Position input shaping improvement method and device, computer equipment and storage medium

Abstract

The invention discloses a position input shaping improvement method and device, computer equipment and a storage medium, and the method comprises the steps: obtaining a position instruction sent by an upper computer, and carrying out the differential processing of the position instruction through a differential operator, so as to obtain a differential signal; inputting the differential signal into a preset shaper to enable the preset shaper to output a shaped position instruction; and carrying out integral processing and proportional processing on the shaped position instruction to obtain an output signal, and controlling the rotation angle of a servo motor according to the output signal to control the moving distance of a load. According to the invention, the influence caused by phase lag can be improved, and the response speed of the load is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of input shaping, and particularly to an improved method, device, computer device and storage medium for position input shaping. Background Art

[0002] In an AC servo system, due to the existence of elastic connection devices such as couplings and speed reducers, residual jitter exists at the load end during the positioning of a high-speed rotating servo motor, which easily affects the positioning accuracy and may cause damage to machine tools and processing equipment in severe cases. Currently, the position input shaping method is generally used to suppress the jitter. The position input shaping convolves the input signal with a series of pulse signals, and the shaped signal is sequentially input into the servo system. When the last input signal arrives, the vibrations caused by all input signals at the load end cancel each other out, achieving the purpose of suppressing the positioning jitter.

[0003] However, the current position input shaping method for shaping the position command will cause a large phase lag in the shaped command, and the phase lag will prolong the overall control time of the system. Summary of the Invention

[0004] Embodiments of the present invention provide an improved method, device, computer device and storage medium for position input shaping, aiming to solve the problem of phase lag existing in the current position input shaping method.

[0005] In a first aspect, embodiments of the present invention provide an improved method for position input shaping, the method comprising: Obtaining a position command sent by a host computer, and performing differential processing on the position command through a differential operator to obtain a differential signal; Inputting the differential signal into a preset shaper so that the preset shaper outputs a shaped position command; Performing integral processing and proportional processing on the shaped position command to obtain an output signal, and controlling the rotation angle of a servo motor according to the output signal to control the moving distance of a load.

[0006] In a second aspect, embodiments of the present invention further provide an improved device for position input shaping, the device comprising: A first obtaining unit, configured to obtain a position command sent by a host computer, and perform differential processing on the position command through a differential operator to obtain a differential signal; A first input unit, configured to input the differential signal into a preset shaper so that the preset shaper outputs a shaped position command; An integral ratio unit is configured to perform integral processing and ratio processing on the shaped position command to obtain an output signal, and control the rotation angle of the servo motor according to the output signal to control the moving distance of the load.

[0007] In a third aspect, an embodiment of the present invention further provides a computer device, which includes a memory and a processor connected to the memory. A computer program is stored on the memory, and when the processor executes the computer program, the above method is implemented.

[0008] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, the above method can be implemented.

[0009] An embodiment of the present invention provides an improved method, device, computer device and storage medium for position input shaping. The method includes: obtaining a position command sent by a host computer, and performing differential processing on the position command through a differential operator to obtain a differential signal; inputting the differential signal into a preset shaper so that the preset shaper outputs a shaped position command; performing integral processing and ratio processing on the shaped position command to obtain an output signal, and controlling the rotation angle of the servo motor according to the output signal to control the moving distance of the load. The embodiment of the present invention can perform differential processing on the position command to sense the change trend of the position command in advance, provide an advanced control signal for the preset shaper, ensure that the output signal is consistent with the position quantity of the position command by performing integral processing on the shaped position command, finally compensate the integral signal through ratio processing to obtain the output signal, and then control the load to move through the output signal, thereby improving the influence caused by phase lag and increasing the response speed. Description of the Drawings

