CN-121979098-A - Feedforward compensation method and system based on acceleration feedback

CN121979098ACN 121979098 ACN121979098 ACN 121979098ACN-121979098-A

Abstract

The invention discloses a feedforward compensation method and a feedforward compensation system based on acceleration feedback, wherein the feedforward compensation method comprises the steps of obtaining and analyzing a motion instruction of a controller, determining expected speed information and expected acceleration information of a controlled object, determining expected feedforward resultant force based on the expected speed information and the expected feedforward resultant force, determining feedforward control signals based on the expected feedforward resultant force, determining acceleration feedback force of the controlled object based on real-time acceleration information of the controlled object, determining acceleration feedback compensation force based on the acceleration feedback force, determining acceleration feedback compensation signals of the controlled object based on the acceleration feedback compensation force, synthesizing the feedforward control signals and the acceleration feedback compensation signals, obtaining a motion control instruction of the controlled object, and controlling the controlled object to move according to the motion control instruction. The invention fuses the feedforward prediction of the open loop and the acceleration observation feedback depth of the closed loop, enhances the robustness to external interference and internal parameter change, effectively inhibits mechanical resonance, and improves the track tracking precision, the anti-interference capability and the motion stability.

Inventors

TANG DAOYU
WANG XIAODONG
LI ZHUFENG

Assignees

北京品创联拓科技有限公司

Dates

Publication Date: 20260505
Application Date: 20251222

Claims (10)

1. A feedforward compensation method based on acceleration feedback, comprising: acquiring a motion instruction of a controller, analyzing the motion instruction, and determining expected speed information and expected acceleration information of a controlled object; Determining a desired feedforward force based on the desired velocity information and the desired acceleration information, and determining a feedforward control signal of the controlled object based on the desired feedforward force; determining real-time acceleration information of the controlled object, and determining acceleration feedback force of the controlled object based on the real-time acceleration information; determining an acceleration feedback compensation force based on the acceleration feedback force, and determining an acceleration feedback compensation signal of the controlled object based on the acceleration feedback compensation force; and synthesizing the feedforward control signal and the acceleration feedback compensation signal to obtain a motion control instruction of the controlled object, and controlling the controlled object to move according to the motion control instruction.
2. The feedforward compensation method based on acceleration feedback of claim 1, wherein the steps of obtaining the motion command of the controller, analyzing the motion command, and determining the desired velocity information and the desired acceleration information of the controlled object include: Acquiring a motion instruction of a controller, judging the type of the motion instruction to determine an analysis mode so as to determine expected speed information and expected acceleration information of a controlled object; If the type of the motion instruction is a discrete position instruction, obtaining expected speed information and expected acceleration information through digital differential calculation; If the type of the motion instruction is a continuous track function, the expected speed information and the expected acceleration information are obtained through function derivation calculation.
3. The feedforward compensation method based on acceleration feedback of claim 2, wherein the determining the desired feedforward force based on the desired velocity information and the desired acceleration information and determining the feedforward control signal of the controlled object based on the desired feedforward force includes: Determining the mass and viscous damping coefficient of a controlled object, and determining the expected speed and the expected acceleration of the controlled object from the expected speed information and the expected acceleration information; calculating based on the mass and viscous damping coefficient of the controlled object and the expected speed and the expected acceleration to obtain the expected feedforward force of the controlled object; The desired feedforward resultant force is converted into a feedforward control signal of a force control mode, and the feedforward control signal is determined as a feedforward control signal of the controlled object.
4. A feedforward compensation method according to claim 3, wherein the calculation formula of the expected feedforward force of the controlled object is: F= m*a+b*v, Wherein F is the expected feedforward force of the controlled object, m is the mass of the controlled object, a is the expected acceleration of the controlled object, b is the viscous damping coefficient of the controlled object, and v is the expected speed of the controlled object.
5. A feedforward compensation method according to claim 3, wherein said determining real-time acceleration information of the controlled object and determining the acceleration feedback force of the controlled object based on the real-time acceleration information includes: determining real-time acceleration information of a controlled object, and preprocessing the real-time acceleration information, wherein the preprocessing comprises bias removal, filtering and phase compensation to obtain real-time acceleration; And determining the mass of the controlled object, and multiplying the real-time acceleration by the mass of the controlled object based on Newton's second law to obtain the acceleration feedback force.
6. The method according to claim 5, wherein determining the acceleration feedback compensation force based on the acceleration feedback force and determining the acceleration feedback compensation signal of the controlled object based on the acceleration feedback compensation force comprises: Determining a force opposite to the acceleration feedback force direction as an acceleration feedback compensation force, converting the acceleration feedback compensation force into an acceleration feedback compensation signal of a force control mode, and determining the acceleration feedback compensation signal as an acceleration feedback compensation signal of the controlled object.
7. The feedforward compensation method of claim 6, wherein the synthesizing the feedforward control signal and the acceleration feedback compensation signal to obtain a motion control command of the controlled object, and controlling the controlled object to move according to the motion control command, includes: synthesizing and calculating based on the feedforward control signal and the acceleration feedback compensation signal to obtain a motion control instruction of the controlled object; And sending a motion control instruction of the controlled object to the controller, and controlling the controlled object to move by the controller according to the motion control instruction.
8. The feedforward compensation method based on acceleration feedback of claim 7, wherein the calculation formula of the motion control command of the controlled object is: T=Tc+Tf+Ta, Wherein T is a motion control instruction of a controlled object, tc is a preset feedback correction force, tf is a feedforward control signal, and Ta is an acceleration feedback compensation signal.
9. A feedforward compensation system based on acceleration feedback, comprising: The acquisition module is used for acquiring a motion instruction of the controller, analyzing the motion instruction and determining expected speed information and expected acceleration information of the controlled object; The first determining module is used for determining expected feedforward force based on the expected speed information and the expected acceleration information and determining a feedforward control signal of the controlled object based on the expected feedforward force; The second determining module is used for determining real-time acceleration information of the controlled object and determining acceleration feedback force of the controlled object based on the real-time acceleration information; the third determining module is used for determining acceleration feedback compensation force based on the acceleration feedback force and determining an acceleration feedback compensation signal of the controlled object based on the acceleration feedback compensation force; And the synthesis module is used for synthesizing the feedforward control signal and the acceleration feedback compensation signal to obtain a motion control instruction of the controlled object, and controlling the controlled object to move according to the motion control instruction.
10. The feedforward compensation system of claim 9, wherein the real-time acceleration information of the controlled object is derived from the output of the acceleration sensor.

