CN115016437A - Servo system product position calibration device and method - Google Patents
Servo system product position calibration device and method Download PDFInfo
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Abstract
The invention provides a servo system product position calibration device and method, wherein the device comprises: the high-precision displacement measuring instrument is connected with the calibrated servo system product and is used for acquiring the actual physical position information of the servo system product and sending the actual physical position information to the calibration device controller through the test bus; the servo system calibration station device is connected with a servo system product and is used for matching a corresponding mechanical interface, a power interface and a control power supply interface for the servo system product; and the calibration device controller is used for acquiring the displacement feedback information of the calibrated servo system product, combining the displacement feedback information and the actual physical position information at the same moment to form a corresponding relation, and calibrating the position of the servo system product based on the corresponding relation. The servo system product position calibration device and method provided by the invention can calibrate the position of the servo system product according to the corresponding relation, and improve the precision of servo displacement.
Description
Technical Field
The invention relates to the field of servo systems, in particular to a servo system product position calibration device and method.
Background
At present, a feedback sensor of a servo system is a multi-purpose potentiometer which has the advantages of high reliability, good stability, long service life, small volume and low cost, but the precision of the potentiometer is poor, and the precision of the potentiometer is usually 0.2mm or more. However, as the accuracy requirement of the servo system is higher and higher, the potentiometer cannot meet the accuracy requirement.
In the prior art, a potentiometer is replaced by a digital position sensor such as an LVDT (Linear Variable Differential Transformer), but the digital position sensor has the disadvantages of high cost, complicated electrical design, large product volume and heavy weight.
Disclosure of Invention
Therefore, the technical problem to be solved by the present invention is to overcome the defects of high cost, complex electrical design, large product volume and heavy weight of the digital position sensor in the prior art, so as to provide a servo system product position calibration device and method.
In a first aspect, the present invention provides a product position calibration apparatus for a servo system, including: a high-precision displacement measuring instrument, a servo system calibration station device and a calibration device controller, wherein,
the high-precision displacement measuring instrument is connected with a calibrated servo system product and used for acquiring actual physical position information of the servo system product and sending the actual physical position information to the calibration device controller through the test bus;
the servo system calibration station device is connected with the servo system product and is used for matching a corresponding mechanical interface, a power interface and a control power supply interface for the servo system product;
and the calibration device controller is used for acquiring displacement feedback information of the calibrated servo system product, combining the displacement feedback information and the actual physical position information at the same moment to form a corresponding relation, and calibrating the position of the servo system product based on the corresponding relation.
In the method, the actual physical position information of the servo system product is acquired through the high-precision displacement measuring instrument so as to improve the accuracy and precision of the actual physical position information; the servo system calibration station device is used for flexibly matching corresponding interfaces according to different types of servo system products, so that the servo system calibration station device can be adapted to the different types of servo system products, and the flexibility and the matching degree with the servo system products are improved; and then the displacement feedback information and the actual physical position information in the same moment are combined by the calibration device controller to form a corresponding relation, so that the position of a servo system product is calibrated based on the corresponding relation, the precision of servo displacement is improved, and the calibration of the servo system is realized under the condition of not changing the hardware of the servo system.
In one embodiment, the acquiring, by the high-precision displacement measuring instrument, actual physical position information of the servo system product includes: angular displacement or linear displacement measurements.
In this mode, high accuracy displacement measurement appearance can be according to the servo product of difference, the corresponding angular displacement of adaptation or linear displacement to the servo product of different models of adaptation has increased the flexibility, and increases and measures the corresponding angular displacement or linear displacement through high accuracy displacement measurement appearance, has improved the precision of angular displacement or linear displacement numerical value.
In a second aspect, the present invention provides a method for calibrating a product position of a servo system, including:
when the servo system product connection is detected, the servo system calibration station device is controlled to match a mechanical interface, a power interface and a control power supply interface corresponding to the servo system product;
acquiring actual physical position information and displacement feedback information of the servo system product;
combining the actual physical position information and the displacement feedback information at the same moment to form a corresponding relation;
and determining the current actual physical position information corresponding to the current displacement feedback information based on the corresponding relation, and calibrating the position of the servo system product based on the current actual physical position information.
In the method, the accuracy and precision of the actual physical position information are improved by acquiring the actual physical position information and the displacement feedback information of the servo system product, and the calibration device controller combines the displacement feedback information and the actual physical position information at the same moment to form a corresponding relation, so that the position of the servo system product is calibrated based on the corresponding relation, the precision of the servo displacement is improved, and the calibration of the servo system is realized under the condition of not changing the hardware of the servo system.
In an embodiment, the combining the actual physical location information and the displacement feedback information at the same time to form a corresponding relationship includes:
combining the actual physical position information and the displacement feedback information at the same moment within a preset number of times to form a corresponding relation;
the corresponding relation comprises a search function and a fitting function.
In one embodiment, the lookup function is:
wherein R is x As the current actual physical location information, (S) 1 ，R 1 ) And (S) 2 ，R 2 ) Is (S) x ，R x ) Of the proximity mark point S x Feeding back information for the current displacement;
the fitting function is: y ═ 0.0007X 2 +1.0174X-1.0987，
Wherein, Y is the actual physical position information, and X is the displacement feedback information.
In an embodiment, after the actual physical location information and the displacement feedback information at the same time within a preset number of times are combined to form a corresponding relationship, the method further includes:
and binding the search function and/or the fitting function into a servo system product through a servo control bus.
In this way, the correspondence is bound to the servo system, so that the calibration device controller determines the actual physical position information corresponding to the displacement feedback information according to the bound correspondence.
In an embodiment, after the controlling the servo calibration station device to match the mechanical interface, the power interface, and the control power supply interface corresponding to the servo system product when the servo system product connection is detected, the method further includes:
and controlling the high-precision displacement measuring instrument to measure the initial value of the servo system product.
In the mode, the calibration device controller controls the high-precision displacement measuring instrument to measure the initial value of the servo system product, so that the precision of the initial value of the servo system product can be increased.
In an embodiment, before the obtaining the actual physical position information and the displacement feedback information of the servo system product, the method further includes:
and sending a displacement instruction to the servo system product, wherein the displacement instruction comprises a displacement distance.
In the method, the calibration device controller firstly sends a displacement instruction to the servo system product to control the servo system product to generate corresponding displacement according to the received displacement instruction.
In a third aspect, the present invention provides a computer device, which includes a memory and a processor, where the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the servo system product position calibration method in any one of the second aspect and its optional implementation manners.
In a fourth aspect, the present invention provides a computer-readable storage medium, which stores computer instructions for causing a computer to execute the servo system product position calibration method of any one of the second aspect and its optional embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a block diagram of a servo system product position calibration apparatus according to an embodiment of the present invention.
Fig. 2 is a flowchart of a servo system product position calibration method according to an embodiment of the present invention.
Fig. 3 is a functional curve diagram of a fitting function according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a hardware structure of a computer device according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to calibrate the position of a servo system product, the embodiment of the invention provides a servo system product position calibration device, which comprises a high-precision displacement measuring instrument 1, a calibration device controller 2 and a servo system calibration station device 3, as shown in fig. 1.
In one embodiment, the high-precision displacement measuring instrument 1 is connected with a calibrated servo system product through a test interface and is used for acquiring actual physical position information of the servo system product; and is connected with the calibration device controller 2 through a test bus, and is used for sending actual physical position information to the calibration device controller 2.
Specifically, the test Bus may be ethernet, GPIB (General-Purpose Interface Bus), or USB (Universal Serial Bus), which is only exemplary and not limited thereto.
In an embodiment, the calibration device controller 2 is connected to the calibrated servo system product through a servo control bus, and is configured to obtain displacement feedback information of the calibrated servo system product, combine the displacement feedback information and actual physical position information at the same time to form a corresponding relationship, and calibrate the position of the servo system product based on the corresponding relationship.
In an embodiment, the servo system calibration station device 3 is connected with the servo system product by controlling the power supply interface, the power interface and the mechanical interface, and is used for matching a proper servo calibration station interface according to the calibrated servo system product, and matching the proper power supply interface, the proper power interface and the proper mechanical interface for the servo system product, so that the flexibility of the servo system calibration station device is increased, and meanwhile, the matching degree of the servo system calibration station device and different servo system products is improved.
In an embodiment, the acquiring, by the high-precision displacement measuring instrument 1, actual physical position information of the servo system product includes: angular displacement or linear displacement measurements.
Specifically, the calibration device controller 2 can match corresponding high-precision angular displacement or linear displacement measuring instruments according to different servo system products, and the high-precision displacement measuring instruments 1 acquire angular displacement or linear displacement of the servo system products and send measured data to the calibration device controller 2 through the test bus.
Through the embodiment, the actual physical position information of the servo system product is acquired through the high-precision displacement measuring instrument, so that the accuracy and precision of the actual physical position information are improved; the servo system calibration station device is used for flexibly matching corresponding interfaces according to different types of servo system products, so that the servo system calibration station device can be adapted to the different types of servo system products, and the flexibility and the matching degree with the servo system products are improved; the calibration device controller combines the displacement feedback information and the actual physical position information at the same moment to form a corresponding relation, so that the position of a servo system product is calibrated based on the corresponding relation, the precision of servo displacement is improved, and the calibration of the servo system is realized under the condition of not changing the hardware of the servo system.
The embodiment of the present invention further provides a method for calibrating a position of a servo system product, which is executed by a calibration device controller, as shown in fig. 2, the method includes the following steps S1 to S4.
Step S1: and when the servo system product is detected to be connected, controlling the servo system calibration station device to match with a mechanical interface, a power interface and a control power supply interface corresponding to the servo system product.
In the embodiment of the invention, when the controller of the calibration device detects the connection of the servo system product, the controller controls the servo calibration station device to flexibly match the corresponding interface with the servo system product, so that the servo calibration station device can be adapted to the servo system products of different models, and the flexibility and the matching degree with the servo system product are improved.
Step S2: and acquiring actual physical position information and displacement feedback information of the servo system product.
In the embodiment of the invention: the controller of the calibration device acquires the actual physical position information acquired by the high-precision displacement measuring instrument through the test bus and acquires the displacement feedback information of the calibrated servo system product through the servo control bus.
Specifically, when the calibration device controller acquires the actual physical position information and the displacement feedback information acquisition instruction, or acquires the actual physical position information and the displacement feedback information of the servo system product at intervals of a preset time length, wherein the preset time length can be reasonably set according to an actual application scene, and is not particularly limited herein.
Step S3: and combining the actual physical position information and the displacement feedback information at the same moment to form a corresponding relation.
In the embodiment of the invention: the calibration device controller acquires the displacement feedback information through the servo control bus, and simultaneously acquires the actual physical position information through the test bus, and then combines the actual physical position information and the displacement feedback information at the same moment to form corresponding relations such as a search function or a fitting function.
Specifically, the calibration device controller combines the actual physical position information and the displacement feedback information at the same time within the preset times to form a corresponding relationship, wherein the corresponding relationship comprises a search function and a fitting function.
The calibration device controller reads the displacement feedback information through the servo control bus and obtains the actual physical position information through the test bus, and successfully calibrates one point every time the process is carried out, and records data points in sequence based on the preset calibration quantity in the whole displacement control formation of the servo system.
In particular toThe lookup function is, in turn:
wherein R is x As the current actual physical location information, (S) 1 ，R 1 ) And (S) 2 ，R 2 ) Is (S) x ，R x ) Of the proximity mark point S x And feeding back information for the current displacement.
When the corresponding relationship is a lookup function, the lookup table is obtained through the above-mentioned process for a limited number of times, as shown in table 1,
TABLE 1
For example, if the current displacement feedback information is 3.5mm, the actual physical position information corresponding to the adjacent mark points (S2, R2) and (S3, R3) is calculated to be 2.462mm by the lookup function.
Specifically, when the correspondence is a fitting function, the fitting function is:
Y＝-0.0007X 2 +1.0174X-1.0987。
wherein Y is actual physical location information, X is displacement feedback information, and as shown in fig. 3, actual physical location information corresponding to any displacement feedback information can be determined according to a fitting function.
It should be noted that the correspondence relationship changes according to the usage scenarios and specific parameter changes of different servo system products.
Step S4: and determining current actual physical position information corresponding to the current displacement feedback information based on the corresponding relation, and calibrating the position of the servo system product based on the current actual physical position information.
In the embodiment of the invention: and the calibration device controller determines the current actual physical position information corresponding to the current displacement feedback information based on the corresponding relation, and calibrates the position of the servo system product so as to improve the precision of the servo displacement.
According to the embodiment, the actual physical position information of the servo system product is acquired through the high-precision displacement measuring instrument so as to improve the accuracy and precision of the actual physical position information, and then the displacement feedback information and the actual physical position information in the same moment are combined through the calibration device controller to form the corresponding relation, so that the position of the servo system product is calibrated based on the corresponding relation, the precision of servo displacement is improved, and the calibration of the servo system is realized under the condition that the hardware of the servo system is not changed.
In an embodiment, when detecting that the servo system product is connected, after controlling the servo calibration station device to match the mechanical interface, the power interface and the control power supply interface corresponding to the servo system product, the method further includes:
and controlling the high-precision displacement measuring instrument to measure the initial value of the servo system product.
In the embodiment of the invention, after detecting the connection between the servo system product and the corresponding interface of the servo calibration station device, the controller of the calibration device controls the high-precision displacement measuring instrument to acquire the initial value of the servo system product, so as to store the initial values such as the initial displacement when the servo system product is not changed.
In an embodiment, before obtaining the actual physical position information and the displacement feedback information of the servo system product, the method further includes: and sending a displacement instruction to the servo system product. Wherein the displacement instruction comprises a displacement distance.
In the embodiment of the invention, firstly, the calibration device controller sends a displacement instruction to the servo system product, for example, the displacement instruction is '3 mm', the servo system product can shake between 2.99mm, 3.00mm, 3.01mm and 3.02mm after receiving the displacement instruction, and when the servo system product is detected to be stable at a certain displacement, the displacement feedback information is obtained, so that the stability and the precision of the displacement feedback information are improved.
In an embodiment, after combining the actual physical location information and the displacement feedback information at the same time within the preset number of times to form a corresponding relationship, the method further includes:
and binding the search function and/or the fitting function into a servo system product through a servo control bus.
In the embodiment of the invention, the search function, or the fitting function, or the search function and the fitting function are bound into the servo system product so as to store the corresponding relationship into the servo system product, so that the calibration device controller can determine the actual physical position information corresponding to the displacement feedback information according to the stored corresponding relationship.
Fig. 4 is a schematic diagram of a hardware structure of a computer device according to an exemplary embodiment. As shown in fig. 4, the apparatus includes one or more processors 410 and a storage 420, where the storage 420 includes a persistent memory, a volatile memory, and a hard disk, and one processor 410 is taken as an example in fig. 4. The apparatus may further include: an input device 440 and an output device 440.
The processor 410, the memory 420, the input device 440, and the output device 440 may be connected by a bus or other means, such as the bus connection in fig. 4.
The memory 420, which is a non-transitory computer-readable storage medium including a persistent memory, a volatile memory, and a hard disk, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the service management method in the embodiment of the present application. The processor 410 executes various functional applications and data processing of the server by executing the non-transitory software programs, instructions and modules stored in the memory 420, so as to implement any one of the above-mentioned servo system product position calibration methods.
The memory 420 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data used as needed or desired, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 420 may optionally include memory located remotely from processor 410, which may be connected to a data processing device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 440 may receive input numeric or character information and generate key signal inputs related to user settings and function control. The output device 440 may include a display device such as a display screen.
One or more modules are stored in the memory 420 and, when executed by the one or more processors 410, perform the servo system product position calibration method shown in FIG. 2.
The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For details of the technique not described in detail in the embodiment, reference may be made to the related description in the embodiment shown in fig. 2.
Embodiments of the present invention further provide a non-transitory computer storage medium, where a computer-executable instruction is stored in the computer storage medium, and the computer-executable instruction may execute the authentication method in any of the above method embodiments. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications derived therefrom are intended to be within the scope of the invention.
Claims (10)
1. A servo system product position calibration device is characterized by comprising: a high-precision displacement measuring instrument, a servo system calibration station device and a calibration device controller, wherein,
the high-precision displacement measuring instrument is connected with a calibrated servo system product and used for acquiring actual physical position information of the servo system product and sending the actual physical position information to the calibration device controller through the test bus;
the servo system calibration station device is connected with the servo system product and is used for matching a corresponding mechanical interface, a power interface and a control power supply interface for the servo system product;
and the calibration device controller is used for acquiring displacement feedback information of the calibrated servo system product, combining the displacement feedback information and the actual physical position information at the same moment to form a corresponding relation, and calibrating the position of the servo system product based on the corresponding relation.
2. The apparatus of claim 1, wherein the high-precision displacement measuring instrument collects actual physical position information of the servo system product, and comprises: angular displacement or linear displacement measurements.
3. A servo system product position calibration method is characterized by comprising the following steps:
when the servo system product connection is detected, the servo system calibration station device is controlled to match a mechanical interface, a power interface and a control power supply interface corresponding to the servo system product;
acquiring actual physical position information and displacement feedback information of the servo system product;
combining the actual physical position information and the displacement feedback information at the same moment to form a corresponding relation;
and determining current actual physical position information corresponding to the current displacement feedback information based on the corresponding relation, and calibrating the position of the servo system product based on the current actual physical position information.
4. The method according to claim 3, wherein the combining the actual physical location information and the displacement feedback information at the same time to form a corresponding relationship comprises:
combining the actual physical position information and the displacement feedback information at the same moment within a preset number of times to form a corresponding relation;
the corresponding relation comprises a search function and a fitting function.
5. The method of claim 4,
the lookup function is:
wherein R is x As the current actual physical location information, (S) 1 ，R 1 ) And (S) 2 ，R 2 ) Is (S) x ，R x ) Of the proximity mark point S x Feeding back information for the current displacement;
the fitting function is: y ═ 0.0007X 2 +1.0174X-1.0987，
Wherein, Y is the actual physical position information, and X is the displacement feedback information.
6. The method according to claim 5, wherein after the actual physical location information and the displacement feedback information at the same time within the preset number of times are combined to form a corresponding relationship, the method further comprises:
and binding the search function and/or the fitting function into a servo system product through a servo control bus.
7. The method of claim 3, wherein after controlling the servo calibration station device to match the mechanical interface, the power interface and the control power supply interface corresponding to the servo system product when the servo system product connection is detected, the method further comprises:
and controlling the high-precision displacement measuring instrument to measure the initial value of the servo system product.
8. The method of claim 3, wherein prior to obtaining the actual physical position information and the displacement feedback information of the servo system product, the method further comprises:
and sending a displacement instruction to the servo system product, wherein the displacement instruction comprises a displacement distance.
9. Computer apparatus, comprising a memory and a processor, wherein the memory and the processor are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to execute the servo system product position calibration method according to any one of claims 3 to 8.
10. A computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions for causing the computer to execute the servo system product position calibration method according to any one of claims 3-8.
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