CN116039264A - Control method and device for multi-axis motion platform, terminal equipment and storage medium - Google Patents

Control method and device for multi-axis motion platform, terminal equipment and storage medium Download PDF

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Publication number
CN116039264A
CN116039264A CN202211351487.9A CN202211351487A CN116039264A CN 116039264 A CN116039264 A CN 116039264A CN 202211351487 A CN202211351487 A CN 202211351487A CN 116039264 A CN116039264 A CN 116039264A
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motion platform
control
axis motion
obstacle
function
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CN116039264B (en
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康硕
朱云龙
张不扬
黄兴
刘峰海
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Ji Hua Laboratory
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Ji Hua Laboratory
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
    • B41J29/38—Drives, motors, controls or automatic cut-off devices for the entire printing mechanism
    • B41J29/393—Devices for controlling or analysing the entire machine ; Controlling or analysing mechanical parameters involving printing of test patterns
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
    • B41J2/005—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by bringing liquid or particles selectively into contact with a printing material
    • B41J2/01—Ink jet
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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Abstract

The invention discloses a control method, a control device, a terminal device and a storage medium of a multi-axis motion platform, which are applied to the multi-axis motion platform of OLED printing display equipment, wherein a spray head is arranged on a vertical axis of the multi-axis motion platform; the method comprises the following steps: determining the real-time relative position between the spray head and the obstacle in the travelling direction according to the distance information between the spray head and the obstacle raised on the surface of the multi-axis motion platform; calling a preset control barrier function to generate a motion constraint condition for the spray head according to the real-time relative position so as to conduct path real-time planning, wherein the control barrier function is obtained by combining an operation avoidance requirement and a control Lyapunov function; the control Lyapunov function is obtained by designing according to the control precision requirement; and controlling the spray head to move according to the planned obstacle avoidance path so as to avoid each obstacle in real time.

Description

Control method and device for multi-axis motion platform, terminal equipment and storage medium
Technical Field
The invention relates to the technical field of OLED display equipment manufacturing, in particular to a control method and device of a multi-axis motion platform, terminal equipment and a computer storage medium.
Background
The triaxial high-precision motion platform is used as a core motion component of the printing display equipment, and the quality of the control performance of the triaxial high-precision motion platform directly determines whether the quality of a printing display product meets the standard. The motion platform directly influences the error of the macro micro ink drop ejection landing point on the tracking precision of the OLED (Organic Light-Emitting Diode) ejection planning track, which also becomes an Organic laser display and an Organic Light-Emitting semiconductor, so as to influence the ejection effect of the corresponding pixel point; the operation stability and the safety of the platform are necessary preconditions for ensuring the normal operation of the jet printing process and the complete equipment to meet the application requirements of the industrial production line, and the damage of the spray head and other precise detection instruments on the equipment caused by accidental collision can be avoided.
However, in the aspect of precision tracking, the existing motion platform control system only adopts a basic PID (Proportion Integral Differential, a control algorithm combining three links of proportional, integral and differential) algorithm and an expansion algorithm thereof to realize positioning/scanning control and error compensation, but the mode cannot give strict mathematical proof about control stability and the range of the reachable tracking precision, so that the robustness and the tracking control precision of the system are difficult to ensure under a heavy load working condition. In addition, in the aspect of system operation safety, the existing system is not provided with active safety obstacle avoidance measures from the software algorithm level except for setting a hard limit and an emergency stop button of the limit position of a platform, so that the situation that a moving platform collides with a detection instrument or a spray head due to unstable system operation or misoperation of personnel is very easy to occur in the application process of actual equipment.
Disclosure of Invention
The invention mainly aims to provide a control method, a control device, a terminal device and a computer storage medium of a multi-axis motion platform, and aims to ensure that the motion platform applied to a printing display device can reach a planned track tracking precision index and can not accidentally collide with other components of equipment due to unstable system or misoperation of personnel in the operation process.
In order to achieve the above object, the present invention provides a control method of a multi-axis motion platform, which is applied to a multi-axis motion platform of a printing display device, wherein a spray head is installed on a vertical axis of the multi-axis motion platform;
the control method of the multi-axis motion platform comprises the following steps:
determining the real-time relative position between the spray head and the obstacle in the travelling direction according to the distance information between the spray head and the obstacle raised on the surface of the multi-axis motion platform;
calling a preset control obstacle function to generate a motion constraint condition for the spray head according to the real-time relative position so as to conduct real-time path planning, wherein the control obstacle function is obtained by combining an operation avoidance requirement and a control Lyapunov function, and the control Lyapunov function is obtained by designing according to a control precision requirement;
And controlling the spray head to move according to the planned obstacle avoidance path so as to avoid each obstacle in real time.
Optionally, the method further comprises:
and performing obstacle function design and Lyapunov function design based on a preset basic model, a control strategy and operation index requirements to obtain the optimized motion controller for planning the obstacle avoidance path.
