Four-wheel drive gantry synchronous control method and device based on current difference, equipment, storage medium and program product

Abstract

The application relates to a four-wheel-drive gantry synchronous control method and device based on current difference, computer equipment, a readable storage medium and a program product, and relates to the technical field of automatic control. The application can improve the safety and operation stability of a four-wheel-drive gantry system. The method comprises the following steps: in a target four-wheel-drive gantry system, the main rail side and the auxiliary rail side of the gantry are respectively set as independent master-slave control modes to construct a four-wheel-drive gantry motion group; motor current values output by each driver in the four-wheel-drive gantry motion group are collected, and according to the motor current values, the current difference values of the same-side master-slave shafts on both sides are respectively calculated; if the current difference value of the same-side master-slave shaft on any side exceeds a preset difference threshold value, then according to the current difference value of the same-side master-slave shaft on the target side and an adjustable proportional coefficient, the speed offset amount of the target side is calculated; the current difference value of the same-side master-slave shaft on the target side exceeds the preset difference threshold value; and the speed offset amount is superimposed on the speed instruction of the slave shaft on the target side to adjust the running speed of the slave shaft on the target side.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to a method, apparatus, computer equipment, computer-readable storage medium and computer program product for synchronous control of a four-wheel drive gantry based on current difference. Background Technology

[0002] A four-wheel drive gantry system is a high-efficiency transportation and handling equipment used in automation, logistics and manufacturing. The system typically consists of a frame structure, four drive shafts and multiple moving parts, and can efficiently move and position items in a two-dimensional plane.

[0003] In traditional technology, four-wheel drive gantry systems often employ open-loop position control or simple closed-loop control, with each drive shaft independently executing the same position command. However, in actual operation, factors such as mechanical assembly errors, roller size differences, and uneven load distribution can easily lead to unbalanced forces on each shaft, resulting in a "jamming" phenomenon (mechanical jamming and impaired movement in a four-wheel drive gantry system due to uneven forces on each shaft). This can cause excessive current, motor overheating, and accelerated mechanical wear, leading to lower stability and safety, and in severe cases, even system failure. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, device, computer equipment, computer-readable storage medium, and computer program product for synchronous control of a four-wheel drive gantry based on current difference, in order to address the above-mentioned technical problems.

[0005] Firstly, this application provides a four-wheel drive gantry synchronization control method based on current difference, including:

[0006] In the target four-wheel drive gantry system, the main rail side and the auxiliary rail side of the gantry are set to independent master-slave control modes to construct a four-wheel drive gantry motion group;

[0007] Collect the motor current values ​​output by each driver in the four-wheel drive gantry motion group, extract stable master and slave shaft current values ​​from the motor current values, and calculate the same-side master and slave shaft current difference between the gantry main rail side and the gantry secondary rail side based on the master and slave shaft current values.

[0008] If the difference between the master and slave shaft currents on either side of the gantry main rail or the gantry secondary rail exceeds a preset difference threshold, then the speed offset on the target side is calculated based on the difference between the master and slave shaft currents on the target side and the adjustable proportional coefficient; the difference between the master and slave shaft currents on the target side exceeds the preset difference threshold.

[0009] The speed offset is added to the speed command of the target-side slave shaft to adjust the operating speed of the target-side slave shaft.

[0010] In one embodiment, setting the gantry main rail side and the gantry secondary rail side to independent master-slave control modes includes:

[0011] For the main rail side of the gantry, the main axis of the main rail side is set to the gantry closed-loop speed control mode as the motion reference of the main rail side, and the slave axis of the main rail side is set to the speed following mode to follow the main axis of the main rail side; for the secondary rail side of the gantry, the main axis of the secondary rail side is set to the gantry closed-loop speed control mode as the motion reference of the secondary rail side, and the slave axis of the secondary rail side is set to the speed following mode to follow the main axis of the secondary rail side.

[0012] In one embodiment, extracting stable master-slave shaft current values ​​from the motor current values ​​includes:

[0013] Based on the pulse direction coefficient corresponding to the current movement direction of each drive shaft in the four-wheel drive gantry motion group, the motor current value is symbolized so that the positive and negative signs of the motor current value are consistent with the motor output direction; the symbolized motor current value is low-pass filtered to remove high-frequency noise, and the master and slave shaft current values ​​are obtained.

