Rotor synchronization control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a rotor synchronization control method and device, electronic equipment and a storage medium, and the method comprises the steps: firstly, obtaining a motion observation value and a temperature value of a target rotor at a current moment; then, the temperature value is substituted into a temperature error model to obtain a temperature error value, and the temperature error model is obtained based on the at least one motion observation value and a theoretical motion value corresponding to the at least one temperature value; and finally, a compensation observation value is obtained based on the difference value between the temperature error value and the motion observation value, and synchronous control is performed on the target rotor based on the compensation observation value, so that more accurate and reliable synchronous operation control can be performed on the target rotor by using the corrected compensation observation value. And the accuracy and the reliability of synchronous operation control on the target rotor in the magnetic drive conveying system are improved.

Description

Technical Field

[0001] The present application relates to the field of control technology, and in particular to a method, device, electronic device and storage medium for synchronous control of a mover. Background Art

[0002] In the field of industrial automation, there are a large number of application scenarios based on motion state control, such as tracking other actuators, linking with other actuators, and collaborating with other actuators. This controlled motion with other actuators according to certain constraint relationships is called synchronous motion.

[0003] In related technologies, synchronous motion control of a mover on a maglev conveyor track is typically performed by generating corresponding synchronous control parameters based on the difference between the mover's operating parameters obtained through real-time observation and the synchronous operating parameters required by the control device. The stator is then controlled according to the synchronous control parameters, and the magnitude of the magnetic field generated by the stator is changed to provide the mover with the required synchronous control thrust, thereby achieving corresponding synchronous control operations on the mover. However, since the temperature of the mover changes during its motion due to movement or processing by the processing equipment, when the mover is observed, the deformation caused by the temperature causes an error between the observed operating parameters and the mover's real-time motion parameters. Consequently, after the mover is synchronously controlled using the generated synchronous control parameters, the mover cannot accurately achieve the synchronous operating parameters required by the control device. Summary of the Invention

[0004] The embodiments of the present application provide a mover synchronous control method, device, electronic device, and storage medium, which can improve the accuracy of synchronous operation control of the mover in a magnetic drive conveying system.

[0005] To achieve the above-mentioned objectives, a first aspect of an embodiment of the present application provides a method for synchronous control of a mover, the method comprising:

[0006] Obtain the motion observation value and temperature value of the target mover at the current moment;

[0007] Substituting the temperature value into a temperature error model to obtain a temperature error value, wherein the temperature error model is obtained based on at least one motion observation value and a theoretical motion value corresponding to the at least one temperature value;

[0008] Based on the difference between the temperature error value and the motion observation value, a compensation observation value is obtained, and the target mover is synchronously controlled based on the compensation observation value.

[0009] In some embodiments, the step of constructing the temperature error model includes:

[0010] Obtain a first motion observation value and a first temperature value at a first sampling time, and obtain a second motion observation value and a second temperature value at a second sampling time, where the first sampling time and the second sampling time are adjacent times;

[0011] Obtain a first theoretical motion value corresponding to the first temperature value, and obtain a second theoretical motion value corresponding to the second temperature value;

[0012] Generate the temperature error model based on the first motion observation value, the first theoretical motion value, the first temperature value, the second motion observation value, the second theoretical motion value, and the second temperature value.

[0013] In some embodiments, the generating the temperature error model based on the first motion observation value, the first theoretical motion value, the first temperature value, the second motion observation value, the second theoretical motion value, and the second temperature value includes:

[0014] Obtain a first motion observation difference based on the difference between the first motion observation value and the first theoretical motion value;

[0015] Obtain a second motion observation difference based on the difference between the second motion observation value and the second theoretical motion value;

[0016] Obtain a temperature sampling difference based on the difference between the second temperature value and the first temperature value;

[0017] Obtain a temperature difference parameter based on the difference between the temperature parameter and the first temperature value;

[0018] Obtain the temperature error model based on the first motion observation difference, the second motion observation difference, the temperature sampling difference, and the temperature difference parameter.

[0019] In some embodiments, the obtaining the temperature error model based on the first motion observation difference, the second motion observation difference, the temperature sampling difference, and the temperature difference parameter includes:

[0020] Obtain a motion-temperature ratio difference by dividing the difference between the second motion observation difference and the first motion observation difference by the temperature sampling difference;

[0021] Obtain the temperature error model by multiplying the temperature difference parameter by the motion-temperature ratio difference and then adding the first motion observation difference.

[0022] In some embodiments, the synchronously controlling the target mover based on the compensated observation value includes:

[0023] Obtain the mover motion pattern of the target mover;

[0024] Based on the mover motion pattern and the compensation observation value, calculate the predicted observation value of the target mover at the control moment, where the control moment is after the current moment;

[0025] Perform synchronous control on the target mover based on the predicted observation value at the control moment.

[0026] In some embodiments, calculating the predicted observation value of the target mover at the control moment based on the mover motion pattern and the compensation observation value includes:

[0027] When the mover motion pattern satisfies the double S-shaped motion law, based on the kinematic law prediction model and the compensation observation value, obtain the predicted observation value corresponding to the control moment;

[0028] When the mover motion pattern satisfies the polynomial motion law, based on the fitting kinematic law model and the compensation observation value, obtain the predicted observation value corresponding to the control moment.

[0029] In some embodiments, the obtaining the motion observation value of the target mover at the current moment includes:

[0030] Obtain the initial motion observation value of the target mover at the current moment;

[0031] Perform filtering processing on the initial motion observation value based on a filtering algorithm to obtain the motion observation value, where the filtering algorithm includes at least one of a mean filtering method, a median filtering method, a Gaussian filtering method, and a first-order lag filtering method.

[0032] In some embodiments, the performing synchronous control on the target mover based on the compensation observation value includes:

[0033] Obtain a synchronous control function;

[0034] Substitute the compensation observation value into the synchronous control function to obtain synchronous control data, and perform synchronous control on the target mover based on the synchronous control data.

[0035] To achieve the above object, a second aspect of the embodiments of the present application proposes a mover synchronous control device, where the device includes:

[0036] A data acquisition module, configured to acquire the motion observation value and temperature value of a target mover at the current moment;

[0037] An error calculation module, configured to substitute the temperature value into a temperature error model to obtain a temperature error value, where the temperature error model is obtained based on at least one motion observation value and a theoretical motion value corresponding to at least one temperature value;

[0038] A compensation control module, configured to obtain a compensation observation value based on a difference between the temperature error value and the motion observation value, and perform synchronous control on the target mover based on the compensation observation value.

[0039] To achieve the above object, a third aspect of the embodiments of the present application provides an electronic device, where the electronic device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the mover synchronous control method described in the first aspect is implemented.

[0040] To achieve the above object, a fourth aspect of the embodiments of the present application provides a storage medium, where the storage medium is a computer-readable storage medium, the storage medium stores a computer program, and when the computer program is executed by a processor, the mover synchronous control method described in the first aspect is implemented.

