CN111522289B - PLC-based servo motion control system and method and VR equipment - Google Patents

PLC-based servo motion control system and method and VR equipment Download PDF

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Publication number
CN111522289B
CN111522289B CN202010257629.XA CN202010257629A CN111522289B CN 111522289 B CN111522289 B CN 111522289B CN 202010257629 A CN202010257629 A CN 202010257629A CN 111522289 B CN111522289 B CN 111522289B
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shaft
auxiliary
main shaft
position information
servo motor
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CN111522289A (en
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史少军
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Beijing Qile Infinite Culture Technology Co ltd
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Beijing Qile Infinite Culture Technology Co ltd
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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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/054—Input/output
    • 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
    • G05B2219/10—Plc systems
    • G05B2219/13—Plc programming
    • G05B2219/13098—Nc function to control axis, written in C or not

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)

Abstract

The invention discloses a PLC-based servo motion control system, a PLC-based servo motion control method and VR equipment, relates to the technical field of servo control, and can be used for periodically correcting accumulated errors generated by a servo motor so as to improve the positioning accuracy of the servo motor. The system comprises a control unit, a main servo driver, an auxiliary servo driver, a main shaft servo motor, an auxiliary shaft servo motor and a distance measuring unit, wherein the main shaft servo motor is used for uploading the real-time coding position information of a coder to the control unit; the distance measuring unit is used for uploading real-time detection position information of the main shaft servo motor to the control unit; the control unit is used for calculating the difference value between the coded position information and the detection position information at the same moment in real time, marking the corresponding detection position information when the difference value exceeds a threshold value, and writing the detection position information of the mark as the corresponding coded position information into the coder before the next motion cycle.

