Electromechanical system and control method and device therefor, electromechanical module, motion controller, trajectory planner, and medium

Abstract

The present application discloses an electromechanical system and a control method and device therefor, an electromechanical module, a motion controller, a trajectory planner, and a medium. The control method for the electromechanical system of the present application comprises: receiving a motion instruction sent by a motion controller, and simulating a processing instruction for a servo system on the basis of the motion instruction and a preset electromechanical system model; if the processing instruction meets processing requirements, outputting the processing instruction to the servo system; and if the processing instruction does not meet the processing requirements, feeding back the processing instruction to the motion controller and / or a trajectory planner to adjust the motion instruction until the simulated processing instruction meets the processing requirements, thereby forming closed-loop management of valid data, and realizing the high-speed and high-precision requirements of overall processing of the electromechanical system.

Description

Electromechanical system and control method and device thereof, electromechanical module, motion controller, trajectory planner and medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on August 31, 2023, with application number 202311117243.9 and invention name “Electromechanical system and its control method and device, electromechanical module, motion controller, trajectory planner and medium”, the entire contents of which are incorporated by reference in this application. Technical Field

[0002] The embodiments of the present application relate to the field of industrial control technology, and in particular to an electromechanical system and a control method and device thereof, an electromechanical module, a motion controller, a trajectory planner, and a medium. Background Art

[0003] With the rapid development of the manufacturing sector, various sub-sectors are placing increasingly stringent demands on machine tools, the "mother machines of industry." Downstream product lines for machine tools include automotive, aerospace, consumer electronics, medical devices, and many other fields. These diverse customer demands, coupled with the globalization of market competition, are driving ever-higher performance requirements for machine tools' control, drive, and electrical systems.

[0004] During the development process, machine tool products are equipped with matching key systems and components, such as CAM (Computer Aided Manufacturing) systems, CNC systems, servo motor systems, and mechanical transmission systems, based on the workpiece processing requirements of different industries. This ensures that qualified products can be produced in accordance with customers' diverse processing scenarios, efficiency, and precision requirements. Once the machine tool enters the processing phase, the machining program must be continuously verified and revised, and the control parameters of the controller, electrical, drive, and control systems must be readjusted to meet the precision and efficiency requirements of the different workpieces. After a period of use, mechanical wear and tear may require professional recalibration, compensation, or parameter adjustments.

[0005] Because the quality of the workpiece table and the workpiece changes frequently during the machine tool processing process, the trajectory generated by CAM and the servo instructions generated by CNC (Computer Numerical Control) sometimes change too suddenly, which can easily cause the motor speed and torque to be too large, making it impossible for the servo to track the instructions and resulting in a decrease in processing accuracy; sometimes it is too smooth, and the motor's capacity is not fully utilized, which cannot meet the requirements of high-speed processing, that is, it is impossible to achieve high-speed and high-precision trajectory planning. Technical issues

[0006] The main purpose of the embodiments of the present application is to provide an electromechanical system and its control method and device, an electromechanical module, a motion controller, a trajectory planner and a medium, aiming to achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system. Technical Solutions

[0007] To achieve the above objectives, the present application provides a method for controlling an electromechanical system, the method comprising:

[0008] receiving a motion instruction sent by a motion controller, and simulating a processing instruction of a servo system according to the motion instruction and a preset electromechanical system model;

[0009] If the processing instruction meets the processing requirements, outputting the processing instruction to the servo system;

[0010] If the processing instruction does not meet the processing requirements, the processing instruction is fed back to the motion controller and / or trajectory planner to adjust the motion instruction until the simulated processing instruction meets the processing requirements.

[0011] In one embodiment, feeding back the processing instructions to a motion controller and / or a trajectory planner to adjust the motion instructions includes:

[0012] Feeding back the motion related information in the processing instruction to the motion controller, so that the motion controller adjusts the motion instruction according to the motion related information; and / or,

[0013] The position-related information in the processing instruction is fed back to the trajectory planner, so that the trajectory planner adjusts the position instruction according to the position-related information.

[0014] In one embodiment, the method further comprises: receiving servo system feedback information uploaded by the servo system, wherein the servo system feedback information comprises servo model parameters and axis real-time quantities;

[0015] The simulating the processing instructions of the servo system according to the motion instructions and the preset electromechanical system model includes: simulating the processing instructions of the servo system according to the preset electromechanical system model based on the motion instructions and the servo system feedback information.

[0016] In one embodiment, the electromechanical system model includes a drive model, a transmission model, and a device model, and the method further includes:

[0017] Based on the model parameters of the transmission model and the device model and the servo model parameters, the driving parameters are adjusted according to the driving model, and the adjusted driving parameters are sent to the servo system.

[0018] In one embodiment, the electromechanical system model includes a process model, and the method further includes:

[0019] Determine whether the processing instruction meets the processing requirements according to the processing model.

[0020] In order to achieve the above objectives, the present application also provides a mechatronic system control method applied to a trajectory planner, the method comprising:

[0021] When the processing instruction does not meet the processing requirements, receiving position-related information in the processing instruction, wherein the processing instruction is generated based on the motion instruction output by the motion controller and a preset electromechanical system model simulation;

[0022] According to the position-related information in the processing instruction, the position instruction is adjusted and output to the motion controller, so that the motion controller adjusts the motion instruction until the processing instruction meets the processing requirements.

[0023] To achieve the above object, a mechatronic system control method is applied to a motion controller, the method comprising:

[0024] Receive position instructions sent by the trajectory planner;

[0025] When the processing instruction does not meet the processing requirements, receiving motion-related information in the processing instruction, wherein the processing instruction is generated by simulation based on the motion instruction and a preset electromechanical system model;

[0026] The motion instruction is adjusted according to the motion-related information in the processing instruction and the position instruction until the processing instruction meets the processing requirements.

