CN110980425B - Spinning cake automatic doffing system and multi-servo driver synchronous control method thereof - Google Patents
Spinning cake automatic doffing system and multi-servo driver synchronous control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/04—Arrangements for removing completed take-up packages and or replacing by cores, formers, or empty receptacles at winding or depositing stations; Transferring material between adjacent full and empty take-up elements
- B65H67/0405—Arrangements for removing completed take-up packages or for loading an empty core
- B65H67/0411—Arrangements for removing completed take-up packages or for loading an empty core for removing completed take-up packages
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
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- H02P8/40—Special adaptations for controlling two or more stepping motors
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Abstract
The invention discloses an automatic spinning cake doffing system and a multi-servo driver synchronous control method thereof, wherein the method comprises the steps of simulating a virtual servo driver; selecting the virtual servo driver as an active servo driver and the actual servo driver as a slave servo driver; and sending a positioning instruction to the virtual servo drivers according to the moving target, sending synchronous signals to each actual servo driver by the virtual servo drivers according to the positioning instruction, and driving the actual servo motors by the actual servo drivers according to the synchronous signals. The invention uses a virtual axis servo driver as an active servo driver and a real axis servo driver as a driven servo driver; the virtual axis servo drivers are respectively synchronized with each actual axis servo driver, so that the following time among a plurality of servo drivers is eliminated, and the positioning precision of the automatic doffing device is improved.
Description
Technical Field
The invention relates to the technical field of synchronous control of servo motors, in particular to an automatic spinning cake doffing system and a synchronous control method of multiple servo drivers of the automatic spinning cake doffing system.
Background
The control period of each axis servo driver control loop has an initial error, and the clock base of each axis servo driver is susceptible to the influence of crystal oscillator precision, ambient temperature and the like, so that the control period length of each servo driver control loop has an error. Therefore, in the existing synchronous control of a plurality of servo drivers, a plurality of servo drive systems are not set to receive the instruction of an upper controller together so as to realize the synchronization among the plurality of servo drivers, but one shaft servo driver is set as a main shaft servo driver, the other shaft servo driver is set as a driven servo driver, a controller sends a motion instruction to an active servo driver during operation, and the active servo driver controls a corresponding servo motor to execute corresponding motion according to the motion instruction, and simultaneously sends a synchronous signal to the driven servo driver so as to enable two or more servo motors to synchronously move.
However, due to the communication delay between the two servo drivers, the following performance of the slave servo driver is still poor in practical use; the traveling assembly of the existing automatic wire coil doffing device is driven by a plurality of servo driving systems, and the automatic wire coil doffing device needs to be accurately positioned when traveling on a steel rail, so that the wire carrying arm can be aligned to the wire coil paper tube with small aperture.
Therefore, there is a need for an improvement of the existing multi-servo driver synchronization control method.
Disclosure of Invention
The invention aims to provide a multi-servo driver synchronous control method of an automatic spinning cake doffing system, which can effectively carry out more accurate synchronous control on a plurality of servo drivers in an automatic spinning cake doffing device.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a multi-servo driver synchronous control method of an automatic spinning cake doffing system comprises the following steps:
emulating a virtual servo driver;
selecting the virtual servo driver as an active servo driver and the actual servo driver as a slave servo driver;
and sending a positioning instruction to the virtual servo drivers according to the moving target, sending synchronous signals to each actual servo driver by the virtual servo drivers according to the positioning instruction, and driving the actual servo motors by the actual servo drivers according to the synchronous signals.
The invention relates to a multi-servo driver synchronous control method of a self-spinning cake automatic doffing system, which comprises the steps of simulating a virtual axis servo driver, and selecting the virtual axis servo driver as an active servo driver and an actual axis servo driver as a driven servo driver; the controller sends a motion instruction to the virtual axis servo driver, and the virtual axis servo driver sends a synchronous signal to each actual axis servo driver according to the motion instruction, so that the following time between two or more servo drivers is eliminated, a plurality of motion axes driven by different servo driving systems can run more smoothly in high-speed synchronous operation, and the positioning precision of the automatic doffing device is improved.
As a specific implementation manner, the simulating a virtual servo driver specifically includes: and simulating a virtual servo driver according to the mechanical parameters of the actual servo driver.