Description

PLC-based servo motion control system and method and VR equipment
Technical Field
The invention relates to the technical field of servo control, in particular to a servo motion control system and method based on a PLC and VR equipment.
Background
The VR device usually comprises a VR system and a motion simulator, and passengers can experience the virtual environment through the VR system and simultaneously experience the motion experience matched with the current virtual environment through the motion simulator.
The motion simulator mainly comprises a servo motor and a control unit for outputting control instructions. Wherein, servo motor can produce the accumulative error when being the periodic motion along the unilateral, if the accumulative error is not in time revised, will influence subsequent positioning accuracy, and then influence motion simulator's motion trail, lead to the unable adaptation of virtual environment that the VR system appears and motion simulator's operation, and then can reduce passenger's virtual experience.
Disclosure of Invention
The invention aims to provide a PLC-based servo motion control system, a PLC-based servo motion control method and VR equipment, which can be used for periodically correcting accumulated errors generated by a servo motor so as to improve the positioning accuracy of the servo motor.
In order to achieve the above object, a first aspect of the present invention provides a PLC-based servo motion control system, including a control unit, a main servo driver, an auxiliary servo driver, a main shaft servo motor, an auxiliary shaft servo motor, and a ranging unit, where an output end of the control unit is connected to input ends of the main servo driver and the auxiliary servo driver, respectively, an output end of the main servo driver is connected to the main shaft servo motor, an output end of the auxiliary servo driver is connected to the auxiliary shaft servo motor, and the ranging unit is connected to the control unit; the main shaft servo motor is used for uploading the real-time coding position information of the coder to the control unit; the distance measuring unit is used for uploading real-time detection position information of the main shaft servo motor to the control unit; the control unit is used for calculating the difference value between the coded position information and the detection position information at the same moment in real time, marking the corresponding detection position information when the difference value exceeds a threshold value, and writing the detection position information of the mark as the corresponding coded position information into the coder before the next motion cycle.
Preferably, the main shaft servo motor and the auxiliary shaft servo motor are in coupling transmission.
Preferably, the spindle servo motor comprises a spindle main transmission shaft, a spindle auxiliary transmission shaft, a spindle synthetic gear, a spindle clutch and a spindle speed changer, the auxiliary shaft servo motor comprises an auxiliary shaft synthetic gear, an auxiliary shaft first speed changer, an auxiliary shaft second speed changer, an auxiliary shaft auxiliary transmission shaft and an auxiliary shaft output shaft, the input end of the main shaft synthetic gear is respectively in transmission connection with the main shaft auxiliary transmission shaft and the output end of the main shaft auxiliary transmission shaft, the output end of the main shaft synthetic gear is in transmission connection with the input end of the main shaft gear, the main shaft clutch and the main shaft speed changer are assembled on the shaft of the main shaft gear, the input end of the auxiliary shaft synthesis gear is respectively in transmission connection with the output ends of the main shaft gear and the auxiliary shaft auxiliary transmission shaft, the first speed changer is arranged on the auxiliary shaft auxiliary transmission shaft, and the auxiliary shaft second speed changer is arranged on the auxiliary shaft output shaft.
Preferably, the control unit comprises a PLC and a motion controller, and the PLC is respectively connected with the main servo driver and the auxiliary servo driver through the motion controller;
and the PLC is used for acquiring the coding position information reported by the main shaft servo motor coder in real time and outputting a control instruction to the motion controller.
Preferably, the motion controller is connected to the main servo driver and the auxiliary servo driver through optical fibers.
Preferably, the PLC acquires encoded position information reported by the spindle servo motor encoder in real time.
Illustratively, the distance measuring unit is an infrared laser distance meter.
Compared with the prior art, the servo motion control system based on the PLC has the following beneficial effects:
the invention provides a PLC-based servo motion control system, which consists of a control unit, a main servo driver, an auxiliary servo driver, a main shaft servo motor, an auxiliary shaft servo motor and a distance measurement unit, wherein the main shaft servo motor and the auxiliary shaft servo motor belong to a motion mechanism in a motion simulator, the main shaft servo motor and the auxiliary shaft servo motor are in coupling transmission, the control unit acquires the coding position information of a coder in the main shaft servo motor in real time and acquires the detection position information of the main shaft servo motor in real time through the distance measurement unit, a detection position information mark with the difference value exceeding a threshold value is screened out by calculating the difference value of the coding position information and the detection position information at the same moment, and the detection position information of the mark is written into the coder of the main shaft servo motor as corresponding corrected coding position information after the current motion cycle of the motion simulator is finished and before the next motion cycle, and further, the code position of the motion simulator can be regularly corrected, so that the running precision of the motion simulator is improved.
