Multi-axis motor position synchronization control method and device based on model reference control

Abstract

The application provides a multi-axis motor position synchronization control method and device based on model reference control. The method comprises the following steps: providing a unified main position instruction signal to a position loop reference model and a servo control system corresponding to a servo control axis to be synchronized, and generating a reference position trajectory; for any servo control axis of a plurality of servo control axes that need to be synchronized, the following position synchronization compensation control is performed: the current actual position of the servo control axis is acquired in real time, and the position synchronization deviation of the current actual position and the reference position trajectory is calculated; the position synchronization deviation is input into a position synchronization deviation compensator to calculate a speed compensation value and a torque compensation value; and the position of the servo control axis is compensated based on the speed compensation value and the torque compensation value. The application improves the synchronization accuracy of the multi-axis servo system based on the model reference control and the dynamic deviation compensation mechanism, reduces the dependence on communication by running the synchronization algorithm inside the driver, can compensate the position synchronization deviation more quickly, and improves the real-time performance and system stability.

Description

Technical Field

[0001] This application relates to the field of multi-axis synchronous control technology for motors, and to a method and apparatus for multi-axis motor position synchronization control based on model reference control. Background Technology

[0002] Existing multi-axis synchronous control systems face numerous challenges in practical applications, especially in dynamic environments. The system's synchronization accuracy is affected by factors such as load variations, external disturbances, differences in start-up time between different controllers, inconsistent clock accuracy, and fluctuations in environmental factors. This leads to differences in the control performance of each axis, resulting in low position synchronization accuracy between axes, further impacting the system's coordinated motion accuracy, and ultimately causing distortion of the spatial trajectory. This problem is particularly prominent in multi-axis servo drive systems, especially in high-precision machining and highly collaborative operation applications, where any control error can lead to a decrease in machining accuracy.

[0003] However, traditional control methods struggle to effectively address these complex factors, leading to increased position synchronization errors and consequently affecting system stability and accuracy. With the continuous improvement of modern industrial automation, especially the increasing demands for precision machining, achieving high-precision coordinated motion across multiple axes in dynamic and complex environments has become a pressing technical challenge. Summary of the Invention

[0004] The purpose of this application is to provide a multi-axis motor position synchronization control method and device based on model reference control, which is used to solve the technical problem of large position synchronization error of multi-axis high-precision cooperative motion in multi-axis synchronous control systems under dynamic and complex environments.

[0005] To achieve the above and other related objectives, the first aspect of this application provides a multi-axis motor position synchronization control method based on model reference control. The multi-axis motor position synchronization control method based on model reference control includes:

[0006] Provide the same or different master position command signals to the servo control system and position loop reference model corresponding to the servo control axis to be synchronized, and generate the reference position trajectory of the servo control axis through the position loop reference model;

[0007] For any one of the multiple servo control axes to be synchronized, perform the following position synchronization compensation control:

[0008] The current actual position of the servo control axis is acquired in real time, and the position synchronization deviation between the current actual position and the reference position trajectory is calculated.

[0009] The position synchronization deviation is input into the position synchronization deviation compensator to calculate the speed compensation value and torque compensation value;

[0010] The position of the servo control axis is compensated based on the speed compensation value and the torque compensation value.

[0011] In some embodiments of the first aspect of this application, the current actual position of the servo control axis is acquired in real time, and the position synchronization deviation between the current actual position and the reference position trajectory is calculated, including:

[0012] Calculate the axis position following deviation between the current actual position and the main position command, and the model position following deviation between the reference position trajectory and the main position command, respectively;

[0013] The position synchronization deviation between the servo control axis and the position loop reference model is calculated based on the axis position following deviation and the model position following deviation.

[0014] In some embodiments of the first aspect of this application, the position synchronization deviation is input to a position synchronization deviation compensator to calculate the speed compensation value and the torque compensation value, including:

[0015] The position synchronization deviation is input into the position synchronization deviation compensator to obtain the synchronization deviation compensation amount, and the synchronization deviation compensation amount is used as the speed compensation value;

[0016] The torque compensation value is calculated based on the speed compensation value and the motor dynamics model.

[0017] In some embodiments of the first aspect of this application, the transfer function of the position synchronization deviation compensator is:

[0018]

[0019] in, For synchronous differential gain, For the Laplace operator, This is for synchronous proportional gain.