[0010] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0011] Figure 1 is a flowchart of the improved method for position input shaping provided by the embodiment of the present invention; Figure 2 is a logic block diagram of the improved method for position input shaping provided by the embodiment of the present invention; Figure 3 is a comparative simulation diagram of the improved method for position input shaping provided by the embodiment of the present invention; Figure 4It is a flowchart of pulse bunching inspection for the method of improving position input shaping provided by an embodiment of the present invention; Figure 5 It is a schematic diagram of the first sub - process of the method of improving position input shaping provided by an embodiment of the present invention; Figure 6 It is a schematic diagram of the second sub - process of the method of improving position input shaping provided by an embodiment of the present invention; Figure 7 It is a schematic diagram of the third sub - process of the method of improving position input shaping provided by an embodiment of the present invention; Figure 8 It is a schematic diagram of the fourth sub - process of the method of improving position input shaping provided by an embodiment of the present invention; Figure 9 It is a schematic diagram of the fifth sub - process of the method of improving position input shaping provided by an embodiment of the present invention; Figure 10 It is a schematic diagram of the sixth sub - process of the method of improving position input shaping provided by an embodiment of the present invention; Figure 11 It is a schematic block diagram of the device for improving position input shaping provided by an embodiment of the present invention; Figure 12 It is a schematic block diagram of the computer device provided by an embodiment of the present invention. Detailed implementation manners

[0012] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0013] It should be understood that when used in this specification and the appended claims, the terms "comprises" and "comprising" indicate the presence of the described features, wholes, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, wholes, operations, elements, components, and / or their combinations.

[0014] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in this specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms. It should be further understood that the term "and / or" used in this specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0015] Please refer to Figure 1 , Figure 1 which is a schematic flowchart of an improved method for position input shaping provided by an embodiment of the present invention. The improved method for position input shaping in the embodiment of the present invention can be applied to a computer device to improve the phase lag caused by position input shaping, shorten the response delay, and improve the load response speed. As Figure 1 shown, the method includes steps S100 to S120.

[0016] S100, obtain the position command sent by the host computer, and perform differential processing on the position command through a differential operator to obtain a differential signal.

[0017] In the embodiment of the present invention, in the precise positioning of a servo motor, the position input shaping method can be applied to multiple fields such as the control field of industrial robots and robotic arms, high-precision servo motor positioning systems, the motion control field of machine tools and processing equipment, and the material handling equipment of automated production lines. For example, in the control field of industrial robots and robotic arms, when an industrial robot (such as a 6-axis robotic arm) performs tasks such as grasping, assembling, and spraying, it needs to move at high speed along a complex trajectory. Elastic joints and loads will cause end jitter, and traditional position input shaping can be used to suppress end jitter, but its phase lag will increase the trajectory tracking error. For a high-precision servo motor positioning system, a precision workbench driven by a servo motor (such as a semiconductor lithography machine platform, an electronic component mounter) needs to be quickly positioned with micron-level precision. The phase lag of the traditional position input shaping method will cause positioning deviation. In the motion control field of machine tools and processing equipment, when numerically controlled lathes, milling machines and other machine tools perform high-speed cutting, elastic components such as couplings and lead screws will cause vibration. The phase lag of traditional position input shaping may lead to deterioration of the machining surface roughness and even tool damage. The improved method for position input shaping provided by the present invention can suppress jitter in the above scenarios while eliminating phase lag and avoiding damage to equipment.

[0018] A position command refers to a pulse-form signal used to control the positioning of a servo system (such as a motor, a robotic arm). It exists in the form of a pulse sequence, and each pulse corresponds to a basic displacement unit of the servo system (such as each pulse represents a 0.01 mm displacement), and is used to drive the servo motor or load to reach the target position, and belongs to the core input signal of feedforward control. For example, if the target position is 100 mm, the position command may be represented as 10,000 pulses (100 mm ÷ 0.01 mm / pulse = 10,000 pulses). The position command is generally issued by a host computer (such as a PLC, a controller). The servo driver receives the position command and controls the rotation of the motor according to the number of pulses and the frequency to drive the equipment to move.

