Method and device for motion control of a large-inertia on-orbit device

Abstract

The application belongs to the technical field of motion control, and discloses a motion control method and device for a large-inertia on-orbit equipment. The method can effectively eliminate the problem of non-smooth instruction and avoid control jitter. Finally, the actual expected motor speed is used to control the actuator to work, which solves the problem of poor process tracking precision of the existing method, guarantees the smoothness of the actuator during speed switching, avoids the risk of equipment damage, and finally realizes reliable and accurate control of the motion of the large-inertia on-orbit equipment.

Description

Technical Field

[0001] This application relates to the field of motion control technology, and in particular to a motion control method and device for a large inertia on-orbit device. Background Technology

[0002] In motion control scenarios for high-inertia on-orbit equipment, the core reliance is on actuators to drive motion. However, existing motion control methods have significant drawbacks: Firstly, existing methods do not fully integrate key parameters such as the actuator's current target position, current actual position, current actual velocity, maximum acceleration, and actual velocity from the previous control cycle to dynamically determine the current position correction. This results in an inability to adapt to the problem of "large inertia leads to a small mechanical natural frequency, a synchronous decrease in control closed-loop bandwidth, and consequently, attenuation of high-frequency command response" under the characteristics of large inertia, easily leading to poor process tracking accuracy. Secondly, existing methods rely solely on simple closed-loop control when acquiring actuator velocity commands without using preset position PID control. The module accurately calculates the theoretical expected motion speed at the current moment based on the corrected position, but it lacks a preset actuator speed compensation module to compensate for the theoretical expected speed by combining the deviation between the current target motion position and the current actual motion position. It is difficult to fully combine its power limit to ensure the smoothness of the command when the actuator switches from high-speed motion to a stopped state (the final speed and acceleration drop to 0), which easily introduces too much control jitter and poses a risk of damage to large inertia on-orbit equipment. Ultimately, it is impossible to achieve stable motion of large inertia on-orbit equipment through reliable control of the actuator. Summary of the Invention

[0003] This application provides a motion control method and device for large inertia on-orbit equipment, which can effectively solve the problem of poor process tracking accuracy in existing methods, ensure the smoothness of the actuator during speed switching, avoid the risk of equipment damage, and ultimately achieve reliable and accurate control of the motion of large inertia on-orbit equipment.

[0004] In a first aspect, this application provides a motion control method for a large inertia on-orbit device, the large inertia on-orbit device including an actuator, the method comprising: Obtain the current target motion position of the actuator; The current corrected position of the actuator is determined based on the actuator's current target position, current actual position, current actual speed, maximum acceleration, and actual speed of the previous control cycle. Using a preset position PID module, the position of the actuator is corrected based on the current moment to obtain the theoretical expected speed of the actuator at the current moment; Using a preset actuator speed compensation module, the actual expected motor speed of the actuator is determined based on the current target motion position, current actual motion position, and theoretical expected motion speed at the current moment. The actuator is controlled to operate by utilizing the actual expected motor speed of the actuator, thereby controlling the movement of the high-inertia on-orbit equipment.

[0005] Secondly, this application provides a motion control device for a large inertia on-orbit device, the large inertia on-orbit device including an actuator, the device comprising: The first unit is used to obtain the current target motion position of the actuator; The second unit is used to determine the current corrected position of the actuator based on the current target motion position, current actual motion position, current actual speed, maximum acceleration, and actual speed of the previous control cycle; and to determine the actual expected motor speed of the actuator based on the current target motion position, current actual motion position, and theoretical expected motion speed of the actuator using a preset actuator speed compensation module. The third unit is used to use a preset position PID module to correct the position of the actuator based on the current time and obtain the theoretical expected speed of the actuator at the current time. The fourth unit is used to control the actuator to work by utilizing the actual expected motor speed of the actuator, so as to control the movement of the large inertia on-orbit equipment.

[0006] Thirdly, this application provides a readable medium including executable instructions, which, when executed by a processor of an electronic device, cause the electronic device to perform any of the methods described in the first aspect.

[0007] Fourthly, this application provides an electronic device including a processor and a memory storing execution instructions, wherein when the processor executes the execution instructions stored in the memory, the processor performs the method as described in any of the first aspects.

