CN117605792A - Vibration suppression method, system, device, electronic equipment and storage medium - Google Patents
Vibration suppression method, system, device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN117605792A CN117605792A CN202311583680.XA CN202311583680A CN117605792A CN 117605792 A CN117605792 A CN 117605792A CN 202311583680 A CN202311583680 A CN 202311583680A CN 117605792 A CN117605792 A CN 117605792A
- Authority
- CN
- China
- Prior art keywords
- vibration
- motor
- transmission mechanism
- parameter
- parameters
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001629 suppression Effects 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000005540 biological transmission Effects 0.000 claims abstract description 80
- 230000007246 mechanism Effects 0.000 claims abstract description 77
- 230000001133 acceleration Effects 0.000 claims description 38
- 238000004590 computer program Methods 0.000 claims description 18
- 230000035939 shock Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 238000013016 damping Methods 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 19
- 230000033001 locomotion Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 8
- 230000001276 controlling effect Effects 0.000 description 8
- 238000012360 testing method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 3
- 238000007493 shaping process Methods 0.000 description 3
- 230000002194 synthesizing effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Data Mining & Analysis (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Evolutionary Biology (AREA)
- Evolutionary Computation (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Bioinformatics & Computational Biology (AREA)
- Artificial Intelligence (AREA)
- Life Sciences & Earth Sciences (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention provides a vibration suppression method, a vibration suppression system, a vibration suppression device, electronic equipment and a storage medium, which are applied to an upper computer and relate to the field of damping equipment. The vibration suppression method comprises the following steps: acquiring vibration parameters of a transmission mechanism driven by a motor; comparing the vibration parameter with the set target parameter, and generating an adjustment strategy according to the comparison result information; and controlling the operation of the motor according to the adjustment strategy so that the vibration parameter meets the standard of the set target parameter. The invention can improve the efficiency of adjusting the driver, save time and labor, and realize vibration adjustment of the transmission mechanism at a position far away from the motor.
Description
Technical Field
The present invention relates to the field of damping devices, and in particular, to a method, a system, a device, an electronic device, and a storage medium for damping vibration.
Background
Along with the continuous improvement of the technological requirements in the 3C industry, the vibration control requirements on the transmission mechanism of precision equipment are also higher and higher, and the traditional method for improving the vibration through the feedback of the encoder of the motor cannot meet the precision vibration control requirements.
At present, in order to reduce vibration, the whole machine needs to finely adjust each parameter of a driver, and a great deal of time is required; and debugging the parameters of the driver, wherein the vibration value is improved mainly through the feedback of an encoder of the motor, and the vibration of a transmission mechanism at a position far away from the motor cannot be perceived, namely cannot be regulated.
Disclosure of Invention
In view of the above, the present invention aims to overcome the defects in the prior art, and provides a vibration suppression method, a system, a device, an electronic device and a storage medium, which can improve the efficiency of adjusting a driver, save time and labor, and realize vibration adjustment of a transmission mechanism at a position far from a motor.
The invention provides the following technical scheme:
according to a first aspect of the disclosure, a vibration suppression method is provided, which is applied to an upper computer, and includes the following steps:
acquiring vibration parameters of a transmission mechanism driven by a motor;
comparing the vibration parameter with a set target parameter, and generating an adjustment strategy according to comparison result information;
and controlling the operation of the motor according to the adjustment strategy so that the vibration parameter meets the standard of the set target parameter.
Further, the vibration parameters include:
a first vibration signal in the X-axis direction;
a second vibration signal in the Y-axis direction;
a third vibration signal in the Z-axis direction;
correspondingly, the setting target parameters includes:
a first target vibration signal in the X-axis direction;
a second target vibration signal in the Y-axis direction;
and a third target vibration signal in the Z-axis direction.
Further, the acquiring vibration parameters of the transmission mechanism driven by the motor includes:
vibration parameters of a transmission mechanism driven by a motor are acquired by a vibration measuring sensor.
Further, the generating an adjustment strategy according to the comparison result information includes:
and generating an adjustment strategy based on the PVT mode according to the comparison result information.
Further, the adjustment strategy includes:
dividing the acceleration and deceleration interval of the motor into a plurality of sections of distances, wherein each section of distance is completed by adopting different speeds and times.
Further, the vibration suppression method further comprises generating a vibration waveform of the transmission mechanism according to the vibration parameter; wherein the adjustment strategy further comprises:
and adjusting the acceleration and deceleration interval of the motor to counteract the vibration waveform of the transmission mechanism.
