CN112835287A - Cross-coupled gantry control system and control method - Google Patents
Cross-coupled gantry control system and control method Download PDFInfo
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- CN112835287A CN112835287A CN202011632445.3A CN202011632445A CN112835287A CN 112835287 A CN112835287 A CN 112835287A CN 202011632445 A CN202011632445 A CN 202011632445A CN 112835287 A CN112835287 A CN 112835287A
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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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
The invention relates to the technical field of electronics, and particularly discloses a cross-coupled gantry control system which comprises a double-shaft servo driver and two motors, wherein the double-shaft servo driver can directly drive the two motors, and when cross-coupled gantry control is executed, data of the two motors are subjected to high-speed data exchange in a double-shaft servo driver processor, so that the problems of complex external wiring, poor real-time performance and long in-place time of the two double-shaft servo drivers in the traditional scheme are solved, the stability of gantry control is improved, the wiring complexity is reduced, and the high-performance control of a gantry is realized.
Description
Technical Field
The invention relates to the technical field of electronics, in particular to a cross-coupled gantry control system.
Background
The gantry control system is widely applied to the fields of electronic processing, semiconductor manufacturing, numerical control machines, biomedical scanning and the like, has the advantages of good dynamic performance, high positioning precision and high in-place speed and small jitter, is the best solution for high-performance motion control, but the conventional gantry control system is complex in wiring, high in cost and limited in positioning precision and dynamic performance.
Disclosure of Invention
The invention provides a cross-coupling gantry control system, which aims to solve the problems of complex wiring, high cost, poor positioning accuracy and long in-place time of the gantry control system in the prior art.
The technical scheme adopted by the invention is as follows:
a cross-coupled gantry control system, comprising:
the two motors are respectively arranged on two sides of the gantry and used for driving gantry loads, and the two motors are respectively connected with a double-shaft servo driver;
the input ends of the two encoders are respectively connected with the gantry, and the output ends of the two encoders are connected with the double-shaft servo driver.
Furthermore, the double-shaft servo driver receives signals of the two encoders and calculates the speed and the position of two sides of the gantry.
Further, the double-shaft servo driver drives the two motors to operate according to the speed and the position of two sides of the gantry.
The invention provides a cross-coupling gantry control method for solving the problems of complex wiring, high cost, poor positioning accuracy and long in-place time of a gantry control system in the prior art.
A cross-coupled gantry control method comprises the following steps:
acquiring the actual speed and position of two sides of the gantry;
performing coordinate transformation on the actual speed and the actual position to generate two virtual axes, wherein the two virtual axes comprise a longitudinal axis and an angle deviation axis, the position of the longitudinal axis represents the position of the gantry beam, and the position of the angle deviation axis represents the deflection degree of the gantry beam;
carrying out PI control on the speed and the position of the longitudinal shaft and the deflection shaft to ensure that the speed and the position of the longitudinal shaft are consistent with the reference speed and position and the speed and the position of the deflection shaft are zero;
calculating reference currents of a vertical axis and an off-angle axis;
performing coordinate inverse transformation on the reference currents of the longitudinal axis and the deflection axis to generate reference currents of two real axes;
and respectively carrying out current PI control and FOC (field oriented control) algorithm on the two motors according to the reference currents of the two real axes, and controlling the two motors on the two sides of the gantry.
Further, the two virtual axes are configured as a vertical axis whose speed and position are an average of the two real axes 'speed and position and an off-angle axis whose speed and position are a difference of the two real axes' speed and position.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a cross-coupling gantry control system which comprises a double-shaft servo driver, wherein the double-shaft servo driver can directly drive two motors, and when cross-coupling gantry control is executed, data of the two motors are subjected to high-speed data exchange in a double-shaft servo driver processor, so that the problems of complex external wiring, poor real-time performance and long in-place time of the two double-shaft servo drivers in the traditional scheme are solved, the stability of gantry control is improved, the wiring complexity is reduced, and the high-performance control of a gantry is realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic block diagram of a cross-coupled gantry control system according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
A cross-coupled gantry control system, as shown in fig. 1, comprising:
the two motors are respectively arranged on two sides of the gantry and used for driving gantry loads, and the two motors are respectively connected with a double-shaft servo driver;
the input ends of the two encoders are respectively connected with the gantry, and the output ends of the two encoders are connected with the double-shaft servo driver.
Furthermore, the double-shaft servo driver receives signals of the two encoders and calculates the speed and the position of two sides of the gantry.
Further, the double-shaft servo driver drives the two motors to operate according to the speed and the position of two sides of the gantry.
A cross-coupled gantry control method is used for the cross-coupled gantry control system and comprises the following steps:
acquiring the actual speed and position of two sides of the gantry;
performing coordinate transformation on the actual speed and the actual position to generate two virtual axes, wherein the two virtual axes comprise a longitudinal axis and an angle deviation axis, the position of the longitudinal axis represents the position of the gantry beam, and the position of the angle deviation axis represents the deflection degree of the gantry beam;
carrying out PI control on the speed and the position of the longitudinal shaft and the deflection shaft to ensure that the speed and the position of the longitudinal shaft are consistent with the reference speed and position and the speed and the position of the deflection shaft are zero;
calculating reference currents of a vertical axis and an off-angle axis;
performing coordinate inverse transformation on the reference currents of the longitudinal axis and the deflection axis to generate reference currents of two real axes;
and respectively carrying out current PI control and FOC (field oriented control) algorithm on the two motors according to the reference currents of the two real axes, and controlling the two motors on the two sides of the gantry.