[0008] As can be seen from the above technical solution, this application has the following beneficial effects compared with the prior art: The motion control method for this high-inertia on-orbit device effectively addresses the shortcomings of existing technologies through a progressive logical design. The specific derivation is as follows: First, by acquiring the current target motion position of the actuator, a precise target reference is provided for subsequent control. Second, by combining the actuator's current target motion position, current actual motion position, current actual velocity, maximum acceleration, and the actual velocity of the previous control cycle, the corrected position at the current moment is determined. This effectively avoids the contradiction between the mechanical natural frequency and the control closed-loop bandwidth under the characteristics of high inertia, ensuring that the corrected position conforms to the physical motion constraints of the actuator, laying a precise foundation for subsequent velocity calculation. Third, using a preset position PID module, the theoretical expected motion velocity at the current moment is obtained based on the corrected position at the current moment, which can be further calculated using PID... The closed-loop control improves the accuracy of speed commands and avoids speed deviations caused by high-frequency response decay. Then, by using a preset actuator speed compensation module, the theoretically expected speed is compensated based on the deviation between the current target position and the current actual position, thus determining the actual expected motor speed. This effectively eliminates the problem of unsmooth commands and avoids control jitter. Finally, the actuator is controlled using this actual expected motor speed, which solves the problem of poor process tracking accuracy in existing methods, ensures the smoothness of the actuator during speed switching, avoids the risk of equipment damage, and ultimately achieves reliable and accurate control of the motion of large-inertia on-orbit equipment.

[0009] The further effects of the aforementioned non-conventional preferred method will be explained below in conjunction with specific embodiments. Attached Figure Description

[0010] To more clearly illustrate the embodiments of this application or the existing technical solutions, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 A flowchart illustrating a motion control method for a large inertia on-orbit device provided in this application; Figure 2 A flowchart illustrating a motion control method for a large inertia on-orbit device provided in this application; Figure 3 A schematic diagram of a closed-loop control provided in this application; Figure 4 A schematic diagram of the motion control device for a large inertia on-orbit device provided in this application; Figure 5 This is a schematic diagram of the structure of an electronic device provided in this application. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0013] The various non-limiting embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0014] To avoid ambiguity and ensure the clarity of this implementation method, the key terms (including custom-coined terms) involved in this method are first clearly defined and explained: Large inertia on-orbit equipment: refers to equipment deployed in the space orbital environment with large inertia (significant mass or rotational inertia), such as space station assemblies, on-orbit assembly platforms, and large satellite payloads. Their motion needs to overcome significant inertia to avoid overshoot or jitter, and they are the control objects of this method.

[0015] Actuator: refers to the power drive component of the large inertia on-orbit equipment, including servo motors, reducers, transmission guides, etc., used to receive the "actual desired motor speed" command and drive the large inertia on-orbit equipment to move. It is the command execution carrier of this method.

[0016] Current target motion position: refers to the ideal position that the actuator needs to reach within a certain control cycle. It is generated by the motion task planning system of large inertia on-orbit equipment, such as the target grasping position of the space station robotic arm.

[0017] Current actual position: refers to the actual position of the actuator within a certain control cycle. It is collected by a displacement sensor (such as a grating ruler) connected to the actuator and transmitted to the control logic through the sensor interface of the FPGA module.

[0018] Current actual speed: refers to the current actual speed of the actuator within a certain control cycle. It is calculated by the ratio of the position change collected by the displacement sensor to the control cycle, or directly obtained by the speed sensor of the actuator.

[0019] Maximum acceleration: refers to the maximum acceleration (including deceleration, i.e. negative acceleration) allowed by the physical characteristics of the actuator. It is determined by the motor power and transmission structure strength of the actuator and is a preset physical constraint parameter stored in the parameter register.

[0020] Actual speed of the previous control cycle: refers to the actual speed of the actuator in the control cycle immediately preceding the current control cycle. It is stored in the buffer unit and used to calculate the acceleration of the current cycle.

