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CN-121995796-A - High-precision DTO time sequence control method and system

CN121995796ACN 121995796 ACN121995796 ACN 121995796ACN-121995796-A

Abstract

The invention discloses a high-precision DTO time sequence control method and a system. The method comprises the steps of sequentially carrying out low-pass, band-stop, LMS self-adaption and Kalman four-stage filtering on a timing error signal, calculating control quantity by adopting a calculus algorithm of fixed parameters (Kp=0.8, ki=0.1 and Kd=0.5), and integrating a timing self-healing mechanism. The system is also provided with a collaboration interface for interacting with an external system. The invention can effectively inhibit complex interference, realize nanosecond high-precision and high-stability time sequence control, and has good system expansibility.

Inventors

  • LIU JINGUI

Assignees

  • 刘金贵

Dates

Publication Date
20260508
Application Date
20250808

Claims (10)

  1. 1. A high-precision DTO time sequence control method and system are characterized by comprising the following steps: Receiving a timing target signal and an actual feedback signal, and calculating a timing error signal e (t); sequentially filtering the time sequence error signal e (t) through four stages of filter screens connected in series; calculating the filtered error signal by adopting a calculus control algorithm to generate a control quantity u (t), wherein the proportionality coefficient Kp=0.8, the integral coefficient Ki=0.1 and the differential coefficient Kd=0.5 of the control algorithm; And generating a precise control time sequence signal according to the control quantity u (t), namely monitoring the precise control time sequence signal in real time, and triggering a time sequence self-healing mechanism when a pulse loss event is detected, wherein the time sequence self-healing mechanism comprises the steps of positioning the missing pulse position and generating a compensating pulse with self-adaptive width to insert the compensating pulse into the position.
  2. 2. The method and system for high-precision DTO timing control of claim 1, wherein the series of four stages of screens comprises: A first stage dynamic low pass filter having a cut-off frequency configured to automatically decrease by 20% upon detection of a vibration acceleration greater than 5.0m/s 2 ; a second stage of an industrial frequency band reject filter having a reject band configured to reject frequency components from 48Hz to 52 Hz: a third stage LMS adaptive filter, the learning rate of which is set to 0.01; And a fourth stage Kalman filter, wherein the process noise covariance parameter is set to be 0.1.
  3. 3. The method and system for controlling high-precision DTO time sequence according to claim 2, wherein the signal processing sequence of the four-stage filter screen is a dynamic low-pass filter, a power frequency band-stop filter, an LMS self-adaptive filter and a Kalman filter.
  4. 4. The method and system for high-precision DTO timing control of claim 1, wherein an integral term in the calculus control algorithm is equipped with an anti-saturation mechanism, and clipping is automatically performed when an accumulated value of the integral term exceeds a preset threshold.
  5. 5. The method and system for high accuracy DTO timing control of claim 1, wherein after inserting the compensation pulse, a smooth transition is performed between the compensation pulse and an adjacent original pulse to suppress phase jumps.
  6. 6. The method and system for high accuracy DTO timing control of claim 1, wherein the adaptive width of the compensation pulse is determined based on a moving average of N normal pulse widths before a pulse loss event occurs.
  7. 7. A high precision timing control system for implementing the method of any of claims 1-6, characterized by: The device comprises a signal processing module, a filtering module and a filtering module, wherein the signal processing module is used for receiving a time sequence error signal and filtering through the four-stage filter screens which are connected in series; the calculus control module is connected with the signal processing module and is used for calculating the control quantity by adopting a calculus algorithm with fixed parameters (Kp=0.8, ki=0.1 and Kd=0.5); The time sequence generation and self-healing module is connected with the calculus control module and is used for generating a precise control time sequence signal according to the control quantity and executing compensation when the pulse loss is detected; And the collaborative interface module is connected with at least one module and used for interacting instructions and state data with an external system.
  8. 8. The method and system for high accuracy DTO timing control of claim 7, further comprising a dynamic topology configuration module; The dynamic topology configuration module is used for dynamically switching among various preset topologies according to the target time sequence precision, wherein when the time sequence precision requirement is higher than 1 microsecond, the fractal topology of 81 nodes is configured: when the timing accuracy requirement is between 1 microsecond and 100 microsecond, a mesh topology of 36 nodes is configured: when the time accuracy requirement is lower than 100 microseconds, the configuration is a 9-node hexagonal topology.
  9. 9. The method and system for high precision DTO timing control as claimed in claim 7, wherein the collaboration interface module is configured to receive instructions from an external system, the instructions including at least a system start-stop instruction, a filter mode switch instruction, a control parameter trim instruction, or a target timing precision reset instruction.
  10. 10. The method and system for high-precision DTO timing control of claim 7, wherein the collaboration interface module is configured to report internal state information to an external system, the state information including at least a real-time timing error value, a system steady state identifier, a number of self-healing mechanism triggers, or a currently active topology mode.

