CN118170030B - Conversion coefficient self-adaptive operation control system unwinding type rotating shaft super-flexible control method - Google Patents
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Abstract
The invention discloses a conversion coefficient self-adaptive operation control system unwinding type rotating shaft super-flexible control method, which comprises the following steps: step S1: inputting production demand relation parameters to the PLC; step S2: performing adaptive calculation of the transformation coefficients; step S3: giving a target movement position S t and curve planning time T m; step S4: selecting a rotation axis movement mode; step S5: calculating corresponding actual planning displacement according to the selected rotation axis movement mode; step S6: and performing nine-degree polynomial super-flexible curve planning by using the transformation coefficient obtained in the step S2, the curve planning time T m given in the step S3 and the actual planning displacement S p obtained in the step S5. The transformation coefficient self-adaptive control method for the unwinding rotating shaft super-flexibility of the operation control system has the beneficial effects that the continuity of speed, acceleration, jerk and jerk in the planning process is ensured based on curve planning of a nine-time polynomial, and super-flexibility acceleration and deceleration control is realized.
Description
Technical Field
The invention belongs to the field of industrial motion control, and particularly relates to a conversion coefficient self-adaptive control method for the ultra-flexibility of an unwinding rotating shaft of a motion control system.
Background
Programmable Logic Controllers (PLCs) are now an important support for industrial automation, and motion control is one of the important functions of modern high-performance PLCs, and is widely applied to the fields of automobile manufacturing, food packaging, machining, printing, photovoltaic lithium batteries, and the like. A motion control system (abbreviated as a motion control system) generally includes a motion controller, a driver, a motor, a mechanical actuator, a feedback unit, and the like. In actual processing production, user units such as turns, degrees, centimeters, inches, millimeters, bottles, sheets and the like are required to be mutually converted with a control counting unit in the controller, the user units are acted on a motion track planner in the controller to conduct point position motion planning, and a planning track issuing driver controls a motor shaft to drive mechanical equipment to move so as to conduct satisfactory processing production. Typically, if the input conversion coefficient is unreasonable, the periodic accumulated counting error is caused by directly inputting the conversion coefficient (such as conversion constant, position unwinding value, driving resolution, etc.) manually, for example, a motor shaft of a certain production device directly drives a rotating device provided with three filling devices, three products can be filled and produced by one revolution of the shaft, the set position unit is the number of filling pieces, and the default driving resolution value is 10 6 p/r (pulse count/revolution), so that the conversion constant is 10 6/3 pulse count/piece. When the reset is carried out once in each product filling period, 1/3 of counting error is accumulated in each period, and therefore machining precision and quality are affected. The setting of the transformation coefficient needs to be precisely calculated by a user, so that the user friendliness of the system is greatly reduced.
In addition, there is a circulation production line in actual production, such as sanitary material production, white spirit packaging, bio-pharmaceuticals, etc., and there is a circulation production line, so that the rotation axis operation of the production equipment is required to be controlled, these circulation production lines can adopt different mechanical structures according to different process requirements, and the movement mode of the production equipment is usually incremental and absolute, but if some circulation production lines have special process requirements, only forward rotation circulation operation can be performed, if forced or misoperation is performed to perform reverse rotation operation, the mechanical structure may be damaged, and the production equipment may be damaged. Some recycling lines may support bi-directional rotational movement, and this may result in excessive movement displacement if only one direction of rotational movement is supported, which may lead to a significant reduction in production efficiency. In actual production and processing, acceleration and deceleration control is needed to be carried out on a motor driving shaft so as to reduce the impact during start and stop and improve the processing precision and quality. The traditional trapezoid and exponential acceleration and deceleration control is simple to realize, but the acceleration is discontinuous, abrupt change exists, and larger flexible impact exists. In order to reduce flexible impact and improve machining precision, a flexible acceleration and deceleration control method is generally used, and although an improved flexible acceleration and deceleration control method based on a trigonometric function can smooth a motion curve, the trigonometric function is complex in calculation and time-consuming, and real-time performance of a motion control system is difficult to ensure. The common seven-segment type S-shaped flexible acceleration and deceleration control method ensures the continuity of acceleration in the whole motion process by dividing the whole acceleration and deceleration process into 7 stages, namely an acceleration segment, a constant acceleration segment, a deceleration segment, a constant speed segment, an acceleration and deceleration segment, a constant deceleration segment and a deceleration and deceleration segment. The seven-segment S-shaped acceleration and deceleration control method ensures the acceleration continuity in the whole planning process, but has a plurality of curve planning classification conditions, planning parameters can be obtained only by numerical methods such as multiple evolution, dichotomy and the like, the calculated amount is large, the operation is complex, the jerk has abrupt change, residual vibration still exists in some application occasions with high-precision requirements, and the control requirements of high precision and high flexibility are difficult to meet.