[0021] Current corrected position: refers to the "current target motion position" after correction based on the physical constraints of the actuator (maximum speed, maximum acceleration), used to avoid motion overshoot caused by large inertia, and is the core input of the position PID module.

[0022] Position PID module: This refers to the module that is pre-programmed into the control algorithm module and integrates functions such as "safety limiting, feedforward control, and proportional control". It is used to convert "current corrected position" into "theoretical expected speed at the current moment", taking into account both control accuracy and dynamic response.

[0023] Actuator speed compensation module: This refers to the module preset in the compensation algorithm module, which is used to eliminate the deviation between the "theoretical expected speed at the current moment" and the actual motion state of the actuator (such as mechanical backlash, on-rail disturbance), and output the "actual expected motor speed".

[0024] Theoretical expected motion speed at the current moment: refers to the ideal speed that the actuator should reach, output by the position PID module (without considering real-time deviation compensation), which is the input basis of the speed compensation module.

[0025] Actual expected motor speed: refers to the speed command output by the actuator speed compensation module, which is ultimately used to drive the actuator and is directly sent to the actuator's motor driver.

[0026] Shortest deceleration distance at current speed: refers to the minimum distance required for the actuator to reduce from the "current actual speed" to 0. It is calculated from the current actual speed and the maximum acceleration and is used to determine whether deceleration needs to be done in advance to avoid overshoot.

[0027] Feedforward control module: This refers to a submodule of the position PID module. It predicts the speed requirements of the actuator through the differential element, compensates for the dynamic lag caused by large inertia, and improves the response speed.

[0028] Proportional control module: This refers to a sub-module of the position PID module. It calculates the closed-loop compensation speed by "the deviation between the target position after amplitude limiting and the current actual motion position" to eliminate real-time position error.

[0029] Maximum speed limit: refers to the maximum speed allowed by the physical characteristics of the actuator. It is determined by the rated speed of the motor and the transmission ratio. It is a preset speed constraint parameter and is stored in the parameter register.

[0030] Speed ​​compensation amount: refers to the increment calculated by the actuator speed compensation module to correct the "theoretical expected motion speed at the current moment", which is dynamically adjusted based on the "deviation between the current target motion position and the current actual motion position".

[0031] Control cycle: refers to the time interval for executing one complete motion control process, which is set by the timing module of the FPGA to ensure the real-time performance of the control logic.

[0032] Next, the meanings of some symbols used in this application will be explained, as shown in Tables 1-3: Table 1 Control Parameter Table Table 2. Quadratic Programming Parameter Table Table 3 Closed-loop control parameter table This embodiment of the motion control method for large inertia on-orbit equipment realizes the entire process of parameter acquisition, calculation, command output, and upgrade maintenance. The core logic follows the steps of "acquiring target parameters → correcting position calculation → generating theoretical velocity → speed compensation → executing control". The specific implementation process of each step is described in detail below according to the logical order of the claims.

[0033] See details Figure 1 , 2 This application illustrates a motion control method for a large inertia on-orbit device according to an embodiment of the present application. The large inertia on-orbit device includes an actuator, and the method includes: S101: Obtain the current target motion position of the actuator.

[0034] The motion tasks (such as position adjustment and trajectory tracking) of high-inertia on-orbit equipment are generated by the ground control system or the on-orbit mission planning system. The corresponding "current target motion position (X) of the actuator" for this task is specified in the figure. tar Simultaneously, the system collects the actuator's "current actual motion position" (output by the displacement sensor) and "current actual speed" in real time, and reads the "maximum acceleration," "maximum speed," "maximum limit position," and "maximum limit speed" pre-stored in the parameter register, as well as the "actual speed (V) of the previous control cycle" retrieved from the cache unit. prev ")" to prepare complete parameters for subsequent calculations.

[0035] S102: Determine the current corrected position of the actuator based on the current target motion position, current actual motion position, current actual speed, maximum acceleration, and actual speed of the previous control cycle.

[0036] Specifically, the position difference of the actuator can be determined first based on the current target movement position and the current actual movement position of the actuator. For example, it can be achieved according to formula (1): Where e is positive, it means that the current position of the executing mechanism is lagging behind the target position; if e is negative, it means that the current position of the executing mechanism is ahead of the target position.

