Control information generation method and device, storage medium and program product

Abstract

The embodiment of the invention provides a control information generation method and device, a storage medium and a program product. The method comprises the steps that the current position deviation, the current deviation change rate and the current acceleration disturbance of a gantry shaft are determined, and the current acceleration disturbance is used for indicating the influence of a load on the acceleration of the gantry shaft; determining target rule information in a dynamic rule base according to the current state information; determining a first error change rate of a first direction and a second error change rate of a second direction of the gantry shaft according to the current position deviation, the current deviation change rate, the current acceleration disturbance and the target rule information; and determining control information of the gantry shaft according to the first error change rate and the second error change rate. The method is used for achieving the effect of improving the control reliability.

Description

Technical Field

[0001] The present application relates to the technical field of control systems, and in particular to a method, device, storage medium, and program product for generating control information. Background Art

[0002] A gantry axis is a mechanical structure designed for high-precision, wide-range motion. Its core is a "gate"-shaped frame (i.e., a gantry structure) formed by two columns supporting a crossbeam. This structure typically uses two synchronous motors to drive the crossbeam along the X-axis, and combines with the Y-axis or Z-axis to achieve a multi-axis system, forming a dual-axis or multi-axis motion platform.

[0003] In existing technologies, Proportional-Integral-Derivative (PID) control is commonly used for gantry axis motion control. However, when PID parameters are fixed, the system can experience overshoot when unloaded and slow response when fully loaded, depending on the load and speed, resulting in low control reliability. Summary of the Invention

[0004] The embodiments of the present application provide a method, device, storage medium, and program product for generating control information to achieve the effect of improving control reliability.

[0005] In a first aspect, an embodiment of the present application provides a method for generating control information, including:

[0006] Determining a current position deviation, a current deviation change rate, and a current acceleration disturbance of the gantry axis, wherein the current acceleration disturbance is used to indicate an effect of a load on the acceleration of the gantry axis;

[0007] Acquire current state information of the gantry axis, and determine target rule information in a dynamic rule base according to the current state information, wherein the dynamic rule base includes a plurality of rule information, and the rule information is used to indicate the control rule of the gantry axis under the corresponding state;

[0008] determining a first error change rate in a first direction and a second error change rate in a second direction of the gantry axis according to the current position deviation, the current deviation change rate, the current acceleration disturbance, and the target rule information, wherein the first direction is perpendicular to the second direction;

[0009] Control information of the gantry axis is determined according to the first error change rate and the second error change rate, where the control information includes a first target compensation amount in the first direction, a second target compensation amount in the second direction, and a dynamic stiffness adjustment parameter.

[0010] In one possible implementation, the current state information includes the load weight, speed, and temperature of the gantry axis; the multiple rule information includes standard rule information, high-frequency vibration suppression rule information, and thermal expansion compensation rule information; and based on the current state information, target rule information is determined in a dynamic rule library, including:

[0011] Determining whether the load weight, speed, and temperature all meet corresponding preset conditions;

[0012] If so, determining the standard rule information as the target rule information;

[0013] If not, when the load weight is greater than the preset weight and the speed is greater than the preset speed, the high-frequency vibration suppression rule information is determined as the target rule information, or when the temperature is greater than the preset temperature, the thermal expansion compensation rule information is determined as the target rule information.

[0014] In a possible implementation, the target rule information includes multiple change rate sets, and position deviation intervals, deviation change rate intervals, and acceleration disturbance intervals corresponding to each change rate set;

[0015] Determining a first error change rate in a first direction and a second error change rate in a second direction of the gantry axis according to the current position deviation, the current deviation change rate, the current acceleration disturbance, and the target rule information includes:

[0016] Determining a target change rate set corresponding to the current position deviation, the current deviation change rate, and the current acceleration disturbance according to the position deviation interval, the deviation change rate interval, and the acceleration disturbance interval corresponding to each change rate set;

[0017] In the target change rate set, the first error change rate and the second error change rate are determined.

[0018] In a possible implementation manner, if the target rule information is high-frequency vibration suppression rule information or thermal expansion compensation rule information, the target rule information further includes a control strategy for the corresponding characteristic working condition;

[0019] If the target rule information is the high-frequency vibration suppression rule information, the control strategy is to start the high-frequency suppression strategy; if the target rule information is the thermal expansion compensation rule information, the control strategy is to start the cooling strategy.

[0020] In a possible implementation, determining the control information of the gantry axis according to the first error change rate and the second error change rate includes:

[0021] Substituting the first error change rate and the second error change rate into a preset formula to obtain the dynamic stiffness adjustment parameter;

[0022] Determining the first target compensation amount by summing a first product and the dynamic stiffness adjustment parameter, wherein the first product is the product of a preset parameter and the first error change rate;

[0023] The second target compensation amount is determined by summing the second product and the dynamic stiffness adjustment parameter, where the second product is the product of the preset parameter and the second error change rate.