[0019] After obtaining the position command, different from the traditional position input shaping method that directly shapes the position command through a shaper, in the present invention, the position command is first differentiated through a differential operator to obtain a differential signal. Specifically, the position command can be differentiated through a differential operator to enhance the rate-of-change characteristic of the signal. For example, if the position command is a step signal r(t), its rate of change is obtained after differentiation processing, and this operation enables the "changing trend" of the signal on the time axis to be captured in advance. Assuming the differential operator is s (Laplace domain), the differential signal after differentiation processing is s*R(s), where R(s) is the Laplace transform of the position command.

[0020] S110. Input the differential signal into a preset shaper so that the preset shaper outputs a shaped position command.

[0021] The preset shaper can be one of a zero vibration (ZV) input shaper, a zero vibration and derivation (ZVD) input shaper, a four-pulse zero vibration second-order differential shaper (ZVDD), and an extra insensitivity (EI) input shaper, and its specific type is determined by the type of the servo system. The input shaping principle and the principles of the four shapers are described below respectively.

[0022] Input Shaping Principle For a motor-load double-inertia system, it can be equivalent to a second-order system, and its step response is determined by a pair of dominant poles. The transfer function of the system is as follows: ; After performing the inverse Laplace transform on the second-order system: ; Among them, is the damped oscillation frequency, w n is the natural frequency, s is the Laplace operator, is the damping ratio, t is time, and e is the base of the natural logarithm.

[0023] Assume that the amplitude and time delay of one pulse of the shaper are A t and t t respectively. Then the response caused by this pulse is: ; The total system response is the sum of the responses caused by all pulses, that is, the sum of the convolution of the input signal and the n-pulse sequence is as follows: ; Among them, .

[0024] Define the residual oscillation ratio as the amplitude after addition divided by the amplitude without the shaper: ; The ultimate requirement is to make the oscillation zero, so: ;

[0025] After setting the above equation equal to zero, various input shapers can be calculated, such as ZV, ZVD, ZVDD, and EI. The instruction can suppress the vibration problem caused by flexible load positioning through the input shaper.

[0026] ZV shaper The ZV shaper contains two pulses and is the simplest input shaper. To make the shaping time the shortest, assume that the first pulse starts acting from time 0, and to make the system reach the target point, the sum of the amplitudes of the two pulses should be 1.

[0027] Constraint conditions: ; Obtain the ZV shaper parameters: .

[0028] ZVD shaper The ZV shaper has high requirements for the accuracy of the system model, and there will be errors in the angular frequency and damping ratio in the established approximate second-order system. To enhance the robust performance of the input shaper in suppressing system vibration, the residual vibration expression is constrained. At this time, a constraint condition for differentiating the residual oscillation expression is added to the constraint equation to form the ZVD shaper.

[0029] Constraint conditions: ; ; Obtain the ZVD shaper parameters: ; Among them, .

[0030] ZVDD shaper To further improve the robustness of the input shaper, a four-pulse zero-vibration second-order differential ZVDD shaper will be constructed.

[0031] Constraint conditions: ; Obtain the ZVDD shaper parameters: ; Among them, .

[0032] EI shaper The EI input shaper also consists of three pulses. Compared with the ZVD shaper, it does not require having zero derivative at the vibration frequency, but only requires having a sufficiently small sensitivity near the vibration frequency. Essentially, a pair of zeros are configured near the underdamped poles of the system, and exact cancellation of zeros and poles is not required, which further enhances the robustness while ensuring the vibration suppression effect.

[0033] Set V0 as the maximum allowable percentage of residual vibration of the system, and obtain the EI shaper parameters: ;

[0034] S120, perform integral processing and proportional processing on the shaped position command to obtain an output signal and control the rotation angle of the servo motor according to the output signal to control the moving distance of the load.

[0035] In the embodiment of the present invention, the shaped position command is essentially a shaped differential signal. Integral processing and proportional processing are performed on the shaped position command to achieve signal reconstruction, thereby obtaining an output signal. The obtained output signal is used to control the rotation angle of the servo motor to control the moving distance of the load, which can improve the response speed of the load. Signal reconstruction includes an integral link and a proportional link. The integral link is used to restore the position dimension of the signal, and the integral operator can be 1 / s for integral processing, and then the proportional operator K is introduced and superimposed on the integrated signal to adjust the degree of phase compensation.

