CN-121995891-A - Intelligent equipment pairing cooperative control system with multi-axis linkage compensation

CN121995891ACN 121995891 ACN121995891 ACN 121995891ACN-121995891-A

Abstract

The invention relates to the field of intelligent equipment control and industrial automation, in particular to an intelligent equipment pairing cooperative control system with multi-axis linkage compensation, which comprises an execution node, a data acquisition module for acquiring current, force/moment, temperature, position and speed data under a unified time reference, a reference reconstruction module for generating an ideal position reference and an ideal force/moment reference based on an ideal rigid body model under a preset reference coordinate system, a parameter injection module for injecting thermoelastic deformation, stiffness attenuation and hysteresis friction parameters to generate theoretical simulation states, a double-rail difference module for constructing real residual errors and theoretical residual errors, a coupling judgment module for carrying out time sequence similarity verification and generating state judgment results, and a feedback control module for outputting multi-axis linkage compensation instructions or flexible return instructions.

Inventors

LI GUIDONG
LI DAWEI
XU JIANHUA
ZHANG TAO
ZHOU ENZE

Assignees

南京耘瞳科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260408

Claims (10)

1. Intelligent device pairing cooperative control system with multiaxis linkage compensation, its characterized in that includes: An execution node comprising a plurality of controlled motion axes and corresponding drive units; the data acquisition module is used for acquiring time sequence current data, force/moment data, temperature data, position data and speed data of the execution node under a unified time reference; the reference reconstruction module is used for generating an ideal position reference and an ideal force/moment reference based on an ideal rigid body model under a preset reference coordinate system according to a preset task track and constraint conditions; The parameter injection module is used for injecting preset thermoelastic deformation parameters, stiffness attenuation parameters and hysteresis friction parameters into the ideal rigid body model to generate a theoretical simulation state comprising a theoretical position sequence and a theoretical force/moment response sequence; The double-track difference module is used for mapping the time sequence current data, the force/moment data, the temperature data, the position data and the speed data into actual state vectors, carrying out difference on the actual state vectors formed by corresponding to the ideal position reference and the ideal force/moment reference to generate an actual residual error vector sequence, and carrying out difference on the theoretical simulation state and the ideal position reference and the ideal force/moment reference to generate a theoretical residual error vector sequence; The coupling judgment module is used for carrying out time sequence similarity verification on the actual residual error vector sequence and the theoretical residual error vector sequence to generate a state judgment result; And the feedback control module is used for outputting a multi-axis linkage compensation instruction or a compliant return instruction to the driving unit according to the state judgment result.
2. The intelligent device pairing cooperative control system with multi-axis linkage compensation according to claim 1, wherein the data acquisition module comprises: The current loop acquisition unit is used for acquiring high-frequency time sequence current data of the servo drive link; The force sense acquisition unit is used for acquiring multidimensional space force and moment data; the thermal state acquisition unit is used for acquiring distributed temperature data; The position acquisition unit is used for acquiring absolute coding position data and speed data; And the time synchronization unit is used for carrying out unified time stamp calibration and resampling alignment on each acquired data.
3. The intelligent equipment pairing cooperative control system with multi-axis linkage compensation according to claim 1, wherein the reference reconstruction module is used for constructing an ideal rigid body model without thermal drift, flexible deformation and friction disturbance under the preset reference coordinate system and the unified time reference according to a preset task track, a preset contact constraint and a preset dynamics constraint, and solving an ideal position reference and an ideal force/moment reference corresponding to each moment based on the ideal rigid body model.
4. The intelligent device pairing coordinated control system with multi-axis linkage compensation of claim 1, wherein the parameter injection module is configured to map the temperature data to a thermoelastic deformation disturbance, map the position data, velocity data, and the force/moment data in combination with an actuator node mechanism model to an equivalent dynamic stiffness disturbance, map the time series current data and the position data and velocity data to a hysteresis friction disturbance, and inject the thermoelastic deformation disturbance, the dynamic stiffness disturbance, and the hysteresis friction disturbance into the ideal rigid body model in a coupled manner to generate the theoretical simulation state that characterizes the device intrinsic drift.
5. The intelligent device pairing coordinated control system with multi-axis linkage compensation of claim 1, wherein the dual-rail differential module is configured to map the time-series current data, force/torque data, temperature data, position data, and speed data into real state vectors, map the ideal position reference and ideal force/torque reference into ideal state vectors, and perform differential processing on the real state vectors and the ideal state vectors to generate the real residual vector sequence; And mapping the theoretical simulation state into a theoretical state vector, and performing differential processing on the theoretical simulation state vector and the ideal state vector to generate the theoretical residual error vector sequence.
