CN109787530A - A kind of linear motor physical accuracy compensation control system and method - Google Patents
A kind of linear motor physical accuracy compensation control system and method Download PDFInfo
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- CN109787530A CN109787530A CN201910008640.XA CN201910008640A CN109787530A CN 109787530 A CN109787530 A CN 109787530A CN 201910008640 A CN201910008640 A CN 201910008640A CN 109787530 A CN109787530 A CN 109787530A
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Abstract
The invention discloses a kind of linear motor physical accuracy compensation control systems comprising has: linear motor；Linear grating ruler；Main control unit, linear motor and linear grating ruler are electrically connected in main control unit, main control unit is preset with offset data table, the motion track of linear motor is preset with multiple collection points, main control unit is for executing: calibration learning process, when linear motor is moved to each collection point, the position data of linear grating ruler acquisition is fed back in main control unit and is stored in offset data table；Run control process, main control unit determines collection point according to the target position that host controller issues, and linear grating ruler position data corresponding to the collection point is inquired in offset data table, it runs further according to the position data control linear motor of linear grating ruler to the collection point, and then reaches target position.The present invention can compensate processing to linear grating ruler feedback data, and then improve linear motor Bit andits control precision.
Description
Technical field
The present invention relates to motor accuracy-control system more particularly to a kind of linear motor physical accuracy compensation control system and
Method.
Background technique
Linear motor is a kind of high speed, high-accuracy linear movement motor, usually in a fixed line interval
Reciprocal operation, using linear grating ruler as position feedback.Linear motor rotor and load are connected directly, the complete basis of driver
The feedback of grating scale measures actual load situation, therefore the precision of entire control system depends primarily on the precision of grating scale.
In the prior art, the Chinese invention patent application of Publication No. CN1897453A discloses raising permanent-magnetic linear motor motion precision
Method, describe it is a kind of by feedforward improve linear motor motion precision method.It is primary by being carried out before actual motion
Trial operation obtains the nonlinear magnetic forces of each position in operation, and being saved in position is to run in lower target tables of data
When, the electromagnetic force in tables of data is obtained according to current location, is added in the output torque of motor as feedforward amount, to support
Disappear the influences of nonlinear magnetic forces, improves running precision.
However, in the above prior art, having the following problems: the application for a patent for invention master of Publication No. CN1897453A
If carrying out feedforward compensation for motor body and the non-linear torque of mechanical part bring, operation speed can be improved to a certain extent
It writes music the stationarity of line, it is helpless for grating scale feedback data and actual position situation devious.In addition, in grating
In the installation process of ruler, due to the physics essence of installation surface evenness, grating scale and guide rail installation level, even grating scale itself
The factors such as degree problem, there is deviation in the position and actual physical location that will lead to the representative of grating scale feedback data, and driver
It can only be controlled on the basis of the data of grating scale, thus actual physics precision is bad.
Summary of the invention
The technical problem to be solved in the present invention is that in view of the deficiencies of the prior art, it is anti-to provide a kind of pair of linear grating ruler
Feedback data compensate processing, and then improve the linear motor physical accuracy compensation control system of linear motor Bit andits control precision
And method.
In order to solve the above technical problems, the present invention adopts the following technical scheme that.
A kind of linear motor physical accuracy compensation control system comprising have: linear motor；Linear grating ruler, for adopting
Collect the straight-line displacement of the linear motor；Main control unit, the linear motor and linear grating ruler are electrically connected in described
Main control unit, the main control unit are preset with offset data table, and the motion track of the linear motor is preset with multiple collection points,
The main control unit is for executing: calibration learning process, when the linear motor is moved to each collection point, the linear grating
The position data of ruler acquisition is fed back in the main control unit and is stored in the offset data table；Control process is run, it is described
Main control unit determines collection point according to the target position that host controller issues, and inquires the acquisition in the offset data table
The corresponding linear grating ruler position data of point controls the linear motor fortune further according to the position data of the linear grating ruler
It goes to the collection point, and then reaches the target position.
Preferably, when the target position that host controller issues is located between two collection points, the main control unit pair
Position data corresponding to one of two collection points carries out linear interpolation arithmetic, controls the linear motor further according to operation result
It runs to target position.
It preferably, include laser interferometer, the laser interferometer is electrically connected at the main control unit, the calibration
In learning process, the laser interferometer is used to acquire the position data of the linear motor and feeds back to the main control unit,
The data that the main control unit is fed back according to the laser interferometer control the linear motor and are moved to each collection point, simultaneously
The position data when linear motor is located at each collection point is acquired using the linear grating ruler and is fed back in the master control
Unit.