[0041] The mover synchronous control method, device, electronic device, and storage medium provided by the embodiments of the present application, the method includes: First, obtain a motion observation value and a temperature value of a target mover at the current moment; then, substitute the temperature value into a temperature error model to obtain a temperature error value, where the temperature error model is obtained based on at least one motion observation value and a theoretical motion value corresponding to at least one temperature value; finally, obtain a compensation observation value based on a difference between the temperature error value and the motion observation value, and perform synchronous control on the target mover based on the compensation observation value. The embodiments of the present application are directed to a target mover that is running in real time on a magnetic drive conveying system and carrying a workpiece, and use a temperature error model pre-generated by multiple motion observation values and corresponding theoretical motion values to calculate the observation error value corresponding to the target mover at the current real-time temperature value, so as to use the observation error value to correct the motion observation value obtained by real-time observation, so as to obtain a compensation observation value corresponding to the current accurate motion parameters of the target mover, so that the corrected compensation observation value can be used to perform more accurate and reliable synchronous operation control on the target mover, thereby improving the accuracy and reliability of synchronous operation control on the target mover in the magnetic drive conveying system.

[0042] Other features and advantages of the present application will be described in the subsequent specification, and part of them will become obvious from the specification, or will be understood by implementing the present application. The objectives and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the specification, claims, and drawings. Description of the Drawings

[0043] Figure 1It is a schematic structural diagram of a magnetic drive conveying system provided by an embodiment of the present application.

[0044] Figure 2 It is a flow chart of mover synchronous operation control in a related technology provided by another embodiment of the present application.

[0045] Figure 3 It is a flow chart of a mover synchronization control method provided by another embodiment of the present application.

[0046] Figure 4 It is Figure 3 The flow chart of step 301 in

[0047] Figure 5 It is a flow chart for constructing a temperature error model provided by another embodiment of the present application.

[0048] Figure 6 It is Figure 5 The flow chart of step 503 in

[0049] Figure 7 It is Figure 6 The flow chart of step 605 in

[0050] Figure 8 It is a flow chart for performing mover synchronization control at a control moment provided by another embodiment of the present application.

[0051] Figure 9 It is Figure 8 The flow chart of step 802 in

[0052] Figure 10 It is Figure 3 The flow chart of step 303 in

[0053] Figure 11 It is a schematic flow block diagram of mover synchronization control provided by an embodiment of the present application.

[0054] Figure 12 It is a schematic structural diagram of a mover synchronization control device provided by an embodiment of the present application.

[0055] Figure 13 It is a schematic hardware structure diagram of an electronic device provided by an embodiment of the present application. Specific Embodiments

[0056] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0057] It should be noted that although the functional modules are divided in the schematic diagram of the device and the logical sequence is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device or the flowchart.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0059] In the field of industrial automation, there are a large number of application scenarios based on motion state control. Typical examples include tracking other execution components, linking with other execution components, and collaborating with other execution components. This controlled motion that occurs with other execution components according to a certain constraint relationship is called synchronous motion. Synchronous motion often appears as a key process point in the manufacturing process. Since its motion must meet certain constraint relationships, it has high requirements for control accuracy. Otherwise, it may lead to defective products or even accidents. In synchronous motion, the actuator that serves as the motion reference or motion benchmark is called the main actuator, and its motion is called the main motion. The actuator that serves as the constrained motion is called the slave actuator, and its motion is called the slave motion.

[0060] Since synchronous motion is a constrained controlled motion based on the observed value of the main motion, its control accuracy depends on the observation accuracy of the motion state of the main actuator. Therefore, due to the limitation of the observation conditions, there is a deviation between the actual value and the ideal value of the observed main motion state, resulting in a decrease in synchronous control accuracy and making it difficult to meet the high-precision synchronous control requirements.

[0061] In the related art, the synchronous motion control of the mover on the maglev conveying track usually generates corresponding synchronous control parameters according to the difference between the operating parameters of the mover obtained by real-time observation and the synchronous operating parameters required by the control device, so as to control the stator according to the synchronous control parameters, change the magnitude of the magnetic field generated by the stator, and thus provide the required synchronous control thrust for the mover, so as to achieve the corresponding synchronous control operation for the mover. However, during the motion of the mover, due to the change in temperature caused by its motion or the processing of the processing equipment, when observing the mover, due to the deformation caused by temperature, the observed operating parameters have an error with the real-time motion parameters of the mover. Furthermore, after the synchronous motion control of the mover is performed through the generated synchronous control parameters, the mover cannot accurately reach the synchronous operating parameters required by the control device.

[0062] In order to improve the accuracy of the synchronous operation control of the mover in the magnetic drive conveying system, in the embodiments of the present application, for the target mover that is running in real time on the magnetic drive conveying system and carrying a workpiece, a temperature error model pre-generated from multiple motion observation values and corresponding theoretical motion values is used to calculate the observation error value corresponding to the target mover at the current real-time temperature value. Then, the observation error value is used to correct the motion observation value obtained by real-time observation, so as to obtain a compensated observation value corresponding to the current accurate motion parameters of the target mover, so that the target mover can be more accurately and reliably synchronously operated and controlled by using the corrected compensated observation value, thereby improving the accuracy and reliability of the synchronous operation control of the target mover in the magnetic drive conveying system.

[0063] To better illustrate the mover synchronous control method provided by the embodiments of the present application, this embodiment first describes the magnetic drive conveying system to which the mover synchronous control method is applied. Refer to Figure 1 As shown, it is a schematic structural diagram of a magnetic drive conveying system provided by the embodiments of the present application. As Figure 1 shown, the magnetic drive conveying system includes a magnetic levitation conveying track and at least one mover running on the magnetic levitation conveying track. The mover carries a workpiece. During the operation of these movers, there are processing devices to process the workpieces carried on these movers. And in order to meet the reasonable operation planning of the movers on the magnetic levitation conveying track, it is necessary to observe the motion parameters of the movers according to the data observer arranged near the magnetic levitation conveying track, and execute relevant synchronous operation control according to the observed motion data and the operation data required for the next processing operation.

[0064] Refer to Figure 2 , which is a flowchart of the mover synchronous operation control in a related technology provided by the embodiments of the present application. As Figure 2 shown in, first, the observation object (i.e., the main actuator, which is also the target mover) in the magnetic drive conveying system is determined, and the observation information (i.e., the motion parameters, including motion speed, motion acceleration, jerk, etc.) is determined; next, a certain method and device are used to perform the observation to obtain the current observation value of the observation object (such as using a speed sensor to observe the speed of the target mover), and the observation data is transmitted to the system (i.e., the intelligent terminal connected to the magnetic drive conveying system), and then the system inputs the current observation value of the observation object into the synchronous calculator, calculates the synchronous control data according to the constraint rules, and outputs the synchronous control data to the synchronous actuator to perform synchronous motion until the observation object completes the synchronous motion.