[0020] In some embodiments of the first aspect of this application, the position of the servo control axis is compensated based on the speed compensation value and the torque compensation value, including:

[0021] The speed compensation value is superimposed with the speed command output from the position loop controller to generate the total speed command of the speed control loop of the servo control axis.

[0022] The torque compensation value is associated with the output from the speed loop controller to generate a torque command for the torque control loop of the servo control axis;

[0023] The servo control axis is driven based on the total speed command and / or the torque command to achieve position synchronization of the servo control axis.

[0024] In some embodiments of the first aspect of this application, the method further includes:

[0025] Provide the same master position command signal to multiple servo control axes; or

[0026] Different master position command signals are provided to the multiple servo control axes to perform position compensation for each servo control axis respectively, so that the multiple servo control axes keep their positions synchronized.

[0027] In some embodiments of the first aspect of this application, the position loop reference model is a first-order linear time-invariant model or a second-order time-invariant model.

[0028] To achieve the above and other related objectives, a second aspect of this application provides a multi-axis motor position synchronization control device based on reference model control. The multi-axis motor position synchronization control device based on reference model control includes:

[0029] The instruction input module is used to provide the same or different master position instruction signals to the servo control system and position loop reference model corresponding to the servo control axis to be synchronized, and to generate the reference position trajectory of the servo control axis through the position loop reference model;

[0030] The position synchronization compensation module is used to perform the following position synchronization compensation control for any one of the multiple servo control axes:

[0031] The current actual position of the servo control axis is acquired in real time, and the position synchronization deviation between the current actual position and the reference position trajectory is calculated.

[0032] The position synchronization deviation is input into the position synchronization deviation compensator to calculate the speed compensation value and torque compensation value;

[0033] The position of the servo control axis is compensated based on the speed compensation value and the torque compensation value.

[0034] To achieve the above and other related objectives, a third aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the multi-axis motor position synchronization control method based on reference model control as described in any of the first aspects of this application.

[0035] To achieve the above and other related objectives, a fourth aspect of this application provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs; and, when the one or more programs are executed by the one or more processors, causing the one or more processors to implement the multi-axis motor position synchronization control method based on reference model control as described in any of the first aspects of this application.

[0036] As described above, the multi-axis motor position synchronization control method and apparatus based on model reference control of this application have the following beneficial effects:

[0037] This application, based on model reference control theory and a dynamic deviation compensation mechanism, significantly improves the synchronization accuracy of multi-axis servo systems. By running the synchronization algorithm internally within the driver, compared to the scheme of executing the compensation algorithm at the master station, the dependence on communication is reduced, enabling faster compensation of position synchronization deviations and improving real-time performance and system stability.

[0038] Compared to existing high-speed serial communication methods, this application reduces the need for frequent transmission of motion parameters through decoupling design, avoids significant upgrades to servo driver hardware, thereby reducing system costs and lessening dependence on real-time operating systems.

[0039] Compared to traditional multi-axis synchronization methods, the decoupling design simplifies the synchronization process, reduces the computational complexity caused by the increase in the number of cooperating axes, saves chip resources and time, and improves the overall system efficiency. At the same time, this application effectively reduces the impact of external interference and clock errors, enhancing the reliability and security of the system. Attached Figure Description

[0040] Figure 1 The flowchart shown is a multi-axis motor position synchronization control method based on model reference control as described in an embodiment of this application.

[0041] Figure 2 The diagram shows a process for compensating the position of a servo control axis based on speed compensation values ​​and torque compensation values, as described in an embodiment of this application.

[0042] Figure 3 The diagram shown is a circuit schematic of the position synchronization compensation control of the servo control system described in the embodiment of this application.

[0043] Figure 4 The diagram shown is a circuit schematic of the position synchronization compensation control of the multi-servo control system described in this application embodiment.

[0044] Figures 5a-5g Displayed as Figure 4 The diagram shows the speed synchronization deviation variation in the position synchronization control of a multi-servo control system.

[0045] Figure 6 The diagram shown is a structural schematic of the multi-axis motor position synchronization control device based on model reference control as described in an embodiment of this application.

[0046] Figure 7 The diagram shown is a structural schematic of the electronic device described in an embodiment of this application.