A second aspect of the present invention provides a PLC-based servo motion control method applied to a PLC-based servo motion control system, including:
uploading the real-time coding position information of the coder to a control unit through a main shaft servo motor;
uploading the real-time detection position information of the main shaft servo motor to a control unit through a ranging unit;
and calculating the difference value between the coded position information and the detection position information at the same moment in real time by using the control unit, marking the corresponding detection position information when the difference value exceeds a threshold value, and writing the detection position information of the mark as the corresponding coded position information into the encoder before the next movement period.
Preferably, the main shaft servo motor and the auxiliary shaft servo motor are in coupling transmission.
Compared with the prior art, the beneficial effects of the servo motion control method based on the PLC provided by the invention are the same as the beneficial effects of the servo motion control system based on the PLC provided by the technical scheme, and the details are not repeated herein.
The third aspect of the invention provides a VR device, which applies the PLC-based servo motion control system mentioned in the above technical solution.
Compared with the prior art, the beneficial effects of the VR equipment provided by the invention are the same as those of the PLC-based servo motion control system provided by the technical scheme, and are not repeated herein.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a block diagram of a PLC-based servo motion control method according to an embodiment;
FIG. 2 is a diagram illustrating a distance measurement performed by a distance measurement unit on a motion simulator in an embodiment;
FIG. 3 is a flowchart illustrating a PLC-based servo motion control method according to an embodiment.
Reference numerals:
1-a distance measuring unit and 2-a main shaft servo motor;
3-auxiliary shaft servo motor.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1 and 2, the present embodiment provides a servo motion control system based on a PLC, including a control unit, a main servo driver, an auxiliary servo driver, a main shaft servo motor 2, an auxiliary shaft servo motor 3, and a distance measurement unit 1, where an output end of the control unit is connected to input ends of the main servo driver and the auxiliary servo driver, an output end of the main servo driver is connected to the main shaft servo motor 2, an output end of the auxiliary servo driver is connected to the auxiliary shaft servo motor 3, and the distance measurement unit 1 is connected to the control unit; the main shaft servo motor 2 is used for uploading the real-time coding position information of the coder to the control unit; the distance measuring unit 1 is used for uploading real-time detection position information of the main shaft servo motor 2 to the control unit; the control unit is used for calculating the difference value between the coded position information and the detection position information at the same moment in real time, marking the corresponding detection position information when the difference value exceeds a threshold value, and writing the detection position information of the mark as the corresponding coded position information into the coder before the next motion cycle.
The servo motion control system based on the PLC provided in this embodiment is composed of a control unit, a main servo driver, an auxiliary servo driver, a main shaft servo motor 2, an auxiliary shaft servo motor 3 and a distance measurement unit 1, wherein the main shaft servo motor 2 and the auxiliary shaft servo motor 3 belong to a motion mechanism in a motion simulator, the main shaft servo motor 2 and the auxiliary shaft servo motor 3 are in coupling transmission, the control unit collects coding position information of an encoder in the main shaft servo motor 2 in real time, collects detection position information of the main shaft servo motor 2 in real time through the distance measurement unit 1, screens out a detection position information mark with a difference value exceeding a threshold value by calculating a difference value between the coding position information and the detection position information at the same time, and writes the detection position information of the mark as corresponding corrected coding position information into the encoder of the main shaft servo motor 2 before the next motion cycle after the current motion cycle of the motion simulator is finished, and further, the code position of the motion simulator can be regularly corrected, and the running precision of the motion simulator is improved.
Preferably, the main shaft servo motor 2 and the auxiliary shaft servo motor 3 in the above embodiments are driven in a coupling manner. Therefore, the motion synchronism of the main shaft servo motor 2 and the auxiliary shaft servo motor 3 is ensured, and the damage to the servo motors of the main shaft servo motor 2 and the auxiliary shaft servo motor 3 caused by the torque difference generated in the motion process is avoided.
