CN-121977448-A - Motion actuator error determination method, device, equipment and storage medium

CN121977448ACN 121977448 ACN121977448 ACN 121977448ACN-121977448-A

Abstract

The application discloses a method, a device, equipment and a storage medium for determining errors of a motion executing mechanism. The method comprises the steps of obtaining instruction data corresponding to a motion control instruction of a motion executing mechanism, collecting displacement data of the motion executing mechanism in the process of executing the motion control instruction, and determining a motion error of the motion executing mechanism according to the instruction data and the displacement data. According to the scheme, an error analysis mechanism based on instruction data and actual displacement data is introduced, so that the motion performance of the motion executing mechanism is accurately estimated and quantized. The scheme can remarkably improve the positioning precision and the overall operation stability of the motion executing mechanism, and is beneficial to meeting the requirements of high-precision industrial automation, robot operation, precision machining and other scenes.

Inventors

LIANG QILONG
GENG ZONGCHAO
DENG XIANGWEI
HOU JIAYI
ZHANG SHAOFENG
TANG LIJUN
HUANG JINCHENG

Assignees

宇智技术(珠海)有限公司

Dates

Publication Date: 20260505
Application Date: 20260106

Claims (10)

1. A method for determining an error in a motion actuator, comprising: acquiring instruction data corresponding to a motion control instruction of a motion executing mechanism; acquiring displacement data of the motion executing mechanism in the process of executing the motion control instruction; And determining the motion error of the motion executing mechanism according to the instruction data and the displacement data.
2. The method of claim 1, wherein the acquiring displacement data of the motion actuator during execution of the motion control instruction comprises: Controlling the motion executing mechanism to repeatedly execute reciprocating motions for a plurality of times along the travel corresponding to the motion control instruction according to the motion speed and the frequency corresponding to the motion control instruction; In the process of executing the motion control instruction by the motion executing mechanism, acquiring a plurality of groups of measurement data corresponding to the instruction data by utilizing a laser ranging device; and calculating the data average value of the same instruction positions in the plurality of groups of measurement data to obtain displacement data corresponding to each instruction position.
3. The method of claim 1, wherein said determining a motion error of said motion actuator based on said command data and said displacement data comprises: performing data fitting processing on the displacement data to obtain correction data; and determining the motion error of the motion executing mechanism according to the correction data and the instruction data.
4. A method of determining a motion actuator error according to claim 3, wherein said performing a data fitting process on said displacement data to obtain correction data comprises: performing linear fitting on the displacement data to obtain a fitting coefficient for representing the linear trend of the displacement data; And eliminating linear trend items in the displacement data according to the fitting coefficients to obtain correction data.
5. A method of determining a motion actuator error as claimed in claim 3 wherein said determining a motion error of said motion actuator from said correction data and said command data comprises: calculating first error data of the motion actuator according to the correction data and the instruction data; inputting the first error data into a notch filter for filtering processing to obtain second error data; and determining the motion error of the motion executing mechanism according to the second error data.
6. The method of claim 5, further comprising, after said calculating first error data for said motion actuator based on said correction data and said instruction data: performing fast Fourier transform on the first error data to obtain error frequency domain data corresponding to the first error data; performing frequency domain analysis according to the error frequency domain data, and determining an interference frequency component corresponding to the error frequency domain data; And determining the filtering frequency, the filtering depth and the filtering width of the notch filter according to the interference frequency component.
7. The method of claim 6, wherein determining the disturbance frequency component corresponding to the error frequency domain data comprises: Performing amplitude calculation on the error frequency domain data in the analyzed frequency band to obtain an amplitude spectrum; Determining the maximum value and the average value of the amplitude spectrum, and calculating the maximum value average ratio according to the maximum value and the average value of the amplitude; And under the condition that the maximum value average ratio is larger than a set threshold value, determining the frequency component corresponding to the maximum value of the amplitude as an interference frequency component.
8. A motion actuator error determination apparatus, comprising: the acquisition module is used for acquiring instruction data corresponding to the motion control instruction of the motion executing mechanism; the acquisition module is used for acquiring displacement data of the motion executing mechanism in the process of executing the motion control instruction; And the determining module is used for determining the motion error of the motion executing mechanism according to the instruction data and the displacement data.
9. A motion actuator error determination apparatus, comprising: One or more processors; A memory storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of motion actuator error determination of any of claims 1-7.
10. A storage medium containing computer executable instructions which, when executed by a computer processor, are for performing the motion actuator error determination method of any of claims 1-7.

Description

Motion actuator error determination method, device, equipment and storage medium Technical Field The present application relates to the field of motion control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for determining a motion actuator error. Background With the development of high-precision automation equipment, a motion executing mechanism is used as a core executing unit of the equipment, and the motion precision of the motion executing mechanism directly influences the overall performance and the processing quality of the equipment. However, in the actual running process, the actual motion of the motion actuator often deviates from the theoretical setting trajectory due to factors such as control system instruction errors, machine manufacturing and assembly errors, sensor noise, load fluctuation, and the like. In the prior art, the motion state of the actuator is generally judged by collecting a motion control instruction and actual displacement data of the actuator, but the motion deviation of the actuator cannot be accurately quantified due to the lack of a systematic error determination method, so that the further improvement of precision control and equipment performance is limited. Disclosure of Invention The application provides a method, a device, equipment and a storage medium for determining an error of a motion executing mechanism, which can realize online calculation of the motion error through synchronous acquisition and error analysis mechanisms of instruction data and displacement data. The method can automatically and continuously quantify the deviation between the actual motion and the expected target in the running process of the motion executing mechanism, effectively improves the precision evaluation and calibration capability of the motion system in the scenes of precision machining, robot positioning, automatic assembly and the like, remarkably enhances the controllability and reliability of the system, and is suitable for performance monitoring and precision guarantee of various closed-loop motion control systems. In a first aspect, the present application provides a method for determining a motion actuator error, comprising: acquiring instruction data corresponding to a motion control instruction of a motion executing mechanism; acquiring displacement data of the motion executing mechanism in the process of executing the motion control instruction; And determining the motion error of the motion executing mechanism according to the instruction data and the displacement data. In a second aspect, the present application provides a motion actuator error determination apparatus comprising: the acquisition module is used for acquiring instruction data corresponding to the motion control instruction of the motion executing mechanism; the acquisition module is used for acquiring displacement data of the motion executing mechanism in the process of executing the motion control instruction; And the determining module is used for determining the motion error of the motion executing mechanism according to the instruction data and the displacement data. In a third aspect, the present application provides a motion actuator error determination apparatus comprising: One or more processors; A memory storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of motion actuator error determination of the first aspect. In a fourth aspect, the present application provides a storage medium containing computer executable instructions which, when executed by a computer processor, are used to perform the method of motion actuator error determination of the first aspect. In the application, the dynamic guarantee of the motion precision and the execution reliability is realized by constructing the motion executing mechanism error determining method based on the motion control instruction and the actual displacement data. The method acquires the displacement data of the motion executing mechanism in the process of executing the motion control instruction in real time after acquiring the instruction data corresponding to the motion control instruction of the motion executing mechanism, and then calculates the motion error of the motion executing mechanism by combining the instruction data and the displacement data, thereby realizing automatic identification and quantification of the execution precision deviation. The scheme provides reliable data support for subsequent motion compensation, control optimization and precise equipment debugging through closed loop comparison of instruction data and actual motion, and is suitable for various industrial automation, precise machining and high-precision mechanical control scenes. Drawings FIG. 1 is a flow chart of a method for determining a motion actuator error according to an embodiment of the present application; FIG. 2 is a flowchart of