[0027] In one embodiment, the method further comprises:

[0028] Receive the real-time axis data uploaded by the servo system;

[0029] The adjusting the motion instruction according to the motion related information in the processing instruction and the position instruction includes: adjusting the motion instruction according to the motion related information in the processing instruction, the position instruction and the axis real-time quantity.

[0030] In order to achieve the above-mentioned objectives, the present application also provides an electromechanical system control device, comprising a memory, a processor, and an electromechanical system control program stored in the memory and executable on the processor, wherein the electromechanical system control program is configured to implement the steps of the above-mentioned electromechanical system control method.

[0031] In order to achieve the above objectives, the present application also provides a computer-readable storage medium, which stores an electromechanical system control program. When the electromechanical system control program is executed by a processor, the steps of the above electromechanical system control method are implemented.

[0032] In order to achieve the above object, the present application also provides an electromechanical module, which includes a preset electromechanical system model and

[0033] A receiving unit, configured to receive motion instructions sent by the motion controller;

[0034] a simulation unit, configured to simulate a processing instruction of the servo system according to the motion instruction and a preset electromechanical system model;

[0035] The sending unit is used to output the processing instruction to the servo system when the processing instruction meets the processing requirements; when the processing instruction does not meet the processing requirements, the processing instruction is fed back to the motion controller and / or trajectory planner to adjust the motion instruction until the simulated processing instruction meets the processing requirements.

[0036] In one embodiment, it is also used when the processing instruction does not meet the processing requirements.

[0037] The sending unit is used to feed back the motion related information in the processing instruction to the motion controller, so that the motion controller adjusts the motion instruction according to the motion related information; and / or,

[0038] The sending unit is used to feed back the position-related information in the processing instruction to the trajectory planner, so that the trajectory planner adjusts the position instruction according to the position-related information.

[0039] In one embodiment, the receiving unit is further configured to receive servo system feedback information uploaded by the servo system, wherein the servo system feedback information includes servo model parameters and axis real-time quantities;

[0040] The simulation unit is further configured to simulate the processing instructions of the servo system according to a preset electromechanical system model based on the motion instructions and the feedback information of the servo system.

[0041] In one embodiment, the electromechanical system model includes a drive model, a transmission model, and a device model. The electromechanical system model also includes a parameter self-adjusting unit, and the parameter self-adjusting unit is used to:

[0042] Based on the model parameters of the transmission model and the device model and the servo model parameters, the driving parameters are adjusted according to the driving model, and the adjusted driving parameters are sent to the servo system.

[0043] In one embodiment, the electromechanical system model includes a processing model, and the electromechanical module further includes a judgment unit, wherein the judgment unit is configured to:

[0044] Determine whether the processing instruction meets the processing requirements according to the processing model.

[0045] In order to achieve the above objectives, the present application also provides a motion controller, which includes the above electromechanical module.

[0046] In order to achieve the above objectives, the present application also provides a trajectory planner, which includes the above-mentioned electromechanical module.

[0047] In order to achieve the above objectives, the present application also provides an electromechanical system, including a motion controller, a trajectory planner and the above electromechanical module.

[0048] In order to achieve the above-mentioned object, the present application also provides an electromechanical system, including an electromechanical module, a motion controller, and a trajectory planner;

[0049] The electromechanical module is connected to the motion controller and is used to receive motion instructions sent by the motion controller and simulate the processing instructions of the servo system according to the motion instructions and a preset electromechanical system model;

[0050] If the processing instruction meets the processing requirements, the electromechanical module outputs the processing instruction to the servo system; if the processing instruction does not meet the processing requirements, the electromechanical module feeds back the processing instruction to the motion controller and the trajectory planner to adjust the motion instruction until the simulated processing instruction meets the processing requirements;

[0051] The motion controller is connected to the trajectory planner and the electromechanical module respectively, and is used to adjust the processing instruction and send it to the electromechanical module according to the motion-related information in the processing instruction sent by the electromechanical module and the position instruction sent by the trajectory planner when the processing instruction does not meet the processing requirements;

[0052] The trajectory planner is connected to the motion controller and the electromechanical module respectively, and is used to adjust the position instruction according to the position-related information in the processing instruction sent by the electromechanical module and send it to the motion controller when the processing instruction does not meet the processing requirements.

[0053] In one embodiment, the electromechanical module is also connected to the servo system to receive servo system feedback information uploaded by the servo system, and based on the motion instructions and the servo system feedback information, simulate the processing instructions of the servo system according to a preset electromechanical system model; wherein the servo system feedback information includes servo model parameters and axis real-time quantities. Beneficial effects

[0054] The embodiment of the present application proposes an electromechanical system and its control method and device, an electromechanical module, a motion controller, a trajectory planner and a medium. In the electromechanical system control method, the electromechanical module receives the motion instructions sent by the motion controller, and simulates the processing instructions of the servo system according to the motion instructions and the preset electromechanical system model; if the processing instructions meet the processing requirements, the processing instructions are output to the servo system; if the processing instructions do not meet the processing requirements, the processing instructions are fed back to the motion controller and / or the trajectory planner to adjust the motion instructions until the simulated processing instructions meet the processing requirements. The embodiment of the present application simulates the processing instructions of the servo system based on the preset electromechanical system model, and feeds back upward to the motion controller or trajectory planner to correct the motion instructions, forming a closed-loop management of effective data, which can ultimately achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system, while reducing the difficulty of debugging and improving processing efficiency and processing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only part of the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0056] Figure 1 is a schematic diagram of the existing CNC system architecture;

[0057] FIG2 is a schematic diagram of the structure of an electromechanical system provided in one embodiment of the present application;

[0058] FIG3 is a schematic diagram of the structure of an electromechanical module provided in one embodiment of the present application;