Optionally, the method further comprises:
acquiring limit indexes of the spray head and shape information of the obstacle;
and performing obstacle function design according to the limit index and the shape information.
Optionally, the method further comprises:
and designing a Lyapunov function according to the control precision requirement and the controllable characteristic of the multi-axis motion platform.
Optionally, after the performing of the obstacle function design and the performing of the lyapunov function design, the method further includes:
discretizing the designed barrier function and Lyapunov function to obtain respective discrete functions;
and calculating according to the discrete function to obtain an optimized motion controller for planning the obstacle avoidance path.
Optionally, after the step of discretizing the designed barrier function and the lyapunov function to obtain respective discrete functions, the method further includes:
Performing mathematical proof on the discrete function;
and if the function of the discrete function is confirmed, executing the step of calculating the optimized motion controller for planning the obstacle avoidance path according to the discrete function.
Optionally, the nozzle is provided with a ranging sensor, and the method further comprises:
and detecting the distance between the vertical direction in which the spray head is positioned and the travelling direction of the spray head through the distance measuring sensor so as to obtain the distance information between the spray head and the convex obstacle on the surface of the multi-axis motion platform.
In addition, in order to achieve the above object, the present invention also provides a control device for a multi-axis motion platform, which is applied to a multi-axis motion platform of a printing display device, and a spray head is installed on a vertical axis of the multi-axis motion platform;
the control device of the multi-axis motion platform comprises the following steps:
the positioning module is used for determining the real-time relative position between the spray head and the obstacle in the travelling direction according to the distance information between the spray head and the obstacle raised on the surface of the multi-axis motion platform;
the path planning module is used for calling a preset control barrier function to generate a motion constraint condition aiming at the spray head according to the real-time relative position so as to carry out path real-time planning, wherein the control barrier function is obtained by combining an operation avoidance requirement and a control Lyapunov function, and the control Lyapunov function is obtained by designing according to a control precision requirement;
The control module is used for controlling the spray heads to move according to the planned obstacle avoidance paths so as to avoid the obstacles in real time.
The respective functional modules of the control device of the multi-axis motion platform implement the steps of the control method of the multi-axis motion platform as described above when running.
In addition, to achieve the above object, the present invention also provides a terminal device including: the multi-axis motion platform control system comprises a memory, a processor and a multi-axis motion platform control program which is stored in the memory and can run on the processor, wherein the multi-axis motion platform control program realizes the steps of the multi-axis motion platform control method when being executed by the processor.
In addition, in order to achieve the above object, the present invention also provides a computer storage medium having stored thereon a control program of a multi-axis motion platform, which when executed by a processor, implements the steps of the control method of a multi-axis motion platform as described above.
The control method, the control device, the terminal equipment and the computer readable storage medium of the multi-axis motion platform are applied to the multi-axis motion platform of the OLED printing display equipment, and a spray head is arranged on the vertical axis of the multi-axis motion platform. According to the distance information between the spray head and the obstacle raised on the surface of the multi-axis motion platform, the real-time relative position between the spray head and the obstacle in the advancing direction is determined; then, a preset control barrier function is called to generate a motion constraint condition for the spray head according to the real-time relative position so as to conduct path real-time planning, wherein the control barrier function is obtained by combining an operation avoidance requirement and a control Lyapunov function, and the control Lyapunov function is obtained by designing according to a control precision requirement; and finally, controlling the spray head to travel according to the planned obstacle avoidance path so as to avoid each obstacle in real time.
Compared with the control mode adopted by the traditional motion platform control system, the three-axis motion platform active safety controller suitable for the printing display equipment is designed by combining the control obstacle function and the control Li Yanuo Fu function, so that the three-axis motion platform can be controlled to perform independent lifting adjustment on the spray head along the vertical axis of the motion platform according to the distance information between the spray head and the convex obstacle on the platform, thereby realizing the active obstacle avoidance of the spray head for each obstacle, and further realizing the situation that the motion platform applied to the printing display equipment can not collide with other components accidentally due to unstable system or misoperation of personnel in the operation process while achieving the planned track tracking accuracy index.
Drawings
Fig. 1 is a schematic structural diagram of hardware operation of a terminal device according to an embodiment of the present invention;
FIG. 2 is a flow chart of an embodiment of a control method of a multi-axis motion platform according to the present invention;
FIG. 3 is a schematic diagram showing the relative positions of a nozzle and a device according to an embodiment of a control method for a multi-axis motion platform of the present invention;
FIG. 4 is a schematic diagram of obstacle avoidance motion of a showerhead and a platform according to an embodiment of the present invention;
FIG. 5 is a flow chart of an active obstacle avoidance design according to an embodiment of a method for controlling a multi-axis motion platform of the present invention;
fig. 6 is a schematic structural diagram of functional modules of a control device for a multi-axis motion platform according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a hardware running environment related to a terminal device according to an embodiment of the present invention.