Description

Feedforward compensation method and system based on acceleration feedback Technical Field The invention relates to the technical field of mechanical control, in particular to a feedforward compensation method and system based on acceleration feedback. Background In the field of high-speed high-precision motion control, the traditional control strategy is faced with increasingly severe performance bottlenecks. Classical feedback control, represented by PID, is essentially based on error-driven hysteretic regulation. When an actuator drives a numerical control machine tool to process complex contours, or an industrial robot finishes high-speed pick-and-place operation, inherent inertia, friction and mechanical flexibility can cause dynamic tracking errors. The feedback controller can only start to respond after the error is generated, and the mode of making errors first and correcting later inevitably causes obvious track lag and contour distortion under the high-speed and high-acceleration motion scene, so that the further improvement of the production efficiency and the processing precision of the equipment is limited. Disclosure of Invention In order to solve the technical problems, the invention provides a feedforward compensation method and a feedforward compensation system based on acceleration feedback, wherein the feedforward compensation method comprises the following steps: acquiring a motion instruction of a controller, analyzing the motion instruction, and determining expected speed information and expected acceleration information of a controlled object; Determining a desired feedforward force based on the desired velocity information and the desired acceleration information, and determining a feedforward control signal of the controlled object based on the desired feedforward force; determining real-time acceleration information of the controlled object, and determining acceleration feedback force of the controlled object based on the real-time acceleration information; determining an acceleration feedback compensation force based on the acceleration feedback force, and determining an acceleration feedback compensation signal of the controlled object based on the acceleration feedback compensation force; and synthesizing the feedforward control signal and the acceleration feedback compensation signal to obtain a motion control instruction of the controlled object, and controlling the controlled object to move according to the motion control instruction. Further, the obtaining the motion command of the controller, analyzing the motion command, and determining the expected speed information and the expected acceleration information of the controlled object includes: Acquiring a motion instruction of a controller, judging the type of the motion instruction to determine an analysis mode so as to determine expected speed information and expected acceleration information of a controlled object; If the type of the motion instruction is a discrete position instruction, obtaining expected speed information and expected acceleration information through digital differential calculation; If the type of the motion instruction is a continuous track function, the expected speed information and the expected acceleration information are obtained through function derivation calculation. Further, the determining the desired feedforward force based on the desired velocity information and the desired acceleration information, and determining the feedforward control signal of the controlled object based on the desired feedforward force includes: Determining the mass and viscous damping coefficient of a controlled object, and determining the expected speed and the expected acceleration of the controlled object from the expected speed information and the expected acceleration information; calculating based on the mass and viscous damping coefficient of the controlled object and the expected speed and the expected acceleration to obtain the expected feedforward force of the controlled object; The desired feedforward resultant force is converted into a feedforward control signal of a force control mode, and the feedforward control signal is determined as a feedforward control signal of the controlled object. Further, the calculation formula of the expected feedforward force of the controlled object is as follows: F= m*a+b*v, Wherein F is the expected feedforward force of the controlled object, m is the mass of the controlled object, a is the expected acceleration of the controlled object, b is the viscous damping coefficient of the controlled object, and v is the expected speed of the controlled object. Further, the determining real-time acceleration information of the controlled object and determining the acceleration feedback force of the controlled object based on the real-time acceleration information includes: determining real-time acceleration information of a controlled object, and preprocessing the real-time acce