Further, before or while the positioning command is issued to the virtual servo driver according to the moving object, the method further includes: and acquiring the coordinate information of the current travelling track of the automatic doffing device as the initial coordinate information of the virtual servo driver.
As a specific implementation manner, the sending, by the virtual servo driver, a synchronization signal to each of the actual servo drivers according to the positioning instruction includes: the virtual servo driver generates motion parameters according to the mechanical parameters, the initial coordinate information and the positioning instructions;
and the virtual servo driver sends a synchronous signal to each actual servo driver according to the motion parameters.
Further, while the virtual servo driver sends a synchronization signal to each of the actual servo drivers according to the motion parameter, the method further includes: the virtual servo driver generates simulation coordinate information according to the mechanical parameters, the initial coordinate information, the motion parameters and the motion duration;
continuously acquiring real-time coordinate information of the automatic doffing device on a traveling track, and sending the real-time coordinate information to the virtual servo driver;
and then the virtual servo driver adjusts the motion parameters according to the difference value between the real-time coordinate information and the simulation coordinate information.
Further, the virtual servo driver adjusts the motion parameter according to a difference between the real-time coordinate information and the simulation coordinate information, specifically: presetting an error range;
taking the difference value between the real-time coordinate information and the simulation coordinate information as a first difference value;
when the first difference is within the error range, the virtual servo driver compensates the motion parameter according to the first difference until the first difference is lower than the error range.
Further, the virtual servo driver compensates the motion parameter according to the first difference, specifically: taking the difference value between the first difference value and the minimum value in the error range as a second difference value, and taking the difference value between the maximum value and the minimum value in the error range as a third difference value;
and the virtual servo driver compensates the motion parameter according to the ratio of the second difference to the third difference.
As a specific implementation manner, the adjusting, by the virtual servo driver, the motion parameter according to a difference between the real-time coordinate information and the simulated coordinate information further includes: and when the first difference value is higher than the error range, sending a stop signal to the virtual servo driver.
Further, the virtual servo driver adjusts the motion parameter according to a difference between the real-time coordinate information and the simulated coordinate information, and further includes: the virtual servo driver calculates a simulated walking distance according to the real-time coordinate information, and then sends the simulated walking distance to the actual servo driver;
and when the first difference is lower than the error range, the actual servo driver acquires the actual walking distance through an encoder on the servo motor, and then the actual servo driver performs automatic compensation according to the difference between the simulated walking distance and the actual walking distance.
The invention also provides an automatic spinning cake doffing system, which comprises:
the walking track is provided with a bar code mark;
the automatic doffing device moves on the walking track and is provided with a servo driver, a servo motor and a bar code reader;
and the controller applies the multi-servo driver synchronous control method.
For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic flow chart of a multi-servo driver synchronous control method of an automatic spinning cake doffing system according to embodiment 1 of the present invention;
FIG. 2 is a schematic flow chart of a preferred method for synchronously controlling multiple servo drivers of an automatic spinning cake doffing system according to embodiment 1 of the present invention;
FIG. 3 is a schematic flow chart of a multi-servo driver synchronous control method of an automatic spinning cake doffing system according to embodiment 2 of the present invention;
fig. 4 is a schematic flow chart of a preferred method for synchronously controlling multiple servo drivers of an automatic spinning cake doffing system according to embodiment 1 of the present invention.
Detailed Description
In order to better illustrate the invention, the invention is described in further detail below with reference to the accompanying drawings.
Example 1
As shown in fig. 1, a method for synchronously controlling multiple servo drivers of an automatic spinning cake doffing system comprises the following steps:
emulating a virtual servo driver;
selecting the virtual servo driver as an active servo driver and the actual servo driver as a slave servo driver;
and sending a positioning instruction to the virtual servo drivers according to the moving target, sending synchronous signals to each actual servo driver by the virtual servo drivers according to the positioning instruction, and driving the actual servo motors by the actual servo drivers according to the synchronous signals.
And the virtual servo driver is set according to the mechanical parameters of the actual servo driver on the automatic doffing device in the spinning cake automatic doffing system.
The mechanical parameters include gear ratio, lead screw and other rated parameters.