[0059] FIG4 is a schematic diagram of the structure of an electromechanical module provided in another embodiment of the present application;

[0060] FIG5 is a schematic diagram of the structure of a trajectory planner provided in one embodiment of the present application;

[0061] FIG6 is a schematic diagram of the structure of a motion controller provided in one embodiment of the present application;

[0062] FIG7 is a schematic flow chart of a method for controlling an electromechanical system according to an embodiment of the present application;

[0063] FIG8 is a flow chart of a method for controlling an electromechanical system according to another embodiment of the present application;

[0064] FIG9 is a schematic flow chart of a method for controlling an electromechanical system according to another embodiment of the present application;

[0065] FIG10 is a flow chart of a method for controlling an electromechanical system according to another embodiment of the present application. Modes for Carrying Out the Invention

[0066] In the following description, specific details such as specific system structures and technologies are provided for illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the embodiments of the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the embodiments of the present application.

[0067] It should be noted that although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than that shown in the flowcharts. The terms "first," "second," and the like in the specification, claims, and drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0068] It should also be understood that references to "one embodiment" or "some embodiments" described in the description of the embodiments of the present application mean that one or more embodiments of the embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Thus, the phrases "in one embodiment," "in some embodiments," "in some other embodiments," "in some other embodiments," etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and their variations all mean "including but not limited to," unless otherwise specifically emphasized.

[0069] The existing CNC system architecture is shown in Figure 1. A trajectory planner 11 uses an imported workpiece model and machining parameters to transmit the overall trajectory output to a motion controller 12. Based on the set motion plan and other parameters, the motion controller 12 outputs motion instructions to a servo system 13. The servo system 13 only receives commands and performs driving and machining according to its own fixed parameters. Therefore, existing CNC system architectures rely on one-way data transmission, with workpiece machining performed mechanically according to the issued instructions. However, in actual machining, field conditions, including the workpiece platform and the quality of the workpiece, frequently change. This makes it difficult for motion instructions to adaptively match the field conditions, thus affecting machining accuracy and progress.

[0070] In order to reduce the overall debugging difficulty of the electromechanical system, improve ease of use, achieve high speed, high precision and optimal control, and enable the system to adapt to different requirements under different motion scenes, an embodiment of the present application provides an electromechanical system. As shown in Figure 2, the electromechanical system 2 includes a trajectory planner 21, a motion controller 22 and an electromechanical module 23 connected in sequence. In the physical structure, the electromechanical module 23 can be built into the trajectory planner 21, or built into the motion controller 22, or the trajectory planner 21, the motion controller 22 and the electromechanical module 23 are integrated into one, which is not limited here. It should be noted that in the embodiment of the present application, the connection method can be a soft connection or a hard connection, which is not limited here.

[0071] Specifically, the electromechanical module 23 is connected to the motion controller 22 and is configured to receive motion instructions sent by the motion controller 22 and processing instructions from the preset electromechanical system model simulating the servo system 3. The electromechanical module 23 is also configured to determine whether the processing instructions meet the processing requirements. If the processing instructions do not meet the processing requirements, the electromechanical module 23 feeds the processing instructions back to the motion controller 22 and / or the trajectory planner 21 to adjust the motion instructions until the simulated processing instructions meet the processing requirements.

[0072] In one embodiment, the mechatronic module 23 may feed back only the motion-related information in the processing instruction to the motion controller 22, so that the motion controller 22 adjusts the motion instruction according to the motion-related information; or it may feed back only the position-related information in the processing instruction to the trajectory planner 21, so that the trajectory planner 21 adjusts the position instruction according to the position-related information; or it may feed back the motion-related information in the processing instruction to the motion controller 22 and the position-related information in the processing instruction to the trajectory planner 21 at the same time, and there is no limitation here.

[0073] The trajectory planner 21 is connected to the motion controller 22 and the electromechanical module 23 respectively, and is used to adjust the position instruction according to the position-related information in the processing instruction sent by the electromechanical module 23 and send it to the motion controller 22 when the processing instruction does not meet the processing requirements.

[0074] The motion controller 22 is connected to the trajectory planner 21 and the electromechanical module 23 respectively, and is used to adjust the processing instructions and send them to the electromechanical module 23 based on the motion-related information in the processing instructions sent by the electromechanical module 23 and the position instructions sent by the trajectory planner 21 when the processing instructions do not meet the processing requirements.

[0075] The electromechanical module 23 is further configured to output a processing instruction to the servo system 3 when it is determined that the processing instruction meets the processing requirements, so that the servo system 3 completes driving and processing according to the processing instruction.

[0076] The electromechanical system 2 provided in the embodiment of the present application simulates the processing instructions of the servo system 3 through the electromechanical system model preset in the electromechanical module 23, and feeds back to the motion controller 22 or the trajectory planner 21 to correct the motion instructions, forming a closed-loop management of effective data, so that the motion instructions can adaptively match the servo processing site conditions, and ultimately achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system, while reducing the difficulty of debugging and improving debugging efficiency and processing quality.

[0077] In one embodiment, the motion controller 22 in the embodiment of the present application may be a CNC machine tool, the trajectory planner 21 may be a CAM, and the electromechanical system 2 may be a CNC machine tool system, for achieving full closed-loop precision machining of the CNC machine tool system. It should be noted that the electromechanical system 2 in the embodiment of the present application may also be applied to other machining systems for the purpose of achieving precision machining, without limitation herein.

[0078] To achieve even more precise control, the electromechanical module 23 is also connected to the servo system 3 to receive servo system feedback information uploaded by the servo system 3. Based on the motion instructions and servo system feedback information, the module simulates the servo system 3's processing instructions according to a preset electromechanical system model. The servo system feedback information includes servo model parameters and real-time axis quantities. Because the electromechanical module 23 considers the servo system feedback information when simulating the processing instructions, the simulated data is more accurate and real-time. The adjusted motion instructions are then adaptively matched to the servo processing conditions, achieving fully closed-loop feedback control of the electromechanical system.