Preferably, the main control unit includes the linear motor drive module for driving the linear motor operating.
Preferably, the main control unit includes logical for receiving the laser interferometer of the laser interferometer feedback data
Communication interface.
Preferably, the main control unit includes offset data acquisition module, and the offset data acquisition module is used for
It calibrates in learning process, when the linear motor reaches each collection point of setting, it is corresponding sharp to read the collection point
The position data of optical interferometer feedback data and linear grating ruler, and be stored in the offset data table.
Preferably, the main control unit includes the real-time computing module of offset data, and the offset data calculates mould in real time
Block is used in linear motor operation control process, periodically obtains the target position that host controller issues, according to
The position data of corresponding linear grating ruler is searched from the offset data table in the target position.
A kind of linear motor physical accuracy compensating control method, this method realize that the system comprises have based on a system
Linear motor, linear grating ruler and main control unit, the linear grating ruler are used to acquire the straight-line displacement of the linear motor, institute
It states linear motor and linear grating ruler is electrically connected in the main control unit, the main control unit is preset with offset data
Table, the motion track of the linear motor are preset with multiple collection points, and the method includes having: calibration learning process, described straight
When line motor is moved to each collection point, the position data of the linear grating ruler acquisition is fed back in the main control unit and is saved
In the offset data table；Control process is run, the main control unit is determined according to the target position that host controller issues
Collection point, and linear grating ruler position data corresponding to the collection point is inquired in the offset data table, further according to described
The position data of linear grating ruler controls the linear motor and runs to the collection point, and then reaches the target position.
Preferably, the system comprises there is laser interferometer, the laser interferometer is electrically connected at the main control unit,
In the calibration learning process, the position data of the linear motor is acquired using the laser interferometer and feeds back to the master
Unit is controlled, the data that the main control unit is fed back according to the laser interferometer control the linear motor and are moved to each acquisition
Point, while the position data when linear motor is located at each collection point is acquired using the linear grating ruler, then by described
The offset data table is written in the position data that main control unit acquires the linear grating ruler.
Preferably, in the operation control process, when the target position that the host controller issues is located at two acquisitions
When between point, the main control unit carries out linear interpolation arithmetic to position data corresponding to one of two collection points, further according to
Operation result controls the linear motor and runs to target position.
In linear motor physical accuracy compensation control system disclosed by the invention, compensation number first is constructed to the main control unit
According to table, when operating normally control, linear motor obtains the target position instruction that host controller issues, and real-time searching compensates
Tables of data carries out linear interpolation to the data between collection point, as the target of linear grating ruler using the data for acquisition of tabling look-up
Location runs to control linear motor.Compared to existing technologies, the present invention can be fully compensated due to linear grating ruler mounting surface
Flatness, grating scale and guide rail installation level bring positioning accuracy problem, also there is the precision of linear grating ruler itself
Certain effect of optimization so that the physical accuracy of linear motor reaches the resolution levels of linear grating ruler, and then improves straight
The Bit andits control precision of line motor.
Detailed description of the invention
Fig. 1 is the schematic diagram of linear motor physical accuracy compensation control system alignment learning process of the present invention；
Fig. 2 is the schematic diagram that control process is run in linear motor physical accuracy compensation control system of the present invention；
Fig. 3 is the composition block diagram of linear motor physical accuracy compensation control system of the present invention；
Fig. 4 is the flow chart of linear motor physical accuracy compensating control method alignment learning process of the present invention；
Fig. 5 is the flow chart that control process is run in linear motor physical accuracy compensating control method of the present invention；
Fig. 6 is using laser interferometer data and linear grating footage according to as the coordinate curve of X-Y axis.
Specific embodiment
The present invention is described in more detail with reference to the accompanying drawings and examples.
The invention discloses a kind of linear motor physical accuracy compensation control systems, in conjunction with shown in Fig. 1 to Fig. 3 comprising
Have:
Linear motor 1；
Linear grating ruler 2, for acquiring the straight-line displacement of the linear motor 1；
Main control unit 3, the linear motor 1 and linear grating ruler 2 are electrically connected in the main control unit 3, described
Main control unit 3 is preset with offset data table 30, and the motion track of the linear motor 1 is preset with multiple collection points, the master control
Unit 3 is for executing:
Learning process is calibrated, when the linear motor 1 is moved to each collection point, the position of the acquisition of linear grating ruler 2
Data feedback is set in the main control unit 3 and is stored in the offset data table 30；
Control process is run, the main control unit 3 determines collection point according to the target position that host controller 5 issues, and
2 position data of linear grating ruler corresponding to the collection point is inquired in the offset data table 30, further according to the line light
The position data of grid ruler 2 controls the linear motor 1 and runs to the collection point, and then reaches the target position.