[0024] In one possible implementation, determining the current position deviation, the current deviation change rate, and the current acceleration disturbance of the gantry axis includes:

[0025] Determining the current position deviation and the current deviation change rate according to the current position and the historical preset position;

[0026] Obtaining the current acceleration and current load weight of the gantry axis;

[0027] The current acceleration disturbance is determined according to the current acceleration and the current load weight.

[0028] In a second aspect, an embodiment of the present application provides a device for generating control information, including a first determination module, an acquisition module, a second determination module, and a third determination module:

[0029] The first determination module is used to determine the current position deviation, the current deviation change rate and the current acceleration disturbance of the gantry axis, wherein the current acceleration disturbance is used to indicate the influence of the load on the acceleration of the gantry axis;

[0030] The acquisition module is used to acquire current state information of the gantry axis and determine target rule information in a dynamic rule base according to the current state information, wherein the dynamic rule base includes a plurality of rule information, and the rule information is used to indicate the control rule of the gantry axis under the corresponding state;

[0031] The second determining module is configured to determine a first error change rate in a first direction and a second error change rate in a second direction of the gantry axis according to the current position deviation, the current deviation change rate, the current acceleration disturbance, and the target rule information, wherein the first direction is perpendicular to the second direction;

[0032] The third determination module is used to determine control information of the gantry axis according to the first error change rate and the second error change rate, where the control information includes a first target compensation amount in the first direction, a second target compensation amount in the second direction, and a dynamic stiffness adjustment parameter.

[0033] In one possible implementation, the current state information includes the load weight, speed, and temperature of the gantry axis; the multiple rule information includes standard rule information, high-frequency vibration suppression rule information, and thermal expansion compensation rule information; and the acquisition module is specifically configured to:

[0034] Determining whether the load weight, speed, and temperature all meet corresponding preset conditions;

[0035] If so, determining the standard rule information as the target rule information;

[0036] If not, when the load weight is greater than the preset weight and the speed is greater than the preset speed, the high-frequency vibration suppression rule information is determined as the target rule information, or when the temperature is greater than the preset temperature, the thermal expansion compensation rule information is determined as the target rule information.

[0037] In a possible implementation, the target rule information includes multiple change rate sets, and position deviation intervals, deviation change rate intervals, and acceleration disturbance intervals corresponding to each change rate set;

[0038] The second determining module is specifically configured to:

[0039] Determining a target change rate set corresponding to the current position deviation, the current deviation change rate, and the current acceleration disturbance according to the position deviation interval, the deviation change rate interval, and the acceleration disturbance interval corresponding to each change rate set;

[0040] In the target change rate set, the first error change rate and the second error change rate are determined.

[0041] In a possible implementation manner, if the target rule information is high-frequency vibration suppression rule information or thermal expansion compensation rule information, the target rule information further includes a control strategy for the corresponding characteristic working condition;

[0042] If the target rule information is the high-frequency vibration suppression rule information, the control strategy is to start the high-frequency suppression strategy; if the target rule information is the thermal expansion compensation rule information, the control strategy is to start the cooling strategy.

[0043] In a possible implementation, the third determining module is specifically configured to:

[0044] Substituting the first error change rate and the second error change rate into a preset formula to obtain the dynamic stiffness adjustment parameter;

[0045] Determining the first target compensation amount by summing a first product and the dynamic stiffness adjustment parameter, wherein the first product is the product of a preset parameter and the first error change rate;

[0046] The second target compensation amount is determined by summing the second product and the dynamic stiffness adjustment parameter, where the second product is the product of the preset parameter and the second error change rate.

[0047] In a possible implementation manner, the first determining module is specifically configured to:

[0048] Determining the current position deviation and the current deviation change rate according to the current position and the historical preset position;

[0049] Obtaining the current acceleration and current load weight of the gantry axis;

[0050] The current acceleration disturbance is determined according to the current acceleration and the current load weight.

[0051] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a memory, a processor;

[0052] The memory stores computer-executable instructions;

[0053] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0054] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementation methods of the first aspect.

[0055] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0056] The control information generation method, device, storage medium and program product provided in the embodiments of the present application can determine the current position deviation, current deviation change rate and current acceleration disturbance of the gantry axis; determine the target rule information in the dynamic rule library based on the current state information; determine the first error change rate in the first direction and the second error change rate in the second direction of the gantry axis based on the current position deviation, current deviation change rate, current acceleration disturbance and target rule information; and determine the control information of the gantry axis based on the first error change rate and the second error change rate. The position deviation, deviation change rate and acceleration disturbance of the gantry axis under the current load can be monitored in real time, and the first error change rate in the first direction and the second error change rate in the second direction can be determined by combining the state information with the target rule, thereby generating control information. The inter-axis coupling effect can be effectively suppressed, synchronization error and mechanical stress can be reduced, and control reliability can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0058] Figure 1 A schematic diagram of an application scenario provided in an embodiment of the present application;

