Method, device, storage medium and program product for generating control information

Abstract

Embodiments of the present application provide a control information generation method, device, storage medium and program product. The method comprises: determining a current position deviation, a current deviation change rate and a current acceleration disturbance of a gantry shaft, the current acceleration disturbance being used to indicate an influence of a load on acceleration of the gantry shaft; determining target rule information in a dynamic rule library according to the current state information; determining a first error change rate in a first direction and a second error change rate in 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 to achieve the effect of improving control reliability.

Description

Technical Field

[0001] This application relates to the field of control system technology, and in particular to a method, device, storage medium and program product for generating control information. Background Technology

[0002] A gantry shaft is a mechanical structure used for high-precision, wide-range motion. Its core consists of a crossbeam supported by two columns, forming a 'gate'-shaped frame (i.e., a gantry structure). This structure is typically driven by two synchronous motors to move the crossbeam along the X-axis, and combined 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 motion control of gantry shafts. However, when the PID parameters are fixed, the system exhibits overshoot under no-load conditions and slow response under full load conditions, resulting in low control reliability. Summary of the Invention

[0004] This application provides a method, apparatus, storage medium, and program product for generating control information, in order to improve control reliability.

[0005] In a first aspect, embodiments of this application provide a method for generating control information, including:

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

[0007] The current state information of the gantry shaft is obtained, and target rule information is determined in the dynamic rule base based on the current state information. The dynamic rule base includes multiple rule information, which are used to indicate the control rules of the gantry shaft in its corresponding state.

[0008] The first error change rate in the first direction and the second error change rate in the second direction of the gantry shaft are determined based on 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] The control information of the gantry shaft is determined based on the first error change rate and the second error change rate. The control information includes a first target compensation amount in the first direction, a second target compensation amount in the second direction, and dynamic stiffness adjustment parameters.

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

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

[0012] If so, the standard rule information is determined 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 one possible implementation, the target rule information includes multiple sets of rates of change, and position deviation intervals, deviation rate of change intervals, and acceleration disturbance intervals corresponding to each set of rates of change;

[0015] Determining the first error change rate in the first direction and the second error change rate in the second direction of the gantry shaft based on the current position deviation, the current deviation change rate, the current acceleration disturbance, and the target rule information includes:

[0016] Based on the position deviation interval, deviation change rate interval, and acceleration disturbance interval corresponding to each set of change rates, determine the target change rate set corresponding to the current position deviation, the current deviation change rate, and the current acceleration disturbance.

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

[0018] In one possible implementation, if the target rule information is high-frequency vibration suppression rule information or thermal expansion compensation rule information, the target rule information also includes the 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 activate the high-frequency suppression strategy; if the target rule information is the thermal expansion compensation rule information, the control strategy is to activate the cooling strategy.

[0020] In one possible implementation, determining the control information of the gantry shaft based on 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 the preset formula, the dynamic stiffness adjustment parameter is obtained;

[0022] The first target compensation amount is determined by summing the first product with the dynamic stiffness adjustment parameter, where the first product is the product of the preset parameter and the first error change rate.

[0023] The second target compensation amount is determined by summing the second product with 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 of the gantry shaft, the current rate of change of the deviation, and the current acceleration disturbance includes:

[0025] Based on the current location and historical preset locations, determine the current location deviation and the rate of change of the current deviation;

[0026] Obtain the current acceleration and current load weight of the gantry shaft;

[0027] The current acceleration disturbance is determined based on the current acceleration and the current load weight.

[0028] Secondly, embodiments of this application provide a control information generation apparatus, including a first determining module, an acquiring module, a second determining module, and a third determining module:

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

[0030] The acquisition module is used to acquire the current status information of the gantry shaft, and determine the target rule information in the dynamic rule base based on the current status information. The dynamic rule base includes multiple rule information, and the rule information is used to indicate the control rules of the gantry shaft in its corresponding state.

