CN117872955A - Online servo friction compensation method, device, equipment and storage medium - Google Patents
Online servo friction compensation method, device, equipment and storage medium Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B19/404—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 control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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Abstract
The invention provides an online servo friction compensation method, device, equipment and storage medium, belonging to the technical field of friction compensation, wherein the method comprises the following steps: responding to a no-load signal of a main station to perform online friction data acquisition; the friction data includes: zero-speed starting force K o Friction force K during constant speed operation c And the linear relation K of torque under different uniform speeds b The method comprises the steps of carrying out a first treatment on the surface of the Analyzing the friction data according to a preset analysis method to determine a friction force value to be compensated; and carrying out online servo friction compensation according to the friction force value to be compensated. The invention can detect the change of the mechanical friction condition on line and then compensate, so that the mechanical movement is always in a relatively stable state; in addition, the invention adopts a double compensation scheme of coulomb friction and viscous friction compensation when compensation is carried out, thereby greatly improving the effect of friction compensation.
Description
Technical Field
The present invention relates to the field of friction compensation technologies, and in particular, to an online servo friction compensation method, device, apparatus, and storage medium.
Background
At present, the roughness degree of the machining is more and more emphasized in the field of metal machining, the reasons for poor roughness are many, mechanical friction is one of the reasons, and the roughness is particularly obvious when the circular arc machining is subjected to quadrant processing.
The conventional friction compensation is adopted in the prior art, that is, friction data is obtained through testing and then fixed-value compensation is carried out, for example, a fixed torque is compensated during forward running, and reverse fixed torque is driven during reverse according to the direction of a target command, so that a reversing error caused by mechanical friction is compensated.
The above method is not very ideal because mechanical friction is a non-phenomenon disturbance, and a single compensation torque to a fixed value only compensates for a small part of the friction effect, and the conventional method does not consider the speed, so that the viscous friction effect is ignored. And the changes of temperature, lubrication and mechanical abrasion after long-time operation also lead to the changes of friction disturbance, and the traditional compensation mode can not be changed according to the changes of external mechanical conditions
Disclosure of Invention
The invention provides an online servo friction compensation method, device, equipment and storage medium, which can online detect the change of mechanical friction condition and then compensate, so that the mechanical motion is always in a relatively stable state; and the double compensation scheme of coulomb friction and viscous friction compensation is used in compensation, so that the friction compensation effect is greatly improved.
In a first aspect, embodiments of the present invention provide an online servo friction compensation method, the method comprising:
responding to a no-load signal of a main station to perform online friction data acquisition;
wherein the friction data comprises: zero-speed starting force K o Friction force K during constant speed operation c And the linear relation K of torque under different uniform speeds b ；
Analyzing the friction data according to a preset analysis method to determine the friction force value to be compensated;
and carrying out online servo friction compensation according to the friction force value to be compensated.
Optionally, the online friction data acquisition is performed in response to the no-load signal of the master station, including:
when the motor runs at constant speed and is negativeThe torque of the motor is obtained when the load torque is not changed any more within the preset time, wherein the torque is K c ；
In the formula, v * For the target speed, in rpm,acquiring according to a preset method;
wherein K is c1 At a uniform velocity V 1 Friction force under K c2 At a uniform velocity V 2 Friction force under.
Optionally, the method further comprises:
when the motor rotating speed is smaller than the speed threshold value in the static starting stage, torque current is obtained and compared to determine maximum torque current;
determination from maximum torque current calculation
Optionally, analyzing the friction data according to a preset analysis method to determine a friction value to be compensated, including:
the friction value to be compensated is calculated according to the following formula:
F f ＝K b ×v * +sgn(v * )×K c +F(v * )×K o ；
wherein F is f To the friction value to be compensated, K b V is the linear relation of torque under different uniform speeds * For the target speed, sgn (v * ) For the sign of the target speed, representing the direction of travel of the target speed, K c F (v) is friction force during uniform speed operation * ) As a function of target speed, K o Zero speed starting force.
Optionally, the method for analyzing the friction data according to a preset analysis method to determine the friction value to be compensated further includes:
the K obtained at this time is o 、K c And K b Comparing with the last data;
if the data error exceeds the preset value, determining the K obtained at the present time o 、K c And K b And (3) invalidating.
Optionally, on-line servo friction compensation is performed according to the friction value to be compensated, including:
and adjusting torque current according to the friction value to be compensated so as to control the motor torque to realize online servo friction compensation.
In a second aspect, an embodiment of the present invention provides an online servo friction compensation device, including:
the acquisition module is used for responding to the no-load signal of the main station to acquire online friction data;
wherein the friction data comprises: zero-speed starting force K o Friction force K during constant speed operation c And the linear relation K of torque under different uniform speeds b ；
The analysis module is used for analyzing the friction data according to a preset analysis method to determine the friction force value to be compensated;
and the compensation module is used for carrying out online servo friction compensation according to the friction force value required to be compensated.
