CN109164754A - A kind of smoothing method and its control device of servo-driver position command - Google Patents
A kind of smoothing method and its control device of servo-driver position command 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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- G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
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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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Abstract
The present invention relates to servo-driver control technology fields, and in particular to a kind of smoothing method of servo-driver position command.The smoothing method of the servo-driver position command is comprising steps of detect the position command lost by data verification method；Smooth position order is gone out using fitting of a polynomial according to the close position order for losing position command；According to the smooth position order fitted, the position command of primary output to external servo motor is updated in each driver control period.The invention further relates to a kind of control devices of servo-driver position command.Smooth position order is gone out using fitting of a polynomial according to the close position order for losing position command, the position command of output to external servo motor is updated further according to smooth position order, reach the position command of smooth output to external servo motor, improve control performance and control precision, and delay is smaller, calculation amount is smaller.
Description
Technical field
The present invention relates to servo-driver control technology fields, and in particular to a kind of servo-driver position command it is smooth
Method and its control device.
Background technique
Servo-driver is the key components and parts of industrial automation, is a kind of controller for controlling servo motor, main
To be applied to high-precision positioning system.Servo-driver is generally by three kinds of position, speed and torque modes to servo motor
It is controlled, realizes high-precision transmission system positioning.
Servo-driver is generally required to receive and be ordered from peripheral control unit by the position that bus or pulse direction issue
It enables, and then controls servo motor movement.But servo-driver is easy when receiving the position command of peripheral control unit by outer
The influence of portion's electromagnetic interference etc. causes position command locally to be lost.If directly using this discontinuous signal as servo-driver
Position command, it will cause servo motor high dither, directly affect control performance and control precision.
Summary of the invention
The technical problem to be solved in the present invention is that in view of the above drawbacks of the prior art, providing a kind of servo-driver
The smoothing method and its control device of position command overcome existing servo-driver position command locally to lose and cause servo electric
Machine high dither, the problem that control performance is poor and control precision is low.
The technical solution adopted by the present invention to solve the technical problems is: providing a kind of putting down for servo-driver position command
Sliding method, comprising steps of
The position command lost is detected by data verification method；
Smooth position order is gone out using fitting of a polynomial according to the close position order for losing position command；
According to the smooth position order fitted, primary output to outside is updated in each servo-driver control period and is watched
Take the position command of motor.
Still more preferably scheme of the invention is: the smoothing method further comprises the steps of:
According to the prior location order calculating position order of the position command of the smooth position order and loss that fit
Renewal speed value；
According to renewal speed value, primary output is updated to the position of external servo motor in each servo-driver control period
Set order.
Still more preferably scheme of the invention is: the close position order according to loss position command is using multinomial
Formula fit smooth position order comprising steps of
Scalar matrix is established, the relevant constant data of the rear state position command of position command for storing to losing；
Array is established, for caching the position command of servo-driver acquisition, the position command newly obtained deposits in array
End position, one position command of every acquisition is by prior location order to moving to left one；
The neighbouring position command of the rear state for the position command lost is calculated according to scalar matrix and obtains array storage
The neighbouring position command of the preceding state of the position command of loss, and smooth position order is gone out using fitting of a polynomial.
Still more preferably scheme of the invention is: the position command in the external command meets polynomial equation y=
a0+a1x+a2x2+a3x3, establishing scalar matrix is matrix M, comprising steps of
Order matrixMatrix G=[1 d d2 d3], wherein n is to lose
The data point of the rear state position command of position command, d are the data point for the position command lost；
N=d+1, d+2 ..., 2d are successively enabled, D (n)=G [H (n) is calculatedTH(n)]-1H(n)T；
Matrix M=[D (d+1)T D(d+2)T … D(2d)T]T。
Still more preferably scheme of the invention is: the array of the foundation is F [2d+1], and the renewal speed value is V,
Renewal speed value V is calculate by the following formula:
Renewal speed value V=(F [d]-F [d-1])/L, wherein, L is input period and the servo-driver control of external command
The multiple in period processed, F [d] are the smooth position order fitted, and F [d-1] is the prior location order for losing position command.