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

[0032] The third determining module is used to determine the control information of the gantry shaft based on the first error change rate and the second error change rate. The control information includes a first target compensation amount in the first direction, a second target compensation amount in the second direction, and dynamic stiffness adjustment parameters.

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

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

[0035] If so, the standard rule information is determined 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 one possible implementation, the target rule information includes multiple sets of rates of change, and position deviation intervals, deviation rate of change intervals, and acceleration disturbance intervals corresponding to each set of rates of change;

[0038] The second determining module is specifically used for:

[0039] Based on the position deviation interval, deviation change rate interval, and acceleration disturbance interval corresponding to each set of change rates, determine the target change rate set corresponding to the current position deviation, the current deviation change rate, and the current acceleration disturbance.

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

[0041] In one possible implementation, if the target rule information is high-frequency vibration suppression rule information or thermal expansion compensation rule information, the target rule information also includes the 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 activate the high-frequency suppression strategy; if the target rule information is the thermal expansion compensation rule information, the control strategy is to activate the cooling strategy.

[0043] In one possible implementation, the third determining module is specifically used for:

[0044] Substituting the first error change rate and the second error change rate into the preset formula, the dynamic stiffness adjustment parameter is obtained;

[0045] The first target compensation amount is determined by summing the first product with the dynamic stiffness adjustment parameter, where the first product is the product of the preset parameter and the first error change rate.

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

[0047] In one possible implementation, the first determining module is specifically used for:

[0048] Based on the current location and historical preset locations, determine the current location deviation and the rate of change of the current deviation;

[0049] Obtain the current acceleration and current load weight of the gantry shaft;

[0050] The current acceleration disturbance is determined based on the current acceleration and the current load weight.

[0051] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0052] The memory stores computer-executed instructions;

[0053] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0054] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0055] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0056] The control information generation method, device, storage medium, and program product provided in this application can determine the current position deviation, current deviation change rate, and current acceleration disturbance of a gantry shaft; determine target rule information from a dynamic rule base based on the current state information; determine a first error change rate in a first direction and a second error change rate in a second direction of the gantry shaft 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 shaft based on the first and second error change rates. By real-time monitoring of the gantry shaft's position deviation, deviation change rate, and acceleration disturbance under the current load, and combining the state information with the target rules, the first error change rate in the first direction and the second error change rate in the second direction can be determined, thereby generating control information. This can effectively suppress inter-shaft coupling effects, reduce synchronization errors and mechanical stress, thereby improving control reliability. Attached Figure Description

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

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

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

[0060] Figure 3 A schematic diagram of the architecture of a logic control system based on FPGA provided for an embodiment of this application;

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

[0062] Figure 5 This is a schematic diagram illustrating the execution of a coupling compensation unit provided in an embodiment of this application;

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

[0064] Figure 7 A schematic diagram of a control closed loop provided in an embodiment of this application;

[0065] Figure 8 This is a schematic diagram of the structure of a control information generation device provided in an embodiment of this application;

[0066] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0067] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0068] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0069] Figure 1 This is a schematic diagram illustrating an application scenario provided by an embodiment of this application. Please refer to [link / reference]. Figure 1 As shown, the specific application scenarios of this application include gantry shaft 101, control device 102, and load 103.

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

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

[0072] In existing technologies, proportional-integral-derivative (PID) control is commonly used for motion control of gantry shafts. However, when the PID parameters are fixed, the system exhibits overshoot under no-load conditions and slow response under full load conditions, resulting in low control reliability.

[0073] The control information generation method provided in this application can determine the current position deviation, current deviation change rate, and current acceleration disturbance of a gantry shaft; acquire the current state information of the gantry shaft, and determine target rule information in a dynamic rule base 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 shaft 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 shaft based on the first error change rate and the second error change rate. The above execution process can generate control information by real-time monitoring of the gantry shaft's position deviation, deviation change rate, and acceleration disturbance under the current load, combined with the state information and target rules, to determine the first error change rate in the first direction and the second error change rate in the second direction. This effectively suppresses inter-shaft coupling effects, reduces synchronization errors and mechanical stress, thereby improving control reliability.