Optionally, the analysis module is further configured to:
the friction value to be compensated is calculated according to the following formula:
F f ＝K b ×v * +sgn(v * )×K c +F(v * )×K o ；
wherein F is f To the friction value to be compensated, K b V is the linear relation of torque under different uniform speeds * For the target speed, sgn (v * ) For the sign of the target speed, representingDirection of travel of target speed, K c F (v) is friction force during uniform speed operation * ) As a function of target speed, K o Zero speed starting force.
In a third aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, where the memory stores a computer program, and the processor implements the method according to any implementation manner of the first aspect when executing the program.
In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method according to any of the implementations of the first aspect.
The invention provides an online servo friction compensation method, device, equipment and storage medium, wherein the method comprises the following steps: responding to a no-load signal of a main station to perform online friction data acquisition; the friction data includes: zero-speed starting force K o Friction force K during constant speed operation c And the linear relation K of torque under different uniform speeds b The method comprises the steps of carrying out a first treatment on the surface of the Analyzing the friction data according to a preset analysis method to determine a friction force value to be compensated; and carrying out online servo friction compensation according to the friction force value to be compensated. The invention can detect the change of the mechanical friction condition on line and then compensate, so that the mechanical movement is always in a relatively stable state; in addition, the invention adopts a double compensation scheme of coulomb friction and viscous friction compensation when compensation is carried out, thereby greatly improving the effect of friction compensation.
It should be understood that the description in this summary is not intended to limit the critical or essential features of the embodiments of the invention, nor is it intended to limit the scope of the invention. Other features of the present invention will become apparent from the description that follows.
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The above and other features, advantages and aspects of embodiments of the present invention will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements.
FIG. 1 is a flow chart of an online servo friction compensation method according to an embodiment of the present invention;
FIG. 2 is a diagram of a friction compensation function according to an embodiment of the present invention;
FIG. 3 is a flow chart of another online servo friction compensation method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an online servo friction compensation device according to an embodiment of the present invention;
fig. 5 is a block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to enable a person skilled in the art to better understand the technical solutions in one or more embodiments of the present specification, the technical solutions in one or more embodiments of the present specification will be clearly and completely described below with reference to the drawings in one or more embodiments of the present specification, and it is obvious that the described embodiments are only some embodiments of the present specification, not all embodiments. All other embodiments, which can be made by one or more embodiments of the present disclosure without inventive faculty, are intended to be within the scope of the present disclosure.
It should be noted that, the description of the embodiment of the present invention is only for the purpose of more clearly describing the technical solution of the embodiment of the present invention, and does not constitute a limitation on the technical solution provided by the embodiment of the present invention.
FIG. 1 is a flow chart of an online servo friction compensation method according to an embodiment of the present invention; as shown in fig. 1, includes:
s101, responding to a no-load signal of a main station to perform online friction data acquisition.
Wherein the friction data comprises: zero-speed starting force K o Friction force K during constant speed operation c And the linear relation K of torque under different uniform speeds b 。
Optionally, the collected data also includes rotational speed, current running torque, and the like.
Alternatively, the master station outputs a no-load signal according to the programming of the cutting process, and the servo receives the no-load signal using data on a bus or an external DI point.
Optionally, the online friction data acquisition is performed in response to the no-load signal of the master station, including:
when the motor runs at a constant speed and the load torque is not changed within a preset time, the torque of the motor is obtained, wherein the torque is K c ；
In the formula, v * For the target speed, in rpm,acquiring according to a preset method;
wherein K is c1 At a uniform velocity V 1 Friction force under K c2 At a uniform velocity V 2 Friction force under.
Optionally, the method further comprises:
when the motor rotating speed is smaller than the speed threshold value in the static starting stage, torque current is obtained and compared to determine maximum torque current;
determination from the maximum torque current calculation
Illustratively, during a stationary start phase, a rapid acquisition of torque current (62.5 us period) is initiated and compared to a maximum value, and when the click speed exceeds 1rpm, the comparison is stopped and this maximum torque current is latched and then calculated from the torque current versus torque relationship
S102, analyzing the friction data according to a preset analysis method to determine the friction force value to be compensated.
Optionally, analyzing the friction data according to a preset analysis method to determine a friction value to be compensated, including:
the friction value to be compensated is calculated according to the following formula:
F f ＝K b ×v * +sgn(v * )×K c +F(v * )×K o ；
wherein F is f To the friction value to be compensated, K b V is the linear relation of torque (i.e. coefficient of sliding friction) at different constant speeds * For the target speed, sgn (v * ) For the sign of the target speed, representing the direction of travel of the target speed, K c For friction during constant speed operation (i.e. coulomb friction coefficient), F (v * ) As a function of target speed, K o Is zero speed actuation force (i.e., coefficient of static friction compensation).