[0059] Figure 2 A flowchart of a method for generating control information provided in an embodiment of the present application;

[0060] Figure 3 A schematic diagram of the architecture of an FPGA-based logic control system provided in an embodiment of the present application;

[0061] Figure 4 A flowchart of another method for generating control information provided in an embodiment of the present application;

[0062] Figure 5 A schematic diagram of an implementation of a coupling compensation unit provided in an embodiment of the present application;

[0063] Figure 6 A schematic diagram of the architecture of a method for generating control information provided in an embodiment of the present application;

[0064] Figure 7 A schematic diagram of a closed-loop control process provided in an embodiment of the present application;

[0065] Figure 8 A schematic diagram of the structure of a device for generating control information is provided for an embodiment of the present application;

[0066] Figure 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0067] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0068] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0069] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application. Figure 1 As shown, the specific application scenario of this application includes a gantry axis 101 , a control device 102 and a load 103 .

[0070] The gantry axis 101 is a dual-axis motion platform, and the load 103 is suspended below the gantry axis 101 (or, the load 103 is grabbed by the robotic arm of the gantry axis 101, etc.). The control device 102 can obtain the status information of the gantry axis 101 through the sensor and control the movement of the gantry axis 101 based on the status information of the gantry axis 101.

[0071] The Gantry Axis 101 can be applied to CNC machine tools, 3D printing equipment, laser cutting / engraving, and semiconductor equipment. In CNC machine tools, the Gantry Axis 101 is used for precision machining such as metal cutting and milling. In 3D printing equipment, the Gantry Axis 101 is used for positioning control in large-scale additive manufacturing. In laser cutting / engraving, the Gantry Axis 101 is used for high-dynamic response trajectory tracking. In semiconductor equipment, the Gantry Axis 101 is used for precise movement during wafer inspection or photolithography.

[0072] In existing technologies, Proportional-Integral-Derivative (PID) control is commonly used for gantry axis motion control. However, when PID parameters are fixed, the system can experience overshoot when unloaded and slow response when fully loaded, depending on the load and speed, resulting in low control reliability.

[0073] The control information generation method provided in the present application can determine the current position deviation, current deviation change rate and current acceleration disturbance of the gantry axis; obtain the current state information of the gantry axis, and determine the target rule information in the dynamic rule library based on the current state information; determine the first error change rate of the first direction and the second error change rate of the second direction of the gantry axis based on the current position deviation, current deviation change rate, current acceleration disturbance and target rule information; determine the control information of the gantry axis based on the first error change rate and the second error change rate. The above execution process can be carried out by real-time monitoring of the position deviation, deviation change rate and acceleration disturbance of the gantry axis under the current load, and combining the state information with the target rule to determine the first error change rate of the first direction and the second error change rate of the second direction, thereby generating control information. It can effectively suppress the coupling effect between axes, reduce synchronization error and mechanical stress, and thus improve control reliability.

[0074] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0075] Figure 2 This is a flow chart of a method for generating control information provided in an embodiment of the present application. Figure 2 , the method may include:

[0076] S201. Determine the current position deviation, current deviation change rate, and current acceleration disturbance of the gantry axis.

[0077] The execution subject of the embodiment of the present application can be a control device, or a control information generation device set in the control device. The control information generation device can be implemented by software or a combination of software and hardware.

[0078] The current position deviation can be used to indicate the deviation between the target position that the gantry axis wants to reach and the actual position, and the current deviation change rate can be used to indicate the rate of change of the position deviation of the gantry axis over time.

[0079] The current acceleration disturbance can be used to indicate the impact of the load on the acceleration of the gantry axis.

[0080] A parallel module for determining the current position deviation, the current deviation change rate, and the current acceleration disturbance can be constructed based on a Field-Programmable Gate Array (FPGA) chip.

[0081] S202: Obtain the current status information of the gantry axis.

[0082] The current status information may include the speed, temperature, acceleration and load of the gantry axis.

[0083] The current status information of the gantry axis can be obtained through sensors. For example, the temperature of the gantry axis can be obtained through a temperature sensor, the running speed of the gantry axis can be obtained through a speed sensor, and the acceleration of the gantry axis can be obtained through an acceleration sensor.

[0084] S203: Determine target rule information in the dynamic rule library according to the current state information.

[0085] The dynamic rule base may include a plurality of rule information, and the rule information may be used to indicate the control rules of the gantry axis under the corresponding state.

[0086] The current state information can be used to determine the corresponding target rule information in the dynamic rule base, maintaining stable control under complex working conditions such as load mutations, mechanical vibrations, and temperature changes, thereby improving control accuracy.

[0087] In some possible embodiments, the plurality of rule information may include standard rule information, high-frequency vibration suppression rule information, and thermal expansion compensation rule information.

[0088] Among them, the standard rule information is the rule information of the gantry axis under normal working conditions, the high-frequency vibration suppression rule information is the rule information of the gantry axis under the working conditions of overload and high speed, and the thermal expansion compensation rule information is the rule information of the gantry axis under the working conditions of excessively high temperature.