It should be noted that, the terminal device related to the embodiment of the present invention may be a terminal device that integrates a motion platform control system to control a multi-axis motion platform of a printing display device. Wherein, install the shower nozzle on the vertical axle of multiaxis motion platform. In some specific application scenarios of the embodiments of the present invention, the terminal device related to the embodiments of the present invention may specifically be a terminal device such as a server, a personal computer, a tablet computer, a portable computer, or a smart phone.
As shown in fig. 1, the terminal device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a nonvolatile memory (e.g., flash memory), a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the terminal device structure shown in fig. 1 is not limiting of the terminal device and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a control program of the multi-axis motion platform may be included in the memory 1005, which is a type of computer storage medium. The operating system is a program for managing and controlling hardware and software resources of the sample terminal device, and supports the running of control programs and other software or programs of the multi-axis motion platform.
In the terminal device shown in fig. 1, the user interface 1003 is mainly used for data communication with each terminal; the network interface 1004 is mainly used for connecting a background server and carrying out data communication with the background server; and the processor 1001 may be configured to call a control program of the multi-axis motion platform stored in the memory 1005 and perform the steps of:
determining the real-time relative position between the spray head and the obstacle in the travelling direction according to the distance information between the spray head and the obstacle raised on the surface of the multi-axis motion platform;
Calling a preset control obstacle function to generate a motion constraint condition for the spray head according to the real-time relative position so as to conduct real-time path planning, wherein the control obstacle function is obtained by combining an operation avoidance requirement and a control Lyapunov function, and the control Lyapunov function is obtained by designing according to a control precision requirement;
and controlling the spray head to move according to the planned obstacle avoidance path so as to avoid each obstacle in real time.
Optionally, the processor 1001 may be further configured to invoke a control program of the multi-axis motion platform stored in the memory 1005, and perform the following steps:
and performing obstacle function design and Lyapunov function design based on a preset basic model, a control strategy and operation index requirements to obtain the optimized motion controller for planning the obstacle avoidance path.
Optionally, the processor 1001 may be further configured to invoke a control program of the multi-axis motion platform stored in the memory 1005, and perform the following steps:
acquiring limit indexes of the spray head and shape information of the obstacle;
and performing obstacle function design according to the limit index and the shape information.
Optionally, the processor 1001 may be further configured to invoke a control program of the multi-axis motion platform stored in the memory 1005, and perform the following steps:
And designing a Lyapunov function according to the control precision requirement and the controllable characteristic of the multi-axis motion platform.
Optionally, the processor 1001 may be further configured to call a control program of the multi-axis motion platform stored in the memory 1005, and further perform the following steps after performing the obstacle function design and the lyapunov function design:
discretizing the designed barrier function and Lyapunov function to obtain respective discrete functions;
and calculating according to the discrete function to obtain an optimized motion controller for planning the obstacle avoidance path.
Optionally, the processor 1001 may be further configured to call a control program of the multi-axis motion platform stored in the memory 1005, and further perform the following steps after performing the step of discretizing the designed barrier function and the lyapunov function to obtain respective discrete functions:
performing mathematical proof on the discrete function;
and if the function of the discrete function is confirmed, executing the step of calculating the optimized motion controller for planning the obstacle avoidance path according to the discrete function.
Optionally, the nozzle is provided with a ranging sensor, and the processor 1001 may be further configured to invoke a control program of the multi-axis motion platform stored in the memory 1005, and perform the following steps:
And detecting the distance between the vertical direction in which the spray head is positioned and the travelling direction of the spray head through the distance measuring sensor so as to obtain the distance information between the spray head and the convex obstacle on the surface of the multi-axis motion platform.
Based on the terminal equipment, various embodiments of the control method of the multi-axis motion platform are provided, and the control method of the multi-axis motion platform is applied to the multi-axis motion platform of the OLED printing display equipment.
It should be noted that, in this embodiment, the three-axis high-precision motion platform is used as a core motion component of the printing display device, and its control performance directly determines whether the quality of the printing display product meets the standard. The tracking precision of the motion platform on the jet printing planned track directly influences the error of the macro micro ink drop jet landing point, and then influences the jet printing effect of the corresponding pixel point; the operation stability and the safety of the platform are necessary preconditions for ensuring the normal operation of the jet printing process and the complete equipment to meet the application requirements of the industrial production line, and the damage of the spray head and other precise detection instruments on the equipment caused by accidental collision can be avoided.
However, in the aspect of precision tracking, the existing motion platform control system only adopts a basic PID algorithm and an expansion algorithm thereof to realize positioning/scanning control and error compensation, but the mode cannot give strict mathematical proof about control stability and the reachable range of tracking precision, so that the robustness and the tracking control precision of the system are difficult to ensure under the heavy load working condition. In addition, in the aspect of system operation safety, the existing system is not provided with active safety obstacle avoidance measures from the software algorithm level except for setting a hard limit and an emergency stop button of the limit position of a platform, so that the situation that a moving platform collides with a detection instrument or a spray head due to unstable system operation or misoperation of personnel is very easy to occur in the application process of actual equipment.
