Equipment control method and device based on field bus, equipment and storage medium

Abstract

The invention provides an equipment control method and device based on a field bus, equipment and a storage medium, and relates to the technical field of equipment control. Based on a control system, the control system is connected with controlled equipment through a bus; the equipment control method comprises the following steps: acquiring moving speed information of controlled equipment through a collected encoder position value; obtaining a torque feed-forward acceleration by using the target speed at the current moment and the moving speed information of the controlled equipment; torque offset compensation is carried out on the torque feed-forward acceleration according to data collected by a sensor in real time, and torque compensation acceleration is obtained; friction force compensation is carried out on the torque compensation acceleration according to data collected by the sensor in real time to obtain friction force compensation acceleration; and obtaining a control instruction according to the friction force compensation acceleration, and sending the control instruction to the controlled equipment through the bus. According to the invention, the equipment control precision is improved.

Description

Technical Field

[0001] This invention relates to the field of equipment control technology, and more specifically, to a fieldbus-based equipment control method, apparatus, device, and storage medium. Background Technology

[0002] With the development of technologies such as the Internet of Things (IoT), the demand for control precision in industrial settings is increasing. For example, forklift masts used for loading goods are often quite tall, some exceeding ten meters. When the control speed is too high, the mast is prone to swaying back and forth, and may even tip over, posing a safety hazard. Equipment control precision directly affects the stability, safety, and efficiency of equipment operation. However, traditional equipment control methods often rely on worker experience, which is often insufficient to meet the precision requirements in complex, dynamic, and high-precision scenarios. Summary of the Invention

[0003] The problem addressed by this invention is how to improve the control precision of equipment.

[0004] To address the aforementioned problems, this invention provides a fieldbus-based device control method, apparatus, device, and storage medium.

[0005] In a first aspect, the present invention provides a fieldbus-based device control method, based on a control system connected to the controlled device via a bus; the device control method includes: The controlled device's moving speed information can be obtained by collecting the encoder position value; The torque feedforward acceleration is obtained by using the target velocity and the moving velocity of the controlled device at the current moment; Based on the real-time data collected by the sensor, torque offset compensation is performed on the torque feedforward acceleration to obtain torque compensation acceleration; Based on the real-time data collected by the sensor, frictional force compensation is performed on the torque compensation acceleration to obtain the frictional force compensation acceleration. The control command is obtained based on the frictional force compensation acceleration, and the control command is sent to the controlled device via the bus.

[0006] Optionally, the control system includes a multi-sensor module, which is disposed on the controlled device; the step of performing torque offset compensation on the torque feedforward acceleration based on real-time sensor data to obtain torque-compensated acceleration includes: The multi-sensor module acquires real-time data collected by the sensors of the controlled device. The torque offset and inertia are obtained based on the real-time data collected by the sensor. The torque offset acceleration is obtained by the ratio of the product of the torque offset and the preset torque coefficient to the moment of inertia. The torque offset acceleration is used to compensate for the torque feedforward acceleration to obtain the torque compensation acceleration; The torque compensation acceleration includes: , in, For the torque compensation acceleration, The torque feedforward acceleration, The torque offset acceleration is given.

[0007] Optionally, the multi-sensor module includes a height sensor, a weight sensor, and a gyroscope; the real-time sensor data includes height information, weight information, and gyroscope-monitored acceleration; acquiring the real-time sensor data of the controlled device through the multi-sensor module includes: The height information of the controlled device is obtained through the height sensor; The weight information of the controlled device is obtained through the weight sensor; The gyroscope is used to obtain the acceleration monitored by the gyroscope of the controlled device.

[0008] Optionally, the step of performing friction compensation on the torque compensation acceleration based on the real-time data collected by the sensor to obtain the friction compensation acceleration includes: The friction torque is obtained by multiplying the height information, the weight information, and the preset friction coefficient. The frictional acceleration can be obtained by the ratio of the frictional torque to the moment of inertia. The frictional force acceleration is used to compensate the torque compensation acceleration for frictional force to obtain the frictional force compensation acceleration. The frictional force compensation acceleration includes: , in, For the frictional force compensation acceleration, For the torque compensation acceleration, Let be the acceleration due to friction.