Still more preferably scheme of the invention is: the smoothing method further comprises the steps of:
P is set, for marking which data point of array F for doing fitting of a polynomial；
Smooth position order F [d] is fitted by following formula:
F [d]=M [p-d-1] [0] * F [0]+M [p-d-1] [1] * F [1]+M [p-d-1] [2] * F [2]+...+M [p-d-1]
[d-1]*F[d-1]+M[p-d-1][d]*F[p]。
Still more preferably scheme of the invention is: the smoothing method further comprises the steps of:
According to p size, p value is constantly updated, if p is greater than or equal to d+1, p is successively decreased 1；
If p is less than d+1, p value is updated, when updating p value, m=d+1, d+2 ..., 2d are successively taken, as F [m]！=F [m-1]
When, p=m is enabled, if all probable values of m are all unsatisfactory for F [m]！The condition of=F [m-1], then p does not do and updates.
Still more preferably scheme of the invention is: the data verification method includes CRC check.
The technical solution adopted by the present invention to solve the technical problems is: providing a kind of control of servo-driver position command
Device processed, including a module, to control external servo motor, the module includes:
Initialization process unit, to initialize the data of control device；
Position command output unit, to export the position command controlled external servo motor；
Main control unit, to store and process to the external command with multiple position commands, processing includes:
The position command lost is detected by data checking method；
Smooth position order is gone out using fitting of a polynomial according to the close position order for losing position command；
According to the smooth position order fitted, the position once exported is updated in each servo-driver control period and is ordered
It enables.
The beneficial effects of the present invention are provide the smoothing method and its control dress of a kind of servo-driver position command
It sets, goes out smooth position order by using fitting of a polynomial, controlled further according to smooth position order in each servo-driver
Period updates the position command of primary output to external servo motor, reaches smooth output to the position of external servo motor and orders
Enable, improve control performance and control precision, and servo-driver position command of the present invention smoothing method be delayed it is small, calculation amount compared with
It is small, a large amount of operations of matrix inversion are avoided, the computing capability of big multiple driver main control chip can be controlled.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the flow diagram of the smoothing method of servo-driver position command of the invention；
Fig. 2 is the flow diagram of the invention for going out smooth position order using fitting of a polynomial；
Fig. 3 is the idiographic flow block diagram of the smoothing method of servo-driver position command of the invention；
Fig. 4 is the flow chart of the smoothing method of servo-driver position command of the invention；
Fig. 5 is the flow chart of the renewal speed value of calculating position order of the invention；
Fig. 6 is the functional block diagram of the module of the control device of servo-driver position command of the invention.
Specific embodiment
Now in conjunction with attached drawing, elaborate to presently preferred embodiments of the present invention.
As shown in Figure 1 to Figure 3, the present embodiment provides a kind of preferred implementations of the smoothing method of servo-driver position command
Example.
The position command smoothing method comprising steps of
S10, the position command lost is detected by data verification method；
S20, smooth position order is gone out using fitting of a polynomial according to the close position order for losing position command；
The smooth position order that S30, basis fit updates primary output to outside in each driver control period and watches
Take the position command of motor.
The present invention goes out smooth position order, then root using fitting of a polynomial according to the close position order for losing position command
It is once exported in the control period update of each servo-driver to the position command of external servo motor according to smooth position order,
The position command for reaching smooth output to external servo motor improves control performance and control precision, and servo-drive of the present invention
The smoothing method delay of device position command is small, and amount of delay is smaller, reduces the calculation amount of servo-driver, avoids matrix inversion
The computing capability of a large amount of operations, big multiple driver main control chip can be controlled.
Wherein, the fitting of a polynomial is to go fitting to include a fritter point for several analysis lattice points with a polynomial expansion
All observation points in region are analysed, the objective analysis field of observation data is obtained.Expansion coefficient is determined with least square fitting.According to
The close position order for losing position command goes out smooth position order using fitting of a polynomial, and smooth position order is more acurrate.