In above system, offset data table 30 first is constructed to the main control unit 3, when operating normally control, straight-line electric
Machine 1 obtains the target position instruction that host controller 5 issues, and real-time searching offset data table 30, to the number between collection point
According to linear interpolation is carried out, the data for acquisition of tabling look-up are controlled into linear motor 1 as the destination address of linear grating ruler 2 and are run.
Compared to existing technologies, the present invention can be fully compensated since linear grating ruler installation surface evenness, grating scale and guide rail are pacified
Levelness bring positioning accuracy problem is filled, also has certain effect of optimization for the precision of linear grating ruler itself, so that directly
The physical accuracy of line motor 1 reaches the resolution levels of linear grating ruler, and then improves the Bit andits control precision of linear motor.
In the present embodiment, when the target position that host controller 5 issues is located between two collection points, the master control list
Position data corresponding to one of first 3 pairs of two collection points carries out linear interpolation arithmetic, described straight further according to operation result control
Line motor 1 is run to target position.Or target address data of this period using grating as reference, later by this target
Location data are sent to linear motor drive module, drive linear motor rotor.
In order to meet calibration study requirement, the present embodiment includes laser interferometer 4, and the laser interferometer 4 electrically connects
It is connected to the main control unit 3, in the calibration learning process, the laser interferometer 4 is used to acquire the position of the linear motor 1
It sets data and feeds back to the main control unit 3, the main control unit 3 controls institute according to the data that the laser interferometer 4 is fed back
It states linear motor 1 and is moved to each collection point, while acquiring the linear motor 1 using the linear grating ruler 2 and being located at each
Position data and feedback when collection point is in the main control unit 3.
Wherein, after grating scale installs, it is connected to driver using laser interferometer as calibrator (-ter) unit, to entire straight line
The traffic coverage of motor carries out primary calibration data and learns run action, and in operation, driver is with the data of laser interferometer
On the basis of, traffic coverage is subjected to equal part, the position of driving motor mover to each equal part acquires the data of linear grating,
It is stored in internal drive offset data table, the Along ent in the complete a section of continuous operation obtains complete offset data table.
About the concrete composition of main control unit, in the present embodiment, the main control unit 3 includes for driving the straight line
The linear motor drive module 31 that motor 1 operates.
Further, the main control unit 3 includes the laser interference for receiving 4 feedback data of laser interferometer
Instrument communication interface 32.
In addition, the main control unit 3 includes offset data acquisition module 33, the offset data acquisition module 33 is used for
In calibration learning process, when the linear motor 1 reaches each collection point of setting, it is corresponding to read the collection point
The position data of laser interferometer 4 feedback data and linear grating ruler 2, and be stored in the offset data table 30.In this hair
In bright preferred embodiment, when carrying out calibration data study, driving linear motor rotor arrival is set offset data acquisition module
Each fixed collection point reads this and puts corresponding laser interferometer data and grating scale data, is stored in offset data table
In.Mover successively passes through each collection point from starting movement of the extreme position to the other side, and acquisition data are stored in compensation
In tables of data.
Further, the main control unit 3 includes the real-time computing module 34 of offset data, and the offset data is counted in real time
It calculates module 34 to be used in the linear motor 1 operation control process, periodically obtains the target position that host controller 5 issues
It sets, searches the position data of corresponding linear grating ruler 2 from the offset data table 30 according to the target position.In this hair
In bright preferred embodiment, the real-time computing module of offset data periodically obtains host controller when motor operates normally
The destination address of sending instructs, using this destination address as the subscript (laser interferometer data) of inquiry, from offset data table
It is middle to search corresponding grating scale data, if this cycle data is not to read this period in the data point just at acquisition
The previous data with the latter point of data do the target address data of linear interpolation or this period using grating as reference,
This target address data is sent to linear motor drive module later, drives linear motor rotor.