[0047] Label Explanation

[0048] 61 Command input module 62 Location synchronization compensation module 7 electronic devices 701 processor 702 memory 7021 operating system 7022 app 703 Network interface 704 bus system 705 User Interface S121~S123 step S1231~S1233、S1231'~S1233' step Detailed Implementation

[0049] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0050] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0051] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0052] To address the technical problem of large position synchronization errors in multi-axis synchronous control systems under dynamic and complex environments, this application provides a multi-axis motor position synchronization control method based on model reference control. The model reference control strategy optimizes the cooperative control performance of the multi-axis control system. In this architecture, the reference model is set as an ideal motion trajectory, which can provide a reference position trajectory for the servo control system.

[0053] The following will describe in detail the principle and implementation of the multi-axis position synchronization control method and device based on model reference control according to the embodiments of this application, with reference to the accompanying drawings, so that those skilled in the art can understand the multi-axis position synchronization control method and device based on model reference control of this embodiment without creative effort.

[0054] To facilitate understanding of the embodiments of this application, the appendix will be consulted first. Figure 1 Detailed explanation. Please refer to [link / reference]. Figure 1 The diagram shows a flowchart of a multi-axis position synchronization control method based on model reference control, as described in an embodiment of this application. Figure 1 As shown, the procedure includes steps S11 to S12.

[0055] Step S11: Provide the same or different master position command signals to the servo control system and position loop reference model corresponding to the servo control axis to be synchronized, and generate the reference position trajectory of the servo control axis through the position loop reference model.

[0056] In this embodiment, a position loop reference model with the same parameters is established for the servo control system corresponding to each servo control axis. The position loop reference model can be a first-order linear time-invariant model or a second-order linear time-invariant model.

[0057] Optionally, the transfer function of the first-order linear time-invariant model can be designed as follows:

[0058]

[0059] in, For the Laplace operator, This is the cutoff frequency.

[0060] The transfer function of the second-order linear time-invariant model is designed as follows:

[0061]

[0062] in, For the Laplace operator, The natural frequency of the position loop reference model. is the damping ratio.

[0063] In this embodiment, by establishing the same position loop reference model for different servo control systems, the position response lag of each servo control system can follow the same position loop reference model. When performing position synchronization control of multiple servo control systems, there is no need for mutual coupling or data exchange between the servo control systems, which reduces the dependence on communication and enables faster compensation of position synchronization deviation, thereby improving real-time performance and system stability.

[0064] In this embodiment, when each servo control axis operates at the same position requirement, the master station sets the same master position command signal for each servo control axis. After the position loop reference model corresponding to each servo control axis receives the master position command signal, it outputs the reference position trajectory. This operation ensures position synchronization between different servo control axes, and no additional communication is required between the servo control systems, reducing the need for frequent transmission of motion parameters and lessening the dependence on the real-time operating system.

[0065] When each servo control axis operates at different position requirements, the master station sets an independent master position command signal for each servo control system, synchronously sends the independent master position command signal to the corresponding position loop reference model, and uses the independent master position command signal as the input of the position loop reference model to output the reference position trajectory corresponding to each servo control axis. This operation ensures position synchronization between the position loop reference model and the servo control system of the same servo control axis, providing a consistent motion target.

[0066] Step S12: Perform position synchronization compensation control for any servo control axis among the multiple servo control axes to be synchronized.

[0067] In this embodiment, the current actual position of the servo control axis is obtained in real time by acquiring encoder values. The current actual position is compared and calculated with its corresponding reference position trajectory to obtain the synchronization position deviation value between the current actual position of the servo control axis and the reference position trajectory.

[0068] When a positional deviation exists, the servo control system uses a deviation compensation mechanism to correct the operating state of the servo control axis in order to reduce the synchronization positional deviation.

[0069] In actual operation, the servo control system corresponding to each servo control axis adjusts the motion state of each servo control axis according to the compensation mechanism, so as to minimize the position difference between the current actual position of each servo control axis and the corresponding reference position trajectory, thereby minimizing the position deviation between each servo control axis and maintaining the position synchronization accuracy between each servo control axis.

[0070] Continue as Figure 1 and Figure 3 As shown, Figure 3 The diagram shows the circuit schematic for the corresponding position synchronization compensation control. Executing the synchronization compensation control includes the following steps S121 to S123.