[0065] However, in the process of the synchronous operation control as Figure 2 shown, when observing the motion information of the observation object, there may be some observation deviations, resulting in inaccurate and unreliable synchronous operation control. The reasons are as follows.

[0066] 1. Environmental interference: The observation equipment may be affected by the environment and generate systematic errors. A typical example is the deformation caused by temperature. Such errors have a significant impact on high-precision synchronous motion control and need to be corrected and compensated.

[0067] 2. Observation noise: Subject to the observation method and equipment, there are noise data in the observed values of the observed objects. In terms of the observation method: for example, when it is expected to observe high-quality theoretical data of the observed object, due to technical limitations, only the actual data of the observed object can be observed and used to replace the theoretical data, which will inevitably cause observation deviation; in terms of the observation equipment, such as the measurement noise deviation data introduced by the low signal-to-noise ratio of the observation equipment, and the dynamic observation errors caused by the poor repeatability of the observation equipment.

[0068] 3. Data delay: In synchronous motion control, based on the observed values of the observed objects in the current cycle, the synchronous control data for the next cycle is calculated, and it is expected that the movements of the synchronous actuators in the next cycle meet the given constraints. In this processing logic, the synchronous control data always lags behind the observed values of the observed objects, typically by 1 cycle, resulting in the movements of the synchronous actuators in the same cycle not being able to strictly meet the given constraints, with errors, and this error is related to the magnitude of the characteristic change of the observed object during the delay cycle, and may be extremely significant in some cases.

[0069] Based on the above analysis of the reasons for the errors in the observed values, the embodiments of the present application provide a mover synchronous control method to overcome the above problems. Based on the above-mentioned magnetic drive conveying system, the mover synchronous control method in the embodiments of the present application will be specifically described below. Refer to Figure 3 which is an optional flowchart of the mover synchronous control method provided by the embodiments of the present application. Figure 3 The method in may include but is not limited to steps 301 to 303. At the same time, it can be understood that the embodiments of the present application do not specifically limit the order of steps 301 to 303 in, and the order of steps can be adjusted according to actual needs, or some steps can be reduced or added. The mover synchronous control method provided in the embodiments of the present application can be applied to intelligent terminals, servers, computers, etc. connected to the magnetic drive conveying system. Figure 3

[0070] Step 301: Obtain the motion observed value and temperature value of the target mover at the current moment.

[0071] The following will describe step 301 in detail.

[0072] ​In some embodiments, in order to perform appropriate synchronous operation control on the target mover, it is necessary to observe the motion characteristic data (including position, velocity, acceleration, and jerk) of the target mover at the current moment (which is also the observation moment) using relevant observation devices in the magnetic drive conveying system, so as to obtain the motion observation value S of the target mover at the current moment t t , which includes the observed position Pt, the observed velocity Vt, the observed acceleration At, and the observed jerk Jt.

[0073] In some embodiments, in order to avoid noise data in the observed motion observation value data, so as to reduce the accuracy of the observed motion observation value, it is also necessary to perform filtering processing on the observation data, which is described in detail as follows.

[0074] Referring to Figure 4 , to obtain the motion observation value of the target mover at the current moment, the following steps 401 to 402 are included.

[0075] Step 401: Obtain the initial motion observation value of the target mover at the current moment.

[0076] Step 402: Based on the filtering algorithm, filter the initial motion observation value to obtain the motion observation value.

[0077] The following will describe steps 401 to 402 in detail.

[0078] In some embodiments, at the current moment, relevant observation devices in the magnetic drive conveying system are used to observe the motion characteristic data of the target mover, so as to obtain the initial motion observation value S transmitted by the observation device t0 After that, the initial motion observation value S t0 is input into the synchronous control filter and filtered using the filtering algorithm to obtain the motion observation value S after removing the noise data t .

[0079] Among them, the synchronous control filter is used to filter the initial observation data of the observed object (i.e., the initial motion observation value), so as to remove the noise information in the data and retain the original true characteristic information. At the same time, it smooths the data and improves the stability of control. In the selection of the filtering algorithm, it should be selected in combination with the characteristics of the synchronous control application scenario and the observation information, and there is a certain degree of flexibility. The present invention does not make a limitation. Preferably, the filtering algorithm can adopt the mean filtering method, the median filtering method, the Gaussian filtering method, and the first-order lag filtering method. These filtering algorithms are as follows.

[0080] Among them, the mean filtering method is: assuming that the observed value is Pi and the filtering window is N, then the filtered observed value is

[0081] The median filtering method is as follows: Assume that the observed value is Pi and the filtering window is N. Then the filtered observed value Pf = Mean(P(i - N + 1), …, P(i)), where Mean(P(i - N + 1), …, P(i)) is the function for calculating the median of the sequence.

[0082] The Gaussian filtering method is as follows: Assume that the observed values are (Ti, Pi) and the filtering window is N. Then the filtered observed value at time T is shown in the following formula (1).

[0083]

[0084] The first-order lag filtering method is as follows: Assume that the processed observed value in the previous cycle is P(t - 1), the current cycle observed value is Pi, and the control factor is α. Then the filtered observed value is Pt = α * Pi + (1 - α) * P(t - 1).

[0085] Through the above steps 401 to 402, the initial motion observed values obtained by the observation device are filtered by the filtering algorithm to remove the noise data in the motion observed values, thereby avoiding the observation deviation caused by the noise data, so as to obtain more accurate motion observed values, which is convenient for improving the accuracy and reliability of the mover synchronous motion control when using the motion observed values for subsequent mover synchronous motion control.

[0086] In addition, in order to compensate for the observation error caused by the deformation caused by the ambient temperature value, when obtaining the motion observed value of the target mover at the current moment, it is also necessary to obtain the temperature value of the target mover at the current moment, so as to calculate the corresponding temperature influence error using the temperature value for subsequent use.

[0087] Step 302: Substitute the temperature value into the temperature error model to obtain the temperature error value.

[0088] The following is a detailed description of step 302.

[0089] In some embodiments, to compensate for the observation error caused by the deformation caused by the ambient temperature value, a temperature error model E(Temp) is pre-constructed based on the motion observed values at two sampling times, the temperature values corresponding to the two motion observed values, and the theoretical motion values corresponding to the temperature values, so as to obtain the motion observed value of the target mover and its corresponding temperature value Temp t After that, use the synchronous control compensator to substitute the temperature value Temp t into the temperature error model E(Temp) to obtain the temperature error value E(Temp t ) corresponding to compensating for the observation error caused by the deformation caused by the ambient temperature value.

[0090] Among them, the synchronous control compensator is used to compensate for the systematic error of the observed value caused by environmental factors such as temperature. An off-line error model establishment and dynamic compensation strategy are adopted.