[0037] Then, based on the current actual speed and maximum acceleration of the actuator, the shortest deceleration distance at the current rotational speed of the actuator can be determined. For example, it can be achieved according to formula (2): Next, the target speed of the actuator at the current moment can be determined based on the position difference of the actuator and the shortest deceleration distance of the current rotational speed of the actuator. As an example, if the absolute value of the position difference of the actuator is less than or equal to the shortest deceleration distance of the current rotational speed of the actuator, the target speed of the actuator at the current moment is determined based on the position difference of the actuator and the shortest deceleration distance of the current rotational speed; if the absolute value of the position difference of the actuator is greater than the shortest deceleration distance of the current rotational speed of the actuator, the target speed of the actuator at the current moment is determined based on the maximum acceleration of the actuator, the actual speed of the previous control cycle, the position difference, and the maximum speed. For example, this can be achieved through the following formulas (3)-(7): like The target speed needs to be reduced; calculate the target speed at the current moment. : Where sign() is the sign function; like Calculate the maximum potential speed that can be reached at the current moment. The shortest deceleration distance corresponding to the maximum potential speed : The min() function ensures that the potential velocity does not exceed the physical limit (maximum velocity V). max ); ② Check whether moving at the current maximum speed will exceed the target; specifically, according to "|e| - V possible ×dt” (the remaining deviation distance after one control cycle at the potential velocity) and d possible The relationship is determined by two sub-cases. plan : like , like , Next, the acceleration can be determined based on the current target speed of the actuator and the actual speed of the previous control cycle; for example, the acceleration can be calculated using formula (8). And it is limited based on the maximum acceleration; Finally, the current corrected position of the actuator can be determined based on the acceleration, the maximum acceleration, and the current target velocity. As an example, if the absolute value of the acceleration is greater than the maximum acceleration, the adjusted current target velocity of the actuator is determined based on the acceleration, the maximum acceleration, and the current target velocity; if the absolute value of the acceleration is less than or less than the maximum acceleration, the current target velocity of the actuator is not adjusted. The current corrected position of the actuator can be determined based on the current target velocity and the current actual movement position. For example, this can be achieved using formulas (9)-(11): like , like , Finally, output the corrected position at the current moment; S103: Using a preset position PID module, the position of the actuator is corrected based on the current moment to obtain the theoretical expected speed of the actuator at the current moment.

[0038] In this embodiment, the current position of the actuator can be first subjected to safety limiting processing to obtain the target position after limiting. For example, as Figure 3 As shown, position limiting can be performed first, that is, the planned target position can be corrected according to the mechanical structure constraints, as shown in the following formula 12): Then, the feedforward output velocity at the target position after the amplitude limiting can be calculated by the feedforward control module, and the closed-loop output velocity at the target position after the amplitude limiting can be calculated by the proportional control module. Next, the theoretical expected motion velocity of the actuator at the current moment can be determined based on the feedforward output velocity and the closed-loop output velocity. As an example, the output target velocity is determined based on the feedforward output velocity and the closed-loop output velocity; if the absolute value of the output target velocity is greater than the preset maximum amplitude limiting velocity, the theoretical expected motion velocity of the actuator at the current moment is determined based on the position difference and the maximum amplitude limiting velocity; if the absolute value of the output target velocity is less than or equal to the preset maximum amplitude limiting velocity, the theoretical expected motion velocity of the actuator at the current moment is determined based on the output target velocity. Specifically, the feedforward loop calculation can be performed first, using the following formulas 13)-17). Transfer function of feedforward differential element: Assume: For the input of the differential element, For the output of the differential element, the control cycle is as follows: After discretization by Z-transform, the following formula can be obtained: Then, the proportional control output is calculated: Finally, the calculations for the target velocity and the theoretically expected velocity at the current moment are output: S104: Using a preset actuator speed compensation module, the actual expected motor speed of the actuator is determined based on the current target motion position, current actual motion position, and theoretical expected motion speed at the current moment.

[0039] In this embodiment, a preset actuator rotation speed compensation module can be used to analyze and quantify the position difference between the current target motion position and the current actual motion position of the actuator to obtain the speed compensation amount.

