CN103699054B - The quick accurately predicting localization method of industry straight-line motion mechanism and positioning system - Google Patents

Abstract

A fast and accurate predictive positioning method and positioning system for an industrial linear motion mechanism relate to the precise positioning technology of an industrial linear motion mechanism. In the positioning process, the present invention predicts whether the movement mechanism of the equipment may eventually stop at the target position when the preset pulse number is sent and the equipment has not stopped. If so, it waits for it to stop before making further judgments. If it is not possible, send several pulses to the position pulse subtracting counter immediately, so that the motor continues to rotate, and so on, until the motion mechanism reaches the target position. The invention can ensure that the positioning accuracy of the displacement sensor is within 5 microns when the precision of the displacement sensor is 5 microns, and because the prediction process is added in the positioning process, the next movement mode of the motor is determined according to the prediction result, compared with the traditional high-precision positioning mode , The positioning time has been shortened by more than 20%. The invention is suitable for fast and precise positioning of industrial linear motion mechanisms.

Description

Fast and accurate predictive positioning method and positioning system for industrial linear motion mechanism

technical field

The invention relates to the precise positioning technology of an industrial linear motion mechanism.

Background technique

In the motion control of industrial equipment such as high-precision motion platforms, it is very important for the motion mechanism to move to the specified coordinate position accurately and quickly. However, the existing motor drivers determine the target position to be reached this time according to the number of received position pulses, and then determine the stop position according to the feedback position pulses. In some cases (such as when the Delta motor driver uses the gantry control method), since the output of the displacement sensor cannot be used as feedback to the driver (this requires some proportional calculations to determine the number of position pulses to be sent to the driver, because the motor The respective inhomogeneity of the encoder scale and the position sensor scale, this calculation will inevitably lead to a large rounding error), and the target position we expect to move is always referenced to the displacement sensor, that is, sent to the motor driver The position pulse is the number of output pulses expected from the displacement sensor during the entire movement process, but the reference of the motor driver is no longer the displacement sensor referenced by the main controller, which will always cause a deviation between the expected displacement and the actual displacement. Generally speaking , when the accuracy of the displacement sensor is 5 microns, the system positioning deviation will reach about 50 microns.

To make the system finally reach the desired position, after the above process is completed, calculate the distance between the current position and the target position, and continue to let the motor rotate towards the desired position, and so on, until the equipment movement mechanism reaches the desired coordinate position. The accuracy of this device is achieved, but the process is quite time-consuming, because it takes a while from the end of each position pulse transmission to the actual stop of the motor (the end of the instruction, the driver has an adjustment process for the motor), which will be a long time. A huge time overhead.

Contents of the invention

The purpose of the present invention is to solve the problem that the motion control systems of industrial equipment such as high-precision motion platforms can not guarantee fast positioning and precise positioning at all times, and provide a fast and accurate predictive positioning method for industrial linear motion mechanisms with short time consumption and high precision. positioning module.

The fast and accurate predictive positioning method of industrial linear motion mechanism according to the present invention is realized based on the fast and accurate predictive positioning system of industrial linear motion mechanism. The fast and accurate predictive positioning system of industrial linear motion mechanism includes DSP, position pulse Down counter, motor driver, displacement counter and displacement sensor, the DSP sends a pulse signal to the position pulse down counter, and the position pulse down counter sends a drive signal to the motor driver to control the movement of the motor. At the same time, the DSP receives the pulse signal from the position pulse down counter. The status signal of the position pulse subtracting counter, that is, the remaining pulse number signal, and the DSP receives the current position pulse signal sent by the displacement sensor through the displacement counter;

The fast and accurate predictive positioning method is implemented by software embedded in the DSP, and the method includes the following steps:

Target position command receiving step: used to receive the target position command pulse number N, and execute the target pulse calculation step after this step ends;

Target pulse calculation step: used to calculate the number of pulses that need to be output, the number of pulses is equal to the number of target position command pulses N; at the same time, clear the flag bit RchPosCnt, that is, RchPosCnt=0; and execute the plan after this step ends Pulse write step;

Planned pulse writing step: write the absolute value |N| of the pulse number N into the position pulse down counter; and execute the pulse sending step after this step ends;