[0009] Optionally, the step of obtaining a control command based on the friction-compensated acceleration and sending the control command to the controlled device via a bus includes: The frictional force compensation acceleration is converted into a current signal to obtain the control command, and the control command is sent to the controlled device via a bus; The control commands include: , in, The control command. For the frictional force compensation acceleration, Inertia ratio, For the moment of inertia, Rated current, This is the rated torque.

[0010] Optionally, the controlled device's moving speed information includes the encoder's real-time speed and encoder's real-time acceleration, and the step of obtaining the torque feedforward acceleration using the target speed at the current moment and the controlled device's moving speed information includes: The speed difference is obtained by using the difference between the target speed at the current moment and the real-time speed of the encoder; The initial acceleration is obtained based on the velocity difference; The initial acceleration includes: , in, The initial acceleration, The target speed, The real-time speed of the encoder, For speed gain, The integral is the velocity difference, where T is the period parameter; The torque feedforward acceleration is obtained based on the initial acceleration and the real-time acceleration of the encoder.

[0011] Optionally, obtaining the torque feedforward acceleration based on the initial acceleration and the real-time acceleration of the encoder includes: The acceleration difference is obtained by using the difference between the initial acceleration and the real-time acceleration of the encoder; The torque feedforward acceleration is obtained based on the acceleration difference and the initial acceleration. The torque feedforward acceleration includes: , in, The torque feedforward acceleration, The acceleration difference, For torque feedforward gain, These are the torque filtering coefficients.

[0012] Secondly, the present invention provides a fieldbus-based device control apparatus, based on a control system connected to the controlled device via a bus; the device control apparatus includes: The encoder acquisition module is used to obtain the moving speed information of the controlled device by acquiring the encoder position value; The torque feedforward module is used to obtain the torque feedforward acceleration using the target velocity and the moving velocity information of the controlled device at the current moment; The torque offset compensation module is used to compensate the torque feedforward acceleration for torque offset based on real-time data collected by the sensor, so as to obtain the torque-compensated acceleration. The friction compensation module is used to perform friction compensation on the torque compensation acceleration based on the real-time data collected by the sensor, so as to obtain the friction compensation acceleration; The control command module is used to obtain control commands based on the frictional force compensation acceleration and send the control commands to the controlled device via a bus.

[0013] Thirdly, the present invention provides an electronic device, including a memory and a processor; The memory is used to store computer programs; The processor is configured to implement the fieldbus-based device control method as described in the first aspect when executing the computer program.

[0014] Fourthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the fieldbus-based device control method as described in the first aspect.

[0015] The beneficial effects of the fieldbus-based device control method, apparatus, equipment, and storage medium of the present invention are as follows: By acquiring encoder position values, the moving speed information of the controlled device can be obtained, enabling rapid response to speed change demands and improving dynamic response capabilities. The torque feedforward acceleration is obtained using the target speed and the moving speed information of the controlled device at the current moment. Torque offset compensation and friction compensation are performed based on real-time sensor data, eliminating the influence of torque offset and friction, and improving control accuracy. The final friction-compensated acceleration is converted into control commands, which are then sent to the controlled device via the bus, rapidly issuing control commands and further improving device control accuracy. Attached Figure Description

[0016] Figure 1 This is a schematic flowchart of a fieldbus-based device control method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the first movement of a controlled device according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the second movement of a controlled device according to an embodiment of the present invention; Figure 4This is a schematic diagram of the third movement of a controlled device according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a controlled device according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a fieldbus-based device control device according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0017] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0018] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0019] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0020] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0021] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0022] In related technologies, the controlled equipment can be a multi-functional forklift equipped with a forklift mast that has forward / backward and upward / lowering functions. It can move forward and backward while goods are being raised and lowered, or it can perform upward and downward movements, as well as forward and backward movements independently. In actual customer use, it is necessary to stack goods on very high shelves. Nowadays, warehouse shelves in factories are getting higher and higher, with some exceeding 10 meters in height. Therefore, the forklift mast must be greater than 10 meters to meet the requirements. During the stacking process, when the stack exceeds a certain height, the mast is prone to swaying and rocking. The higher the stack, the greater the swaying and the larger the amplitude of the swing. Furthermore, the faster the forks rise and the higher the height, the greater the swaying. This can sometimes lead to unsafe situations, even forklift tipping accidents, and potentially personal injury.