[0014] In one embodiment, calculating the velocity offset on the target side based on the difference between the master and slave currents on the same side of the target side and the adjustable proportional coefficient includes:

[0015] The initial bias is determined based on the difference between the master and slave shaft currents on the same side and the adjustable proportional coefficient. If the difference between the master and slave shaft currents on the same side is positive, the master shaft current on the target side is greater than the slave shaft current on the target side, and a positive initial bias is added as the speed bias to accelerate the slave shaft on the target side. If the difference between the master and slave shaft currents on the same side is negative, the master shaft current is less than the slave shaft current, and a negative initial bias is added as the speed bias to decelerate the slave shaft.

[0016] In one embodiment, the method further includes:

[0017] If the initial bias exceeds the preset bias threshold, the adjustable proportional coefficient is adjusted, and the initial bias is re-determined based on the difference between the master and slave currents on the same side and the adjusted adjustable proportional coefficient.

[0018] In one embodiment, the method further includes:

[0019] If the current difference between the master and slave shafts on the same side of the gantry main rail and the gantry secondary rail does not exceed the preset difference threshold, then it is confirmed that the drive shafts in the target four-wheel drive gantry system are subjected to balanced forces and no speed offset is output.

[0020] Secondly, this application also provides a four-wheel drive gantry synchronization control device based on current difference, comprising:

[0021] The master-slave control module is used to set the main rail side and the auxiliary rail side of the gantry to independent master-slave control modes in the target four-wheel drive gantry system, so as to construct the four-wheel drive gantry motion group.

[0022] The difference calculation module is used to collect the motor current value output by each driver in the four-wheel drive gantry motion group, extract stable master and slave shaft current values ​​from the motor current values, and calculate the same-side master and slave shaft current difference between the gantry main rail side and the gantry auxiliary rail side based on the master and slave shaft current values.

[0023] The bias calculation module is used to calculate the speed bias of the target side based on the same-side master-slave shaft current difference and the adjustable proportional coefficient if the same-side master-slave shaft current difference on either the main rail side or the auxiliary rail side of the gantry exceeds a preset difference threshold; the same-side master-slave shaft current difference on the target side exceeds the preset difference threshold.

[0024] The speed adjustment module is used to add the speed offset to the speed command of the target-side slave shaft to adjust the running speed of the target-side slave shaft.

[0025] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0026] In the target four-wheel drive gantry system, the gantry main rail side and the gantry auxiliary rail side are set to independent master-slave control modes to construct a four-wheel drive gantry motion group. The motor current values ​​output by each driver in the four-wheel drive gantry motion group are collected, and stable master-slave shaft current values ​​are extracted from the motor current values. Based on the master-slave shaft current values, the same-side master-slave shaft current difference between the gantry main rail side and the gantry auxiliary rail side is calculated. If the same-side master-slave shaft current difference on either the gantry main rail side or the gantry auxiliary rail side exceeds a preset difference threshold, the speed offset of the target side is calculated based on the same-side master-slave shaft current difference on the target side and the adjustable proportional coefficient. If the same-side master-slave shaft current difference on the target side exceeds the preset difference threshold, the speed offset is added to the speed command of the target side slave shaft to adjust the running speed of the target side slave shaft.

[0027] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0028] In the target four-wheel drive gantry system, the gantry main rail side and the gantry auxiliary rail side are set to independent master-slave control modes to construct a four-wheel drive gantry motion group. The motor current values ​​output by each driver in the four-wheel drive gantry motion group are collected, and stable master-slave shaft current values ​​are extracted from the motor current values. Based on the master-slave shaft current values, the same-side master-slave shaft current difference between the gantry main rail side and the gantry auxiliary rail side is calculated. If the same-side master-slave shaft current difference on either the gantry main rail side or the gantry auxiliary rail side exceeds a preset difference threshold, the speed offset of the target side is calculated based on the same-side master-slave shaft current difference on the target side and the adjustable proportional coefficient. If the same-side master-slave shaft current difference on the target side exceeds the preset difference threshold, the speed offset is added to the speed command of the target side slave shaft to adjust the running speed of the target side slave shaft.