Further, the two virtual axes are configured as a vertical axis and an off-angle axis, the speed and the position of the vertical axis are the average value of the speed and the position of the two real axes, and the speed and the position of the off-angle axis are the difference value of the speed and the position of the two real axes, that is, the following calculation formula:
longitudinal axis position (gantry shaft 1 position + gantry shaft 2 position)/2
The position of the deflection angle shaft is equal to the position of the gantry shaft 1 to the position of the gantry shaft 2.
In summary, the cross-coupled gantry control system provided by the invention includes a dual-axis servo driver, the dual-axis servo driver can directly drive two motors, and when cross-coupled gantry control is executed, high-speed data exchange is performed between two axes of the dual-axis servo driver in a processor, so that external wiring of the two dual-axis servo drivers in the conventional scheme is avoided, thereby improving gantry control stability, reducing wiring complexity and realizing high-performance control of the gantry.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above examples are only for describing the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims (5)
1. A cross-coupled gantry control system, comprising:
the two motors are respectively arranged on two sides of the gantry and used for driving gantry loads, and the two motors are respectively connected with a double-shaft servo driver;
the input ends of the two encoders are respectively connected with the gantry, and the output ends of the two encoders are connected with the double-shaft servo driver.
2. The cross-coupled gantry control system of claim 1, wherein the dual-axis servo driver receives signals from two encoders and calculates the speed and position of both sides of the gantry.
3. A cross-coupled gantry control system of claim 2, wherein said dual-axis servo driver drives two of said motors to operate according to the speed and position of both sides of said gantry.
4. A cross-coupled gantry control method is characterized by comprising the following steps:
acquiring the actual speed and position of two sides of the gantry;
performing coordinate transformation on the actual speed and the actual position to generate two virtual axes, wherein the two virtual axes comprise a longitudinal axis and an angle deviation axis, the position of the longitudinal axis represents the position of the gantry beam, and the position of the angle deviation axis represents the deflection degree of the gantry beam;
carrying out PI control on the speed and the position of the longitudinal shaft and the deflection shaft to ensure that the speed and the position of the longitudinal shaft are consistent with the reference speed and position and the speed and the position of the deflection shaft are zero;
calculating reference currents of a vertical axis and an off-angle axis;
performing coordinate inverse transformation on the reference currents of the longitudinal axis and the deflection axis to generate reference currents of two real axes;
and respectively carrying out current PI control and FOC (field oriented control) algorithm on the two motors according to the reference currents of the two real axes, and controlling the two motors on the two sides of the gantry.
5. The method of claim 4, wherein the two virtual axes are configured as a vertical axis and an off-angle axis, the speed and position of the vertical axis is an average of the speed and position of the two real axes, and the speed and position of the off-angle axis is a difference between the speed and position of the two real axes.
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5600221A (en) * | 1994-05-09 | 1997-02-04 | Mitsubishi Denki Kabushiki Kaisha | Control apparatus for servo system |
| CN103676653A (en) * | 2013-12-16 | 2014-03-26 | 成都乐创自动化技术股份有限公司 | Servo synchronous control method and system applied to gantry mechanism |
| CN104090525A (en) * | 2014-06-16 | 2014-10-08 | 福建睿能科技股份有限公司 | Mechanical control device and driving device thereof |
| CN104308554A (en) * | 2014-10-10 | 2015-01-28 | 云南省机械研究设计院 | Control system of six-station flexible machining equipment |
| CN110968119A (en) * | 2019-11-27 | 2020-04-07 | 苏州伟创电气科技股份有限公司 | Control method and device for double-shaft synchronization |
| CN111211711A (en) * | 2020-02-04 | 2020-05-29 | 长安大学 | Fault-tolerant control method of double-motor synchronous control system |
| CN111679632A (en) * | 2020-06-17 | 2020-09-18 | 上海柏楚电子科技股份有限公司 | Cutting control processing method and device, electronic equipment and storage medium |
-
2020
- 2020-12-31 CN CN202011632445.3A patent/CN112835287B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5600221A (en) * | 1994-05-09 | 1997-02-04 | Mitsubishi Denki Kabushiki Kaisha | Control apparatus for servo system |
| CN103676653A (en) * | 2013-12-16 | 2014-03-26 | 成都乐创自动化技术股份有限公司 | Servo synchronous control method and system applied to gantry mechanism |
| CN104090525A (en) * | 2014-06-16 | 2014-10-08 | 福建睿能科技股份有限公司 | Mechanical control device and driving device thereof |
| CN104308554A (en) * | 2014-10-10 | 2015-01-28 | 云南省机械研究设计院 | Control system of six-station flexible machining equipment |
| CN110968119A (en) * | 2019-11-27 | 2020-04-07 | 苏州伟创电气科技股份有限公司 | Control method and device for double-shaft synchronization |
| CN111211711A (en) * | 2020-02-04 | 2020-05-29 | 长安大学 | Fault-tolerant control method of double-motor synchronous control system |
| CN111679632A (en) * | 2020-06-17 | 2020-09-18 | 上海柏楚电子科技股份有限公司 | Cutting control processing method and device, electronic equipment and storage medium |
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