And the position command lost is detected using CRC check method in the present embodiment.The detection of CRC check method is lost
The position command of mistake realizes that simply error detecing capability is strong, and the resource for occupying system is few.Certainly, in other embodiments, can make
With data verification methods such as even-odd check, BCC exclusive or check method, LRC longitudinal redundancy check.
As shown in Fig. 2, in step S20, it is described quasi- using multinomial according to the close position order for losing position command
Close out smooth position order comprising steps of
S21, scalar matrix is established, the relevant constant number of the rear state position command of position command for storing to losing
According to；
S22, array is established, for caching the position command of servo-driver acquisition, the position command newly obtained is deposited in
The position at the end of array, one position command of every acquisition is by prior location order to moving to left one.
S23, the neighbouring position command that the rear state for the position command lost is calculated according to scalar matrix and acquisition array are deposited
The neighbouring position command of the preceding state of the position command for the loss put, and smooth position order is gone out using fitting of a polynomial.
Wherein, in step S21, the relevant constant data of rear state position command of the position command of loss is deposited in into constant
In matrix, convenient for it is subsequent need to go out smooth position order using fitting of a polynomial when obtain from scalar matrix data calculate it is available
The position command of fitting of a polynomial is carried out, when position command lost without every fitting one must rerun primary calculating, subtract
Few calculation amount.
In the present embodiment, the position command in the external command meets polynomial equation y=a0+a1x+a2x2+a3x3.Step
In rapid S21, establishing scalar matrix is matrix M, comprising steps of
Order matrixMatrix G=[1d d2d3], wherein n is the position lost
The data point of the rear state position command of order is set, d is the data point for the position command lost；
N=d+1, d+2 ..., 2d are successively enabled, D (n)=G [H (n) is calculatedTH(n)]-1H(n)T；
Matrix M=[D (d+1)T D(d+2)T … D(2d)T]T。
Since the data point approximation of adjacent position command meets cubic polynomial equation y=a0+a1x+a2x2+a3x3, lead to
It crosses least square method and relevant coefficient is calculated, to be used to that smooth position order is calculated.By establish matrix H (n) and
Matrix G, calculating matrix D (n)=G [H (n)TH(n)]-1H(n)T, and by matrix D (n), successively form each of scalar matrix M
Row, i.e., deposit in constant data relevant to the rear state position command of the position command of loss in matrix M, can be from scalar matrix
The rear state position command that data calculate the position command lost is obtained in M.Wherein, D (n) is the matrix of a 1* (d+1), then constant
Matrix M is the matrix of a d* (d+1).
By by matrix D (n)=G [H (n)TH(n)]-1H(n)TIt calculates resulting value to deposit in scalar matrix M, avoid
The position command that fitting is lost every time must all calculate D (n)=G [H (n)TH(n)]-1H(n)T, calculation amount can be much less.
Further, the smoothing method further comprises the steps of:
S31, it is ordered according to the prior location order calculating position of the position command of the smooth position order and loss fitted
The renewal speed value of order；
S32, according to renewal speed value, update primary output to the position of external servo motor in each driver control period
Set order.
Wherein, it is ordered according to the prior location order calculating position of the position command of the smooth position order and loss that fit
The renewal speed value of order reduces the calculation amount of renewal speed value.
And primary output to outside is updated in each driver control period according to the renewal speed value of position command and is watched
The position command for taking motor, obtained position command can be smoother, and the speed of external servo motor will not mutate, and improve control
Performance processed and control precision.
In step S22, the array of the foundation is F [2d+1], wherein d is the data point for the position command lost.Array
The capacity of F [2d+1] is 2d+1, is fifo queue, i.e., the input period of each external position order, by array F [2d+1]
Element successively move to left one, the external position order newly inputted is stored in the position at the end array F [2d+1].