[0071] Step S121: Obtain the current actual position of the servo control axis in real time, and calculate the position synchronization deviation between the current actual position and the reference position trajectory.

[0072] In this embodiment, the axis position following deviation between the current actual position of the servo control axis and the master position command signal, and the model position following deviation between the reference position trajectory and the master position command signal are calculated respectively.

[0073] Then, based on the axis position following deviation and the model position following deviation, the position synchronization deviation between the current actual position of the servo control axis and the reference position trajectory is calculated.

[0074] Specifically, the model position following deviation is multiplied by a synchronization coupling coefficient matrix to obtain the model difference coupling amount of the servo control axis. Then, the calculated model difference coupling amount is subtracted from the axis position following deviation to obtain the position synchronization deviation of the servo control axis.

[0075] Step S122: Input the position synchronization deviation into the position synchronization deviation compensator and calculate the speed compensation value and torque compensation value.

[0076] In this embodiment, the position synchronization deviation is input into the position synchronization deviation compensator to obtain the synchronization deviation compensation amount, and the synchronization deviation compensation amount is used as the speed compensation value.

[0077] Then, the torque compensation value is calculated based on the speed compensation value and the motor dynamics model.

[0078] In this embodiment, the transfer function of the position synchronization deviation compensator is:

[0079]

[0080] in, For synchronous differential gain, For the Laplace operator, This is for synchronous proportional gain.

[0081] Specifically, let's take the calculation of the speed compensation value and torque compensation value of the i-th servo control axis as an example:

[0082] In the continuous time domain, a position synchronization deviation compensator is used to calculate the position synchronization deviation and output the synchronization deviation compensation amount. The calculation rule is as follows:

[0083]

[0084] in, This represents the position synchronization deviation of the i-th servo control axis at time t. This represents the synchronization deviation compensation amount of the i-th servo control axis at time t.

[0085] Synchronization deviation compensation amount This serves as the speed compensation value for the i-th servo control axis.

[0086] Then, based on the motor dynamics model, the speed compensation value is converted into the desired additional acceleration, and the required compensation torque is calculated as the torque compensation value for the i-th servo control axis. The calculation formula is as follows:

[0087]

[0088] in, This represents the speed compensation value for the i-th servo control axis. This represents the total moment of inertia of the i-th servo control axis, which is equivalent to the motor rotor.

[0089] Step S123: Based on the speed compensation value and torque compensation value, compensate the position of the servo control axis.

[0090] In this embodiment, the speed compensation value and the torque compensation value are superimposed on the position loop controller and the speed loop controller to compensate for the position of the servo control axis.

[0091] like Figure 2 As shown, the compensation of the position of the servo control axis based on the speed compensation value and the torque compensation value includes the following steps S1231 to S1233.

[0092] Step S1231: The speed compensation value is superimposed with the speed command output from the position loop controller to generate the total speed command of the servo control axis speed control loop.

[0093] Step S1232: Associate the torque compensation value with the output from the speed loop controller to generate the torque command for the torque control loop of the servo control axis.

[0094] Step S1233: Drive the servo control axis based on the total speed command and / or torque command to achieve position synchronization of the servo control axis.

[0095] In this embodiment, associating the torque compensation value with the output from the position loop controller includes: converting the torque compensation value using the reciprocal of the torque constant of the servo control axis to obtain an equivalent acceleration command increment, integrating it to obtain an equivalent position command compensation amount, and superimposing the equivalent position command compensation amount with the original received main position command signal to generate a corrected position command for the servo control axis.

[0096] like Figure 4 The diagram shown illustrates a circuit diagram of a method for synchronizing the motor positions of two servo control systems. Figure 4In this system, the servo control system of each servo control axis corresponds to a position loop reference model. The model parameters and transfer functions of the two position loop reference models are the same, so that the position response of the two servo control systems follows the same position loop reference model with lag, thereby achieving high-precision speed coordinated control.

[0097] In this embodiment, when the two servo control axes are running at different position requirements, the master station sets different master position command signals 1 and 2 for the two servo control axes respectively. The position loop reference model 1 outputs reference position trajectory 1 based on the master position command signal 1, and the position loop reference model 2 outputs reference position trajectory 2 based on the master position command signal 2.

