CN106444645A - Multi-axis linkage motion control method based on embedded cutting bed controller - Google Patents
Multi-axis linkage motion control method based on embedded cutting bed controller Download PDFInfo
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
The invention discloses a multi-axis linkage motion control method based on an embedded cutting bed controller. The multi-axis linkage motion control method comprises steps that 1) maximum acceleration and maximum non-cutter lifting rotating angle permitted by an accelerometer, a speedometer, a stepped step size meter, and a cutting bed are acquired; 2) a speed planning and acceleration/deceleration process of continuous line segments is as follows: maximum speeds, target speeds, and angles required by a C-axis of various inflection points are calculated; 3) during cutter rotating at the inflection points, when an inflection angle delta theta i is smaller than theta, a direct cutter rotating way is adopted; when the delta theta i is greater than theta, an inflection angle cutter rotating way is adopted; 4) when a cutting track is continuous small line segments, the cutter rotating at the inflection point adopts a three-axis linkage way. The multi-axis linkage motion control method based on the embedded cutting bed controller has advantages of reducing jitter of cutting bed, improving stability and cutting precision of cutting bed.
Description
Technical field
The present invention relates to a kind of motion control method, especially a kind of multi-shaft interlocked fortune based on embedded cutting controller
Flowing control method, belongs to motion control field.
Background technology
Current China's clothing, shoes, bedding, etc. related industry quickly grow, for raw materials such as cloth, leathers
The cutting species for cutting is various.The low cutting of conventional automated low degree, single function, control accuracy is gradually eliminated, automatically
Change degree is higher, multi-functional, high-precision novel cutting table receives more and more extensive concern.
Cutting is mainly led by servomotor (respectively X-axis, Y-axis and C axle and D axle servomotor), X-axis guide rail, Y-axis
Rail, moving beam, transmission belt, cut head, head cutter, reset signal sensor etc. composition.Cutting controller is according to upper
The trail file that machine is issued, by controlling X-axis and Y-axis servomotor, drives and cuts head and head cutter along X-axis on crossbeam
Guide rail and Y-axis guide rail carry out plane motion；By the rotation of C axle servomotor controller head cutter, the direction of head cutter is made
Change with the change in head motion direction；Fallen by the lift of D axle servomotor controller head cutter, so as to complete track text
Part cut operation.However, the embedded cutting controller with servomotor as control object in high-speed cruising and cuts continuous
Remain during little line segment control accuracy relatively low, shake than more serious the problems such as.This can not only affect the product that cutting is produced
The quality of product, and cutting service life can be reduced.
Content of the invention
For the shake ratio for solving existing embedded cutting controller in high-speed cruising and exist when cutting continuously little line segment
The problems such as more serious, less stable, precision are high, the invention provides one kind can effectively reduce cutting shake, lifting cutting
Stability and the multi-shaft interlocked motion control method based on embedded cutting controller for cutting precision.
The technical solution adopted for the present invention to solve the technical problems is as follows：
A kind of multi-shaft interlocked motion control method based on embedded cutting controller, the method comprising the steps of：
1) accelerometer, speedometer, ladder step length table, the peak acceleration of cutting permission and maximum non-cutter lifting rotation are tried to achieve
Gyration
Using S curve type acceleration/deceleration control algorithm, obtain controlling the accelerometer of cutting X-axis and the motion of Y-axis servomotor
(a1,...,aj)；Then according to needed for the speed characteristics of X-axis used and Y-axis servomotor set up X-axis and the motion of Y-axis servomotor
Speedometer (v1..., vj)；Servomotor velocity variations each time are required for running certain step number and buffer, friction speed
Required for lower, the buffering step number of operation is also different, calculates corresponding ladder step length table in conjunction with the kinetic characteristic of servomotor
(l1,...,lj)；According to cutting mechanostructural property and X-axis and Y-axis servo motor parameter, cutting work institute is determined by debugging
Peak acceleration a of permissionmax；
The trail file that host computer is issued is made up of the coordinate points after discrete, the intensive line segment that adjacent coordinates point is connected to form
The track of operation as needed for cutting, the point between adjacent segments is referred to as flex point；At the flex point during rotor, if rotation needed for C axle
Angle is less than predetermined angle, using direct rotor mode, directly controls cutter to revolve when reaching at flex point by C axle servomotor