The applicant searches preliminarily, the publication number is CN104298114A, the subject name is the patent application of the self-adaptive robust S-shaped speed planning algorithm, the publication date is 2015121, and the IPC classification numbers are G05B13/04 and G05D1/02. The patent application mainly discloses that an S-shaped speed curve can be normally planned for any given initial and final speed and displacement, maximum acceleration and jerk and motion speed, and the planning is decomposed into two layers for processing, namely a speed planning layer and a displacement planning layer. The speed planning layer is used as the bottom layer function, and performs speed change planning according to the given first and last speeds to obtain speed change track data; the displacement planning layer obtains the whole track data meeting the given displacement through an analytic method or a numerical method.
In addition, the publication number is CN102360198A, the topic name is a speed planning method and device of operation equipment in a numerical control system and the invention patent application of a numerical control machine tool, the publication date is 20120222, and the IPC classification number is G05B19/19. The patent application of the invention mainly discloses a method adopted in the prior art, which comprises the following steps: firstly judging a set path, calculating which effective stages are contained in the whole planning process, then configuring according to corresponding stages, calculating relevant parameters of the whole acceleration and deceleration process according to different mathematical models, finally obtaining a high-order equation set by the method, if the calculation is to be performed accurately, the equation set with the root number needs to be solved for 3 times, so that the calculated amount of the whole planning process becomes huge, the planning process is complex, the path length of each stage is difficult to meet the requirement of integer multiple of an interpolation period, the problem of speed jump occurs, and the problem of realizing typical 7-stage planning or 5-stage planning of an S-shaped curve in the whole speed planning process is solved.
The above two patents relate only to the usual linear axis acceleration and deceleration control, and do not relate to any rotation axis control. The transformation coefficient self-adaptive operation control system unwinding type rotating shaft super-flexible control has no disclosed transformation method in the prior art and data about motion control. Therefore, it is needed to realize the adaptive calculation of the transformation coefficient by inputting the production requirement relation, perform the rotation axis control of multiple motion modes, and perform the curve planning based on the nine-time polynomial, so as to realize the ultra-flexible acceleration and deceleration control method, thereby improving the user friendliness, the operation efficiency, the processing precision, the processing quality, the stability and the safety of the system.
Disclosure of Invention
Aiming at the state of the prior art, the invention overcomes the defects and provides an ultra-flexible control method for the unwinding type rotating shaft of the operation control system with self-adaptive conversion coefficient.
The invention discloses an unwinding type rotating shaft super-flexible control method of a conversion coefficient self-adaptive operation control system, which mainly aims at realizing self-adaptive calculation of conversion coefficients only by inputting production requirement relation by a user, carrying out rotating shaft control of various motion modes, carrying out curve planning based on nine polynomials, directly calculating analysis solutions of planning parameters, ensuring continuity of speed, acceleration, jerk and jerk in the planning process, realizing super-flexible acceleration and deceleration control, and improving user friendliness, operation efficiency, processing precision, processing quality, stability and safety of the system.
The invention discloses an unwinding type rotating shaft super-flexible control method of a transformation coefficient self-adaptive operation control system, which is used for solving the problems of transformation coefficient setting, rotating shaft control and the like in the operation control system.