In view of the above phenomena, the present invention proposes a control method of a multi-axis motion platform applied to a multi-axis motion platform of a printing display device, which determines a real-time relative position between a nozzle and an obstacle in a traveling direction according to distance information between the nozzle and the obstacle raised on a surface of the multi-axis motion platform; then, a preset control barrier function is called to generate a motion constraint condition for a spray head according to a real-time relative position so as to conduct path real-time planning, wherein the control barrier function is obtained by combining an operation avoidance requirement and a control Lyapunov function, and the control Lyapunov function is obtained by designing according to a control precision requirement; and finally, controlling the spray head to travel according to the planned obstacle avoidance path so as to avoid each obstacle in real time.
Therefore, compared with a control mode adopted by a traditional motion platform control system, the three-axis motion platform active safety controller suitable for the printing display equipment is designed by combining the control obstacle function and the control Li Yanuo Fu function, and the three-axis motion platform active safety controller can control the three-axis motion platform to perform independent lifting adjustment on the spray head along the vertical axis of the motion platform according to the distance information between the spray head and the convex obstacle on the platform, so that the spray head can actively avoid obstacles, and further, the situation that the spray head is accidentally collided with other components due to unstable system or misoperation of personnel in the operation process can be avoided when the motion platform applied to the printing display equipment reaches the planned track tracking precision index is realized.
Optionally, referring to fig. 2, fig. 2 is a flow chart of a control method of the multi-axis motion platform according to a first embodiment of the present invention. It should be noted that although a logic sequence is shown in the flowchart, in some cases, the control method of the multi-axis motion platform of the present invention may of course perform the steps shown or described in a different order than that shown. In addition, for easy understanding and explanation, the embodiment of the present invention specifically explains the control method of the multi-axis motion platform according to the present invention with the above-mentioned terminal device as the execution body.
In a first embodiment of the control method of a multi-axis motion platform of the present invention, the control method of a multi-axis motion platform of the present invention includes:
step S10, determining the real-time relative position between the spray head and the obstacle in the travelling direction according to the distance information between the spray head and the obstacle raised on the surface of the multi-axis motion platform;
in this embodiment, in the process of starting the three-axis motion platform, the terminal device detects, in real time, the distance between the nozzle and the obstacle protruding on the surface of the three-axis motion platform through the ranging sensor installed on the nozzle and flush with the working surface of the nozzle, so as to obtain the distance information between the nozzle and the obstacle, and then, the terminal device further determines, according to the distance information, the real-time relative position between the nozzle and the obstacle in the current working travelling direction of the nozzle.
Step S20, a preset control barrier function is called, a motion constraint condition aiming at the spray head is generated according to the real-time relative position so as to conduct path real-time planning, wherein the control barrier function is obtained by combining an operation avoidance requirement and a control Lyapunov function, and the control Lyapunov function is obtained by designing according to a control precision requirement;
in this embodiment, after determining the real-time relative position between the nozzle and the obstacle raised on the surface of the triaxial moving platform, the intelligent terminal immediately invokes an optimized motion controller designed by combining the control obstacle function and the control lyapunov function in advance, so as to generate a motion constraint condition for the nozzle in the travelling process of the nozzle according to the real-time relative position to perform real-time path planning, thereby obtaining the obstacle avoidance path of the nozzle for the obstacle.
And S30, controlling the spray heads to travel according to the planned obstacle avoidance paths so as to avoid the obstacles in real time.
In this embodiment, after performing real-time path planning to obtain an obstacle avoidance path of the nozzle for the obstacle raised on the surface of the triaxial moving platform, the intelligent terminal may immediately control the actuators of each axis of the triaxial moving platform to control the nozzle to walk according to the obstacle avoidance path so as to avoid the obstacle.
Optionally, referring to fig. 3, fig. 3 is a schematic diagram illustrating a relative position of a nozzle and a device according to an embodiment of a control method of a multi-axis motion platform of the present invention. As shown in fig. 3, in the present embodiment, a three-axis motion platform in a printing display apparatus (also referred to as a printing display device) is used as a core component for realizing printing, and a head is mounted on a vertical axis-Z axis of the three-axis motion platform, and the head can be translated in a vertical direction based on the rising and falling of the Z axis. Meanwhile, the spray head can translate relative to a horizontal plane formed by the other two axes of the triaxial motion platform, namely an X axis and a Y axis. Since the surface of the three-axis motion stage is provided with various detecting devices (the illustrated devices 1 and 2) along the X-axis direction, when the head translates at a low height, the head may collide with the detecting devices protruding from the surface of the three-axis motion stage, thereby causing damage to the instruments and devices.
It should be noted that, in this embodiment, the obstacle protruding from the surface of the triaxial motion platform is specifically one or more detection devices protruding from the surface of the triaxial motion platform.
