immediately triggers the latching function of the first servo amplifier 11, so that the first servo amplifier 11 obtains the first position feedback at this time as second position information P2 from the first encoder 14 and latches the second position information P2. The first servo amplifier 11 calculates a first position deviation Δp2 based on the first position information P1 and the second position information P2 according to the calculation formula Δp2 = P2 - P1, and supplies it to the control module 4.
[0049] On the other hand, the flying-shot module 3 that receives the flying-shot trigger signal immediately performs a flying shot on the first controlled object 5 moving at high speed to obtain a second position deviation (Δp1 + Δp2) including a delay amount caused by the servo operation cycle of the first controlled object 5 at this time, and supplies it to the control module 4.
[0050] The control module 4 generates a position deviation compensation amount Δp1 based on the obtained first position deviation Δp2 and the second position deviation (Δp1 + Δp2) by subtracting the first position deviation Δp2 from the second position deviation (Δp1 + Δp2).
[0051] Based on the position deviation compensation amount Δp1, the second servo module 2 performs position deviation compensation on the operation of the second controlled object 6, causing the second controlled object 6 to act on the first controlled object 5. In this embodiment, the so-called "act" means that the tool, which is the second controlled object 6, cuts the material, which is the first controlled object 5.
[0052] Specifically, the second servo module 2 includes a second servo amplifier 21, a second driver 22, a second controlled axis 23, and a second encoder 24. Among them, the second servo amplifier 21 receives a second position control command from the control module 4 and receives a second position feedback indicating the rotational position of the second controlled axis 23, that is, corresponding to the operation of the second controlled object 6, from the second encoder 24. And based on the second position control command and the second position feedback, it generates a second drive command and provides it to the second driver 22.
[0053] The second driver 22 generates a second drive torque based on the second drive command and provides the second drive torque to the second controlled axis 23. The second controlled axis 23 performs rotational drive based on the second drive torque, thereby driving the second controlled object 6 disposed on the cylindrical surface of the second controlled axis 23 to perform a cutting operation on the first controlled object 5. The second encoder 24 is, for example, an encoder such as an optical encoder, a magnetic encoder, or a capacitive encoder disposed on the second controlled axis 23, and obtains the above-mentioned second position feedback from the second controlled axis 23. Thus, the second servo amplifier 21, the second driver 22, the second controlled axis 23, and the second encoder 24 constitute a feedback control system, so that the operation of the second controlled object 6 can be accurately servo-controlled based on the second position control command from the control module 4.
[0054] In addition, in this embodiment, the control module 4 generates a second position control command based on the position deviation compensation amount Δp1 generated as described above. Specifically, as Figure 3 shown, the second position control command can be compensated and corrected based on the position deviation compensation amount Δp1, and the compensated and corrected second position control command is provided to the second servo amplifier 21. Thus, the above-mentioned position deviation compensation amount Δp1 is further transmitted to the second controlled object 6 via the second driver 22 and the second controlled axis 23, so that the position where the second controlled object 6 cuts the first controlled object 5 matches the shooting result of the fly-shot module 3 after excluding the influence of the servo operation cycle, thereby completing the compensation for the operation of the second controlled object 6. In addition, regarding the specific method of compensating and adjusting the second controlled axis 23, a method of finely adjusting the rotation amount of the second controlled axis 23 can be adopted, but the present invention is not limited thereto. For example, other adjustment methods such as finely adjusting the rotation speed of the second controlled axis 23 can also be adopted.
[0055] Next, with reference to Figure 4 and Figure 5 , the servo fly - shot control method according to this embodiment will be described.
[0056] Figure 5 FIG. is a flowchart showing the servo fly - shot control method according to this embodiment. In the following description, a method for implementing servo fly - shot control using the hardware of the servo fly - shot control system as shown in Figure 4 will be described.
[0057] As shown in Figure 5 , first, the first servo amplifier 11 obtains the first position information P1 from the control module 4 (step ST1).
[0058] Next, when the first servo amplifier 11 detects, based on the first position feedback from the first encoder 14, that the first controlled object 5 has reached the position corresponding to the first position information P1, after the delay caused by the servo operation cycle, the fly - shot trigger signal is simultaneously sent to the probe function block 10 and the fly - shot module 3 for obtaining the second position deviation and latching the second position information P2 described later (step ST2).