[0074] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0075] Figure 2 This is a flowchart illustrating a method for generating control information according to an embodiment of this application. Please refer to [link / reference]. Figure 2 The method may include:

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

[0077] The execution entity in this application embodiment can be a control device or a control information generation device installed in the control device. The control information generation device can be implemented by software or by 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 shaft wants to reach and the actual position, and the current deviation change rate can be used to indicate the rate at which the position deviation of the gantry shaft changes over time.

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

[0080] Parallel modules for determining the current position deviation, the rate of change of the current deviation, and the current acceleration disturbance can be built based on a Field-Programmable Gate Array (FPGA) chip.

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

[0082] Current status information can include the speed, temperature, acceleration, and load of the gantry shaft.

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

[0084] S203. Based on the current status information, determine the target rule information in the dynamic rule base.

[0085] The dynamic rule base can include multiple rule information, which can be used to indicate the control rules of the gantry shaft in its corresponding state.

[0086] By using the current state information, the corresponding target rule information can be determined in the dynamic rule base, maintaining stable control under complex working conditions such as sudden load changes, mechanical vibration, and temperature changes, thereby improving the accuracy of control.

[0087] In some possible embodiments, the multiple 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 shaft under normal working conditions, the high-frequency vibration suppression rule information is the rule information of the gantry shaft under working conditions with heavy load and high speed, and the thermal expansion compensation rule information is the rule information of the gantry shaft under working conditions with excessively high temperature.

[0089] A rule inference engine can be built based on FPGA chips to determine the target rule information from a dynamic rule base using the current state information.

[0090] S204. Determine the first error change rate in the first direction and the second error change rate in the second direction of the gantry shaft based on the current position deviation, the current deviation change rate, the current acceleration disturbance, and the target rule information.

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

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

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

[0094] The target rule information may include multiple sets of rates of change, as well as the position deviation interval, deviation rate of change interval, and acceleration disturbance interval corresponding to each set of rates of change. The set of rates of change may include the rate of change in the first direction and the rate of change in the second direction.

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

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

[0097] S205. Determine the control information of the gantry shaft based on the first error change rate and the second error change rate.

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

[0099] The dynamic stiffness adjustment parameter is used to indicate the degree of coupling between the first and second directions of the gantry shaft. The dynamic stiffness adjustment parameter can be the conjugate correlation function (CCF).

[0100] By adjusting the dynamic stiffness parameters, the coupling effect of the dual-axis machinery of the gantry shaft can be quantified, coupling compensation can be achieved, error transmission during dual-axis linkage can be suppressed, and the accuracy of control information can be improved.

[0101] A coupling compensation unit can be built based on an FPGA chip to determine the control information of the gantry shaft 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 a logic control system based on FPGA, provided as an embodiment of this application. Please refer to [link / reference]. 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 is used to configure 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] FPGA hardware acceleration enables μs-level response times, improving the efficiency of determining control information. The FPGA chip is installed in the control device.

[0104] The control information generation method provided in this application can determine target rule information from a dynamic rule base based on current state information, and determine a first error change rate in a first direction and a second error change rate in a second direction of the gantry shaft 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 shaft based on the first and second error change rates. By real-time monitoring of the gantry shaft's position deviation, deviation change rate, and acceleration disturbance under the current load, and combining the state information and target rules, the first error change rate in the first direction and the second error change rate in the second direction can be determined, thereby generating control information. This can effectively suppress inter-shaft coupling effects, reduce synchronization errors and mechanical stress, thereby improving control reliability under variable load and variable speed conditions.

[0105] Figure 4 This is a flowchart illustrating another method for generating control information provided in an embodiment of this application. Please refer to... 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 defined as the current position deviation. The current position is used to indicate the actual position of the gantry shaft, and the historical preset position is used to indicate the preset position that the gantry shaft wants to reach after reaching the actual position.