[0091] Next, how to construct the temperature error model will be further described.

[0092] Referring to Figure 5 , the construction of the temperature error model includes the following steps 501 to 503.

[0093] Step 501: Obtain the first motion observation value and the first temperature value at the first sampling moment, and obtain the second motion observation value and the second temperature value at the second sampling moment.

[0094] Step 502: Obtain the first theoretical motion value corresponding to the first temperature value, and obtain the second theoretical motion value corresponding to the second temperature value.

[0095] Step 503: Generate a temperature error model based on the first motion observation value, the first theoretical motion value, the first temperature value, the second motion observation value, the second theoretical motion value, and the second temperature value.

[0096] The following is a detailed description of steps 501 to 503.

[0097] In some embodiments, first collect the sampling data D = {D0, D1, D2,..., Dn} at multiple sampling moments, and then use the sampling data of the target mover corresponding to the first sampling moment ti and the second sampling moment tn of two adjacent moments as the reference data for constructing the temperature error model, which includes the first motion observation value Sai and the first temperature value Tempi corresponding to the first sampling moment, and the second motion observation value San and the second temperature value Tempn corresponding to the second sampling moment.

[0098] In addition, usually, for the operation process of the mover, there are optimal operation theoretical values corresponding to different temperature values, which can be obtained through the fixed parameters of the mover or multiple measurements. Therefore, in order to improve the accuracy of temperature error calculation, it is also necessary to determine the first theoretical motion value Sti corresponding to the first temperature value Tempi and the second theoretical motion value Stn corresponding to the second temperature value Tempn from multiple motion theoretical values.

[0099] Next, based on the sampling data set corresponding to the first sampling moment ti and the second sampling moment tn of two adjacent moments (including the first motion observation value Sai, the first theoretical motion value Sti, the first temperature value Tempi, the second motion observation value San, the second theoretical motion value Stn, and the second temperature value Tempn), construct a temperature error model, which is specifically described as follows.

[0100] Reference Figure 6 , based on the first motion observation value, the first theoretical motion value, the first temperature value, the second motion observation value, the second theoretical motion value, and the second temperature value, generate a temperature error model, including the following steps 601 to 605.

[0101] Step 601: Obtain a first motion observation difference based on the difference between the first motion observation value and the first theoretical motion value.

[0102] Step 602: Obtain a second motion observation difference based on the difference between the second motion observation value and the second theoretical motion value.

[0103] Step 603: Obtain a temperature sampling difference based on the difference between the second temperature value and the first temperature value.

[0104] Step 604: Obtain a temperature difference parameter based on the difference between the temperature parameter and the first temperature value.

[0105] Step 605: Obtain a temperature error model based on the first motion observation difference, the second motion observation difference, the temperature sampling difference, and the temperature difference parameter.

[0106] The following gives a detailed description of steps 601 to 605.

[0107] After determining the sampling data groups corresponding to the first sampling moment t_i and the second sampling moment t_n at two adjacent moments (including the first motion observation value Sa_i, the first theoretical motion value St_i, the first temperature value Temp_i, the second motion observation value Sa_n, the second theoretical motion value St_n, and the second temperature value Temp_n), first, obtain a first motion observation difference (Sa_i - Sa_n) based on the difference between the first motion observation value Sa_i and the first theoretical motion value St_i. At the same time, obtain a second motion observation difference (St_i - St_n) based on the difference between the second motion observation value Sa_n and the second theoretical motion value St_n, and obtain a temperature sampling difference (Temp_n - Temp_i) based on the difference between the second temperature value Temp_n and the first temperature value Temp_i, and obtain a temperature difference parameter (Temp - Temp_i) based on the difference between the variable temperature parameter Temp and the first temperature value Temp_i.

[0108] Then, further, generate a temperature error model based on the first motion observation difference (Sa_i - Sa_n), the second motion observation difference (St_i - St_n), the temperature sampling difference (Temp_n - Temp_i), and the temperature difference parameter (Temp - Temp_i), which is described in detail as follows.

[0109] Reference Figure 7, a temperature error model is obtained based on the first motion observation difference, the second motion observation difference, the temperature sampling difference, and the temperature difference parameter, including the following steps 701 to step 702.

[0110] Step 701: Divide the difference between the second motion observation difference and the first motion observation difference by the temperature sampling difference to obtain the motion temperature ratio difference.

[0111] Step 702: Multiply the temperature difference parameter by the motion temperature ratio difference, and then add the first motion observation difference to obtain the temperature error model.

[0112] The following provides a detailed description of steps 701 to 702.

[0113] After obtaining the first motion observation difference (Sa_i - Sa_n), the second motion observation difference (St_i - St_n), the temperature sampling difference (Temp_n - Temp_i), and the temperature difference parameter (Temp - Temp_i), divide the difference between the second motion observation difference (St_i - St_n) and the first motion observation difference (Sa_i - Sa_n) by the temperature sampling difference to obtain the motion temperature ratio difference (Temp - Temp_i), and multiply the temperature difference parameter by the motion temperature ratio difference (Temp - Temp_i), and then add the first motion observation difference (Sa_i - Sa_n) to obtain the temperature error model E(Temp), as shown in the following formula (2).

[0114]

[0115] Through the above steps 501 to 503, steps 601 to 605, and steps 701 to 702, using the motion observation values and temperature values corresponding to two adjacent sampling moments, as well as the optimal theoretical value of the mover operation corresponding to the temperature value, by calculating the differences between them, the relationship between the temperature value and the motion value is accurately explored, and further using the temperature parameter as a variable parameter, a temperature error model that can be used to accurately calculate the motion value corresponding to different temperature values for accurate compensation is constructed, thereby improving the accuracy and reliability of the synchronous operation control of the mover.

[0116] Step 303: Obtain a compensated observation value based on the difference between the temperature error value and the motion observation value, and perform synchronous control on the target mover based on the compensated observation value.

[0117] The following provides a detailed description of step 303.

[0118] In some embodiments, after obtaining the temperature value Temp of the target mover at the current moment t the corresponding temperature error value E(Temp t)After that, based on E(Temp t ) and the difference between the obtained motion observation value St, the precise compensated observation value after compensating for the error caused by the temperature factor is so as to facilitate subsequent synchronous operation control of the target mover using this compensated observation value.

[0119] In some embodiments, due to control delay (such as the fine interpolation period) in synchronous operation control, and also because after calculating the compensated observation value from the operation data collected at the current moment, the operation control of the mover can only be performed at the next cycle moment (i.e., the control moment). Also, because the control moment is after the current moment, the corresponding mover operation parameters will inevitably change. Therefore, the compensated observation value also needs to be input into the synchronous control predictor to predict the predicted observation value corresponding to the control moment, so as to facilitate subsequent synchronous operation control of the target mover according to the predicted observation value at the control moment. How to perform motion prediction on the target mover will be further described below.