Turn corresponding angle；If the required anglec of rotation is bigger than predetermined angle, during the rotation of C axle Serve Motor Control cutter, cutting can be caused to tremble
Moving and precision is cut so as to reduce cutting, therefore adopts corner cutter lifting mode, now the flex point speed is reduced to zero and is watched by D axle
Taking motor and cutter is lifted, continues to cut by cutter being fallen again after cutter rotation respective angles；Logical according to cutting mechanostructural property
Cross test and draw non-cutter lifting anglec of rotation θ of maximum that C axle is allowed；If it is continuous little line segment to cut track, joined using three axles
Flowing mode, process continuously little line segment cut process；
2) speed planning of continuous line segment and acceleration and deceleration process are as follows：
N+1 coordinate points (x0,y0),(x1,y1),...,(xn,yn) constitute n bar line segment；Sat by two neighboring coordinate points
Mark, calculates the angle theta of n bar line segment and X-direction respectively1,θ2...,θn, by θ1,θ2...,θnIt is calculated each respectively to turn
At point, required for C axle, the angle of rotation is turning Δ θ1,...,Δθn-1；
2.1) combine step 1) in accelerometer (a1,...,aj) and speedometer (v1..., vj), if cutting starts speed
Spend for vqAnd beginning and end speed is set to toggle speed, it is less than velocity variations in X-direction and Y direction are met
amaxUnder conditions of, the maximal rate (v that is calculated in each flex pointx1,vy1)max,...,(vx(n-1),vy(n-1))max；
2.2) each flex point target velocity is calculated using speed backtracking method, process is as follows：
By the maximal rate (v at each flex pointx1,vy1)max,...,(vx(n-1),vy(n-1))maxEach on track as cutting
Initial target speed (the v' of individual flex pointx1,v'y1),...,(v'x(n-1),v'y(n-1)).If the conjunction of the initial target speed of n-1 point
Speed is ν 'n-1, the sum velocity of the speed of terminal n is νn；Speed-up computation is carried out from n point according to ladder step length table in step (1),
Calculate speed when must move to point n-1 for (v "x(n-1),v″y(n-1)), sum velocity is ν "n-1.If meeting ν 'n-1＞ ν "n-1, then choose
(v″x(n-1),v″y(n-1)) as the target velocity (v in n-1 pointx(n-1),vy(n-1))；If otherwise ν 'n-1≤ν″n-1, then will
(v'x(n-1),v'y(n-1)) as the target velocity (v in n-1 pointx(n-1),vy(n-1)).By that analogy, the target of all flex points is obtained
Speed (vx1,vy1),...,(vx(n-1),vy(n-1))；
2.3) using the interpolation mode for determining interpolation cycle, acceleration and deceleration process is as follows：
Line segment projected length in X-axis and Y-axis in track is calculated according to adjacent two point coordinates, it is slotting to choose longer axle
The main shaft for calculating is mended, another axle is countershaft.Main shaft can be calculated in conjunction with two point target speed, speedometer and ladder step length table to add
Speed, at the uniform velocity, umber of pulse N walked of decelerating phase1、N2、N3.Fixing interpolation cycle T is selected, and main shaft is calculated in m-th interpolation week
Interim required umber of pulse simultaneously puts it into main shaft pulse buffer area；Then it is calculated countershaft according to main shaft required pulse number to exist
Umber of pulse needed for m-th interpolation cycle simultaneously puts it into countershaft pulse buffer area.When next interpolation cycle is calculated, by this
Each interpolation cycle main shaft is walked before umber of pulse sum and N1、N2、N3Compare, to determine next interpolation cycle main shaft
Residing motion stage.
Further, the multi-shaft interlocked motion control method is further comprising the steps of：
3) at the flex point during rotor, if turning Δ θiLess than θ, using direct rotor mode；If turning Δ θiMore than θ, adopt
Corner cutter lifting mode, process is as follows：
3.1) judge in a certain flex point (xi,yi) place turning Δ θiSize, at the flex point during rotor, if turning Δ θiLittle
In θ, then direct rotor mode is adopted when reaching at flex point, directly controls cutter to rotate corresponding angle by C axle servomotor
Degree；If turning Δ θiMore than θ, then in step (2) by the flex point at maximal rate be set to zero, therefore try to achieve the mesh of the flex point
Mark speed (vxi,vyi) also it is zero；When cutting runs to flex point (xi,yi) when first pass through D axle servomotor cutter lifted, then lead to
C axle servomotor is crossed with speed vcDrive cutter anglec of rotation Δ θi, drive cutter to fall continuation finally by D axle servomotor
Cut operation；
3.2) using direct rotor and during corner cutter lifting mode, C axle servomotor when the rotation of head cutter is controlled according to
Servomotor characteristic selects a fixed speed；In conjunction with servomotor characteristic and through test, C axle servomotor is obtained straight
Switch through speed of service v when knife and corner cutter liftingc；During cutting, when D axle Serve Motor Control cutter rises and falls, Cutting machine
The head speed of service is zero, equally only needs to select a fixed speed v according to servomotor characteristicd?.