In addition, as shown in fig. 3, when the spray head and the triaxial moving platform have relative motion and the spray head is not crashproof, if the Z axis cannot be automatically adjusted to lift to avoid the obstacle, and the position of the spray head is lower than the height of each detection device, the spray head is easy to collide with the valuable detection device once misoperation of personnel occurs. However, the limit of the spray printing device is only arranged at two ends of the whole movement axis, and the problem of collision prevention in the movement stroke is not considered, and the situation occurs in the debugging operation. Based on the method, the terminal equipment runs the steps S10, S20 and S30 to realize the avoidance of the nozzle to the obstacle in the moving path by adopting the active safety motion control strategy, and the positioning precision of the nozzle is ensured at the same time.
Alternatively, in one possible embodiment, the above-mentioned shower head mounted on the Z axis of the three-axis motion platform is provided with a distance measuring sensor for detecting distance information between a lower portion of the shower head and an obstacle protruding from an upper surface of the three-axis motion platform.
Based on this, the control method of the multi-axis motion platform of the invention further comprises:
and detecting the distance between the vertical direction in which the spray head is positioned and the travelling direction of the spray head through the distance measuring sensor so as to obtain the distance information between the spray head and the convex obstacle on the surface of the multi-axis motion platform.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating obstacle avoidance motions of a showerhead and a platform according to an embodiment of the control method of the multi-axis motion platform of the present invention. In this embodiment, the implementation idea adopted by the control method of the multi-axis motion platform of the present invention may be specifically:
(1) The distance measuring sensor is arranged flush with the working surface of the spray head, the detection direction is respectively vertical downward and the advancing direction of the spray head on a plane formed by the X axis and the Y axis of the triaxial motion platform, so that the distance information of each detection device protruding on the surface of the triaxial motion platform relative to the spray head can be obtained based on the distance measuring sensor;
(2) Acquiring real-time relative position change between the spray head and an obstacle in the travelling direction based on distance information of the spray head relative to each detection device protruding on the surface of the triaxial motion platform, so as to generate motion constraint conditions according to a designed control obstacle function, and further planning to obtain an optimal avoidance path;
(3) And according to the optimal avoidance path planned in real time, the actuators of the shafts of the three-shaft motion platform jointly control the spray head to track the optimal avoidance track to advance, so that the spray head actively performs real-time avoidance on each detection device in the motion process.
In the embodiment, the control method of the multi-axis motion platform can enable the three-axis motion platform to automatically lift and adjust the spray head along the vertical direction of the Z axis according to the distance information between the lower part of the spray head and the obstacle measured in real time by the ranging sensor by adopting the thought, so that the active obstacle avoidance function of the lower part of the spray head on each obstacle is realized.
In this embodiment, in the process of starting the three-axis motion platform, the terminal device detects, in real time, the distance between the nozzle and the obstacle protruding on the surface of the three-axis motion platform through the ranging sensor installed on the nozzle and flush with the working surface of the nozzle, so as to obtain the distance information between the nozzle and the obstacle, and then, the terminal device further determines, according to the distance information, the real-time relative position between the nozzle and the obstacle in the current working travelling direction of the nozzle. And the terminal equipment calls an optimized motion controller which is designed by combining the control obstacle function and the control Lyapunov function in advance to generate a motion constraint condition of the spray head in the travelling process of the spray head according to the real-time relative position so as to conduct real-time planning of a path, thereby obtaining the obstacle avoidance path of the spray head aiming at the obstacle. Therefore, after the intelligent terminal performs real-time path planning to obtain the obstacle avoidance path of the spray head aiming at the convex obstacle on the surface of the triaxial moving platform, the actuator of each axis of the triaxial moving platform can be immediately controlled to control the spray head to walk according to the obstacle avoidance path so as to avoid the obstacle.
Compared with the control mode adopted by the traditional motion platform control system, the three-axis motion platform active safety controller suitable for the printing display equipment is designed by combining the control obstacle function and the control Li Yanuo Fu function, so that the three-axis motion platform can be controlled to perform independent lifting adjustment on the spray head along the vertical axis of the motion platform according to the distance information between the spray head and the convex obstacle on the platform, thereby realizing the active obstacle avoidance of the spray head for each obstacle, and further realizing the situation that the motion platform applied to the printing display equipment can not collide with other components accidentally due to unstable system or misoperation of personnel in the operation process while achieving the planned track tracking accuracy index.
Alternatively, based on the first embodiment of the control method of the multi-axis motion platform of the present invention described above, a second embodiment of the control method of the multi-axis motion platform of the present invention is proposed. In this embodiment, the control method of the multi-axis motion platform of the present invention also uses the terminal device as the execution body.
In the embodiment of the present invention, the control method of the multi-axis motion platform of the present invention may further include:
And performing obstacle function design and Lyapunov function design based on a preset basic model, a control strategy and operation index requirements to obtain the optimized motion controller for planning the obstacle avoidance path.