Specifically, the main shaft servo motor 2 in the above embodiment includes a main shaft main transmission shaft, a main shaft auxiliary transmission shaft, a main shaft synthetic gear, a main shaft clutch and a main shaft transmission, the auxiliary shaft servo motor 3 includes an auxiliary shaft synthetic gear, an auxiliary shaft first transmission, an auxiliary shaft second transmission, an auxiliary shaft auxiliary transmission shaft and an auxiliary shaft output shaft, an input end of the main shaft synthetic gear is in transmission connection with output ends of the main shaft auxiliary transmission shaft and the main shaft auxiliary transmission shaft, respectively, an output end of the main shaft synthetic gear is in transmission connection with an input end of the main shaft gear, the main shaft clutch and the main shaft transmission are mounted on a shaft of the main shaft gear, an input end of the auxiliary shaft synthetic gear is in transmission connection with output ends of the main shaft gear and the auxiliary shaft auxiliary transmission shaft, respectively, the first transmission is mounted on the auxiliary shaft auxiliary transmission shaft, and the auxiliary shaft second transmission is mounted on the auxiliary shaft output shaft.
During specific implementation, the output end of the main shaft gear is in transmission connection with the input end of the auxiliary shaft synthetic gear, so that the coupling transmission of the main shaft servo motor 2 and the auxiliary shaft servo motor 3 is realized.
Preferably, the control unit in the above embodiment includes a PLC and a motion controller, and the PLC is respectively connected to the main servo driver and the auxiliary servo driver through the motion controller; the PLC is used for acquiring the coding position information reported by the encoder of the main shaft servo motor 2 in real time and outputting a control instruction to the motion controller. The PLC acquires the coding position information reported by the encoder of the main shaft servo motor 2 in real time.
During specific implementation, the motion controller is respectively communicated with the main servo driver and the auxiliary servo driver through optical fibers, and the purpose of adopting optical fiber transmission is to improve the response speed of data and improve the burst data quantity.
Illustratively, the distance measuring unit 1 is an infrared laser distance measuring instrument, and the PLC is a Mitsubishi PLC.
For ease of understanding, the control principle of the PLC-based servo motion control system will now be exemplified:
s1, the main shaft servo motor 2 and the auxiliary shaft servo motor 3 are in coupling transmission, and the linkage control of the auxiliary shaft servo motor 3 can be indirectly realized by controlling the speed ring and the position ring of the main shaft servo motor 2 through the PLC, so that the synchronism of the two servo motors is ensured, and the distortion stress of the two servo motors on the motion simulator in the motion process is avoided.
S2, the spindle servo motor 2 uploads the coded position information recorded by the encoder in real time to the PLC, and the PLC takes the coded position information received in real time as the standard position information of the motion simulator;
s3, the infrared laser range finder uploads the detection position information of the spindle servo motor 2 detected in real time to the PLC, and the PLC takes the detection position information received in real time as the correction position information of the motion simulator;
s4, the PLC calculates the difference value between the coded position information and the detected position information in the same time in real time, marks the corresponding detected position information when the difference value exceeds a threshold value, and writes the marked detected position information into the encoder as new coded position information before the next movement period of the movement simulator so as to change the corresponding standard position value in the encoder of the spindle servo motor 2, so that the movement simulator can control the position loop through the changed standard position information in the encoder when in the next movement period, thereby realizing the correction of the accumulated error of the movement simulator.
Exemplarily, the motion simulator is a ski simulator among VR devices.
Example two
Referring to fig. 2, the present embodiment provides a servo motion control method based on a PLC, applied to the servo motion control system based on a PLC, and the method includes:
uploading the real-time coding position information of the coder to a control unit through a main shaft servo motor;
uploading the real-time detection position information of the main shaft servo motor to a control unit through a ranging unit;
and calculating the difference value between the coded position information and the detection position information at the same moment in real time by using the control unit, marking the corresponding detection position information when the difference value exceeds a threshold value, and writing the detection position information of the mark as the corresponding coded position information into the encoder before the next movement period.
Preferably, the main shaft servo motor and the auxiliary shaft servo motor are in coupling transmission.
Compared with the prior art, the beneficial effects of the servo motion control method based on the PLC provided in this embodiment are the same as the beneficial effects of the servo motion control system based on the PLC provided in the above technical solution, and are not described herein again.
EXAMPLE III
A third aspect of this embodiment provides a VR device, which employs the PLC-based servo motion control system mentioned in the above technical solution.
Compared with the prior art, the beneficial effects of the VR equipment provided by the invention are the same as those of the PLC-based servo motion control system provided by the technical scheme, and are not repeated herein.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (7)

