CN118068689B - Method and system for realizing synchronous operation of servo drivers - Google Patents
Method and system for realizing synchronous operation of servo drivers Download PDFInfo
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Abstract
The invention discloses a method and a system for realizing synchronous operation of servo drivers, which relate to the technical field of servo driver control, and the method comprises the following steps: distributing a plurality of servo drivers on each actuator of the robot by using a distributed control system; extracting external motion requirements, generating a motion requirement sequence, extracting an actual motion sequence of a servo driver, recording the time when each servo driver reaches an expected position, obtaining a motion difference value, calculating an actuator oscillation threat value by combining the actual starting acceleration and the actual stopping acceleration, taking the motion difference value and the actuator oscillation threat value as the input of the PID motion controller, formulating a control strategy, monitoring the circuit safety state of a system in real time, and judging whether to cut off power supply of equipment. The invention solves the instability caused by equipment oscillation and ensures the reliability and high efficiency of the servo driver in the synchronous operation control process.
Description
Technical Field
The invention relates to the technical field of servo driver control, in particular to a method and a system for realizing synchronous operation of servo drivers.
Background
In the applications of automatic production lines, robot systems, numerical control machine tools and the like, a plurality of servo drivers are required to work cooperatively to realize high-precision and high-efficiency motion control, synchronous operation can ensure the coordination and consistency of the system and improve the production efficiency of the automatic system, in many industrial applications, high-precision motion control, such as positioning, tracking, assembling and other tasks, needs to be carried out on a mechanical system, and research on synchronous operation of the servo drivers can improve the precision and stability of the system and ensure the required motion performance. In industrial manufacturing, the efficiency of the production line can be improved by optimizing the synchronous operation of the servo drives. This is of great importance for mass production, high-speed production lines and custom production. Some industrial and scientific tasks require the coordinated completion of a machine system, and this usually involves multiple servo drives, and synchronous operation research helps to cope with these complex tasks, improve the overall performance of the system, and synchronous operation can improve the stability of the system and reduce the occurrence probability of oscillation and instability. The method has important significance for ensuring long-time stable operation of equipment and reducing equipment loss; the servo driver synchronously operates, so that the energy use can be controlled more accurately, the energy waste is reduced, and the green manufacturing target is realized to a certain extent.
In summary, the method and the system for researching synchronous operation of the servo driver have important significance in the aspects of pushing an automatic control technology, improving production efficiency, coping with complex tasks, realizing green manufacturing and the like, are beneficial to pushing development of industrial automation and robot technology, and improve the level of modern manufacturing and production.
For example, the current chinese patent with the grant publication number CN115296784B discloses a low-delay synchronization method for a servo driver, which includes acquiring servo operation data of the servo driver in real time, acquiring motor operation data of a servo motor in real time, and transmitting the acquired motor operation data and the servo operation data to a synchronizer in real time; after receiving the motor operation data and the servo operation data, the synchronizer converts the received motor operation data into motor frame data, converts the received servo operation data into servo frame data, and simultaneously divides the servo frame data and the motor frame data into a plurality of subframes according to a set synchronization period and time sequence. According to the method, after data of the servo driver and data of the servo motor are synthesized through one synchronizer, the synchronous marks are set, and after distribution is carried out, the servo driver and the servo motor carry out cycle time decoding according to the received data, so that synchronous delay is reduced, and interference caused by synchronization is avoided. However, the design is large in calculation amount, and the delay problem caused by equipment oscillation and the driver circuit safety problem are not considered.