Description

High-precision DTO time sequence control method and system Technical Field The invention relates to the technical field of electronic information, in particular to a high-precision DTO time sequence control method and a high-precision DTO time sequence control system, which are suitable for scenes of industrial robots, semiconductor lithography, 6G communication and the like which need nanosecond to microsecond precision time sequence control. Background In the field of high-precision industrial manufacturing and advanced communication systems, the precision and stability of timing control directly affect the performance of equipment and the quality of products. Taking the scenes of industrial robot multi-joint coordination, semiconductor lithography laser pulse synchronization, 6G communication base station signal coordination and the like as examples, the time sequence control needs to reach nanosecond to microsecond precision, and challenges of complex working conditions are faced. The traditional timing control scheme (such as a conventional PID controller) has obvious limitations in such scenes that firstly, the capability of resisting complex interference is weak, high-frequency random noise and periodic power frequency interference (such as 50/60 Hz) are difficult to be mixed and overlapped with non-stationary noise, control signal distortion is easy to be caused, secondly, the problem of parameter solidification is outstanding, fixed parameters are difficult to adapt to dynamically-changed working conditions (such as satellite-to-ground link switching and load mutation), the system cannot always maintain optimal control performance, thirdly, an intelligent self-healing mechanism is lacked, when pulse loss or abnormality occurs to signals due to interference, the recovery process is slow, timing disorder is possibly caused, and the reliability of the system is reduced. Therefore, a high-precision timing control scheme with intelligent signal purification, dynamic parameter adaptation and fault self-healing capability is needed to meet the stringent requirements of advanced industrial and communication scenarios. Disclosure of Invention The invention aims to provide a high-precision DTO time sequence control method, which comprises the steps of firstly receiving a pre-defined time sequence target signal and an actual time sequence signal fed back by a system in real time, calculating an error signal e (t) reflecting the current time sequence deviation through the difference value of the pre-defined time sequence target signal and the actual time sequence signal, sequentially sending the error signal into four-stage filter screens connected in series for deep purification to remove high-frequency noise, periodic interference and nonstationary components in the signal, then adopting a calculus control algorithm to calculate the filtered error signal to generate a control quantity u (t) for adjusting the time sequence, wherein the ratio, integral and differential coefficients of the algorithm are respectively 0.8, 0.1 and 0.5 of an optimal fixed value verified by experiments, then generating a precise control time sequence signal according to the control quantity, simultaneously monitoring the pulse integrity of the signal in real time, and immediately triggering a time sequence self-healing mechanism once a pulse loss event is detected, firstly precisely locating the position of a missing pulse, then generating a compensating pulse with a width adapted to insert the position, and repairing signal interruption. The method constructs a complete closed loop flow of signal purification, precise control and fault self-healing. The four-stage filter screen pre-processing eliminates noise interference of error signals, provides clean input for control links, balances response speed and stability by a calculus algorithm with fixed parameters, ensures that control quantity accurately tracks a target, and solves the problem of slow pain point recovery after pulse loss in the traditional scheme by a real-time self-healing mechanism, thereby ensuring the continuity of time sequence signals. The whole process is looped, so that the full-process high-precision control from error perception to signal restoration is realized, and the severe requirements of scenes such as industrial robots, semiconductor lithography and the like on time stability are met. The series four-stage filter screen at least comprises four parts, wherein the first stage is a dynamic low-pass filter, the cut-off frequency of the filter is dynamically adjusted according to vibration acceleration monitored by the system, when the vibration acceleration exceeds 5.0 meters and is twice per second, the cut-off frequency is automatically reduced by 20%, high-frequency random noise caused by mechanical vibration is purposefully filtered, the second stage is an industrial frequency band-stop filter, a notch is specially arranged in a stop band range of 4