[0023] To address the problems existing in the aforementioned related technologies, embodiments of the present invention provide a device control method, apparatus, device, and storage medium based on fieldbus.

[0024] like Figure 1 As shown in the figure, an embodiment of the present invention provides a device control method based on a fieldbus, which is based on a control system connected to the controlled device via a bus; the device control method includes: Step 110: Obtain the moving speed information of the controlled device by collecting the encoder position value.

[0025] Specifically, encoders (such as incremental or absolute encoders) can acquire the encoder position values ​​of the motor or mechanical shaft of the controlled equipment in real time and output pulse or digital signals to reflect the current position. The encoder position values ​​are converted into the moving speed information of the controlled equipment through position difference method (i.e., the difference between position values ​​at adjacent times divided by the time interval) or filtering difference method (such as using a low-pass filter + difference).

[0026] Step 120: Calculate the torque feedforward acceleration using the target velocity and the moving speed information of the controlled device at the current moment.

[0027] Specifically, given an analog command for forward and backward movement speed, the operator operates a toggle switch, which generates a 0-5V analog voltage signal. The MCU (microcontroller control chip) samples the analog signal, performs analog-to-digital conversion, and obtains a digital speed signal, i.e., the target speed.

[0028] Step 130: Perform torque offset compensation on the torque feedforward acceleration based on the real-time data collected by the sensor to obtain the torque-compensated acceleration.

[0029] Specifically, the sensor collects data online to identify the inertia of the system, calculates the torque offset, and uses the torque offset to compensate for the torque feedforward acceleration, thereby obtaining the torque compensation acceleration and achieving precise control of the controlled equipment.

[0030] Step 140: Perform friction compensation on the torque compensation acceleration based on the real-time data collected by the sensor to obtain the friction compensation acceleration.

[0031] Specifically, changes in the load of the controlled equipment can also cause a decrease in control accuracy. By collecting data from sensors to calculate friction, and then using the friction to compensate for the torque compensation acceleration, friction compensation acceleration is obtained.

[0032] Step 150: Obtain control commands based on the frictional force compensation acceleration, and send the control commands to the controlled device via the bus.

[0033] In some more specific embodiments, the controlled device includes a fork carriage and a mast base respectively connected to a moving mast, the fork carriage being equipped with a multi-sensor module, and the fork carriage being used to move along the vertical direction of the moving mast, such as... Figure 2 As shown, the fork carriage moves up and down. The movable mast is used to move horizontally along the mast base, as... Figure 3 , Figure 4 As shown, the movable gantry moves back and forth.

[0034] like Figure 5 As shown, the controlled equipment also includes a first cylinder and a second cylinder, respectively connected to the proportional valve via oil pipes. The first cylinder is fixedly connected to the fork carriage and is used to drive the fork carriage to move vertically along the moving mast. The second cylinder is fixedly connected to the moving mast and is used to drive the moving mast to move horizontally along the mast base. The control system also includes a controller connected to the multi-sensor module and connected to the proportional valve via a bus. The proportional valve is used to control the moving speed of the first cylinder and the second cylinder. The bus can be a CAN bus. The controller receives real-time sensor data detected by the multi-sensor module, generates control commands, and outputs current to the proportional valve through these commands to achieve real-time control, thereby controlling the output torque to control the movement of the cylinders. The control commands control the current output to the proportional valve circuit. The proportional valve opens its valve core according to the current magnitude, thereby controlling the flow rate of the high-pressure oil, pushing the cylinder to move, and the cylinder's moving shaft drives the mast to move.

[0035] In this embodiment, the controlled device's moving speed information is obtained by collecting the encoder position value, enabling rapid response to speed change requirements and improving dynamic response capability. The torque feedforward acceleration is obtained using the current target speed and the controlled device's moving speed information. Torque offset compensation and friction compensation are performed based on real-time sensor data, eliminating the effects of torque offset and friction, and improving control accuracy. The final friction-compensated acceleration is converted into control commands, which are then sent to the controlled device via a bus, rapidly issuing control commands and further improving device control accuracy.

