CN116931508A - Multi-axis intelligent servo driving and controlling integrated control system based on motion model - Google Patents
Multi-axis intelligent servo driving and controlling integrated control system based on motion model Download PDFInfo
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- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
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Abstract
The application relates to the technical field of industrial automation, and particularly discloses a multi-axis intelligent servo driving and controlling integrated control system based on a motion model, which comprises the following components: the intelligent servo system comprises a central controller, an intelligent servo driver, a sensor, a motion model and a communication interface; the central controller is respectively connected with the intelligent servo driver and the sensor on each shaft through communication interfaces; the multi-axis intelligent servo driving and controlling integrated control system has the characteristics of high-precision control, flexibility, instantaneity and the like; the high-precision control of each shaft can be realized through the cooperative work of the motion model and the intelligent servo driver, so that the processing quality and the production efficiency are improved; the quick response of the intelligent servo driver and the high-efficiency operation capability of the control algorithm enable the system to realize real-time; and the motion model can be customized and optimized according to specific application requirements, so that the motion model is suitable for different motion tracks and working environments.
Description
Technical Field
The application relates to the technical field of industrial automation, in particular to a multi-axis intelligent servo driving and controlling integrated control system based on a motion model.
Background
The multi-axis motion control system is a control system combining a plurality of motion control axes and is used for controlling a plurality of motors to realize complex motion track control and position accurate positioning. Multi-axis motion control systems are typically composed of a motion controller, a motor drive, and a mechanical structure. The motor driver converts the command sent by the motion controller into a signal which can be understood by the motor to drive the motor to move. The mechanical structure converts kinetic energy converted by the motor into physical motion, so that motion control of equipment such as robots, machine tools and the like is realized. Along with the continuous improvement of the industrial automation degree, the multi-axis motion control system has become an important component part of modern industrial automatic production due to the advantages of high precision, high efficiency, high flexibility, high complexity and the like, and is widely applied to the fields of robots, CNC machine tools, automatic production lines, semiconductor manufacturing, electronic equipment manufacturing and the like.
The traditional multi-axis motion control system generally adopts a decentralized control architecture, each axis is provided with an independent controller and a driver, interference and conflict are easy to generate among the axes, and the motion precision and stability of the multi-axis motion control system are difficult to meet the requirements of high-precision processing and motion; the multiple shafts cannot accurately synchronously move according to a preset motion model, and the cooperative work effect is poor; in addition, the distributed control architecture has the problems of high system complexity, difficult installation and maintenance and the like. Based on the above statement, the application provides a multi-axis intelligent servo driving and controlling integrated control system based on a motion model.
Disclosure of Invention
In order to improve the motion precision and stability of a multi-axis motion control system in the prior art, improve the cooperative work effect among a plurality of axes and simplify the control system, the application provides a multi-axis intelligent servo driving and control integrated control system based on a motion model.
The application provides a multi-axis intelligent servo driving and controlling integrated control system based on a motion model, which adopts the following technical scheme:
a multi-axis intelligent servo driving and controlling integrated control system based on a motion model comprises a central controller, an intelligent servo driver, a sensor, the motion model and a communication interface; the central controller is respectively connected with the intelligent servo driver and the sensor on each shaft through communication interfaces;
the central controller calculates control instructions of all the shafts based on a pre-established motion model and sends the control instructions to intelligent servo drivers of the corresponding shafts through a communication interface; meanwhile, the central controller is also responsible for receiving feedback information from the sensor and adjusting the motion model according to the actual state so as to realize closed-loop control.
The intelligent servo driver is arranged on each shaft, a motion control algorithm and a feedback mechanism are arranged in the intelligent servo driver, the motor output can be adjusted in real time according to a received control instruction, and the actual state is fed back to the central controller;
the sensor is arranged on each shaft and used for acquiring the actual state information of each shaft in real time and feeding the actual state information back to the central controller for error calculation and control decision;
the motion model is used for describing motion behaviors and track planning of each axis, and the central controller calculates control instructions of each axis according to the motion model and controls motion of each axis.