[0089] A rule inference engine can be built based on FPGA chips, and the target rule information can be determined in the dynamic rule library through the current state information.

[0090] S204 , determining a first error change rate in the first direction and a second error change rate in the second direction of the gantry axis according to the current position deviation, the current deviation change rate, the current acceleration disturbance, and the target rule information.

[0091] The first error change rate and the second error change rate can be determined by performing fuzzy inference processing in the target rule information through the current position deviation, the current deviation change rate and the current acceleration disturbance.

[0092] In the fuzzy reasoning process, in addition to the current position deviation and the current deviation change rate, the current acceleration disturbance is introduced into the fuzzy reasoning input to enhance the sensitivity to dynamic loads.

[0093] The first direction may be a direction in which the crossbeam of the gantry axis moves, and the second direction may be a direction in which a suspended object of the gantry axis descends or ascends, wherein the first direction is perpendicular to the second direction.

[0094] The target rule information may include multiple change rate sets, and position deviation intervals, deviation change rate intervals, and acceleration disturbance intervals corresponding to each change rate set, wherein the change rate set may include a change rate in a first direction and a change rate in a second direction.

[0095] The change rate can be used to indicate the amount of error change. The first error change rate is the amount of error change in a first direction, and the second error change rate is the amount of error change in a second direction.

[0096] A fuzzy reasoning module can be constructed based on an FPGA chip to determine the first error change rate and the second error change rate according to the current position deviation, the current deviation change rate, the current acceleration disturbance and the target rule information.

[0097] S205 . Determine control information of the gantry axis according to the first error change rate and the second error change rate.

[0098] The control information may include a first target compensation amount in the first direction, a second target compensation amount in the second direction, and a dynamic stiffness adjustment parameter.

[0099] The dynamic stiffness adjustment parameter is used to indicate the degree of coupling between the first direction and the second direction of the gantry axis. The dynamic stiffness adjustment parameter may be a biaxial coupling factor (Conjugate Correlation Function, CCF).

[0100] The dynamic stiffness adjustment parameters can be used to quantify the coupling effect of the gantry axis's dual-axis machinery, achieve coupling compensation, suppress error transmission during dual-axis linkage, and improve the accuracy of control information.

[0101] A coupling compensation unit can be constructed based on an FPGA chip, and control information of the gantry axis can be determined according to the first error change rate and the second error change rate.

[0102] Figure 3 This is a schematic diagram of the architecture of an FPGA-based logic control system provided in an embodiment of the present application. Figure 3 The logic control system includes a sensor interface, a parallel processing module, a rule-based inference engine, a fuzzy inference module, a coupling compensation unit, and an output interface. The ARM processor configures the parameters in the rule-based inference engine and works in conjunction with the FPGA chip. The sensor interface can connect to various sensors, such as laser displacement sensors, IMUs, strain gauges, and temperature sensors. The output interface is used to output control information.

[0103] Through FPGA hardware acceleration, μs-level response can be achieved, improving the efficiency of determining control information. The FPGA chip is set in the control device.

[0104] The method for generating control information provided in the embodiment of the present application can determine the target rule information in the dynamic rule base based on the current state information, and determine the first error change rate of the first direction and the second error change rate of the second direction of the gantry axis based on the current position deviation, the current deviation change rate, the current acceleration disturbance and the target rule information; and determine the control information of the gantry axis based on the first error change rate and the second error change rate. The position deviation, deviation change rate and acceleration disturbance of the gantry axis under the current load can be monitored in real time, and the first error change rate in the first direction and the second error change rate in the second direction can be determined by combining the state information with the target rule, thereby generating control information. It can effectively suppress the coupling effect between axes, reduce synchronization errors and mechanical stress, and thus improve the control reliability under variable load and variable speed conditions.

[0105] Figure 4 This is a flow chart of another method for generating control information provided in an embodiment of the present application. Figure 3 , the method may include:

[0106] S401: Determine the current position deviation and the current deviation change rate based on the current position and the historical preset position.

[0107] The deviation between the current position and the historical preset position can be determined as the current position deviation, wherein the current position is used to indicate the current actual position of the gantry axis, and the historical preset position is used to indicate the preset position that the gantry axis wants to reach when reaching the actual position.

[0108] The current deviation change rate can be determined by the change rate of the current position over time.

[0109] The current position of the end of the beam can be measured by a laser displacement meter to determine the current position deviation.

[0110] The current deviation change rate can be determined through the encoder and current loop.

[0111] S402: Obtain the current acceleration and current load weight of the gantry axis.

[0112] The current load weight may be used to indicate the weight of the load currently suspended by the gantry axis.

[0113] A strain gauge can be attached to the crossbeam to measure load deformation. A strain gauge is a sensor that converts mechanical deformation into resistance change. The load can cause the strain gauge to deform to a certain degree, generating a resistance value, and then the load weight can be determined based on the resistance value.