[0036] Optionally, the control system includes a multi-sensor module, which is disposed on the controlled device; the step of performing torque offset compensation on the torque feedforward acceleration based on real-time sensor data to obtain torque-compensated acceleration includes: The multi-sensor module acquires real-time data collected by the sensors of the controlled device. The torque offset and inertia are obtained based on the real-time data collected by the sensor. The torque offset acceleration is obtained by the ratio of the product of the torque offset and the preset torque coefficient to the moment of inertia. The torque offset acceleration is used to compensate for the torque feedforward acceleration to obtain the torque compensation acceleration; The torque compensation acceleration includes: , in, For the torque compensation acceleration, The torque feedforward acceleration, The torque offset acceleration is given.

[0037] Optionally, the multi-sensor module includes a height sensor, a weight sensor, and a gyroscope; the real-time sensor data includes height information, weight information, and gyroscope-monitored acceleration; acquiring the real-time sensor data of the controlled device through the multi-sensor module includes: The height information of the controlled device is obtained through the height sensor; The weight information of the controlled device is obtained through the weight sensor; The gyroscope is used to obtain the acceleration monitored by the gyroscope of the controlled device.

[0038] In some more specific embodiments, obtaining the torque offset and inertia based on the real-time data collected by the sensor includes: The torque offset is obtained by multiplying the height information and the weight information. The moment of inertia is obtained by the ratio of the torque to the acceleration monitored by the gyroscope.

[0039] Specifically, height information is obtained from a height sensor, and weight information is obtained from a weight sensor. The height information represents the height value of the fork carriage, and the weight information represents the change in weight of the fork carriage detected by the sampling weight sensor. The torque offset is calculated as weight information * height information over one cycle, the inertia is calculated as torque / gyroscope-monitored acceleration, and the torque is calculated as current weight information * height information. The torque coefficient is 500.

[0040] In this optional embodiment, the torque offset is obtained by collecting the system's operating status in real time through sensors, calculating the weight change and height value, and compensating for the feedforward acceleration. This allows for a more accurate matching of the actual required torque and significantly improves the speed control accuracy.

[0041] Optionally, the step of performing friction compensation on the torque compensation acceleration based on the real-time data collected by the sensor to obtain the friction compensation acceleration includes: The friction torque is obtained by multiplying the height information, the weight information, and the preset friction coefficient. The frictional acceleration can be obtained by the ratio of the frictional torque to the moment of inertia. The frictional force acceleration is used to compensate the torque compensation acceleration for frictional force to obtain the frictional force compensation acceleration. The frictional force compensation acceleration includes: , in, For the frictional force compensation acceleration, For the torque compensation acceleration, Let be the acceleration due to friction.

[0042] Specifically, the friction torque is calculated based on the weight information from the weight sensor, the friction coefficient of 11300, and the height information. The friction acceleration is then calculated based on the friction torque and the moment of inertia.

[0043] Frictional torque = weight * coefficient of friction * height Frictional acceleration = Frictional torque / Moment of inertia Frictional acceleration = Torque-compensated acceleration + Frictional acceleration.

[0044] In this optional embodiment, real-time data collected by sensors can dynamically identify the current friction state and compensate for the acceleration accordingly, thereby eliminating errors caused by friction.

[0045] Optionally, the step of obtaining a control command based on the friction-compensated acceleration and sending the control command to the controlled device via a bus includes: The frictional force compensation acceleration is converted into a current signal to obtain the control command, and the control command is sent to the controlled device via a bus; The control commands include: , in, The control command. For the frictional force compensation acceleration, Inertia ratio, For the moment of inertia, Rated current, This is the rated torque.

[0046] Specifically, the inertia ratio = inertia * acceleration / rated torque. The control command is used to control the proportional valve of the controlled equipment. The control command generates a corresponding control current to the proportional valve. The proportional valve opens the valve core according to the current magnitude, thereby controlling the flow rate of the output high-pressure oil, pushing the oil cylinder to move. The moving shaft of the oil cylinder drives the fork carriage and the moving mast to move.