The invention adopts the following technical scheme that the transformation coefficient self-adaptive operation control system unwinding type rotating shaft super-flexible control method comprises the following steps:
Step S1: inputting production requirement relation parameters to the PLC controller, wherein the production requirement relation parameters comprise a resolution conversion molecule R n, a resolution conversion denominator R d, an unwinding conversion molecule U n and an unwinding conversion denominator U d, and the production requirement relation parameters comprise the following components: r d and R n correspond to the relation between the position unit and the motor turns, and each R n position units, the motor turns R d turns; u n and U d correspond to the relationship of the cyclic unwinding value and the position unit, each U d cyclic unwinding, the shaft moves by U n position units;
Step S2: performing adaptive calculation of a transformation coefficient, wherein the transformation coefficient comprises a maximum resolution R max, a basic resolution R b, a default resolution R p, a driving resolution R m, a conversion constant C t and an unwinding resolution U w, and the method comprises the following steps of:
（1）；
（2）；
（3）；
（4）；
（5）；
Step S3: giving a target movement position S t and curve planning time T m;
Step S4: selecting a rotation axis motion mode, wherein the rotation axis motion mode comprises an absolute rotation motion mode, an incremental rotation motion mode, a shortest path rotation motion mode, a forward rotation motion mode and a reverse rotation motion mode, and the rotation axis motion mode comprises:
Absolute rotational motion pattern:
the direction of travel of the absolute rotation depends on the current position of the shaft, if the starting position is smaller than the ending position, a positive movement is generated; if the start position is greater than the end position, a reverse motion is generated; if the position is greater than the position unwind value, the shaft will move more than one revolution when reaching the absolute position;
Incremental rotational motion mode:
The direction of travel of the incremental rotary motion pattern depends on the sign of the incremental position S, which if greater than zero would produce a positive motion; if the incremental position S is less than zero, a reverse motion is generated; if the incremental position is greater than the position unwind value, the shaft will move more than one revolution when reaching the target position;
shortest path rotational motion mode:
The shortest path rotary motion mode runs to a target position along the shortest direction, is not influenced by the current position, passes through a zero point under a first preset condition, and does not exceed a 1/2 cyclic unwinding value in single motion;
forward rotational motion mode:
The forward rotation movement mode only moves to the target position in the forward direction, is not influenced by the current position, and passes through the zero point under the second preset condition;
Reverse rotational motion mode:
The reverse rotation movement mode only moves to the target position along the reverse direction, is not influenced by the current position, and passes through the zero point under the third preset condition;
Step S5: calculating a corresponding actual planned displacement according to the selected rotation axis movement pattern, wherein:
The actual planning displacement is S p;
Absolute rotational motion pattern:
Let S c be the current position of the system, if S t>Sc, then forward motion is performed, and displacement S p=St-Sc is actually planned; if S t<Sc, performing negative direction movement, and actually planning displacement S p=St-Sc;
Incremental rotational motion mode:
In the incremental rotary motion mode, the target motion position S t is directly assigned to the actual planning displacement S p,Sp=St;
shortest path rotational motion mode:
Let S u be the cyclic unwind value and assign U n to S u,Su=Un;
if |S t-Sc|≤Su/2,Sp=St-Sc;
If |St-Sc|>Su/2,Sp=(St-Sc)-Su*Sign(St-Sc);, wherein Sign ();
forward rotational motion mode:
if S t-Sc<0,Sp=(St-Sc)+Su; if S t-Sc>0,Sp=St-Sc;
Reverse rotational motion mode:
If S t-Sc>0,Sp=(St-Sc)-Su; if S t-Sc<0,Sp=St-Sc;
Step S6: and performing nine-degree polynomial super-flexible curve planning by using the transformation coefficient obtained in the step S2, the curve planning time T m given in the step S3 and the actual planning displacement S p obtained in the step S5, wherein:
let the position expression S (t) be a nine-degree polynomial with respect to time, one time derivative of S (t) to obtain a velocity expression V (t), two times derivative of S (t) to obtain an acceleration expression a (t), three times derivative of S (t) to obtain a jerk expression J (t), four times derivative of S (t) to obtain a jerk expression K (t), as shown in the following formula (6):
（6）；
Wherein ,a0、a1、a2、a3、a4、a5、a6、a7、a8、a9 is a polynomial coefficient, and t is a time parameter;
Given a boundary constraint:
（7）；
Substituting the ten boundary constraints of equation (7) into equation (6) to obtain a linear system of equations for [a0,a1,a2,a3,a4,a5,a6,a7,a8,a9], converts into a matrix form as follows:
M*a=b （8）；
Wherein M is a coefficient matrix ;a=[a0,a1,a2,a3,a4,a5,a6,a7,a8,a9]-1 of 10×10, and is a solution parameter matrix; b= [0, s p,0,0,0,0]-1 ] is a constant term matrix;
The polynomial coefficient a 0~a9 of equation (6) is determined by multiplying M -1 to determine a simultaneously on both sides of equation (8), and is calculated as follows:
a=M-1b （9）；
wherein M -1 is the inverse of M; substituting formula (9) into formula (6) to obtain a curve planning expression satisfying the constraint condition;
Step S7: and (3) performing discrete interpolation output on the curve obtained in the step (6) through a control period T s, wherein the specific expression is as follows:
（10）；
wherein T s is a control period, nT sÎ[0,Tm, n=1, 2,3 … is a positive integer;
And (3) expressing the continuity of the speed, the acceleration, the jerk and the jerk in the running process through the curve planning of the step S6 and the step S7 so as to realize the ultra-flexible acceleration and deceleration control.