[0114] In some possible embodiments, the load theoretical value can be inferred based on the motor current, and the strain gauge sensitivity coefficient can be corrected online to improve the accuracy of determining the load weight.

[0115] In some possible embodiments, temperature may affect the deformation of the strain gauge, and the temperature may be obtained to correct the load weight based on the temperature.

[0116] An inertial measurement unit (IMU) may be installed on the moving slider on the crossbeam, and the current acceleration may be detected by the IMU.

[0117] In some possible embodiments, in order to improve the accuracy of IMU signal detection, a MEMS array can be used. The MEMS array can include four IMUs arranged redundantly, and the four IMUs are fused through Kalman filter fusion to obtain the current acceleration.

[0118] S403: Determine the current acceleration disturbance according to the current acceleration and the current load weight.

[0119] In some possible embodiments, the current acceleration and the current load weight may be fused using a data fusion function to obtain the current acceleration disturbance. The data fusion function may be determined based on measurement experiments.

[0120] For example, the data fusion function can be seen in the following formula:

[0121]

[0122] in, is the current acceleration measured by the IMU, is the current load weight measured by the strain gauge, is the correction factor of the strain gauge.

[0123] It is worth noting that the data fusion function is only an example, and the data fusion function may also be other functions.

[0124] In some possible embodiments, the current acceleration disturbance corresponding to the current acceleration and the current load weight may be queried through a query table, where the query table includes multiple acceleration disturbances and acceleration and load weight intervals corresponding to each acceleration disturbance.

[0125] S404: Obtain the current status information of the gantry axis.

[0126] The execution process of S404 can refer to the execution process of S202, which will not be repeated here.

[0127] S405: Determine whether the load weight, speed, and temperature all meet corresponding preset conditions.

[0128] The preset condition corresponding to the load weight may be that the load weight is less than or equal to the preset weight, the preset condition corresponding to the speed is that the speed is less than or equal to the preset speed, and the preset condition corresponding to the temperature is that the temperature is less than or equal to the preset temperature.

[0129] The preset weight can be 50KG, the preset speed can be 1m / s, and the preset temperature can be 40 .

[0130] If yes, execute step S406; if no, execute step S407.

[0131] S406: Determine the standard rule information as target rule information.

[0132] The standard rule information may be rule information executed under conventional default working conditions.

[0133] The standard rule information may include a plurality of change rate sets corresponding thereto, and a position deviation interval, a deviation change rate interval, and an acceleration disturbance interval corresponding to each change rate set.

[0134] The change rate set may include a change rate corresponding to a first direction and a change rate corresponding to a second direction.

[0135] S407: When the load weight is greater than the preset weight and the speed is greater than the preset speed, the high-frequency vibration suppression rule information is determined as the target rule information; or when the temperature is greater than the preset temperature, the thermal expansion compensation rule information is determined as the target rule information.

[0136] In addition to including the corresponding multiple change rate sets, and the position deviation interval, deviation change rate interval and acceleration disturbance interval corresponding to each change rate set, the high-frequency vibration suppression rule information also includes the control strategy of the corresponding characteristic working condition, and the control strategy is to start the high-frequency suppression strategy.

[0137] In some possible embodiments, the high frequency suppression strategy can refer to the following four steps:

[0138] Step 1: Vibration source diagnosis and spectrum analysis.

[0139] The operating deformation shapes (ODS) or other kinematic deformation modes are mapped using a laser vibrometer as a "vibration source diagnostic" to determine the acceleration acquisition spectrum of a dual axis (such as a gantry axis).

[0140] Acceleration spectrum acquisition can help identify vibration characteristics. For example, analysis of the spectrum reveals that high-frequency components above 500 Hz typically correspond to motor harmonic vibrations, while low-frequency components below 200 Hz may indicate structural resonance. High-frequency resonances (>200 Hz) are easier to suppress with filters, while low-frequency vibrations (<200 Hz) often indicate mechanical issues and require gain reduction or stiffness enhancement.

[0141] Step 2: Define vibration exceeding limit rules and decisions.

[0142] Define vibration violation rules based on a specific rule base, such as predefined vibration amplitude or frequency thresholds.

[0143] If the acceleration spectrum shows that the vibration amplitude exceeds the limit set by the rule base (for example, exceeding the limit at 500Hz), it is determined that suppression is required and the notch filter is activated.

[0144] Step 3: Apply a notch filter for suppression.

[0145] The notch filter sets the filter depth to at least -30 dB (indicating attenuation strength) and the bandwidth to ±10 Hz (indicating suppression range) at the identified vibration frequency point (such as 500 Hz specified by the rule base).

[0146] Step 4: Subsequent adjustments and optimizations.

[0147] After applying a notch filter, you can further fine-tune it by setting up a resonance ratio observation compensation. For example, by monitoring the resonance ratio (the ratio of the vibration amplitude to a reference value), you can adjust the filter parameters or add a compensation algorithm to optimize the suppression effect.