[0047] In this optional embodiment, by converting acceleration commands into current commands, the control strategy can be precisely applied to the actuator, thereby improving the overall system's control consistency and response speed.

[0048] Optionally, the controlled device's moving speed information includes the encoder's real-time speed and encoder's real-time acceleration, and the step of obtaining the torque feedforward acceleration using the target speed at the current moment and the controlled device's moving speed information includes: The speed difference is obtained by using the difference between the target speed at the current moment and the real-time speed of the encoder; The initial acceleration is obtained based on the velocity difference; The initial acceleration includes: , in, The initial acceleration, The target speed, The real-time speed of the encoder, For speed gain, The integral is the velocity difference, where T is the period parameter; The torque feedforward acceleration is obtained based on the initial acceleration and the real-time acceleration of the encoder.

[0049] Specifically, the acceleration (ACC) is calculated by using the change in the position of the sampling encoder through PI calculation to obtain the velocity value of the forklift mast. The target velocity and the forklift mast velocity value are compared to obtain the velocity difference, and then the acceleration is calculated. Among these, the velocity gain... =1500, velocity difference integral = 140, period parameter T = 200us. Maximum value parameter of velocity integral = 24576.

[0050] Optionally, obtaining the torque feedforward acceleration based on the initial acceleration and the real-time acceleration of the encoder includes: The acceleration difference is obtained by using the difference between the initial acceleration and the real-time acceleration of the encoder; The torque feedforward acceleration is obtained based on the acceleration difference and the initial acceleration. The torque feedforward acceleration includes: , in, The torque feedforward acceleration, The acceleration difference, For torque feedforward gain, These are the torque filtering coefficients.

[0051] Specifically, the acceleration difference is multiplied by the torque feedforward gain coefficient = 500, then divided by the filter coefficient = 50, and then accumulated to obtain the torque feedforward acceleration.

[0052] like Figure 6 As shown, an embodiment of the present invention provides a fieldbus-based device control device, comprising: The encoder acquisition module 10 is used to obtain the moving speed information of the controlled device through the acquired encoder position value; The torque feedforward module 20 is used to obtain the torque feedforward acceleration using the target velocity and the moving speed information of the controlled device at the current moment; The torque offset compensation module 30 is used to perform torque offset compensation on the torque feedforward acceleration based on real-time data collected by the sensor, so as to obtain torque compensation acceleration. The friction compensation module 40 is used to perform friction compensation on the torque compensation acceleration based on the real-time data collected by the sensor, so as to obtain the friction compensation acceleration. The control command module 50 is used to obtain control commands based on the frictional force compensation acceleration and send the control commands to the controlled device via a bus.

[0053] The fieldbus-based device control device of this embodiment is used to implement the fieldbus-based device control method described above. Its advantages over the prior art are the same as those of the fieldbus-based device control method compared to the prior art, and will not be repeated here.

[0054] Optionally, the torque offset compensation module 30 is specifically used to: acquire real-time sensor data collected by the controlled device through the multi-sensor module; The torque offset and inertia are obtained based on the real-time data collected by the sensor. The torque offset acceleration is obtained by the ratio of the product of the torque offset and the preset torque coefficient to the moment of inertia. The torque offset acceleration is used to compensate for the torque feedforward acceleration to obtain the torque compensation acceleration; The torque compensation acceleration includes: , in, For the torque compensation acceleration, The torque feedforward acceleration, The torque offset acceleration is given.

[0055] Optionally, the torque offset compensation module 30 is specifically used to: acquire the height information of the controlled device through the height sensor; The weight information of the controlled device is obtained through the weight sensor; The gyroscope is used to obtain the acceleration monitored by the gyroscope of the controlled device.

[0056] Optionally, the friction compensation module 40 is specifically used to: obtain the friction torque based on the product of the height information, the weight information, and the preset friction coefficient; The frictional acceleration can be obtained by the ratio of the frictional torque to the moment of inertia. The frictional force acceleration is used to compensate the torque compensation acceleration for frictional force to obtain the frictional force compensation acceleration. The frictional force compensation acceleration includes: , in, For the frictional force compensation acceleration, For the torque compensation acceleration, Let be the acceleration due to friction.