Disclosure of Invention
The invention aims to provide a method and a system for realizing synchronous operation of servo drivers, which are used for solving the existing problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: a method for implementing synchronous operation of servo drives, comprising the steps of:
s1, distributing a plurality of servo drivers on each actuator of a robot by using a distributed control system;
S2, extracting external motion requirements, generating a motion requirement sequence, extracting an actual motion sequence of the servo drivers, and recording the time of each servo driver reaching the expected position to obtain a motion difference value;
S3, setting a server acceleration threshold, when the actual start acceleration or the actual stop acceleration in the actual motion sequence of the servo driver is larger than or equal to the server acceleration threshold, performing S4, and when the actual start acceleration or the actual stop acceleration in the actual motion sequence of the servo driver is smaller than the server acceleration threshold, performing S5;
s4, calculating an actuator oscillation threat value by combining the actual start acceleration and the actual stop acceleration;
S5, realizing motion control of a servo driver by using a PID motion controller, taking a motion difference value and an actuator concussion threat value as inputs of the PID motion controller, and making a control strategy;
s6, monitoring the circuit safety state of the system in real time, and setting circuit safety indexes And calculating a circuit safety value by combining the integrated value of the current, the voltage, the surface temperature of the servo driver and the dangerous vibration in the circuit, and judging whether to cut off the power supply of the equipment.
The invention is further improved in that the specific steps of S2 comprise:
s21, generating a motion demand sequence comprising the expected position and the expected speed of the servo driver Predetermined control periodDesired time for servo driver to reach desired positionDesired start accelerationDesired stop acceleration；
S22, extracting an actual motion sequence of the servo driver, including extracting an actual speed sequence of the servo driver according to a time interval TWherein, the method comprises the steps of,Represent the firstServo driver NoThe secondary recorded actual speed of the actuator further comprises a start speed sequence, a stop speed sequence and an actual time sequence of the robot actuator reaching a desired positionAnd a servo driver actual control period sequenceWherein, the method comprises the steps of, wherein,Represent the firstThe actual time that the individual servo drives reach the desired position,Represent the firstThe actual control period of the servo driver is,，Representing the number of robot actuators;
S23, substituting the data obtained in the steps S21 and S22 into an actuator track difference calculation strategy to calculate a motion difference value 。
The invention further improves that the specific step of S22 comprises the following steps:
S221, traversing the actual speed sequence of the servo driver according to the sequence, when At the time of the firstThe servo drive stops traversing, and the first time is extractedActual speed of each servo driverAnd a start-up speed sequence；
S222, when the servo driver receives the stop instruction, recording the actual speed of the servo driver at the momentAnd obtain a stop speed sequence；
S223, extract the firstActual time for the individual robot actuator to reach the desired positionAnd calculates the actual start accelerationAnd the actual stop acceleration。
The invention further improves that the actuator track difference calculation strategy comprises the following steps:
s231, calculating the first data by using the data in the step S22 Motion speed stress value of each servo driverThe calculation formula of the overall motion speed stress value of the servo driver is as follows; Calculating the differential value of the starting acceleration of the servo driverStopping acceleration difference value of servo driverTime difference value of servo driver reaching expected positionAnd actual control period difference value；
S232, calculating a motion difference value by combining the data in step S231:
；
Wherein, Representing servo drive motion speed duress value weights,A time difference value weight representing the arrival of the servo drive at the desired position,Representing the actual control period difference value weight,Indicating that the servo driver initiates the acceleration differential weight,Indicating that the servo driver stops the acceleration difference value weight.
The invention is further improved in that the specific step S4 comprises the following steps:
s41, extracting actual starting acceleration and actual stopping acceleration of the servo driver in the step S2, and calculating an oscillation coefficient of the robot actuator;
S42, substituting the data obtained in the step S41 into an actuator concussion threat value calculation strategy to calculate an actuator concussion threat value 。
The invention further improves that the actuator concussion threat value calculation strategy comprises the following steps:
S421, when the servo driver deviates from the preset moving direction, recording the speed perpendicular to the preset moving direction as the vibration speed of the driver, and setting an acceleration peak value ；
S422, obtaining the servo driver in timeIn seconds ofDrive vibration velocity set for vibration frequency acquisition once per second，Represent the firstA servo driver vibration speed set sequence, each collected vibration speed is written into the servo driver vibration speed set sequence，Represent the firstThe first servo driver collectsA vibration speed;
S423, calculate the first The servo drives are at timeAverage acceleration of vibration in secondsAnd average vibration velocity；
S424, measuring the time of the servo driverTrack offset distance in secondsThe calculation formula of the shock threat value of the actuator is as follows:
；
Wherein, Representing the differential weight of the vibration speed of the servo driver,Representing the average acceleration differential weight of the vibration,Representing the servo drive track offset weights,Indicating servo driver acceleration safety value weights.