[0040] Then, the sum of the speed compensation amount and the theoretical expected motion speed at the current moment can be used as the actual expected motor speed of the actuator.

[0041] As an example, the actuator speed compensation module first calculates the "current target motion position (X)". tar ")" and "Current Actual Movement Position (X)" cur The real-time position difference (ΔX = X) tar - X cur This difference reflects the real-time deviation that is not covered by the theoretical speed.

[0042] Based on the magnitude and trend of ΔX, the velocity compensation amount (Δcomp) is calculated using a "dynamic quantization algorithm." This implementation uses a "proportional-derivative (PD) fine-tuning algorithm" (or a mapping table can be formed through empirical calibration, selected according to the actual scenario): Δcomp = kc×ΔX + kd×(ΔX) k - ΔX k-1 ) / dt, where: kc is the proportional compensation coefficient, and kd is the differential compensation coefficient (both are preset in the FPGA parameter register and calibrated experimentally to ensure that the compensation amount can quickly converge the deviation without introducing oscillation). ΔX k ΔX represents the position difference in the current period. k-1 This is the position difference from the previous cycle (stored by the FPGA cache unit); (ΔX k - ΔX k-1 ) / dt is the rate of change of position difference, used to suppress rapid changes in deviation and avoid overcompensation.

[0043] If an empirical calibration method is adopted, the optimal compensation amount under different ΔX values ​​can be recorded through multiple on-orbit tests (e.g., for every 1 mm increase in ΔX, Δcomp increases by 0.1 m / s). This information is then used to form a compensation table stored in the FPGA's storage unit. The module can directly obtain Δcomp by looking up the table, thus improving computational efficiency.

[0044] Finally, determine the actual expected motor speed (n_final), and then determine the "theoretical expected speed at the current moment (u)". limit The speed compensation amount (Δcomp) is added together with the speed compensation amount (Δcomp) to obtain the final speed command used to drive the actuator: n_final = u limit + Δcomp, this instruction needs to be converted into a signal that the actuator motor can recognize (such as a PWM signal or a pulse signal) before being output to the actuator motor driver.

[0045] S105: Using the actual desired motor speed of the actuator, control the actuator to work in order to control the movement of the large inertia on-orbit equipment.

[0046] After receiving the "actual desired motor speed (n_final)" command, the motor driver of the actuator drives the servo motor to run at that speed. The motor drives the large inertia on-orbit equipment to achieve the preset motion (such as position adjustment and trajectory tracking) through the reducer, transmission guide rail and other structures.

[0047] During the operation, "S101 - S104" can be executed cyclically according to the control cycle (dt): X is re-acquired in each cycle. cur v cur Update X tar (If the task is adjusted), recalculate X. control u limit n_final enables closed-loop control of "real-time acquisition - dynamic calculation - instruction update" to ensure the motion accuracy and stability of large inertia on-orbit equipment.

[0048] It is understandable that the motion control in this embodiment mainly consists of quadratic programming, position PID control, and actuator speed compensation, such as... Figure 2 As shown in the diagram. The secondary programming module primarily functions by combining the target velocity and position information at the current moment, considering the maximum velocity and acceleration of the actuator, as well as the constraint of the ultimate deceleration distance for objects with large inertia, to correct the target position. The position PID module, after obtaining the corrected target position, combines feedforward control to output the theoretically desired velocity of the actuator at the current moment. The actuator speed compensation module, combining the actual position difference at the current moment, adds speed compensation to the desired velocity, outputting the actual desired motor speed at the current moment.