[0036] Such as Figure 2 shown, a differential-like link is added to the position input shaping, so as to achieve improving the phase characteristics to eliminate hysteresis by signal conditioning on the premise of not changing the vibration suppression essence of the input shaping (still relying on pulse convolution to cancel vibration). The differential-like link includes a differential link, an integral link, and a proportional link. The differential link is to perform differential processing on the position command to obtain a differential signal, the integral link is to perform integral processing on the shaped position command, and the proportional link is to perform proportional processing on the position command and superimpose it on the integral signal, ultimately achieving the purpose of improving phase lag. As Figure 3 shown, Figure 3 is the phase compensation comparison simulation diagram of the position input shaping. It can be seen from Figure 3 that after adding the differential-like link, compared with the position input shaping algorithm without adding the differential-like link, its phase lag is improved, and it has a better vibration suppression effect.

[0037] In some embodiments, for example, in the embodiment of the present invention, as Figure 5 shown, the step 120 includes steps S121 - S122.

[0038] S121, performing integral processing on the shaped position through an integral operator to obtain an integral signal and performing proportional processing on the position command through a proportional operator to obtain a proportional signal; S122, summing the integral signal and the proportional signal to obtain the output signal.

[0039] In an embodiment of the present invention, let R(s) be the position command, Y`(s) be the shaped differential signal, the integral operator be 1 / s, and the proportional operator be K. After performing integral processing on Y`(s), Y`(s)·1 / s can be obtained. Then, by introducing the proportional operator and superimposing it with the integrated signal, the output signal Y(s)=K·R(s)+Y`(s)·1 / s can be obtained. It can be seen that the larger K is, the smaller the phase lag is. However, the vibration suppression effect needs to be balanced to avoid weakening the vibration suppression ability due to too large a K value.

[0040] Taking the phase compensation process of the 100mm precision positioning of the servo motor as an example, let the position command be 10,000 pulses (each pulse represents a displacement of 0.01mm), and the servo motor-load system is equivalent to a second-order underdamped system with a natural frequency ω n =100rad / s and a damping ratio t=0.1, and a damped oscillation frequency ω d =0.995rad / s. Assume the preset shaper is a ZV shaper, then A1=0.55, A2=0.45, t1=0s, and t2=0.0316s. Differentiating the position command r(t)=10,000 to obtain the differential signal s·R(s)=10,000, and inputting the differential signal into the ZV shaper to obtain the shaped differential signal Y`(s). Then, Y`(s)=10,000·(0.55 + 0.45e -0.0316 ). After performing integral processing on the shaped differential signal (the integral operator is 1 / s), Y`(s)·1 / s = 10,000·(0.55 / s + 0.45e -0.0316 / s) can be obtained. By introducing the proportional operator K (assuming K = 0.8) and superimposing it with the integral signal, the output signal Y(s)=K·R(s)+Y`(s)·1 / s = 0.8·10,000 / s + 10,000·(0.55 / s + 0.45e -0.0316 / s) is obtained.

[0041] In some embodiments, for example, in an embodiment of the present invention, as Figure 6 shown, the method for improving the position input shaping further includes steps S130 - S131.

[0042] S130, performing floating-point data detection on the output signal to confirm whether there is floating-point data in the output signal; S131. If there is such floating-point data in the output signal, perform floating-point compensation on the output signal.

[0043] In the embodiments of the present invention, the output signal is a position command after input shaping and phase compensation, existing in the form of a pulse sequence. Each pulse corresponds to the basic displacement unit of the servo system. For example, when the output signal is 10,000 pulses, the corresponding target displacement is 10,000×0.01 mm = 100 mm. The number of pulses directly determines the positioning end point.