Further, the multi-shaft interlocked motion control method is further comprising the steps of：
4) when track is cut for continuously little line segment, rotor adopts three-shaft linkage mode at the flex point, and process is as follows：
4.1) to continuously little line segment cuts when, in step 2) in main shaft and countershaft are carried out interpolation calculate while synchronization
The angle of rotation and umber of pulse required for C axle in each interpolation cycle is calculated, and C axle pulse buffer area is put it into, realize three
Axle linkage interpolation, so as to realize quickly cutting for little line segment.
4.2) when using three-shaft linkage mode, C axle servomotor follows X-axis and Y-axis to be synchronized with the movement, and needs according to X-axis, Y
Speed and umber of pulse and turning size of the axle in each interpolation cycle calculate speed of the C axle in corresponding interpolation cycle with
And pulse number.
It is an advantage of the current invention that：(1) according to S curve type acceleration/deceleration control algorithm, using corresponding accelerometer, speed
Table and the method for control speed of ladder step length table, run during making cutting acceleration and deceleration more steadily efficiently；(2) using backtracking
Method calculates the target velocity of each flex point so that cutting can be avoided that with higher speed operation again in each flex point and cut, speed
Metric is drawn more reasonable；(3), at the flex point during rotor, according to needed for C axle, the anglec of rotation and cut whether track is continuous
Little line segment, is respectively adopted direct rotor, corner cutter lifting and three-shaft linkage mode rotor, had both reduced trembling in cutting work process
Dynamic, take into account cutting work efficiency again；(4) control method is realized based on STM32F407, and controller aboundresources is powerful.
Description of the drawings
Fig. 1 is the speed curve diagram of S curve type acceleration/deceleration control algorithm.
Fig. 2 is major axis and flex point angle schematic diagram.
Specific embodiment
Below in conjunction with the accompanying drawings embodiments of the present invention are further described.
See figures.1.and.2, a kind of multi-shaft interlocked motion control method based on embedded cutting controller, including following
Step：
1) Fig. 1 is the speed curve diagram under S curve type acceleration/deceleration control algorithm；If servomotor step angle is α, arteries and veins is driven
The frequency of punching is fs, the corresponding pulse period is ts, then the rotating speed v of servomotor be：
V=60/ [(360/ α) ts](r/min) (1)
Step angle α is determined by selected servo motor model number, therefore by controlling fsThe rotating speed of servomotor can control.Root
According to the accelerometer (a that S type curve acceleration/deceleration control algorithm is set up required for X-axis and the motion of Y-axis servomotor1,...,aj), knot
The speed characteristics of servomotor are closed, sets up corresponding speedometer (v1..., vj)；Again corresponding driving arteries and veins is calculated by formula (2)
Rush frequency meter (f1..., fj).In conjunction with speedometer (v1,...,vj) and the kinetic characteristic of servomotor itself calculate correspondence
Ladder step length table (l1,...,lj).According to the mechanostructural property of cutting and the model of selected servomotor and by surveying
Examination, determines that X-axis and Y-axis servomotor allow peak acceleration a of operationmaxAnd the non-cutter lifting anglec of rotation of the maximum that allowed of C axle
Degree θ.
2) what reading host computer was issued cuts trajectory coordinates point (x0,y0),(x1,y1),...,(xn,yn), beginning and end
Respectively (x0,y0)、(xn,yn).According to the coordinate of two neighboring coordinate points, n bar line can be calculated by formula (3), (4)
Section and the angle theta of X-direction1,θ2...,θn.The angle that rotation required for each flex point C axle can be calculated by formula (5) is i.e.
Turning Δ θ1,...,Δθn-1, wherein Δ θ1,...,Δθn-1Sign represent the direction of rotation of C axle.