[0029] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0030] In the target four-wheel drive gantry system, the gantry main rail side and the gantry auxiliary rail side are set to independent master-slave control modes to construct a four-wheel drive gantry motion group. The motor current values ​​output by each driver in the four-wheel drive gantry motion group are collected, and stable master-slave shaft current values ​​are extracted from the motor current values. Based on the master-slave shaft current values, the same-side master-slave shaft current difference between the gantry main rail side and the gantry auxiliary rail side is calculated. If the same-side master-slave shaft current difference on either the gantry main rail side or the gantry auxiliary rail side exceeds a preset difference threshold, the speed offset of the target side is calculated based on the same-side master-slave shaft current difference on the target side and the adjustable proportional coefficient. If the same-side master-slave shaft current difference on the target side exceeds the preset difference threshold, the speed offset is added to the speed command of the target side slave shaft to adjust the running speed of the target side slave shaft.

[0031] The aforementioned four-wheel drive gantry synchronous control method, device, computer equipment, computer-readable storage medium, and computer program product based on current difference firstly sets the gantry main rail side and gantry auxiliary rail side to independent master-slave control modes in the target four-wheel drive gantry system to construct a four-wheel drive gantry motion group; then, it collects the motor current values ​​output by each driver in the four-wheel drive gantry motion group, extracts stable master-slave shaft current values ​​from the motor current values, and calculates the same-side master-slave shaft current difference between the gantry main rail side and the gantry auxiliary rail side based on the master-slave shaft current values; if the same-side master-slave shaft current difference on either the gantry main rail side or the gantry auxiliary rail side exceeds a preset difference threshold, it calculates the target side speed offset based on the same-side master-slave shaft current difference on the target side and the adjustable proportional coefficient; if the same-side master-slave shaft current difference on the target side exceeds the preset difference threshold; finally, it adds the speed offset to the speed command of the target side slave shaft to adjust the running speed of the target side slave shaft. This application calculates the current difference between the master and slave shafts on the same side by monitoring the motor current value output by each driver in real time, and dynamically generates a speed offset based on the current difference. It then adjusts the motion of the drive shaft with smaller output force in real time, thereby achieving force balance on each drive shaft, effectively suppressing mechanical jamming, and improving the safety and operational stability of the four-wheel drive gantry system. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is an application environment diagram of a four-wheel drive gantry synchronization control method based on current difference in one embodiment.

[0034] Figure 2 This is a flowchart illustrating a four-wheel drive gantry synchronization control method based on current difference in one embodiment;

[0035] Figure 3 This is a processing logic diagram of a four-wheel drive gantry system in one embodiment;

[0036] Figure 4 This is a schematic diagram of the structure of a four-wheel drive gantry system in one embodiment;

[0037] Figure 5 This is a flowchart illustrating a four-wheel drive gantry synchronization control method based on current difference in a specific embodiment.

[0038] Figure 6 This is a schematic diagram illustrating the implementation process of force compensation for four-wheel drive gantry in a specific embodiment;

[0039] Figure 7 This is a schematic diagram of the current curve before optimization in a specific embodiment;

[0040] Figure 8 This is a schematic diagram of the optimized current curve in a specific embodiment;

[0041] Figure 9 This is a schematic diagram of another optimized current curve in a specific embodiment;

[0042] Figure 10 This is a structural block diagram of a four-wheel drive gantry synchronization control device based on current difference in one embodiment;

[0043] Figure 11 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0045] The four-wheel drive gantry synchronization control method based on current difference provided in this application embodiment can be applied to, for example... Figure 1 The application environment shown illustrates this. In this environment, the terminal can communicate with the server via a network. The data storage system can store the data that the server needs to process. The data storage system can be integrated onto the server or located on the cloud or other network servers. In such... Figure 1 In the application environment shown, the terminal can be, but is not limited to, various personal computers, laptops, smartphones, and tablets. The server can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0046] In one embodiment, such as Figure 2 and Figure 3 As shown, a four-wheel drive gantry synchronization control method based on current difference is provided, which can be applied to... Figure 1 In the terminal, based on the GTC (Generalized Torque Control) motion controller platform, and building upon gantry closed-loop speed control, a current difference feedback and dynamic bias compensation mechanism are introduced. This method may include the following steps:

[0047] Step S201: In the target four-wheel drive gantry system, the main rail side and the secondary rail side of the gantry are set to independent master-slave control modes to construct a four-wheel drive gantry motion group.

[0048] Specifically, after the terminal is powered on in the target four-wheel drive gantry system, the controller automatically enables the servo of each axis and returns it to zero. Then, the main rail side and the auxiliary rail side of the gantry are set to independent master-slave control modes to construct the four-wheel drive gantry motion group.