In step S31, the renewal speed value V of position command is calculate by the following formula:
V=(F [d]-F [d-1])/L, wherein, L is the input period of external command and times in servo-driver control period
Number, F [d] are the smooth position order fitted, and F [d-1] is the prior location order for losing position command.
In the present embodiment, the smoothing method is further comprised the steps of:
P is set, for marking which data point of array F for doing fitting of a polynomial；
Smooth position order F [d] is fitted by following formula:
F [d]=M [p-d-1] [0] * F [0]+M [p-d-1] [1] * F [1]+M [p-d-1] [2] * F [2]+...+M [p-d-1]
[d-1]*F[d-1]+M[p-d-1][d]*F[p]。
Further, the smoothing method further comprises the steps of:
According to p size, p value is constantly updated, if p is greater than or equal to d+1, p is successively decreased 1；
If p is less than d+1, p value is updated；When updating p value, m=d+1, d+2 ..., 2d are successively taken, as F [m]！=F [m-1]
When, p=m is enabled, if all probable values of m are all unsatisfactory for F [m]！The condition of=F [m-1], then p does not do and updates.
If the position command that the position command in the external command lost is data point d, the position of the embodiment of the present invention
The minimum delay of order smoothing method inputs the period for d external position order.Each external position order input in the present invention
Period only needs to do d+2 floating number multiplication and d+L+1 floating-point adder.The described position command smoothing method delay compared with
Small, amount of delay is fixed, and calculation amount is smaller, avoids a large amount of operations of matrix inversion, the calculating energy of big multiple driver main control chip
Power can be controlled.
Specifically, below to lose the 4th data point in external command, the update cycle of external position order is driver
10 times of period, i.e. d=4, L=10 are controlled, then the capacity of array F is described further for being 9.
Assuming that the 4th point data malfunctions, then cubic polynomial equation y is found out with the data of and nth point at the 0th, 1,2,3 point
=a0+a1x+a2x2+a3x3Coefficient a0、a1、a2、a3, wherein n is equal to one of them of 5,6,7,8, i.e. n is the position life lost
The data point of the neighbouring position command that do not lose of the rear state enabled, and then the match value for finding out at the 4th point is F [4]=G [H (n)TH
(n)]-1H(n)T[F[0]F[1]F[2]F[3]F[n]]T, successively enable n=5,6,7,8 calculating matrix D (n), and by corresponding D (n)
The every a line for successively forming scalar matrix M, is calculated scalar matrix M [4] [5]=[D (5)T D(6)T D(7)T D(8)T]T。
Fig. 4 is the flow chart of the smoothing method of servo-driver position command.
As shown in figure 4, the smoothing method of servo-driver position command comprising steps of
S401, calculation constant matrix M；
S402, some variables are initialized；
S403, judge whether K is 0；
If S404, K are 0, the renewal speed value V of calculating position order；
S405, the position command Output that output to external servo motor is updated according to the renewal speed value V of position command,
That is Output=Output+V；
S406,1 is incremented by K after updating the position command Output exported；
S407, judge whether K is greater than L；
If S408, K are greater than L, K is reset, if K is not more than L, skips to step S403.
Specifically, firstly, calculation constant matrix M, initializes some variables.Wherein K is the driver control period
Counter, F are the arrays for cache location order, and p is used to mark which data point of array F quasi- for doing multinomial
It closes, Output is exported to the position command of external servo motor.
The beginning in each driver control period judges whether counter K is zero, if 0, then executes calculating position order
Renewal speed value V, update further according to the velocity amplitude V of update and export the position command Output of external servo motor, i.e.,
Output=Output+V；If K is not 0, the position command Output of output is directly updated.
1 is incremented by K after updating the position command Output of output, then judges whether counter K is greater than L, if K > L,
K is reset, the position command for otherwise executing next driver control period updates.If being unsatisfactory for K > L, K is reset, then again
Restart to judge whether counter K is zero, carries out circulate operation.
Realize that smooth output to the position command of external servo motor, improves control performance and the control of servo-driver with this
Precision processed.