[0148] In addition to including the corresponding multiple change rate sets, and the position deviation interval, deviation change rate interval and acceleration disturbance interval corresponding to each change rate set, the thermal expansion compensation rule information also includes the control strategy of the corresponding characteristic working condition, which is the startup cooling strategy.

[0149] The cooling strategy may include starting a fan to cool the room and / or starting a refrigerant.

[0150] In some possible embodiments, if the load weight is greater than a preset weight and the speed is greater than a preset speed, and the temperature is greater than a preset temperature, the weight overweight rate and the temperature overhigh rate can be determined. If the weight overweight rate is greater than or equal to the temperature overhigh rate, the high-frequency vibration suppression rule information is determined as the target rule information; if the weight overweight rate is less than the temperature overhigh rate, the thermal expansion compensation rule information is determined as the target rule information.

[0151] S408 , determining a target change rate set corresponding to the current position deviation, the current deviation change rate, and the current acceleration disturbance according to the position deviation interval, the deviation change rate interval, and the acceleration disturbance interval corresponding to each change rate set.

[0152] Specifically, the target position deviation interval corresponding to the current position deviation, the target deviation change rate interval corresponding to the current deviation change rate, and the target acceleration disturbance interval corresponding to the current acceleration disturbance can be determined, and the change rate set corresponding to the target position deviation interval, the target deviation change rate interval and the target acceleration disturbance interval can be determined as the target change rate set.

[0153] S409 : Determine a first error change rate and a second error change rate in the target change rate set.

[0154] The target change rate set includes a change rate corresponding to a first direction and a change rate corresponding to a second direction. The change rate corresponding to the first direction can be determined as a first error change rate, and the change rate corresponding to the second direction can be determined as a second error change rate.

[0155] S410 , substituting the first error change rate and the second error change rate into a preset formula to obtain a dynamic stiffness adjustment parameter.

[0156] In some possible embodiments, the preset formula can be seen as follows:

[0157]

[0158] in, is the dynamic stiffness adjustment parameter, is the gain coefficient, is the limit displacement of the two-axis error change, is the first error change rate in the first direction, is the second error change rate in the second direction. The gain coefficient is used to convert the dimensionless integration result into a coupling degree with physical meaning.

[0159] S411 . Determine a first target compensation amount by summing a first product and a dynamic stiffness adjustment parameter, where the first product is a product of a preset parameter and a first error change rate.

[0160] The first target compensation amount can be determined by referring to the following formula:

[0161]

[0162] in, is the first target compensation amount, is the scaling factor, is the first error change rate, is the dynamic stiffness adjustment parameter. The scaling factor is used to convert the output of fuzzy inference (the first error change rate) into the actual physical control quantity.

[0163] S412: Determine a second target compensation amount by summing the second product and the dynamic stiffness adjustment parameter, where the second product is the product of the preset parameter and the second error change rate.

[0164] The second target compensation amount can be determined by referring to the following formula:

[0165]

[0166] in, is the second target compensation amount, is the scaling factor, is the second error change rate, is the dynamic stiffness adjustment parameter.

[0167] Figure 5 This is a schematic diagram of an implementation of a coupling compensation unit provided in an embodiment of the present application. Figure 5 The first error change rate and the second error change rate are input into the coupling compensation unit, and a dynamic stiffness adjustment parameter is determined based on the first error change rate and the second error change rate. Compensation processing is performed on the first error change rate and the second error change rate using the dynamic stiffness adjustment parameter to obtain a first target compensation amount and a second target compensation amount.

[0168] The control information generation method provided in the embodiments of the present application can generate control information by monitoring the position deviation, deviation change rate, and acceleration disturbance of the gantry axis under the current load in real time, and combining the state information with the target rule to determine the first error change rate in the first direction and the second error change rate in the second direction. This method can effectively suppress the inter-axis coupling effect, reduce synchronization errors and mechanical stress, and thus improve control reliability under variable load and speed conditions.

[0169] Figure 6 This is a schematic diagram of the architecture of a method for generating control information provided in an embodiment of the present application. Figure 6 The control device can obtain data from various sensors and determine the current position deviation, current deviation change rate, current acceleration disturbance, and current state information based on the sensor data. Among them, the sensors can include laser displacement sensor encoders and current loops, IMUs, strain gauges, etc.

[0170] Target rule information can be determined from the current state information in the dynamic rule library. Fuzzy inference processing can be performed on the target rule information based on the current position deviation, the current deviation change rate, and the current acceleration disturbance to determine the first error change rate and the second error change rate. Coupled compensation processing is performed on the first and second error change rates to obtain the first and second target compensation amounts, as well as the dynamic stiffness adjustment parameters.

[0171] In this application, the gantry axis actuator can be controlled by the gantry motion instruction to drive the load movement. During the movement, the compensation amount can be fed back to the actuator by controlling the information to form a closed-loop control. Figure 7 , for specific instructions.