In order to better describe technical solution of the present invention, the invention also discloses a kind of compensation of linear motor physical accuracy
Control method, in conjunction with shown in Fig. 1 to Fig. 5, this method realizes that the system comprises have linear motor 1, line light based on a system
Grid ruler 2 and main control unit 3, the linear grating ruler 2 are used to acquire the straight-line displacement of the linear motor 1, the linear motor 1
It is electrically connected with linear grating ruler 2 in the main control unit 3, the main control unit 3 is preset with offset data table 30, described
The motion track of linear motor 1 is preset with multiple collection points, and the method includes having:
Learning process is calibrated, when the linear motor 1 is moved to each collection point, the position of the acquisition of linear grating ruler 2
Data feedback is set in the main control unit 3 and is stored in the offset data table 30；
Control process is run, the main control unit 3 determines collection point according to the target position that host controller 5 issues, and
2 position data of linear grating ruler corresponding to the collection point is inquired in the offset data table 30, further according to the line light
The position data of grid ruler 2 controls the linear motor 1 and runs to the collection point, and then reaches the target position.
In the above method, the system comprises there is laser interferometer 4, the laser interferometer 4 is electrically connected at the master
Unit 3 is controlled, in the calibration learning process, acquires the position data of the linear motor 1 and anti-using the laser interferometer 4
It is fed to the main control unit 3, the main control unit 3 controls the linear motor 1 according to the data that the laser interferometer 4 is fed back
It is moved to each collection point, while acquiring the position when linear motor 1 is located at each collection point using the linear grating ruler 2
Data are set, then the offset data table 30 is written by the position data that the main control unit 3 acquires the linear grating ruler 2.
Fig. 6 is referred to, after completing calibration data study, laser interferometer position data and grating scale data are made respectively in offset data table
For the example that X-axis and Y axis coordinate draw curve, wherein dotted line is the constant straight line of a slope, when indicating absolutely not deviation
The ideal situation of time, block curve are the data that actual measurement goes out, and the deviation of this curve and dotted line is exactly that actual installation face is flat
The factors brings such as the physical accuracy of whole degree, grating scale and guide rail installation level, grating scale itself.
As a preferred method, in the operation control process, when the target position position that the host controller 5 issues
When between two collection points, the main control unit 3 carries out linear interpolation to position data corresponding to one of two collection points
Operation controls the operation of linear motor 1 to target position further according to operation result.
Linear motor physical accuracy compensation control system disclosed by the invention and method drive mould based on linear motor
Block, laser interferometer communication interface, offset data table acquisition module, offset data table and the real-time computing module of offset data are real
It is existing.It before normal operation, needs to carry out primary calibration data study, the whole service range of linear motor is separated into equidistantly
Point, linear motor drive module driving motor mover, while monitoring the feedback data of laser interferometer communication interface reaches point
When cutpoint, the corresponding grating scale feedback data in acquisition current location is stored the data in offset data table；When normal operation,
The real-time computing module of offset data receives the target position instruction that host controller is sent, and searches from offset data table corresponding
Grating scale position data is instructed this position data as the destination address of linear motor drive module.
Compared to existing technologies, the physical accuracy of linear motor is guaranteed by laser interferometer in the present invention, overcomes light
Grid ruler installs loss of significance caused by surface evenness, grating scale and guide rail installation level etc. are installed；Meanwhile the present invention can mend
Grating scale itself is repaid due to groove unevenly caused loss of significance, the physical accuracy of system is made to reach the grade of grating scale resolution ratio
Not；Secondly, the present invention only needs to carry out the study of primary calibration data when linear motor is installed, normal operation later is not needed
It is calibrated again；In addition, all relevant technologies of the present invention can concentrate on realizing in linear motor driver, in operational process
Middle compensation is real-time perfoming, and host controller only needs to issue order, simplifies the interface between control system.
The above is preferred embodiments of the present invention, is not intended to restrict the invention, all in technology model of the invention
Interior done modification, equivalent replacement or improvement etc. are enclosed, should be included in the range of of the invention protect.
Claims (10)
1. a kind of linear motor physical accuracy compensation control system, which is characterized in that include:
Linear motor (1)；
Linear grating ruler (2), for acquiring the straight-line displacement of the linear motor (1)；
Main control unit (3), the linear motor (1) and linear grating ruler (2) are electrically connected in the main control unit (3),
The main control unit (3) is preset with offset data table (30), and the motion track of the linear motor (1) is preset with multiple acquisitions
Point, the main control unit (3) is for executing:
Learning process is calibrated, when the linear motor (1) is moved to each collection point, the position of linear grating ruler (2) acquisition
Data feedback is set in the main control unit (3) and is stored in the offset data table (30)；
Control process is run, the main control unit (3) determines collection point according to the target position that host controller (5) issues, and
Linear grating ruler (2) position data corresponding to the collection point is inquired in the offset data table (30), further according to described straight
The position data of line grating ruler (2) controls the linear motor (1) and runs to the collection point, and then reaches the target position.