The invention is further improved in that the specific step S5 comprises the following steps:
S51, setting an output error function WhereinThe motion difference value weight is represented as,Representing the weight of the shock threat value of the actuator;
s52, calculating a motion control amount by the PID motion controller:
；
Wherein, The time constant of the motion integration is represented,As a coefficient of motion scaling,The integration time of (2) is the servo driver start time to the current time.
The invention is further improved in that the specific step S6 comprises the following steps:
S61, installing temperature sensors at the same position in each servo driver to obtain temperature data of the servo drivers and export the temperature data,
S62, calculating a circuit safety state value through a circuit safety monitoring strategyWhen (when)When the servo driver is in motion state, the servo driver is continuously monitoredAnd when the power supply of the driver is cut off in time.
The invention is further improved in that the servo drive temperature data is obtained by including the measured values of all the temperature sensors in a temperature data setWherein, the method comprises the steps of, wherein,Represent the firstMeasuring values of the temperature sensors, and calculating the average value of the temperatures in the servo drivers。
The invention further improves that the specific steps of the circuit safety monitoring strategy comprise:
s621, measuring all servo driver voltage data sets Current data setExtracting the voltage data set minimum valueMaximum value of current data set；
S622, setting vibration speed peak valueWhen (when)When the speed is included in the dangerous vibration speed sequenceWhereinRepresent the firstThe dangerous vibration speed sequence of each servo driver is set to be the firstThe servo driver comprisesThe speed of the vibration at risk is determined,；
S623 calculate the firstDangerous vibration integrated value of each servo driver；
S624, importing the data in S622 and S623 into a circuit safety monitoring strategy to calculate a circuit safety state valueWherein, the method comprises the steps of, wherein,Is the firstThe maximum value of the integrated value of dangerous vibration of the servo driver,As the weight of the current data,As the weight of the voltage data,As a weight of the temperature data,The weight of the dangerous vibration comprehensive value.
In another aspect, the present invention provides a system for implementing synchronous operation of servo drives, comprising:
The motion control module is used for distributing a plurality of servo drivers on each actuator of the robot, extracting external motion requirements, generating a motion requirement sequence, extracting actual motion sequences of the servo drivers, recording the time of each servo driver reaching a desired position, and obtaining a motion difference value;
The synchronous control algorithm module is used for setting a servo acceleration threshold, operating the oscillation detection module when the actual start acceleration or the actual stop acceleration in the actual motion sequence of the servo driver is larger than or equal to the servo acceleration threshold, and operating the PID motion control module when the actual start acceleration or the actual stop acceleration in the actual motion sequence of the servo driver is smaller than the servo acceleration threshold;
the oscillation detection module is used for calculating an actuator oscillation threat value by combining the actual starting acceleration and the actual stopping acceleration;
The PID motion control module is used for realizing motion control of the servo driver by using a PID motion controller, taking a motion difference value in the motion control module and an actuator concussion threat value in the concussion detection module as inputs of the PID motion controller, and formulating a control strategy;
The circuit safety state monitoring module is used for monitoring the circuit safety state of the system in real time, setting circuit safety indexes, calculating circuit safety values by combining the integrated values of current, voltage, surface temperature of the servo driver and dangerous vibration in the circuit, and judging whether to cut off power supply of equipment.
The communication module is used for transmitting control instructions, state information and synchronous signals between the drivers;
And the encoder feedback module is used for providing real-time position feedback, is responsible for reading and processing encoder signals, and provides actual position information for the synchronous control algorithm module and the motion control module.