Illustratively, the final F f The functional image of (2) is shown in figure 2.
Optionally, the method for analyzing the friction data according to a preset analysis method to determine the friction value to be compensated further includes:
the K obtained at this time is o 、K c And K b Comparing with the last data;
if the data error exceeds the preset value, determining the K obtained at the present time o 、K c And K b And (3) invalidating.
Illustratively, K is o 、K c And K b And comparing the three compensation coefficients with the compensation coefficients obtained before, if one error amount exceeds more than 20% of the previous data, considering the data as invalid, discarding the data, and collecting the data again for analysis and calculation.
S103, performing online servo friction compensation according to the friction force value to be compensated.
Optionally, on-line servo friction compensation is performed according to the friction value to be compensated, including:
and adjusting torque current according to the friction value to be compensated so as to control the motor torque to realize online servo friction compensation.
FIG. 3 is a flowchart of another online servo friction compensation method according to an embodiment of the present invention; as shown in fig. 3:
when no-load signal is received, the current speed v and the target speed v of the compensation data are obtained on line * And torque current I q And according to the motor target position theta * And the actual position theta of the motor are used for position adjustment according to the current speed v and the target speed v * Speed adjustment is carried out;
then calculating according to the friction compensation method to obtain friction compensation output torque F f And then performing torque current conversion, current regulation and inversion operation to control the motor to perform friction compensation.
The embodiment of the invention provides an online servo friction compensation method, which comprises the following steps: responding to a no-load signal of a main station to perform online friction data acquisition; the friction data includes: zero-speed starting force K o Friction force K during constant speed operation c And the linear relation K of torque under different uniform speeds b The method comprises the steps of carrying out a first treatment on the surface of the Analyzing the friction data according to a preset analysis method to determine a friction force value to be compensated; and carrying out online servo friction compensation according to the friction force value to be compensated. The invention can detect the change of the mechanical friction condition on line and then compensate, so that the mechanical movement is always in a relatively stable state; in addition, the invention adopts a double compensation scheme of coulomb friction and viscous friction compensation when compensation is carried out, thereby greatly improving the effect of friction compensation.
The following describes in detail the apparatus provided by the embodiment of the present invention, which can execute the above-mentioned online servo friction compensation method, with reference to fig. 2.
FIG. 4 is a schematic diagram illustrating an online servo friction compensation device according to an embodiment of the present invention; as shown in fig. 4, the friction compensating means 40 includes:
the acquisition module 401 is used for responding to the no-load signal of the main station to perform online friction data acquisition;
wherein the friction data comprises: zero-speed starting force K o Friction force K during constant speed operation c And the linear relation K of torque under different uniform speeds b ；
The analysis module 402 is configured to analyze the friction data according to a preset analysis method to determine a friction value to be compensated;
the compensation module 403 is used for performing online servo friction compensation according to the friction force value required to be compensated.
Optionally, the acquisition module 401 is further configured to acquire torque of the motor when the motor is running at a constant speed and the load torque is no longer changed within a preset time, where the torque is K c ；
In the formula, v * For the target speed, in rpm,acquiring according to a preset method;
wherein J is c1 At a uniform velocity V 1 Friction force under K c2 At a uniform velocity V 2 Friction force under.
Optionally, when the motor rotation speed is smaller than the speed threshold value in the static starting stage, acquiring torque current and comparing to determine maximum torque current; determination from maximum torque current calculation
Optionally, the analysis module 402 is further configured to calculate the friction value to be compensated according to the following formula:
F f ＝K b ×v * +sgn(v * )×K c +F(v * )×K o ；
wherein F is f To the friction value to be compensated, K b V is the linear relation of torque under different uniform speeds * For the target speed, sgn (v * ) For the sign of the target speed, representing the direction of travel of the target speed, K c F (v) is friction force during uniform speed operation * ) As a function of target speed, K o Zero speed starting force.
Optionally, the analysis module 402 is further configured to obtain K from the present time o 、K c And K b Comparing with the last data; if the data error exceeds the preset value, determining the K obtained at the present time o 、K c And K b And (3) invalidating.
Optionally, the compensation module 403 is further configured to adjust the torque current according to the friction value to be compensated, so as to control the motor torque to implement online servo friction compensation.