Δθi=θi+1-θi(1≤i≤(n-1)) (5)
2.1) accelerometer (a in step (1) is combined1,...,aj) and speedometer (v1 ..., vj), meeting X-axis side
A is less than to velocity variations in Y directionmaxUnder conditions of, the maximal rate (v that can be calculated in each flex pointx1,
vy1)max,...,(vx(n-1),vy(n-1))max.
2.2) speed backtracking method, the maximal rate (v that will obtain in the step (2) are adoptedx1,vy1)max,...,
(vx(n-1),vy(n-1))maxAs the initial target speed (v' for cutting each flex point on trackx1,v'y1),...,(v'x(n-1),
v'y(n-1)).If the sum velocity of the initial target speed of n-1 point is ν 'n-1, the sum velocity of the speed of terminal n is νn；According to step
(1) in, ladder step length table carries out speed-up computation from n point, calculate speed when must move to point n-1 for (v "x(n-1),v″y(n-1)), close
Speed is ν "n-1.If meeting ν 'n-1＞ ν "n-1, then choose (v "x(n-1),v″y(n-1)) as the target velocity (v in n-1 pointx(n-1),
vy(n-1))；If otherwise ν 'n-1≤ν″n-1, then by (v'x(n-1),v'y(n-1)) as the target velocity in n-1 point.By that analogy, obtain
Target velocity (v to all flex pointsx1,vy1),...,(vx(n-1),vy(n-1)).
2.3) as shown in Fig. 2 being calculated track line segment projected length l in X-axis and Y-axis according to adjacent two point coordinatesix,
liyIf, lix≥liy, the main shaft that longer X-axis is calculated is chosen for interpolation, Y-axis is countershaft.In conjunction with two point target speed and speed
Table, ladder step length table can be calculated main shaft accelerate, at the uniform velocity, umber of pulse N walked of decelerating phase1、N2、N3.Select fixing inserting
T between the added time, can calculate main shaft in umber of pulse n needed for m-th interpolation cycle by formula (6) and (7)xTm, wherein vxTmFor
The corresponding speed of service of m-th interpolation cycle main shaft, lsFor servomotor step pitch used, lxTmWatch for m-th interpolation cycle main shaft
Take the length that motor is passed by.Finally by umber of pulse n for obtainingxTmIt is put into main shaft pulse buffer area；Then according to main shaft umber of pulse
nxTmWith line segment and X-axis angle thetaiCountershaft is calculated in umber of pulse n needed for m-th interpolation cycle by formula (8)yTmAnd will
Which is put into countershaft pulse buffer area.When next interpolation cycle is calculated, by this arteries and veins that each interpolation cycle main shaft is walked before
Rush number sum and N1、N2、N3Compare, to determine the motion stage residing for next interpolation cycle main shaft.
lxTm=T*vxTm(6)
nyTm=nxTmtanθi(8)
3) in step 2) in, if in a certain flex point (xi,yi) place turning Δ θiLess than θ, it is to improve cutting work efficiency,
Direct rotor mode is adopted when reaching at flex point, directly controls cutter to rotate corresponding angle by C axle servomotor；If turning
ΔθiAngle is more than θ, for avoiding cutting to produce mechanical shaking in wide-angle corner, using corner cutter lifting mode, by the flex point
The maximal rate at place is set to zero, therefore tries to achieve the target velocity (v of the pointxi,vyi) also it is zero.When cutting runs to flex point (xi,
yi)When first pass through D axle servomotor cutter lifted, then by C axle servomotor with speed vcDrive cutter anglec of rotation Δ
θi, drive cutter to fall finally by D axle servomotor and continue to cut operation.In conjunction with servomotor characteristic and through test, obtain
To speed of service v of the C axle servomotor in direct rotor and corner cutter liftingcAnd speed of service v of D axle servomotord.
4) to continuously little line segment cuts when, in step (2), main shaft is carried out interpolation calculate while synchronously calculate per
The angle of rotation and umber of pulse required for C axle in individual interpolation cycle, and C axle pulse buffer area is put it into, realize three-shaft linkage
Interpolation, so as to realize quickly cutting for little line segment.If X-axis is the angle of rotation and arteries and veins needed for main shaft, m-th interpolation cycle C axle
Rush number computing formula as follows：
Wherein θTmIt is that C axle needs the angle for rotating, n in m-th interpolation cyclecTmIt is C axle in m-th interpolation cycle
The umber of pulse of operation needed for servomotor, α is servomotor step angle.lxTpIt is spindle servo electric machine in p-th interpolation cycle
The length that passes by.