According to a second aspect of the present disclosure, there is provided a vibration suppression system including:
a transmission mechanism;
the motor can drive the transmission mechanism to act;
the driver is electrically connected with the motor;
the vibration measuring sensor is arranged on the transmission mechanism and is used for acquiring vibration parameters of the transmission mechanism.
And the controller is respectively and electrically connected with the vibration measuring sensor and the driver, and can send a control instruction to the driver according to the vibration parameter.
According to a third aspect of the present disclosure, there is provided a vibration suppression device applied to an upper computer, the vibration suppression device including:
the detection unit acquires vibration parameters of a transmission mechanism driven by a motor;
the processing unit is used for comparing the vibration parameter with a set target parameter and generating an adjustment strategy according to comparison result information;
and the adjusting unit is used for controlling the operation of the motor according to the adjusting strategy so that the vibration parameter meets the standard of the set target parameter.
According to a fourth aspect of the present disclosure, there is provided an electronic device comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement any one of the shock suppressing methods.
According to a fifth aspect of the present disclosure, there is provided a computer-readable storage medium storing a computer program which, when executed by a processor, implements the vibration suppression method of any one of the above.
Embodiments of the present invention have the following advantages:
by adopting the vibration suppression method, vibration parameters of a transmission mechanism driven by a motor are obtained; comparing the vibration parameter with the set target parameter, and generating an adjustment strategy according to the comparison result information; and controlling the operation of the motor according to an adjustment strategy so that the vibration parameter meets the standard of the set target parameter. That is, by detecting a plurality of points at the transmission mechanism, vibration parameters at the transmission mechanism are obtained, and control parameters of the driver are adjusted in real time according to the vibration parameters, so that rotation parameters, such as rotation speed, of the motor are controlled by the driver, and the vibration parameters of the transmission mechanism are adjusted in real time until the vibration parameters of the transmission mechanism meet the requirements of setting target parameters. Therefore, the invention can improve the adjusting efficiency of the vibration parameters of the adjusting transmission mechanism, and saves time and labor; in addition, vibration adjustment of a transmission mechanism at a position far away from the motor can be realized, and vibration control requirements on precision equipment are met.
In addition, the present invention also relates to a vibration suppression system, a vibration suppression device, an electronic apparatus, and a storage medium, and since the above-mentioned vibration suppression method has the above-mentioned technical effects, a vibration suppression system, a vibration suppression device, an electronic apparatus, and a storage medium including the vibration suppression method should have the same technical effects, and are not described herein.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 shows a flow diagram of a shock suppression method;
fig. 2 shows a block diagram of the structure of the vibration suppressing device;
FIG. 3 shows an internal structural diagram of an electronic device;
FIG. 4 shows a block diagram of a shock suppression system;
FIG. 5 shows a line graph of existing motor acceleration and deceleration intervals;
FIG. 6 shows a line graph of motor acceleration and deceleration intervals of the present application;
FIG. 7 shows a vibration waveform of the transmission;
fig. 8 shows a test waveform diagram using a general vibration control method;
FIG. 9 shows a test waveform diagram using the shock suppression method provided herein;
fig. 10 shows a waveform diagram of a waveform after shaping and synthesizing obtained after dividing the acceleration region into two sections;
fig. 11 shows a waveform chart of a waveform after shaping and synthesizing obtained after dividing the acceleration region into three sections;
fig. 12 shows a waveform chart of a waveform after shaping and synthesizing obtained after dividing the acceleration region into four segments;
fig. 13 shows a vibration waveform obtained after setting the acceleration and deceleration section to seven segments;
fig. 14 shows a vibration waveform diagram of the acquisition transmission mechanism in an acceleration section, a constant velocity section, a deceleration section, and a stop section, respectively.
Description of main reference numerals:
a 100-driver; 200-motors; 300-transmission mechanism; 400-vibration measuring sensor; 500-controllers; 610-a detection unit; 620-a processing unit; 630-an adjustment unit; 700-an electronic device; 710-a processor; 720-memory; 721-operating system; 722-a computer program; 730-power supply; 740-a communication interface; 750-input-output interface; 760-communication bus.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the templates herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
In the related art, the torque generated by the motor 200 is unstable, and as a result of torque ripple, the torque thereof is continuously changed in magnitude, and the amplitude of the ripple is called a torque waveform, which is mostly caused by cogging between the stator and the rotor of the motor 200 and discontinuity in switching of input current. The main factors generated by different motors 200 are not identical, and the amplitude of the torque waveform is divided into a plurality of magnitudes. Such an inattentive torque may result in the generation of vibrations in motor 200.