The embodiment of the present invention also provides a computer electronic device, fig. 5 shows a schematic diagram of a structure of an electronic device to which the embodiment of the present invention can be applied, and as shown in fig. 5, the electronic device includes a central processing module (CPU) 501 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data required for the system operation are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other through a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input section 506 including a keyboard, a mouse, and the like; an output portion 507 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker, and the like; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The drive 510 is also connected to the I/O interface 505 as needed. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as needed so that a computer program read therefrom is mounted into the storage section 508 as needed.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules or modules involved in the embodiments of the present invention may be implemented in software or in hardware. The described modules or modules may also be provided in a processor, for example, as: a processor comprises an acquisition module 401, an analysis module 402 and a compensation module 403, wherein the names of these modules do not in some cases constitute a limitation of the module itself, for example, the acquisition module 401 may also be described as "acquisition module 401 for online friction data acquisition in response to a no-load signal of a master station".
As another aspect, the present invention also provides a computer-readable storage medium, which may be a computer-readable storage medium contained in an online servo friction compensation device as described in the above embodiment; or may be a computer-readable storage medium, alone, that is not incorporated into an electronic device. The computer readable storage medium stores one or more programs for use by one or more processors to perform an online servo friction compensation method described in the present invention.
The above description is only illustrative of the preferred embodiments of the present invention and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the invention referred to in the present invention is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present invention (but not limited to) having similar functions are replaced with each other.
Claims (10)
1. An on-line servo friction compensation method, comprising:
responding to a no-load signal of a main station to perform online friction data acquisition; the friction data includes: zero-speed starting force K o Friction force K during constant speed operation c And the linear relation K of torque under different uniform speeds b ；
Analyzing the friction data according to a preset analysis method to determine a friction force value to be compensated;
and carrying out online servo friction compensation according to the friction force value to be compensated.
2. The online servo friction compensation method of claim 1 wherein the online friction data acquisition in response to the no-load signal of the master station comprises:
when the motor runs at a constant speed and the load torque is not changed within a preset time, the torque of the motor is obtained, wherein the torque is K c ；
In v * For the target speed, in rpm,acquiring according to a preset method;
wherein K is c1 At a uniform velocity V 1 Friction force under K c2 At a uniform velocity V 2 Friction force under.
3. The on-line servo friction compensation method according to claim 2, further comprising:
when the motor rotating speed is smaller than the speed threshold value in the static starting stage, torque current is obtained and compared to determine maximum torque current;
determination from the maximum torque current calculation
4. The online servo friction compensation method according to claim 1, wherein the analyzing the friction data according to a preset analysis method to determine the friction value to be compensated comprises:
the friction value to be compensated is calculated according to the following formula:
F f ＝K b ×v * +sgn(v * )×K c +F(v * )×K o ；
wherein F is f To the friction value to be compensated, K b V is the linear relation of torque under different uniform speeds * For the target speed, sgn (v * ) For the sign of the target speed, representing the direction of travel of the target speed, K c F (v) is friction force during uniform speed operation * ) As a function of target speed, K o Zero speed starting force.
5. The on-line servo friction compensation method according to claim 4, wherein the analyzing the friction data according to a preset analysis method determines a friction value to be compensated, further comprising:
the K obtained at this time is o 、K c And K b Comparing with the last data;
if the data error exceeds the preset value, determining the K obtained at the present time o 、K c And K b And (3) invalidating.
6. The on-line servo friction compensation method according to claim 1, wherein the on-line servo friction compensation according to the friction value to be compensated comprises:
and adjusting torque current according to the friction value to be compensated so as to control the motor torque to realize online servo friction compensation.
7. An on-line servo friction compensation device, comprising:
the acquisition module is used for responding to the no-load signal of the main station to acquire online friction data;
wherein the friction data comprises: zero-speed starting force K o Friction force K during constant speed operation c And the linear relation K of torque under different uniform speeds b ；
The analysis module is used for analyzing the friction data according to a preset analysis method to determine the friction force value needing compensation;
and the compensation module is used for carrying out online servo friction compensation according to the friction force value required to be compensated.
8. The on-line servo friction compensation device of claim 7 wherein said analysis module is further configured to:
the friction value to be compensated is calculated according to the following formula:
F f ＝K b ×v * +sgn(v * )×K c +F(v * )×K o ；
wherein F is f To the friction value to be compensated, K b V is the linear relation of torque under different uniform speeds * For the target speed, sgn (v * ) For the sign of the target speed, representing the direction of travel of the target speed, K c F (v) is friction force during uniform speed operation * ) As a function of target speed, K o Zero speed starting force.
9. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, the processor implementing the method according to any of claims 1 to 6 when the computer program is executed.
10. A computer readable storage medium, characterized in that a computer program is stored, which computer program, when being executed by a processor, implements the method according to any of claims 1 to 6.
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| 唐煜: "电机伺服控制***的摩擦力分析与研究", 中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑, vol. 2020, no. 03, 15 March 2020 (2020-03-15), pages 032 - 107 * |
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