Compared with the prior art, the invention has the beneficial effects that:
1. firstly, generating a motion demand sequence by extracting external motion demands, extracting an actual motion sequence of servo drivers, and recording the time of each servo driver reaching an expected position to obtain a motion difference value; setting a servo acceleration threshold, calculating an actuator oscillation threat value by combining the actual start acceleration and the actual stop acceleration when the actual start acceleration or the actual stop acceleration in the actual motion sequence of the servo driver is larger than or equal to the servo acceleration threshold, and taking the motion difference value and the actuator oscillation threat value as the input of the PID motion controller when the actual start acceleration or the actual stop acceleration in the actual motion sequence of the servo driver is smaller than the servo acceleration threshold, so as to formulate a control strategy, solve the instability caused by equipment oscillation and simultaneously ensure the reliability and the high efficiency in the synchronous operation control process of the servo driver.
2. And secondly, the circuit safety state of the circuit safety value real-time monitoring system is calculated through the integrated values of the current, the voltage, the surface temperature of the servo driver and the dangerous vibration in the combined circuit, whether the power supply of equipment is cut off is judged, equipment damage caused by improper control is reduced, and the effect of real-time monitoring the driver safety risk caused by the influence of an operation load and the influence of the internal environment of the equipment is realized.
Drawings
FIG. 1 is a flow chart of a method for implementing synchronous operation of servo drivers according to the present invention;
FIG. 2 is a diagram of a system architecture for implementing servo driver synchronous operation in accordance with the present invention.
Detailed Description
The following detailed description of the present invention is made with reference to the accompanying drawings and specific embodiments, and it is to be understood that the specific features of the embodiments and the embodiments of the present invention are detailed description of the technical solutions of the present invention, and not limited to the technical solutions of the present invention, and that the embodiments and the technical features of the embodiments of the present invention may be combined with each other without conflict.
The term "and/or" is merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. The character "/", generally indicates that the front and rear associated objects are an or relationship.
Example 1
Fig. 1 shows a flowchart of a method for implementing synchronous operation of a servo driver according to the present embodiment, which includes the following steps:
S1, distributing a plurality of servo drivers on each actuator of a robot by using a distributed control system; the control tasks are distributed to a plurality of distributed nodes, each node can independently execute control operation, information exchange is carried out through a communication protocol, each node is responsible for executing a part of the control tasks, and the nodes are connected through a communication network to ensure the cooperative work among the parts of the system.
S2, extracting external motion requirements, generating a motion requirement sequence, extracting an actual motion sequence of the servo drivers, and recording the time of each servo driver reaching the expected position to obtain a motion difference value; the method comprises the following specific steps:
s21, generating a motion demand sequence comprising the expected position and the expected speed of the servo driver Predetermined control periodDesired time for servo driver to reach desired positionDesired start accelerationDesired stop acceleration；
S22, extracting an actual motion sequence of the servo driver, including extracting an actual speed sequence of the servo driver according to a time interval TWherein, the method comprises the steps of,Represent the firstServo driver NoThe secondary recorded actual speed of the actuator further comprises a start speed sequence, a stop speed sequence and an actual time sequence of the robot actuator reaching a desired positionAnd a servo driver actual control period sequenceWherein, the method comprises the steps of, wherein,Represent the firstThe actual time that the individual servo drives reach the desired position,Represent the firstThe actual control period of the servo driver is,，Representing the number of robot actuators; the method comprises the following specific steps:
S221, traversing the actual speed sequence of the servo driver according to the sequence, when At the time of the firstThe servo drive stops traversing, and the first time is extractedActual speed of each servo driverAnd a start-up speed sequence；
S222, when the servo driver receives the stop instruction, recording the actual speed of the servo driver at the momentAnd obtain a stop speed sequence；
S223, extract the firstActual time for the individual robot actuator to reach the desired positionAnd calculates the actual start accelerationAnd the actual stop acceleration。
S23, substituting the data obtained in the steps S21 and S22 into an actuator track difference calculation strategy to calculate a motion difference valueThe actuator trajectory difference calculation strategy comprises:
s231, calculating the first data by using the data in the step S22 Motion speed stress value of each servo driverThe calculation formula of the overall motion speed stress value of the servo driver is as follows; Calculating the differential value of the starting acceleration of the servo driverStopping acceleration difference value of servo driverTime difference value of servo driver reaching expected positionAnd actual control period difference value；
S232, calculating a motion difference value by combining the data in step S231:
；
Wherein, Representing servo drive motion speed duress value weights,A time difference value weight representing the arrival of the servo drive at the desired position,Representing the actual control period difference value weight,Indicating that the servo driver initiates the acceleration differential weight,Indicating that the servo driver stops the acceleration difference value weight.