2. linear motor physical accuracy compensation control system as described in claim 1, which is characterized in that work as host controller
(5) when the target position issued is located between two collection points, the main control unit (3) is to corresponding to one of two collection points
Position data carries out linear interpolation arithmetic, controls linear motor (1) operation to target position further according to operation result.
3. linear motor physical accuracy compensation control system as described in claim 1, which is characterized in that include laser interference
Instrument (4), the laser interferometer (4) are electrically connected at the main control unit (3), in the calibration learning process, the laser
Interferometer (4) is used to acquire the position data of the linear motor (1) and feeds back to the main control unit (3), the master control list
The data that first (3) are fed back according to the laser interferometer (4) control the linear motor (1) and are moved to each collection point, simultaneously
The position data when linear motor (1) is located at each collection point is acquired using the linear grating ruler (2) and is fed back in institute
State main control unit (3).
4. linear motor physical accuracy compensation control system as claimed in claim 3, which is characterized in that the main control unit
(3) include for drive the linear motor (1) operate linear motor drive module (31).
5. linear motor physical accuracy compensation control system as claimed in claim 3, which is characterized in that the main control unit
(3) include laser interferometer communication interface (32) for receiving the laser interferometer (4) feedback data.
6. linear motor physical accuracy compensation control system as claimed in claim 3, which is characterized in that the main control unit
It (3) include offset data acquisition module (33), the offset data acquisition module (33) is used in calibration learning process, when
When the linear motor (1) reaches each collection point of setting, the corresponding laser interferometer in the collection point (4) feedback is read
The position data of data and linear grating ruler (2), and be stored in the offset data table (30).
7. linear motor physical accuracy compensation control system as claimed in claim 3, which is characterized in that the main control unit
It (3) include the real-time computing module of offset data (34), the real-time computing module of offset data (34) is used in the straight line
Motor (1) is run in control process, periodically the target position of acquisition host controller (5) sending, according to the target position
Set the position data that corresponding linear grating ruler (2) is searched from the offset data table (30).
8. a kind of linear motor physical accuracy compensating control method, which is characterized in that this method is based on system realization, the system
System includes linear motor (1), linear grating ruler (2) and main control unit (3), and the linear grating ruler (2) is described for acquiring
The straight-line displacement of linear motor (1), the linear motor (1) and linear grating ruler (2) are electrically connected in the master control list
First (3), the main control unit (3) are preset with offset data table (30), and the motion track of the linear motor (1) is preset with multiple
Collection point, the method includes having:
Learning process is calibrated, when the linear motor (1) is moved to each collection point, the position of linear grating ruler (2) acquisition
Data feedback is set in the main control unit (3) and is stored in the offset data table (30)；
Control process is run, the main control unit (3) determines collection point according to the target position that host controller (5) issues, and
Linear grating ruler (2) position data corresponding to the collection point is inquired in the offset data table (30), further according to described straight
The position data of line grating ruler (2) controls the linear motor (1) and runs to the collection point, and then reaches the target position.
9. linear motor physical accuracy compensating control method as claimed in claim 8, which is characterized in that the system comprises have
Laser interferometer (4), the laser interferometer (4) are electrically connected at the main control unit (3), in the calibration learning process,
The position data of the linear motor (1) is acquired using the laser interferometer (4) and feeds back to the main control unit (3), institute
It states the data control linear motor (1) that main control unit (3) is fed back according to the laser interferometer (4) and is moved to each acquisition
Point, while the position data when linear motor (1) is located at each collection point is acquired using the linear grating ruler (2), then
The offset data table (30) is written by the position data that the main control unit (3) acquires the linear grating ruler (2).
10. linear motor physical accuracy compensating control method as claimed in claim 9, which is characterized in that the operation control
In the process, when the target position that the host controller (5) issue is located between two collection points, the main control unit (3)
Linear interpolation arithmetic is carried out to position data corresponding to one of two collection points, controls the straight-line electric further according to operation result
Machine (1) is run to target position.
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| CN114089694B (en) * | 2021-11-23 | 2024-03-19 | 广东美的智能科技有限公司 | Position correction method and device, storage medium, servo driver and servo system |
| CN114362604A (en) * | 2021-12-31 | 2022-04-15 | 苏州汇川控制技术有限公司 | Linear motor position detection method, system and equipment |
| CN114356255A (en) * | 2021-12-31 | 2022-04-15 | 东莞市启思达智能技术有限公司 | Interpolation table application method and system based on printing process |
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