In this embodiment, before the terminal device calls the control obstacle function to plan the path in real time according to the detected real-time relative position between the nozzle and the obstacle, the design of the optimal objective function and the controller is performed in advance based on the continuous control obstacle function (Control Barrier Function, CBF) and the combination control lyapunov function (Control Lyapunov Function, CLF) so as to realize the above thought of actively avoiding the obstacle by planning the avoidance path in real time.
In this embodiment, the terminal device designs a high-precision safe motion control strategy by considering the influence factors such as the variable load of the triaxial motion platform, the deformation of the mechanism, the perturbation of the structural parameters and the like and combining the Control Barrier Function (CBF) and the Control Lyapunov Function (CLF), so that the control of the triaxial motion platform in the printing display device meets the high-precision, high-efficiency and general industrial safe application requirements.
Optionally, referring to fig. 5, fig. 5 is a flow chart of an active obstacle avoidance design according to an embodiment of a control method of the multi-axis motion platform of the present invention. In a possible embodiment, when the terminal device executes the control method of the multi-axis motion platform of the present invention to perform the design of the optimal objective function and the controller based on the continuous control barrier function and the combination control lyapunov function, the method may further include:
Acquiring limit indexes of the spray head and shape information of the obstacle;
and performing obstacle function design according to the limit index and the shape information.
In this embodiment, in the process of designing the optimal objective function and the controller based on the continuous control barrier function and the combination control lyapunov function, the terminal device first establishes a dynamic linear model of the three-axis motion platform as a basis for designing the model-based controller, and then the terminal device can obtain the limit index of the nozzle and the shape information of the barrier input by the design developer, so that according to the limit index and the shape information, a proper barrier function (CBF) is designed as a constraint condition for performing optimization calculation subsequently to obtain the barrier avoidance path.
Optionally, in another possible embodiment, the control method of the multi-axis motion platform of the present invention may further include:
and designing a Lyapunov function according to the control precision requirement and the controllable characteristic of the triaxial motion platform.
In this embodiment, after designing a proper barrier function (CBF) as a constraint condition for obtaining an obstacle avoidance path by performing optimization calculation subsequently, the terminal device further obtains a positioning control precision index requirement of a nozzle input by a design developer, so that based on the positioning control precision index requirement and the controllable characteristic of the three-axis motion platform, a lyapunov function (CLF) for determining the stability of the control system is designed as another constraint condition for guaranteeing the high-precision tracking of the obstacle avoidance path of the subsequent system.
In this embodiment, the controllable characteristics of the triaxial motion platform may be specifically obtained by modeling analysis through a terminal device.
Optionally, in another possible embodiment, after performing the obstacle function design and performing the lyapunov function design, the control method of the multi-axis motion platform of the present invention may further include:
discretizing the designed barrier function and Lyapunov function to obtain a discrete function;
and calculating according to the discrete function to obtain an optimized motion controller for planning the obstacle avoidance path.
In this embodiment, since the designed algorithm is applied to the actual mechanical system, and in order to reduce the complexity of optimization computation, after designing a proper barrier function (CBF) as a constraint condition for obtaining the obstacle avoidance path by performing optimization computation subsequently, and designing a lyapunov function (CLF) for determining the stability of the control system as another constraint condition for ensuring the high-precision tracking of the obstacle avoidance path subsequently, the terminal device may further perform discretization processing on the designed barrier function (CBF) and lyapunov function (CLF).
In this embodiment, the discrete barrier function (CBF) and the lyapunov function (CLF) may be expressed as:
ΔV(x k ,u k )+αV(x k )≤δ，0≤α≤1
Δh(x k ,u k )+γh(x k )≥0，0≤γ≤1
Wherein k represents each discrete sampling instant, x k Representing the three-dimensional motion state (displacement, velocity, acceleration) corresponding to each sampling time, u k Representing a three-dimensional motion control law corresponding to each sampling moment; v represents CLF, delta is larger than or equal to 0 and is a relaxation factor, the relaxation factor is used for adjusting the conflict problem of discrete CBF and CLF in optimization calculation, and alpha is a control precision constraint parameter to be designed; h represents CBF and satisfies security set
Figure BDA0003919124200000131
The security parameter gamma to be designed meets 0<γ≤1。
Then, the intelligent terminal takes the discrete function as a constraint condition, simultaneously combines the actual working condition of the jet printing process to give out the moving state and the reachable range of the control law (voltage value), and designs a robust model prediction track tracking control strategy so as to realize the simultaneous improvement of the tracking precision and the robustness of the control system.