S3, setting a server acceleration threshold, when the actual start acceleration or the actual stop acceleration in the actual motion sequence of the servo driver is larger than or equal to the server acceleration threshold, performing S4, and when the actual start acceleration or the actual stop acceleration in the actual motion sequence of the servo driver is smaller than the server acceleration threshold, performing S5;
S4, calculating an actuator oscillation threat value by combining the actual start acceleration and the actual stop acceleration; the method comprises the following specific steps:
S41, extracting the actual starting acceleration and the actual stopping acceleration of the servo driver in the step S2, wherein in a high dynamic load environment, the servo system may face a rapidly-changing load condition, which may cause oscillation and instability, particularly in the scenes of robots, automatic production lines and the like which need frequent rapid movement, so as to calculate the oscillation coefficient of the robot actuator;
S42, substituting the data obtained in the step S41 into an actuator concussion threat value calculation strategy to calculate an actuator concussion threat value The actuator concussion threat value calculation strategy comprises the following steps:
S421, when the servo driver deviates from the preset moving direction, recording the speed perpendicular to the preset moving direction as the vibration speed of the driver, and setting an acceleration peak value ；
S422, obtaining the servo driver in timeIn seconds ofDrive vibration velocity set for vibration frequency acquisition once per second，Represent the firstA servo driver vibration speed set sequence, each collected vibration speed is written into the servo driver vibration speed set sequence，Represent the firstThe first servo driver collectsA vibration speed;
S423, calculate the first The servo drives are at timeAverage acceleration of vibration in secondsAnd average vibration velocity；
S424, measuring the time of the servo driverTrack offset distance in secondsThe calculation formula of the shock threat value of the actuator is as follows:
；
Wherein, Representing the differential weight of the vibration speed of the servo driver,Representing the average acceleration differential weight of the vibration,Representing the servo drive track offset weights,Indicating servo driver acceleration safety value weights.
S5, realizing motion control of a servo driver by using a PID motion controller, taking a motion difference value and an actuator concussion threat value as inputs of the PID motion controller, and making a control strategy; the method comprises the following specific steps:
S51, setting an output error function WhereinThe motion difference value weight is represented as,Representing the weight of the shock threat value of the actuator;
s52, calculating a motion control amount by the PID motion controller:
；
Wherein, The time constant of the motion integration is represented,As a coefficient of motion scaling,The integration time of (2) is the servo driver start time to the current time.