Pulse sending step: used to send a position pulse signal to the position pulse down counter through the position pulse sending port; and execute the remaining pulse signal receiving step after the end of this step;

Remaining pulse signal receiving step: used to receive the remaining pulse quantity signal sent by the position pulse down counter; and execute the first judgment step after this step ends;

The first judging step: for judging whether the remaining pulse quantity signal is 0, and executing the current position receiving step when the judging result is yes; returning and executing the pulse sending step when the judging result is no;

Current position receiving step: used to receive the current position pulse signal M sent by the displacement counter; and execute the second judgment step after this step ends;

The displacement counter is used to count the pulses output by the displacement sensor, and its count value is used to determine the position of the equipment movement mechanism in the system coordinate system, that is, the current position;

The second judging step: for judging whether |N-M| is equal to 2, and when the judging result is yes, execute the in-position flag incrementing step; when the judging result is no, execute the correction pulse number calculation step;

In-place flag increment step: used to increase the in-place flag by 1, that is, RchPosCnt=RchPosCnt+1; and execute the third judgment step after this step ends;

The third judging step: judging whether the in-place flag is p, p is an integer greater than 10, and ending the positioning when the judging result is yes; returning to execute the second judging step when the judging result is no;

Correction pulse number calculation step: for calculating the value of N, N=(ULONG)(θ(N-M)), wherein, θ is a number between 0.5 and 1, and the flag bit RchPosCnt is cleared simultaneously; and in this After the step ends, execute the plan pulse writing step.

The fast and accurate predictive positioning system of the industrial linear motion mechanism of the present invention is characterized in that it includes a DSP, a position pulse down counter, a motor driver, a displacement counter and a displacement sensor, and the DSP sends a pulse signal to the position pulse down counter, The position pulse decrement counter sends a drive signal to the motor driver to control the motor movement. At the same time, the DSP receives the position pulse decrement counter status signal from the position pulse decrement counter, that is, the remaining pulse number signal, and the DSP receives the current position sent by the displacement sensor through the displacement counter. Pulse signal;

A positioning module implemented by software is embedded in the DSP, and the positioning module includes the following units:

Target position command receiving unit: used to receive target position command pulse number N;

Target pulse calculation unit: used to calculate the number of pulses that need to be output, the number of pulses is equal to the number of pulses N of the target position command; at the same time, the flag bit RchPosCnt is cleared, that is, RchPosCnt=0;

Planned pulse writing unit: write the absolute value |N| of the pulse number N into the position pulse down counter;

Pulse sending unit: used to send a position pulse signal to the position pulse down counter through the position pulse sending port;

Remaining pulse signal receiving unit: used to receive the remaining pulse quantity signal sent by the position pulse down counter;

The first judging unit; used to judge whether the remaining pulse quantity signal is 0, and start the current position receiving unit when the judging result is yes; start the pulse sending unit when the judging result is no;

Current position receiving unit: used to receive the current position pulse signal M sent by the displacement counter;

The second judging unit: used to judge whether |N-M| is equal to 2, and start the in-position flag increment unit when the judging result is yes; start the correction pulse number calculation unit when the judging result is no;

In-position flag increment unit: used to increase the in-position flag by 1, that is, RchPosCnt=RchPosCnt+1;

The third judging unit: judging whether the in-place flag is p, p is an integer greater than 10, and ends the positioning when the judging result is yes; starts the second judging unit when the judging result is no;

Correction pulse number calculation unit: used to calculate the value of N, N=(ULONG)(θ(N-M)), where θ is a number between 0.5 and 1, and clear the flag bit RchPosCnt at the same time.

In the fast and accurate predictive positioning method of the industrial linear motion mechanism described in the present invention, during the positioning process, when the preset number of pulses is sent and the equipment has not stopped running, it is possible to predict whether the equipment’s motion mechanism will eventually stop at the target position, if so , just wait for it to stop before making further judgments. If it is not possible, judge whether the motion mechanism will not reach the target position at all or will overshoot the target position. If it cannot reach the target position, immediately send several pulses to the position pulse down counter to let the motor continue to move forward; if it will overshoot , send a number of pulses in the opposite direction to the position pulse down counter to make the motor run in the reverse direction until the motor reaches the target position. When the accuracy of the displacement sensor is 5 microns, this method can ensure the positioning accuracy within 5 microns, and a prediction process is added to the positioning process, and the next movement mode of the motor is determined according to the prediction results, which is different from the traditional high-precision positioning method. Compared with that, the positioning time has been shortened by more than 20%.