[0172] Figure 7 This is a flow chart of a closed-loop control system provided by an embodiment of the present application. Figure 7 , the actuator can begin to move the load based on the gantry motion command. The actual position of the load can be obtained, and sensor data is collected to determine the current position deviation, the current deviation change rate, and the current acceleration disturbance, thereby generating a compensation value. The driver adjusts its output based on the generated compensation value and drives the actuator to perform the corresponding movement to achieve the desired position. A feedback loop exists in the entire process. After the actual position is collected by the sensor, it is continuously fed back to the control system. The control system makes real-time adjustments based on this feedback information to ensure the accuracy and stability of the gantry motion.

[0173] Figure 8 This is a schematic diagram of a control information generation device provided in an embodiment of the present application. Figure 8 The control information generation device 800 may include a first determination module 801, an acquisition module 802, a second determination module 803, and a third determination module 804:

[0174] The first determination module 801 is used to determine the current position deviation, the current deviation change rate and the current acceleration disturbance of the gantry axis, where the current acceleration disturbance is used to indicate the influence of the load on the acceleration of the gantry axis;

[0175] The acquisition module 802 is used to obtain the current state information of the gantry axis and determine the target rule information in the dynamic rule base according to the current state information. The dynamic rule base includes multiple rule information, and the rule information is used to indicate the control rule of the gantry axis under the corresponding state;

[0176] The second determining module 803 is configured to determine a first error change rate in a first direction and a second error change rate in a second direction of the gantry axis according to the current position deviation, the current deviation change rate, the current acceleration disturbance, and the target rule information, wherein the first direction is perpendicular to the second direction;

[0177] The third determination module 804 is used to determine control information of the gantry axis according to the first error change rate and the second error change rate, where the control information includes a first target compensation amount in the first direction, a second target compensation amount in the second direction, and a dynamic stiffness adjustment parameter.

[0178] In one possible implementation, the current state information includes the load weight, speed, and temperature of the gantry axis; the plurality of rule information includes standard rule information, high-frequency vibration suppression rule information, and thermal expansion compensation rule information; and the acquisition module 802 is specifically configured to:

[0179] Determine whether the load weight, speed and temperature all meet the corresponding preset conditions;

[0180] If so, the standard rule information is determined as the target rule information;

[0181] If not, when the load weight is greater than the preset weight and the speed is greater than the preset speed, the high-frequency vibration suppression rule information is determined as the target rule information, or when the temperature is greater than the preset temperature, the thermal expansion compensation rule information is determined as the target rule information.

[0182] In a possible implementation, the target rule information includes multiple change rate sets, and position deviation intervals, deviation change rate intervals, and acceleration disturbance intervals corresponding to each change rate set;

[0183] The second determining module 803 is specifically configured to:

[0184] Determine the target change rate set corresponding to the current position deviation, the current deviation change rate, and the current acceleration disturbance according to the position deviation interval, the deviation change rate interval, and the acceleration disturbance interval corresponding to each change rate set;

[0185] In the target change rate set, a first error change rate and a second error change rate are determined.

[0186] In a possible implementation manner, if the target rule information is high-frequency vibration suppression rule information or thermal expansion compensation rule information, the target rule information further includes a control strategy for the corresponding characteristic working condition;

[0187] Among them, if the target rule information is high-frequency vibration suppression rule information, the control strategy is to start the high-frequency suppression strategy; if the target rule information is thermal expansion compensation rule information, the control strategy is to start the cooling strategy.

[0188] In a possible implementation, the third determining module 804 is specifically configured to:

[0189] Substituting the first error change rate and the second error change rate into a preset formula to obtain a dynamic stiffness adjustment parameter;

[0190] Determine a first target compensation amount by summing the first product and the dynamic stiffness adjustment parameter, where the first product is the product of the preset parameter and the first error change rate;

[0191] The second target compensation amount is determined by summing the second product and the dynamic stiffness adjustment parameter, where the second product is the product of the preset parameter and the second error change rate.

[0192] In a possible implementation, the first determining module 801 is specifically configured to:

[0193] Determine the current position deviation and the current deviation change rate based on the current position and the historical preset position;

[0194] Get the current acceleration and current load weight of the gantry axis;

[0195] Determine the current acceleration disturbance based on the current acceleration and the current load weight.

[0196] The control information generation device provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment. Its implementation principle and beneficial effects are similar and will not be repeated here.

[0197] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 9 The electronic device 900 may include a processor 901 and a memory 902. Exemplarily, the processor 901 and the memory 902 are interconnected via a bus 903.

[0198] Memory 902 stores computer-executable instructions;

[0199] The processor 901 executes the computer-executable instructions stored in the memory 902 , so that the processor 901 executes the method for generating control information as shown in the above method embodiment.

[0200] Accordingly, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, the method for generating control information of the above-mentioned method embodiment is implemented.

