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CN-121541058-B - Linear motor positioning accuracy dynamic test and analysis method

CN121541058BCN 121541058 BCN121541058 BCN 121541058BCN-121541058-B

Abstract

The invention relates to the technical field of data processing, in particular to a dynamic test and analysis method for positioning accuracy of a linear motor, which comprises the steps of controlling full-stroke reciprocating uniform scanning of the linear motor, and synchronously collecting position, current instruction and speed data at high frequency; the method comprises the steps of carrying out space resampling at fixed position intervals to generate forward and reverse current and speed sequences, counteracting friction components by utilizing opposite friction force direction characteristics, calculating resistance characteristic values of all positions by combining bidirectional speed stability weights, constructing a resistance topographic map, decoupling magnetic cogging effect and mechanical abnormality by means of spatial gradient and statistical deviation, determining the significance of the mechanical abnormality, generating a current feedforward compensation table, writing the current feedforward compensation table into a driver, marking faults at positions with the significance exceeding a threshold value, and realizing dynamic test and analysis of positioning accuracy. According to the invention, the resistance component is accurately separated by combining current algebra operation and bidirectional speed weight, so that the topography graphic coupling tooth slot and the installation abnormality are constructed, and the dynamic test precision and the diagnosis practicability are improved.

Inventors

  • GENG XINHONG
  • FU FANGWEI
  • ZHANG HE

Assignees

  • 奥茵绅智能装备(苏州)有限公司

Dates

Publication Date
20260508
Application Date
20260122

Claims (9)

  1. 1. The dynamic test and analysis method for the positioning accuracy of the linear motor is characterized by comprising the following steps of: Controlling a linear motor to be tested to execute full-stroke reciprocating uniform scanning motion, synchronously acquiring real-time position data, real-time current instruction data and real-time speed data by utilizing a high-frequency sampling function of a driver, and carrying out space resampling on the acquired data at fixed position intervals based on the real-time position data to generate forward and reverse current sequences and speed sequences at all positions; Algebraic operation is carried out according to the forward and reverse current sequences by utilizing the reverse characteristics of the friction force direction so as to offset friction force components, the resistance characteristic value of each position is determined by combining the bidirectional speed stability weight calculated based on the forward and reverse speed sequences, and a resistance topographic map of the whole journey is constructed based on the resistance characteristic value; Calculating the spatial gradient of each position in the resistance topographic map and the statistical deviation of the resistance characteristic value of each position relative to the full-stroke average resistance, and determining the mechanical anomaly significance of each position by decoupling the magnetic cogging effect from the mechanical installation anomaly by combining the spatial gradient and the statistical deviation: ; in the formula, Is the position The degree of mechanical abnormality significance at the location, Is the position A characteristic value of the resistance at the position, Is the position The spatial gradient in the drag topography, Is the average value of the resistance characteristic values of each position, The standard deviation of the resistance characteristic value of each position, For a set system noise constant, As a function of the natural index of refraction, Is an absolute value symbol; and generating a current feedforward compensation table according to the resistance characteristic value, writing the current feedforward compensation table into a driver to compensate, and carrying out fault location marking on the position of the mechanical abnormality significance exceeding a threshold value to realize dynamic test and analysis of the positioning accuracy of the linear motor.
  2. 2. The method for dynamically testing and analyzing the positioning accuracy of a linear motor according to claim 1, wherein the speed of the reciprocating uniform scanning motion has a range of values of To minimize the effects of back emf, eddy current losses, and viscous friction on the sampling of real-time current command data.
  3. 3. The method for dynamically testing and analyzing the positioning accuracy of a linear motor according to claim 1, wherein the spatial resampling comprises: And mapping real-time position data, real-time current instruction data and real-time speed data acquired in a time domain to a space domain by taking the position as an index and taking 0.1mm as a fixed position interval.
  4. 4. The method for dynamically testing and analyzing the positioning accuracy of a linear motor according to claim 1, wherein the real-time current command data is The shaft moment current, in a uniform speed state, The shaft torque current is proportional to the total resistance that the linear motor overcomes.
  5. 5. The method for dynamically testing and analyzing the positioning accuracy of a linear motor according to claim 1, wherein the bidirectional velocity stability weight satisfies the relation: ; in the formula, Is the position At the first position The bidirectional speed stability weight during the secondary reciprocating constant speed scanning, And (3) with Respectively the positions of At the first position The forward speed value and the reverse speed value during the constant-speed scanning of the secondary reciprocation, For a set speed value for the reciprocating constant speed scanning, As a function of the natural index of refraction, As a function of the maximum value, Is an absolute value sign.
  6. 6. The method for dynamically testing and analyzing the positioning accuracy of a linear motor according to claim 1, wherein the algebraic operation based on the forward and reverse current sequences using the friction force direction opposite characteristic to cancel the friction force component comprises: and (3) the forward and reverse current sequences are algebraically added to counteract the coulomb friction force term, and the intrinsic load term is kept twice.
  7. 7. The method for dynamically testing and analyzing the positioning accuracy of a linear motor according to claim 1, wherein the resistance characteristic value satisfies the relation: ; in the formula, Is the position A characteristic value of the resistance at the position, Indicating the total number of reciprocating uniform-speed scans, And (3) with Respectively the positions of At the first position The forward current value and the reverse current value during the reciprocating constant-speed scanning, Is the position At the first position The bidirectional speed stability weight during the secondary reciprocating constant speed scanning, Is a super parameter for preventing denominator from being 0.
  8. 8. The method for dynamically testing and analyzing the positioning accuracy of a linear motor according to claim 1, wherein the generating a current feedforward compensation table according to the resistance characteristic value comprises: and extracting periodic magnetic components in the mechanical abnormality significance, and generating a reverse current feedforward compensation table, wherein the current feedforward compensation table records current values to be compensated at all positions.
  9. 9. The method for dynamically testing and analyzing the positioning accuracy of a linear motor according to claim 1, wherein the performing fault positioning marking comprises: and in response to the mechanical abnormality significance being greater than a set significance threshold, automatically marking corresponding position coordinates in an analysis report, and prompting to check guide rail foreign matter or drag chain interference.