[0044] As Figure 4 shown, Figure 4 is a flowchart of the pulse bunching check process. The pulse bunching check process includes floating-point compensation, remainder compensation, and remainder monitoring. For floating-point compensation, after obtaining the output signal, perform floating-point data detection on the output signal to confirm whether there is floating-point data in the output signal. When there is floating-point data in the output signal, floating-point compensation can be performed on the output signal. For example, if the output signal calculated in a certain control cycle is 1234.6 pulses, it is confirmed that there is floating-point data, and the floating-point data is 0.6. It is necessary to perform floating-point compensation on the output signal to eliminate the error caused by the floating-point data.

[0045] In some embodiments, such as in the embodiments of the present invention, as Figure 7 shown, the step S131 further includes steps S1311 - S1313.

[0046] S1311. Round the output signal in the current control cycle to output the integer data of the output signal, and store the floating-point data in the compensation register; S1312. Add the floating-point data of the previous control cycle to the output signal of the next control cycle in the next control cycle to obtain the compensated output signal; S1313. If there is such floating-point data in the compensated output signal, round the compensated output signal to output the integer data in the compensated output signal, and store the floating-point data in the compensation register.

[0047] In the embodiments of the present invention, when there is floating-point data in the output signal of a control cycle, the output signal can be rounded and output, then the floating-point data of the output signal is stored, and in the next control cycle, the floating-point data is read, added to the output signal of the next control cycle to obtain the compensated output signal, and it is confirmed whether there is floating-point data in the compensated output signal. If so, repeat the foregoing process.

[0048] For example, the input shaping algorithm calculates an output of 1234.6 pulses in the first control cycle. After rounding it off, the actual output is 1234 pulses, and the decimal part 0.6 is retained and stored in the compensation register for correction in the next control cycle. The input shaping calculation output in the second control cycle is 567.2 pulses. Then, adding the compensation value 0.6 from the previous cycle, we get 567.8 pulses. After rounding off, the output is 567 pulses, and the decimal part 0.8 is temporarily stored. The cumulative output in the first two control cycles is 1234 + 567 = 1799 pulses. The actual floating-point calculation should be 1234.6 + 567.2 = 1801.8 pulses. Through decimal compensation, the temporarily stored 0.8 will continue to participate in the calculation of subsequent cycles, avoiding cumulative errors (the traditional algorithm directly rounding off would lose 0.8 pulses).

[0049] In some embodiments, such as in the embodiments of the present invention, as Figure 8 shown, the method for improving the position input shaping further includes steps S140 - S142.

[0050] S140, if it is detected that there is no data output in the current control cycle, then confirm whether the target pulse number of the current displacement instruction is consistent with the actual output pulse number; S141, if the target pulse number is inconsistent with the actual output pulse number, then calculate the difference between the target pulse number and the actual output pulse number to obtain a compensation value; S142, output compensation pulses based on the compensation value to make the actual output pulse number consistent with the target pulse number.

[0051] In the embodiments of the present invention, in addition to compensating for floating-point data, the remainder can also be compensated. Specifically, when a control instruction segment is completed, that is, when there is no data output currently, it can be determined whether the target pulse number corresponding to the current displacement instruction is consistent with the actual output pulse number. If they are consistent, no remainder compensation is required. If they are inconsistent, then calculate the difference between the target pulse number and the actual output pulse number to obtain a compensation value, and output compensation pulses based on the compensation value to make the actual output pulse number consistent with the target output pulse number.

[0052] For example, when the motor finishes executing a segment of instructions (the target number of pulses is 10,000 pulses), and the actual number of output pulses of the position input shaping, after rounding, is 9,999, then the difference between the target number of pulses and the actual number of output pulses is 1. This difference is stored in the remainder register. When this segment of instructions is completed and the value in the remainder register is not zero, an additional 1 compensation pulse is output, so that the total number of output pulses reaches 10,000. If the remainder is -1 (1 more pulse is output), then -1 compensation pulse is output (i.e., 1 pulse is reduced). This can ensure that at the positioning end point, the actual displacement is consistent with the target displacement (10,000×0.01mm = 100mm), avoiding a 0.01mm positioning deviation caused by pulse loss.