The synchronous control method of the multiple servo drivers of the automatic spinning cake doffing system comprises the steps of simulating a virtual axis servo driver, and selecting the virtual axis servo driver as an active servo driver and an actual axis servo driver as a driven servo driver; the controller sends a motion instruction signal to the virtual axis servo driver, and the virtual axis servo driver sends a synchronous signal to each actual axis servo driver respectively according to the motion instruction signal, so that the following time between two or more servo drivers is eliminated, a plurality of motion axes driven by different servo driving systems can run more smoothly in high-speed synchronous operation, and the positioning precision of the automatic doffing device is improved.
The embodiment also provides an automatic spinning cake doffing system, which comprises:
the walking track is provided with a bar code mark;
the automatic doffing device moves on the walking track and is provided with a servo driver, a servo motor and a bar code reader;
and the controller applies the multi-servo driver synchronous control method.
Preferably, before or while the positioning instruction is issued to the virtual servo driver according to the moving object, the method further includes: and acquiring the coordinate information of the current travelling track of the automatic doffing device as the initial coordinate information of the virtual servo driver.
The method comprises the steps that coordinate information of a current travelling track of an automatic doffing device is obtained, and specifically, the coordinate information is obtained by reading a bar code mark on the travelling track through a bar code reader arranged on the automatic doffing device; the preferred setting mode is that the bar code mark corresponding to the bar code reader is just on the central line of the loading screw rod in the automatic cylinder falling device.
In addition, after the automatic doffing device is started, the current absolute coordinates read by the bar code reader are input into the current coordinates of the virtual servo driver, and one-time coordinate correction is automatically performed.
Specifically, the virtual servo driver sends a synchronization signal to each of the actual servo drivers according to the positioning instruction, specifically: the virtual servo driver generates motion parameters according to the mechanical parameters, the initial coordinate information and the positioning instructions;
and the virtual servo driver sends a synchronous signal to each actual servo driver according to the motion parameters.
The positioning instruction comprises coordinate information corresponding to a destination to which the automatic doffing device is required to go, and time required by the destination to which the automatic doffing device is required to go.
The motion parameters generated by the virtual servo driver comprise dynamic parameters such as speed, acceleration and the like calculated according to the initial coordinates of the automatic doffing device, coordinate information corresponding to a destination to which the automatic doffing device is required to go, and time required by the destination to which the automatic doffing device is required to go.
Preferably, while the virtual servo driver sends the synchronization signal to each of the actual servo drivers according to the motion parameter, the method further includes: the virtual servo driver generates simulation coordinate information according to the mechanical parameters, the initial coordinate information, the motion parameters and the motion duration;
continuously acquiring real-time coordinate information of the automatic doffing device on a traveling track, and sending the real-time coordinate information to the virtual servo driver;
and then the virtual servo driver adjusts the motion parameters according to the difference value between the real-time coordinate information and the simulation coordinate information.
The method for acquiring the real-time coordinate information is the same as the method for acquiring the initial coordinate information.
Example 2
This example is substantially the same as example 1, except that:
the virtual servo driver adjusts the motion parameters according to the difference value between the real-time coordinate information and the simulation coordinate information, and specifically comprises the following steps:
presetting an error range;
taking the difference value between the real-time coordinate information and the simulation coordinate information as a first difference value;
when the first difference is within the error range, the virtual servo driver compensates the motion parameter according to the first difference until the first difference is lower than the error range.
Preferably, the virtual servo driver compensates the motion parameter according to the first difference, specifically: taking the difference value between the first difference value and the minimum value in the error range as a second difference value, and taking the difference value between the maximum value and the minimum value in the error range as a third difference value;
and the virtual servo driver compensates the motion parameter according to the ratio of the second difference to the third difference.
In order to avoid the above situation, the multi-servo driver synchronous control method of this embodiment generates the simulation coordinate information through the virtual servo driver, besides synchronizing the virtual servo driver and the actual servo driver, and determines the compensation value for the motion parameter by comparing the difference between the real-time coordinate and the simulation coordinate, so that the automatic doffing device can still realize accurate positioning even under the condition of slipping or slight intervention of external force; and the compensation value of the motion parameter is determined by comparing the difference value with a preset error range, and the motion parameters such as speed, acceleration and the like can be properly changed in the process that the automatic doffing device slowly approaches the simulation target coordinate, so that the situation that the actual coordinate of the automatic doffing device continuously fluctuates left and right near the simulation coordinate but cannot be aligned with the simulation coordinate is avoided.