S6, monitoring the circuit safety state of the system in real time, and setting circuit safety indexesThe integrated value of current, voltage, surface temperature of servo driver and dangerous vibration in the combined circuit calculates the circuit safety value, judges whether to cut off the power supply of the equipment, and comprises the following specific steps:
S61, installing temperature sensors at the same position in each servo driver, obtaining servo driver temperature data and deriving the temperature data, wherein the temperature data of the servo driver are obtained by listing the measured values of all the temperature sensors into a temperature data set Wherein, the method comprises the steps of, wherein,Represent the firstMeasuring values of the temperature sensors, and calculating the average value of the temperatures in the servo drivers。
S62, calculating a circuit safety state value through a circuit safety monitoring strategyWhen (when)When the servo driver is in motion state, the servo driver is continuously monitoredWhen the circuit safety monitoring strategy is used, the power supply of the driver is cut off in time, and the circuit safety monitoring strategy specifically comprises the following steps:
s621, measuring all servo driver voltage data sets Current data setExtracting the voltage data set minimum valueMaximum value of current data set；
S622, setting vibration speed peak valueWhen (when)When the speed is included in the dangerous vibration speed sequenceWhereinRepresent the firstThe dangerous vibration speed sequence of each servo driver is set to be the firstThe servo driver comprisesThe speed of the vibration at risk is determined,；
S623 calculate the firstDangerous vibration integrated value of each servo driver；
S624, importing the data in S622 and S623 into a circuit safety monitoring strategy to calculate a circuit safety state valueWherein, the method comprises the steps of, wherein,Is the firstThe maximum value of the integrated value of dangerous vibration of the servo driver,As the weight of the current data,As the weight of the voltage data,As a weight of the temperature data,The weight of the dangerous vibration comprehensive value.
Example 2
Fig. 2 is a diagram showing a system frame for realizing synchronous operation of servo drivers according to the present invention, and the present invention provides a system for realizing synchronous operation of servo drivers based on the same inventive concept as embodiment 1, comprising:
The motion control module is used for distributing a plurality of servo drivers on each actuator of the robot, extracting external motion requirements, generating a motion requirement sequence, extracting actual motion sequences of the servo drivers, recording the time of each servo driver reaching a desired position, and obtaining a motion difference value;
The synchronous control algorithm module is used for setting a servo acceleration threshold, operating the oscillation detection module when the actual start acceleration or the actual stop acceleration in the actual motion sequence of the servo driver is larger than or equal to the servo acceleration threshold, and operating the PID motion control module when the actual start acceleration or the actual stop acceleration in the actual motion sequence of the servo driver is smaller than the servo acceleration threshold;
the oscillation detection module is used for calculating an actuator oscillation threat value by combining the actual starting acceleration and the actual stopping acceleration;
The PID motion control module is used for realizing motion control of the servo driver by using a PID motion controller, taking a motion difference value in the motion control module and an actuator concussion threat value in the concussion detection module as inputs of the PID motion controller, and formulating a control strategy;
The circuit safety state monitoring module is used for monitoring the circuit safety state of the system in real time, setting circuit safety indexes, calculating circuit safety values by combining the integrated values of current, voltage, surface temperature of the servo driver and dangerous vibration in the circuit, and judging whether to cut off power supply of equipment.
The communication module is used for transmitting control instructions, state information and synchronous signals between the drivers;
And the encoder feedback module is used for providing real-time position feedback, is responsible for reading and processing encoder signals, and provides actual position information for the synchronous control algorithm module and the motion control module.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are all within the protection of the present invention.
