CN116880341B - High-precision motion control system based on industrial Ethernet bus - Google Patents
High-precision motion control system based on industrial Ethernet bus Download PDFInfo
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- CN116880341B CN116880341B CN202311150928.3A CN202311150928A CN116880341B CN 116880341 B CN116880341 B CN 116880341B CN 202311150928 A CN202311150928 A CN 202311150928A CN 116880341 B CN116880341 B CN 116880341B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The application discloses a high-precision motion control system based on an industrial Ethernet bus, relates to the technical field of motion control, and solves the technical problem that the control precision of the motion control system cannot meet the requirement due to the fact that the control precision cannot be monitored and fed back in the control process of an actuator in the prior art; the application sets a track planning module and a control analysis module, obtains a motion track through the analyzed control instruction and motion control algorithm, performs interpolation operation according to the motion track to control the operation of an actuator, verifies each interpolation period by combining various sensors, verifies the control precision in real time, and ensures the control precision of a control system; according to the method, the control instruction is analyzed, the track recommended order is obtained according to the operation difficulty of the control instruction, the track recommended order is expanded, the motion track is further obtained, the motion track is selected according to the control instruction and the actual requirement, and the control efficiency is ensured on the basis of ensuring the motion control precision.
Description
Technical Field
The application belongs to the field of motion control, relates to a high-precision motion control technology, and in particular relates to a high-precision motion control system based on an industrial Ethernet bus.
Background
The motion control system generally takes a controller as a core, takes a power electronic power conversion device as a driving unit and takes an electromechanical energy conversion device as an actuator, which is an indispensable part in modern industrial production, and the development of the motion control system with high precision is also urgent.
The existing motion control system mainly adopts a tree topology mode, a controller is connected with all joint motor drivers or sensors, and is responsible for motion control interpolation calculation and state control of all motors and controlling the acquisition of sensor information; in the prior art, in the process of motion control, an actuator can be controlled only according to a motion track, and control accuracy cannot be monitored and fed back, so that the control accuracy of a motion system cannot meet the requirement; therefore, there is a need for a high-precision motion control system based on an industrial ethernet bus.
Disclosure of Invention
The present application aims to solve at least one of the technical problems existing in the prior art; therefore, the application provides a high-precision motion control system based on an industrial Ethernet bus, which is used for solving the technical problem that the control precision of the motion control system cannot meet the requirement because the control precision cannot be monitored and fed back in the control process of an actuator in the prior art.
The application sets the track planning module and the control analysis module, obtains the motion track through the analyzed control instruction and the motion control algorithm, performs interpolation operation according to the motion track to control the operation of the executor, combines various sensors to verify each interpolation period, verifies the control precision in real time, and ensures the control precision of the control system.
To achieve the above object, a first aspect of the present application provides a high-precision motion control system based on an industrial ethernet bus, including a controller, an actuator, and various types of sensors, where the controller, the actuator, and the various types of sensors are connected through the industrial ethernet bus;
the controller comprises a control analysis module and a track planning module;
and a track planning module: analyzing a control instruction sent by the intelligent terminal, and acquiring a motion trail by combining a motion control algorithm; wherein, the motion control algorithm is stored in the track planning module;
and a control analysis module: performing interpolation operation according to the motion trail to control the motion of the actuator; and verifying each interpolation period by combining each type of sensor, and feeding back a verification result to the controller and the intelligent terminal.
Preferably, the intelligent terminal is respectively in communication and/or electrical connection with the controller and the sensors of various types, and comprises a computer and a control handle; the sensors of various types comprise a camera, a position sensor and a speed sensor.
Preferably, the track planning module obtains a motion track based on the motion control algorithm, including:
performing preliminary analysis on the analyzed control instruction to obtain a track recommended order;
expanding the track recommended orders to obtain a plurality of track orders;
combining a plurality of track orders with the motion control algorithm to obtain a plurality of motion recommendation tracks;
and comprehensively analyzing a plurality of motion recommendation tracks and selecting the motion tracks.
Preferably, the expanding the track recommended order to obtain a plurality of track orders includes:
acquiring the track recommendation order;
expanding the track recommended orders upwards and/or downwards by at least one order to obtain a plurality of track orders; wherein the track order is not greater than 5.
Preferably, the control analysis module performs interpolation operation according to the motion trail, including:
acquiring a track order and a track length corresponding to the motion track;
integrating the track order and the track length to obtain track parameters;
combining the track parameters with a step length evaluation model to obtain an interpolation step length; the step length evaluation model is built based on the artificial intelligence model;
and performing interpolation operation according to the interpolation step length.
Preferably, the control analysis module verifies the interpolation period, including:
acquiring an actual motion track of the actuator in the interpolation period, and marking the actual motion track as a track to be verified;
acquiring a motion trail according to the motion control algorithm, and marking the motion trail as a target motion trail;
acquiring the coincidence ratio of a motion trail corresponding to the same interpolation period in a to-be-verified trail and a target motion trail;
and when the contact ratio is greater than or equal to the contact ratio threshold, verifying to pass, otherwise, verifying to fail, and feeding back a verification result.
Preferably, the fault detection for the actuator according to the verification result includes:
acquiring the mean square error of the coincidence ratio of the corresponding track to be verified and the target motion track in each interpolation period;
and comparing the mean square error with a mean square error threshold value to realize the fault detection of the actuator.
Preferably, comparing the mean square error with a mean square error threshold value for fault detection includes:
when the mean square error is smaller than the mean square error threshold, judging that the actuator is normal;
when the mean square error is greater than or equal to the mean square error threshold value, judging that the actuator fails; wherein the mean square error is a real number greater than 0.
Compared with the prior art, the application has the beneficial effects that:
1. the application sets the track planning module and the control analysis module, obtains the motion track through the analyzed control instruction and the motion control algorithm, performs interpolation operation according to the motion track to control the operation of the executor, combines various sensors to verify each interpolation period, verifies the control precision in real time, and ensures the control precision of the control system.
2. According to the method, the control instruction is analyzed, the track recommended order is obtained according to the operation difficulty of the control instruction, the track recommended order is expanded, the motion track is further obtained, the motion track is selected according to the control instruction and the actual requirement, and the control efficiency is ensured on the basis of ensuring the motion control precision.
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In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the working steps of the present application.
Description of the embodiments
The technical solutions of the present application will be clearly and completely described in connection with the embodiments, and it is obvious that the described embodiments are only some embodiments of the present application, 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 existing motion control system mainly adopts a tree topology mode, a controller is connected with all joint motor drivers or sensors, and is responsible for motion control interpolation calculation and state control of all motors and controlling the acquisition of sensor information; in the prior art, in the process of motion control, an actuator can be controlled only according to a motion track, and control accuracy cannot be monitored and fed back, so that the control accuracy of a motion system cannot meet the requirement.
The application sets the track planning module and the control analysis module, obtains the motion track through the analyzed control instruction and the motion control algorithm, performs interpolation operation according to the motion track to control the operation of the executor, combines various sensors to verify each interpolation period, verifies the control precision in real time, and ensures the control precision of the control system.
Referring to fig. 1, an embodiment of a first aspect of the present application provides a high-precision motion control system based on an industrial ethernet bus, where a controller includes a control analysis module and a trajectory planning module;
and a track planning module: analyzing a control instruction sent by the intelligent terminal, and acquiring a motion trail by combining a motion control algorithm;
and a control analysis module: performing interpolation operation according to the motion trail to control the motion of the actuator; and verifying each interpolation period by combining each type of sensor, and feeding back a verification result to the controller and the intelligent terminal.
In the application, a motion control algorithm is stored in a track planning module, the motion control algorithm mainly generates a motion track according to the analyzed control instruction, the motion track comprises an expert PID control algorithm, a hierarchical control algorithm, a fuzzy control algorithm and the like, and the transport control algorithm sets related parameters in advance and is stored in a controller for random call of the track planning module.
The control instruction is sent by the intelligent terminal, and the intelligent terminal is respectively connected with the controller and various types of sensors; the intelligent terminal comprises a computer, a control handle, an intelligent mobile phone and the like, and can generate control instructions and display key information.
The various types of sensors in the application comprise a camera, a position sensor, a speed sensor, an acceleration sensor and the like, and are used for collecting relevant data in the movement process of the actuator.
The controller comprises a control analysis module and a track planning module, and the control analysis module and the track planning module are connected with each other.
In one embodiment, the trajectory planning module obtains a motion trajectory based on a motion control algorithm, comprising:
performing preliminary analysis on the analyzed control instruction to obtain a track recommended order;
expanding the track recommended orders to obtain a plurality of track orders;
combining a plurality of track orders with a motion control algorithm to obtain a plurality of motion recommendation tracks;
and comprehensively analyzing a plurality of motion recommendation tracks and selecting the motion tracks.
The preliminary analysis in this embodiment refers to analyzing the content of the control command, evaluating the operation difficulty of the control command, and further obtaining the recommended track order according to the operation difficulty, for example:
when the end of the actuator is only required to be moved from one point to another point according to the control instruction, the operation difficulty is low, and the track recommendation order can be selected to be the first order.
When the end of the actuator is required to be moved from one point to another point through a certain point in the middle according to a control instruction, and the three points are not in the same straight line, the track recommendation order can be selected to be second order.
It can be appreciated that the preliminary analysis process should consider the obstacles encountered by the actuator during operation according to the control instructions, and thus, both the track order and the plurality of motion physical examination tracks are obtained on the basis of considering the obstacles.
In this embodiment, after the track recommended order is obtained, the track recommended order is extended, and if the track recommended order is a first order, the track recommended orders include a first order and a second order; when the track recommended order is second order, the track orders include first order, second order and third order.
After a plurality of recommended orders are obtained, the joint motion control algorithm may obtain a plurality of motion recommended trajectories, where the plurality of motion recommended trajectories are all used as alternatives, and then perform comprehensive analysis to obtain a motion trajectory from the motion recommended trajectories, for example:
and comparing the running time of the plurality of motion recommendation tracks, selecting the motion recommendation track with the shortest running time as the motion track, or comparing the energy consumption of the plurality of motion recommendation tracks, and selecting the motion recommendation track with the smallest energy consumption as the motion track.
In a specific embodiment, expanding the track recommended orders to obtain a plurality of track orders includes:
acquiring a track recommendation order;
and expanding the track recommended order upwards and/or downwards by at least one order to acquire a plurality of track orders.
The upward expansion in the embodiment means to increase the first order or the second order on the basis of the track recommendation order, and the downward expansion means to decrease the first order or the second order on the basis of the track recommendation order; either only up or down, or both up and down.
In one embodiment, the control analysis module performs interpolation according to the motion trajectory, including:
acquiring a track order and a track length corresponding to a motion track;
integrating the track order and the track length to obtain track parameters;
combining the track parameters with the step length evaluation model to obtain interpolation step length;
and performing interpolation operation according to the interpolation step length.
In this embodiment, integrating the track order and the track length can be understood as splicing the track order and the track length together to form the track parameter, for example, the track order is 3, the track length is 1 (the unit is consistent with the unit in the step evaluation model), and then the corresponding track parameter is [3,1].
In this embodiment, the step size evaluation model is built based on an artificial intelligence model, and includes:
standard data are obtained through a laboratory; the standard data comprise track parameters and corresponding interpolation step sizes, and the interpolation step sizes are set according to experience;
constructing an artificial intelligent model; the artificial intelligent model comprises an error reverse feedback neural network model, a deep convolution neural network model or an RBF neural network model;
training the artificial intelligent model through standard data, marking the trained artificial intelligent model as a step length evaluation model, and storing the step length evaluation model in a controller.
In one embodiment, the control analysis module verifies the interpolation period, including:
acquiring an actual motion trail of an actuator in an interpolation period, and marking the actual motion trail as a trail to be verified;
acquiring a motion trail according to a motion control algorithm, and marking the motion trail as a target motion trail;
acquiring the coincidence ratio of a motion trail corresponding to the same interpolation period in a to-be-verified trail and a target motion trail;
and when the contact ratio is greater than or equal to the contact ratio threshold, verifying to pass, otherwise, verifying to fail, and feeding back a verification result.
In the embodiment, comparing the actual motion trail in each interpolation period with the motion trail obtained according to the algorithm to obtain the contact ratio, if the contact ratio is more than or equal to the contact ratio threshold value, verifying to pass, and if the contact ratio is less than the contact ratio threshold value, verifying to fail; it will be appreciated that the overlap threshold is set empirically as the error permits.
In an alternative embodiment, fault detection is performed on the actuator according to the verification result, including:
acquiring the mean square error of the coincidence ratio of the corresponding track to be verified and the target motion track in each interpolation period;
and comparing the mean square error with a mean square error threshold value to realize the fault detection of the actuator.
In this embodiment, a data sequence may be generated by the difference between the overlap ratio of the track to be verified and the target motion track in each interpolation period and 1, and the mean square error of the data sequence is obtained.
The working principle of the application is as follows:
the track planning module analyzes the control instruction sent by the intelligent terminal and acquires the motion track by combining a motion control algorithm.
The control analysis module performs interpolation operation according to the motion trail to control the actuator to move, verifies each interpolation period by combining each type of sensor, and feeds the verification result back to the controller and the intelligent terminal.
The above embodiments are only for illustrating the technical method of the present application and not for limiting the same, and it should be understood by those skilled in the art that the technical method of the present application may be modified or substituted without departing from the spirit and scope of the technical method of the present application.
Claims (6)
1. The high-precision motion control system based on the industrial Ethernet bus comprises a controller, an actuator and various types of sensors, wherein the controller, the actuator and the various types of sensors are connected through the industrial Ethernet bus, and the high-precision motion control system is characterized in that the controller comprises a control analysis module and a track planning module;
and a track planning module: analyzing a control instruction sent by the intelligent terminal, and acquiring a motion trail by combining a motion control algorithm; wherein, the motion control algorithm is stored in the track planning module;
and a control analysis module: performing interpolation operation according to the motion trail to control the motion of the actuator; verifying each interpolation period by combining each type of sensor, and feeding back a verification result to the controller and the intelligent terminal;
the track planning module obtains a motion track based on the motion control algorithm, and the track planning module comprises the following steps:
performing preliminary analysis on the analyzed control instruction to obtain a track recommended order;
expanding the track recommended orders to obtain a plurality of track orders;
combining a plurality of track orders with the motion control algorithm to obtain a plurality of motion recommendation tracks;
comprehensively analyzing a plurality of motion recommendation tracks and selecting a motion track;
expanding the track recommended order to obtain a plurality of track orders, including:
acquiring the track recommendation order;
expanding the track recommended orders upwards and/or downwards by at least one order to obtain a plurality of track orders; wherein the track order is not greater than 5.
2. The industrial ethernet bus-based high-precision motion control system of claim 1, wherein said intelligent terminals are respectively in communication and/or electrical connection with said controller, each type of said sensor, the intelligent terminals comprising a computer and a control handle; the sensors of various types comprise a camera, a position sensor and a speed sensor.
3. The industrial ethernet bus-based high-precision motion control system of claim 1, wherein said control analysis module performs interpolation according to a motion trajectory, comprising:
acquiring a track order and a track length corresponding to the motion track;
integrating the track order and the track length to obtain track parameters;
combining the track parameters with a step length evaluation model to obtain an interpolation step length; the step length evaluation model is built based on the artificial intelligence model;
and performing interpolation operation according to the interpolation step length.
4. A high precision industrial ethernet bus based motion control system according to claim 1 or 3, wherein said control analysis module verifies said interpolation period, comprising:
acquiring an actual motion track of the actuator in the interpolation period, and marking the actual motion track as a track to be verified;
acquiring a motion trail according to the motion control algorithm, and marking the motion trail as a target motion trail;
acquiring the coincidence ratio of a motion trail corresponding to the same interpolation period in a to-be-verified trail and a target motion trail;
and when the contact ratio is greater than or equal to the contact ratio threshold, verifying to pass, otherwise, verifying to fail, and feeding back a verification result.
5. The industrial ethernet bus-based high-precision motion control system of claim 4, wherein said fault detection of the actuator based on said verification result comprises:
acquiring the mean square error of the coincidence ratio of the corresponding track to be verified and the target motion track in each interpolation period;
and comparing the mean square error with a mean square error threshold value to realize the fault detection of the actuator.
6. The industrial ethernet bus-based high-precision motion control system of claim 5, wherein comparing said mean square error to a mean square error threshold for fault detection, comprises:
when the mean square error is smaller than the mean square error threshold, judging that the actuator is normal;
when the mean square error is greater than or equal to the mean square error threshold value, judging that the actuator fails; wherein the mean square error is a real number greater than 0.
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