Specifically, the adjusting the motion parameter by the virtual servo driver according to the difference between the real-time coordinate information and the simulated coordinate information further includes: and when the first difference value is higher than the error range, sending a stop signal to the virtual servo driver.
Preferably, the virtual servo driver adjusts the motion parameter according to a difference between the real-time coordinate information and the simulated coordinate information, and further includes: the virtual servo driver calculates a simulated walking distance according to the real-time coordinate information, and then sends the simulated walking distance to the actual servo driver;
and when the first difference is lower than the error range, the actual servo driver acquires the actual walking distance through an encoder on the servo motor, and then the actual servo driver performs automatic compensation according to the difference between the simulated walking distance and the actual walking distance.
In actual use, oil vapor is more nearby the automatic doffing device, so that the friction force between the steel wheel and the steel rail is small, and the travelling wheel of the device can slip when the device runs; simultaneously, if driven servo driver's when the following nature is relatively poor, the speed between the walking wheel of two differences is inconsistent, can lead to the bi-motor to skid when underloading, and equipment vibrations can lead to bi-motor locked rotor when the heavy load, and the temperature rises to reduce motor life.
The method for synchronously controlling multiple servo drivers in the embodiment specifically comprises the following steps:
s1: simulating a virtual servo driver according to the mechanical parameters of the actual servo driver;
s2: selecting the virtual servo driver as an active servo driver and the actual servo driver as a slave servo driver;
s3: before starting an actual servo driver, acquiring coordinate information of the automatic doffing device on a current traveling track as initial coordinate information of the virtual servo driver;
s4: sending a positioning instruction to the virtual servo driver according to the moving target, generating a motion parameter by the virtual servo driver according to the mechanical parameter, the initial coordinate information and the positioning instruction, and sending a synchronization signal to each actual servo driver by the virtual servo driver according to the motion parameter;
s5: the virtual servo driver generates simulation coordinate information according to the mechanical parameters, the initial coordinate information, the motion parameters and the motion duration;
continuously acquiring real-time coordinate information of the automatic doffing device on a traveling track, and sending the real-time coordinate information to the virtual servo driver;
s6: presetting an error range, wherein the error range is 1-10 mm;
taking a difference value between the real-time coordinate information and the simulated coordinate information as a first difference value, taking a difference value between the first difference value and a minimum value in the error range as a second difference value, and taking a difference value between a maximum value and a minimum value in the error range as a third difference value, namely the third difference value is 9 mm;
s6.1: when the first difference is 5mm, the first difference is within the error range, the virtual servo driver calculates that the second difference is 4mm, and then calculates that the ratio of the second difference to the third difference is 4/9;
if the speed value in the motion parameters is 100mm per second, the compensation value is 44mm per second by multiplying 100mm by 4/9; then compensating the original speed value;
in the motion process, the ratio of the second difference to the third difference is changed all the time, the smaller the error is, the smaller the compensation value is, and the smaller the first difference is until the first difference is lower than the error range; therefore, the speed of the automatic doffing device can be steadily changed when the automatic doffing device approaches the ideal target coordinate.
S6.2: when the first difference value is higher than the error range, sending a stop signal to the virtual servo driver to make the automatic doffing device suddenly stop;
s6.3: the virtual servo driver calculates a simulated walking distance according to the real-time coordinate information, and then sends the simulated walking distance to the actual servo driver;
when the first difference is 0.2mm and is lower than the error range, the actual servo driver obtains the actual walking distance through an encoder on the servo motor, and then the actual servo driver performs automatic compensation according to the difference between the simulated walking distance and the actual walking distance.
The actual servo driver automatically compensates, and preset motion parameters such as speed and acceleration are adjusted according to the difference value between the actual walking distance and the simulated walking distance and the ratio of the simulated walking distance.
Specifically, the automatic doffing device is further provided with an alarm, when the first difference value is larger than the error range, the alarm is started to prompt an operator, and factors such as uneven ground, external force blocking and the like exist in the operation process near the point position, so that the accurate positioning cannot be realized.