Claims (3)
1. a kind of multi-shaft interlocked motion control method based on embedded cutting controller, it is characterised in that：Methods described includes
Following steps：
1) accelerometer, speedometer, ladder step length table, the peak acceleration of cutting permission and the maximum non-cutter lifting anglec of rotation are tried to achieve
Degree；
Using S curve type acceleration/deceleration control algorithm, obtain controlling the accelerometer of cutting X-axis and the motion of Y-axis servomotor
(a1,...,aj)；Then according to needed for the speed characteristics of X-axis used and Y-axis servomotor set up X-axis and the motion of Y-axis servomotor
Speedometer (v1,...,vj)；Servomotor velocity variations each time are required for running certain step number and buffer, friction speed
Required for lower, the buffering step number of operation is also different, calculates corresponding ladder step length table in conjunction with the kinetic characteristic of servomotor
(l1,...,lj)；According to cutting mechanostructural property and X-axis and Y-axis servo motor parameter, cutting work institute is determined by debugging
Peak acceleration a of permissionmax；
The trail file that host computer is issued is made up of the coordinate points after discrete, and the intensive line segment that adjacent coordinates point is connected to form is
The track of operation needed for cutting, the point between adjacent segments is referred to as flex point；At the flex point during rotor, if the anglec of rotation needed for C axle
Less than predetermined angle, using direct rotor mode, directly control cutter to rotate phase when reaching at flex point by C axle servomotor
The angle that answers；If the required anglec of rotation is bigger than predetermined angle, C axle Serve Motor Control cutter rotation when can cause cutting shake from
And reduce cutting and cut precision, corner cutter lifting mode is therefore adopted, now the flex point speed is reduced to zero and by D axle servo electricity
Machine lifts cutter, continues to cut by cutter is fallen again after cutter rotation respective angles；According to cutting mechanostructural property by surveying
Examination draws non-cutter lifting anglec of rotation θ of maximum that C axle is allowed；If it is continuous little line segment to cut track, three-shaft linkage side is adopted
Formula, process continuously little line segment cut process；
2) speed planning of continuous line segment and acceleration and deceleration process are as follows：
N+1 coordinate points (x0,y0),(x1,y1),...,(xn,yn) constitute n bar line segment；By two neighboring coordinate point coordinates, point
The angle theta of n bar line segment and X-direction is not calculated1,θ2...,θn, by θ1,θ2...,θnEach flex point at C is calculated respectively
Required for axle, the angle of rotation is turning Δ θ1,...,Δθn-1；
2.1) combine step 1) in accelerometer (a1,...,aj) and speedometer (v1,...,vj), if cutting toggle speed is vq
And beginning and end speed is set to toggle speed, a is less than velocity variations in X-direction and Y direction are metmaxBar
Under part, the maximal rate (v that is calculated in each flex pointx1,vy1)max,...,(vx(n-1),vy(n-1))max；
2.2) each flex point target velocity is calculated using speed backtracking method, process is as follows：
By the maximal rate (v at each flex pointx1,vy1)max,...,(vx(n-1),vy(n-1))maxAs cutting each flex point on track
Initial target speed (v'x1,v'y1),...,(v'x(n-1),v'y(n-1)), if the sum velocity of the initial target speed of n-1 point is
ν'n-1, the sum velocity of the speed of terminal n is νn；Speed-up computation is carried out from n point according to ladder step length table in step (1), is calculated and must transport
Speed when moving point n-1 is (v'x'(n-1),v'y'(n-1)), sum velocity is ν "n-1If meeting ν 'n-1＞ ν "n-1, then choose
(v″x(n-1),v″y(n-1)) as the target velocity (v in n-1 pointx(n-1),vy(n-1))；If otherwise ν 'n-1≤ν″n-1, then will
(v'x(n-1),v'y(n-1)) as the target velocity (v in n-1 pointx(n-1),vy(n-1)), by that analogy, obtain the target of all flex points
Speed (vx1,vy1),...,(vx(n-1),vy(n-1))；
2.3) using the interpolation mode for determining interpolation cycle, acceleration and deceleration process is as follows：
Line segment projected length in X-axis and Y-axis in track is calculated according to adjacent two point coordinates, it is interpolation meter to choose longer axle
The main shaft of calculation, another axle is countershaft；In conjunction with two point target speed, speedometer and ladder step length table can be calculated main shaft accelerate,
At the uniform velocity, umber of pulse N walked by the decelerating phase1、N2、N3, fixing interpolation cycle T is selected, and main shaft is calculated in m-th interpolation cycle
Needed for umber of pulse and put it into main shaft pulse buffer area；Then countershaft is calculated according to main shaft required pulse number
Umber of pulse needed for m interpolation cycle simultaneously puts it into countershaft pulse buffer area, when next interpolation cycle is calculated, by this it
Umber of pulse sum and N that each interpolation cycle main shaft front is walked1、N2、N3Compare, to determine next interpolation cycle main shaft institute
The motion stage at place.