[0053] In some embodiments, for example, in the embodiments of the present invention, as Figure 9 shown, the method for improving the position input shaping further includes steps S150 - S151.

[0054] S150, confirm the number of input pulses and the number of output pulses in the current control cycle, and calculate the difference between the number of input pulses and the number of output pulses to obtain a real - time remainder; S151, adjust the number of pulse inputs in the next control cycle according to the real - time remainder.

[0055] In the embodiments of the present invention, the real - time remainder can be monitored in real time to ensure closed - loop control of input - output consistency. Specifically, the difference between the number of input pulses and the number of output pulses can be detected in real time to obtain the real - time remainder, and then the number of pulse inputs in the next control cycle can be adjusted based on the real - time remainder.

[0056] In some embodiments, for example, in the embodiments of the present invention, as Figure 10 shown, the method for improving the position input shaping further includes steps S1511 - S1513.

[0057] S1511, confirm whether the real - time remainder is positive; S1512, if the real - time remainder is positive, then reduce the number of pulse inputs in the next control cycle according to the real - time remainder; S1513, if the real - time remainder is negative, then increase the number of pulse inputs in the next control cycle according to the real - time remainder.

[0058] In the embodiments of the present invention, in a certain control cycle, the number of input pulses is 100, the number of output pulses is 100.9 pulses, and after rounding, 101 pulses are output. Then the number of output pulses exceeds the number of input pulses by 1, and the real - time remainder is - 1. When calculating the input shaping in the next control cycle, the weight of 1 pulse is deducted (i.e., 1 pulse is reduced when calculating the output).

[0059] The improvement of position input shaping provided by the present invention can sense the change trend of the position command in advance by differentiating the position command, provide an advanced control signal for the preset shaper, ensure that the output signal is consistent with the position quantity of the position command by integrating the shaped position command, and finally compensate the integral signal through proportional processing to obtain the output signal, thereby improving the influence brought by phase lag.

[0060] Figure 11 It is a schematic block diagram of an improvement device 200 for position input shaping provided by an embodiment of the present invention. As Figure 11 shown, corresponding to the above improvement method of position input shaping, the present invention also provides an improvement device 200 for position input shaping. The improvement device 200 for position input shaping includes a unit for executing the above improvement method of position input shaping. Specifically, please refer to Figure 11 , the improvement device 200 for position input shaping includes a first acquisition unit 201, a first input unit 202, and an integral proportional unit 203.

[0061] Among them, the first acquisition unit 201 is used to acquire the position command sent by the host computer and perform differential processing on the position command through a differential operator to obtain a differential signal; The first input unit 202 is used to input the differential signal into the preset shaper so that the preset shaper outputs a shaped position command; The integral proportional unit 203 is used to perform integral processing and proportional processing on the shaped position command to obtain an output signal and control the rotation angle of the servo motor according to the output signal to control the moving distance of the load.

[0062] In some embodiments, such as this embodiment, the integral proportional unit 203 further includes a processing unit and a summing unit.

[0063] Among them, the processing unit is used to perform integral processing on the shaped position through an integral operator to obtain an integral signal and perform proportional processing on the position command through a proportional operator to obtain a proportional signal; The summing unit is used to sum the integral signal and the proportional signal to obtain the output signal.

[0064] In some embodiments, such as this embodiment, the improvement device 200 for position input shaping further includes a first confirmation unit and a first compensation unit.

[0065] Among them, the first confirmation unit is used to perform floating-point data detection on the output signal to confirm whether there is floating-point data in the output signal; The first compensation unit is configured to perform floating-point compensation on the output signal if the floating-point data exists in the output signal.

[0066] In some embodiments, such as this embodiment, the first compensation unit further includes a first rounding unit, a first adjustment unit, and a second rounding unit.