[0201] Accordingly, an embodiment of the present application may also provide a computer program product, including a computer program. When the computer program is executed by a processor, it can implement the method for generating control information shown in the above method embodiment.

[0202] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0203] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0204] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0205] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0206] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0207] Memory may include non-permanent storage in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0208] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can be implemented using any method or technology for information storage. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change RAM (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0209] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0210] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for generating control information, characterized in that: include: Determining a current position deviation, a current deviation change rate, and a current acceleration disturbance of the gantry axis, wherein the current acceleration disturbance is used to indicate an effect of a load on the acceleration of the gantry axis; Acquire current state information of the gantry axis, and determine target rule information in a dynamic rule base based on the current state information, wherein the dynamic rule base includes a plurality of rule information, and the rule information is used to indicate the control rule of the gantry axis under the corresponding state; determining a first error change rate in a first direction and a second error change rate in a second direction of the gantry axis according to the current position deviation, the current deviation change rate, the current acceleration disturbance, and the target rule information, wherein the first direction is perpendicular to the second direction; Control information of the gantry axis is determined according to the first error change rate and the second error change rate, where the control information includes a first target compensation amount in the first direction, a second target compensation amount in the second direction, and a dynamic stiffness adjustment parameter.

2. The method according to claim 1, characterized in that The current state information includes the load weight, speed and temperature of the gantry axis; the plurality of rule information includes standard rule information, high-frequency vibration suppression rule information and thermal expansion compensation rule information; According to the current state information, target rule information is determined in the dynamic rule base, including: Determining whether the load weight, speed, and temperature all meet corresponding preset conditions; If so, determining the standard rule information as the target rule information; If not, when the load weight is greater than the preset weight and the speed is greater than the preset speed, the high-frequency vibration suppression rule information is determined as the target rule information, or when the temperature is greater than the preset temperature, the thermal expansion compensation rule information is determined as the target rule information.

3. The method according to claim 1, characterized in that The target rule information includes a plurality of change rate sets, and position deviation intervals, deviation change rate intervals, and acceleration disturbance intervals corresponding to each change rate set; Determining a first error change rate in a first direction and a second error change rate in a second direction of the gantry axis according to the current position deviation, the current deviation change rate, the current acceleration disturbance, and the target rule information includes: Determining a target change rate set corresponding to the current position deviation, the current deviation change rate, and the current acceleration disturbance according to the position deviation interval, the deviation change rate interval, and the acceleration disturbance interval corresponding to each change rate set; In the target change rate set, the first error change rate and the second error change rate are determined.

4. The method according to claim 3, characterized in that If the target rule information is high-frequency vibration suppression rule information or thermal expansion compensation rule information, the target rule information also includes a control strategy for the corresponding characteristic working condition; If the target rule information is the high-frequency vibration suppression rule information, the control strategy is to start the high-frequency suppression strategy; if the target rule information is the thermal expansion compensation rule information, the control strategy is to start the cooling strategy.

5. The method according to claim 1, wherein Determining control information of the gantry axis according to the first error change rate and the second error change rate includes: Substituting the first error change rate and the second error change rate into a preset formula to obtain the dynamic stiffness adjustment parameter; Determining the first target compensation amount by summing a first product and the dynamic stiffness adjustment parameter, wherein the first product is the product of a preset parameter and the first error change rate; The second target compensation amount is determined by summing the second product and the dynamic stiffness adjustment parameter, where the second product is the product of the preset parameter and the second error change rate.

6. The method according to claim 1, characterized in that Determine the current position deviation, current deviation change rate, and current acceleration disturbance of the gantry axis, including: Determining the current position deviation and the current deviation change rate according to the current position and the historical preset position; Obtaining the current acceleration and current load weight of the gantry axis; The current acceleration disturbance is determined according to the current acceleration and the current load weight.

7. A control information generating device, characterized in that: It includes a first determination module, an acquisition module, a second determination module and a third determination module: The first determination module is used to determine the current position deviation, the current deviation change rate and the current acceleration disturbance of the gantry axis, wherein the current acceleration disturbance is used to indicate the influence of the load on the acceleration of the gantry axis; The acquisition module is used to acquire current state information of the gantry axis and determine target rule information in a dynamic rule base according to the current state information, wherein the dynamic rule base includes a plurality of rule information, and the rule information is used to indicate the control rule of the gantry axis under the corresponding state; The second determining module is configured to determine a first error change rate in a first direction and a second error change rate in a second direction of the gantry axis according to the current position deviation, the current deviation change rate, the current acceleration disturbance, and the target rule information, wherein the first direction is perpendicular to the second direction; The third determination module is used to determine control information of the gantry axis according to the first error change rate and the second error change rate, where the control information includes a first target compensation amount in the first direction, a second target compensation amount in the second direction, and a dynamic stiffness adjustment parameter.

8. An electronic device, characterized in that: include: a processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

10. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 6 when the computer program is executed by a processor.

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