As the process requirements of the 3C industry are continuously increasing, the vibration control requirements of the transmission mechanism 300 of the precision equipment are also increasing, wherein the transmission mechanism 300 is driven by the motor 200, and the transmission mechanism 300 is a mechanism for changing the rotation motion into the linear motion or changing the gear ratio. The conventional improvement of vibration by encoder feedback of motor 200 has not been able to meet the precision vibration control requirements. The reason for this is that: currently, in order to reduce vibration, each parameter of the driver 100 needs to be finely adjusted, which takes a lot of time; in addition, the parameters of the driver 100 are adjusted, mainly by the feedback of the encoder of the motor 200 to improve the vibration value, but the vibration of the transmission mechanism 300 at a position far from the motor 200 cannot be sensed, i.e. the vibration value of the transmission mechanism 300 at a far end cannot be adjusted.
As shown in fig. 1 and 4, in order to solve the above technical problems, according to a first aspect of the present disclosure, there is provided a vibration suppression system including a transmission mechanism 300, a motor 200, a driver 100, a vibration measuring sensor 400, and a controller 500, the motor 200 being capable of driving the transmission mechanism 300 to act; the driver 100 is electrically connected with the motor 200; the vibration measuring sensor 400 is installed on the transmission mechanism 300, and the vibration measuring sensor 400 is used for acquiring vibration parameters of the transmission mechanism 300; the controller 500 is electrically connected to the vibration measuring sensor 400 and the driver 100, respectively, and the controller 500 can transmit a control command to the driver 100 according to the vibration parameter.
The motor 200 is used as a power source to drive the transmission mechanism 300 to perform a rotation, a linear reciprocation, etc.; obviously, the transmission mechanism 300 may be a common structure such as a gear transmission mechanism 300, a worm gear mechanism, a belt transmission mechanism 300, and the like, and is not particularly limited herein. The connection structure between the motor 200 and the transmission mechanism 300 is also in the prior art, and is not specifically limited herein; illustratively, the main shaft of motor 200 is coupled to the power input of the drive mechanism via a coupling. The motor 200 receives the electrical signals transmitted from the driver 100, converts the electrical signals into power, drives the load to reach a designated position, and feeds back the real-time position by using its own encoder. Wherein, in the present embodiment, the electrical signal includes, but is not limited to, a voltage signal and a current signal; the load is the transmission 300.
The controller 500 is used as a carrier of software programs, and provides a kernel required by the software, and communicates with the driver 100 to issue control instructions. Alternatively, the controller 500 may be a PC, a programmable PLC controller 500, or the like. It should be noted that, vibration operation software is running in the controller 500, and the received vibration signals in the X-axis, Y-axis and Z-axis directions are collectively analyzed and calculated to generate a set of optimized parameter information values to control the operation of the motor 200.
The driver 100 is responsible for converting the motion command sent by the controller 500 into a driving signal which can be identified by the motor 200, controlling the motor 200 to reach a designated position according to the command requirement, and receiving feedback position information of an encoder of the motor 200.
The vibration measuring sensor 400 can detect vibration signals of the transmission mechanism 300 in the X-axis, Y-axis and Z-axis directions, and the vibration signals can be moment vibration signals, and convert the vibration signals into electrical signals to be uploaded to the controller 500. Among them, sensors capable of detecting vibration values are various, and are not limited herein, as long as the vibration values can be measured.
By applying the vibration suppression system provided by the invention, the vibration signal of the transmission mechanism 300 is acquired by using the vibration measurement sensor 400 and is transmitted to the controller 500, the controller 500 receives and analyzes the vibration signal and generates a corresponding control instruction, and the driver 100 controls the operation of the motor 200 according to the received control instruction until the vibration signal acquired by the vibration measurement sensor 400 meets the set requirement (namely, the working requirement of the transmission mechanism 300).
Additionally, the device operates according to the following principle: firstly, primarily debugging parameters of the driver 100 to enable data such as rigidity inertia and the like of the parameters to be matched with actual loads of the motor 200; the vibration measuring sensor 400 is installed on the motion mechanism (approaching to the vibration point to be controlled as much as possible), and the point position information according to the process requirement is input to the motion control center to repeat the point position operation; collecting vibration values of the point location operation, inputting the collected vibration values into vibration analysis software (vibration in X-axis, Y-axis and Z-axis directions can be restrained according to requirements), and generating a set of vibration restraining parameters; the parameter is input into the vibration operation software in the controller 500, and the controller 500 will adjust the motion control command to the driver 100 to adjust the operation parameters of the motor 200. And then observing the vibration test value, if the vibration test value is not satisfactory, repeating the steps until the vibration control requirement is met.