[0049] As can be seen from the above technical solution, this application has the following beneficial effects compared with the prior art: The motion control method for this high-inertia on-orbit device effectively addresses the shortcomings of existing technologies through a progressive logical design. The specific derivation is as follows: First, by acquiring the current target motion position of the actuator, a precise target reference is provided for subsequent control. Second, by combining the actuator's current target motion position, current actual motion position, current actual velocity, maximum acceleration, and the actual velocity of the previous control cycle, the corrected position at the current moment is determined. This effectively avoids the contradiction between the mechanical natural frequency and the control closed-loop bandwidth under the characteristics of high inertia, ensuring that the corrected position conforms to the physical motion constraints of the actuator, laying a precise foundation for subsequent velocity calculation. Third, using a preset position PID module, the theoretical expected motion velocity at the current moment is obtained based on the corrected position at the current moment, which can be further calculated using PID... The closed-loop control improves the accuracy of speed commands and avoids speed deviations caused by high-frequency response decay. Then, by using a preset actuator speed compensation module, the theoretically expected speed is compensated based on the deviation between the current target position and the current actual position, thus determining the actual expected motor speed. This effectively eliminates the problem of unsmooth commands and avoids control jitter. Finally, the actuator is controlled using this actual expected motor speed, which solves the problem of poor process tracking accuracy in existing methods, ensures the smoothness of the actuator during speed switching, avoids the risk of equipment damage, and ultimately achieves reliable and accurate control of the motion of large-inertia on-orbit equipment.

[0050] like Figure 4 The image shows a specific embodiment of a motion control device for a large inertia on-orbit device provided in this application. The device described in this embodiment is a physical device used to execute the method described in the above embodiments. Its technical solution is essentially the same as that of the above embodiments, and the corresponding descriptions in the above embodiments are also applicable to this embodiment. The large inertia on-orbit device includes an actuator, and the device includes: The first unit 401 is used to obtain the current target motion position of the actuator; The second unit 402 is used to determine the current corrected position of the actuator based on the current target motion position, current actual motion position, current actual speed, maximum acceleration, and actual speed of the previous control cycle; and to determine the actual expected motor speed of the actuator based on the current target motion position, current actual motion position, and theoretical expected motion speed of the actuator using a preset actuator speed compensation module. The third unit 403 is used to use a preset position PID module to correct the position of the actuator based on the current time and obtain the theoretical expected motion speed of the actuator at the current time. The fourth unit 404 is used to control the actuator to work by utilizing the actual expected motor speed of the actuator, so as to control the movement of the large inertia on-orbit equipment.

[0051] Optionally, determining the current corrected position of the actuator based on its current target position, current actual position, current actual speed, maximum acceleration, and actual speed of the previous control cycle includes: The position difference of the actuator is determined based on the current target movement position and the current actual movement position of the actuator; Based on the current actual speed and maximum acceleration of the actuator, determine the shortest deceleration distance of the actuator at its current rotational speed; The target speed of the actuator at the current moment is determined based on the position difference of the actuator and the shortest deceleration distance of the actuator's current rotation speed. The acceleration is determined based on the target speed of the actuator at the current moment and the actual speed in the previous control cycle; The current corrected position of the actuator is determined based on the acceleration, the maximum acceleration, and the target velocity at the current moment.

[0052] Optionally, determining the target speed of the actuator at the current moment based on the position difference of the actuator and the shortest deceleration distance of the actuator's current rotational speed includes: If the absolute value of the position difference of the actuator is less than or equal to the shortest deceleration distance of the current rotation speed of the actuator, then the target speed of the actuator at the current moment is determined based on the position difference of the actuator and the shortest deceleration distance of the current rotation speed. If the absolute value of the position difference of the actuator is greater than the shortest deceleration distance of the current rotational speed of the actuator, then the target speed of the actuator at the current moment is determined based on the maximum acceleration of the actuator, the actual speed of the previous control cycle, the position difference, and the maximum speed.

[0053] Optionally, determining the current time correction position of the actuator based on the acceleration, the maximum acceleration, and the current time target velocity includes: If the absolute value of the acceleration is greater than the maximum acceleration, the adjusted target velocity of the actuator at the current moment is determined based on the acceleration, the maximum acceleration, and the target velocity at the current moment. If the absolute value of the acceleration is less than or less than the maximum acceleration, the target speed of the actuator at the current moment will not be adjusted. The current corrected position of the actuator is determined based on the current target speed and current actual position of the actuator.