[0108] The rate of change of the current position over time can be used to determine the current deviation rate.

[0109] The current position of the end of the beam can be measured using a laser displacement meter, thereby determining the current position deviation.

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

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

[0112] The current load weight can be used to indicate the weight of the load currently suspended on the gantry shaft.

[0113] A strain gauge can be attached to a 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 extent, and the resulting resistance value can be used to determine the load weight.

[0114] In some possible implementations, the strain gauge sensitivity coefficient can be corrected online by inversely estimating the theoretical load value based on the motor current, which can improve the accuracy of determining the load weight.

[0115] In some possible embodiments, temperature affects the deformation of the strain gauge, and the temperature can be obtained to correct the load weight.

[0116] An inertial measurement unit (IMU) can be installed on the moving slider on the crossbeam, and the current acceleration can 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 may include four redundant IMUs, and the four IMUs are fused by Kalman filtering to obtain the current acceleration.

[0118] S403. Determine the current acceleration disturbance based on the current acceleration and the current load weight.

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

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

[0121]

[0122] in, The current acceleration is measured by the IMU. The current load weight is measured by strain gauges. This is the correction factor for the strain gauge.

[0123] It is worth noting that this data fusion function is just one example; other functions can also be used for data fusion.

[0124] In some possible embodiments, a lookup table can be used to query the current acceleration disturbance corresponding to the current acceleration and the current load weight. The lookup table includes multiple acceleration disturbances and the acceleration and load weight ranges corresponding to each acceleration disturbance.

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

[0126] The execution process of S404 can be found in the execution process of S202, and will not be repeated here.

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

[0128] The preset conditions for load weight are that the load weight is less than or equal to the preset weight, the preset conditions for speed are that the speed is less than or equal to the preset speed, and the preset conditions for temperature are 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, proceed to step S406; otherwise, proceed to step S407.

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

[0132] Standard rule information can be the rule information executed under normal default operating conditions.

[0133] Standard rule information may include its corresponding set of multiple rate of change, as well as the position deviation range, deviation rate of change range and acceleration disturbance range corresponding to each set of rate of change.

[0134] The set of rates of change can include the rate of change in the first direction and the rate of change in the 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 the multiple sets of change rates corresponding to each set of change rates, as well as the position deviation interval, deviation change rate interval, and acceleration disturbance interval corresponding to each set of change rates, the high-frequency vibration suppression rule information also includes the control strategy for the corresponding characteristic working condition, which is to activate the high-frequency suppression strategy.

[0137] In some possible embodiments, the high-frequency suppression strategy can be described in the following four steps:

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

[0139] Using a laser vibrometer to plot operating deflection shapes (ODS) or other motion deformation modes, it serves as a "vibration source diagnostic tool" to determine the acceleration acquisition spectrum of a dual-axis (such as a gantry shaft).

[0140] Accelerometer spectrum analysis can help identify vibration characteristics. For example, analysis of the spectrum can reveal that high-frequency components above 500Hz typically correspond to motor harmonic vibrations, while low-frequency components below 200Hz may indicate structural resonance. High-frequency resonances (>200Hz) are easier to suppress with filters, while low-frequency vibrations (<200Hz) often originate from mechanical problems, requiring reduced gain or increased rigidity.

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

[0142] Define vibration exceedance 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 library (for example, exceeding the limit at 500Hz), it is determined that suppression is required and the notch filter is enabled.

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

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

[0146] Step 4: Subsequent adjustments and optimizations.

[0147] After applying a notch filter, the resonance ratio can be further fine-tuned by setting observational compensation. For example, by monitoring the resonance ratio (the ratio of vibration amplitude to a reference value), filter parameters can be adjusted or compensation algorithms can be added to optimize the suppression effect.