It should be noted that, in the present embodiment, when designing the controller, the optimal objective function of the control obstacle function for planning the obstacle avoidance path may be specifically expressed as:
Figure BDA0003919124200000132
s.t.x t+k+1|t ＝f(x t+k|t ,u t+k|t ),k＝0,...,N-1
ΔV(x t+k|t ,u t+k|t )+αV(x t+k|t )≤δ,k＝0,...,N-1
Δh(x t+k|t ,u t+k|t )≥-γh(x t+k|t ),k＝0,...,N-1
x t+k|t ∈χ,u t+k|t ∈U,k＝0,...,N-1
x t|t ＝x t ,x t+N|t ∈χ f
wherein J is * Represents the optimal objective function, t represents a certain sampling time, x t+k|t And u t+k|t Respectively representing the motion state and the corresponding control law at the t+k time predicted at the t time, f representing the system dynamics equation, N representing the prediction time domain, the third and fourth formulas respectively representing the constraint conditions formed by the discrete CLF and CBF functions, the fifth formulas respectively representing the motion state and the control law reachable range in the prediction time domain, and the sixth formula x t And χ (x) f The reachable range of the initial state and the final state of each dimension motion are respectively represented. When the optimization calculation of the safety critical control is performed, the stability and feasibility of the controlled system need to be discussed.
Optionally, in a possible embodiment, after the step of discretizing the designed barrier function and the lyapunov function to obtain a discrete function, the control method of the multi-axis motion platform of the present invention may further include:
performing mathematical proof on the discrete function;
and if the function of the discrete function is confirmed, executing the step of calculating the optimized motion controller for planning the obstacle avoidance path according to the discrete function.
In this embodiment, after the terminal device designs the controller based on the discrete control function, feasibility analysis and stability mathematical proof can be further performed on the control strategy obtained by design, and if the result is obtained, the triaxial motion platform active safety control controller suitable for the printing display device is obtained.
It should be noted that, in this embodiment, the feasible solution of the above-mentioned optimization problem may ensure that the safety set C related to the obstacle function (CBF) is a constant set in the discrete process, so that the triaxial motion system may accurately track the desired track under the disturbance working condition. At this time, if the CBF function h (x k ,u k ) The terminal equipment can obtain the real-time change condition of the state by designing a system state observer based on a second-order sliding mode theory.
In this embodiment, the control method of the multi-axis motion platform according to the present invention is applicable to active safety control of the three-axis motion platform of the OLED printing display device by using the active safety control controller obtained through the design flow. In addition, the embodiment of the invention realizes the autonomous obstacle avoidance action of various precise observation devices on the relative horizontal axis when the spray head arranged on the vertical motion axis is displaced by designing the control obstacle function (CBF), thereby preventing accidental collision.
In addition, the control method of the multi-axis motion platform is based on consideration of influence factors such as variable load (a spray head module), guide rail deformation and the like, and achieves the high-precision tracking/positioning function of the three-axis motion platform of the printing display device under the influence of system parameter perturbation and the like caused by variable load and environmental factors by designing and controlling the Lyapunov function and combining with a robust model prediction control strategy.
In addition, referring to fig. 3, the embodiment of the invention further provides a control device for a multi-axis motion platform, which is applied to the multi-axis motion platform of the printing display device, wherein a spray head is installed on a vertical axis of the three-axis motion platform;
The control device of the multi-axis motion platform of the invention comprises:
a positioning module 10, configured to determine a real-time relative position between the nozzle and an obstacle in a traveling direction according to distance information between the nozzle and the obstacle raised on the surface of the multi-axis motion platform;
the path planning module 20 is configured to invoke a preset control barrier function to generate a motion constraint condition for the nozzle according to the real-time relative position so as to perform path real-time planning, where the control barrier function is designed by combining an operation avoidance requirement and a control lyapunov function, and the control lyapunov function is designed according to a control precision requirement;
and the control module 30 is used for controlling the spray head to travel according to the planned obstacle avoidance path so as to avoid each obstacle in real time.
Optionally, the control device of the multi-axis motion platform of the present invention further includes:
the function design module is used for carrying out obstacle function design and Lyapunov function design based on a preset basic model, a control strategy and operation index requirements to obtain the optimized motion controller for planning the obstacle avoidance path.
Optionally, the function design module is further configured to obtain a limit indicator of the nozzle and shape information of the obstacle; and performing obstacle function design according to the limit index and the shape information.
Optionally, the function design module is further configured to design a lyapunov function according to the control precision requirement and the controllable characteristic for the multi-axis motion platform.
Optionally, the function design module is further configured to perform discretization processing on the designed barrier function and the lyapunov function to obtain a discrete function; and calculating an optimized motion controller for planning the obstacle avoidance path according to the discrete function.
Optionally, the function design module is further configured to perform mathematical proof on the discrete function; and if the function of the discrete function is confirmed, executing the step of calculating the optimized motion controller for planning the obstacle avoidance path according to the discrete function.
Optionally, a distance measuring sensor is installed on the spray head, and the positioning module 10 is further configured to perform distance detection in a vertical direction in which the spray head is located and a traveling direction of the spray head through the distance measuring sensor, so as to obtain distance information between the spray head and the protruding obstacle on the surface of the triaxial motion platform.
The steps implemented by each functional module of the control device for a multi-axis motion platform according to the present invention during operation may refer to each embodiment of the control method for a multi-axis motion platform according to the present invention, which is not described herein again.