As shown in fig. 1, according to a second aspect of the present disclosure, a vibration suppression method is provided and applied to an upper computer, and includes the following steps:
s1, acquiring vibration parameters of a transmission mechanism 300 driven by a motor 200;
in this embodiment, the vibration condition of the transmission mechanism 300 can be detected by some sensors, so as to obtain the vibration parameter of the transmission mechanism 300. For example, the vibration parameter of the transmission mechanism 300 may be obtained by the vibration measuring sensor 400, and the vibration parameter is a moment vibration signal; or, the current and/or voltage sensor is used to collect the real-time current and/or voltage of the motor 200, where the real-time current and/or voltage is the vibration parameter.
S2, comparing the vibration parameter with a set target parameter, and generating an adjustment strategy according to comparison result information;
in this embodiment, the obtained vibration parameter is compared with a set target parameter, which is a vibration parameter to be achieved when the transmission mechanism 300 is required to operate. That is, if the obtained vibration parameter does not meet the set target parameter, the comparison result information is output as not meeting, and an adjustment strategy is required to be generated according to the comparison result information; if the obtained vibration parameters accord with the set target parameters, the comparison result information is output to accord with the set target parameters, and an adjustment strategy is not required to be generated according to the comparison result information.
And S3, controlling the operation of the motor 200 according to the adjustment strategy so that the vibration parameter meets the standard of the set target parameter.
In this embodiment, when the output comparison result information is inconsistent, the motor 200 is controlled to operate according to the generated adjustment strategy; that is, by adjusting the running speed of the motor 200, the vibration parameter of the transmission mechanism 300 is changed; for example, the acceleration, deceleration, acceleration time, deceleration time, and the like of the motor 200 may be controlled, and are not particularly limited herein, as long as adjustment to the vibration parameter in accordance with the requirement of setting the target parameter can be achieved.
By applying the vibration suppression method provided by the invention, firstly, vibration parameters of a transmission mechanism 300 driven by a motor 200 are obtained; secondly, comparing the vibration parameter with a set target parameter, and generating an adjustment strategy according to comparison result information; finally, the operation of the motor 200 is controlled according to the adjustment strategy so that the vibration parameter satisfies the criteria for setting the target parameter. That is, by detecting a plurality of points at the transmission mechanism 300, the vibration parameter at the transmission mechanism 300 is obtained, and the control parameter of the driver 100 is adjusted in real time according to the vibration parameter, so that the rotation parameter, such as the rotation speed, of the motor 200 is controlled by the driver 100, and the vibration parameter of the transmission mechanism 300 is adjusted in real time until the vibration parameter of the transmission mechanism 300 meets the requirement of setting the target parameter. Therefore, the invention can improve the adjusting efficiency of the vibration parameter of the adjusting transmission mechanism 300, and saves time and labor; in addition, vibration adjustment of the transmission mechanism 300 at a position far from the motor 200 can be realized, and vibration control requirements on precision equipment are met.
On the basis of the above embodiment, in step S1, the vibration parameter includes a first vibration signal in the X-axis direction, a second vibration signal in the Y-axis direction, and a third vibration signal in the Z-axis direction;
correspondingly, the set target parameters comprise a first target vibration signal in the X-axis direction, a second target vibration signal in the Y-axis direction and a third target vibration signal in the Z-axis direction.
When the vibration parameters are compared, the vibration signals of the vibration parameters are required to be compared with corresponding target vibration signals in the set target parameters; that is, it is necessary to separately compare the first vibration signal with the first target vibration signal, separately compare the second vibration signal with the second target vibration signal, separately compare the third vibration signal with the third target vibration signal; of course, the first vibration signal, the second vibration signal and the third vibration signal need to be considered in combination when generating the adjustment strategy.
On the basis of the above embodiment, in step S1, the acquisition of the vibration parameter of the transmission 300 driven by the motor 200 includes acquiring the vibration parameter of the transmission 300 driven by the motor 200 using the vibration measuring sensor 400.