[0049] Step S202: Collect the motor current values ​​output by each driver in the four-wheel drive gantry motion group, extract stable master and slave shaft current values ​​from the motor current values, and calculate the difference between the master and slave shaft currents on the same side of the gantry main rail side and the gantry secondary rail side based on the master and slave shaft current values.

[0050] The calculation method for the current difference between the master and slave axes on the same side can be as follows: .

[0051] Among them, a stable master-slave spindle current value refers to the master spindle current value. and the value of the shaft current The values ​​all fluctuate within the preset range (e.g., 45-50A).

[0052] Specifically, the terminal can read the motor current values ​​output by each driver in real time through the GLINK-II bus, then extract stable master and slave shaft current values ​​from the motor current values, and then calculate the difference between the master and slave shaft currents on the same side of the gantry main rail side and the gantry auxiliary rail side based on the master and slave shaft current values.

[0053] Among them, the GLINK-II bus is a gigabit real-time industrial Ethernet bus, which can be used for communication between controllers and drivers. It can also be replaced by real-time Ethernet protocols such as EtherCAT and Profinet.

[0054] Step S203: If the difference between the master and slave shaft currents on either side of the gantry main rail side and the gantry secondary rail side exceeds the preset difference threshold, the speed offset on the target side is calculated based on the difference between the master and slave shaft currents on the target side and the adjustable proportional coefficient.

[0055] The target side is the side or both sides where the difference between the master and slave shaft currents on the same side exceeds a preset difference threshold.

[0056] The preset difference threshold can usually be set to 5-10A according to the actual situation, and the adjustable proportional coefficient can usually be set to 0.1~0.5 according to the system response. Generally, the larger the adjustable proportional coefficient, the faster the compensation response.

[0057] The speed offset can be an additional speed or position command applied to adjust the synchronization between shafts.

[0058] Specifically, the terminal compares the current difference between the master and slave shafts on the same side of the gantry main rail and the gantry secondary rail with a preset difference threshold. If the current difference between the master and slave shafts on either side exceeds the preset difference threshold, the terminal calculates the speed offset on the target side based on the current difference between the master and slave shafts on the same side of the target side and the adjustable proportional coefficient.

[0059] Step S204: The speed offset is added to the speed command of the target-side slave shaft to adjust the running speed of the target-side slave shaft.

[0060] Specifically, the terminal can superimpose the calculated speed offset into the speed command of the target-side slave shaft in real time via analog output or bus command to adjust the running speed of the target-side slave shaft. During point-to-point movement and continuous movement of the target four-wheel drive gantry system, the controller continuously and cyclically executes the closed-loop adjustment process of current acquisition → difference calculation → offset output. Through continuous fine-tuning in small amounts and multiple times, the uneven force caused by mechanical backlash, assembly errors, etc., is gradually eliminated, thereby achieving dynamic force balance of the target four-wheel drive gantry system.

[0061] In this embodiment, firstly, in the target four-wheel drive gantry system, the main rail side and the auxiliary rail side of the gantry are set to independent master-slave control modes to construct a four-wheel drive gantry motion group. Then, the motor current values ​​output by each driver in the four-wheel drive gantry motion group are collected, and stable master-slave shaft current values ​​are extracted from the motor current values. Based on the master-slave shaft current values, the same-side master-slave shaft current difference between the main rail side and the auxiliary rail side of the gantry is calculated. If the same-side master-slave shaft current difference on either the main rail side or the auxiliary rail side exceeds a preset difference threshold, the speed offset on the target side is calculated based on the same-side master-slave shaft current difference on the target side and the adjustable proportional coefficient. The same-side master-slave shaft current difference on the target side exceeds the preset difference threshold. Finally, the speed offset is superimposed on the speed command of the target side slave shaft to adjust the running speed of the target side slave shaft. This application calculates the current difference between the master and slave shafts on the same side by monitoring the motor current value output by each driver in real time, and dynamically generates a speed offset based on the current difference. It then adjusts the motion of the drive shaft with smaller output force in real time, thereby achieving force balance on each drive shaft, effectively suppressing mechanical jamming, and improving the safety and operational stability of the four-wheel drive gantry system.