In addition, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
Claims (7)
1. A multi-servo driver synchronous control method of an automatic doffing system is characterized by comprising the following steps:
simulating a virtual servo driver according to the mechanical parameters of the actual servo driver, and selecting the virtual servo driver as an active servo driver and the actual servo driver as a slave servo driver; acquiring coordinate information of the current travelling track of the automatic doffing device, taking the coordinate information as initial coordinate information of the virtual servo driver, and sending a positioning instruction to the virtual servo driver according to a moving target;
the virtual servo driver generates a motion parameter according to the mechanical parameter, the initial coordinate information and the positioning instruction, and generates simulated coordinate information by combining the motion parameter and the motion duration;
acquiring real-time coordinate information of an automatic doffing device on a traveling track, and sending the real-time coordinate information to the virtual servo driver;
the virtual servo driver adjusts the motion parameters according to the difference value between the real-time coordinate information and the simulation coordinate information, then the virtual servo driver sends synchronous signals to each actual servo driver according to the motion parameters, and the actual servo drivers drive actual servo motors according to the synchronous signals.
2. The method according to claim 1, wherein the obtaining of the coordinate information of the current traveling track of the automatic doffing device is performed as the initial coordinate information of the virtual servo driver before or simultaneously with the sending of the positioning command to the virtual servo driver according to the moving target.
3. The method according to claim 2, wherein the virtual servo driver adjusts the motion parameter according to a difference between the real-time coordinate information and the simulated coordinate information, specifically:
presetting an error range;
taking the difference value between the real-time coordinate information and the simulation coordinate information as a first difference value;
when the first difference is within the error range, the virtual servo driver compensates the motion parameter according to the first difference until the first difference is lower than the error range.
4. The method according to claim 3, wherein the virtual servo driver compensates the motion parameter according to the first difference, specifically:
taking the difference value between the first difference value and the minimum value in the error range as a second difference value, and taking the difference value between the maximum value and the minimum value in the error range as a third difference value;
and the virtual servo driver compensates the motion parameter according to the ratio of the second difference to the third difference.
5. The method as claimed in claim 3, wherein the virtual servo driver adjusts the motion parameters according to a difference between the real-time coordinate information and the simulated coordinate information, and further comprising:
and when the first difference value is higher than the error range, sending a stop signal to the virtual servo driver.
6. The method as claimed in claim 3, wherein the virtual servo driver adjusts the motion parameters according to a difference between the real-time coordinate information and the simulated coordinate information, and further comprising:
the virtual servo driver calculates a simulated walking distance according to the real-time coordinate information, and then sends the simulated walking distance to the actual servo driver;
and when the first difference is lower than the error range, the actual servo driver acquires the actual walking distance through an encoder on the servo motor, and then the actual servo driver performs automatic compensation according to the difference between the simulated walking distance and the actual walking distance.
7. An automatic spinning cake doffing system, comprising:
the walking track is provided with a bar code mark;
the automatic doffing device moves on the walking track and is provided with a servo driver, a servo motor and a bar code reader;
a controller applying the multi-servo driver synchronization control method of any one of claims 1 to 6.
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| CN111924662B (en) * | 2020-07-08 | 2022-04-19 | 北自所（北京）科技发展有限公司 | Chemical fiber filament doffing method and system adopting centralized control and automatic doffing equipment |
| CN111924661B (en) * | 2020-07-08 | 2022-04-19 | 北自所（北京）科技发展有限公司 | Chemical fiber filament doffing method and system based on twin model and automatic doffing equipment |
| CN111924660B (en) * | 2020-07-08 | 2022-04-19 | 北自所（北京）科技发展有限公司 | Chemical fiber filament doffing method and system based on twin model and automatic doffing equipment |
| CN111924663B (en) * | 2020-07-08 | 2022-04-19 | 北自所（北京）科技发展有限公司 | Chemical fiber filament doffing method and system adopting centralized control and automatic doffing equipment |
| CN111924659B (en) * | 2020-07-08 | 2022-04-19 | 北自所（北京）科技发展有限公司 | Chemical fiber filament doffing method and system based on twin model and automatic doffing equipment |
| CN116009404B (en) * | 2023-02-22 | 2023-05-23 | 广东科伺智能科技有限公司 | Method, device, equipment and readable storage medium for debugging servo equipment |
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