[0120] Referring to Figure 8 , synchronous control of the target mover based on the compensated observation value includes the following steps 801 to step 803.

[0121] Step 801: Obtain the mover motion mode of the target mover.

[0122] Step 802: Based on the mover motion mode and the compensated observation value, calculate the predicted observation value of the target mover at the control moment.

[0123] Step 803: Perform synchronous control on the target mover at the control moment based on the predicted observation value.

[0124] The following will describe steps 801 to 803 in detail.

[0125] The synchronous control predictor is based on the latest observation value and historical observation values of the observation object (i.e., the target mover), and predicts the state of the observation object in the next control cycle (i.e., the control moment) in advance, so as to calculate the synchronous control data and compensate for the synchronous error caused by the delay of the observation data.

[0126] The problem model of the synchronous control predictor can be abstracted as follows. Given that the direct observation value of the observation object at the current moment t is The observation values in the past N cycles are {S t-N+1 , S t-N+2 , ……, S t-1}, and the theoretical state at the next cycle tn moment is unknown as By predicting the state at the next cycle tn moment (i.e., the control moment), the predicted state is obtained, such that the theoretical state at the tn moment Be as consistent as possible with the predicted state Be as consistent as possible

[0127] In synchronous motion control, the observed values are generally the motion states: time (T), position (P), velocity (V), acceleration (A), and jerk (J). When a certain motion state cannot be directly observed, it can be indirectly calculated through numerical differentiation or numerical integration. Further, the synchronous motion control predictor model can be described as: Given the motion state of the observed object at time t and the observed values of the motion states in the past N cycles {S t-N+1 , S t-N+2 , ……, S t-1}, predict the motion state of the observed object at the future time tn to make it as consistent as possible with the theoretical value of the motion state at time tn Be as consistent as possible

[0128] Therefore, in this embodiment, it is first necessary to determine the mover operation mode of the target mover, so as to facilitate calculating the predicted observed value of the target mover at the control time according to the mover motion mode of the target mover and the compensation observed value as described in detail below

[0129] Refer to Figure 9 , and calculate the predicted observed value of the target mover at the control time based on the mover motion mode and the compensation observed value, including the following steps 901 to 902

[0130] Step 901: When the mover motion mode satisfies the double S-shaped motion law, based on the kinematic law prediction model and the compensation observed value, obtain the predicted observed value corresponding to the control time

[0131] Step 902: When the mover motion mode satisfies the polynomial motion law, based on the fitting kinematic law model and the compensation observed value, obtain the predicted observed value corresponding to the control time

[0132] The following is a detailed description of steps 901 to 902<0,

[0133] In some embodiments, when the motion feature change corresponding to the mover motion mode of the target mover is continuous and satisfies the double S-shaped motion law, based on the kinematic law prediction model shown in the following formula (3), and substitute the compensation observed value into the kinematic law prediction model (3) for prediction calculation, so as to obtain the predicted observed value S tm corresponding to the control time

[0134]

[0135] Among them, the compensation observed value Including the compensation position value corresponding to the current moment tn Compensation speed value Compensation acceleration value And the compensation jerk value Predicted observation value S tm Including the predicted position value Ptm, predicted speed value Vtm, predicted acceleration value Atm, and predicted jerk value Jtm corresponding to the predicted moment tm.

[0136] When the change in the motion characteristics corresponding to the mover motion mode of the target mover is continuous and satisfies the polynomial motion law, the basic idea is to perform polynomial fitting on the obtained multiple compensation observation values to obtain the fitting kinematic law model of the target mover as shown in the following formula (4), and then substitute the compensation observation values into the fitting kinematic law model (4) for prediction calculation, so as to obtain the predicted observation value S corresponding to the control moment tm = fm(tm).

[0137] fm(t) = a0 + a1*(t - t0) + a2*(t - t0) 2 + a3*(t - t0) 3 + a4*(t - t0) 4 + a5*(t - t0) 5 (4)

[0138] Among them, the boundary conditions are: the fitting window width is l, the starting boundary is the relevant data of the first compensation observation value {t0, P0, V0, A0, J0} = {t - l, P t-l , V t-l , A t-l , J t-l}, and the ending boundary is the relevant data of the last compensation observation value {t1, P1, V1, A1, J1} = {t, P t , V t , A t , J t}.

[0139] In addition, {a0, a1, a2, a3, a4, a5} are relevant fitting parameters, which are specifically obtained as shown in the following formula (5).

[0140]

[0141] Among them, T = t1 - t0, q0 = P0, h = P1 - P0.

[0142] Through the above steps 801 to 803, and steps 901 to 902, for the mover operation law of the target mover, predictive calculations are performed using the corresponding kinematic model and the current predicted observation values to accurately obtain the predicted observation values corresponding to the control moment, so as to avoid the inaccurate synchronous control caused by the error of the motion observation values between the actual control moment and the current moment, facilitating subsequent use of the predicted observation values to perform synchronous operation control on the target mover at the control moment, thereby improving the accuracy and reliability of the synchronous operation control of the mover in the magnetic drive conveying system.

[0143] Referring to Figure 10 , based on the compensation observation value to perform synchronous control on the target mover, further includes the following steps 1001 to 1002.

[0144] Step 1001: Obtain the synchronous control function.

[0145] Step 1002: Substitute the compensation observation value into the synchronous control function to obtain the synchronous control data, and perform synchronous control on the target mover based on the synchronous control data.

[0146] The following gives a detailed description of steps 1001 to 1002.

[0147] In some embodiments, after obtaining the compensation observation value corresponding to the current moment or the compensation observation value corresponding to the control moment, input the compensation observation value (or the compensation observation value) into the synchronous calculator, and use the synchronous control function therein to calculate the corresponding synchronous control data, thereby performing synchronous control on the target mover based on the synchronous control data.

[0148] It can be understood that the synchronous calculator realizes the function of calculating the synchronous control data according to the observation values of the observation object. Typically, the observation values of the observation object and the synchronous control data satisfy a certain synchronous function relationship F, which is determined according to the physical relationship and specific scenario problems, and is typically described in the form of polynomials, trigonometric functions, tables, etc. Herein, the step axis is determined. Substitute the processed observation values of the observation object into the function relationship F to obtain the synchronous control data.

[0149] For example, linear relationship: Assume there is a linear relationship between the position P of the observed object and the synchronization control data U, which can be expressed as: U = kP, where k is the proportionality constant. Proportional relationship: If the speed V of the observed object is proportional to the control data U, it can be expressed as: U = cV, where c is the proportionality coefficient. Differential relationship: For the case where control is required based on the rate of change of position (i.e., speed), the following relationship may exist: U = k(dP / dt), where k is the proportionality coefficient, and (dP / dt) represents the time derivative of position P, i.e., speed. And other integral relationships, polynomial relationships, exponential relationships, sine wave relationships, PID control relationships, etc. These synchronization function relationships can be adjusted and optimized according to specific application scenarios and control requirements to achieve the best synchronization effect. In practical applications, the specific parameter values of these functions may need to be determined through experimental data.