[0079] In one embodiment, the servo system 3 may include a servo driver, a servo motor, a transmission mechanism, a device body, a servo feedback unit and other structures. The servo feedback unit can feed back the servo system feedback information including servo model parameters and axis real-time quantities to the mechatronics module 23 and the motion controller 21.

[0080] The embodiment of the present application also provides an electromechanical module 23, as shown in Figure 3, in which an electromechanical system model is preset. The electromechanical system model includes several types of models such as a drive model 231, a motor model 232, a transmission model 233, a device model 234, and a processing model 235.

[0081] On the one hand, the electromechanical module 23 receives motion commands output by the motion controller 22, including commands such as the planned processing position, speed, and torque. On the other hand, the electromechanical module 23 can also receive servo system feedback information sent by the servo system 3. The servo system feedback information includes servo model parameters and real-time axis quantities. Specifically, the servo model parameters include motor type, maximum torque, maximum torque, and related axis parameters. The real-time axis feedback includes actual processing feedback information such as processing position, speed, torque, and feedback current.

[0082] The electromechanical module 23 simulates the processing instructions for the servo system based on the motion instructions and the preset electromechanical system model. Specifically, the electromechanical module 23 simulates the processing instructions for the servo system 3 based on the motion instructions, based on the constraints of the preset motor model 232, transmission model 233, and device model 234. The processing instructions may include processing position information.

[0083] In one embodiment, the electromechanical module 23 simulates the processing instructions of the servo system based on the motion instructions and the servo system feedback information according to a preset electromechanical system model. Specifically, the electromechanical module 23 simulates the processing instructions of the servo system 3 based on the motion instructions and the servo system feedback information based on the constraints of the preset motor model 232, transmission model 233, and device model 234.

[0084] In one embodiment, the mechatronic module 23 can also determine whether the processing instructions meet the processing requirements based on the processing model 235 in the mechatronic system model, where the processing requirements include requirements such as torque fluctuation, position deviation, and position overshoot. If the processing instructions meet the processing requirements, the mechatronic module 23 outputs the processing instructions that meet the processing requirements to the servo system 3, so that the servo system 3 completes the driving and workpiece processing according to the processing instructions. If the processing instructions do not meet the processing requirements, the mechatronic module 23 feeds the processing instructions back to the motion controller 22 and / or the trajectory planner 21 to adjust the motion instructions until the simulated processing instructions meet the processing requirements.

[0085] The electromechanical module 23 can only feed back the motion-related information in the processing instruction to the motion controller 22, so that the motion controller 22 adjusts the motion instruction according to the motion-related information; it can also only feed back the position-related information in the processing instruction to the trajectory planner 21, so that the trajectory planner 21 adjusts the position instruction according to the position-related information; it can also simultaneously feed back the motion-related information in the processing instruction to the motion controller 22 and the position-related information in the processing instruction to the trajectory planner 21, and there is no limitation here.

[0086] The motion-related information in the machining instructions includes information such as motor speed, machining position, machining acceleration, and motor torque percentage. The position-related information in the machining instructions includes information such as trajectory error and error requirement range.

[0087] The electromechanical module 23 provided in the embodiment of the present application simulates the processing instructions of the servo system 3 based on the motion instructions and the preset electromechanical system model, and feeds back to the motion controller 22 or the trajectory planner 21 to correct the motion instructions, forming a closed-loop management of effective data, so that the motion instructions can adaptively match the servo processing site conditions, and ultimately achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system, while reducing the difficulty of debugging and improving debugging efficiency and processing quality.

[0088] To achieve even more precise control, the electromechanical module 23 can also simulate the processing instructions of the servo system 3 based on the motion instructions and servo system feedback information according to a preset electromechanical system model, and then feed it back to the motion controller 22 or trajectory planner 21 to correct the motion instructions. Because the electromechanical module 23 also takes the servo system feedback information into account when simulating the processing instructions of the electromechanical system, the simulated data is more accurate and real-time. The adjusted motion instructions are then adaptively matched to the working conditions of the servo processing site, achieving full closed-loop feedback control of the electromechanical system.

[0089] In one embodiment, drive parameters 236 are set within the mechatronic module 23. The mechatronic module 23 combines model parameters (e.g., load characteristics, motor drive model, screw drive parameters, etc.) such as the motor model 232, transmission model 233, and device model 234, along with servo model parameters, to adjust the drive parameters 236 via the drive model 231 and transmit the adjusted drive parameters to the servo system 3. The adjusted drive parameters include servo parameters such as position gain, velocity gain, feedforward adjustment, gain level, and stiffness level. Therefore, the mechatronic module 23 can achieve adaptive adjustment of drive parameters, thereby reducing the overall debugging difficulty of the mechatronic system.

[0090] It should be noted that the motion controller 22 in the embodiment of the present application may be a CNC controller for a numerically controlled machine tool, and the trajectory planner 21 may be a CAM. In the physical structure, the electromechanical module 23 may be built into the trajectory planner 21, or may be built into the motion controller 22, or the trajectory planner 21, motion controller 22, and electromechanical module 23 may be integrated into one, without limitation herein.

[0091] The servo system 3 may include a servo driver, a servo motor, a transmission mechanism, a device body, a servo feedback unit and other structures. The servo feedback unit may feed back the servo system feedback information including servo model parameters and axis real-time quantities to the electromechanical module 23 and the motion controller 21 .

[0092] In one embodiment, the present application further provides an electromechanical module 21. As shown in FIG4 , the electromechanical module 21 includes a preset electromechanical system model, a receiving unit 41, a simulation unit 42, and a sending unit 43.