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

[0149] Cooling strategies could include starting the fan to cool down the air and / or activating the 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 overload rate and the overheat rate can be determined. If the overload rate is greater than or equal to the overheat rate, the high-frequency vibration suppression rule information is determined as the target rule information; if the overload rate is less than the overheat rate, the thermal expansion compensation rule information is determined as the target rule information.

[0151] S408. Based on the position deviation interval, deviation change rate interval, and acceleration disturbance interval corresponding to each set of change rates, determine the target change rate set corresponding to the current position deviation, current deviation change rate, and current acceleration disturbance.

[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. The set of change rates corresponding to the target position deviation interval, the target deviation change rate interval, and the target acceleration disturbance interval is determined as the target change rate set.

[0153] S409. In the target rate of change set, determine the first error rate of change and the second error rate of change.

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

[0155] S410. Substitute the first error change rate and the second error change rate into the preset formula to obtain the dynamic stiffness adjustment parameters.

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

[0157]

[0158] in, For dynamic stiffness adjustment parameters, This is the gain coefficient. The displacement is a constraint on the variation of the two-axis error. The first error rate of change in the first direction. This represents the second error rate of change in the second direction. The gain coefficient is used to convert the dimensionless integral result into a physically meaningful coupling degree.

[0159] S411. The first target compensation amount is determined by summing the first product with the dynamic stiffness adjustment parameter. The first product is the product of the preset parameter and the first error change rate.

[0160] The first target compensation amount can be determined using the following formula:

[0161]

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

[0163] S412. The second product is the sum of the second product and the dynamic stiffness adjustment parameter to determine the second target compensation amount. 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 using the following formula:

[0165]

[0166] in, This is the second target compensation amount. Scaling factor The second error rate of change, These are parameters for dynamic stiffness adjustment.

[0167] Figure 5 This is a schematic diagram illustrating the execution of a coupling compensation unit provided in an embodiment of this application. Please refer to... Figure 5 In the coupling compensation unit, a first error change rate and a second error change rate are input, and dynamic stiffness adjustment parameters are determined based on these rates. Compensation is then performed using the dynamic stiffness adjustment parameters to address the first and second error change rates, yielding a first target compensation amount and a second target compensation amount.

[0168] The control information generation method provided in this application can generate control information by real-time monitoring of the gantry shaft's position deviation, deviation change rate, and acceleration disturbance under the current load, and by combining state information and target rules to determine the first error change rate in the first direction and the second error change rate in the second direction. This effectively suppresses inter-shaft coupling effects, reduces synchronization errors and mechanical stress, thereby improving control reliability under variable load and speed conditions.

[0169] Figure 6 This is a schematic diagram illustrating the architecture of a control information generation method provided in an embodiment of this application. Please refer to [link / reference]. Figure 6 The control equipment can acquire data through various sensors, and determine the current position deviation, current rate of change of deviation, current acceleration disturbance, and current status information based on the sensor data. These sensors may include laser displacement sensors, encoders and current loops, IMUs, strain gauges, etc.

[0170] Target rule information can be determined from the current state information within the dynamic rule base. Fuzzy inference processing can be performed on the target rule information using the current position deviation, current deviation change rate, and current acceleration disturbance to determine the first and second error change rates. Coupled compensation processing is then applied to the first and second error change rates to obtain the first target compensation amount, the second target compensation amount, and the dynamic stiffness adjustment parameters.

[0171] In this application, the actuator of the gantry shaft can be controlled by gantry motion commands to drive the load movement. During the movement, control information can be fed back to the actuator to compensate for the load movement, forming a closed-loop control. The following describes the process in conjunction with... Figure 7 , and will provide a detailed explanation.