Description

Linear motor positioning accuracy dynamic test and analysis method Technical Field The invention relates to the technical field of data processing, in particular to a dynamic test and analysis method for positioning accuracy of a linear motor. Background Linear motors (Linear motors) have become core driving components in laser cutting, semiconductor wafer inspection and precision assembly equipment by virtue of their direct drive, high speed and high precision characteristics, and in high-end manufacturing scenarios, the dynamic performance of the Linear Motor is of paramount importance, for example, in the constant speed scanning stage of laser processing, the speed stability directly determines the quality of the processed kerf, while in point-to-point high speed positioning, the set time determines the output efficiency. At present, the test of the precision of the linear motor in the industry mainly depends on static dotting test of a laser interferometer, and the linear motor is controlled to move to a series of preset discrete positions, and the deviation between the feedback of a grating ruler and the reading of the laser interferometer is read after the linear motor is completely stationary. However, in the conventional static test method, the linear motor is subjected to the action of relative forces of a magnetic track tooth slot force (Cogging Force), a guide rail friction force, a cable drag chain tension force and other positions in the practical application, the running speed is fluctuated due to dynamic resistance, the forces are covered by static friction force in static pause, the forces cannot be captured by a laser interferometer, the dynamic resistance characteristic cannot be reflected by the conventional static test method, meanwhile, when the equipment is unstable in running or out-of-precision, a technician cannot distinguish whether the equipment is from the tooth slot effect of electrical software compensation or from the mechanical guide rail installation unevenness or foreign matter jamming which is required to be subjected to hardware maintenance, in addition, the linear motor is usually towed with a power supply and signal cable, namely the drag chain, the bending radius change of the drag chain at different running positions can generate nonlinear tension interference, and the conventional static test method can ignore the cable interference, so that the test result has deviation from the practical working condition, and the accuracy of the dynamic test and analysis of the positioning precision of the linear motor is affected. Disclosure of Invention In order to solve the problems that the traditional static test cannot capture dynamic resistance characteristics, electrical and mechanical faults are difficult to distinguish and cable interference is ignored, so that the accuracy of the dynamic test and analysis of the positioning accuracy of the linear motor is affected, the invention provides a dynamic test and analysis method of the positioning accuracy of the linear motor, which comprises the following steps: the method comprises the steps of controlling a linear motor to be tested to execute full-stroke reciprocating uniform scanning motion, synchronously collecting real-time position data, real-time current instruction data and real-time speed data by utilizing a high-frequency sampling function of a driver, carrying out space resampling on the collected data at fixed position intervals based on the real-time position data to generate forward and reverse current sequences and speed sequences at all positions, carrying out algebraic operation according to the forward and reverse current sequences by utilizing friction force direction opposite characteristics to offset friction force components, determining resistance characteristic values at all positions by combining bidirectional speed stability weights calculated on the basis of the forward and reverse speed sequences, constructing a full-stroke resistance topographic map on the basis of the resistance characteristic values, calculating spatial gradients at all positions in the resistance topographic map and statistical deviation of the resistance characteristic values at all positions relative to full-stroke average resistance, carrying out decoupling on magnetic tooth slot effects and mechanical installation anomalies at all positions by combining the spatial gradients and the statistical deviation, generating a current feedforward compensation table according to the resistance characteristic values, writing the current feedforward compensation table into the driver to compensate, carrying out fault positioning marks on positions with the mechanical anomalies exceeding threshold values, and realizing dynamic positioning and analyzing of the linear motor. The method has the advantages that full-stroke reciprocating uniform scanning motion is controlled to be carried out by the linear motor, comprehensive testing under