CN109458969A - A kind of multi-axial Simultaneous investigating method of position closed-loop - Google Patents
A kind of multi-axial Simultaneous investigating method of position closed-loop Download PDFInfo
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- CN109458969A CN109458969A CN201811548585.5A CN201811548585A CN109458969A CN 109458969 A CN109458969 A CN 109458969A CN 201811548585 A CN201811548585 A CN 201811548585A CN 109458969 A CN109458969 A CN 109458969A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
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Abstract
The invention discloses a kind of multi-axial Simultaneous investigating methods of position closed-loop, PC issues control instruction by being transferred to multiple servo-drivers after motion controller dissection process, driver control motor movement is to control working table movement, position detection/synchronizing device receives grating scale signal on each axis, and trigger signal is generated to displacement sensor, acquire the piece surface altitude information of current location；Acquire the location information of multi-channel Grating ruler simultaneously by position detection/synchronizing device, using the grating scale feedback signal of current kinetic most fast axle as synchronizing datum signal, displacement sensor work is triggered, it is consistent with position signal on the table with the altitude signal for reaching synchronous tested part.For the present invention using grating scale as the real time position measuring tool of workbench, displacement sensor is apparent height measuring tool, has the advantages that measurement accuracy is high.Other detection devices with the function are also applicable in this method.
Description
Technical field
The invention belongs to the synchronization observation and control technology fields of industrial measurement and control, more particularly, to a kind of the more of position closed-loop
Axis synchronizes investigating method.
Background technique
Tested part is usually placed on the observing and controlling workbench of movement (X/Y axis) by small parts accurate measurement, and displacement passes
Sensor is installed vertically on above workbench (parallel Z axis), and tested part leads to during the motion with working table movement, monitoring platform
It crosses displacement sensor and constantly acquires tested part current location surface height data, then by collected monitoring platform positional number
Entire tested part surface model is restored in such a way that 3D is reconstructed according to piece surface altitude information.
Currently, in this measurement method, position data is the code device signal acquired on monitoring platform servo motor, then
The position of monitoring platform is obtained by calculation, such position data contains driving error and position tracking existing for kinematic axis
Error；It is closed in addition, the location information of displacement sensor elevation information and monitoring platform lacks a stringent synchronization in time
System.In this way, the elevation information and platform location information due to piece surface mismatch, causes to exist after part 3D is reconstructed and compare
Big error is not able to satisfy the requirement of accurate measurement.
Summary of the invention
The invention discloses a kind of multi-axial Simultaneous investigating method of position closed-loop, this method issues control instruction with PC and leads to
Multiple servo-drivers are transferred to after crossing motion controller dissection process, driver control motor movement is to control workbench fortune
Dynamic, position detection/synchronizing device receives grating scale signal on each axis, and generates trigger signal to displacement sensor, and acquisition is worked as
The piece surface altitude information of front position；In order to guarantee grating scale position signal and displacement sensor surface height data it
Between synchronized relation, pass through position detection/synchronizing device and acquire the location information of multi-channel Grating ruler simultaneously, it is most fast with current kinetic
The grating scale feedback signal of axis triggers displacement sensor work, as synchronizing datum signal to reach the height of synchronous tested part
It is consistent with position signal on the table to spend signal, keeps measurement error minimum.
The technical scheme is that the multi-axial Simultaneous investigating method of position closed-loop, includes the following steps:
S1: building multiaxis TT&C system, including several servo-drivers and the movement of Serve Motor Control monitoring platform, multiaxis
Grating scale is installed on each axis of monitoring platform, displacement sensor is housed on Z axis, displacement sensor receives position detection/synchronization
The trigger signal of device constantly acquires the surface height data of part current location；
S2: monitoring platform movement, PC issue control instruction by being transferred to multiple servos after motion controller dissection process
Driver, control servo motor is to control monitoring platform movement；
S3: position detection/synchronizing device acquires the location information of multi-channel Grating ruler simultaneously, and current multiple work are calculated
Most fast axis is moved in axis as synchronizing datum signal；
S4: N times is carried out to synchronizing datum signal according to the sampling period and is divided, adopts denseness of set for setting data, N is got over
Greatly, packing density is lower；N meets formula:
Wherein, TsFor sampling period, TiFor synchronizing datum signal period, Tx, Ty, Tz..., TnRespectively each grating scale is anti-
The position signal period of feedback.