[0172] Figure 7 This is a schematic flowchart illustrating a control closed loop provided in an embodiment of this application. Please refer to [link / reference]. Figure 7 The actuator can initiate load movement based on gantry motion commands. The actual position of the load can be acquired, and data collected by sensors can determine the current position deviation, the rate of change of the deviation, and the current acceleration disturbance, thereby generating a compensation amount. The driver adjusts its output according to the generated compensation amount, driving the actuator to perform the corresponding movement to achieve the expected position. A feedback loop exists throughout the process; the actual position, after being acquired by sensors, is continuously fed back to the control system. The control system makes real-time adjustments based on the 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 this application. Please refer to [link / reference]. Figure 8 The control information generation device 800 may include a first determining module 801, an acquisition module 802, a second determining module 803, and a third determining module 804.

[0174] The first determining module 801 is used to determine the current position deviation, the current deviation change rate, and the current acceleration disturbance of the gantry shaft. The current acceleration disturbance is used to indicate the effect of the load on the acceleration of the gantry shaft.

[0175] The acquisition module 802 is used to acquire the current status information of the gantry shaft, and determine the target rule information in the dynamic rule base based on the current status information. The dynamic rule base includes multiple rule information, which are used to indicate the control rules of the gantry shaft in its corresponding status.

[0176] The second determining module 803 is used to determine the first error change rate in the first direction and the second error change rate in the second direction of the gantry shaft based on 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 determining module 804 is used to determine the control information of the gantry shaft based on the first error change rate and the second error change rate. The control information includes the first target compensation amount in the first direction, the second target compensation amount in the second direction, and the dynamic stiffness adjustment parameters.

[0178] In one possible implementation, the current status information includes the load weight, speed, and temperature of the gantry shaft; multiple rule information includes standard rule information, high-frequency vibration suppression rule information, and thermal expansion compensation rule information; the acquisition module 802 is specifically used for:

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

[0180] If so, then the standard rule information will be 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 will be determined as the target rule information; or, when the temperature is greater than the preset temperature, the thermal expansion compensation rule information will be determined as the target rule information.

[0182] In one possible implementation, the target rule information includes multiple sets of rates of change, as well as the position deviation interval, deviation rate of change interval, and acceleration disturbance interval corresponding to each set of rates of change;

[0183] The second determining module 803 is specifically used for:

[0184] Based on the position deviation interval, deviation change rate interval, and acceleration disturbance interval corresponding to each set of change rates, determine the target change rate set corresponding to the current position deviation, current deviation change rate, and current acceleration disturbance.

[0185] Within the target set of rates of change, determine the first error rate of change and the second error rate of change.

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

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

[0188] In one possible implementation, the third determining module 804 is specifically used for:

[0189] Substituting the first and second error change rates into the preset formula, the dynamic stiffness adjustment parameters are obtained.

[0190] The first target compensation amount is determined by summing the first product with the dynamic stiffness adjustment parameter. 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 with the dynamic stiffness adjustment parameter. The second product is the product of the preset parameter and the second error change rate.

[0192] In one possible implementation, the first determining module 801 is specifically used for:

[0193] Based on the current location and historical preset locations, determine the current location deviation and the rate of change of the current deviation;

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

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

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

[0197] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Please refer to... 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 instructions executed by the computer;

[0199] The processor 901 executes computer execution instructions stored in the memory 902, causing the processor 901 to perform the control information generation method as shown in the above method embodiment.

[0200] Accordingly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method for generating control information as described in the above method embodiments.

[0201] Accordingly, embodiments of this application may also provide a computer program product, including a computer program, which, when executed by a processor, can implement the control information generation method shown in the above method embodiments.

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

[0203] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0204] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0205] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