[0054] Optionally, the step of using a preset position PID module to correct the position of the actuator based on its current moment and obtain the theoretical expected speed of the actuator at its current moment includes: The current position of the actuator is adjusted for safety limiting to obtain the target position after limiting. The feedforward output speed at the target position after amplitude limiting is calculated by the feedforward control module, and the closed-loop output speed at the target position after amplitude limiting is calculated by the proportional control module. Based on the feedforward output speed and the closed-loop output speed, the theoretical expected motion speed of the actuator at the current moment is determined.

[0055] Optionally, determining the theoretical expected motion speed of the actuator at the current moment based on the feedforward output speed and the closed-loop output speed includes: The target output speed is determined based on the feedforward output speed and the closed-loop output speed. If the absolute value of the output target speed is greater than the preset maximum amplitude limit speed, then the theoretical expected speed of the actuator at the current moment is determined based on the position difference and the maximum amplitude limit speed. If the absolute value of the output target speed is less than or equal to the preset maximum limit speed, then the theoretical expected speed of the actuator at the current moment is determined based on the output target speed.

[0056] Optionally, the step of using a preset actuator speed compensation module to determine the actual expected motor speed of the actuator based on the actuator's current target motion position, current actual motion position, and theoretical expected motion speed at the current moment includes: Using a preset actuator speed compensation module, the position difference between the current target motion position and the current actual motion position of the actuator is analyzed and quantified to obtain the speed compensation amount; The sum of the speed compensation amount and the theoretical expected motion speed at the current moment is taken as the actual expected motor speed of the actuator.

[0057] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. The memory may include RAM, such as high-speed random-access memory (RAM), or non-volatile memory, such as at least one disk storage device. Of course, the electronic device may also include other hardware required for other services.

[0058] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0059] Memory is used to store instructions for execution. Specifically, instructions for execution are computer programs that can be executed. Memory can include main memory and non-volatile memory, and it provides the processor with execution instructions and data.

[0060] In one possible implementation, the processor reads the corresponding execution instructions from non-volatile memory into main memory and then executes them. Alternatively, it may obtain the corresponding execution instructions from other devices to form a motion control device for a large-inertia on-orbit device at the logical level. The processor executes the execution instructions stored in the memory to implement the motion control method for a large-inertia on-orbit device provided in any embodiment of this application.

[0061] The above is as stated in this application. Figure 1 The motion control device for high-inertia on-orbit equipment provided in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor.

[0062] The steps of the method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0063] This application also proposes a readable medium that stores execution instructions. When the stored execution instructions are executed by the processor of an electronic device, the electronic device can execute the motion control method for large inertia on-orbit devices provided in any embodiment of this application, and specifically be used to execute the above-mentioned evaluation method.

[0064] The electronic devices described in the foregoing embodiments may be computers.

[0065] Those skilled in the art will understand that the embodiments of this application can be provided as methods or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or a combination of software and hardware.

[0066] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0067] 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. Without further limitation, 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 said element.

[0068] The above description is merely an embodiment of this application and is 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 motion control method for a large inertia on-orbit device, characterized in that, The high-inertia on-orbit device includes an actuator, and the method includes: Obtain the current target motion position of the actuator; The current corrected position of the actuator is determined based on the actuator's current target position, current actual position, current actual speed, maximum acceleration, and actual speed of the previous control cycle. Using a preset position PID module, the position of the actuator is corrected based on the current moment to obtain the theoretical expected speed of the actuator at the current moment; Using a preset actuator speed compensation module, the actual expected motor speed of the actuator is determined based on the current target motion position, current actual motion position, and theoretical expected motion speed at the current moment. The actuator is controlled to operate by utilizing the actual expected motor speed of the actuator, thereby controlling the movement of the high-inertia on-orbit equipment.

2. The method according to claim 1, characterized in that, The step of determining the current corrected position of the actuator based on the actuator's current target position, current actual position, current actual speed, maximum acceleration, and actual speed of the previous control cycle includes: The position difference of the actuator is determined based on the current target movement position and the current actual movement position of the actuator; Based on the current actual speed and maximum acceleration of the actuator, determine the shortest deceleration distance of the actuator at its current rotational speed; The target speed of the actuator at the current moment is determined based on the position difference of the actuator and the shortest deceleration distance of the actuator's current rotation speed. The acceleration is determined based on the target speed of the actuator at the current moment and the actual speed in the previous control cycle; The current corrected position of the actuator is determined based on the acceleration, the maximum acceleration, and the target velocity at the current moment.