[0150] Specifically, assume that the observed value of the observed object after processing is X, the synchronization control data is Y, and the synchronization function relationship is F. Substituting the observed value X of the observed object after processing into the synchronization function relationship F, the synchronization control data Y = F(X) can be obtained. Since the synchronization function relationship F is related to the specific scenario and the selected physical model, it has complexity and flexibility, and can be implemented in the embodiments of this application without limitation.

[0151] Refer to Figure 11 , which is a schematic flowchart of mover synchronization control provided by the embodiments of this application. As Figure 11 shown in, corresponding to the above mover synchronization control method, the process of synchronously operating and controlling the observed object (i.e., the target mover) in the magnetic drive conveying system includes the following eight steps.

[0152] 1. Determine the synchronization control observed object and observation information. In synchronous motion control, usually the main shaft (i.e., the target mover) is used as the observed object, and the motion characteristics of the main shaft (position P, speed V, acceleration A, jerk J) are used as the observation information, and the numerical values of the motion characteristics (position P, speed V, acceleration A, jerk J) of the main shaft at a specified moment are used as the observed values.

[0153] 2. The second step: Perform observation to obtain the original observed value. In synchronous motion control, usually hardware devices such as grating rulers, magnetic grating rulers, and trackers are used to observe the motion characteristics (observation characteristics) of the main shaft (observed object) to obtain the original data information reflecting the motion state of the main shaft, and then the original information reflecting the motion state of the main shaft is transmitted to the motion control system through methods such as pulse modules and field buses to obtain the original observed value.

[0154] 3. The original observations are processed to obtain processed observations. In the embodiments of the present application, there is no requirement for the order of the synchronous control denoising process, the synchronous control delay process, and the synchronous control compensation process. Preferably, the processing flow may be to first perform the synchronous control denoising process, then perform the synchronous control compensation process, and finally perform the synchronous control delay process.

[0155] 3.1. Synchronous control denoising process: The synchronous control denoising process is performed in the synchronous control filter. Using the aforementioned filtering strategy, the high-frequency noise components in the original observations are removed to obtain more real, reliable, and smooth processed observation data.

[0156] 3.2. Synchronous control compensation process: The synchronous control compensation process is performed in the synchronous control compensator. Using the aforementioned compensation strategy, the systematic deviation caused by factors such as environmental temperature is compensated to obtain more accurate observations.

[0157] 3.3. Synchronous control delay process: The synchronous control delay process is performed in the synchronous control predictor. Using the aforementioned prediction algorithm, based on the latest and historical observations of the observed object, the state of the observed object at a future moment is predicted. Preferably, a prediction algorithm based on kinematics is used.

[0158] 4. Perform synchronous calculation: The processed observations of the observed object are input into the synchronous calculator, and synchronous control data is calculated in the synchronous calculator according to the given constraint rules.

[0159] 5. Perform synchronous movement: The calculated synchronous control data is sent to the synchronous movement actuator to drive the synchronous movement actuator to achieve synchronous movement.

[0160] 6. Synchronous analysis: Collect and detect the motion characteristics of each synchronous object, and compare and analyze the synchronous accuracy.

[0161] 7. Check whether synchronization is completed. If it is completed, jump to the eighth step; if it is not completed, jump to the second step and execute sequentially until synchronization is completed.

[0162] 8. Synchronization completed, release synchronization.

[0163] The key to the mover synchronous control method provided by the embodiments of this example lies in performing data processing on the original observation data before synchronous calculation with the main purpose of improving the accuracy of the observations, including a synchronous control filter for improving the noise problem in the observation data, a synchronous control predictor for improving the data delay problem, and a synchronous control compensator for improving the environmental interference error.

[0164] The mover synchronization control method, device, electronic device, and storage medium proposed in the embodiments of the present application. The method includes: First, obtain the temperature value of the target mover at the current moment, obtain the initial motion observation value of the target mover at the current moment, and perform filtering processing on the initial motion observation value based on a filtering algorithm to obtain a motion observation value. The filtering algorithm includes at least one of a mean filtering method, a median filtering method, a Gaussian filtering method, and a first-order lag filtering method; Then, obtain the first motion observation value and the first temperature value at the first sampling moment, and obtain the second motion observation value and the second temperature value at the second sampling moment. The first sampling moment and the second sampling moment are adjacent moments. Obtain the first theoretical motion value corresponding to the first temperature value, and obtain the second theoretical motion value corresponding to the second temperature value. Based on the difference between the first motion observation value and the first theoretical motion value, obtain the first motion observation difference. Based on the difference between the second motion observation value and the second theoretical motion value, obtain the second motion observation difference. Based on the difference between the second temperature value and the first temperature value, obtain the temperature sampling difference. Based on the difference between the temperature parameter and the first temperature value, obtain the temperature difference parameter. Based on the difference between the second motion observation difference and the first motion observation difference, divide by the temperature sampling difference to obtain the motion-temperature ratio difference. Based on the product of the temperature difference parameter and the motion-temperature ratio difference, add the first motion observation difference to obtain the temperature error model; Substitute the temperature value into the temperature error model to obtain the temperature error value. The temperature error model is obtained based on at least one motion observation value and the theoretical motion value corresponding to at least one temperature value; Finally, based on the difference between the temperature error value and the motion observation value, obtain the compensation observation value, and obtain the mover motion mode of the target mover. When the mover motion mode satisfies the double-S motion law, based on the kinematic law prediction model and the compensation observation value, obtain the predicted observation value corresponding to the control moment. When the mover motion mode satisfies the polynomial motion law, based on the fitting kinematic law model and the compensation observation value, obtain the predicted observation value corresponding to the control moment. The control moment is after the current moment. Obtain the synchronization control function, substitute the compensation observation value into the synchronization control function to obtain the synchronization control data, and perform synchronization control on the target mover based on the synchronization control data.