[0093] The receiving unit 41 is used to receive the motion command sent by the motion controller 22;

[0094] a simulation unit 42 for simulating a processing instruction of the servo system 3 according to the motion instruction and a preset electromechanical system model;

[0095] The sending unit 43 is used to output the processing instructions to the servo system 3 when the processing instructions meet the processing requirements; when the processing instructions do not meet the processing requirements, the processing instructions are fed back to the motion controller 22 and / or the trajectory planner 21 to adjust the motion instructions until the simulated processing instructions meet the processing requirements.

[0096] The electromechanical module 21 provided in the embodiment of the present application simulates the processing instructions of the servo system 3 based on the motion instructions and the preset electromechanical system model, and feeds back to the motion controller 22 or the trajectory planner 21 to correct the motion instructions, forming a closed-loop management of effective data, so that the motion instructions can adaptively match the servo processing site conditions, and ultimately achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system, while reducing the difficulty of debugging and improving debugging efficiency and processing quality.

[0097] In one embodiment, the sending unit 43 may feed back only the motion-related information in the processing instruction to the motion controller 22, so that the motion controller 22 adjusts the motion instruction according to the motion-related information; or it may feed back only the position-related information in the processing instruction to the trajectory planner 21, so that the trajectory planner 21 adjusts the position instruction according to the position-related information; or it may feed back the motion-related information in the processing instruction to the motion controller 22 and the position-related information in the processing instruction to the trajectory planner 21 at the same time, and there is no limitation here.

[0098] In one embodiment, the motion-related information in the processing instruction includes information such as motor speed, processing position, processing acceleration, motor torque percentage, etc. The position-related information in the processing instruction includes information such as trajectory error amount and error requirement range.

[0099] On the one hand, the receiving unit 41 receives motion commands output by the motion controller 22. These commands include instructions for the planned machining position, speed, torque, and other information. On the other hand, the receiving unit 41 can also receive servo system feedback information from the servo system 3. This servo system feedback information includes servo model parameters and real-time axis quantities. Specifically, servo model parameters include motor type, maximum torque, maximum torque, and axis-related parameters. Real-time axis feedback includes actual machining feedback information such as machining position, speed, torque, and feedback current.

[0100] Based on the motion instructions and servo system feedback information, simulation unit 42 simulates the servo system's processing instructions according to a preset electromechanical system model. Specifically, based on the constraints of preset motor model 232, transmission model 233, and device model 234, simulation unit 42 simulates the servo system's processing instructions according to the motion instructions and servo system feedback information. Because the electromechanical module 23 also considers servo system feedback information when simulating the electromechanical system's processing instructions, the simulated data is more accurate and real-time. The adjusted motion instructions are then adaptively matched to the servo processing site conditions, achieving fully closed-loop feedback control of the electromechanical system.

[0101] In one embodiment, the electromechanical module 23 further includes a judgment unit, which can judge whether the above-mentioned processing instructions meet the processing requirements based on the processing model 235 in the electromechanical system model, where the processing requirements include torque fluctuation, position deviation, position overshoot and other requirements.

[0102] In order to achieve the effect of adaptive adjustment of driving parameters, for example, when the parameter response is insufficient, the device rigidity is high and the servo system driving parameters are set low, and it is not compatible with the device, the driving parameters can be adaptively adjusted through the electromechanical module 23 in the embodiment of the present application.

[0103] Specifically, the electromechanical module 23 also includes a parameter self-adjustment unit, which includes preset drive parameters 236. The parameter self-adjustment unit can combine model parameters such as motor model 232, transmission model 233, and device model 234 (such as inertia, motor drive model, and screw drive parameters), as well as servo model parameters, to adjust the drive parameters 236 via the drive model 231 and send the adjusted drive parameters to the servo system 3. The adjusted drive parameters include servo parameters such as position gain, velocity gain, feedforward adjustment, gain level, and stiffness level. Therefore, the parameter self-adjustment unit can achieve adaptive adjustment of drive parameters, thereby reducing the difficulty of debugging the entire electromechanical system.

[0104] The present application also provides a motion controller, which may be a CNC controller for a numerically controlled machine tool. The motion controller includes the electromechanical module, that is, the electromechanical module is built into the motion controller.

[0105] The embodiment of the present application further provides a trajectory planner, which may be a CAM. The trajectory planner includes the above-mentioned electromechanical module, that is, the electromechanical module is built into the trajectory planner.

[0106] An embodiment of the present application further provides an electromechanical system, comprising a motion controller, a trajectory planner and the above-mentioned electromechanical module, that is, the trajectory planner, the motion controller and the electromechanical module are integrated into one.

[0107] The embodiment of the present application also provides a trajectory planner, as shown in Figure 5, the trajectory planner 21 includes a workpiece model unit 211, a typesetting and nesting unit 212, a trajectory generation unit 213 and a trajectory correction unit 214. The trajectory planner 21 supports the import of the workpiece model unit 211. After the workpiece model is imported, within the constraints of the precision control, the trajectory is generated based on the trajectory generation unit 213 after passing through the typesetting and nesting unit 212. At the same time, the trajectory is corrected based on the trajectory correction unit 214 based on offline simulation and detection technology to ensure that the trajectory can be processed normally without interference. At the same time, the trajectory correction unit 214 can also receive position-related information in the processing instructions sent by the electromechanical module 23 when the processing instructions do not meet the processing requirements, and adjust the position instructions according to the position-related information in the processing instructions and output them to the motion controller 22, so that the motion controller 22 adjusts the motion instructions until the processing instructions meet the processing requirements.

[0108] Specifically, the processing instructions are generated based on the motion instructions output by the motion controller and the preset electromechanical system model simulation.