S5: the grating scale pulse signal for the most fast axle that position detection/synchronizing device selects is after N times of frequency dividing as triggering arteries and veins
Punching triggers displacement sensor collection surface altitude information；It thereby may be ensured that the position data and displacement sensor of grating scale
The synchronous acquisition of surface height data；In order to improve the synchronism of data, triggered using the Fractional-N frequency synchronizing datum signal in S4
Displacement sensor, it is assumed that current kinetic most fast axle be x-axis, the composition error of synchronized result such as formula:
Wherein, T=N*Tx。
The present invention is in the multiaxis monitoring platform that three servo motors control the XYZ three-axis moving of workbench respectively, with three
A grating scale detects the real time position of tri- axis of workbench XYZ respectively, and grating scale signal triggering apparent height is believed so that treated
The acquisition of breath makes precise synchronization between the position data of tested part and surface height data, to realize piece surface profile
Accurate Reconstruction, meet part high-precision measurement requirement.
Detailed description of the invention
Fig. 1 is multi-axial Simultaneous TT&C system frame structure schematic diagram；
Fig. 2 is the synchronous flow diagram of multiple axes system observing and controlling；
Fig. 3 is building piece surface profile measuring system structural schematic diagram；
Fig. 4 is three road square-wave signal schematic diagram of workbench X, Y, Z axis；
Fig. 5 is grating scale and displacement sensor data transfer path schematic diagram；
Fig. 6 is position detection/synchronizing device hardware principle schematic diagram；
Fig. 7 is position detection/synchronizing device circuit design schematic diagram；
Fig. 8 is position detection/synchronizing device workflow schematic diagram.
Specific embodiment
The present invention provides a kind of multi-axial Simultaneous investigating methods of position closed-loop.In order to make the purpose of the present invention, technology
Scheme and advantage are more clearly understood, and below in conjunction with attached drawing and specific implementation, the present invention will be described in further detail.It should
Understand, the specific embodiments described herein are merely illustrative of the present invention, is not intended to limit the present invention.
Referring to Fig. 1 and Fig. 2, the present invention provides a kind of multi-axial Simultaneous investigating method of position closed-loop, includes the following steps:
S1: building multiaxis TT&C system, including three servo-drivers and the movement of three axis monitoring platform of Serve Motor Control,
It is respectively mounted grating scale on tri- kinematic axis of monitoring platform XYZ, displacement sensor, acquisition when receiving trigger signal are housed on Z axis
The surface height data of part current location.Piece surface profile measuring system is as shown in Figure 3.
S2: monitoring platform movement, PC issue control instruction by being transferred to three servos after motion controller dissection process
Driver, driver control motor movement adjust the opposite of displacement sensor and measured surface to control monitoring platform movement
Position, such as displacement sensor is made to progressively scan measured surface.
S3: position detection/synchronizing device acquires the location information of multi-channel Grating ruler simultaneously, and current multiple work are calculated
Most fast axis is moved in axis as synchronizing datum signal；
Linear grating ruler, three axle position of real-time measurement workbench are respectively arranged in three working shaft X, Y, Z axis of monitoring platform
Confidence breath, the position feed back signal of three road grating scales, such as tri- tunnel Fig. 4 Zhong are acquired by position detection/synchronizing device simultaneously
Square-wave signal, the signal period is shorter, and expression movement velocity is faster, the most fast axis of current kinetic is calculated, with the grating of most fast axle
Ruler position feed back signal can make the composition error of synchronized result minimum as synchronizing datum signal.
S4: N times is carried out to synchronizing datum signal according to the sampling period and is divided, adopts denseness of set for setting data, N is got over
Greatly, packing density is lower.Divider ratio N meets formula (1)
Wherein, TsFor sampling period, TiFor synchronizing datum signal period, Tx, Ty, TzRespectively workbench X, Y, Z tri- axis
The square-wave signal period of grating scale feedback.
S5: the grating scale pulse signal for the most fast axle that position detection/synchronizing device selects is after N times of frequency dividing as triggering arteries and veins
Punching triggers displacement sensor collection surface altitude information；To guarantee the position data of grating scale and the surface of displacement sensor
Altitude information is synchronous read to a certain extent.
Displacement sensor is triggered using Fractional-N frequency synchronizing datum signal in step 4, it is assumed that current kinetic most fast axle is x-axis,
The composition error of synchronized result such as formula (2)
Wherein, T=N*Tx, it is calculated current according to the signal period of current kinetic most fast axle and fixed sample period
The synchronized sampling period.