Wherein, the flow chart of the renewal speed value V of calculating position order is as shown in Figure 5:
S501, the element of array F is successively moved to left one, the position command Input newly inputted storage is the end array F
Tail position F [8]；
S502, judge p whether less than 5；
If S503, p update p value less than 5；
If S504, p are unsatisfactory for less than 5, update and p is successively decreased 1；
S505, judge whether p is greater than or equal to 5；
If S506, p, which are greater than or equal to 5, updates F [4]；
S507, calculating position order renewal speed value V=(F [4]-F [3])/L.
Wherein, if p is unsatisfactory for being greater than or equal to 5, step S507 is jumped directly to.
Specifically, the process of the renewal speed value V of calculating position order is described as follows:
Servo-driver one new position command of every acquisition, successively moves to left one for the element of array F, by what is newly inputted
Position command Input is stored in F [8], that is, is placed on the position at the end array F.
If next judgement p updates p value less than 5, p is otherwise successively decreased 1, judges whether p is greater than or equal to 5.If p is big
In or be equal to 5, update F [4].
Wherein, when updating p value, m=5 is successively taken, 6,7,8, as F [m]！When=F [m-1], p=m is enabled.During this,
It is possible that m=5,6,7,8 is unsatisfactory for F [m]！The condition of=F [m-1], at this moment p does not do and updates, directly judge p whether be greater than or
Equal to 5.
If judging, p less than 5, calculates renewal speed value V=(F [4]-F [3])/L, otherwise updates F [4], then calculate update
Velocity amplitude V=(F [4]-F [3])/L.The calculating for updating F [4] is as follows:
F [4]=M [p-5] [0] * F [0]+M [p-5] [1] * F [1]+M [p-5] [2] * F [2]+M [p-5] [3] * F [3]+M
[p-5][4]*F[p]。
Renewal speed value V=(F [4]-F [3])/L.
Wherein, judge whether p is greater than or equal to 5, be because the data point of position command lost is d=4, if the 5th
Data point is also the position command lost and is obtained by fitting, and being fitted obtained the 4th data point in this way, there may be not
Accurate situation.For example assume that the neighbouring order that do not lose of the rear state of the 4th data point is the 6th data point, when servo is driven
Dynamic device obtains a new position command, and prior location order can be moved to the left one by array F, at this moment, p is not successively decreased 1, the
4 data points are the 5th data points to the data point of fitting of a polynomial, and the 5th data point is also that fitting obtains, then can
There is the situation of inaccuracy, therefore p is successively decreased 1, still obtains the 6th data point and be fitted, improve the smoothed precision of position command.
Servo-driver updates primary export to outer according to the velocity amplitude V updated every time, in each driver control period
The position command of portion's servo motor.
As shown in fig. 6, the present invention also provides a kind of preferred embodiments of the control device of servo-driver position command.
The control device of the servo-driver position command includes a module 10, to control to external servo motor
System, the module include:
Initialization process unit 11, to initialize the data of control device；
Position command output unit 13, to export the position command controlled external servo motor；
Main control unit 12, to store and process to the external command with multiple position commands, processing includes:
The position command lost is detected by data checking method；
Smooth position order is gone out using fitting of a polynomial according to the close position order for losing position command；
According to the smooth position order fitted, the position command once exported is updated in each driver control period.
The main control unit 12 of the controller of servo motor of the invention carries out the external command with multiple position commands
Processing, the position command smoothly lost use fitting of a polynomial to go out smooth position order to update output to external servo motor
Position command reach smooth output to external servo and by the output of position command output unit 13 to external servo motor
The position command of motor improves control performance and control precision, and the present invention goes out smooth position order using fitting of a polynomial and prolongs
When it is small, amount of delay is smaller, reduces the calculation amount of servo-driver, avoids a large amount of operations of matrix inversion, big multiple driver master
The computing capability of control chip can be controlled.
It should be understood that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations, to ability
It for field technique personnel, can modify to technical solution illustrated in the above embodiments, or special to part of technology
Sign is equivalently replaced；And all such modifications and replacement, it should all belong to the protection domain of appended claims of the present invention.