[0062] In one embodiment, step S201 above, setting the gantry main rail side and the gantry secondary rail side to independent master-slave control modes, may include the following steps:

[0063] For the main rail side of the gantry, the main shaft of the main rail side is set to the gantry closed-loop speed control mode as the motion reference of the main rail side, and the slave shaft of the main rail side is set to the speed following mode to follow the main shaft of the main rail side; for the secondary rail side of the gantry, the main shaft of the secondary rail side is set to the gantry closed-loop speed control mode as the motion reference of the secondary rail side, and the slave shaft of the secondary rail side is set to the speed following mode to follow the main shaft of the secondary rail side.

[0064] Among them, the gantry closed loop is the gantry function of the Googol controller, with one axis as the master axis and the other as the slave axis, so that the two axes are in the gantry closed loop mode and synchronized.

[0065] Specifically, such as Figure 4 As shown, the terminal sets the main spindle on the main rail side of the gantry to the gantry closed-loop speed control mode. In this mode, the spindle simultaneously receives speed commands and position feedback, serving as the motion reference for the four-wheel drive gantry system. The slave spindle on the main rail side is set to speed following mode, with its speed command derived from the spindle speed and dynamically adjusted by superimposing real-time offset. The main spindle and slave spindle on the auxiliary rail side of the gantry are configured in the same mode to achieve independent synchronous control of the two rails and master-slave speed synchronization within the main spindle side and auxiliary rail side.

[0066] In one embodiment, step S201 above, extracting stable master-slave shaft current values ​​from motor current values, may include the following steps:

[0067] Based on the pulse direction coefficient corresponding to the current motion direction of each drive shaft in the four-wheel drive gantry motion group, the motor current value is symbolized so that the positive and negative signs of the motor current value are consistent with the motor output direction; the symbolized motor current value is low-pass filtered to remove high-frequency noise, and the master and slave shaft current values ​​are obtained.

[0068] Low-pass filtering can be a digital filtering method used to remove high-frequency noise from current signals.

[0069] Specifically, the terminal symbolizes the motor current value based on the pulse direction coefficient corresponding to the current movement direction of each drive shaft in the four-wheel drive gantry motion group to ensure the correct determination of the motor output direction; the symbolized motor current value is then subjected to low-pass filtering (with an adjustable time constant) to filter out high-frequency noise and obtain a stable master-slave shaft current value I. 主 with I 从 .

[0070] In one embodiment, step S203 above, calculating the velocity offset on the target side based on the difference between the master and slave currents on the same side of the target side and the adjustable proportional coefficient, may include the following steps:

[0071] The initial bias is determined based on the difference between the master and slave currents on the same side and the adjustable proportional coefficient. If the difference between the master and slave currents on the same side is positive, the master current on the target side is greater than the slave current on the target side, and the positive initial bias is added as a speed bias to accelerate the slave on the target side. If the difference between the master and slave currents on the same side is negative, the master current is less than the slave current, and the negative initial bias is added as a speed bias to decelerate the slave.

[0072] Specifically, the terminal's judgment and processing flow is as follows:

[0073] 1) Threshold judgment: If the difference between the master and slave currents on the same side |ΔI| ≤ the preset difference threshold I 阈值 (If the actual measurement setting is 5-10A), then it is considered that the force is balanced and no offset is output;

[0074] 2) Bias calculation: If the difference between the master and slave currents on the same side |ΔI| > the preset difference threshold I 阈值 Then, based on the current difference between the master and slave shafts on the same side and the adjustable proportional coefficient, the initial bias is calculated: V 偏置 =ΔI×K; where K is an adjustable proportional coefficient (set according to the system response, usually 0.1~0.5). The larger K is, the faster the compensation response.

[0075] 3) Saturation limiting: Set the bias threshold Vmax to ensure |V 偏置 |≤Vmax, to avoid sudden speed jumps and mechanical shocks caused by excessive single compensation;

[0076] 4) Direction determination: Based on the sign of the current difference ΔI between the master and slave axes on the same side, determine the direction of the final speed bias (to make the slave axis “go more” or “go less”).

[0077] In one embodiment, the method of this application further includes the following steps:

[0078] If the initial bias exceeds the preset bias threshold, the adjustable proportional coefficient is adjusted, and the initial bias is re-determined based on the difference in current between the master and slave shafts on the same side and the adjusted adjustable proportional coefficient.

[0079] Specifically, if the terminal identifies the initial bias V 偏置 If the preset bias threshold Vmax is exceeded, the adjustable proportional coefficient K is adjusted, and the initial bias is re-determined based on the current difference ΔI between the master and slave shafts on the same side and the adjusted adjustable proportional coefficient K': V 偏置 =ΔI×K'.