And if using fixed sample period TsIt reads grating scale position data and triggers displacement sensor, composition error
Such as formula (3)
Wherein, Ts=T+ Δ T. formula (3) can be rewritten as formula (4)
Comparison expression (2) and formula (4), are apparent from E1< E2Displacement sensor is triggered using Fractional-N frequency synchronizing datum signal, it can
So that the synchronism of data improves.
The present invention provides a kind of multi-axial Simultaneous investigating method of position closed-loop, the control instruction that PC is issued passes through movement
Multiple servo-drivers are transferred to after controller dissection process, driver control motor movement is to control working table movement, work
Make each axis of platform equipped with grating scale, each shaft position information of Real-time Feedback workbench；During the motion, displacement sensor is touched
The piece surface altitude information of hair acquisition changing coordinates, in order to guarantee the real time position data and its apparent height number of measured surface
According to correctly being matched, the location information of multi-channel Grating ruler is acquired, and simultaneously by position detection/synchronizing device with current kinetic
The grating scale feedback signal of most fast axle triggers displacement sensor work, as synchronizing datum signal to reach the comprehensive of synchronized result
It is minimum to close error.
Position detection/synchronizing device in the present invention is the prior art, can use the applicant's Patent No.
The synchronous of 2018204989670 location information and elevation information is realized.Below to position detection/synchronization device
It is described further:
The outline data of measured surface is determined by XYZ coordinate and gauge head the measurement height value of displacement sensor gauge head.Gauge head
Position data and measurement height value as shown in figure 5, be by different approach enter general PC, therefore sample position data and
Height value needs to correspond, and otherwise will affect the reconstruction accuracy of 3D profile.
When meeting trigger condition (for example triggering by the sample frequency period), the position detection/synchronizing device sends triggering letter
Number, triggering gauge head generates a sampled data, and the sampled data number and triggering times of generation are consistent.Send trigger signal
When, while measurement position is latched, and record triggering times.The data of latch are sent to controller by the bus cycles,
And general PC is transmitted to by controller.
General PC obtains position and high degree of sequence data by different approach, by triggering times and the measurement number read
Value is matched, and finally guarantees the synchronism between grating scale position data and displacement sensor altitude information.
In the present invention, position detection/synchronizing device hardware configuration is divided into three parts, is successively from the bottom up: power panel,
Physical interface plate, core control panel, as shown in Figure 6.Wherein, physical interface plate is mainly that modules interface provides physical connection
Equipment, while will do it corresponding signal conversion processes；Core control panel is the key control unit of entire detection device, including
STM32 and the big main control unit of FPGA two pass through FSMC (Flexible Static Memory between STM32 and FPGA
Controller data communication) is carried out；Power panel realizes each power supply type needed for different function interface in whole device, most
Guarantee the normal work of whole device eventually.
Position detection/synchronizing device circuit design schematic diagram in the present invention is as shown in fig. 7, as shown in Figure 7, grating scale A/
The input of B differential signal first passes through simple RC filtering, then can be via differential signal receiver AM26C32IPWR by difference
Signal is converted to single-ended signal, corresponding finally by FPGA is transferred to after Schmidt trigger 74LVC14APW progress Shape correction
Interface pin.And the displacement sensor outer triggering signal issued from FPGA interface pin then can be poor by AM26C31IPWR
Dynamic line driver exports to convert single-ended signal to after differential signal；Finally, digital quantity input signal can pass through
TLP290 optocoupler carries out signal isolation to carry out insulation blocking to FPGA, even if external input signal connection error or improper
Signal input also only can damage optocoupler, will not directly damage FPGA.And analog signals are not needed through FPGA, directly benefit
Analog signals acquisition function is realized with the analog/digital signal conversion unit of the STM32 2 Channel 12-Bit resolution ratio included.Cause
It is 0-3.3V for the measurable voltage range of analog/digital conversion unit of the STM32 2 Channel 12-Bit resolution ratio carried, in industry
Application generally requires the voltage measurement range of 0-10V, thus the design of analog signals input interface circuit mainly with
Operational amplifier designs for core devices, may be implemented that the function that voltage range amplifies will be measured.