[0109] It should be noted that when the processing instruction meets the processing requirements, the trajectory correction unit 214 can also receive position-related information in the processing instruction sent by the electromechanical module 23, which is not limited here.

[0110] The trajectory planner 21 provided in the embodiment of the present application adjusts the position instructions based on the position-related information in the processing instructions to correct the motion instructions, forming a closed-loop management of effective data, so that the motion instructions can adaptively match the servo processing site conditions, and ultimately achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system, while reducing the difficulty of debugging and improving debugging efficiency and processing quality.

[0111] The embodiment of the present application also provides a motion controller. As shown in FIG6 , the motion controller 22 includes a forward processing unit 221, a speed planning unit 222, and a single-axis position instruction generation unit 223. Within the constraints of the precision control, the motion controller 22 performs speed planning through the forward processing unit 221 and the speed planning unit 222 based on the position instruction sent by the trajectory planner 21, and finally generates a single-axis position instruction through the single-axis position instruction generation unit 223. In addition, when the processing instruction does not meet the processing requirements, the motion controller 22 receives the motion-related information in the processing instruction sent by the electromechanical module 23, and adjusts the motion instruction according to the motion-related information and position instruction in the processing instruction until the processing instruction meets the processing requirements.

[0112] Specifically, the processing instructions are generated based on the motion instructions output by the motion controller and the preset electromechanical system model simulation.

[0113] It should be noted that when the processing instruction meets the processing requirements, the motion controller 22 can also receive position-related information in the processing instruction sent by the electromechanical module 23, which is not limited here.

[0114] The motion controller 22 provided in the embodiment of the present application adjusts the position instructions based on the motion-related information in the processing instructions to correct the motion instructions, forming a closed-loop management of effective data, so that the motion instructions can adaptively match the servo processing site conditions, and ultimately achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system, while reducing the difficulty of debugging and improving debugging efficiency and processing quality.

[0115] In one embodiment, the motion controller 22 can also receive the real-time axis quantity uploaded by the servo system 3, and adjust the motion instruction according to the motion-related information, position instruction and the real-time axis quantity in the processing instruction, so that the adjusted motion instruction is more accurate and matches the working conditions of the processing site.

[0116] In addition, an embodiment of the present application also provides an electromechanical system control method. Referring to Figure 7, Figure 7 is a flow chart of an electromechanical system control method provided by an embodiment of the present application. The electromechanical system control method is applied to the above-mentioned electromechanical module. As shown in Figure 7, the electromechanical system control method provided by this embodiment includes steps S11 to S14.

[0117] Step S11: receiving a motion instruction sent by a motion controller;

[0118] Step S12: simulating the processing instructions of the servo system according to the motion instructions and the preset electromechanical system model;

[0119] Step S13: If the processing instruction meets the processing requirements, the processing instruction is output to the servo system;

[0120] Step S14: If the processing instruction does not meet the processing requirements, the processing instruction is fed back to the motion controller and / or trajectory planner to adjust the motion instruction until the simulated processing instruction meets the processing requirements.

[0121] The electromechanical system control method provided in the embodiment of the present application simulates the processing instructions of the servo system based on the motion instructions and the preset electromechanical system model, and feeds back to the motion controller or trajectory planner to correct the motion instructions, forming a closed-loop management of effective data, so that the motion instructions can adaptively match the servo processing site conditions, and ultimately achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system, while reducing the difficulty of debugging and improving debugging efficiency and processing quality.

[0122] In one embodiment, in step S14, only the motion-related information in the processing instruction can be fed back to the motion controller so that the motion controller adjusts the motion instruction according to the motion-related information; only the position-related information in the processing instruction can be fed back to the trajectory planner so that the trajectory planning device adjusts the position instruction according to the position-related information; or the motion-related information in the processing instruction can be fed back to the motion controller and the position-related information in the processing instruction can be fed back to the trajectory planner at the same time, and there is no limitation here.

[0123] The motion-related information in the machining instructions includes information such as motor speed, machining position, machining acceleration, and motor torque percentage. The position-related information in the machining instructions includes information such as trajectory error and error requirement range.

[0124] Step S11 receives motion commands from the motion controller, including commands for the planned machining position, speed, and torque. It also receives servo system feedback information from the servo system. This servo system feedback information includes servo model parameters and real-time axis quantities. Specifically, servo model parameters include motor type, maximum torque, maximum torque, and axis-related parameters. Real-time axis feedback includes actual machining feedback information such as machining position, speed, torque, and feedback current.

[0125] Furthermore, step S12 can simulate the servo system's processing instructions based on the motion instructions and servo system feedback information according to a preset electromechanical system model. Specifically, based on the constraints of the preset motor model 232, transmission model 233, and device model 234, the servo system's processing instructions are simulated based on the motion instructions and servo system feedback information. Because step S12 also takes servo system feedback information into account when simulating the processing instructions, the simulated data is more accurate and real-time. The adjusted motion instructions are then adaptively matched to the servo processing site conditions, achieving full closed-loop feedback control of the electromechanical system.

[0126] In one embodiment, as shown in FIG8 , the electromechanical system control method provided in the embodiment of the present application further includes step S15 .

[0127] Step S15: judging whether the machining instruction meets the machining requirements based on the machining model in the electromechanical system model, wherein the machining requirements include torque fluctuation, position deviation, position overshoot and other requirements.

[0128] In order to achieve the effect of adaptive adjustment of drive parameters, for example, when the parameter response is insufficient, the device rigidity is high and the servo system drive parameters are set low, and it is not compatible with the device, the drive parameters can be adaptively adjusted by the electromechanical system control method provided in the embodiment of the present application.