[0080] In one embodiment, the method of this application further includes the following steps:

[0081] If the current difference between the master and slave shafts on the same side of the gantry main rail and the gantry auxiliary rail does not exceed the preset difference threshold, then it is confirmed that the drive shafts in the target four-wheel drive gantry system are subjected to balanced forces and no speed offset is output.

[0082] Specifically, if the terminal detects that the difference between the master and slave shaft currents on the same side |ΔI| ≤ the preset difference threshold I 阈值 (Based on actual measurements, the setting is 5-10A), so it is assumed that the drive shafts in the target four-wheel drive gantry system are subjected to balanced forces and no speed offset is output.

[0083] In one embodiment, such as Figure 5 and Figure 6 As shown, a four-wheel drive gantry synchronization control method based on current difference is provided in a specific embodiment, which specifically includes the following steps:

[0084] Step S501: In the target four-wheel drive gantry system, for the main rail side of the gantry, the main shaft of the main rail side is set to the gantry closed-loop speed control mode as the motion reference of the main rail side of the gantry, and the slave shaft of the main rail side is set to the speed following mode to follow the main shaft of the main rail side; for the secondary rail side of the gantry, the main shaft of the secondary rail side is set to the gantry closed-loop speed control mode as the motion reference of the secondary rail side of the gantry, and the slave shaft of the secondary rail side is set to the speed following mode to follow the main shaft of the secondary rail side.

[0085] Step S502: Collect the motor current values ​​output by each driver in the four-wheel drive gantry motion group. Based on the pulse direction coefficient corresponding to the current motion direction of each drive shaft in the four-wheel drive gantry motion group, perform symbolic processing on the motor current values ​​so that the positive and negative signs of the motor current values ​​are consistent with the motor output direction. Perform low-pass filtering on the symbolic motor current values ​​to filter out high-frequency noise and obtain the master and slave shaft current values.

[0086] Step S503: If the difference between the master and slave shaft currents on either the main rail side or the auxiliary rail side of the gantry exceeds a preset difference threshold, determine the initial bias amount based on the difference between the master and slave shaft currents on the same side and the adjustable proportional coefficient; if the difference between the master and slave shaft currents on the same side is positive, the master shaft current on the target side is greater than the slave shaft current on the target side, and a positive initial bias amount is added as a speed bias amount to accelerate the slave shaft on the target side; if the difference between the master and slave shaft currents on the same side is negative, the master shaft current is less than the slave shaft current, and a negative initial bias amount is added as a speed bias amount to decelerate the slave shaft.

[0087] Step S504: The speed offset is added to the speed command of the target-side slave shaft to adjust the running speed of the target-side slave shaft.

[0088] Step S505: If the current difference between the main and slave shafts on the same side of the gantry main rail and the gantry auxiliary rail does not exceed the preset threshold, then it is confirmed that the drive shafts in the target four-wheel drive gantry system are subjected to balanced forces and no speed offset is output.

[0089] Example of scenario 1: No-load operation, speed 1000mm / s, acceleration 150mm / s²;

[0090] Before optimization Figure 7 As shown: the maximum current is approximately 45A, indicating a significant imbalance in power output between the master and slave components; after optimization, as follows... Figure 8 As shown: the maximum current drops to 25-30A, and the master-slave current curves tend to be consistent.

[0091] Example of scenario 2: No-load operation, speed 2000mm / s, acceleration 300mm / s²;

[0092] After optimization, as follows Figure 9 As shown: the current stabilizes between 45-50A, the four-wheel drive gantry system operates smoothly, and the acceleration is 100% higher than the original solution.

[0093] The beneficial effects of the above embodiments are as follows:

[0094] 1) Effectively suppresses current overload: Under the same motion parameters (1000mm / s, 150mm / s²), the maximum current is reduced from more than 45A to 25-30A, a reduction of about 30%-40%, which fundamentally solves the problems of motor overheating and driver overload.

[0095] 2) Significantly improves system dynamic performance: The four-wheel drive gantry system allows acceleration to increase from 150mm / s² to 300mm / s² (100% increase), and maintains stable current (45-50A) even at high speeds of 2000mm / s, greatly improving equipment cycle time and production efficiency.

[0096] 3) Completely eliminate "blocking phenomenon": Through real-time current difference compensation, the mechanical structure always maintains force balance during movement, avoiding mutual pulling and jamming between drive shafts, and improving the long-term reliability of the four-wheel drive gantry system.