In addition, the embodiment of the invention also provides a terminal device, which comprises: the control method comprises the steps of a memory, a processor and a control program of a multi-axis motion platform, wherein the control program is stored in the memory and can run on the processor, and the control program of the multi-axis motion platform is executed by the processor to realize the control method of the multi-axis motion platform.
The steps implemented when the control program of the multi-axis motion platform running on the processor is executed may refer to various embodiments of the control method of the multi-axis motion platform of the present invention, which are not described herein again.
In addition, the embodiment of the invention also provides a computer storage medium, which is applied to a computer, wherein the computer storage medium can be a nonvolatile computer readable computer storage medium, a control program of a multi-axis motion platform is stored on the computer storage medium, and the control of the motion platform is executed by a processor to realize the steps of the control method of the multi-axis motion platform.
The steps implemented when the control program of the multi-axis motion platform running on the processor is executed may refer to various embodiments of the control method of the multi-axis motion platform of the present invention, which are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a computer storage medium (such as a Flash memory, a ROM/RAM, a magnetic disk, an optical disk), comprising several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.), a controller for controlling the storage medium to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims (10)

1. The control method of the multi-axis motion platform is characterized in that the control method of the multi-axis motion platform is applied to the multi-axis motion platform of OLED printing display equipment, and a spray head is arranged on a vertical axis of the multi-axis motion platform;
the control method of the multi-axis motion platform comprises the following steps:
determining the real-time relative position between the spray head and the obstacle in the travelling direction according to the distance information between the spray head and the obstacle raised on the surface of the multi-axis motion platform;
calling a preset control obstacle function to generate a motion constraint condition for the spray head according to the real-time relative position so as to conduct real-time path planning, wherein the control obstacle function is obtained by combining an operation avoidance requirement and a control Lyapunov function, and the control Lyapunov function is obtained by designing according to a control precision requirement;
And controlling the spray head to move according to the planned obstacle avoidance path so as to avoid each obstacle in real time.
2. The method of controlling a multi-axis motion platform according to claim 1, wherein the method further comprises:
and performing obstacle function design and Lyapunov function design based on a preset basic model, a control strategy and operation index requirements to obtain the optimized motion controller for planning the obstacle avoidance path.
3. The method of controlling a multi-axis motion platform according to claim 2, wherein the method further comprises:
acquiring limit indexes of the spray head and shape information of the obstacle;
and performing obstacle function design according to the limit index and the shape information.
4. A method of controlling a multi-axis motion platform according to claim 2 or 3, wherein the method further comprises:
and designing a Lyapunov function according to the control precision requirement and the controllable characteristic of the multi-axis motion platform.
5. The method of controlling a multi-axis motion platform according to claim 4, wherein after the performing of the obstacle function design and the performing of the lyapunov function design, the method further comprises:
Discretizing the designed barrier function and Lyapunov function to obtain respective discrete functions;
and calculating according to the discrete function to obtain an optimized motion controller for planning the obstacle avoidance path.
6. The method for controlling a multi-axis motion platform according to claim 5, wherein after the step of discretizing the designed barrier function and lyapunov function to obtain respective discrete functions, the method further comprises:
performing mathematical proof on the discrete function;
and if the function of the discrete function is confirmed, executing the step of calculating the optimized motion controller for planning the obstacle avoidance path according to the discrete function.
7. The control method of a multi-axis motion platform according to claim 1, wherein the shower head is mounted with a ranging sensor, the method further comprising:
and detecting the distance between the vertical direction in which the spray head is positioned and the travelling direction of the spray head through the distance measuring sensor so as to obtain the distance information between the spray head and the convex obstacle on the surface of the multi-axis motion platform.
8. The control device of the multi-axis motion platform is characterized in that the control device of the multi-axis motion platform is applied to the multi-axis motion platform of OLED printing display equipment, and a spray head is arranged on a vertical axis of the multi-axis motion platform;
The control device of the multi-axis motion platform comprises:
the positioning module is used for determining the real-time relative position between the spray head and the obstacle in the travelling direction according to the distance information between the spray head and the obstacle raised on the surface of the multi-axis motion platform;
the path planning module is used for calling a preset control barrier function to generate a motion constraint condition aiming at the spray head according to the real-time relative position so as to carry out path real-time planning, wherein the control barrier function is obtained by combining an operation avoidance requirement and a control Lyapunov function, and the control Lyapunov function is obtained by designing according to a control precision requirement;
the control module is used for controlling the spray heads to move according to the planned obstacle avoidance paths so as to avoid the obstacles in real time.
9. A terminal device, characterized in that the terminal device comprises: memory, a processor and a control program for a multi-axis motion platform stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the control method for a multi-axis motion platform according to any one of claims 1 to 7.
10. A computer storage medium, wherein a control program of a multi-axis motion platform is stored on the computer storage medium, and the control program of the multi-axis motion platform, when executed by a processor, implements the steps of the control method of the multi-axis motion platform according to any one of claims 1 to 7.
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