Claims (9)
1. a kind of smoothing method of servo-driver position command, the servo-driver, which obtains, has the outer of multiple position commands
Portion's order, which is characterized in that the smoothing method comprising steps of
The position command lost is detected by data verification method；
Smooth position order is gone out using fitting of a polynomial according to the close position order for losing position command；
According to the smooth position order fitted, primary output is updated to external servo electricity in each servo-driver control period
The position command of machine.
2. smoothing method according to claim 1, which is characterized in that the smoothing method further comprises the steps of:
According to the update of the prior location order calculating position order of the position command of the smooth position order and loss that fit
Velocity amplitude；
According to renewal speed value, primary output to the position of external servo motor is updated in each servo-driver control period and is ordered
It enables.
3. smoothing method according to claim 2, which is characterized in that described to be ordered according to the close position for losing position command
Enable smooth position order is gone out using fitting of a polynomial comprising steps of
Scalar matrix is established, the relevant constant data of the rear state position command of position command for storing to losing；
Array is established, for caching the position command of servo-driver acquisition, the position command newly obtained deposits in the end of array
The position of tail, one position command of every acquisition is by prior location order to moving to left one；
The neighbouring position command of the rear state for the position command lost is calculated according to scalar matrix and obtains the loss of array storage
Position command preceding state neighbouring position command, and smooth position order is gone out using fitting of a polynomial.
4. smoothing method according to claim 3, which is characterized in that the position command in the external command meets multinomial
Formula equation y=a0+a1x+a2x2+a3x3, establishing scalar matrix is matrix M, comprising steps of
Order matrixMatrix G=[1 d d2 d3], wherein n is the position lost
The data point of the rear state position command of order, d are the data point for the position command lost；
N=d+1, d+2 ..., 2d are successively enabled, D (n)=G [H (n) is calculatedTH(n)]-1H(n)T；
Matrix M=[D (d+1)T D(d+2)T … D(2d)T]T。
5. smoothing method according to claim 4, which is characterized in that the array of the foundation is F [2d+1], the update
Velocity amplitude is V, and renewal speed value V is calculate by the following formula:
Renewal speed value V=(F [d]-F [d-1])/L, wherein, L is the input period and servo-driver control week of external command
The multiple of phase, F [d] are the smooth position order fitted, and F [d-1] is the prior location order for losing position command.
6. smoothing method according to claim 5, which is characterized in that the smoothing method further comprises the steps of:
P is set, for marking which data point of array F for doing fitting of a polynomial；
Smooth position order F [d] is fitted by following formula:
F [d]=M [p-d-1] [0] * F [0]+M [p-d-1] [1] * F [1]+M [p-d-1] [2] * F [2]+...+M [p-d-1] [d-
1]*F[d-1]+M[p-d-1][d]*F[p]。
7. smoothing method according to claim 6, which is characterized in that the smoothing method further comprises the steps of: big according to p
It is small, p value is constantly updated, if p is greater than or equal to d+1, p is successively decreased 1；
If p is less than d+1, p value is updated, when updating p value, m=d+1, d+2 ..., 2d are successively taken, as F [m]！When=F [m-1],
P=m is enabled, if all probable values of m are all unsatisfactory for F [m]！The condition of=F [m-1], then p does not do and updates.
8. -7 any smoothing method according to claim 1, which is characterized in that the data verification method includes the school CRC
It tests.
9. a kind of control device of servo-driver position command, which is characterized in that the control device includes a module, to
External servo motor is controlled, the module includes:
Initialization process unit, to initialize the data of control device；
Position command output unit, to export the position command controlled external servo motor；
Main control unit, to store and process to the external command with multiple position commands, processing includes:
The position command lost is detected by data checking method；
Smooth position order is gone out using fitting of a polynomial according to the close position order for losing position command；
According to the smooth position order fitted, the position command once exported is updated in each servo-driver control period.
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