[0059] Then, when the probe function block 10 receives the fly - shot trigger signal from the first servo amplifier 11, it triggers the first servo amplifier 11 to execute the latching function for latching the second position information P2 (step ST3). Then, the first servo amplifier 11 obtains the first position feedback corresponding to the position of the first controlled object 5 from the first encoder 14 as the second position information P2 (step ST4), and calculates the first position deviation Δp2 based on the first position information P1 and the second position information P2 (step ST5).
[0060] On the other hand, when the fly - shot module 3 receives the fly - shot trigger signal from the first servo amplifier 11, it performs a fly - shot on the first controlled object 5 to obtain the second position deviation (Δp1 + Δp2) of the first controlled object 5 (step ST6).
[0061] After that, the control module 4 obtains the first position deviation Δp2 from the first servo amplifier 11 and the second position deviation (Δp1 + Δp2) from the fly - shot module 3, and generates a position deviation compensation amount Δp1 based on the first position deviation Δp2 and the second position deviation (Δp1 + Δp2) (step ST7).
[0062] Thereafter, the second servo module 2 performs servo drive on the second controlled object 6 based on the second position control instruction from the control module 4 including the position deviation compensation amount Δp1, thereby performing position deviation compensation on the operation of the second controlled object 6, and causing the second controlled object 6 to act on the first controlled object 5 (step ST8).
[0063] As described above, according to the servo flyshooting control system and the servo flyshooting control method according to the present embodiment, since the influence of the first position deviation caused by the servo operation cycle is excluded when calculating the position deviation compensation amount, even when performing servo flyshooting control on an object in the high-speed mode, it is possible to avoid being affected by the servo operation cycle, thereby ensuring the accuracy of the final product.
[0064] In addition, by introducing a probe function block to implement the latching function of the second position information, thereby, the first position deviation can be calculated with high precision, and thus the accuracy of the final product can be further improved. Especially when using the function block inside the first servo amplifier as the probe function block, there is no need to use new hardware separately to implement the latching function, and the hardware structure of the system can be simplified and the cost can be reduced.
[0065] In the above embodiment, taking a material cutting production line as an example, the servo flyshooting control system and the servo flyshooting control method according to the present invention are described. However, the application scenarios of the system and method of the present invention are not limited thereto. For example, the second controlled object 6 can be set as the robotic arm of a robot, and the first controlled object 5 can be set as a workpiece moving at high speed, etc., so as to control the robot to perform actions such as grasping the workpiece. Even in these cases, the servo flyshooting control system and the servo flyshooting control method of the present invention can also be applied.
[0066] In addition, the above describes the case where the servo flyshooting control method of the present invention is implemented by hardware, but the present invention is not limited thereto. The servo flyshooting control method of the present invention can also be implemented by software, or by a combination of software and hardware. In addition, the program for executing the servo flyshooting control method of the present invention can be stored in various computer-readable media, and loaded into, for example, a CPU, etc. when needed for execution. There is no particular limitation on the computer-readable medium. For example, optical discs such as HDD, CD-ROM, CD-R, MO, MD, DVD, IC cards, floppy disks, and semiconductor memories such as mask ROM, EPROM, EEPROM, and flash ROM can be used.
[0067] In addition, all aspects of the embodiments disclosed herein should be considered merely illustrative and not restrictive. The scope of the present invention is represented by the claims, rather than by the above-described embodiments, and the scope of the present invention also includes all modifications and variations within the meaning and scope equivalent to the claims.
[0068] Industrial Applicability
[0069] As described above, the servo flying shot control system, servo flying shot control method, and computer-readable medium storing a program for executing the servo flying shot control method according to the present invention are useful for industrial control application scenarios such as detection control in an automated production line, intelligent warehousing and logistics sorting, precision manufacturing, and robot system operations.
[0070] Reference Signs Description
[0071] 1 First servo module
[0072] 2 Second servo module
[0073] 3 Flying shot module
[0074] 4 Control module
[0075] 5 First controlled object
[0076] 6 Second controlled object
[0077] 10 Probe function block
[0078] 11 First servo amplifier
[0079] 12 First driver
[0080] 13 First controlled axis
[0081] 14 First encoder
[0082] 21 Second servo amplifier
[0083] 22 Second driver
[0084] 23 Second controlled axis
[0085] 24 Second encoder
[0086] P1 First position information
[0087] P2 Second position information
[0088] Δp1 Position deviation compensation amount
[0089] Δp2 First position deviation
[0090] Δp1 + Δp2 Second position deviation.