[0067] Among them, the first rounding unit is configured to round the output signal in the current control cycle to output the integer data of the output signal, and store the floating-point data in a compensation register. The first adjustment unit is configured to add the floating-point data of the previous control cycle to the output signal of the next control cycle in the next control cycle to obtain a compensated output signal. The second rounding unit is configured to round the compensated output signal to output the integer data in the compensated output signal if the floating-point data exists in the compensated output signal, and store the floating-point data in a compensation register.

[0068] In some embodiments, such as this embodiment, the improvement device 200 for position input shaping further includes a first detection unit, a first calculation unit, and a first compensation unit.

[0069] Among them, the first detection unit is configured to confirm whether the target pulse number of the current displacement instruction is consistent with the actual output pulse number if it is detected that no data is output in the current control cycle. The first calculation unit is configured to calculate the difference between the target pulse number and the actual output pulse number to obtain a compensation value if the target pulse number is inconsistent with the actual output pulse number. The first compensation unit is configured to output compensation pulses based on the compensation value to make the actual output pulse number consistent with the target pulse number.

[0070] In some embodiments, such as this embodiment, the improvement device 200 for position input shaping further includes a second calculation unit and a second adjustment unit.

[0071] Among them, the second calculation unit is configured to confirm the input pulse number and the output pulse number of the current control cycle, and calculate the difference between the input pulse number and the output pulse number to obtain a real-time remainder. The second adjustment unit is configured to adjust the pulse input number of the next control cycle according to the real-time remainder.

[0072] In some embodiments, such as this embodiment, the second adjustment unit further includes a second confirmation unit, a third adjustment unit, and a fourth adjustment unit.

[0073] Among them, the second confirmation unit is configured to confirm whether the real-time remainder is positive. A third adjustment unit, configured to reduce the number of pulse inputs in the next control period according to the real-time remainder if the real-time remainder is positive; A fourth adjustment unit, configured to increase the number of pulse inputs in the next control period according to the real-time remainder if the real-time remainder is negative.

[0074] It should be noted that those skilled in the art can clearly understand that the specific implementation processes of the above-mentioned position input shaping improvement device and each unit can refer to the corresponding descriptions in the foregoing method embodiments. For the sake of convenience and brevity of description, they will not be elaborated herein.

[0075] The above-mentioned position input shaping improvement device can be implemented in the form of a computer program, and the computer program can run on a computer device as shown in Figure 12 shown.

[0076] Please refer to Figure 12 , Figure 12 which is a schematic block diagram of a computer device provided by an embodiment of the present application. It can be a terminal or a server. Among them, the terminal can be an electronic device with a communication function such as a smart phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, and a wearable device. The server can be an independent server or a server cluster composed of multiple servers.

[0077] Referring to Figure 12 , the computer device 300 includes a processor 302, a memory, and a network interface 305 connected through a system bus 301. Among them, the memory can include a non-volatile storage medium 303 and an internal memory 304.

[0078] The non-volatile storage medium 303 can store an operating system 3031 and a computer program 3032. When the computer program 3032 is executed, the processor 302 can be made to execute an improvement method for position input shaping.

[0079] The processor 302 is configured to provide computing and control capabilities to support the operation of the entire computer device 300.

[0080] The internal memory 304 provides an environment for the operation of the computer program 3032 in the non-volatile storage medium 303. When the computer program 3032 is executed by the processor 302, the processor 302 can be made to execute an improvement method for position input shaping.

[0081] The network interface 305 is configured to communicate with other devices. Those skilled in the art can understand that Figure 12The structure shown is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device 300 to which the solution of this application is applied. Specifically, the computer device 300 may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0082] It should be understood that in the embodiments of this application, the processor 302 may be a central processing unit (CPU), and the processor 302 may also be other general-purpose processors, digital signal processors (FSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0083] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a storage medium, and the storage medium is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the process steps of the embodiments of the above method.

[0084] Therefore, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program. When the computer program is executed by a processor, any embodiment of the above method for improving position input shaping is implemented.