[0165] In an embodiment of the present application, for a target mover that operates in real time on a magnetic drive conveying system and carries a workpiece, by using a temperature error model pre-generated from multiple motion observation values and corresponding theoretical motion values, an observation error value corresponding to the target mover at the current real-time temperature value is calculated, so as to use the observation error value to correct the motion observation value obtained in real time, so as to obtain a compensated observation value corresponding to the current accurate motion parameters of the target mover, so that the target mover can be controlled for more accurate and reliable synchronous operation by using the corrected compensated observation value, thereby improving the accuracy and reliability of synchronous operation control of the target mover in the magnetic drive conveying system; in addition, the initial motion observation value obtained by the observation device is filtered by a filtering algorithm to remove the noise data in the motion observation value, so as to avoid the observation deviation caused by the noise data, so as to obtain a more accurate motion observation value, so as to improve the accuracy and reliability of mover synchronization when using the motion observation value for subsequent mover synchronous motion control; and, by using the motion observation values and temperature values corresponding to two adjacent sampling moments, and the best theoretical mover operation value corresponding to the temperature value, by calculating the difference therebetween, the relationship between the temperature value and the motion value is accurately mined, and further the temperature parameter is used as a variable parameter, so as to construct a temperature error model that can be used to accurately calculate the motion value corresponding to different temperature values for accurate compensation, thereby improving the accuracy and reliability of mover synchronous operation control; and, for the mover operation law of the target mover, predictive calculation is performed by using the corresponding kinematic model and the current predictive observation value, so as to accurately obtain the predictive observation value corresponding to the control moment, so as to avoid the situation of inaccurate synchronous control caused by the error of the motion observation value between the actual control moment and the current moment, so as to facilitate subsequent use of the predictive observation value to perform synchronous operation control on the target mover at the control moment, thereby improving the accuracy and reliability of mover synchronous operation control in the magnetic drive conveying system.

[0166] An embodiment of the present application further provides a mover synchronous control device, which can implement the above mover synchronous control method. Referring to Figure 12 , the device 1200 includes:

[0167] A data acquisition module 1210, configured to acquire a motion observation value and a temperature value of the target mover at the current moment;

[0168] An error calculation module 1220, configured to substitute the temperature value into the temperature error model to obtain a temperature error value, where the temperature error model is obtained based on at least one motion observation value and a theoretical motion value corresponding to at least one temperature value;

[0169] A compensation control module 1230, configured to obtain a compensated observation value based on the difference between the temperature error value and the motion observation value, and perform synchronous control on the target mover based on the compensated observation value.

[0170] In some embodiments, the error calculation module 1220 is further configured to:

[0171] Obtain a first motion observation value and a first temperature value at a first sampling moment, and obtain a second motion observation value and a second temperature value at a second sampling moment, where the first sampling moment and the second sampling moment are adjacent moments;

[0172] Obtain a first theoretical motion value corresponding to the first temperature value, and obtain a second theoretical motion value corresponding to the second temperature value;

[0173] Generate a temperature error model based on the first motion observation value, the first theoretical motion value, the first temperature value, the second motion observation value, the second theoretical motion value, and the second temperature value.

[0174] In some embodiments, the error calculation module 1220 is further configured to:

[0175] Obtain a first motion observation difference based on the difference between the first motion observation value and the first theoretical motion value;

[0176] Obtain a second motion observation difference based on the difference between the second motion observation value and the second theoretical motion value;

[0177] Obtain a temperature sampling difference based on the difference between the second temperature value and the first temperature value;

[0178] Obtain a temperature difference parameter based on the difference between the temperature parameter and the first temperature value;

[0179] Obtain a temperature error model based on the first motion observation difference, the second motion observation difference, the temperature sampling difference, and the temperature difference parameter.

[0180] In some embodiments, the error calculation module 1220 is further configured to:

[0181] Obtain a motion-temperature ratio difference by dividing the difference between the second motion observation difference and the first motion observation difference by the temperature sampling difference;

[0182] Obtain a temperature error model by multiplying the temperature difference parameter by the motion-temperature ratio difference and then adding the first motion observation difference.

[0183] In some embodiments, the compensation control module 1230 is further configured to:

[0184] Obtain the mover motion mode of the target mover;

[0185] Calculate a predicted observation value of the target mover at a control moment based on the mover motion mode and the compensation observation value, where the control moment is after the current moment;

[0186] Synchronously control the target mover at the control moment based on the predicted observed value.

[0187] In some embodiments, the compensation control module 1230 is further configured to:

[0188] When the mover motion mode satisfies the double S-shaped motion law, obtain the predicted observed value corresponding to the control moment based on the kinematic law prediction model and the compensation observed value;

[0189] When the mover motion mode satisfies the polynomial motion law, obtain the predicted observed value corresponding to the control moment based on the fitting kinematic law model and the compensation observed value.

[0190] In some embodiments, the data acquisition module 1210 is further configured to:

[0191] Obtain the initial motion observed value of the target mover at the current moment;

[0192] Perform filtering processing on the initial motion observed value based on a filtering algorithm, and obtain the motion observed value. The filtering algorithm includes at least one of a mean filtering method, a median filtering method, a Gaussian filtering method, and a first-order lag filtering method.

[0193] In some embodiments, the compensation control module 1230 is further configured to:

[0194] Obtain the synchronous control function;

[0195] Substitute the compensation observed value into the synchronous control function to obtain synchronous control data, and synchronously control the target mover based on the synchronous control data.

[0196] In the above embodiments, the descriptions of the various embodiments have their own focuses. For the parts not detailed in a certain embodiment, the specific implementation manner of the mover synchronous control device is basically the same as the specific implementation manner of the above mover synchronous control method, and will not be elaborated here.

[0197] In the embodiments of the present application, for a target mover that operates in real time on a magnetic drive conveying system and carries a workpiece, a temperature error model pre-generated from multiple motion observation values and corresponding theoretical motion values is used to calculate the observation error value corresponding to the target mover at the current real-time temperature value. Then, the motion observation value obtained in real time is corrected using the observation error value to obtain a compensated observation value corresponding to the current accurate motion parameters of the target mover, so that the target mover can be controlled for more accurate and reliable synchronous operation using the corrected compensated observation value, thereby improving the accuracy and reliability of the synchronous operation control of the target mover in the magnetic drive conveying system. In addition, the initial motion observation value obtained by the observation device is filtered through a filtering algorithm to remove the noise data in the motion observation value, thereby avoiding the observation deviation caused by the noise data to obtain a more accurate motion observation value, which is convenient for improving the accuracy and reliability of the mover synchronous motion control when using the motion observation value for subsequent mover synchronous motion control. Moreover, by using the motion observation values and temperature values corresponding to two adjacent sampling times, and the optimal theoretical value of the mover operation corresponding to the temperature value, the difference is calculated to accurately explore the relationship between the temperature value and the motion value, and further use the temperature parameter as a variable parameter to construct a temperature error model that can be used to accurately calculate the motion value corresponding to different temperature values for accurate compensation, thereby improving the accuracy and reliability of the mover synchronous operation control. And, for the mover operation law of the target mover, prediction calculation is performed using the corresponding kinematic model and the current predicted observation value to accurately obtain the predicted observation value corresponding to the control moment, so as to avoid the inaccurate synchronous control caused by the error of the motion observation value between the actual control moment and the current moment, which is convenient for subsequent use of the predicted observation value to perform synchronous operation control on the target mover at the control moment, thereby improving the accuracy and reliability of the synchronous operation control of the mover in the magnetic drive conveying system.