Claims (2)
1. A method for realizing synchronous operation of servo drivers is characterized in that: the method comprises the following steps:
s1, distributing a plurality of servo drivers on each actuator of a robot by using a distributed control system;
S2, extracting external motion requirements, generating a motion requirement sequence, extracting an actual motion sequence of the servo drivers, and recording the time of each servo driver reaching the expected position to obtain a motion difference value; the method comprises the following specific steps:
s21, generating a motion demand sequence comprising the expected position and the expected speed of the servo driver Predetermined control periodDesired time for servo driver to reach desired positionDesired start accelerationDesired stop acceleration；
S22, extracting an actual motion sequence of the servo driver, including extracting an actual speed sequence of the servo driver according to a time interval TWherein, the method comprises the steps of,Represent the firstServo driver NoThe secondary recorded actual speed of the actuator further comprises a start speed sequence, a stop speed sequence and an actual time sequence of the robot actuator reaching a desired positionAnd a servo driver actual control period sequenceWherein, the method comprises the steps of, wherein,Represent the firstThe actual time that the individual servo drives reach the desired position,Represent the firstThe actual control period of the servo driver is,，Representing the number of robot actuators; the method comprises the following specific steps:
S221, traversing the actual speed sequence of the servo driver according to the sequence, when At the time of the firstThe servo drive stops traversing, and the first time is extractedActual speed of each servo driverAnd a start-up speed sequence；
S222, when the servo driver receives the stop instruction, recording the actual speed of the servo driver at the momentAnd obtain a stop speed sequence；
S223, extract the firstActual time for the individual robot actuator to reach the desired positionAnd calculates the actual start accelerationAnd the actual stop acceleration；
S23, substituting the data obtained in the steps S21 and S22 into an actuator track difference calculation strategy to calculate a motion difference value; The actuator trajectory difference calculation strategy comprises the following steps:
s231, calculating the first data by using the data in the step S22 Motion speed stress value of each servo driverThe calculation formula of the overall motion speed stress value of the servo driver is as follows; Calculating the differential value of the starting acceleration of the servo driverStopping acceleration difference value of servo driverTime difference value of servo driver reaching expected positionAnd actual control period difference value；
S232, calculating a motion difference value by combining the data in step S231:
；
Wherein, Representing servo drive motion speed duress value weights,A time difference value weight representing the arrival of the servo drive at the desired position,Representing the actual control period difference value weight,Indicating that the servo driver initiates the acceleration differential weight,Indicating the weight of the acceleration difference value stopped by the servo driver;
S3, setting a server acceleration threshold, when the actual start acceleration or the actual stop acceleration in the actual motion sequence of the servo driver is larger than or equal to the server acceleration threshold, performing S4, and when the actual start acceleration or the actual stop acceleration in the actual motion sequence of the servo driver is smaller than the server acceleration threshold, performing S5;
S4, calculating an actuator oscillation threat value by combining the actual start acceleration and the actual stop acceleration; the method comprises the following specific steps:
s41, extracting actual starting acceleration and actual stopping acceleration of the servo driver in the step S2, and calculating an oscillation coefficient of the robot actuator;
S42, substituting the data obtained in the step S41 into an actuator concussion threat value calculation strategy to calculate an actuator concussion threat value The actuator concussion threat value calculation strategy comprises the following steps:
S421, when the servo driver deviates from the preset moving direction, recording the speed perpendicular to the preset moving direction as the vibration speed of the driver, and setting an acceleration peak value ；
S422, obtaining the servo driver in timeIn seconds ofDrive vibration velocity set for vibration frequency acquisition once per second，Represent the firstA servo driver vibration speed set sequence, each collected vibration speed is written into the servo driver vibration speed set sequence，Represent the firstThe first servo driver collectsA vibration speed;
S423, calculate the first The servo drives are at timeAverage acceleration of vibration in secondsAnd average vibration velocity；
S424, measuring the time of the servo driverTrack offset distance in secondsThe calculation formula of the shock threat value of the actuator is as follows:
；
Wherein, Representing the differential weight of the vibration speed of the servo driver,Representing the average acceleration differential weight of the vibration,Representing the servo drive track offset weights,Representing servo driver acceleration safety value weights;
S5, realizing motion control of a servo driver by using a PID motion controller, taking a motion difference value and an actuator concussion threat value as inputs of the PID motion controller, and making a control strategy; the method comprises the following specific steps:
S51, setting an output error function WhereinThe motion difference value weight is represented as,Representing the weight of the shock threat value of the actuator;
s52, calculating a motion control amount by the PID motion controller:
；
Wherein, The time constant of the motion integration is represented,As a coefficient of motion scaling,Is the servo driver starting time to the current time
S6, monitoring the circuit safety state of the system in real time, and setting circuit safety indexesCalculating a circuit safety value by combining the current, the voltage, the surface temperature of the servo driver and the dangerous vibration comprehensive value in the circuit, and judging whether to cut off the power supply of the equipment; the method comprises the following specific steps:
S61, installing temperature sensors at the same position in each servo driver, obtaining servo driver temperature data and deriving; the servo driver temperature data is obtained by listing the measured values of all the temperature sensors into a temperature data set Wherein, the method comprises the steps of, wherein,Represent the firstMeasuring values of the temperature sensors, and calculating the average value of the temperatures in the servo drivers；
S62, calculating a circuit safety state value through a circuit safety monitoring strategyWhen (when)When the servo driver is in motion state, the servo driver is continuously monitoredWhen the power supply of the driver is cut off in time; the circuit safety monitoring strategy specifically comprises the following steps:
s621, measuring all servo driver voltage data sets Current data setExtracting the voltage data set minimum valueMaximum value of current data set；
S622, setting vibration speed peak valueWhen (when)When the speed is included in the dangerous vibration speed sequenceWhereinRepresent the firstThe dangerous vibration speed sequence of each servo driver is set to be the firstThe servo driver comprisesThe speed of the vibration at risk is determined,；
S623 calculate the firstDangerous vibration integrated value of each servo driver；
S624, importing the data in S622 and S623 into a circuit safety monitoring strategy to calculate a circuit safety state valueWherein, the method comprises the steps of, wherein,Is the firstThe maximum value of the integrated value of dangerous vibration of the servo driver,As the weight of the current data,As the weight of the voltage data,As a weight of the temperature data,The weight of the dangerous vibration comprehensive value.
2. A system for implementing servo driver synchronous operation for performing a method for implementing servo driver synchronous operation as recited in claim 1, wherein: comprising the following steps:
The motion control module is used for distributing a plurality of servo drivers on each actuator of the robot, extracting external motion requirements, generating a motion requirement sequence, extracting actual motion sequences of the servo drivers, recording the time of each servo driver reaching a desired position, and obtaining a motion difference value;
The synchronous control algorithm module is used for setting a servo acceleration threshold, operating the oscillation detection module when the actual start acceleration or the actual stop acceleration in the actual motion sequence of the servo driver is larger than or equal to the servo acceleration threshold, and operating the PID motion control module when the actual start acceleration or the actual stop acceleration in the actual motion sequence of the servo driver is smaller than the servo acceleration threshold;
the oscillation detection module is used for calculating an actuator oscillation threat value by combining the actual starting acceleration and the actual stopping acceleration;
The PID motion control module is used for realizing motion control of the servo driver by using a PID motion controller, taking a motion difference value in the motion control module and an actuator concussion threat value in the concussion detection module as inputs of the PID motion controller, and formulating a control strategy;
The circuit safety state monitoring module is used for monitoring the circuit safety state of the system in real time, setting circuit safety indexes, calculating circuit safety values by combining the integrated values of current, voltage, surface temperature of a servo driver and dangerous vibration in the circuit, and judging whether to cut off power supply of equipment;
The communication module is used for transmitting control instructions, state information and synchronous signals between the drivers;
And the encoder feedback module is used for providing real-time position feedback, is responsible for reading and processing encoder signals, and provides actual position information for the synchronous control algorithm module and the motion control module.
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| CN102904494A (en) * | 2012-11-12 | 2013-01-30 | 中国电子科技集团公司第五十四研究所 | Multi-motor synchronous anti-backlash method |
| CN113431814A (en) * | 2021-06-17 | 2021-09-24 | 江苏科技大学 | Synchronous control method based on parallel motion of multiple hydraulic cylinders of heave compensation platform |
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| JPH11259134A (en) * | 1998-03-09 | 1999-09-24 | Yaskawa Electric Corp | Position control type motor controller and synchronization control device using the controller |
| CN115603618A (en) * | 2022-11-06 | 2023-01-13 | 法睿科（镇江）智能科技有限公司（Cn） | Multi-servo driver synchronous tuning control method, device, system and storage medium |
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| CN113431814A (en) * | 2021-06-17 | 2021-09-24 | 江苏科技大学 | Synchronous control method based on parallel motion of multiple hydraulic cylinders of heave compensation platform |
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