As described above, the vibration measuring sensor 400 is the prior art, and the specific selection type is not described again, which is common knowledge; so long as acquisition of vibration parameters of the transmission 300 can be achieved.
Based on the above embodiment, in step S2, an adjustment policy is generated according to the comparison result information, including:
and generating an adjustment strategy based on the PVT mode according to the comparison result information. Among them, PVT mode is one of the most commonly used modes in the control of industrial robot articulation. The P instruction controls the position of the robot, the V instruction controls the speed of the robot, and the T instruction controls the time of the robot. PVT mode enables more precise control of the articulation of the robot, but the speed and position of the robot joints may change continuously during execution, which may affect the accuracy of the robot. Thus, when applying PVT patterns, care is taken to balance control complexity and accuracy.
That is, by replacing the industrial robot with the motor 200, i.e., P refers to the spindle rotation position of the motor 200, V refers to the speed of the motor 200, and T refers to the motor 200 rotation time. To adjust the vibration parameters of the transmission 300 in real time by controlling these three variables of the motor 200.
The acceleration is illustratively divided into two segments. As shown in fig. 10 below, the base waveform and the modulated waveform are invoked, and finally the two waveforms are integrated to form a shaped synthesized waveform.
Specifically, calling function 1 generates a base waveform, i.e., y=k, where k is a constant; and calling a function 2 to generate a modulation waveform, wherein the function 2 is as follows:
ζ is the attenuation coefficient. The calling function 3 obtains the integrated waveform, i.e., y (T) =a1δ (T) +a2δ (T-T). Where δ (T) is a unit impulse function, i.e. it is a positive impulse function with an infinite intensity when T goes from a negative value to 0, and a negative impulse function with an infinite intensity when T goes from a positive value to 0, where T is the whole acceleration period.
The acceleration is illustratively divided into three segments. As shown in fig. 11 below, the basic waveform and the modulated waveform are invoked, and finally the two waveforms are integrated to form a shaped synthesized waveform.
Specifically, calling function 1 generates a base waveform, i.e., y=k, where k is a constant; calling function 4 to generate a modulation waveform, wherein function 4 is:
ζ is the attenuation coefficient. The calling function 5 obtains the waveform after integration, i.e. y (T) =a1δ (T) +a2δ (T-T2) +a3δ (T-T3), wherein T2 and T3 are divided into three segments for the whole period T, and each segment corresponds to a time, for example, if divided into three segments equally, t2=t3=t/3.
The acceleration is illustratively divided into four segments. As shown in fig. 12 below, the basic waveform and the modulated waveform are invoked, and finally the two waveforms are integrated to form a shaped and synthesized waveform.
Invoking function 1 generates a base waveform, i.e., y=k, where k is a constant; function 6 generates a modulated waveform, i.e
Wherein ζ is the attenuation coefficient. The calling function 7 obtains the waveform after integration, i.e. y (T) =a1δ (T) +a2δ (T-T2) +a3δ (T-T3) +a4δ (T-T4), wherein T2, T3, T4 are divided into four segments for the whole period T, each corresponding time, for example, t2=t3=t4=t/3 if divided into four segments.
In the above three modes, the user-set software interface of the controller can set the moving distance, the maximum speed, the maximum acceleration, the acceleration time, the turnover time and the total moving time to generate the corresponding modulation waveform.
In addition, the PVT pattern per segment speed and time limitation principle is as follows:
distance, speed and time per segment are defined by PVT control generation functions. As a function of "PVT200X100:1000", it is shown that PVT mode is enabled, and that the X-axis is completed to run at 1000 counts/s for a length of 100 counts in 200 ms. The waveform generated by this function is a small segment of T0 through T1, with the remaining waveforms T2-T7 being similar. The time, speed, distance decomposition data are thus obtained as follows:
time:
speed of:
the calculation method of the moving distance comprises the following steps: travel distance= (interval start speed + interval end speed)/2 x run time;
distance of movement:
the waveform of the decomposed data according to the time, speed, and distance is smooth as shown in fig. 13. Therefore, the waveform shape can be changed by changing the acceleration and deceleration time, so that the vibration parameters can be adjusted, and the vibration is relieved.
As shown in fig. 5 and 6, on the basis of the above embodiment, the adjustment strategy includes:
the acceleration and deceleration interval of the motor 200 is divided into a plurality of distances, and each distance is completed at a different speed and time.