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

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

[0208] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (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, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0209] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0210] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for generating control information, characterized in that, include: Determine the current position deviation, current rate of change of deviation, and current acceleration disturbance of the gantry shaft, wherein the current acceleration disturbance is used to indicate the effect of the load on the acceleration of the gantry shaft; The current state information of the gantry shaft is obtained, and target rule information is determined in the dynamic rule base based on the current state information. The dynamic rule base includes multiple rule information, which are used to indicate the control rules of the gantry shaft in its corresponding state. The first error change rate in the first direction and the second error change rate in the second direction of the gantry shaft are determined based on 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 control information of the gantry shaft is determined based on the first error change rate and the second error change rate. 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. The control information of the gantry shaft is determined based on the first error change rate and the second error change rate, including: Substituting the first error change rate and the second error change rate into a preset formula, the dynamic stiffness adjustment parameter is obtained; the sum of the first product and the dynamic stiffness adjustment parameter is determined as the first target compensation amount, where the first product is the product of the preset parameter and the first error change rate; the sum of the second product and the dynamic stiffness adjustment parameter is determined as the second target compensation amount, where the second product is the product of the preset parameter and the second error change rate. The preset formula is as follows: , The dynamic stiffness adjustment parameter is... This is the gain coefficient. The first error rate of change in the first direction. This represents the second error rate of change in the second direction.

2. The method according to claim 1, characterized in that, The current status information includes the load weight, speed, and temperature of the gantry shaft; the multiple rule information includes standard rule information, high-frequency vibration suppression rule information, and thermal expansion compensation rule information. Based on the current state information, target rule information is determined in the dynamic rule base, including: Determine whether the load weight, speed, and temperature all meet the corresponding preset conditions; If so, the standard rule information is determined 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 multiple sets of rates of change, as well as the position deviation interval, deviation rate of change interval, and acceleration disturbance interval corresponding to each set of rates of change; Determining the first error change rate in the first direction and the second error change rate in the second direction of the gantry shaft based on the current position deviation, the current deviation change rate, the current acceleration disturbance, and the target rule information includes: Based on the position deviation interval, deviation change rate interval, and acceleration disturbance interval corresponding to each set of change rates, determine the target change rate set corresponding to the current position deviation, the current deviation change rate, and the current acceleration disturbance. From the set of target rates of change, the first error rate of change and the second error rate of change 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 the control strategy for its corresponding characteristic working condition; If the target rule information is the high-frequency vibration suppression rule information, the control strategy is to activate the high-frequency suppression strategy; if the target rule information is the thermal expansion compensation rule information, the control strategy is to activate the cooling strategy.

5. The method according to claim 1, characterized in that, Determine the current position deviation, current rate of change of deviation, and current acceleration disturbance of the gantry shaft, including: Based on the current location and historical preset locations, determine the current location deviation and the rate of change of the current deviation; Obtain the current acceleration and current load weight of the gantry shaft; The current acceleration disturbance is determined based on the current acceleration and the current load weight.

6. A control information generation device, characterized in that, It includes a first determination module, an acquisition module, a second determination module, and a third determination module: The first determining module is used to determine the current position deviation, the current deviation change rate, and the current acceleration disturbance of the gantry shaft, wherein the current acceleration disturbance is used to indicate the effect of the load on the acceleration of the gantry shaft; The acquisition module is used to acquire the current status information of the gantry shaft, and determine the target rule information in the dynamic rule base based on the current status information. The dynamic rule base includes multiple rule information, and the rule information is used to indicate the control rules of the gantry shaft in its corresponding state. The second determining module is used to determine, based on the current position deviation, the current deviation change rate, the current acceleration disturbance, and the target rule information, the first error change rate in the first direction and the second error change rate in the second direction of the gantry shaft, wherein the first direction is perpendicular to the second direction; The third determining module is used to determine the control information of the gantry shaft based on the first error change rate and the second error change rate. 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. The third determining module is specifically used to: substitute the first error change rate and the second error change rate into a preset formula to obtain the dynamic stiffness adjustment parameter; determine the first target compensation amount by summing the first product and the dynamic stiffness adjustment parameter, wherein the first product is the product of the preset parameter and the first error change rate; and determine the second target compensation amount by summing the second product and the dynamic stiffness adjustment parameter, wherein the second product is the product of the preset parameter and the second error change rate. The preset formula is as follows: , The dynamic stiffness adjustment parameter is... This is the gain coefficient. The first error rate of change in the first direction. This represents the second error rate of change in the second direction.

7. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 5.

9. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1 to 5.

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