The communication interface is used for connecting the central controller, the intelligent servo driver and the sensor so as to realize data exchange and control command transmission among all components in the control system.
By adopting the technical scheme, the control system adopts a centralized control architecture, integrates the control of each shaft into a central controller, realizes multi-shaft cooperative control based on a motion model through the centralized control architecture, an intelligent servo driver and sensor feedback, and effectively reduces the complexity and maintenance cost of a control system; the central controller calculates and transmits corresponding control instructions of all the shafts according to a pre-established motion model, so that the cooperative work among multiple shafts is realized; by reasonably planning and scheduling the motion trail of the shafts, the synchronous motion between the shafts is ensured, interference and conflict are avoided, and the motion precision and stability of multi-shaft control are ensured; the application utilizes the feedback of the intelligent servo driver and the sensor to realize accurate shaft control; the intelligent servo driver is internally provided with a control algorithm and a feedback mechanism, and can adjust the output of the motor in real time so as to reach the preset position, speed and acceleration; the sensor is used for acquiring the state information of the shaft in real time, and feeding the state information back to the central controller for error calculation and control decision, so that the motion precision and stability are improved.
Preferably, the central controller comprises a main control unit, a memory and an input/output interface;
the main control unit is responsible for executing a motion model control algorithm and motion planning and generating corresponding control instructions; the main control unit is a microprocessor or a microcontroller;
the memory is used for storing the motion model, data and instructions; the memory comprises a fixed memory and a temporary memory;
the input/output interface is used for connecting the communication interface, so as to realize the connection of the intelligent servo driver and the sensor, thereby realizing data exchange; the input/output interfaces include digital input output DIO, analog input output AIO, ethernet interfaces.
By adopting the technical scheme, the central controller generates control instructions of all the shafts according to a preset motion model, controls the motion of the shafts, and ensures that all the shafts perform accurate motion according to a set path, speed and acceleration; the motion among the multiple shafts is coordinated, so that the multiple shafts can work synchronously, interference and conflict are avoided, the multiple shafts work cooperatively, and complex motion tasks are realized; the central controller receives feedback information from the sensors, compares differences between actual states and expected states, performs error correction according to a control algorithm, further realizes closed-loop control, and enables actual movement of each shaft to be consistent with expected movement by continuously adjusting control instructions, so that movement precision and stability are improved.
Preferably, the intelligent servo driver comprises a motor driving circuit, a control algorithm and a position feedback sensor;
the motor driving circuit is used for controlling the current and voltage output of the motor, and adjusting motor driving parameters according to the received control instruction so as to realize accurate motor control;
the control algorithm is used for analyzing the control instruction and realizing closed-loop control; the control algorithm comprises a position loop, a speed loop and a current loop, so that the motor is ensured to be accurately controlled according to the preset motion model requirement;
the position feedback sensor is used for measuring the position of the motor in real time and feeding back the actual position to the intelligent servo driver so as to compare with the control instruction and correct errors.
By adopting the technical scheme, the intelligent servo driver can adjust parameters of motor driving according to control instructions, provide current and voltage output and drive the motor to perform accurate motion; the intelligent servo driver monitors the position of the motor in real time through a position feedback sensor, compares the position with a control command, and makes the actual movement of the motor consistent with the expected movement through error correction and adjustment of a control signal by utilizing an internal control algorithm; meanwhile, the intelligent servo driver feeds back the state information of the motor to the central controller in real time through the communication interface so as to ensure the stability and accuracy of the control system.
Preferably, the sensor comprises a position sensor, a speed sensor, an acceleration sensor, a force sensor, a pressure sensor and a temperature sensor; the position sensor is used for measuring the angle or linear displacement of the shaft and converting the position information into a digital signal to be output; the speed sensor is used for measuring the speed of the shaft; the speed sensor is a Hall sensor or a photoelectric encoder; the acceleration sensor is used for measuring the acceleration of the shaft and providing acceleration change information; the force sensor is used for measuring the stress condition of the shaft, including measuring the magnitude and direction of the force; the pressure sensor is used for measuring the pressure of the hydraulic pressure or the air pressure in the control system and providing pressure change information of the hydraulic pressure or the air pressure system; the temperature sensor provides real-time temperature information for temperature compensation, overheat protection and temperature monitoring.
By adopting the technical scheme, the sensor has the function of providing real-time feedback information and is used for realizing closed-loop control, monitoring the system state and optimizing a control algorithm; the state and the running condition in the control system are monitored by using the sensor, faults, out-of-range motions, load changes and the like are detected, and corresponding signals or alarms are sent to ensure the safe running of the system; the real-time feedback information provided by the sensor can be used for optimizing a control algorithm and adjusting parameters, and the control strategy can be improved and the response speed, stability and accuracy of the system can be improved by analyzing the sensor data.
Preferably, the motion model is a dynamics model established based on a physical principle or a trajectory model is generated based on a planning algorithm.
By adopting the technical scheme, the motion model provides basic data and algorithm support for the central controller so as to realize accurate shaft motion control; by combining the mechanical structure and the kinematic relation, generating a track planning result meeting the requirements so as to realize smooth and efficient motion control; the central controller can predict the motion behavior and response characteristic of each shaft through a motion model, and predict the position, speed and acceleration of each shaft and the system response under different control instructions; the method is beneficial to optimizing a control algorithm and adjusting a control strategy so as to improve the motion precision and the stability of the system; in addition, the motion model defines the relevance and coordination rules between the shafts, so that a plurality of shafts can work cooperatively to realize complex motion tasks; the central controller can generate coordination control instructions by utilizing information provided by the motion model, so that motions among multiple axes are coordinated and consistent, and interference and conflict are avoided.
In summary, the application has the following beneficial effects:
the application provides a multi-axis intelligent servo driving and controlling integrated control system based on a motion model, which has the characteristics of high-precision control, flexibility, instantaneity and the like; the high-precision control of each shaft can be realized through the cooperative work of the motion model and the intelligent servo driver, so that the processing quality and the production efficiency are improved; the quick response of the intelligent servo driver and the high-efficiency operation capability of the control algorithm enable the system to realize real-time; and the motion model can be customized and optimized according to specific application requirements, so that the motion model is suitable for different motion tracks and working environments.
Detailed Description
The present application will be described in further detail with reference to examples.
Examples
A multi-axis intelligent servo driving and controlling integrated control system based on a motion model comprises a central controller, an intelligent servo driver, a sensor, the motion model and a communication interface;
the central controller comprises a main control unit, a memory and an input/output interface; the main control unit is responsible for executing a motion model control algorithm and motion planning and generating corresponding control instructions; the main control unit is a microprocessor (in other embodiments, the main control unit may also be a microcontroller); the memory is used for storing the motion model, data and instructions; the memory comprises a fixed memory and a temporary memory; the input/output interface is used for connecting the communication interface, so as to realize the connection of the intelligent servo driver and the sensor, thereby realizing data exchange; the input/output interfaces include digital input output DIO, analog input output AIO, ethernet interfaces.
The intelligent servo driver comprises a motor driving circuit, a control algorithm and a position feedback sensor; the motor driving circuit is used for controlling the current and voltage output of the motor, and adjusting motor driving parameters according to the received control instruction so as to realize accurate motor control; the control algorithm is used for analyzing the control instruction and realizing closed-loop control;
the control algorithm comprises a position loop, a speed loop and a current loop, so that the motor is ensured to be accurately controlled according to the preset motion model requirement;
in the present embodiment, the position loop, the speed loop, and the current loop correspond to position control, speed control, and current control in the control system, respectively;
the position loop controller aims to minimize the error between the actual position and the desired position; the position of the motor is controlled according to feedback information of the position sensor so that the actual position is consistent with the expected position; the algorithm formula of the position loop generally adopts a PID controller, and the basic form is as follows:
wherein mu p Is the control output of the position loop, e is the position error (desired position minus actual position), K p 、K i And K d Is the proportional, integral and derivative gain of the position loop, +. edt is the integral of the error,is the derivative of the error;
speed loop controlThe controller aims to minimize the error between the actual speed and the desired speed; the speed of the motor is controlled according to the feedback information of the speed sensor so as to keep the actual speed consistent with the expected speed; the algorithm formula of the speed loop also usually takes the form of a PID controller, the basic form of which is:
wherein mu v Is the control output of the speed loop, e v Is the speed error (desired speed minus actual speed), K pv 、K iv And K dv Is the proportional, integral and derivative gain of the velocity loop, +. v dt is the integral of the error and,is the derivative of the error;
the current loop controller aims to minimize the error between the actual current and the desired current; according to the feedback information of the current sensor, the current of the motor is controlled so that the actual current is consistent with the expected current; the algorithm formula of the current loop also usually takes the form of a PID controller, the basic form of which is:
wherein mu c Is the control output of the current loop, e c Is the current error (desired current minus actual current), K pc 、K ic And K dc Is the proportional, integral and differential gain of the current loop, +. c dt is the integral of the error and,is the derivative of the error.
The position feedback sensor is used for measuring the position of the motor in real time and feeding back the actual position to the intelligent servo driver so as to compare with the control instruction and correct errors.
The sensor comprises a position sensor, a speed sensor, an acceleration sensor, a force sensor, a pressure sensor and a temperature sensor; the position sensor is used for measuring the angle or linear displacement of the shaft and converting the position information into a digital signal to be output; the speed sensor is used for measuring the speed of the shaft; the speed sensor is a Hall sensor or a photoelectric encoder; the acceleration sensor is used for measuring the acceleration of the shaft and providing acceleration change information; the force sensor is used for measuring the stress condition of the shaft, including measuring the magnitude and direction of the force; the pressure sensor is used for measuring the pressure of the hydraulic pressure or the air pressure in the control system and providing pressure change information of the hydraulic pressure or the air pressure system; the temperature sensor provides real-time temperature information for temperature compensation, overheat protection and temperature monitoring.
In one embodiment, the motion model is a dynamics model established based on a physical principle, and is used for describing and predicting motion behaviors and mechanical relations of a shaft in a control system, and specifically:
1. the kinetic equation of the rotational coordinate axis is:
where I is the moment of inertia of the shaft, θ is the position of the shaft,is the angle of the shaft, τ is the torque exerted on the shaft, b is the coefficient of friction, c is the damping coefficient, +.>Is the angular acceleration.
2. The kinetic equation of the linear coordinate axis is:
where m is the mass, x is the position of the axis,is the speed of the shaft, +.>Is the acceleration of the shaft, F is the force exerted on the shaft, b is the coefficient of friction, and k is the spring rate.
3. The dynamic relationship of the rotating coordinate axes is as follows:
where θ is the angle of the axis, ω 0 Is the initial angular velocity, α is the angular acceleration, and t is the time.
4. The dynamics relation of the linear coordinate axis is as follows:
where x is the position of the axis, x 0 Is the initial position, v 0 Is the initial velocity, α is the acceleration, and t is the time.
In another embodiment, the motion model is a trajectory model generated based on a planning algorithm, and is intended to describe the trajectory generation and control process, in particular:
1. the polynomial path equation is: p (t) =a n ·t n +a n-1 ·t n-1 +...+a 1 ·t+a 0 ；
Where P (t) is a mathematical description of the path, t is a time or parameter, a n Is a polynomial coefficient.
2. The spline path equation is:
where P (t) is a mathematical description of the path, t is a time or parameter, N i (t) is a basis function, P i Is the control point.
3. The trapezoidal velocity profile equation is:
v(t)＝v 0 +a.t, where 0.ltoreq.t.ltoreq.t acc ；
v(t)＝v max Wherein t is acc ≤t≤t const ；
v(t)＝v max -a·(t-t acc -t const ) Wherein t is const ≤t≤t acc +t const +t dec ；
v (t) =0, where t > t acc +t const +t dec ；
Wherein v (t) is the speed, v 0 Is the initial velocity, v max Maximum speed, a is acceleration, t acc Is the acceleration time, t const Is uniform velocity time, t dec Is the deceleration time.