Wherein fig. 5 shows a line graph of the acceleration and deceleration intervals of the existing motor 200; fig. 6 shows a line graph of acceleration and deceleration intervals of the motor 200 of the present application; that is, the acceleration stage of the motor 200 is divided into a plurality of acceleration distances, and the motor 200 has a different operation speed and operation time within each of the acceleration distances; likewise, the deceleration phase of motor 200 is divided into a plurality of deceleration distances, and motor 200 has a different running speed and running time within each deceleration distance. Further, in this manner, the motor 200 can reduce the impact shock to the transmission mechanism 300, thereby suppressing the shock of the transmission mechanism 300.
For example, the acceleration section is divided into a first section, a second section and a third section in sequence, wherein the spindle rotation speed of the motor 200 in the first section is P1, and the rotation time of the motor 200 is T1; the spindle rotating speed of the motor 200 in the first section is P2, and the rotating time of the motor 200 is T2; the spindle rotation speed of the motor 200 in the first stage is P3, and the rotation time of the motor 200 is T3.
Dividing a speed reduction interval into a first section, a second section and a third section in sequence, wherein the spindle rotating speed of the motor 200 in the first section is P4, and the rotating time of the motor 200 is T4; the spindle rotating speed of the motor 200 in the first section is P4, and the rotating time of the motor 200 is T4; the spindle rotation speed of the motor 200 in the first stage is P4, and the rotation time of the motor 200 is T4.
That is, by controlling the rotational distance P and the rotational time T of the main shaft of the motor 200, the rotational speed of the main shaft of the motor 200 can be controlled, and thus the impact shock of the transmission mechanism 300 can be reduced.
As shown in fig. 7, based on the above embodiment, in step S2, the vibration suppressing method further includes generating a vibration waveform of the transmission mechanism 300 according to the vibration parameter; wherein the adjustment strategy further comprises:
the acceleration and deceleration section of the motor 200 is adjusted to cancel the vibration waveform of the transmission 300.
That is, by adjusting the acceleration and deceleration intervals, the vibration waveform of the transmission mechanism 300 can be offset, as shown in fig. 3 below, the solid line P0 is the aftershock waveform of the transmission mechanism 300, the broken line P7 is the vibration waveform generated by the acceleration and deceleration of the motor 200, and by changing the acceleration and deceleration intervals, the vibration waveform P7 caused by the acceleration and deceleration itself lags the aftershock waveform P0 by 90 °, so that positive and negative frequency offset is exactly formed, and the purpose of vibration reduction is achieved.
In fig. 14 below, the broken line is an acceleration/deceleration input signal generated by a variable function, and the wavy line is a vibration waveform signal measured by a vibration measuring sensor. The amplitude of the vibration waveform of the transmission mechanism is maximum in the acceleration/deceleration stage, and gradually becomes smaller in the constant speed and stop stage. Firstly, recording waveforms of a constant speed or a stop interval, obtaining a aftershock waveform P0, and then recording a new shock waveform P7 by adjusting a time interval for starting acceleration/deceleration. The time interval for starting acceleration/deceleration is repeatedly adjusted, so that the trough of the new vibration waveform P7 is exactly symmetrical with the crest of the aftershock waveform P0, then offset can be formed, the vibration waveform becomes smoother at the constant speed and the stopping stage, and the vibration value is also reduced.
Obviously, by changing the section of acceleration or deceleration, a vibration waveform that lags behind the transmission mechanism 300 can be generated.
In addition, the working principle is as follows:
firstly, primarily debugging the parameters of a driver to enable data such as rigidity inertia and the like of the driver to be matched with the actual load of a motor; installing a vibration measuring sensor on the motion mechanism (approaching to vibration points to be controlled as much as possible), and inputting the information of the point positions to a motion control center according to the process requirements to repeat the operation of the point positions; collecting vibration values of the point location operation, inputting the collected vibration values into vibration analysis software (vibration in XYZ directions can be restrained according to requirements), and generating a set of vibration restraining parameters; and inputting the parameter into a motion control center, wherein the motion control center adjusts a motion control instruction to the driver, and observes a vibration test value, if the vibration test value is unsatisfactory, and repeats the steps until the vibration control requirement is met.