3. The method according to claim 2, characterized in that, Determining the target speed of the actuator at the current moment based on the position difference of the actuator and the shortest deceleration distance of the actuator's current rotational speed includes: If the absolute value of the position difference of the actuator is less than or equal to the shortest deceleration distance of the current rotation speed of the actuator, then the target speed of the actuator at the current moment is determined based on the position difference of the actuator and the shortest deceleration distance of the current rotation speed. If the absolute value of the position difference of the actuator is greater than the shortest deceleration distance of the current rotational speed of the actuator, then the target speed of the actuator at the current moment is determined based on the maximum acceleration of the actuator, the actual speed of the previous control cycle, the position difference, and the maximum speed.

4. The method according to claim 2, characterized in that, Determining the current corrected position of the actuator based on the acceleration, the maximum acceleration, and the current target velocity includes: If the absolute value of the acceleration is greater than the maximum acceleration, the adjusted target velocity of the actuator at the current moment is determined based on the acceleration, the maximum acceleration, and the target velocity at the current moment. If the absolute value of the acceleration is less than or less than the maximum acceleration, the target speed of the actuator at the current moment will not be adjusted. The current corrected position of the actuator is determined based on the current target speed and current actual position of the actuator.

5. The method according to claim 1, characterized in that, The step of using a preset position PID module to correct the position of the actuator based on its current moment and obtain the theoretical expected speed of the actuator at its current moment includes: The current position of the actuator is adjusted for safety limiting to obtain the target position after limiting. The feedforward output speed at the target position after amplitude limiting is calculated by the feedforward control module, and the closed-loop output speed at the target position after amplitude limiting is calculated by the proportional control module. Based on the feedforward output speed and the closed-loop output speed, the theoretical expected motion speed of the actuator at the current moment is determined.

6. The method according to claim 5, characterized in that, Determining the theoretical expected motion speed of the actuator at the current moment based on the feedforward output speed and the closed-loop output speed includes: The target output speed is determined based on the feedforward output speed and the closed-loop output speed. If the absolute value of the output target speed is greater than the preset maximum amplitude limit speed, then the theoretical expected speed of the actuator at the current moment is determined based on the position difference and the maximum amplitude limit speed. If the absolute value of the output target speed is less than or equal to the preset maximum limit speed, then the theoretical expected speed of the actuator at the current moment is determined based on the output target speed.

7. The method according to claim 1, characterized in that, The step of using a preset actuator speed compensation module to determine the actual expected motor speed of the actuator based on the actuator's current target motion position, current actual motion position, and theoretical expected motion speed at the current moment includes: Using a preset actuator speed compensation module, the position difference between the current target motion position and the current actual motion position of the actuator is analyzed and quantified to obtain the speed compensation amount; The sum of the speed compensation amount and the theoretical expected motion speed at the current moment is taken as the actual expected motor speed of the actuator.

8. A motion control device for a large inertia on-orbit device, characterized in that, The high-inertia on-orbit device includes an actuator, and the device includes: The first unit is used to obtain the current target motion position of the actuator; The second unit is used to determine the current corrected position of the actuator based on the current target motion position, current actual motion position, current actual speed, maximum acceleration, and actual speed of the previous control cycle; and to determine the actual expected motor speed of the actuator based on the current target motion position, current actual motion position, and theoretical expected motion speed of the actuator using a preset actuator speed compensation module. The third unit is used to use a preset position PID module to correct the position of the actuator based on the current time and obtain the theoretical expected speed of the actuator at the current time. The fourth unit is used to control the actuator to work by utilizing the actual expected motor speed of the actuator, so as to control the movement of the large inertia on-orbit equipment.

9. A readable medium, characterized in that, The method includes execution instructions, which, when executed by the processor of the electronic device, cause the electronic device to perform the method as described in any one of claims 1-7.

10. An electronic device, characterized in that, The method includes a processor and a memory storing execution instructions. When the processor executes the execution instructions stored in the memory, the processor performs the method as described in any one of claims 1-7.

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