[0057] Optionally, the control command module 50 is specifically used to: convert the friction compensation acceleration into a current signal to obtain the control command, and send the control command to the controlled device via a bus; The control commands include: , in, The control command. For the frictional force compensation acceleration, Inertia ratio, For the moment of inertia, Rated current, This is the rated torque.

[0058] Optionally, the torque feedforward module 20 is specifically used to: obtain the speed difference by using the difference between the target speed at the current moment and the real-time speed of the encoder; The initial acceleration is obtained based on the velocity difference; The initial acceleration includes: , in, The initial acceleration, The target speed, The real-time speed of the encoder, For speed gain, The integral is the velocity difference, where T is the period parameter; The torque feedforward acceleration is obtained based on the initial acceleration and the real-time acceleration of the encoder.

[0059] Optionally, the torque feedforward module 20 is specifically used to: obtain an acceleration difference value using the difference between the initial acceleration and the real-time acceleration of the encoder; The torque feedforward acceleration is obtained based on the acceleration difference and the initial acceleration. The torque feedforward acceleration includes: , in, The torque feedforward acceleration, The acceleration difference, For torque feedforward gain, These are the torque filtering coefficients.

[0060] like Figure 7As shown, an electronic device 700 provided in this embodiment of the invention includes a memory 710 and a processor 720; the memory 710 is used to store a computer program; the processor 720 is used to implement the fieldbus-based device control method as described above when the computer program is executed.

[0061] Alternatively, an electronic device 700 includes a memory 710 and a processor 720 coupled to the memory 710; the memory 710 is configured to store a computer program; and the processor 720 is configured to perform the following operations when the computer program is executed: The controlled device's moving speed information can be obtained by collecting the encoder position value; The torque feedforward acceleration is obtained by using the target velocity and the moving velocity of the controlled device at the current moment; Based on the real-time data collected by the sensor, torque offset compensation is performed on the torque feedforward acceleration to obtain torque compensation acceleration; Based on the real-time data collected by the sensor, frictional force compensation is performed on the torque compensation acceleration to obtain the frictional force compensation acceleration. The control command is obtained based on the frictional force compensation acceleration, and the control command is sent to the controlled device via the bus.

[0062] This invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the fieldbus-based device control method described above.

[0063] Alternatively, a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the following operations: The controlled device's moving speed information can be obtained by collecting the encoder position value; The torque feedforward acceleration is obtained by using the target velocity and the moving velocity of the controlled device at the current moment; Based on the real-time data collected by the sensor, torque offset compensation is performed on the torque feedforward acceleration to obtain torque compensation acceleration; Based on the real-time data collected by the sensor, frictional force compensation is performed on the torque compensation acceleration to obtain the frictional force compensation acceleration. The control command is obtained based on the frictional force compensation acceleration, and the control command is sent to the controlled device via the bus.

[0064] The present invention will now be described an electronic device 700 that can serve as a server or client of the present invention, which is an example of a hardware device that can be applied to various aspects of the present invention. Electronic device 700 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device 700 can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0065] Electronic device 700 includes a computing unit that can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or a computer program loaded from a storage unit into random access memory (RAM). The RAM may also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0066] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention according to actual needs. Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0067] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A device control method based on fieldbus, characterized in that, Based on a control system, the control system is connected to the controlled device via a bus; the device control method includes: The controlled device's moving speed information can be obtained by collecting the encoder position value; The torque feedforward acceleration is obtained by using the target velocity and the moving velocity of the controlled device at the current moment; Based on the real-time data collected by the sensor, torque offset compensation is performed on the torque feedforward acceleration to obtain torque compensation acceleration; Based on the real-time data collected by the sensor, frictional force compensation is performed on the torque compensation acceleration to obtain the frictional force compensation acceleration. The control command is obtained based on the frictional force compensation acceleration, and the control command is sent to the controlled device via the bus.