[0098] The servo control system 1 controls the operation of the servo control axis 1 based on the master position command 1, and performs step S12 according to the real-time acquired current actual position and reference position trajectory 1 of the servo control axis 1 to perform position synchronization compensation for the servo control axis 1.

[0099] The servo control system 2 controls the operation of the servo control axis 2 based on the master position command 2, and performs step S12 according to the real-time acquired current actual position and reference position trajectory 2 of the servo control axis 2 to perform position synchronization compensation for the servo control axis 2.

[0100] When two servo control axes are operating at the same position, the master station sets the same master position command signal 1 and master position command signal 2 for the two servo control axes respectively.

[0101] In practical applications, if more collaborative servo control axes need to be added, simply set the position loop reference model of the newly added servo control axis to be consistent with the other collaborative servo control axes. These servo control axes are not coupled to each other and do not need to exchange data, thus enabling collaborative control of any number of servo control axes without increasing algorithmic complexity or incurring communication burdens due to inter-axis data exchange.

[0102] like Figures 5a to 5g As shown, for the same as Figure 4 The diagram shows the position synchronization deviation variation of the position synchronization control in a multi-servo control system.

[0103] in, Figure 5a This is the common master position command signal input to both servo control systems. Figure 5b , Figure 5c , Figure 5d These represent the position synchronization deviations between servo control system 1 and position loop reference model 1 before compensation, the position synchronization deviations between servo control system 2 and position loop reference model 2 before compensation, and the position synchronization deviations between servo control system 1 and servo control system 2 before compensation. Figure 5e , Figure 5f , Figure 5g These are the position synchronization deviations between the compensated servo control system 1 and the position loop reference model 1, the position synchronization deviations between the compensated servo control system 2 and the position loop reference model 2, and the position synchronization deviations between the compensated servo control system 1 and the servo control system 2, respectively.

[0104] At Figures 5a to 5g It can be clearly observed that the position synchronization deviation between the servo control system and its corresponding reference model is greatly reduced, and the position synchronization deviation between the two servo control systems is also greatly reduced. With the help of the position loop reference model and dynamic deviation compensation mechanism, the synchronization accuracy of the multi-axis servo system is significantly improved.

[0105] The scope of protection of the multi-axis position synchronization control method based on model reference control in this application is not limited to the execution order of the steps listed in this embodiment. Any solution implemented by adding, subtracting, or replacing steps in the prior art based on the principles of this application is included within the scope of protection of this application.

[0106] According to the multi-axis position synchronization control method based on model reference control provided in the embodiments of this application, this application also provides a multi-axis position synchronization control device based on model reference control.

[0107] like Figure 6 As shown, the multi-axis position synchronization control device 6 based on model reference control includes:

[0108] The instruction input module 61 is used to provide the same or different master position instruction signals to the servo control system and position loop reference model corresponding to the servo control axis to be synchronized, and to generate the reference position trajectory of the servo control axis through the position loop reference model.

[0109] The position synchronization compensation module 62 is used to perform the following position synchronization compensation control for any one of the multiple servo control axes to be synchronized:

[0110] The system acquires the actual position feedback of the servo control axis in real time and calculates the position synchronization deviation between the actual position feedback and the reference position trajectory.

[0111] The position synchronization deviation is input into the position synchronization deviation compensator to calculate the speed compensation value and torque compensation value;

[0112] The position of the servo control axis is compensated based on the speed compensation value and the torque compensation value.

[0113] The working content of each module in the multi-axis position synchronization control device based on model reference control in this application embodiment is the same as that of the multi-axis position synchronization control method based on model reference control in this application embodiment, so they will not be described in detail here.

[0114] It should be understood that the module division in the embodiments of this application is illustrative and only represents a logical functional division. In actual implementation, there may be other division methods. Furthermore, the functional modules in the various embodiments of this application can be integrated into a single processor, exist as separate physical entities, or be integrated into a single module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0115] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, or methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of modules / units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or units may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the shown or discussed mutual couplings or direct couplings or communication connections may be through some interfaces, or indirect couplings or communication connections between devices, modules, or units, and may be electrical, mechanical, or other forms. Modules / units described as separate components may or may not be physically separate. Components shown as modules / units may or may not be physical modules, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules / units can be selected to achieve the purpose of the embodiments of this application according to actual needs. For example, the functional modules / units in the various embodiments of this application may be integrated into one processing module, or each module / unit may exist physically separately, or two or more modules / units may be integrated into one module / unit.