[0129] Specifically, the electromechanical module also includes preset drive parameters. The electromechanical system control method provided in this embodiment also includes step S16: combining model parameters such as the motor model, transmission model, and device model (such as inertia, motor drive model, and screw transmission parameters) with servo model parameters, adjusting the drive parameters using the drive model, and sending the adjusted drive parameters to the servo system. The adjusted drive parameters include servo parameters such as position gain, velocity gain, feedforward adjustment, gain level, and stiffness level. Therefore, the parameter self-adjustment unit can achieve adaptive adjustment of drive parameters, thereby reducing the difficulty of debugging the entire electromechanical system.

[0130] In addition, an embodiment of the present application also provides an electromechanical system control method. Referring to Figure 9, Figure 9 is a flow chart of an electromechanical system control method provided by an embodiment of the present application. The electromechanical system control method is applied to the above-mentioned trajectory planner. As shown in Figure 9, the electromechanical system control method provided in this embodiment includes steps S21 to S22.

[0131] Step S21: When the processing instruction does not meet the processing requirements, receiving position-related information in the processing instruction, wherein the processing instruction is generated based on the motion instruction output by the motion controller and a preset electromechanical system model simulation;

[0132] Step S22: adjusting the position instruction according to the position-related information in the processing instruction and outputting the position instruction to the motion controller, so that the motion controller adjusts the motion instruction until the processing instruction meets the processing requirements.

[0133] Specifically, the processing instructions are generated based on the motion instructions output by the motion controller and the preset electromechanical system model simulation.

[0134] It should be noted that when the processing instructions meet the processing requirements, the trajectory planner can also receive position-related information in the processing instructions sent by the electromechanical module to achieve precise control, and there is no restriction here.

[0135] The trajectory planner provided in the embodiment of the present application adjusts the position instructions based on the position-related information in the processing instructions to correct the motion instructions, forming a closed-loop management of effective data, so that the motion instructions can adaptively match the servo processing site conditions, and ultimately achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system, while reducing the difficulty of debugging and improving debugging efficiency and processing quality.

[0136] In addition, an embodiment of the present application also provides an electromechanical system control method. Referring to Figure 10, Figure 10 is a flow chart of an electromechanical system control method provided by an embodiment of the present application. The electromechanical system control method is applied to the above-mentioned motion controller. As shown in Figure 10, the electromechanical system control method provided in this embodiment includes steps S31 to S32.

[0137] Step 31: Receive the position command sent by the trajectory planner;

[0138] Step 32: When the processing instruction does not meet the processing requirements, receiving motion-related information in the processing instruction, wherein the processing instruction is generated by simulation based on the motion instruction and a preset electromechanical system model;

[0139] Step 33: Adjust the motion instruction according to the motion-related information in the processing instruction and the position instruction until the processing instruction meets the processing requirements.

[0140] It should be noted that when the processing instruction meets the processing requirements, the motion controller can also receive position-related information in the processing instruction sent by the electromechanical module, and there is no limitation here.

[0141] The motion controller provided in the embodiment of the present application adjusts the position instructions based on the motion-related information in the processing instructions to correct the motion instructions, forming a closed-loop management of effective data, so that the motion instructions can adaptively match the servo processing site conditions, and ultimately achieve the high-speed and high-precision requirements of the overall processing of the electromechanical system, while reducing the difficulty of debugging and improving debugging efficiency and processing quality.

[0142] In one embodiment, the motion controller can also receive the real-time axis quantity uploaded by the servo system, and adjust the motion instruction based on the motion-related information, position instruction and the real-time axis quantity in the processing instruction, so that the adjusted motion instruction is more accurate and matches the working conditions of the processing site.

[0143] An embodiment of the present application also provides an electromechanical system control device, comprising: a memory, a processor, and an electromechanical system control program stored in the memory and executable on the processor, wherein the electromechanical system control program is configured to implement the steps of the electromechanical system control method described above.

[0144] Among them, the method implemented when the electromechanical system control program running on the processor is executed can refer to the various embodiments of the electromechanical system control method of the present application, and will not be repeated here.

[0145] The embodiment of the present application further provides a computer-readable storage medium. The computer-readable storage medium provided by the embodiment of the present application stores an electromechanical system control program configured to implement the steps of the electromechanical system control method described above.

[0146] The computer program product provided by this application solves the technical problem of low precision and inability to adapt to the on-site machining environment in electromechanical systems. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiments of the present invention are the same as those of the electromechanical system control method provided by the above-mentioned embodiments, and are not further elaborated here.

[0147] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0148] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0149] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a computer-readable storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0150] The above are merely optional embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for controlling an electromechanical system, wherein: The method comprises: Receiving motion instructions sent by the motion controller, and simulating processing instructions of the servo system according to the motion instructions and a preset electromechanical system model; If the processing instruction meets the processing requirements, outputting the processing instruction to the servo system; If the processing instruction does not meet the processing requirements, the processing instruction is fed back to the motion controller and / or the trajectory planner to adjust the motion instruction until the simulated processing instruction meets the processing requirements.

2. The electromechanical system control method according to claim 1, wherein: Feeding back the processing instruction to the motion controller and / or trajectory planner to adjust the motion instruction includes: Feeding back the motion related information in the processing instruction to the motion controller, so that the motion controller adjusts the motion instruction according to the motion related information; and / or, The position-related information in the processing instruction is fed back to the trajectory planner, so that the trajectory planner adjusts the position instruction according to the position-related information.

3. The electromechanical system control method according to claim 1, wherein: The method further comprises: Receiving servo system feedback information uploaded by the servo system, wherein the servo system feedback information includes servo model parameters and axis real-time quantities; The simulating the processing instruction of the servo system according to the motion instruction and the preset electromechanical system model includes: Based on the motion instruction and the servo system feedback information, a processing instruction of the servo system is simulated according to a preset electromechanical system model.