2. The device control method based on fieldbus according to claim 1, characterized in that, The control system includes a multi-sensor module, which is installed on the controlled device; the step of performing torque offset compensation on the torque feedforward acceleration based on real-time sensor data to obtain torque-compensated acceleration includes: The multi-sensor module acquires real-time data collected by the sensors of the controlled device. The torque offset and inertia are obtained based on the real-time data collected by the sensor. The torque offset acceleration is obtained by the ratio of the product of the torque offset and the preset torque coefficient to the moment of inertia. The torque offset acceleration is used to compensate for the torque feedforward acceleration to obtain the torque compensation acceleration; The torque compensation acceleration includes: ， in, For the torque compensation acceleration, The torque feedforward acceleration, The torque offset acceleration is given.

3. The device control method based on fieldbus according to claim 2, characterized in that, The multi-sensor module includes a height sensor, a weight sensor, and a gyroscope; the real-time sensor data includes height information, weight information, and acceleration monitored by the gyroscope. The process of acquiring the real-time sensor data of the controlled device through the multi-sensor module includes: The height information of the controlled device is obtained through the height sensor; The weight information of the controlled device is obtained through the weight sensor; The gyroscope is used to obtain the acceleration monitored by the gyroscope of the controlled device.

4. The fieldbus-based device control method according to claim 3, characterized in that, The step of performing friction compensation on the torque compensation acceleration based on real-time data collected by the sensor to obtain the friction compensation acceleration includes: The friction torque is obtained by multiplying the height information, the weight information, and the preset friction coefficient. The frictional acceleration can be obtained by the ratio of the frictional torque to the moment of inertia. The frictional force acceleration is used to compensate the torque compensation acceleration for frictional force to obtain the frictional force compensation acceleration. The friction-compensating acceleration includes: ， in, For the frictional force compensation acceleration, For the torque compensation acceleration, Let be the acceleration due to friction.

5. The fieldbus-based device control method according to claim 4, characterized in that, The step of obtaining a control command based on the frictional force compensation acceleration and sending the control command to the controlled device includes: The frictional force compensation acceleration is converted into a current signal to obtain the control command, and the control command is sent to the controlled device via a bus; The control commands include: ， in, The control command. For the frictional force compensation acceleration, Inertia ratio, For the moment of inertia, Rated current, This is the rated torque.

6. The device control method based on fieldbus according to claim 1, characterized in that, The controlled device's moving speed information includes the encoder's real-time speed and encoder's real-time acceleration. The step of obtaining the torque feedforward acceleration using the current target speed and the controlled device's moving speed information includes: The speed difference is obtained by using the difference between the target speed at the current moment and the real-time speed of the encoder; The initial acceleration is obtained based on the velocity difference; The initial acceleration includes: ， in, The initial acceleration, The target speed, The real-time speed of the encoder, For speed gain, The integral is the velocity difference, where T is the period parameter; The torque feedforward acceleration is obtained based on the initial acceleration and the real-time acceleration of the encoder.

7. The device control method based on fieldbus according to claim 6, characterized in that, The step of obtaining the torque feedforward acceleration based on the initial acceleration and the real-time acceleration of the encoder includes: The acceleration difference is obtained by using the difference between the initial acceleration and the real-time acceleration of the encoder; The torque feedforward acceleration is obtained based on the acceleration difference and the initial acceleration. The torque feedforward acceleration includes: ， in, The torque feedforward acceleration, The acceleration difference, For torque feedforward gain, These are the torque filtering coefficients.

8. A fieldbus-based device control apparatus, characterized in that, Based on a control system, the control system is connected to the controlled device via a bus; the device control device includes: The encoder acquisition module is used to obtain the moving speed information of the controlled device by acquiring the encoder position value; The torque feedforward module is used to obtain the torque feedforward acceleration using the target velocity and the moving velocity information of the controlled device at the current moment; The torque offset compensation module is used to compensate the torque feedforward acceleration for torque offset based on real-time data collected by the sensor, so as to obtain the torque-compensated acceleration. The friction compensation module is used to perform friction compensation on the torque compensation acceleration based on the real-time data collected by the sensor, so as to obtain the friction compensation acceleration; The control command module is used to obtain control commands based on the frictional force compensation acceleration and send the control commands to the controlled device via a bus.

9. An electronic device, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the fieldbus-based device control method as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the fieldbus-based device control method as described in any one of claims 1 to 7.

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