As a further preferable aspect of the foregoing aspect, the method for controlling the inflexibility of the unwinding rotating shaft of the operation control system with adaptive transformation coefficients further includes step S8, where step S8 is located after step S7:
step S8: when the cyclic rotation axis control is performed, the display position range of the axis should be [0, S u ], and when the axis completes one mechanical cycle, electronic homing is required, and the position is subject to unwinding treatment, thereby performing infinite cyclic control, wherein:
S e is set as the actual position after the rotation axis control operation;
in the case of S e>Su, the process is performed, ；
In the case of S e<Su, the process is performed,；
Wherein S d is the position after unwinding treatment; floor () is a downward rounding function.
As a further preferable technical solution of the above technical solution, the first preset condition is specifically implemented as: the rotational path needs to traverse from the cyclic unwind value to 0 or from 0 to the cyclic unwind value.
As a further preferable technical scheme of the above technical scheme, the second preset condition is specifically implemented as: the rotation path needs to traverse from the cyclic unwind value to 0.
As a further preferable technical solution of the above technical solution, the third preset condition is specifically implemented as: the rotation path traverses from 0 to the cyclical unwind value. The invention discloses a conversion coefficient self-adaptive operation control system unwinding type rotating shaft super-flexible control method, which has the beneficial effects that:
1. According to the production demand relation input by the user, the self-adaptive calculation of the transformation coefficient can be realized, and the user friendliness of the system is improved.
2. According to different production process requirements, the rotary shaft control device can perform multiple motion mode rotary shaft control such as absolute rotation, incremental rotation, shortest path rotation, forward rotation, reverse rotation and the like, and improves the running efficiency, stability and safety of the system.
3. The analytical solution of the planning parameters can be directly calculated based on curve planning of a nine-time polynomial, so that the continuity of speed, acceleration, jerk and jerk in the planning process is ensured, the ultra-flexible acceleration and deceleration control is realized, and the processing precision and the processing quality of the system are improved.
4. The system can perform electronic homing when finishing one mechanical period, and the position is subject to unwinding treatment, thus providing infinite circulation control.
5. The invention is also applicable to other motion control systems such as a numerical control machine tool, a robot and the like.
Drawings
Fig. 1 is a schematic diagram of the control flow of the present invention.
Fig. 2 is a schematic diagram of an absolute rotary motion pattern of the present invention.
Fig. 3 is a schematic view of the incremental rotary motion pattern of the present invention.
Fig. 4 is a schematic diagram of the shortest path rotational motion mode of the present invention.
Fig. 5 is a schematic diagram of the forward rotational motion pattern of the present invention.
Fig. 6 is a schematic diagram of the reverse rotational movement pattern of the present invention.
Fig. 7 is a waveform diagram of a shortest path rotation mode experiment of the present invention.
Detailed Description
The invention discloses a conversion coefficient self-adaptive control method for the ultra-flexibility of an unwinding rotating shaft of a transport control system, and the following describes the specific implementation of the invention with reference to fig. 1-7 of the accompanying drawings by combining a preferred embodiment (embodiment 1).
Referring to fig. 1 to 7 of the drawings, fig. 1 shows a control flow of the present invention; FIG. 2 illustrates an absolute rotational motion pattern of the present invention; FIG. 3 illustrates an incremental rotational movement pattern of the present invention; FIG. 4 illustrates a shortest path rotational motion mode of the present invention; FIG. 5 illustrates a forward rotational motion pattern of the present invention; FIG. 6 illustrates a counter-rotating motion pattern of the present invention; fig. 7 shows experimental waveforms of the shortest path rotation mode of the present invention.
It should be noted that, compared with the conventional flexible control method, the embodiments of the present invention, particularly the "super-flexible control method" in the theme name, achieve better technical effects, and see the general conception and application scenario analysis of the embodiments in detail.
Example 1.
Preferably, the ultra-flexible control method of the unwinding rotating shaft of the operation control system with self-adaptive transformation coefficient comprises the following steps: step S1: inputting production requirement relation parameters to the PLC controller, wherein the production requirement relation parameters comprise a resolution conversion molecule R n, a resolution conversion denominator R d, an unwinding conversion molecule U n and an unwinding conversion denominator U d, and the production requirement relation parameters comprise the following components: r d and R n correspond to the relation between the position unit and the motor turns, and each R n position units, the motor turns R d turns; u n and U d correspond to the relationship of the cyclic unwinding value and the position unit, each U d cyclic unwinding, the shaft moves by U n position units;
Step S2: performing adaptive calculation of a transformation coefficient, wherein the transformation coefficient comprises a maximum resolution R max, a basic resolution R b, a default resolution R p, a driving resolution R m, a conversion constant C t and an unwinding resolution U w, and the method comprises the following steps of: （1）；
（2）；
（3）；
（4）；
（5）；
Step S3: giving a target movement position S t and curve planning time T m;
Step S4: selecting a rotation axis motion mode, wherein the rotation axis motion mode comprises an absolute rotation motion mode, an incremental rotation motion mode, a shortest path rotation motion mode, a forward rotation motion mode and a reverse rotation motion mode, and the rotation axis motion mode comprises:
The cyclic unwinding value can be set to any positive real number, here assuming that the cyclic unwinding value is set to 360 °;
Absolute rotational motion pattern:
Fig. 2 shows a schematic diagram of an absolute rotary motion pattern. The direction of travel of the absolute rotation depends on the current position of the shaft, if the starting position is smaller than the ending position, a positive movement is generated; if the start position is greater than the end position, a reverse motion is generated; if the position is greater than the position unwind value, the shaft will move more than one revolution when reaching the absolute position;
Incremental rotational motion mode:
Fig. 3 shows a schematic view of an incremental rotary motion pattern. The direction of travel of the incremental rotary motion pattern depends on the sign of the incremental position S, which if greater than zero would produce a positive motion; if the incremental position S is less than zero, a reverse motion is generated; if the incremental position is greater than the position unwind value, the shaft will move more than one revolution when reaching the target position;
shortest path rotational motion mode:
fig. 4 shows a schematic diagram of the shortest path rotational motion mode. The shortest path rotary motion mode runs to a target position along the shortest direction, is not influenced by the current position, and can pass through a zero point when a first preset condition (the rotary path needs to pass through from a circulating unwinding value to 0 or from 0 to the circulating unwinding value) and can not exceed a circulating unwinding value of 1/2 in single motion;
forward rotational motion mode:
A schematic diagram of the forward rotational motion pattern is shown in fig. 5. The forward rotation movement mode only moves to the target position in the forward direction, is not influenced by the current position, and passes through the zero point when the second preset condition (the rotation path needs to pass through from the circulating unwinding value to 0);
Reverse rotational motion mode:
A schematic diagram of the reverse rotational movement pattern is shown in fig. 6. The reverse rotation movement mode only moves to the target position along the reverse direction, is not influenced by the current position, and passes through the zero point when the third preset condition (the rotation path passes through from 0 to the circulating unwinding value) is met;
Step S5: calculating a corresponding actual planned displacement according to the selected rotation axis movement pattern, wherein:
The actual planning displacement is S p;
Absolute rotational motion pattern:
Let S c be the current position of the system, if S t>Sc, then forward motion is performed, and displacement S p=St-Sc is actually planned; if S t<Sc, performing negative direction movement, and actually planning displacement S p=St-Sc;
Incremental rotational motion mode:
In the incremental rotary motion mode, the target motion position S t is directly assigned to the actual planning displacement S p,Sp=St;
shortest path rotational motion mode:
Let S u be the cyclic unwind value and assign U n to S u,Su=Un;
if |S t-Sc|≤Su/2,Sp=St-Sc;
If |St-Sc|>Su/2,Sp=(St-Sc)-Su*Sign(St-Sc);, wherein Sign ();
forward rotational motion mode:
if S t-Sc<0,Sp=(St-Sc)+Su; if S t-Sc>0,Sp=St-Sc;
Reverse rotational motion mode:
If S t-Sc>0,Sp=(St-Sc)-Su; if S t-Sc<0,Sp=St-Sc;
Step S6: nine-degree polynomial super-flexible curve planning is performed using the transformation coefficients obtained in step S2 (maximum resolution R max, base resolution R b, default resolution R p, drive resolution R m, conversion constant C t, unwind resolution U w), curve planning time T m given in step S3, and actual planning displacement S p obtained in step S5, wherein:
let the position expression S (t) be a nine-degree polynomial with respect to time, one time derivative of S (t) to obtain a velocity expression V (t), two times derivative of S (t) to obtain an acceleration expression a (t), three times derivative of S (t) to obtain a jerk expression J (t), four times derivative of S (t) to obtain a jerk expression K (t), as shown in the following formula (6):
（6）；
Wherein ,a0、a1、a2、a3、a4、a5、a6、a7、a8、a9 is a polynomial coefficient, and t is a time parameter;
Given a boundary constraint:
（7）；
the ten boundary constraints of equation (7) are substituted into equation (6) to obtain a linear system of equations for [a0,a1,a2,a3,a4,a5,a6,a7,a8,a9], which is converted into a matrix form as follows:
M*a=b （8）；
Wherein M is a coefficient matrix ;a=[a0,a1,a2,a3,a4,a5,a6,a7,a8,a9]-1 of 10×10, and is a solution parameter matrix; b= [0, s p,0,0,0,0]-1 ] is a constant term matrix;
The polynomial coefficient a 0~a9 of equation (6) is determined by multiplying M -1 to determine a simultaneously on both sides of equation (8), and is calculated as follows:
a=M-1b （9）；
wherein M -1 is the inverse of M; substituting formula (9) into formula (6) to obtain a curve planning expression satisfying the constraint condition;
Step S7: and (3) performing discrete interpolation output on the curve obtained in the step (6) through a control period T s, wherein the specific expression is as follows:
（10）；
wherein T s is a control period, nT sÎ[0,Tm, n=1, 2,3 … is a positive integer;
And (3) expressing the continuity of the speed, the acceleration, the jerk and the jerk in the running process through the curve planning of the step S6 and the step S7 so as to realize the ultra-flexible acceleration and deceleration control.
It should be noted that, the method for controlling the super-flexibility of the unwinding rotating shaft of the operation control system with adaptive transformation coefficients further includes step S8, where step S8 is located after step S7:
step S8: when the cyclic rotation axis control is performed, the display position range of the axis should be [0, S u ], and when the axis completes one mechanical cycle, electronic homing is required, and the position is subject to unwinding treatment, thereby performing infinite cyclic control, wherein:
S e is set as the actual position after the rotation axis control operation;
in the case of S e>Su, the process is performed, ;
In the case of S e<Su, the process is performed,;
Wherein S d is the position after unwinding treatment; floor () is a downward rounding function.
The following describes the general concept of the method for controlling the ultra-flexibility of the unwinding type rotating shaft of the operation control system with adaptive transformation coefficients disclosed in the present embodiment.
Specifically, referring to fig. 1 of the drawings, first, a resolution conversion denominator, a resolution conversion numerator, an unwinding conversion denominator, and an unwinding conversion denominator are input. Then, adaptive calculation of the transform coefficients is performed based on the input transform parameters. Next, the target movement position St and the curve planning time T m are given. And then selecting a rotation axis movement mode: absolute rotation, incremental rotation, shortest path rotation, forward rotation, reverse rotation. Then, the corresponding actual planned displacement is calculated according to the required rotation axis movement pattern. Then, a nine-degree polynomial-based super-flexible curve planning and discrete interpolation are performed. Finally, unwinding the position. According to multiple experiments, the invention can realize the self-adaptive calculation of the conversion coefficient in the operation control system, can perform rotation axis control of multiple motion modes, and can perform curve planning based on nine polynomials so as to directly calculate the analytic solution of the planning parameter, ensure the continuity of speed, acceleration, jerk and jerk in the planning process, realize super-flexible acceleration and deceleration control, and improve the user friendliness, the operation efficiency, the processing precision, the processing quality, the stability and the safety of the system.
The following describes an application scenario of the transformation coefficient adaptive operation control system unwinding type rotating shaft super-flexible control method disclosed in the embodiment.
The conversion coefficient self-adaptive operation control system unwinding type rotating shaft super-flexible control method can realize self-adaptive calculation of conversion coefficients in the operation control system, can perform rotating shaft flexible control of various operation modes, can ensure continuity of position, speed, acceleration, jerk and jerk in the operation process, realizes super-flexible acceleration and deceleration control, improves user friendliness, operation efficiency, processing precision, processing quality, stability and safety of the system, and performs real-axis experimental verification. In the experiment, the control parameters related to the rotating shaft are input into the PLC controller, a position motion curve is generated through the track planner, discrete interpolation output is carried out, and the position interpolation points are sent to the servo driver through bus communication to control the motor shaft in a closed loop mode to carry out position operation. Assuming that 3 products can be produced by one revolution of a shearing motor shaft of a certain production equipment package, 360 products are circularly produced by each production line, at the moment, the control of a circulating rotating shaft is needed, and R n=3、Rd=1、Un =360 and the unwinding change U d =1 are set. The self-adaptive calculation of the transformation coefficients of the following steps (1) - (5) can be carried out: rm=3×10 5、Ct=105;Uw=36*106. The transformation coefficient obtained through self-adaptive calculation has no counting accumulated error, and accurate track planning and control can be performed.
In the experiment, the given motion positions and curve planning times used are shown in table 1 of the attached tables.
Fig. 7 is a waveform diagram of a shortest path rotation mode experiment. As can be seen from fig. 7, when t=0.0 s (initial time), the system initial position is 331.0 u s, and at this time, a rotation axis control command is input to perform the shortest path rotation mode control, and the curve planning time is 4.0s given the target movement position 120.0 u. According to step S5, the actual planned displacement is calculated to be 149.0 u. And (3) starting the acceleration operation from 0 according to the curve planning expression obtained in the step S6 and the step S7. When t=1.454 s, the system reaches the set position unwind value 360 u at which point an electronic homing operation is performed to recalculate the position return to zero. When t=2.0 s, the system reaches the maximum running speed V lim to be 91.67 u.s -1, after which the system performs a decelerating motion, and when t=4.0 s, the system reaches the target position 120u, at which time the speed, acceleration, jerk all decrease to 0. As can be seen from the figure, the speed, acceleration, jerk and jerk are always smooth and continuous during the whole motion planning process.
From the above, the method for controlling the ultra-flexibility of the unwinding rotating shaft of the operation control system with the self-adaptive conversion coefficient can realize the self-adaptive calculation of the conversion coefficient in the operation control system, can perform the flexible control of the rotating shaft in various operation modes, can ensure the continuity of position, speed, acceleration, jerk and jerk in the operation process, realize the ultra-flexible acceleration and deceleration control, and improve the user friendliness, the operation efficiency, the processing precision, the processing quality, the stability and the safety of the system.
It should be noted that technical features such as specific selection of the servo driver related to the present application should be considered as the prior art, and specific structures, working principles, and control modes and spatial arrangements possibly related to the technical features should be selected conventionally in the art, and should not be considered as the point of the present application, which is not further specifically described in detail.
Modifications of the embodiments described above, or equivalents of some of the features may be made by those skilled in the art, and any modifications, equivalents, improvements or etc. within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Attached watch
TABLE 1
| Motion pattern parameters | Shortest path rotation |
| Target movement position (u) | St *=120.0 |
| Curve planning time(s) | Tm *=4.0 |
Claims (5)
1. The ultra-flexible control method for the unwinding type rotating shaft of the operation control system with self-adaptive transformation coefficient is characterized by comprising the following steps of:
Step S1: inputting production requirement relation parameters to the PLC controller, wherein the production requirement relation parameters comprise a resolution conversion molecule R n, a resolution conversion denominator R d, an unwinding conversion molecule U n and an unwinding conversion denominator U d, and the production requirement relation parameters comprise the following components: r d and R n correspond to the relation between the position unit and the motor turns, and each R n position units, the motor turns R d turns; u n and U d correspond to the relationship of the cyclic unwinding value and the position unit, each U d cyclic unwinding, the shaft moves by U n position units;
Step S2: performing adaptive calculation of a transformation coefficient, wherein the transformation coefficient comprises a maximum resolution R max, a basic resolution R b, a default resolution R p, a driving resolution R m, a conversion constant C t and an unwinding resolution U w, and the method comprises the following steps of:
Step S3: giving a target movement position S t and curve planning time T m;
Step S4: selecting a rotation axis motion mode, wherein the rotation axis motion mode comprises an absolute rotation motion mode, an incremental rotation motion mode, a shortest path rotation motion mode, a forward rotation motion mode and a reverse rotation motion mode, and the rotation axis motion mode comprises:
Absolute rotational motion pattern:
the direction of travel of the absolute rotation depends on the current position of the shaft, if the starting position is smaller than the ending position, a positive movement is generated; if the start position is greater than the end position, a reverse motion is generated; if the position is greater than the position unwind value, the shaft will move more than one revolution when reaching the absolute position;
Incremental rotational motion mode:
The direction of travel of the incremental rotary motion pattern depends on the sign of the incremental position S, which if greater than zero would produce a positive motion; if the incremental position S is less than zero, a reverse motion is generated; if the incremental position is greater than the position unwind value, the shaft will move more than one revolution when reaching the target position;
shortest path rotational motion mode:
The shortest path rotary motion mode runs to a target position along the shortest direction, is not influenced by the current position, passes through a zero point under a first preset condition, and does not exceed a 1/2 cyclic unwinding value in single motion;
forward rotational motion mode:
The forward rotation movement mode only moves to the target position in the forward direction, is not influenced by the current position, and passes through the zero point under the second preset condition;
Reverse rotational motion mode:
The reverse rotation movement mode only moves to the target position along the reverse direction, is not influenced by the current position, and passes through the zero point under the third preset condition;
Step S5: calculating a corresponding actual planned displacement according to the selected rotation axis movement pattern, wherein:
The actual planning displacement is S p;
Absolute rotational motion pattern:
Let S c be the current position of the system, if S t>Sc, then forward motion is performed, and displacement S p＝St-Sc is actually planned; if S t<Sc, performing negative direction movement, and actually planning displacement S p＝St-Sc;
Incremental rotational motion mode:
in the incremental rotary motion mode, the target motion position S t is directly assigned to the actual planning displacement S p,Sp＝St;
shortest path rotational motion mode:
Let S u be the cyclic unwind value and assign U n to S u,Su＝Un;
if |S t-Sc|≤Su/2,Sp＝St-Sc;
if |St-Sc|>Su/2,Sp＝(St-Sc)-Su*Sign(St-Sc);, wherein Sign (·) is a Sign function;
forward rotational motion mode:
If S t-Sc<0,Sp＝(St-Sc)+Su; if S t-Sc>0,Sp＝St-Sc;
Reverse rotational motion mode:
If S t-Sc>0,Sp＝(St-Sc)-Su; if S t-Sc<0,Sp＝St-Sc;
Step S6: and performing nine-degree polynomial super-flexible curve planning by using the transformation coefficient obtained in the step S2, the curve planning time T m given in the step S3 and the actual planning displacement S p obtained in the step S5, wherein:
Let the position expression S (t) be a nine-degree polynomial with respect to time, one derivative of S (t) to obtain a velocity expression V (t), two derivatives of S (t) to obtain an acceleration expression a (t), three derivatives of S (t) to obtain a jerk expression J (t), four derivatives of S (t) to obtain a jerk expression K (t), as shown in the following formula (6):
Wherein ,a0、a1、a2、a3、a4、a5、a6、a7、a8、a9 is a polynomial coefficient, and t is a time parameter;
Given a boundary constraint:
Substituting the ten boundary constraints of equation (7) into equation (6) to obtain a linear system of equations for [a0,a1,a2,a3,a4,a5,a6,a7,a8,a9], converts into a matrix form as follows:
M*a＝b(8)；
Wherein M is a coefficient matrix ;a＝[a0,a1,a2,a3,a4,a5,a6,a7,a8,a9]-1 of 10×10, and is a solution parameter matrix; b= [0, s p,0,0,0,0]-1 ] is a constant term matrix;
The polynomial coefficient a 0～a9 of equation (6) is determined by multiplying M -1 to determine a simultaneously on both sides of equation (8), and is calculated as follows:
a＝M-1b (9)；
wherein M -1 is the inverse of M; substituting formula (9) into formula (6) to obtain a curve planning expression satisfying the constraint condition;
Step S7: and (3) performing discrete interpolation output on the curve obtained in the step (6) through a control period T s, wherein the specific expression is as follows:
Wherein T s is a control period, nT s∈[0,Tm, n=1, 2,3 … is a positive integer;
And (3) expressing the continuity of the speed, the acceleration, the jerk and the jerk in the running process through the curve planning of the step S6 and the step S7 so as to realize the ultra-flexible acceleration and deceleration control.
2. The conversion-coefficient-adaptive operation control system unwinding-type rotating shaft super-flexibility control method according to claim 1, wherein the conversion-coefficient-adaptive operation control system unwinding-type rotating shaft super-flexibility control method further comprises step S8, and step S8 is located after step S7:
Step S8: when the cyclic rotation axis control is performed, the display position range of the axis should be [0,S u ], and when the axis completes one mechanical cycle, electronic homing is required, and the position is subject to unwinding treatment, so that infinite cyclic control is performed, wherein:
S e is set as the actual position after the rotation axis control operation;
in the case of S e>Su, the process is performed,
In the case of S e<Su, the process is performed,
Wherein S d is the position after unwinding treatment; floor (·) is a round down function.
3. The method for controlling the ultra-flexibility of an unwinding rotating shaft of a motion control system with adaptive transformation coefficients according to claim 1, wherein the first preset condition is specifically implemented as follows: the rotational path needs to traverse from the cyclic unwind value to 0 or from 0 to the cyclic unwind value.
4. The method for controlling the ultra-flexibility of the unwinding rotating shaft of the operation control system with adaptive transformation coefficients according to claim 1, wherein the second preset condition is specifically implemented as follows: the rotation path needs to traverse from the cyclic unwind value to 0.
5. The method for controlling the ultra-flexibility of the unwinding rotating shaft of the operation control system with adaptive transformation coefficients according to claim 1, wherein the third preset condition is specifically implemented as follows: the rotation path traverses from 0 to the cyclical unwind value.
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