Taking a feeding PNP-X axis suction nozzle as an example, the specific arrangement is as follows: 1) The vibration measuring sensor 400 is arranged at a position near a suction nozzle of a feeding PNP-X axis, the feeding axis of the PNP double-motor linear motor 200 is static, and the feeding PNP-X axis reciprocates according to four points; 2) Speed of motion of blanking shaft PNP-X (N27): 1.2m/s, 3m/s3 of acceleration and deceleration; 3) The same 4 points are used, a common vibration control method and a vibration suppression method provided by the application are respectively used, the respective vibration data are tested, and the experimental results are as follows:
the vibration value of the PNP-X axis suction nozzle operated by the common vibration control method is 530 μm, and the test waveform is shown in the following figure 8;
the vibration value of the PNP-X axis suction nozzle operated by the vibration suppression method provided by the application is 172 μm, and the test waveform is shown in the following figure 9.
Therefore, the vibration suppression method has better vibration suppression effect, vibration suppression is improved by 66%, and the debugging time can be saved by 42%.
As shown in fig. 2, according to a third aspect of the present disclosure, there is provided a vibration suppression device applied to an upper computer, the vibration suppression device including:
a detection unit 610 for acquiring vibration parameters of the transmission 300 driven by the motor 200;
the processing unit 620 compares the vibration parameter with a set target parameter, and generates an adjustment strategy according to the comparison result information;
and an adjusting unit 630 for controlling the operation of the motor 200 according to the adjustment strategy so that the vibration parameter satisfies the standard of the set target parameter.
According to a fourth aspect of the present disclosure, as shown in fig. 3, there is provided an electronic device 700 comprising a memory 720 and a processor 710, the memory 720 for holding a computer program 722; the processor 710 is configured to execute the computer program 722 to implement the shock suppression method.
It should be noted that fig. 3 is a block diagram of an electronic device 700 according to an exemplary embodiment, and the content of the diagram should not be construed as any limitation on the scope of use of the present application.
Specifically, the electronic device 700 may specifically include: at least one processor 710, at least one memory 720, a power supply 730, a communication interface 740, an input-output interface 750, and a communication bus 760. Wherein the memory 720 is used for storing a computer program 722, and the computer program 722 is loaded and executed by the processor 710 to implement the relevant steps in the vibration suppressing method disclosed in any of the foregoing embodiments. In addition, the electronic apparatus 700 in the present embodiment may be specifically an electronic computer.
In this embodiment, the power supply 730 is configured to provide an operating voltage for each hardware device on the electronic device 700; the communication interface 740 can create a data transmission channel between the electronic device 700 and an external device, and the communication protocol that the communication interface follows is any communication protocol that can be suitable for the technical solution of the present application, and is not specifically limited herein; the input/output interface 750 is used for obtaining external input data or outputting external output data, and the specific interface type thereof may be selected according to the specific application requirement, which is not limited herein.
The memory 720 may be a rom 720, a ram 720, a magnetic disk, an optical disk, or the like, and the resources stored thereon may include an operating system 721, a computer program 722, or the like, and the storage may be temporary storage or permanent storage.
The operating system 721 is used to manage and control various hardware devices and computer programs on the electronic device 700, which may be Windows Server, netware, unix, linux, etc. The computer program 722 may further include a computer program 722 that can be used to perform other specific tasks in addition to the computer program 722 that can be used to perform the shock suppression method performed by the electronic device 700 disclosed in any of the embodiments described above.
According to a fifth aspect of the present disclosure, there is provided a computer readable storage medium storing a computer program 722, which computer program 722, when executed by a processor 710, implements the previously disclosed shock suppression method. For specific steps of the method, reference may be made to the corresponding contents disclosed in the foregoing embodiments, and no further description is given here.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by the processor 710, or in a combination of the two. The software modules may be disposed in random access memory 720 (RAM), memory, read only memory 720 (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
Any particular values in all examples shown and described herein are to be construed as merely illustrative and not a limitation, and thus other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The above examples merely represent a few embodiments of the present invention, which are described in more detail and are not to be construed as limiting the scope of the present invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (10)
1. The vibration suppression method is characterized by being applied to an upper computer and comprising the following steps of:
acquiring vibration parameters of a transmission mechanism driven by a motor;
comparing the vibration parameter with a set target parameter, and generating an adjustment strategy according to comparison result information;
and controlling the operation of the motor according to the adjustment strategy so that the vibration parameter meets the standard of the set target parameter.
2. The vibration suppression method according to claim 1, characterized in that the vibration parameters include:
a first vibration signal in the X-axis direction;
a second vibration signal in the Y-axis direction;
a third vibration signal in the Z-axis direction;
correspondingly, the setting target parameters includes:
a first target vibration signal in the X-axis direction;
a second target vibration signal in the Y-axis direction;
and a third target vibration signal in the Z-axis direction.