[0097] 4) Reduced dependence on mechanical precision: This solution reduces the stringent requirements for installation precision by adaptively compensating for mechanical errors through control algorithms, and enhances the robustness and maintainability of the four-wheel drive gantry system in engineering applications. This solution can also be extended to six-wheel drive, eight-wheel drive and other multi-axis gantry or synchronous motion platforms.

[0098] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0099] Based on the same inventive concept, this application also provides a current difference-based four-wheel drive gantry synchronization control device for implementing the above-mentioned current difference-based four-wheel drive gantry synchronization control method. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more current difference-based four-wheel drive gantry synchronization control device embodiments provided below can be found in the above-described limitations of the current difference-based four-wheel drive gantry synchronization control method, and will not be repeated here.

[0100] In one exemplary embodiment, such as Figure 10 As shown, a four-wheel drive gantry synchronization control device based on current difference is provided, which may include:

[0101] The master-slave control module 1001 is used to set the main rail side and the auxiliary rail side of the gantry to independent master-slave control modes in the target four-wheel drive gantry system, so as to construct a four-wheel drive gantry motion group.

[0102] The difference calculation module 1002 is used to collect the motor current value output by each driver in the four-wheel drive gantry motion group, extract stable master and slave shaft current values ​​from the motor current values, and calculate the same-side master and slave shaft current difference between the gantry main rail side and the gantry auxiliary rail side according to the master and slave shaft current values.

[0103] The bias calculation module 1003 is used to calculate the speed bias of the target side based on the same-side master-slave shaft current difference and the adjustable proportional coefficient if the same-side master-slave shaft current difference on either the main rail side or the auxiliary rail side of the gantry exceeds a preset difference threshold; the same-side master-slave shaft current difference on the target side exceeds the preset difference threshold.

[0104] The speed adjustment module 1004 is used to superimpose the speed offset amount onto the speed command of the target-side slave shaft to adjust the running speed of the target-side slave shaft.

[0105] In one embodiment, the master-slave control module 1001 is further configured to, for the main rail side of the gantry, set the main axis of the main rail side to the gantry closed-loop speed control mode as the motion reference of the main rail side of the gantry, and set the slave axis of the main rail side to the speed following mode to follow the main axis of the main rail side; for the secondary rail side of the gantry, set the main axis of the secondary rail side to the gantry closed-loop speed control mode as the motion reference of the secondary rail side of the gantry, and set the slave axis of the secondary rail side to the speed following mode to follow the main axis of the secondary rail side.

[0106] In one embodiment, the difference calculation module 1002 is further configured to perform symbolic processing on the motor current value according to the pulse direction coefficient corresponding to the current movement direction of each drive shaft in the four-wheel drive gantry motion group, so that the positive and negative signs of the motor current value are consistent with the motor output direction; and perform low-pass filtering processing on the symbolic motor current value to filter out high-frequency noise, thereby obtaining the master and slave shaft current values.

[0107] In one embodiment, the bias calculation module 1003 is further configured to determine an initial bias amount based on the same-side master-slave shaft current difference and the adjustable proportional coefficient; if the same-side master-slave shaft current difference is positive, then the master shaft current on the target side is greater than the slave shaft current on the target side, and a positive initial bias amount is superimposed as the speed bias amount to accelerate the slave shaft on the target side; if the same-side master-slave shaft current difference is negative, then the master shaft current is less than the slave shaft current, and a negative initial bias amount is superimposed as the speed bias amount to decelerate the slave shaft.

[0108] In one embodiment, the device may further include: a coefficient adjustment module, configured to adjust the adjustable proportional coefficient if the initial bias exceeds a preset bias threshold, and redetermine the initial bias based on the difference between the master and slave currents on the same side and the adjusted adjustable proportional coefficient.

[0109] In one embodiment, the device may further include: a balance confirmation module, used to confirm that each drive shaft in the target four-wheel drive gantry system is subjected to balanced force if the current difference between the same-side master and slave shafts on the main rail side and the secondary rail side of the gantry does not exceed the preset difference threshold, and not to output a speed offset.