1. A servo motion control system based on a PLC is characterized by comprising a control unit, a main servo driver, an auxiliary servo driver, a main shaft servo motor, an auxiliary shaft servo motor and a distance measuring unit, wherein the output end of the control unit is respectively connected with the input ends of the main servo driver and the auxiliary servo driver, the output end of the main servo driver is connected with the main shaft servo motor, the output end of the auxiliary servo driver is connected with the auxiliary shaft servo motor, and the distance measuring unit is connected with the control unit;
the main shaft servo motor is used for uploading the real-time coding position information of the coder to the control unit;
the distance measuring unit is used for uploading the real-time detection position information of the main shaft servo motor to the control unit;
the control unit is used for calculating the difference value between the coded position information and the detection position information at the same moment in real time, marking the corresponding detection position information when the difference value exceeds a threshold value, and writing the marked detection position information into the encoder as the corresponding coded position information before the next motion cycle;
the main shaft servo motor and the auxiliary shaft servo motor are in coupling transmission;
the main shaft servo motor comprises a main shaft main transmission shaft, a main shaft auxiliary transmission shaft, a main shaft synthetic gear, a main shaft clutch and a main shaft speed changer, the auxiliary shaft servo motor comprises an auxiliary shaft synthetic gear, an auxiliary shaft first speed changer, an auxiliary shaft second speed changer, an auxiliary shaft auxiliary transmission shaft and an auxiliary shaft output shaft, the input end of the main shaft synthetic gear is respectively in transmission connection with the main shaft auxiliary transmission shaft and the output end of the main shaft auxiliary transmission shaft, the output end of the main shaft synthetic gear is in transmission connection with the input end of the main shaft gear, the main shaft clutch and the main shaft speed changer are assembled on the shaft of the main shaft gear, the input end of the auxiliary shaft synthesis gear is respectively in transmission connection with the output ends of the main shaft gear and the auxiliary shaft auxiliary transmission shaft, the first speed changer is arranged on the auxiliary shaft auxiliary transmission shaft, and the auxiliary shaft second speed changer is arranged on the auxiliary shaft output shaft.
2. The PLC-based servo motion control system of claim 1, wherein the control unit comprises a PLC and a motion controller, the PLC is respectively connected with the main servo driver and the auxiliary servo driver through the motion controller;
and the PLC is used for acquiring the coding position information reported by the main shaft servo motor coder in real time and outputting a control instruction to the motion controller.
3. The PLC-based servo motion control system of claim 1, wherein the motion controller is connected to the main servo driver and the auxiliary servo driver by optical fibers, respectively.
4. The PLC-based servo motion control system of claim 2, wherein the PLC obtains encoded position information reported by a spindle servo motor encoder in real time.
5. The PLC-based servo motion control system of any one of claims 1-4, wherein the ranging unit is an infrared laser rangefinder.
6. A PLC-based servo motion control method is applied to a PLC-based servo motion control system and is characterized by comprising the following steps:
uploading the real-time coding position information of the coder to a control unit through a main shaft servo motor;
uploading the real-time detection position information of the main shaft servo motor to a control unit through a ranging unit;
calculating the difference value between the coded position information and the detection position information at the same moment in real time by using a control unit, marking the corresponding detection position information when the difference value exceeds a threshold value, and writing the marked detection position information into an encoder as the corresponding coded position information before the next motion cycle;
the main shaft servo motor and the auxiliary shaft servo motor are in coupling transmission;
the main shaft servo motor comprises a main shaft main transmission shaft, a main shaft auxiliary transmission shaft, a main shaft synthetic gear, a main shaft clutch and a main shaft speed changer, the auxiliary shaft servo motor comprises an auxiliary shaft synthetic gear, an auxiliary shaft first speed changer, an auxiliary shaft second speed changer, an auxiliary shaft auxiliary transmission shaft and an auxiliary shaft output shaft, the input end of the main shaft synthetic gear is respectively in transmission connection with the main shaft auxiliary transmission shaft and the output end of the main shaft auxiliary transmission shaft, the output end of the main shaft synthetic gear is in transmission connection with the input end of the main shaft gear, the main shaft clutch and the main shaft speed changer are assembled on the shaft of the main shaft gear, the input end of the auxiliary shaft synthesis gear is respectively in transmission connection with the output ends of the main shaft gear and the auxiliary shaft auxiliary transmission shaft, the first speed changer is arranged on the auxiliary shaft auxiliary transmission shaft, and the auxiliary shaft second speed changer is arranged on the auxiliary shaft output shaft.
7. A VR device comprising the PLC-based servo motion control system of any of claims 1-5.
CN202010257629.XA 2020-04-03 2020-04-03 PLC-based servo motion control system and method and VR equipment Active CN111522289B (en)

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CN112394630B (en) * 2020-12-10 2022-03-04 苏州明良智能科技有限公司 Control method of water transport instrument equipment based on PLC control platform

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