3. The vibration suppression method according to claim 1 or 2, wherein the acquiring vibration parameters of a transmission mechanism driven by a motor includes:
vibration parameters of a transmission mechanism driven by a motor are acquired by a vibration measuring sensor.
4. The vibration suppression method according to claim 1 or 2, wherein the generating an adjustment strategy based on the comparison result information includes:
and generating an adjustment strategy based on the PVT mode according to the comparison result information.
5. The shock suppression method of claim 4, wherein the adjustment strategy comprises:
dividing the acceleration and deceleration interval of the motor into a plurality of sections of distances, wherein each section of distance is completed by adopting different speeds and times.
6. The vibration suppression method according to claim 5, further comprising generating a vibration waveform of the transmission mechanism according to the vibration parameter; wherein the adjustment strategy further comprises:
and adjusting the acceleration and deceleration interval of the motor to counteract the vibration waveform of the transmission mechanism.
7. A vibration suppression system, the vibration suppression system comprising:
a transmission mechanism;
the motor can drive the transmission mechanism to act;
the driver is electrically connected with the motor;
the vibration measuring sensor is arranged on the transmission mechanism and is used for acquiring vibration parameters of the transmission mechanism.
And the controller is respectively and electrically connected with the vibration measuring sensor and the driver, and can send a control instruction to the driver according to the vibration parameter.
8. A vibration suppression device, characterized in that is applied to the host computer, the vibration suppression device includes:
the detection unit acquires vibration parameters of a transmission mechanism driven by a motor;
the processing unit is used for comparing the vibration parameter with a set target parameter and generating an adjustment strategy according to comparison result information;
and the adjusting unit is used for controlling the operation of the motor according to the adjusting strategy so that the vibration parameter meets the standard of the set target parameter.
9. An electronic device, comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the vibration suppressing method as claimed in any one of claims 1 to 6.
10. A computer-readable storage medium storing a computer program which, when executed by a processor, implements the shock suppression method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311583680.XA CN117605792A (en) | 2023-11-24 | 2023-11-24 | Vibration suppression method, system, device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311583680.XA CN117605792A (en) | 2023-11-24 | 2023-11-24 | Vibration suppression method, system, device, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117605792A true CN117605792A (en) | 2024-02-27 |
Family
ID=89949253
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311583680.XA Pending CN117605792A (en) | 2023-11-24 | 2023-11-24 | Vibration suppression method, system, device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117605792A (en) |
-
2023
- 2023-11-24 CN CN202311583680.XA patent/CN117605792A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1149457C (en) | Position controller for motor | |
| EP2681147B1 (en) | Method and control device for the vibration-reduced displacement of a discplacable crane element of a crane system. | |
| JPH09319418A (en) | Method for correcting lost motion | |
| JP4390415B2 (en) | Robot positioning control method and positioning control device | |
| CN109687782A (en) | A kind of control device and control system of stepper motor | |
| JPH057727B2 (en) | ||
| KR20050088235A (en) | Reverse rotation preventive electronic cam curve generating method based on electronic cam type rotary cutter control, and control device therefor | |
| CN117605792A (en) | Vibration suppression method, system, device, electronic equipment and storage medium | |
| CN113708690A (en) | Load inertia identification method and device, electronic equipment and system | |
| KR20160117160A (en) | Servo press, control method and program | |
| US10814482B2 (en) | Robot controller | |
| CN115508032B (en) | Double-degree-of-freedom fatigue loading excitation device, system and control method for fan blade | |
| CN107272576B (en) | Method for measuring frequency characteristics in feed shaft control device | |
| JP2623535B2 (en) | Anti-vibration control device for electric machines | |
| JP3479922B2 (en) | Load constant measurement method for motor drive system | |
| CN111857045B (en) | Numerical control device and machine tool | |
| JPH0670567A (en) | Automatic setting method of control gain for motor and detecting method of backlash | |
| KR101254941B1 (en) | Vertical vibration reduction method for elevator | |
| CN112748702A (en) | Vibration suppression method and vibration suppression device | |
| JP2542915B2 (en) | Vibration suppression drive device | |
| CN109936317A (en) | A kind of torque compensation device control method and device | |
| JP4289275B2 (en) | Control method for articulated robot | |
| CN113031530A (en) | Robot control method, robot control device and robot | |
| WO2023171122A1 (en) | Motor control device, and automatic adjustment method for same | |
| CN109655219B (en) | Method and system for controlling vibrating table |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |