CN119002248A - Method for adjusting mismatch of biaxial servo proportion and related equipment - Google Patents
Method for adjusting mismatch of biaxial servo proportion and related equipment Download PDFInfo
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Abstract
The application discloses a method for adjusting mismatch of double-shaft servo proportion and related equipment, comprising the following steps: a circle measuring instruction is sent to a servo driver to control a servo double shaft to conduct circle measuring and drawing, and a ball arm instrument is used for recording circle measuring and drawing data; determining the proportion mismatch degree of the servo double shafts based on the circle drawing data by the circle measuring method; calculating to obtain the corresponding proportion mismatch compensation coefficient of the servo double shafts according to the proportion mismatch degree and the length of the club instrument obtained through the club instrument parameters; and writing the proportion mismatch compensation coefficients corresponding to the servo double shafts into servo drivers corresponding to the servo double shafts respectively so as to realize adjustment of double-shaft servo proportion mismatch. The application can cope with various complex working environments and greatly improves the reliability and practicability of the equipment. Meanwhile, the application only needs to adjust the writing data of the servo driver, is convenient to operate and saves time, and greatly improves the working efficiency.
Description
Technical Field
The application relates to the field of servo motors, in particular to a method for adjusting mismatch of double-shaft servo proportion and related equipment.
Background
With the continuous development of manufacturing industry, the requirements of the high-end technical field on the machining precision of parts are increasingly improved. The problem of mismatch in proportions is particularly pronounced among many factors affecting the accuracy of the process. The proportion mismatch means that when two shafts run synchronously, the two shafts do not run synchronously actually, and the running distance of one shaft is slightly larger than that of the other shaft. Currently, when the situation of large proportion mismatch occurs, a practical solution is usually to perform shaft grinding treatment on equipment or directly adjust servo gain parameters.
However, the prior art has the following problems: firstly, the shaft grinding process is very time-consuming, the production efficiency is reduced, and when the proportion mismatch degree is large, the proportion mismatch cannot be reduced to the required range by the method; secondly, the gain of the servo driver can only be improved to ensure the theoretical synchronization of the double shafts, and once the structural problems of inconsistent actual screw pitches of the double shafts and the like caused by mechanical abrasion occur, the synchronous operation precision of the double shafts cannot be ensured by adjusting the gain parameters of the servo driver; thirdly, the direct pitch compensation or the adjustment of the mechanical structure can reduce the proportion mismatch, but the operation is troublesome and time-consuming.
Based on the above, the application provides an adjustment scheme for the mismatch of the double-shaft servo proportion, which aims to solve the problem of the mismatch of the double-shaft servo proportion and simultaneously avoid the defects of the prior art.
Disclosure of Invention
In view of the above, the application provides a method for adjusting the mismatch of the biaxial servo proportion and related equipment, and the method can cope with various complex working environments by adjusting the response speed of a position instruction through the compensation coefficient of the mismatch of the proportion, thereby greatly improving the reliability and the practicability of the equipment.
A method for adjusting double-shaft servo proportion mismatch comprises the following steps:
A circle measuring instruction is sent to a servo driver to control a servo double shaft to conduct circle measuring and drawing, and a ball arm instrument is used for recording circle measuring and drawing data;
determining the proportion mismatch degree of the servo double shafts based on the circle drawing data by the circle measuring method;
Calculating to obtain the corresponding proportion mismatch compensation coefficient of the servo double shafts according to the proportion mismatch degree and the length of the club instrument obtained through the club instrument parameters;
And writing the proportion mismatch compensation coefficients corresponding to the servo double shafts into servo drivers corresponding to the servo double shafts respectively so as to realize adjustment of double-shaft servo proportion mismatch.
Optionally, after determining the proportion mismatch degree of the servo biaxial based on the circle drawing data by circle measurement, the method further includes:
a detection instruction is sent to the servo driver to control the servo double shafts to conduct circle measuring and circle drawing, and a ball arm instrument is used for recording detection circle measuring and circle drawing data;
Determining the detection proportion mismatch degree of the servo double shafts based on the detection circle measuring method circle drawing data;
If the detection proportion mismatch degree does not meet the preset requirement, determining update proportion mismatch compensation coefficients corresponding to the servo double shafts respectively based on the detection proportion mismatch degree and the proportion mismatch degree corresponding to the proportion mismatch compensation coefficients in the current servo drivers, and writing the update proportion mismatch compensation coefficients into the servo drivers corresponding to the servo double shafts;
And returning to execute the process of circle drawing by a circle measuring method by sending a detection instruction to the servo driver so as to control the servo double shaft until the detection proportion mismatch meets the preset requirement.
Optionally, calculating the ratio mismatch compensation coefficient corresponding to each servo double shaft according to the ratio mismatch degree and the length of the club instrument obtained by the club instrument parameter, including:
Calculating the theoretical diameter of a circle drawn by a circle measurement method based on the length of the club instrument obtained through the club instrument parameters;
determining an axis response adjustment mode according to the proportion mismatch degree;
And calculating the proportion mismatch compensation coefficient corresponding to each servo double shaft by combining a calculation formula corresponding to the shaft response adjustment mode based on the theoretical diameter and the proportion mismatch degree.
Optionally, determining the axis response adjustment mode according to the proportion mismatch degree includes:
if the proportion mismatch is greater than zero, determining that the axis response adjustment mode is to improve the Y-axis response or reduce the X-axis response;
If the proportion mismatch is smaller than zero, determining that the axis response adjustment mode is to reduce the Y axis response or improve the X axis response;
Based on the theoretical diameter and the proportion mismatch degree, calculating to obtain the proportion mismatch compensation coefficient corresponding to each servo double shaft by combining a calculation formula corresponding to the shaft response adjustment mode, wherein the method comprises the following steps:
Under the condition that the proportion mismatching degree is larger than zero and the axis response adjustment mode is to improve the Y-axis response, calculating to obtain a proportion mismatching compensation coefficient of the Y-axis based on the theoretical diameter and the proportion mismatching degree according to a preset first calculation formula;
under the condition that the proportion mismatching degree is larger than zero and the axis response adjustment mode is to reduce the X axis response, calculating to obtain an X axis proportion mismatching compensation coefficient based on the theoretical diameter and the proportion mismatching degree according to a preset second calculation formula;
Under the condition that the proportion mismatching degree is smaller than zero and the axis response adjustment mode is to reduce the Y-axis response, calculating to obtain a proportion mismatching compensation coefficient of the Y-axis based on the theoretical diameter and the proportion mismatching degree according to a preset first calculation formula;
And under the condition that the proportion mismatching degree is smaller than zero and the axis response adjustment mode is to improve the X axis response, calculating to obtain the proportion mismatching compensation coefficient of the X axis based on the theoretical diameter and the proportion mismatching degree according to a preset second calculation formula.
Optionally, the first calculation formula is:
The second calculation formula is as follows:
Wherein S Y and S X are respectively a proportion mismatch compensation coefficient of a Y axis and a proportion mismatch compensation coefficient of an X axis, D is a theoretical diameter of a circle drawn by a circle measuring method, and D is a proportion mismatch degree.
Optionally, determining the updated scale mismatch compensation coefficients corresponding to the servo dual axes based on the detected scale mismatch degree and the scale mismatch degree corresponding to the scale mismatch compensation coefficients in each current servo driver includes:
determining the sum of the detected proportion mismatching degree and the proportion mismatching degree corresponding to the proportion mismatching compensation coefficient in each current servo driver as an updated proportion mismatching degree;
And calculating the update proportion mismatch compensation coefficient corresponding to each servo double shaft based on the update proportion mismatch degree and the length of the club instrument obtained through the club instrument parameters.
Optionally, the method further comprises:
And if the abrasion aging condition of the servo machine is detected, returning to the process of circle drawing by the circular measurement method by controlling the servo double shafts by sending a detection instruction to the servo driver.
An adjusting device for double-shaft servo proportion mismatch, comprising:
The circle measuring and drawing unit is used for controlling the servo double shafts to carry out circle measuring and drawing by sending a circle measuring instruction to the servo driver and recording circle measuring and drawing data by using the ball arm instrument;
The mismatch degree unit is used for determining the proportion mismatch degree of the servo double shafts based on the circle drawing data by the circle measuring method;
The compensation coefficient unit is used for calculating the corresponding proportion mismatch compensation coefficient of the servo double shafts according to the proportion mismatch degree and the length of the club instrument obtained through the club instrument parameters;
And the servo adjustment unit is used for writing the proportion mismatch compensation coefficients corresponding to the servo double shafts into the servo drivers corresponding to the servo double shafts respectively so as to realize adjustment of double-shaft servo proportion mismatch.
An adjusting device for double-shaft servo proportion mismatch comprises a memory and a processor;
the memory is used for storing programs;
the processor is configured to execute the program to implement the steps of the method for adjusting the mismatch of the biaxial servo ratios according to any one of the above.
A readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the steps of the method for adjusting a biaxial servo ratio mismatch as described in any of the preceding claims.
According to the technical scheme, the adjusting method and the related equipment for the mismatch of the double-shaft servo proportion are provided, firstly, a circle measuring instruction is sent to a servo driver to control a servo double-shaft to conduct circle measuring and drawing, and a ball rod instrument is used for recording circle measuring and drawing data. And determining the proportion mismatch degree of the servo double shafts based on the circle drawing data by the circle measuring method. And calculating to obtain the corresponding proportion mismatch compensation coefficient of the servo double shafts according to the proportion mismatch degree and the length of the club instrument obtained through the club instrument parameters. And finally, respectively writing the proportion mismatch compensation coefficients corresponding to the servo double shafts into servo drivers corresponding to the servo double shafts. The servo driver can adjust the position instruction through written proportion mismatch compensation coefficients, so that the response of a shaft with slow response when proportion mismatch is improved, or the response of a shaft with fast response when proportion mismatch is reduced, so that the response is consistent when double shafts synchronously run, the proportion mismatch degree of the double shafts is reduced, and the adjustment of the proportion mismatch of the double shafts is realized.
The application adjusts the response speed of the position command through the proportion mismatch compensation coefficient so as to solve the problem of proportion mismatch of the double-shaft servo, and can obviously reduce the proportion mismatch degree under the condition of poor working condition of mechanical equipment, thereby being capable of coping with various complex working environments and greatly improving the reliability and the practicability of the equipment. Meanwhile, the application only needs to adjust the writing data of the servo driver, is convenient to operate and saves time, and greatly improves the working efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a diagram illustrating a system for compensating for a mismatch in scale according to an embodiment of the present application;
FIG. 2 is a control block diagram of a ratio mismatch compensation system according to an embodiment of the present application;
FIG. 3 is a flowchart of a method for adjusting a dual-axis servo ratio mismatch according to an embodiment of the present application;
FIG. 4 is a comparison of the front and rear of a proportional mismatch compensation disclosed in the embodiments of the present application;
FIG. 5 is a schematic diagram of an adjusting device for dual-axis servo ratio mismatch according to an embodiment of the present application;
fig. 6 is a block diagram of a hardware structure of an adjusting device for dual-axis servo proportion mismatch according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The application is operational with numerous general purpose or special purpose computing device environments or configurations. For example: personal computers, server computer hand-held or portable devices, tablet devices, multiprocessor devices, distributed computing environments that include any of the above devices or devices, and so forth.
The embodiment of the application provides a method for adjusting the proportion mismatch of a double-shaft servo, which can be applied to a proportion mismatch compensation system. Fig. 1 is a connection diagram of a scale mismatch compensation system. Fig. 2 is a control block diagram of a scale mismatch compensation system. As shown in fig. 1 and 2, in the present application, a controller 1 sends control instructions to a servo driver 2-1 and a servo driver 2-2, the servo driver 2-1 and the servo driver 2-2 send driving instructions to a motor 3-1 and a motor 3-2 respectively, the motor 3-1 drives a base 4 to move along the X axis direction, the motor 3-2 drives a main shaft 5 to move along the Y axis direction, the base 4 and the main shaft 5 are connected through a club instrument 6, under the action of the controller 1, the servo driver 2 and the motor 3, the base 4 and the main shaft 5 synchronously move to perform circle measuring and drawing, the club instrument 6 records movement process data, and the data is transmitted to a computer-side upper computer software 7 for processing.
The following technical scheme is presented in the following description, and the specific reference is made to the following.
Fig. 3 is a flowchart of a method for adjusting a dual-axis servo ratio mismatch according to an embodiment of the present application.
As shown in fig. 3, the method may include:
and S1, a circle measuring instruction is sent to a servo driver to control a servo double-shaft to conduct circle measuring and drawing, and a ball arm instrument is used for recording circle measuring and drawing data.
And S2, determining the proportion mismatch degree of the servo double axes based on the circle drawing data by the circle measuring method.
Specifically, by sending a circle measurement instruction to the servo driver, the servo double-shaft execution of circle measurement and circle drawing operation can be controlled. The process aims at acquiring parameter information of the mechanical equipment for drawing the circular track under double-shaft linkage by using a circle measurement method. The circle measuring method is used as an effective precision evaluation means, relies on standard reference substances or simple measuring instruments, and can theoretically deduce the related errors of mechanical equipment by collecting and analyzing the data, thereby providing important basis for subsequent precision diagnosis and necessary error compensation.
In the implementation of the circle method, the club instrument can capture and record various error characteristics exhibited by mechanical equipment in the circle method, including but not limited to proportion mismatch, perpendicularity deviation, reverse jump phenomenon, periodic errors and the like. The fact that the proportion is not matched is particularly critical, and the fact that in the double-shaft synchronous motion, small differences exist in actual operation of two shafts, so that the operation distance of one shaft is deviated from that of the other shaft, and machining accuracy is further affected. In the practical application of the circle measurement method, the mismatch can intuitively be shown that the drawn circular track deviates from a perfect circle and presents an ellipse, for example, the running distance of the X axis can be obviously larger than that of the Y axis.
In summary, by sending the circle measurement command to the servo driver and combining the accurate measurement of the club instrument, the servo dual-axis linkage precision can be systematically evaluated, and key error sources such as mismatching of proportions and the like are identified and quantized, so that a solid foundation is laid for subsequent precision improvement and error compensation strategy formulation.
And step S3, calculating to obtain the corresponding proportion mismatch compensation coefficients of the servo double shafts according to the proportion mismatch degree and the length of the club instrument obtained through the club instrument parameters.
Specifically, the ratio mismatch degree between the servo double shafts can be quantified by combining the measurement of the ball arm instrument through a circle measurement method, and the index directly reflects the small difference of the speed or displacement of the double shafts in the synchronous operation process. Then, based on the ratio mismatch degree and the length of the club instrument obtained by the club instrument parameters, the ratio mismatch compensation coefficient corresponding to each servo double shaft can be calculated. These compensation factors are key parameters for fine tuning the servo control system to optimize the biaxial synchronization performance. By applying the compensation coefficients to a control program of the servo driver, the fine adjustment of the running state of the double shafts can be realized, so that the phenomenon of mismatching of the proportion is effectively reduced or eliminated, and the high synchronism and consistency of the double shafts in the linkage process are ensured.
And S4, respectively writing the proportion mismatch compensation coefficients corresponding to the servo double shafts into servo drivers corresponding to the servo double shafts so as to realize adjustment of double-shaft servo proportion mismatch.
Specifically, the proportion mismatch compensation coefficients corresponding to the servo double shafts are written into the servo drivers corresponding to the servo double shafts respectively. The servo driver can adjust the position instruction through written proportion mismatch compensation coefficient, so that the response of the shaft with slow response when the proportion is mismatched is improved, or the response of the shaft with fast response when the proportion is mismatched is reduced, so that the response is consistent when the two shafts synchronously run, the proportion mismatch degree of the two shafts is reduced, and the adjustment of the proportion mismatch of the two shafts is realized.
As shown in fig. 2, the ratio mismatch compensation coefficient S X of the X-axis servo is written into the servo driver 2-1 in which the drive base 4 moves in the X-axis direction, or the ratio mismatch compensation coefficient S Y of the Y-axis servo is written into the servo driver 2-2 in which the drive spindle 5 moves in the Y-axis direction. The proportion mismatch compensation coefficient S can be written directly through the servo driver 2, or the proportion mismatch compensation coefficient S can be indirectly written into the servo driver 2 through a communication protocol by using a controller. After the writing is completed, the servo driver 2 performs the enlarging or shrinking treatment on the position command after the electronic gear ratio according to the written proportion mismatch compensation coefficient S, and then outputs the current to drive the motor 3 to operate through the position ring, the speed ring and the current ring. The response capability of the servo driver driving motor can be improved or reduced by carrying out the amplification or reduction processing on the position instruction through the proportion mismatch compensation coefficient S, so that the running distance of the X axis and the Y axis is kept consistent, and the compensation of the proportion mismatch of the XY biaxial servo is realized.
Fig. 4 is a comparison diagram before and after proportional mismatch compensation according to an embodiment of the present application. As shown in FIG. 4, the pattern before compensation is elliptical, and the X-axis movement distance is longer than the Y-axis movement distance. After the proportion mismatch is compensated, the proportion mismatch degree is obviously reduced, and the roundness is improved.
According to the technical scheme, the adjusting method and the related equipment for the mismatch of the double-shaft servo proportion are provided, firstly, a circle measuring instruction is sent to a servo driver to control a servo double-shaft to conduct circle measuring and drawing, and a ball rod instrument is used for recording circle measuring and drawing data. And determining the proportion mismatch degree of the servo double shafts based on the circle drawing data by the circle measuring method. And calculating to obtain the corresponding proportion mismatch compensation coefficient of the servo double shafts according to the proportion mismatch degree and the length of the club instrument obtained through the club instrument parameters. And finally, respectively writing the proportion mismatch compensation coefficients corresponding to the servo double shafts into servo drivers corresponding to the servo double shafts. The servo driver can adjust the position instruction through written proportion mismatch compensation coefficient, so that the response of the shaft with slow response when the proportion is mismatched is improved, or the response of the shaft with fast response when the proportion is mismatched is reduced, so that the response is consistent when the two shafts synchronously run, the proportion mismatch degree of the two shafts is reduced, and the adjustment of the proportion mismatch of the two shafts is realized.
The application adjusts the response speed of the position command through the proportion mismatch compensation coefficient so as to solve the problem of proportion mismatch of the double-shaft servo, and can obviously reduce the proportion mismatch degree under the condition of poor working condition of mechanical equipment, thereby being capable of coping with various complex working environments and greatly improving the reliability and the practicability of the equipment. Meanwhile, the application only needs to adjust the writing data of the servo driver, is convenient to operate and saves time, and greatly improves the working efficiency.
In some embodiments of the present application, the process of calculating the proportional mismatch compensation coefficient corresponding to each of the servo biaxial in step S3 according to the proportional mismatch degree and the length of the cue instrument obtained by the cue instrument parameter may specifically include:
And S31, calculating the theoretical diameter of the circle drawn by the circle measuring method based on the length of the club instrument obtained through the club instrument parameters.
Specifically, the calculation formula for calculating the theoretical diameter D of a circle drawn by a circle measuring method is as follows:
wherein L is the length of the cue stick.
And S32, determining an axis response adjustment mode according to the proportion mismatch degree.
Specifically, the method for determining the axis response adjustment mode by the proportion mismatch degree comprises the following steps:
if the proportion mismatch is greater than zero, determining that the axis response adjustment mode is to improve the Y-axis response or reduce the X-axis response;
And if the proportion mismatch is smaller than zero, determining that the axis response adjustment mode is to reduce the Y-axis response or improve the X-axis response.
As shown in fig. 1, when the ratio mismatch degree d >0, it is indicated that the distance of the movement of the base 4 in the X-axis direction is greater than the distance of the movement of the spindle 5 in the Y-axis direction, and the Y-axis response is required to be improved or the X-axis response is required to be reduced. When the ratio mismatch d <0, it indicates that the distance of the movement of the base 4 in the X-axis direction is smaller than the distance of the movement of the spindle 5 in the Y-axis direction, the Y-axis response is lowered or the X-axis response is raised.
And step S33, calculating to obtain the proportion mismatch compensation coefficient corresponding to each servo double shaft by combining a calculation formula corresponding to the shaft response adjustment mode based on the theoretical diameter and the proportion mismatch degree.
Specifically, the process of calculating the proportion mismatch compensation coefficient corresponding to each servo double axis may include the following four cases:
firstly, under the condition that the proportion mismatching degree is larger than zero and the axis response adjustment mode is to improve the Y-axis response, calculating to obtain a proportion mismatching compensation coefficient of the Y-axis based on the theoretical diameter and the proportion mismatching degree according to a preset first calculation formula;
secondly, under the condition that the proportion mismatching degree is larger than zero and the axis response adjustment mode is to reduce the X axis response, calculating to obtain an X axis proportion mismatching compensation coefficient based on the theoretical diameter and the proportion mismatching degree according to a preset second calculation formula;
thirdly, under the condition that the proportion mismatching degree is smaller than zero and the axis response adjustment mode is to reduce the Y-axis response, calculating to obtain a proportion mismatching compensation coefficient of the Y-axis based on the theoretical diameter and the proportion mismatching degree according to a preset first calculation formula;
fourth, under the condition that the proportion mismatching degree is smaller than zero and the axis response adjustment mode is to improve the X axis response, calculating to obtain the proportion mismatching compensation coefficient of the X axis based on the theoretical diameter and the proportion mismatching degree according to a preset second calculation formula.
Wherein, the first calculation formula is:
The second calculation formula is as follows:
Wherein S Y and S X are respectively a proportion mismatch compensation coefficient of a Y axis and a proportion mismatch compensation coefficient of an X axis, D is a theoretical diameter of a circle drawn by a circle measuring method, and D is a proportion mismatch degree.
In some embodiments of the present application, considering that in actual operation, after the proportion mismatch compensation is completed, the proportion mismatch degree may be increased again when the mechanical device operates for a period of time.
Specifically, after determining the proportion mismatch degree of the servo double axes based on the circle drawing data by the circle measurement method, the method further comprises the following steps:
s5, a detection instruction is sent to the servo driver to control the servo double shafts to conduct circle measuring and circle drawing, and a ball arm instrument is used for recording and detecting circle measuring and circle drawing data;
s6, determining the detection proportion mismatch degree of the servo double shafts based on the detection circle measuring method circle drawing data;
And S7, if the detection proportion mismatching degree does not meet the preset requirement, determining updating proportion mismatching compensation coefficients corresponding to the servo double shafts respectively based on the detection proportion mismatching degree and the proportion mismatching degree corresponding to the proportion mismatching compensation coefficients in the current servo drivers, and writing the updating proportion mismatching compensation coefficients into the servo drivers corresponding to the servo double shafts.
Specifically, the process of determining the update proportion mismatch compensation coefficient corresponding to each servo double axis specifically may include:
① Determining the sum of the detected proportion mismatching degree and the proportion mismatching degree corresponding to the proportion mismatching compensation coefficient in each current servo driver as an updated proportion mismatching degree;
② And calculating the update proportion mismatch compensation coefficient corresponding to each servo double shaft based on the update proportion mismatch degree and the length of the club instrument obtained through the club instrument parameters.
And S8, returning to execute the process of circle drawing by a circle measuring method by controlling a servo double shaft by sending a detection instruction to the servo driver until the detection proportion mismatch degree meets the preset requirement.
Specifically, the club instrument is used for carrying out circle measurement and drawing again, the proportion mismatching degree, namely the detection proportion mismatching degree d ', if the detection proportion mismatching degree d ' does not meet the preset requirement, the detection proportion mismatching degree d ' can be added into the previous proportion mismatching degree d, the previous proportion mismatching degree d is the proportion mismatching degree corresponding to the proportion mismatching compensation coefficient in each current servo driver, the proportion mismatching compensation coefficient S X ' of the X-axis servo and the proportion mismatching compensation coefficient S Y ' of the Y-axis servo are recalculated according to the following formula. And repeating the iteration to mismatch the compensation coefficient until the detection proportion mismatch degree meets the preset requirement.
Wherein D is the theoretical diameter of a circle drawn by a circle measuring method, and can be obtained by calculating the length of the ball arm instrument obtained by the parameters of the ball arm instrument.
In addition, as the problems of mechanical wear, aging and the like of mechanical equipment also cause the proportion mismatch degree to be increased again, the application can also comprise the following steps:
and step S9, if the abrasion and ageing conditions of the servo machinery are detected, returning to the process of circle drawing by the circular measurement method by controlling the servo double shafts by sending detection instructions to the servo driver.
Specifically, if the mechanical equipment runs for a period of time, after mechanical wear aging occurs, the proportion mismatch degree will increase again, and proportion mismatch compensation can be performed again according to the modes from step 5 to step 8, so as to reduce the proportion mismatch degree.
The following describes a device for adjusting mismatch of dual-axis servo ratio according to the embodiments of the present application, and the device for adjusting mismatch of dual-axis servo ratio described below and the method for adjusting mismatch of dual-axis servo ratio described above may be referred to correspondingly.
Referring to fig. 5, fig. 5 is a schematic diagram of an adjusting device for dual-axis servo ratio mismatch according to an embodiment of the present application.
As shown in fig. 5, the adjusting device for the mismatch of the biaxial servo ratio may include:
A circle measuring and drawing unit 110 for controlling the servo double shafts to perform circle measuring and drawing by sending a circle measuring instruction to the servo driver, and recording circle measuring and drawing data by using the ball arm instrument;
a mismatch unit 120, configured to determine a proportion mismatch degree of the servo biaxial based on the circle drawing data by the circle measurement method;
The compensation coefficient unit 130 is configured to calculate, according to the ratio mismatch degree and the club length obtained by the club length parameter, a ratio mismatch compensation coefficient corresponding to each of the servo biaxial;
and the servo adjustment unit 140 is used for writing the proportion mismatch compensation coefficients corresponding to the servo double shafts into the servo drivers corresponding to the servo double shafts respectively so as to realize adjustment of double-shaft servo proportion mismatch.
According to the technical scheme, the adjusting method and the related equipment for the mismatch of the double-shaft servo proportion are provided, firstly, a circle measuring instruction is sent to a servo driver to control a servo double-shaft to conduct circle measuring and drawing, and a ball rod instrument is used for recording circle measuring and drawing data. And determining the proportion mismatch degree of the servo double shafts based on the circle drawing data by the circle measuring method. And calculating to obtain the corresponding proportion mismatch compensation coefficient of the servo double shafts according to the proportion mismatch degree and the length of the club instrument obtained through the club instrument parameters. And finally, respectively writing the proportion mismatch compensation coefficients corresponding to the servo double shafts into servo drivers corresponding to the servo double shafts. The servo driver can adjust the position instruction through written proportion mismatch compensation coefficients, so that the response of a shaft with slow response when proportion mismatch is improved, or the response of a shaft with fast response when proportion mismatch is reduced, so that the response is consistent when double shafts synchronously run, the proportion mismatch degree of the double shafts is reduced, and the adjustment of the proportion mismatch of the double shafts is realized.
The application adjusts the response speed of the position command through the proportion mismatch compensation coefficient so as to solve the problem of proportion mismatch of the double-shaft servo, and can obviously reduce the proportion mismatch degree under the condition of poor working condition of mechanical equipment, thereby being capable of coping with various complex working environments and greatly improving the reliability and the practicability of the equipment. Meanwhile, the application only needs to adjust the writing data of the servo driver, is convenient to operate and saves time, and greatly improves the working efficiency.
Optionally, the adjusting device with the unmatched biaxial servo proportion may further include an iteration detecting unit;
The iteration detection unit is used for executing circle measurement and circle drawing by sending detection instructions to the servo drivers so as to control the servo double shafts, recording detection circle measurement and circle drawing data by using a club instrument, determining detection proportion mismatching degree of the servo double shafts based on the detection circle measurement and circle drawing data, if the detection proportion mismatching degree does not meet preset requirements, determining updating proportion mismatching compensation coefficients corresponding to the servo double shafts respectively based on the detection proportion mismatching degree and proportion mismatching degree corresponding to the proportion mismatching compensation coefficients in the current servo drivers, writing the updating proportion mismatching compensation coefficients into the servo drivers corresponding to the servo double shafts, and returning to execute the process of circle measurement and circle drawing by controlling the servo double shafts by sending detection instructions to the servo drivers until the detection proportion mismatching degree meets preset requirements.
Optionally, the compensation coefficient unit may include:
A theoretical diameter unit for calculating a theoretical diameter of a circle drawn by a circle measurement method based on a length of the cue instrument obtained by the cue instrument parameter;
An adjustment mode unit for determining an axis response adjustment mode according to the proportion mismatch degree;
And the coefficient calculation unit is used for calculating the proportion mismatch compensation coefficient corresponding to each servo double shaft by combining a calculation formula corresponding to the shaft response adjustment mode based on the theoretical diameter and the proportion mismatch degree.
Optionally, the adjusting mode unit performs a process of determining an axis response adjusting mode according to the proportion mismatch degree, and may include:
if the proportion mismatch is greater than zero, determining that the axis response adjustment mode is to improve the Y-axis response or reduce the X-axis response;
If the proportion mismatch is smaller than zero, determining that the axis response adjustment mode is to reduce the Y axis response or improve the X axis response;
the process of calculating the proportional mismatch compensation coefficient corresponding to each of the servo biaxial by the coefficient calculation unit according to the theoretical diameter and the proportional mismatch degree and combining a calculation formula corresponding to the axis response adjustment mode may include:
Under the condition that the proportion mismatching degree is larger than zero and the axis response adjustment mode is to improve the Y-axis response, calculating to obtain a proportion mismatching compensation coefficient of the Y-axis based on the theoretical diameter and the proportion mismatching degree according to a preset first calculation formula;
under the condition that the proportion mismatching degree is larger than zero and the axis response adjustment mode is to reduce the X axis response, calculating to obtain an X axis proportion mismatching compensation coefficient based on the theoretical diameter and the proportion mismatching degree according to a preset second calculation formula;
Under the condition that the proportion mismatching degree is smaller than zero and the axis response adjustment mode is to reduce the Y-axis response, calculating to obtain a proportion mismatching compensation coefficient of the Y-axis based on the theoretical diameter and the proportion mismatching degree according to a preset first calculation formula;
And under the condition that the proportion mismatching degree is smaller than zero and the axis response adjustment mode is to improve the X axis response, calculating to obtain the proportion mismatching compensation coefficient of the X axis based on the theoretical diameter and the proportion mismatching degree according to a preset second calculation formula.
Optionally, the first calculation formula is:
The second calculation formula is as follows:
Wherein S Y and S X are respectively a proportion mismatch compensation coefficient of a Y axis and a proportion mismatch compensation coefficient of an X axis, D is a theoretical diameter of a circle drawn by a circle measuring method, and D is a proportion mismatch degree.
Optionally, the process of determining, by the iteration detection unit, the updated scale mismatch compensation coefficient corresponding to each of the servo biaxial based on the detected scale mismatch degree and the scale mismatch degree corresponding to the scale mismatch compensation coefficient in each of the current servo drives may include:
determining the sum of the detected proportion mismatching degree and the proportion mismatching degree corresponding to the proportion mismatching compensation coefficient in each current servo driver as an updated proportion mismatching degree;
And calculating the update proportion mismatch compensation coefficient corresponding to each servo double shaft based on the update proportion mismatch degree and the length of the club instrument obtained through the club instrument parameters.
Optionally, the adjusting device with the unmatched biaxial servo proportion may further include a mechanical detecting unit;
And the mechanical detection unit is used for returning to control the servo double-shaft circle drawing process by sending a detection instruction to the servo driver under the condition that the abrasion and ageing of the servo machinery are detected.
The adjusting device for the mismatch of the double-shaft servo proportion provided by the embodiment of the application can be applied to adjusting equipment for the mismatch of the double-shaft servo proportion. Fig. 6 is a block diagram showing a hardware configuration of a dual-axis servo ratio mismatch adjusting apparatus, and referring to fig. 6, the hardware configuration of the dual-axis servo ratio mismatch adjusting apparatus may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;
In the embodiment of the application, the number of the processor 1, the communication interface 2, the memory 3 and the communication bus 4 is at least one, and the processor 1, the communication interface 2 and the memory 3 complete the communication with each other through the communication bus 4;
The processor 1 may be a central processing unit CPU, or an Application-specific integrated Circuit ASIC (Application SPECIFIC INTEGRATED Circuit), or one or more integrated circuits configured to implement embodiments of the present invention, etc.;
The memory 3 may comprise a high-speed RAM memory, and may further comprise a non-volatile memory (non-volatile memory) or the like, such as at least one magnetic disk memory;
Wherein the memory stores a program, the processor is operable to invoke the program stored in the memory, the program operable to:
A circle measuring instruction is sent to a servo driver to control a servo double shaft to conduct circle measuring and drawing, and a ball arm instrument is used for recording circle measuring and drawing data;
determining the proportion mismatch degree of the servo double shafts based on the circle drawing data by the circle measuring method;
Calculating to obtain the corresponding proportion mismatch compensation coefficient of the servo double shafts according to the proportion mismatch degree and the length of the club instrument obtained through the club instrument parameters;
And writing the proportion mismatch compensation coefficients corresponding to the servo double shafts into servo drivers corresponding to the servo double shafts respectively so as to realize adjustment of double-shaft servo proportion mismatch.
Alternatively, the refinement function and the extension function of the program may be described with reference to the above.
The embodiment of the present application also provides a readable storage medium storing a program adapted to be executed by a processor, the program being configured to:
A circle measuring instruction is sent to a servo driver to control a servo double shaft to conduct circle measuring and drawing, and a ball arm instrument is used for recording circle measuring and drawing data;
determining the proportion mismatch degree of the servo double shafts based on the circle drawing data by the circle measuring method;
Calculating to obtain the corresponding proportion mismatch compensation coefficient of the servo double shafts according to the proportion mismatch degree and the length of the club instrument obtained through the club instrument parameters;
And writing the proportion mismatch compensation coefficients corresponding to the servo double shafts into servo drivers corresponding to the servo double shafts respectively so as to realize adjustment of double-shaft servo proportion mismatch.
Alternatively, the refinement function and the extension function of the program may be described with reference to the above.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The method for adjusting the mismatch of the biaxial servo proportion is characterized by comprising the following steps:
A circle measuring instruction is sent to a servo driver to control a servo double shaft to conduct circle measuring and drawing, and a ball arm instrument is used for recording circle measuring and drawing data;
determining the proportion mismatch degree of the servo double shafts based on the circle drawing data by the circle measuring method;
Calculating to obtain the corresponding proportion mismatch compensation coefficient of the servo double shafts according to the proportion mismatch degree and the length of the club instrument obtained through the club instrument parameters;
And writing the proportion mismatch compensation coefficients corresponding to the servo double shafts into servo drivers corresponding to the servo double shafts respectively so as to realize adjustment of double-shaft servo proportion mismatch.
2. The method of claim 1, further comprising, after determining the scale mismatch of the servo biaxial based on the circle-by-circle data:
a detection instruction is sent to the servo driver to control the servo double shafts to conduct circle measuring and circle drawing, and a ball arm instrument is used for recording detection circle measuring and circle drawing data;
Determining the detection proportion mismatch degree of the servo double shafts based on the detection circle measuring method circle drawing data;
If the detection proportion mismatch degree does not meet the preset requirement, determining update proportion mismatch compensation coefficients corresponding to the servo double shafts respectively based on the detection proportion mismatch degree and the proportion mismatch degree corresponding to the proportion mismatch compensation coefficients in the current servo drivers, and writing the update proportion mismatch compensation coefficients into the servo drivers corresponding to the servo double shafts;
And returning to execute the process of circle drawing by a circle measuring method by sending a detection instruction to the servo driver so as to control the servo double shaft until the detection proportion mismatch meets the preset requirement.
3. The method of claim 1, wherein calculating the respective proportional mismatch compensation coefficients for the servo biaxial based on the proportional mismatch and a club length obtained from a club length parameter comprises:
Calculating the theoretical diameter of a circle drawn by a circle measurement method based on the length of the club instrument obtained through the club instrument parameters;
determining an axis response adjustment mode according to the proportion mismatch degree;
And calculating the proportion mismatch compensation coefficient corresponding to each servo double shaft by combining a calculation formula corresponding to the shaft response adjustment mode based on the theoretical diameter and the proportion mismatch degree.
4. A method according to claim 3, wherein determining an axis response adjustment based on the ratio mismatch comprises:
if the proportion mismatch is greater than zero, determining that the axis response adjustment mode is to improve the Y-axis response or reduce the X-axis response;
If the proportion mismatch is smaller than zero, determining that the axis response adjustment mode is to reduce the Y axis response or improve the X axis response;
Based on the theoretical diameter and the proportion mismatch degree, calculating to obtain the proportion mismatch compensation coefficient corresponding to each servo double shaft by combining a calculation formula corresponding to the shaft response adjustment mode, wherein the method comprises the following steps:
Under the condition that the proportion mismatching degree is larger than zero and the axis response adjustment mode is to improve the Y-axis response, calculating to obtain a proportion mismatching compensation coefficient of the Y-axis based on the theoretical diameter and the proportion mismatching degree according to a preset first calculation formula;
under the condition that the proportion mismatching degree is larger than zero and the axis response adjustment mode is to reduce the X axis response, calculating to obtain an X axis proportion mismatching compensation coefficient based on the theoretical diameter and the proportion mismatching degree according to a preset second calculation formula;
Under the condition that the proportion mismatching degree is smaller than zero and the axis response adjustment mode is to reduce the Y-axis response, calculating to obtain a proportion mismatching compensation coefficient of the Y-axis based on the theoretical diameter and the proportion mismatching degree according to a preset first calculation formula;
And under the condition that the proportion mismatching degree is smaller than zero and the axis response adjustment mode is to improve the X axis response, calculating to obtain the proportion mismatching compensation coefficient of the X axis based on the theoretical diameter and the proportion mismatching degree according to a preset second calculation formula.
5. The method of claim 4, wherein the first calculation formula is:
；
The second calculation formula is as follows:
；
Wherein S Y and S X are respectively a proportion mismatch compensation coefficient of a Y axis and a proportion mismatch compensation coefficient of an X axis, D is a theoretical diameter of a circle drawn by a circle measuring method, and D is a proportion mismatch degree.
6. The method of claim 2, wherein determining the updated scale mismatch compensation coefficients for each of the servo dual axes based on the detected scale mismatch and the scale mismatch compensation coefficients for each of the current servo drives comprises:
determining the sum of the detected proportion mismatching degree and the proportion mismatching degree corresponding to the proportion mismatching compensation coefficient in each current servo driver as an updated proportion mismatching degree;
And calculating the update proportion mismatch compensation coefficient corresponding to each servo double shaft based on the update proportion mismatch degree and the length of the club instrument obtained through the club instrument parameters.
7. The method as recited in claim 2, further comprising:
And if the abrasion aging condition of the servo machine is detected, returning to the process of circle drawing by the circular measurement method by controlling the servo double shafts by sending a detection instruction to the servo driver.
8. An adjusting device for double-shaft servo proportion mismatch is characterized by comprising:
The circle measuring and drawing unit is used for controlling the servo double shafts to carry out circle measuring and drawing by sending a circle measuring instruction to the servo driver and recording circle measuring and drawing data by using the ball arm instrument;
The mismatch degree unit is used for determining the proportion mismatch degree of the servo double shafts based on the circle drawing data by the circle measuring method;
The compensation coefficient unit is used for calculating the corresponding proportion mismatch compensation coefficient of the servo double shafts according to the proportion mismatch degree and the length of the club instrument obtained through the club instrument parameters;
And the servo adjustment unit is used for writing the proportion mismatch compensation coefficients corresponding to the servo double shafts into the servo drivers corresponding to the servo double shafts respectively so as to realize adjustment of double-shaft servo proportion mismatch.
9. The adjusting device for the double-shaft servo proportion mismatch is characterized by comprising a memory and a processor;
the memory is used for storing programs;
the processor is configured to execute the program to implement the respective steps of the method for adjusting a biaxial servo ratio mismatch according to any one of claims 1 to 7.
10. A readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method for adjusting a biaxial servo ratio mismatch according to any of the claims 1-7.
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| US6034498A (en) * | 1997-07-02 | 2000-03-07 | Toshiba Kikai Kabushiki Kaisha | Servo adjustment method and apparatus therefor |
| CN101299148A (en) * | 2008-05-12 | 2008-11-05 | 中国航空工业第一集团公司北京航空精密机械研究所 | Three-axis accurate angular motion control method |
| CN106112693A (en) * | 2016-07-01 | 2016-11-16 | 上海拓璞数控科技有限公司 | A kind of five-axle number control machine tool translation shaft and rotary shaft synchronous error detection method |
| CN112994530A (en) * | 2019-12-18 | 2021-06-18 | 施耐德电器工业公司 | Two-axis synchronous adjustment method of servo drive system |
| CN113282055A (en) * | 2021-05-19 | 2021-08-20 | 东华大学 | Small-stroke high-precision two-axis linkage error measurement system and control method |
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| US6034498A (en) * | 1997-07-02 | 2000-03-07 | Toshiba Kikai Kabushiki Kaisha | Servo adjustment method and apparatus therefor |
| CN101299148A (en) * | 2008-05-12 | 2008-11-05 | 中国航空工业第一集团公司北京航空精密机械研究所 | Three-axis accurate angular motion control method |
| CN106112693A (en) * | 2016-07-01 | 2016-11-16 | 上海拓璞数控科技有限公司 | A kind of five-axle number control machine tool translation shaft and rotary shaft synchronous error detection method |
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| CN113282055A (en) * | 2021-05-19 | 2021-08-20 | 东华大学 | Small-stroke high-precision two-axis linkage error measurement system and control method |
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