In the present invention, position detection/synchronizing device workflow as shown in figure 8, in the detection/synchronization device of position,
STM32 internal processes can interrupt (for example, period 100us) by master timer to read grating scale position data, but only
When the bus data frame traffic period arrives, the grating scale position data read can just be passed through to bus transfer to motion control
Device, and determine whether to meet displacement sensor trigger condition at this time, only when the conditions are met, it can just send displacement sensor
Trigger pulse, while counted number of pulses is transferred to motion controller in same bus data frame, this process ensure that movement
The grating scale position data and displacement sensor counted number of pulses of synchronization are contained in controller same bus data frame；Most
PC machine can read grating scale position data and displacement sensor counted number of pulses by Ethernet from motion controller afterwards, and
It is matched by counted number of pulses with the displacement sensor apparent height value number read, finally guarantees grating scale positional number
According to the synchronism between displacement sensor surface height data.Dashed box part in Fig. 8 is to guarantee to read synchronization grating
Ruler position data and the core procedure for triggering displacement sensor work simultaneously.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (3)
1. a kind of multi-axial Simultaneous investigating method of position closed-loop, characterized by the following steps:
S1: building multiaxis TT&C system, including several servo-drivers and the movement of Serve Motor Control monitoring platform, multiaxis observing and controlling
Grating scale is installed on each axis of platform, displacement sensor is housed on Z axis, displacement sensor receives position detection/synchronizing device
Trigger signal constantly acquire the surface height data of part current location；
S2: monitoring platform movement, PC issue control instruction by being transferred to multiple servo-drives after motion controller dissection process
Device, control servo motor is to control monitoring platform movement；
S3: position detection/synchronizing device acquires the location information of multi-channel Grating ruler simultaneously, is calculated in current multiple working shafts
Most fast axis is moved as synchronizing datum signal；
S4: carrying out N times to synchronizing datum signal according to the sampling period and divide, adopt denseness of set for setting data, and N is bigger, number
It is lower according to density；N meets formula:
Ti=min { Tx, Ty, Tz..., Tn}
Wherein, TsFor sampling period, TiFor synchronizing datum signal period, Tx, Ty, Tz..., TnRespectively each grating scale feedback
The position signal period；
S5: the grating scale pulse signal for the most fast axle that position detection/synchronizing device selects after N times of frequency dividing as trigger pulse,
Trigger displacement sensor collection surface altitude information；To guarantee the position data of grating scale and the apparent height of displacement sensor
The synchronous acquisition of data.
2. the multi-axial Simultaneous investigating method of position closed-loop according to claim 1, which is characterized in that S4 step in same
Step reference signal carry out N times divide, it is assumed that current kinetic most fast axle be x-axis, the composition error of synchronized result such as formula:
Wherein, T=N*Tx。
3. the multi-axial Simultaneous investigating method of position closed-loop according to claim 1 or 2, which is characterized in that the position
The workflow of detection/synchronization device is as follows, and in the detection/synchronization device of position, STM32 internal processes can pass through master timer
It interrupts to read grating scale position data, when the bus data frame traffic period arrives, the grating scale position data read is led to
Bus transfer is crossed to motion controller, judges whether to meet displacement sensor trigger condition, when trigger condition meets, sends position
Displacement sensor trigger pulse, while counted number of pulses is transferred to motion controller in same bus data frame, guarantee movement
The grating scale position data and displacement sensor counted number of pulses of synchronization are contained in controller same bus data frame；Most
PC machine reads grating scale position data and displacement sensor counted number of pulses by Ethernet from motion controller afterwards, and leads to
Extra pulse count value is matched with the displacement sensor apparent height value number read, finally guarantees grating scale position data
Synchronism between displacement sensor surface height data.
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| CN112083668A (en) * | 2020-08-03 | 2020-12-15 | 重庆智能机器人研究院 | Multi-axis motor pipeline control system based on FPGA and control method thereof |
| CN113125506A (en) * | 2021-03-01 | 2021-07-16 | 珠海广浩捷科技股份有限公司 | Grating scale, method and system for diagnosing magnetic grid scale and storage medium |
| CN116690307A (en) * | 2023-04-10 | 2023-09-05 | 大连理工大学 | On-machine real-time measurement method and system of full-closed-loop five-axis numerical control machine tool |
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| CN113125506A (en) * | 2021-03-01 | 2021-07-16 | 珠海广浩捷科技股份有限公司 | Grating scale, method and system for diagnosing magnetic grid scale and storage medium |
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Address after: 523000 No.3, West Zhongnan Road, Haibin District, Shangsha, Chang'an Town, Dongguan City, Guangdong Province Patentee after: Guangdong Samson Technology Co.,Ltd. Address before: 523000 No.3, West Zhongnan Road, Haibin District, Shangsha, Chang'an Town, Dongguan City, Guangdong Province Patentee before: DONGGUAN SAMSUN OPTICAL TECHNOLOGY Co.,Ltd. |