[0198] Embodiments of the present application further provide an electronic device, including:

[0199] At least one memory;

[0200] At least one processor;

[0201] At least one program;

[0202] The program is stored in the memory, and the processor executes the at least one program to implement the mover synchronous control method described above in the present application. The electronic device can be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA for short), an in-vehicle computer, etc.

[0203] Please refer to Figure 13 ,Figure 13 The hardware structure of an electronic device according to another embodiment is shown. The electronic device includes:

[0204] The processor 1301 can be implemented as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0205] The memory 1302 can be implemented in the form of ROM (Read Only Memory), static storage device, dynamic storage device or RAM (Random Access Memory). The memory 1302 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program codes are stored in the memory 1302 and are called by the processor 1301 to execute the mover synchronization control method of the embodiments of this application.

[0206] Input / output interface 1303, used to implement information input and output;

[0207] Communication interface 1304, used to implement communication interaction between this device and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WiFi, Bluetooth, etc.);

[0208] Bus 1305 , which transmits information between various components of the device (e.g., processor 1301 , memory 1302 , input / output interface 1303 , and communication interface 1304 );

[0209] The processor 1301 , the memory 1302 , the input / output interface 1303 and the communication interface 1304 are connected to each other in communication within the device via a bus 1305 .

[0210] An embodiment of the present application further provides a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the above-mentioned mover synchronization control method is implemented.

[0211] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely located relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above networks include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0212] The embodiments described in the embodiments of the present application are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art will know that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0213] Those skilled in the art can understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or combine certain steps, or different steps.

[0214] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0215] Those of ordinary skill in the art can understand that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, and appropriate combinations thereof.

[0216] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above figures are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0217] It should be understood that in this application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects and indicates that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Here, A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after. "At least one (one)" or similar expressions below refer to any combination of these items, including any combination of single items (one) or plural items (ones). For example, at least one (one) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0218] In several embodiments provided in this application, 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 above division of units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical, or other forms.

[0219] The units described above as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0220] In addition, in each embodiment of this application, each functional unit can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0221] When 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 computer-readable storage medium. Based on this understanding, the technical solution of the present application, 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 multiple instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in various embodiments of the present application. The aforementioned storage medium includes: various media that can store programs, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs.

[0222] The preferred embodiments of the embodiments of the present application have been described above with reference to the accompanying drawings. This does not limit the scope of the rights of the embodiments of the present application. Any modifications, equivalent replacements, and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall be within the scope of the rights of the embodiments of the present application.

Claims

1. A mover synchronization control method, characterized in that, The method includes: Obtaining a motion observation value and a temperature value of a target mover at the current moment; Substituting the temperature value into a temperature error model to obtain a temperature error value, where the temperature error model is obtained based on at least one motion observation value and a theoretical motion value corresponding to at least one temperature value; Based on the difference between the temperature error value and the motion observation value, obtaining a compensated observation value, and performing synchronous control on the target mover based on the compensated observation value.

2. The mover synchronization control method according to claim 1, wherein The steps for constructing the temperature error model include: Obtaining a first motion observation value and a first temperature value at a first sampling moment, and obtaining a second motion observation value and a second temperature value at a second sampling moment, where the first sampling moment and the second sampling moment are adjacent moments; Obtaining a first theoretical motion value corresponding to the first temperature value, and obtaining a second theoretical motion value corresponding to the second temperature value; Generating the temperature error model based on the first motion observation value, the first theoretical motion value, the first temperature value, the second motion observation value, the second theoretical motion value, and the second temperature value.

3. The mover synchronization control method according to claim 2, characterized in that The generating the temperature error model based on the first motion observation value, the first theoretical motion value, the first temperature value, the second motion observation value, the second theoretical motion value, and the second temperature value includes: Based on the difference between the first motion observation value and the first theoretical motion value, obtaining a first motion observation difference; Based on the difference between the second motion observation value and the second theoretical motion value, obtaining a second motion observation difference; Based on the difference between the second temperature value and the first temperature value, obtaining a temperature sampling difference; Based on the difference between a temperature parameter and the first temperature value, obtaining a temperature difference parameter; Based on the first motion observation difference, the second motion observation difference, the temperature sampling difference, and the temperature difference parameter, obtaining the temperature error model.

4. The mover synchronization control method according to claim 3, wherein The obtaining the temperature error model based on the first motion observation difference, the second motion observation difference, the temperature sampling difference, and the temperature difference parameter includes: Based on the difference between the second motion observation difference and the first motion observation difference, and then dividing by the temperature sampling difference, obtaining a motion-temperature ratio difference; Based on the product of the temperature difference parameter and the motion-temperature ratio difference, and then adding the first motion observation difference, obtaining the temperature error model.

5. The mover synchronization control method according to claim 1, characterized in that, The performing synchronous control on the target mover based on the compensated observation value includes: Obtaining the mover motion mode of the target mover; Based on the mover motion mode and the compensated observation value, calculating a predicted observation value of the target mover at a control moment, where the control moment is after the current moment; Performing synchronous control on the target mover at the control moment based on the predicted observation value.

6. The mover synchronization control method according to claim 5, characterized in that, The calculating a predicted observation value of the target mover at a control moment based on the mover motion mode and the compensated observation value includes: When the mover motion mode satisfies the double S-shaped motion law, obtaining the predicted observation value corresponding to the control moment based on a kinematic law prediction model and the compensated observation value; When the motion pattern of the mover satisfies the polynomial motion law, based on the fitting kinematic law model and the compensation observation value, the predicted observation value corresponding to the control moment is obtained.

7. The mover synchronization control method according to claim 1, characterized in that, The obtaining of the motion observation value of the target mover at the current moment includes: Obtaining the initial motion observation value of the target mover at the current moment; Based on a filtering algorithm, filtering the initial motion observation value to obtain the motion observation value, and the filtering algorithm includes at least one of a mean filtering method, a median filtering method, a Gaussian filtering method, and a first-order lag filtering method.

8. The mover synchronization control method according to claim 1, characterized in that The synchronous control of the target mover based on the compensation observation value includes: Obtaining a synchronous control function; Substituting the compensation observation value into the synchronous control function to obtain synchronous control data, and performing synchronous control on the target mover based on the synchronous control data.

9. A mover synchronization control device, characterized in that, The device includes: A data acquisition module, configured to acquire the motion observation value and the temperature value of the target mover at the current moment; An error calculation module, configured to substitute the temperature value into a temperature error model to obtain a temperature error value, and the temperature error model is obtained based on at least one motion observation value and the theoretical motion value corresponding to at least one temperature value; A compensation control module, configured to obtain a compensation observation value based on the difference between the temperature error value and the motion observation value, and perform synchronous control on the target mover based on the compensation observation value.

10. An electronic device, characterized in that, It includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, it implements the mover synchronous control method according to any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the mover synchronous control method according to any one of claims 1 to 8.

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