[0116] As used in this specification, the terms "component," "module," "system," etc., are used to refer to computer-related entities, hardware, firmware, combinations of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, and / or a computer. As illustrated, applications running on computing devices and computing devices can both be components. One or more components may reside in a process and / or an execution thread, and components may be located on a single computer and / or distributed among two or more computers. Furthermore, these components can be executed from various computer-readable media on which various data structures are stored. Components can communicate, for example, via local and / or remote processes based on signals having one or more data packets (e.g., data from two components interacting with another component between a local system, a distributed system, and / or a network, such as the Internet interacting with other systems via signals).

[0117] The descriptions of the processes or structures corresponding to the above figures each have their own emphasis. For parts of a process or structure that are not described in detail, please refer to the relevant descriptions of other processes or structures.

[0118] According to the multi-axis position synchronization control method based on model reference control provided in the embodiments of this application, this application also provides a computer program product, which includes: computer program code, which, when run on a computer, causes the computer to execute... Figure 1 The multi-axis position synchronization control method based on model reference control in any of the embodiments shown in Figure 5.

[0119] According to the multi-axis position synchronization control method based on model reference control provided in the embodiments of this application, this application also provides a computer-readable storage medium storing program code, which, when run on a computer, causes the computer to execute... Figure 1 The multi-axis position synchronization control method based on model reference control in any of the embodiments shown in Figure 5.

[0120] According to the multi-axis position synchronization control method based on model reference control provided in the embodiments of this application, this application also provides an electronic device, including: one or more processors; a storage device for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors are caused to execute... Figure 1 The multi-axis position synchronization control method based on model reference control in any of the embodiments shown in Figure 5.

[0121] Figure 7 This is a schematic block diagram of the electronic device provided in an embodiment of this application. Figure 7As shown, electronic device 7 includes: at least one processor 701, a memory 702, at least one network interface 703, and a user interface 705. The various components in the device are coupled together via a bus system 704. It is understood that the bus system 704 is used to implement communication between these components. In addition to a data bus, the bus system 704 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in… Figure 7 The general will label all buses as bus systems.

[0122] The user interface 705 may include a monitor, keyboard, mouse, trackball, clicker, button, touchpad, or touch screen.

[0123] It is understood that memory 702 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM) or programmable read-only memory (PROM), which serves as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM) and synchronous static random access memory (SSRAM). The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable categories of memory.

[0124] In this embodiment, the memory 702 is used to store various types of data to support the operation of the electronic device 7. Examples of this data include: any executable program for operation on the electronic device 7, such as the operating system 7021 and application programs 7022; the operating system 7021 contains various system programs, such as the framework layer, core library layer, driver layer, etc., for implementing various basic services and handling hardware-based tasks. The application program 7022 may contain various applications, such as a media player, browser, etc., for implementing various application services. The methods provided in this embodiment can be included in the application program 7022.

[0125] The methods disclosed in the embodiments of this application can be applied to processor 701, or implemented by processor 701. Processor 701 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in processor 701 or by instructions in the form of software. The processor 701 may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Processor 701 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. General-purpose processor 701 may be a microprocessor or any conventional processor, etc. The steps of the accessory optimization method provided in the embodiments of this application can be directly reflected as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, which is located in memory. The processor reads the information in the memory and combines it with its hardware to complete the steps of the aforementioned method.

[0126] In an exemplary embodiment, the electronic device 7 may be used by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), or complex programmable logic devices (CPLDs) to perform the aforementioned method.

[0127] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0128] In summary, this application provides a multi-axis motor position synchronization control method and device based on model reference control. By leveraging model reference control theory and a dynamic deviation compensation mechanism, the synchronization accuracy of the multi-axis servo system is significantly improved. By running the synchronization algorithm internally within the driver, compared to executing the compensation algorithm at the master station, the reliance on communication is reduced, enabling faster compensation of position synchronization deviations and improving real-time performance and system stability. Compared to high-speed serial communication, the decoupling design reduces the need for frequent transmission of motion parameters, avoiding significant upgrades to the servo driver hardware, thereby lowering system costs and reducing dependence on the real-time operating system. Compared to traditional multi-axis synchronization methods, the decoupling design simplifies the synchronization process, reduces the computational complexity caused by the increase in the number of cooperating axes, saves chip resources and time, and improves overall system efficiency. Simultaneously, it effectively reduces the impact of external interference and clock errors, enhancing system reliability and safety. Therefore, this application effectively overcomes the shortcomings of existing multi-axis synchronous control systems in dynamic and complex environments, resulting in large position synchronization errors in high-precision multi-axis cooperative motion, and thus possesses high industrial application value.