According to the application, a central controller calculates control instructions of all shafts based on a pre-established motion model, and sends the control instructions to intelligent servo drivers of the corresponding shafts through a communication interface; meanwhile, the central controller is also responsible for receiving feedback information from the sensor and adjusting the motion model according to the actual state so as to realize closed-loop control;
the intelligent servo driver is arranged on each shaft, a motion control algorithm and a feedback mechanism are arranged in the intelligent servo driver, the motor output can be adjusted in real time according to the received control instruction, and the actual state is fed back to the central controller;
the sensor is arranged on each shaft and used for acquiring the actual state information of each shaft in real time and feeding the actual state information back to the central controller for error calculation and control decision;
the motion model is used for describing motion behaviors and track planning of each axis, and the central controller calculates control instructions of each axis according to the motion model and controls motion of each axis;
the communication interface is used for connecting the central controller, the intelligent servo driver and the sensor so as to realize data exchange and control command transmission among all components in the control system.
The present embodiment is only for explanation of the present application and is not to be construed as limiting the present application, and modifications to the present embodiment, which may not creatively contribute to the present application as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present application.
Claims (9)
1. The multi-axis intelligent servo driving and controlling integrated control system based on the motion model is characterized by comprising a central controller, an intelligent servo driver, a sensor, the motion model and a communication interface; the central controller is respectively connected with the intelligent servo driver and the sensor on each shaft through communication interfaces;
the central controller calculates control instructions of all the shafts based on a pre-established motion model and sends the control instructions to intelligent servo drivers of the corresponding shafts through a communication interface; meanwhile, the central controller is also responsible for receiving feedback information from the sensor and adjusting the motion model according to the actual state so as to realize closed-loop control;
the intelligent servo driver is arranged on each shaft, a motion control algorithm and a feedback mechanism are arranged in the intelligent servo driver, the motor output can be adjusted in real time according to a received control instruction, and the actual state is fed back to the central controller;
the sensor is arranged on each shaft and used for acquiring the actual state information of each shaft in real time and feeding the actual state information back to the central controller for error calculation and control decision;
the motion model is used for describing motion behaviors and track planning of each axis, and the central controller calculates control instructions of each axis according to the motion model and controls motion of each axis;
the communication interface is used for connecting the central controller, the intelligent servo driver and the sensor so as to realize data exchange and control command transmission among all components in the control system.
2. The motion model based multi-axis intelligent servo-drive integrated control system of claim 1, wherein the central controller comprises a main control unit, a memory, and an input/output interface.
3. The motion model-based multi-axis intelligent servo-drive integrated control system of claim 2, wherein the main control unit is a microprocessor or a microcontroller.
4. The motion model based multi-axis intelligent servo-drive integrated control system of claim 2, wherein the memory comprises a fixed memory and a temporary memory.
5. The motion model based multi-axis intelligent servo-drive integrated control system of claim 2, wherein the input/output interface comprises a digital input output DIO, an analog input output AIO, an ethernet interface.
6. The motion model-based multi-axis intelligent servo drive and control integrated control system according to claim 1, wherein the intelligent servo driver comprises a motor driving circuit, a control algorithm and a position feedback sensor.
7. The motion model based multi-axis intelligent servo-drive integrated control system of claim 6, wherein the control algorithm comprises a position loop, a speed loop, and a current loop.
8. The motion model-based multi-axis intelligent servo-drive integrated control system of claim 1, wherein the sensor comprises a position sensor, a speed sensor, an acceleration sensor, a force sensor, a pressure sensor, and a temperature sensor.
9. The motion model-based multi-axis intelligent servo drive and control integrated control system according to claim 1, wherein the motion model is a dynamics model established based on a physical principle or a trajectory model is generated based on a planning algorithm.
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| CN118112993A (en) * | 2024-04-29 | 2024-05-31 | 禾马(苏州)智能科技有限公司 | Control method and system for controlling multi-axis linkage driving of servo driver |
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| CN118112993A (en) * | 2024-04-29 | 2024-05-31 | 禾马(苏州)智能科技有限公司 | Control method and system for controlling multi-axis linkage driving of servo driver |
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