4. The electromechanical system control method according to claim 3, wherein: The electromechanical system model includes a drive model, a transmission model and a device model, and the method further includes: Based on the model parameters of the transmission model and the device model and the servo model parameters, the drive parameters are adjusted according to the drive model, and the adjusted drive parameters are sent to the servo system.

5. The electromechanical system control method according to claim 1, wherein: The electromechanical system model includes a processing model, and the method further includes: Whether the processing instruction meets the processing requirements is determined according to the processing model.

6. A method for controlling an electromechanical system, applied to a trajectory planner, wherein: The method comprises: When the processing instruction does not meet the processing requirements, receiving position-related information in the processing instruction, wherein the processing instruction is generated by simulating the motion instruction output by the motion controller and a preset electromechanical system model; According to the position-related information in the processing instruction, the position instruction is adjusted and output to the motion controller, so that the motion controller adjusts the motion instruction until the processing instruction meets the processing requirements.

7. A method for controlling an electromechanical system, applied to a motion controller, wherein: The method comprises: Receive position instructions sent by the trajectory planner; When the processing instruction does not meet the processing requirements, receiving motion-related information in the processing instruction, wherein the processing instruction is generated by simulation based on the motion instruction and a preset electromechanical system model; According to the motion related information in the processing instruction and the position instruction, the motion instruction is adjusted until the processing instruction meets the processing requirements.

8. The electromechanical system control method according to claim 7, wherein: The method further comprises: Receive the real-time axis data uploaded by the servo system; The adjusting the motion instruction according to the motion related information in the processing instruction and the position instruction comprises: The motion instruction is adjusted according to the motion-related information in the processing instruction, the position instruction and the real-time quantity of the axis.

9. A control device for an electromechanical system, wherein: The invention comprises a memory, a processor and a mechatronic system control program stored in the memory and executable on the processor, wherein the mechatronic system control program is configured to implement the steps of the mechatronic system control method according to any one of claims 1 to 8.

10. A computer-readable storage medium, wherein: The computer-readable storage medium stores an electromechanical system control program, and when the electromechanical system control program is executed by a processor, the steps of the electromechanical system control method according to any one of claims 1 to 8 are implemented.

11. An electromechanical module, wherein: The electromechanical module includes a preset electromechanical system model and: A receiving unit, used for receiving a motion instruction sent by a motion controller; A simulation unit, used for simulating a processing instruction of a servo system according to the motion instruction and a preset electromechanical system model; The sending unit is used to output the processing instruction to the servo system when the processing instruction meets the processing requirements; when the processing instruction does not meet the processing requirements, the processing instruction is fed back to the motion controller and / or trajectory planner to adjust the motion instruction until the simulated processing instruction meets the processing requirements.

12. The electromechanical module according to claim 11, wherein: It is also used when the processing instruction does not meet the processing requirements. The sending unit is used to feed back the motion related information in the processing instruction to the motion controller, so that the motion controller adjusts the motion instruction according to the motion related information; and / or, The sending unit is used to feed back the position-related information in the processing instruction to the trajectory planner, so that the trajectory planner adjusts the position instruction according to the position-related information.

13. The electromechanical module according to claim 11, wherein: The receiving unit is also used to receive servo system feedback information uploaded by the servo system, wherein the servo system feedback information includes servo model parameters and axis real-time quantities; The simulation unit is further used to simulate the processing instructions of the servo system according to a preset electromechanical system model based on the motion instructions and the servo system feedback information.

14. The electromechanical module according to claim 13, wherein: The electromechanical system model includes a drive model, a transmission model and a device model, and the electromechanical system model also includes a parameter self-adjusting unit, and the parameter self-adjusting unit is used to: Based on the model parameters of the transmission model and the device model and the servo model parameters, the drive parameters are adjusted according to the drive model, and the adjusted drive parameters are sent to the servo system.

15. The electromechanical module according to claim 11, wherein: The electromechanical system model includes a processing model, and the electromechanical module also includes a judgment unit, which is used to: Whether the processing instruction meets the processing requirements is determined according to the processing model.

16. A motion controller, wherein: The motion controller comprises an electromechanical module as described in any one of claims 11 to 15.

17. A trajectory planner, wherein: The trajectory planner comprises an electromechanical module as described in any one of claims 11 to 15.

18. An electromechanical system, wherein: It comprises a motion controller, a trajectory planner and an electromechanical module as described in any one of claims 11 to 15.

19. An electromechanical system, wherein: Includes electromechanical module, motion controller, trajectory planner; The electromechanical module is connected to the motion controller and is used to receive the motion instructions sent by the motion controller and simulate the processing instructions of the servo system according to the motion instructions and a preset electromechanical system model; If the processing instruction meets the processing requirements, the electromechanical module outputs the processing instruction to the servo system; if the processing instruction does not meet the processing requirements, the electromechanical module feeds back the processing instruction to the motion controller and the trajectory planner to adjust the motion instruction until the simulated processing instruction meets the processing requirements; The motion controller is connected to the trajectory planner and the electromechanical module respectively, and is used to adjust the processing instruction and send it to the electromechanical module according to the motion related information in the processing instruction sent by the electromechanical module and the position instruction sent by the trajectory planner when the processing instruction does not meet the processing requirements; The trajectory planner is connected to the motion controller and the electromechanical module respectively, and is used to adjust the position instruction according to the position-related information in the processing instruction sent by the electromechanical module and send it to the motion controller when the processing instruction does not meet the processing requirements.

20. The electromechanical system of claim 19, wherein: The electromechanical module is also connected to the servo system, and is used to receive servo system feedback information uploaded by the servo system, and based on the motion instructions and the servo system feedback information, simulate the processing instructions of the servo system according to a preset electromechanical system model; wherein the servo system feedback information includes servo model parameters and axis real-time quantities.

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