Claims
1. A servo fly-shot control system, characterized in that, Comprising: A first servo module, which obtains first position information of a first controlled object in motion where a fly shot is desired to be triggered, obtains second position information of the first controlled object while actually sending a fly shot trigger signal, and calculates a first position deviation based on the first position information and the second position information; A fly shot module, which receives and based on the fly shot trigger signal, performs a fly shot on the first controlled object and obtains a second position deviation of the first controlled object; A control module, which obtains the first position deviation from the first servo module, obtains the second position deviation from the fly shot module, and generates a position deviation compensation amount based on the first position deviation and the second position deviation; And A second servo module, which based on the position deviation compensation amount, performs position deviation compensation on the action of a second controlled object, so that the second controlled object acts on the first controlled object.
2. The servo fly shot control system according to claim 1, wherein The first servo module includes a probe function block, which triggers a latching function for latching the second position information when receiving the fly shot trigger signal.
3. The servo fly shot control system according to claim 2, wherein The first servo module further includes: A first encoder, which obtains a first position feedback corresponding to the position of the first controlled object; and A first servo amplifier, which simultaneously sends the fly shot trigger signal to the fly shot module and the probe function block, obtains the first position information from the control module, when the probe function block triggers the latching function, obtains the first position feedback from the first encoder as the second position information, and calculates the first position deviation based on the first position information and the second position information.
4. The servo fly shot control system according to claim 3, wherein The first servo module further includes: A first driver, which generates a first driving torque based on a first driving instruction; and A first controlled axis, which performs rotational drive based on the first driving torque, thereby performing movement control on the first controlled object, The first servo amplifier generates the first driving instruction based on a first position control instruction from the control module and the first position feedback from the first encoder, and provides it to the first driver, The first encoder obtains the first position feedback from the first controlled axis.
5. The servo fly shot control system according to claim 3, wherein The probe function block is a function module inside the first servo amplifier.
6. The servo fly shot control system according to any one of claims 1 to 5, wherein The control module generates a second position control instruction based on the position deviation compensation amount, The second servo module includes: A second servo amplifier that generates a second drive command based on the second position control command and a second position feedback corresponding to the operation of the second controlled object; A second driver that generates a second drive torque based on the second drive command; and A second controlled axis that rotates based on the second drive torque to perform the position deviation compensation on the operation of the second controlled object.
7. The servo flyshooting control system according to claim 6, wherein the second servo module further includes a second encoder that obtains the second position feedback from the second controlled axis.
8. A servo fly-shot control method, characterized in that, Comprising: A first position deviation calculation step in which first position information of a first controlled object in motion at which a flyshooting is desired to be triggered is obtained, second position information of the first controlled object is obtained at the same time as an actual flyshooting trigger signal is sent, and a first position deviation is calculated based on the first position information and the second position information; A second position deviation obtaining step in which the first controlled object is flyshot based on the flyshooting trigger signal to obtain a second position deviation of the first controlled object; A position deviation compensation amount generation step in which a position deviation compensation amount is generated based on the first position deviation and the second position deviation; and A position deviation compensation step in which position deviation compensation is performed on the operation of a second controlled object based on the position deviation compensation amount, such that the second controlled object acts on the first controlled object.
9. The servo flyshooting control method according to claim 8, wherein the first position deviation calculation step includes a position latching step in which a latching function for latching the second position information is triggered at the same time as the flyshooting trigger signal is received.
10. The servo flyshooting control method according to claim 9, wherein the first position deviation calculation step further includes: A flyshooting trigger signal sending step in which the flyshooting trigger signal is sent to both the second position deviation obtaining step and the position latching step; A first position information obtaining step in which the first position information is obtained; A second position information obtaining step in which, when the latching function is triggered in the position latching step, a first position feedback corresponding to the position of the first controlled object is obtained as the second position information; and A deviation calculation step in which the first position deviation is calculated based on the first position information and the second position information.
11. A computer-readable medium storing a program for executing the servo flyshooting control method according to any one of claims 8 to 10.