2. the multi-shaft interlocked motion control method based on embedded cutting controller as claimed in claim 1, it is characterised in that：
The multi-shaft interlocked motion control method is further comprising the steps of：
3) at the flex point during rotor, if turning Δ θiLess than θ, using direct rotor mode；If turning Δ θiMore than θ, using corner
Cutter lifting mode, process is as follows：
3.1) judge in a certain flex point (xi,yi) place turning Δ θiSize, at the flex point during rotor, if turning Δ θiLess than θ, then
Direct rotor mode is adopted when reaching at flex point, directly controls cutter to rotate corresponding angle by C axle servomotor；If turning
Angle Δ θiMore than θ, then in step (2) by the flex point at maximal rate be set to zero, therefore try to achieve the target velocity of the flex point
(vxi,vyi) also it is zero；When cutting runs to flex point (xi,yi) when first pass through D axle servomotor cutter lifted, then pass through C axle
Servomotor is with speed vcDrive cutter anglec of rotation Δ θi, drive cutter to fall finally by D axle servomotor and continue to cut behaviour
Make；
3.2), when using direct rotor and corner cutter lifting mode, C axle servomotor is when the rotation of head cutter is controlled according to servo
Motor characteristic selects a fixed speed；In conjunction with servomotor characteristic and through test, obtain C axle servomotor and directly turning
Speed of service v when knife and corner cutter liftingc；During cutting, when D axle Serve Motor Control cutter rises and falls, head fortune is cut
Scanning frequency degree is zero, equally only needs to select a fixed speed v according to servomotor characteristicd?.
3. the multi-shaft interlocked motion control method based on embedded cutting controller as claimed in claim 2, it is characterised in that：
The multi-shaft interlocked motion control method is further comprising the steps of：
4) when track is cut for continuously little line segment, rotor adopts three-shaft linkage mode at the flex point, and process is as follows：
4.1) to continuously little line segment cuts when, in step 2) in main shaft and countershaft are carried out interpolation calculate while synchronously calculate
The angle of rotation and umber of pulse required for C axle in each interpolation cycle, and C axle pulse buffer area is put it into, realize three axles connection
Dynamic interpolation, so as to realize quickly cutting for little line segment；
4.2) when using three-shaft linkage mode, C axle servomotor follows X-axis and Y-axis to be synchronized with the movement, and needs to be existed according to X-axis, Y-axis
Speed and umber of pulse and turning size in each interpolation cycle calculates speed and arteries and veins of the C axle in corresponding interpolation cycle
Rush number.
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| CN109542134A (en) * | 2018-10-24 | 2019-03-29 | 广州霞光技研有限公司 | A kind of speed control algorithm for solving Mechanism Clearance and causing shake |
| CN109634219A (en) * | 2018-12-24 | 2019-04-16 | 杭州澳星科技有限公司 | A kind of plane double shaft collaboration cutting method of effective protection motor |
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| CN111341709B (en) * | 2018-12-18 | 2022-10-21 | 北京北方华创微电子装备有限公司 | Substrate transmission method, control module and substrate transmission system |
| CN111341709A (en) * | 2018-12-18 | 2020-06-26 | 北京北方华创微电子装备有限公司 | Substrate transmission method, control module and substrate transmission system |
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| CN116679621A (en) * | 2023-07-31 | 2023-09-01 | 南京德克威尔自动化有限公司 | Multi-axis synchronous motion control system and control method thereof |
| CN116679621B (en) * | 2023-07-31 | 2023-10-17 | 南京德克威尔自动化有限公司 | Multi-axis synchronous motion control system and control method thereof |
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