[0085] The storage medium may be a variety of computer-readable storage media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disc that can store program codes.

[0086] Those of ordinary skill in the art will appreciate that the units and algorithm steps of the examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of the examples have been generally described in terms of function in the above description. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the present invention.

[0087] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0088] The steps in the method embodiments of the present invention can be adjusted, combined, and deleted according to actual needs. The units in the device embodiments of the present invention can be combined, divided, and deleted according to actual needs. In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0089] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0090] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0091] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

[0092] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An improved method for position input shaping, characterized in that, The method includes: Obtaining a position command sent by a host computer, and performing differential processing on the position command through a differential operator to obtain a differential signal; Inputting the differential signal into a preset shaper to enable the preset shaper to output a shaped position command; Performing integral processing and proportional processing on the shaped position command to obtain an output signal, and controlling the rotation angle of a servo motor according to the output signal to control the moving distance of a load; If it is detected that there is no data output in the current control cycle, confirming whether the target pulse number of the current displacement command is consistent with the actual output pulse number; If the target pulse number is inconsistent with the actual output pulse number, calculating the difference between the target pulse number and the actual output pulse number to obtain a compensation value; Outputting compensation pulses based on the compensation value to make the actual output pulse number consistent with the target pulse number.

2. The method according to claim 1, characterized in that, The step of performing integral processing and proportional processing on the shaped position command to obtain an output signal includes: Performing integral processing on the shaped position through an integral operator to obtain an integral signal, and performing proportional processing on the position command through a proportional operator to obtain a proportional signal; Summing the integral signal and the proportional signal to obtain the output signal.

3. The method according to claim 1, characterized in that The method further includes: Performing floating-point data detection on the output signal to confirm whether there is floating-point data in the output signal; If there is floating-point data in the output signal, performing floating-point compensation on the output signal.

4. The method according to claim 3, wherein The step of performing floating-point compensation on the output signal includes: Rounding the output signal in the current control cycle to output the integer data of the output signal, and storing the floating-point data in a compensation register; Adding the floating-point data of the previous control cycle to the output signal of the next control cycle in the next control cycle to obtain a compensated output signal; If there is floating-point data in the compensated output signal, rounding the compensated output signal to output the integer data in the compensated output signal, and storing the floating-point data in a compensation register.

5. The method according to claim 1, characterized in that, The method further includes: Confirming the input pulse number and the output pulse number of the current control cycle, and calculating the difference between the input pulse number and the output pulse number to obtain a real-time remainder; Adjusting the pulse input number of the next control cycle according to the real-time remainder.

6. The method according to claim 5, wherein The step of adjusting the pulse input number of the next control cycle according to the real-time remainder includes: Confirming whether the real-time remainder is positive; If the real-time remainder is positive, reducing the pulse input number of the next control cycle according to the real-time remainder; If the real-time remainder is negative, increasing the pulse input number of the next control cycle according to the real-time remainder.

7. An improved device for position input shaping, characterized in that, The device includes: A first acquisition unit, configured to acquire a position command sent by a host computer, and perform differential processing on the position command through a differential operator to obtain a differential signal; A first input unit, configured to input the differential signal into a preset shaper to enable the preset shaper to output a shaped position command; An integral ratio unit for performing integral processing and ratio processing on the shaped position command to obtain an output signal and controlling the rotation angle of the servo motor according to the output signal to control the moving distance of the load; A first detection unit for confirming whether the target pulse number of the current displacement command is consistent with the actual output pulse number if no data output is detected in the current control cycle; A first calculation unit for calculating the difference between the target pulse number and the actual output pulse number to obtain a compensation value if the target pulse number is inconsistent with the actual output pulse number; A first compensation unit for outputting compensation pulses based on the compensation value to make the actual output pulse number consistent with the target pulse number.

8. A computer device, characterized in that, The computer device includes a memory and a processor connected to the memory; the memory is used for storing computer programs; the processor is used for running the computer programs stored in the memory to execute the steps of the method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1-6 can be implemented.

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