[0110] The modules in the aforementioned four-wheel drive gantry synchronous control device based on current difference can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0111] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 11 As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When executed by the processor, the computer program implements a four-wheel drive gantry synchronous control method based on current difference. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0112] Those skilled in the art will understand that Figure 11 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0113] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0114] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0115] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0116] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0117] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0118] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0119] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A synchronous control method for a four-wheel drive gantry based on current difference, characterized in that, The method includes: In the target four-wheel drive gantry system, the main rail side and the auxiliary rail side of the gantry are set to independent master-slave control modes to construct a four-wheel drive gantry motion group; Collect the motor current values ​​output by each driver in the four-wheel drive gantry motion group, extract stable master and slave shaft current values ​​from the motor current values, and calculate the same-side master and slave shaft current difference between the gantry main rail side and the gantry auxiliary rail side based on the master and slave shaft current values. If the difference between the master and slave shaft currents on either side of the gantry main rail or the gantry auxiliary rail exceeds a preset difference threshold, then the speed offset on the target side is calculated based on the difference between the master and slave shaft currents on the target side and the adjustable proportional coefficient; the difference between the master and slave shaft currents on the target side exceeds the preset difference threshold. The speed offset is added to the speed command of the target-side slave shaft to adjust the operating speed of the target-side slave shaft.

2. The method according to claim 1, characterized in that, Setting the gantry main rail side and gantry auxiliary rail side to independent master-slave control modes includes: For the main rail side of the gantry, the main axis of the main rail side is set to the gantry closed-loop speed control mode as the motion reference of the main rail side of the gantry, and the slave axis of the main rail side is set to the speed following mode to follow the main axis of the main rail side; For the gantry secondary rail side, the secondary rail side main shaft is set to the gantry closed-loop speed control mode as the motion reference of the gantry secondary rail side, and the secondary rail side slave shaft is set to the speed following mode to follow the secondary rail side main shaft.

3. The method according to claim 1, characterized in that, Extracting stable master-slave shaft current values ​​from the motor current values ​​includes: Based on the pulse direction coefficient corresponding to the current movement direction of each drive shaft in the four-wheel drive gantry motion group, the motor current value is symbolized so that the positive or negative sign of the motor current value is consistent with the motor output direction. The symbolized motor current value is subjected to low-pass filtering to remove high-frequency noise, thereby obtaining the master-slave shaft current value.

4. The method according to claim 1, characterized in that, The step of calculating the velocity offset on the target side based on the difference between the master and slave shaft currents on the same side of the target side and the adjustable proportional coefficient includes: The initial bias is determined based on the difference between the master and slave shaft currents on the same side and the adjustable proportional coefficient. If the difference between the master and slave shaft currents on the same side is positive, then the master shaft current on the target side is greater than the slave shaft current on the target side, and a positive initial bias is added as the velocity bias to accelerate the slave shaft on the target side. If the difference between the master and slave shaft currents on the same side is negative, then the master shaft current is less than the slave shaft current, and a negative initial bias is added as the speed bias to decelerate the slave shaft.

5. The method according to claim 4, characterized in that, The method further includes: If the initial bias exceeds the preset bias threshold, the adjustable proportional coefficient is adjusted, and the initial bias is re-determined based on the difference between the master and slave currents on the same side and the adjusted adjustable proportional coefficient.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: If the current difference between the master and slave shafts on the same side of the gantry main rail and the gantry secondary rail does not exceed the preset difference threshold, then it is confirmed that the drive shafts in the target four-wheel drive gantry system are subjected to balanced forces and no speed offset is output.

7. A four-wheel drive gantry synchronous control device based on current difference, characterized in that, The device includes: The master-slave control module is used to set the main rail side and the auxiliary rail side of the gantry to independent master-slave control modes in the target four-wheel drive gantry system, so as to construct the four-wheel drive gantry motion group. The difference calculation module is used to collect the motor current value output by each driver in the four-wheel drive gantry motion group, extract stable master and slave shaft current values ​​from the motor current values, and calculate the same-side master and slave shaft current difference between the gantry main rail side and the gantry auxiliary rail side based on the master and slave shaft current values. The bias calculation module is used to calculate the speed bias of the target side based on the same-side master-slave shaft current difference and the adjustable proportional coefficient if the same-side master-slave shaft current difference on either the main rail side or the auxiliary rail side of the gantry exceeds a preset difference threshold; the same-side master-slave shaft current difference on the target side exceeds the preset difference threshold. The speed adjustment module is used to add the speed offset to the speed command of the target-side slave shaft to adjust the running speed of the target-side slave shaft.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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