Description of drawings

Fig. 1 is the flowchart of the fast and accurate predictive positioning method of the industrial linear motion mechanism described in the first embodiment;

Fig. 2 is a structural block diagram of the fast and accurate predictive positioning system of the industrial linear motion mechanism described in the sixth embodiment.

detailed description

Specific Embodiment 1: This embodiment is described in conjunction with FIG. 1. The fast and accurate predictive positioning method for industrial linear motion mechanisms described in this embodiment is implemented based on the fast and accurate predictive positioning system for industrial linear motion mechanisms. The fast and accurate predictive positioning system of linear motion mechanism includes DSP1, position pulse down counter 2, motor driver 3, displacement counter 4 and displacement sensor 5, said DSP1 sends pulse signal to position pulse down counter 2, and said position pulse down counter 2 Send the driving signal to the motor driver 3 to control the movement of the motor. At the same time, DSP1 receives the status signal of the position pulse down counter from the position pulse down counter 2, that is, the remaining pulse number signal. DSP1 receives the current position pulse signal sent by the displacement sensor 5 through the displacement counter 4 ;

The fast and accurate prediction positioning method is realized by software embedded in DSP1, and the method comprises the following steps:

Target position command receiving step: used to receive the target position command pulse number N, and execute the target pulse calculation step after this step ends;

Target pulse calculation step: used to calculate the number of pulses that need to be output, the number of pulses is equal to the number of target position command pulses N; at the same time, clear the flag bit RchPosCnt, that is, RchPosCnt=0; and execute the plan after this step ends Pulse write step;

Planned pulse writing step: write the absolute value |N| of the pulse number N into the position pulse down counter 2; and execute the pulse sending step after this step ends;

Pulse sending step: used to send a position pulse signal to the position pulse down counter 2 through the position pulse sending port; and execute the remaining pulse signal receiving step after the end of this step;

Residual pulse signal receiving step: used to receive the remaining pulse quantity signal sent by the position pulse subtraction counter 2; and execute the first judgment step after this step ends;

The first judging step: for judging whether the remaining pulse quantity signal is 0, and executing the current position accepting step when the judging result is yes; returning and executing the pulse sending step when the judging result is no;

Current position acceptance step: for receiving the current position pulse signal M sent by the displacement counter 4; and after this step ends, execute the second judgment step;

The second judging step: for judging whether |N-M| is equal to 2, and when the judging result is yes, execute the in-position flag incrementing step; when the judging result is no, execute the correction pulse number calculation step;

In-place flag increment step: used to increase the in-place flag by 1, that is, RchPosCnt=RchPosCnt+1; and execute the third judgment step after this step ends;

The third judging step: judging whether the in-place flag is p, p is an integer greater than 10, and ending positioning when the judging result is yes; returning to execute the second judging step when the judging result is no;

Correction pulse number calculation step: for calculating the value of N, N=(ULONG)(θ(N-M)), wherein, θ is a number between 0.5 and 1, and the flag bit RchPosCnt is cleared simultaneously; and in this After the step ends, execute the plan pulse writing step.

The fast and accurate predictive positioning method of the industrial linear motion mechanism described in this embodiment is realized by the software embedded in the DSP1. In this method, all positions and distances are represented by pulse numbers. The system is initialized before running. After the initialization, the movement mechanism of the equipment returns to the origin, and the current position pulse signal sent by the displacement counter 4 to DSP1 is 0. DSP1 first receives the target position instruction pulse number N, calculates the pulse number that needs to be sent to the motor driver 3 according to the target position instruction pulse number N, and the pulse number is equal to N-0, that is: the pulse number that needs to be sent to the motor driver 3 is equal to the target The calculation result of the difference between the number of pulses and the current position pulse signal is still counted as N. At the same time, the flag bit RchPosCnt is cleared, and then the pulse number N is written into the position pulse down counter 2 . Open the position pulse sending port, send a pulse signal to the position pulse subtraction counter 2, the position pulse subtraction counter 2 sends this pulse as a drive signal to the motor driver 3, the motor driver 3 controls the motor to rotate according to the drive signal, according to the symbol of N ( positive or negative) to set the rotation direction of the motor. After DSP1 sends a pulse signal to the position pulse down counter 2, it will receive a signal from the position pulse down counter 2 that reflects the state of the position pulse down counter 2. The signal is the remaining pulse number of the position pulse down counter 2, and DSP1 judges the Whether the number of remaining pulses is 0, that is, whether the state of the position pulse down counter 2 is empty, if the state of the position pulse down counter 2 is not empty, then DSP1 continues to send pulse signals to the position pulse down counter 2, and so on until the position pulse When the state of the down counter 2 is empty, stop sending the pulse signal. At this time, DSP1 receives the current position pulse signal M sent by the displacement counter 4, and then predicts whether the equipment movement mechanism may stop at the target position through the distance between the target position and the current position. If the distance between the target position and the current position is greater than 2 pulses , it is considered that after the motor stops rotating, the motion mechanism cannot stop at the target position. At this time, corrective measures need to be taken to avoid wasting time. The corrective measure is to first calculate the number of pulses that need to be output again, and then send this number of pulses to the position pulse subtraction counter 2, the number of pulses that needs to be output again=(ULONG)(θ(N-M)), and this number of pulses is used as the new N value , to replace the number of pulses N previously received by the position pulse subtraction counter 2, that is, to update the value of N, where the coefficient θ is a number greater than 0.5 and less than 1, multiply the distance between the target position and the current position by this coefficient , after rounding down, N is always greater than or equal to 1, that is to say, the positioning accuracy of the equipment is plus or minus one displacement sensor pulse. The sign of N-M represents predicting whether the final motor will fail to reach the position or will overshoot the target position, and the sign of N-M will determine the direction of rotation of the motor. If the distance between the target position and the current position is less than 2 pulses, the flag bit RchPosCnt is increased by 1, that is, RchPosCnt=RchPosCnt+1, and then judge whether RchPosCnt is equal to p, and the p is an integer greater than 10, if RchPosCnt is not equal to p , then continue to judge whether the distance between the target position and the current position is less than 2 pulses, and so on, until RchPosCnt is equal to p, stop positioning. During the period when RchPosCnt increases from 0 to p, if the distance between the target position and the current position remains less than 2 pulses, it is considered that the device motion mechanism has reached the target position and the positioning can be ended.

In the fast and accurate predictive positioning method for industrial linear motion mechanisms described in this embodiment, during the positioning process, when the preset number of pulses is sent and the equipment has not stopped running, it is possible to predict whether the equipment’s motion mechanism will eventually stop at the target position. If there is, just wait for it to stop before making further judgments. If it is not possible, it is judged whether the motion mechanism will not reach the target position at all or will rush past the target position. If it cannot reach the target position, it will immediately send several pulses to the position pulse subtraction counter 2 to let the motor continue to move forward; If it rushes, send a number of pulses in the opposite direction to the position pulse down counter 2 to make the motor run in the reverse direction until the motor reaches the target position. This method can ensure that the positioning accuracy is within 5 microns, and a prediction process is added to the positioning process, and the next movement mode of the motor is determined according to the prediction result. Compared with the traditional high-precision positioning method, the positioning time is shortened by more than 20%. .

Embodiment 2: This embodiment is a further limitation of the fast and accurate predictive positioning method for industrial linear motion mechanisms described in Embodiment 1. In this embodiment, in the third determination step, p=20.

Embodiment 3: This embodiment is a further limitation of the rapid and accurate predictive positioning method for industrial linear motion mechanisms described in Embodiment 1. In this embodiment, the displacement sensor 5 is realized by a magnetic scale or a grating scale.

Specific Embodiment 4: This embodiment is a further limitation of the fast and accurate predictive positioning method of the industrial linear motion mechanism described in Embodiment 1. In this embodiment, the position pulse down counter 2 is sent every time a DSP1 sends After the pulse signal, send a pulse signal to the motor driver 3, and then feed back a status signal to DSP1, which indicates the number of remaining pulses.

The position pulse down counter 2 in this embodiment is realized by software embedded in the CPLD. The function of the position pulse down counter 2 is to send a pulse signal to the motor driver 3 after receiving a pulse signal from DSP1, and then feed back a status signal to DSP1, which indicates the number of remaining pulses. The initial value of the number of remaining pulses is the |N| written to it by DSP1. After the position pulse down counter 2 sends a pulse signal to the motor driver 3, the number of remaining pulses is reduced by 1. When |N| pulses are sent to the motor After the driver 3, the number of remaining pulses is 0, at this time, the status of the position pulse down counter 2 is empty.

Embodiment 5: This embodiment is a further limitation of the rapid and accurate predictive positioning method of the industrial linear motion mechanism described in Embodiment 1. In this embodiment, the displacement counter 4 is used for the pulse output by the displacement sensor 5 Counting is performed, and the count value is used to determine the position of the equipment movement mechanism in the system coordinate system, that is, the current position.

All distances and positions in the present embodiment are represented by pulse numbers, and the pulse numbers output by the displacement sensor 5 reflect the current position of the equipment kinematic mechanism, and the displacement counter 4 counts the pulses output by the displacement sensor 5 and sends them To DSP1, so that DSP1 obtains the current position of the device's motion mechanism.

Specific Embodiment Six: This embodiment is described in conjunction with FIG. 2. The fast and accurate predictive positioning system of the industrial linear motion mechanism described in this embodiment includes DSP1, position pulse down counter 2, motor driver 3, displacement counter 4 and displacement sensor 5, The DSP1 sends a pulse signal to the position pulse down counter 2, and the position pulse down counter 2 sends a drive signal to the motor driver 3 to control the movement of the motor. At the same time, the DSP1 receives the position pulse down counter state signal from the position pulse down counter 2, namely The remaining pulse number signal, DSP1 receives the current position pulse signal sent by the displacement sensor 5 through the displacement counter 4;

Embedded within the DSP1 is a positioning module implemented by software, and the positioning module includes the following units:

Target position command receiving unit: used to receive target position command pulse number N;

Target pulse calculation unit: used to calculate the number of pulses that need to be output, the number of pulses is equal to the number of pulses N of the target position command; at the same time, the flag bit RchPosCnt is cleared, that is, RchPosCnt=0;

Planned pulse writing unit: write the absolute value |N| of the pulse number N into the position pulse down counter 2;

Pulse sending unit: used to send a position pulse signal to the position pulse down counter 2 through the position pulse sending port;

Residual pulse signal receiving unit: used to receive the remaining pulse quantity signal sent by the position pulse subtraction counter 2;

The first judging unit; used to judge whether the remaining pulse number signal is 0, and start the current position receiving unit when the judging result is yes; start the pulse sending unit when the judging result is no;

Current position receiving unit: used to receive the current position pulse signal M sent by the displacement counter 4;

The second judging unit: used to judge whether |N-M| is equal to 2, and start the in-position flag increment unit when the judging result is yes; start the correction pulse number calculation unit when the judging result is no;

In-position flag increment unit: used to increase the in-position flag by 1, that is, RchPosCnt=RchPosCnt+1;

The third judging unit: judging whether the in-place flag is p, p is an integer greater than 10, and ends the positioning when the judging result is yes; starts the second judging unit when the judging result is no;

Correction pulse number calculation unit: used to calculate the value of N, N=(ULONG)(θ(N-M)), where θ is a number between 0.5 and 1, and clear the flag bit RchPosCnt at the same time.

In this embodiment, the fast and accurate predictive positioning module of the industrial linear motion mechanism is realized by software embedded in DSP1. In this module, all positions and distances are represented by pulse numbers. The system is initialized before running. After the initialization, the movement mechanism of the equipment returns to the origin, and the current position pulse signal sent by the displacement counter 4 to DSP1 is 0. DSP1 first receives the target position instruction pulse number N, calculates the pulse number that needs to be sent to the motor driver 3 according to the target position instruction pulse number N, and the pulse number is equal to N-0, that is: the pulse number that needs to be sent to the motor driver 3 is equal to the target The calculation result of the difference between the number of pulses and the current position pulse signal is still counted as N. At the same time, the flag bit RchPosCnt is cleared, and then the pulse number N is written into the position pulse down counter 2 . Open the position pulse sending port, send a pulse signal to the position pulse subtraction counter 2, the position pulse subtraction counter 2 sends this pulse as a drive signal to the motor driver 3, the motor driver 3 controls the motor to rotate according to the drive signal, according to the symbol of N ( positive or negative) to set the rotation direction of the motor. After DSP1 sends a pulse signal to the position pulse down counter 2, it will receive a signal from the position pulse down counter 2 that reflects the state of the position pulse down counter 2. The signal is the remaining pulse number of the position pulse down counter 2, and DSP1 judges the Whether the number of remaining pulses is 0, that is, whether the state of the position pulse down counter 2 is empty, if the state of the position pulse down counter 2 is not empty, then DSP1 continues to send pulse signals to the position pulse down counter 2, and so on until the position pulse When the state of the down counter 2 is empty, stop sending the pulse signal. At this time, DSP1 receives the current position pulse signal M sent by the displacement counter 4, and then predicts whether the equipment movement mechanism may stop at the target position through the distance between the target position and the current position. If the distance between the target position and the current position is greater than 2 pulses , it is considered that after the motor stops rotating, the motion mechanism cannot stop at the target position. At this time, corrective measures need to be taken to avoid wasting time. The corrective measure is to first calculate the number of pulses that need to be output again, and then send this number of pulses to the position pulse subtraction counter 2, the number of pulses that needs to be output again=(ULONG)(θ(N-M)), and this number of pulses is used as the new N value , to replace the number of pulses N previously received by the position pulse subtraction counter 2, that is, to update the value of N, where the coefficient θ is a number greater than 0.5 and less than 1, multiply the distance between the target position and the current position by this coefficient , after rounding down, N is always greater than or equal to 1, that is to say, the positioning accuracy of the equipment is plus or minus one displacement sensor pulse. The sign of N-M represents predicting whether the final motor will fail to reach the position or will overshoot the target position, and the sign of N-M will determine the direction of rotation of the motor. If the distance between the target position and the current position is less than 2 pulses, the flag bit RchPosCnt is increased by 1, that is, RchPosCnt=RchPosCnt+1, and then judge whether RchPosCnt is equal to p, and the p is an integer greater than 10, if RchPosCnt is not equal to p , then continue to judge whether the distance between the target position and the current position is less than 2 pulses, and so on, until RchPosCnt is equal to p, stop positioning. During the period when RchPosCnt increases from 0 to p, if the distance between the target position and the current position remains less than 2 pulses, it is considered that the device motion mechanism has reached the target position and the positioning can be ended.

In the positioning process of the fast and accurate predictive positioning system for industrial linear motion mechanisms described in this embodiment, when the preset number of pulses is sent and the equipment has not stopped running, it is possible to predict whether the motion mechanism of the equipment will eventually stop at the target position. If there is, just wait for it to stop before making further judgments. If it is not possible, it is judged whether the motion mechanism will not reach the target position at all or will rush past the target position. If it cannot reach the target position, it will immediately send several pulses to the position pulse subtraction counter 2 to let the motor continue to move forward; If it rushes, send a number of pulses in the opposite direction to the position pulse down counter 2 to make the motor run in the reverse direction until the motor reaches the target position. The fast and accurate predictive positioning system can ensure that the positioning accuracy is within 5 microns, and a predictive process is added to the positioning process, and the next movement mode of the motor is determined according to the predicted results. Compared with the traditional high-precision positioning mode, the positioning time is shortened more than 20%.

Embodiment 7: This embodiment is a further limitation of the fast and accurate predictive positioning system for industrial linear motion mechanisms described in Embodiment 6. In this embodiment, in the third judging unit, p=20.

Embodiment 8: This embodiment is a further limitation of the fast and accurate predictive positioning system for industrial linear motion mechanisms described in Embodiment 6. In this embodiment, the displacement sensor 5 is realized by a magnetic scale or a grating scale.

Ninth specific embodiment: This embodiment is a further limitation of the fast and accurate predictive positioning system of the industrial linear motion mechanism described in the sixth embodiment. In this embodiment, the position pulse down counter 2 receives a DSP1 every After the pulse signal, send a pulse signal to the motor driver 3, and then feed back a status signal to DSP1, which indicates the number of remaining pulses.

The position pulse down counter 2 in this embodiment is realized by software embedded in the CPLD. The function of the position pulse down counter 2 is to send a pulse signal to the motor driver 3 after receiving a pulse signal from DSP1, and then feed back a status signal to DSP1, which indicates the number of remaining pulses. The initial value of the number of remaining pulses is the |N| written to it by DSP1. After the position pulse down counter 2 sends a pulse signal to the motor driver 3, the number of remaining pulses is reduced by 1. When |N| pulses are sent to the motor After the driver 3, the number of remaining pulses is 0, at this time, the status of the position pulse down counter 2 is empty.

Specific Embodiment Ten: This embodiment is a further limitation of the fast and accurate predictive positioning system of the industrial linear motion mechanism described in the sixth embodiment. In this embodiment, the displacement counter 4 is used for the pulse output by the displacement sensor 5 Counting is performed, and the count value is used to determine the position of the equipment movement mechanism in the system coordinate system, that is, the current position.

All distances and positions in the present embodiment are represented by pulse numbers, and the pulse numbers output by the displacement sensor 5 reflect the current position of the equipment kinematic mechanism, and the displacement counter 4 counts the pulses output by the displacement sensor 5 and sends them To DSP1, so that DSP1 obtains the current position of the device's motion mechanism.

Claims (10)

1. The method for quickly and accurately predicting and positioning the industrial linear motion mechanism is realized based on a quick and accurate prediction and positioning system of the industrial linear motion mechanism, the rapid and accurate prediction positioning system of the industrial linear motion mechanism comprises a DSP (1), a position pulse subtraction counter (2), a motor driver (3), a displacement counter (4) and a displacement sensor (5), the DSP (1) sends a pulse signal to the position pulse reduction counter (2), the position pulse down counter (2) sends a driving signal to the motor driver (3) to control the motor to move, simultaneously, the DSP (1) receives a position pulse down counter state signal from the position pulse down counter (2), namely a residual pulse number signal, the DSP (1) receives a current position pulse signal sent by a displacement sensor (5) through a displacement counter (4);

the method is characterized in that: the rapid and accurate prediction positioning method is realized by software embedded in a DSP (1), and comprises the following steps:

a target position instruction receiving step: receiving the target position instruction pulse number N, and executing a target pulse calculation step after the step is finished;

target pulse calculation step: the device is used for calculating the number of pulses required to be output, wherein the number of pulses is equal to the number N of target position instruction pulses; meanwhile, resetting the flag bit RchPosCnt, namely, the RchPosCnt is equal to 0; and executing a planned pulse writing step after the step is finished;

a planning pulse writing step: writing the absolute value | N | of the number of pulses N into a position pulse down counter (2); and performing a pulse transmission step after the step is finished;

a pulse sending step: the position pulse down counter is used for sending 1 position pulse signal to the position pulse down counter (2) through the position pulse sending port; and performing a remaining pulse signal receiving step after the step is finished;

a residual pulse signal receiving step: the pulse counter is used for receiving a residual pulse number signal sent by the position pulse subtraction counter (2); and executing a first judgment step after the step is finished;

a first judgment step; the step of receiving the current position is executed when the judgment result is yes; if the judgment result is negative, returning to the step of sending the executed pulse;

receiving the current position: the device is used for receiving a current position pulse signal M sent by a displacement counter (4); and executing a second judging step after the step is finished;

the displacement counter (4) is used for counting the pulses output by the displacement sensor (5), and the counting value of the displacement counter is used for determining the position of the equipment movement mechanism in a system coordinate system, namely the current position;

a second judgment step: the step of increasing the in-place flag is executed when the judgment result is yes; executing a correction pulse number calculation step when the judgment result is negative;

an in-place flag increasing step: for increasing the in-place flag by 1, i.e., RchPosCnt + 1; and executing a third judgment step after the step is finished;

a third judging step: judging whether the in-place mark is p, wherein p is an integer larger than 10, and ending positioning when the judgment result is yes; if the judgment result is negative, returning to execute the second judgment step;

a correction pulse number calculation step: for the calculation of the value of N,wherein,the number is between 0.5 and 1, and the number to the flag bit RchPosCnt is cleared; and the planned pulse writing step is executed after the step is finished.

2. The method for fast and accurate predictive positioning of an industrial linear motion mechanism according to claim 1, wherein: in the third determination step, p is 20.

3. The method for fast and accurate predictive positioning of an industrial linear motion mechanism according to claim 1, wherein: the displacement sensor (5) is realized by adopting a magnetic grating ruler or a grating ruler.

4. The method for fast and accurate predictive positioning of an industrial linear motion mechanism according to claim 1, wherein: after receiving a pulse signal sent by the DSP (1), the position pulse subtraction counter (2) sends a pulse signal to the motor driver (3) and then feeds back the pulse signal to the DSP (1) to form a state signal, wherein the state signal represents the number of the residual pulses.

5. The method for fast and accurate predictive positioning of an industrial linear motion mechanism according to claim 1, wherein: the displacement counter (4) is used for counting the pulses output by the displacement sensor (5), and the counting value is used for determining the position of the movement mechanism of the equipment in a system coordinate system, namely the current position.

6. Quick accurate prediction positioning system of industry linear motion mechanism, its characterized in that: the device comprises a DSP (1), a position pulse reduction counter (2), a motor driver (3), a displacement counter (4) and a displacement sensor (5), wherein the DSP (1) sends a pulse signal to the position pulse reduction counter (2), the position pulse reduction counter (2) sends a driving signal to the motor driver (3) to control the motor to move, meanwhile, the DSP (1) receives a position pulse reduction counter state signal, namely a residual quantity signal, from the position pulse reduction counter (2), and the DSP (1) receives a current position pulse signal sent by the displacement sensor (5) through the displacement counter (4);

a positioning module realized by software is embedded in the DSP (1), and the positioning module comprises the following units:

a target position instruction receiving unit: the pulse number N is used for receiving the target position instruction pulse number;

a target pulse calculation unit: the device is used for calculating the number of pulses required to be output, wherein the number of pulses is equal to the number N of target position instruction pulses; meanwhile, resetting the flag bit RchPosCnt, namely, the RchPosCnt is equal to 0;

a planned pulse writing unit: writing the absolute value | N | of the number of pulses N into a position pulse down counter (2);

a pulse transmission unit: the position pulse down counter is used for sending 1 position pulse signal to the position pulse down counter (2) through the position pulse sending port;

a remaining pulse signal receiving unit: the pulse counter is used for receiving a residual pulse number signal sent by the position pulse subtraction counter (2);

a first judgment unit; the device is used for judging whether the residual pulse number signal is 0 or not and starting the current position receiving unit when the judgment result is yes; starting a pulse sending unit when the judgment result is negative;

a current position receiving unit: the device is used for receiving a current position pulse signal M sent by a displacement counter (4);

a second judgment unit: the system is used for judging whether | N-M | is equal to 2 or not and starting an in-place mark increasing unit when the judgment result is yes; starting a correction pulse number calculating unit when the judgment result is negative;

an in-place flag increasing unit: for increasing the in-place flag by 1, i.e., RchPosCnt + 1;

a third judging unit: judging whether the in-place mark is p, wherein p is an integer larger than 10, and ending positioning when the judgment result is yes; starting a second judgment unit when the judgment result is negative;

a correction pulse number calculation unit: for the calculation of the value of N,wherein,is a number between 0.5 and 1, and the flag bit RchPosCnt is cleared.

7. The system for rapid and accurate predictive positioning of industrial linear motion mechanisms of claim 6, wherein: in the third judging unit, p is 20.

8. The system for rapid and accurate predictive positioning of industrial linear motion mechanisms of claim 6, wherein: the displacement sensor (5) is realized by adopting a magnetic grating ruler or a grating ruler.

9. The system for rapid and accurate predictive positioning of industrial linear motion mechanisms of claim 6, wherein: after receiving a pulse signal sent by the DSP (1), the position pulse subtraction counter (2) sends a pulse signal to the motor driver (3) and then feeds back the pulse signal to the DSP (1) to form a state signal, wherein the state signal represents the number of the residual pulses.

10. The system for rapid and accurate predictive positioning of industrial linear motion mechanisms of claim 6, wherein: the displacement counter (4) is used for counting the pulses output by the displacement sensor (5), and the counting value is used for determining the position of the movement mechanism of the equipment in a system coordinate system, namely the current position.