[0129] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A method for position synchronization control of multi-axis motors based on model reference control, characterized by, The method includes: Provide the same or different master position command signals to the servo control system and position loop reference model corresponding to the servo control axis to be synchronized, and generate the reference position trajectory of the servo control axis through the position loop reference model; For any one of the multiple servo control axes to be synchronized, perform the following position synchronization compensation control: The current actual position of the servo control axis is acquired in real time, and the position synchronization deviation between the current actual position and the reference position trajectory is calculated. The position synchronization deviation is input into the position synchronization deviation compensator to calculate the speed compensation value and torque compensation value; The position of the servo control axis is compensated based on the speed compensation value and the torque compensation value.

2. The multi-axis motor position synchronization control method based on model reference control according to claim 1, characterized in that, The current actual position of the servo control axis is acquired in real time, and the position synchronization deviation between the current actual position and the reference position trajectory is calculated, including: Calculate the axis position following deviation between the current actual position and the main position command signal, and the model position following deviation between the reference position trajectory and the main position command signal, respectively. The position synchronization deviation between the servo control axis and the position loop reference model is calculated based on the axis position following deviation and the model position following deviation.

3. The multi-axis motor position synchronization control method based on model reference control according to claim 1, characterized in that, The position synchronization deviation is input into the position synchronization deviation compensator to calculate the speed compensation value and torque compensation value, including: The position synchronization deviation is input into the position synchronization deviation compensator to obtain the synchronization deviation compensation amount, and the synchronization deviation compensation amount is used as the speed compensation value; The torque compensation value is calculated based on the speed compensation value and the motor dynamics model.

4. The multi-axis motor position synchronization control method based on model reference control according to claim 3, characterized in that, The transfer function of the position synchronization deviation compensator is: ； in, For synchronous differential gain, For the Laplace operator, This is for synchronous proportional gain.

5. The multi-axis motor position synchronization control method based on model reference control according to claim 1, characterized in that, Based on the speed compensation value and the torque compensation value, the position of the servo control axis is compensated, including: The speed compensation value is superimposed with the speed command output from the position loop controller to generate the total speed command of the speed control loop of the servo control axis. The torque compensation value is associated with the output from the speed loop controller to generate a torque command for the torque control loop of the servo control axis; The servo control axis is driven based on the total speed command and / or the torque command to achieve position synchronization of the servo control axis.

6. The multi-axis motor position synchronization control method based on model reference control according to claim 1, characterized in that, The method further includes: Provide the same master position command signal to multiple servo control axes; or Different master position command signals are provided to the multiple servo control axes to perform position compensation for each servo control axis respectively, so that the multiple servo control axes keep their positions synchronized.

7. The multi-axis motor position synchronization control method based on model reference control according to claim 1, characterized in that, The position loop reference model is a first-order linear time-invariant model or a second-order time-invariant model.

8. A multi-axis motor position synchronization control device based on reference model control, characterized in that, The device includes: The instruction input module is used to provide the same or different master position instruction signals to the servo control system and position loop reference model corresponding to the servo control axis to be synchronized, and to generate the reference position trajectory of the servo control axis through the position loop reference model. The position synchronization compensation module is used to perform the following position synchronization compensation control for any one of the multiple servo control axes: The current actual position of the servo control axis is acquired in real time, and the position synchronization deviation between the current actual position and the reference position trajectory is calculated. The position synchronization deviation is input into the position synchronization deviation compensator to calculate the speed compensation value and torque compensation value; The position of the servo control axis is compensated based on the speed compensation value and the torque compensation value.

9. A computer-readable storage medium having calculations and programs stored thereon, characterized in that, The computer program is executed by a processor to implement the multi-axis motor position synchronization control method based on reference model control as described in any one of claims 1 to 7.

10. An electronic device, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the multi-axis motor position synchronization control method based on reference model control as described in any one of claims 1 to 7.

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