6. The intelligent equipment pairing cooperative control system with multi-axis linkage compensation according to claim 1, wherein the coupling decision module is used for performing time sequence alignment on the real residual vector sequence and the theoretical residual vector sequence by adopting dynamic time warping; And extracting at least one peak characteristic of instantaneous peak amplitude and peak duration in the real residual vector sequence, and at least one impedance jump characteristic of equivalent stiffness change rate and equivalent damping change rate obtained by calculation according to a force-displacement relation or a moment-angular displacement relation, so as to generate an abnormal characteristic result.
7. The intelligent device pairing cooperative control system with multi-axis linkage compensation according to claim 6, wherein the coupling decision module is further configured to: The preset judgment standard is obtained by carrying out multiple calibration tests on equipment in an interference-free idle running state, counting historical distribution data of structural similarity and abnormal characteristics, determining the historical distribution data by using a boundary value covering a 95% confidence interval, acquiring a preset high threshold value, a preset low threshold value and a preset abnormal threshold value according to the preset judgment standard, and outputting a safety state judgment result when the structural similarity is greater than or equal to the preset high threshold value and the abnormal characteristic result is less than or equal to the preset abnormal threshold value under the condition that the preset high threshold value is greater than the preset low threshold value; outputting a true anomaly decision result when the structural similarity is smaller than or equal to the preset low threshold or the anomaly characteristic result is larger than the preset anomaly threshold; and outputting a judgment result to be verified when the structural similarity is larger than the preset low threshold and smaller than the preset high threshold and the abnormal characteristic result is smaller than or equal to the preset abnormal threshold.
8. The intelligent equipment pairing cooperative control system with multi-axis linkage compensation according to claim 7, wherein the feedback control module is used for generating a compensation vector according to the theoretical residual vector sequence and outputting a multi-axis linkage feedforward compensation instruction to the driving unit according to the compensation vector when the safety state judgment result is received; When the true abnormal judgment result is received, freezing the multi-axis linkage feedforward compensation instruction, and outputting a compliant return instruction to reduce the rigidity of a contact axis and drive the execution node to retract along a preset yielding direction; and when the judgment result to be verified is received, outputting a fine tuning retry instruction and a retest trigger instruction to drive the execution node to execute a preset operation task again according to a preset small pose increment and trigger the data acquisition module to retest.
9. The intelligent device pairing and assembling cooperative control system with multi-axis linkage compensation according to claim 1, further comprising a parameter self-adapting module, configured to iteratively update the thermoelastic deformation parameter, the stiffness attenuation parameter and the hysteresis friction parameter according to the state decision result and a principle of minimizing a difference between the real residual vector sequence and the theoretical residual vector sequence; and the feedback control module regenerates the multi-axis linkage compensation instruction according to the updated parameters to form closed-loop control.
10. The intelligent device pairing coordinated control system with multi-axis coordinated compensation of claim 1, wherein the execution node is an execution mechanism with multi-axis coordinated motion capability, the execution mechanism comprising a plurality of controlled motion axes and corresponding drive units.

Description

Intelligent equipment pairing cooperative control system with multi-axis linkage compensation Technical Field The invention relates to the field of intelligent equipment control and industrial automation, in particular to an intelligent equipment pairing cooperative control system with multi-axis linkage compensation. Background In high-precision assembly scenes such as semiconductor packaging, precise plugging, multi-axis collaborative alignment and the like, an actuating mechanism is generally required to complete position alignment, contact pressing and posture correction under the linkage condition of a plurality of motion axes, and control is performed by combining information such as positions, forces, driving states and the like, so that the multi-axis collaborative control technology has become a common means for guaranteeing assembly precision and operation stability. Along with the improvement of the intelligent manufacturing precision requirement, the existing control mode is still easily affected by factors such as thermal drift, structural flexible deformation, transmission hysteresis friction, beat fluctuation and the like in practical application, so that the background deviation and the real assembly interference of the equipment are difficult to effectively distinguish, and further the problems of error compensation, false alarm or untimely evacuation are caused, and the stability and the safety of the precise assembly process are limited. Disclosure of Invention The invention aims to provide an intelligent equipment pairing cooperative control system with multi-axis linkage compensation, which solves the following technical problems: The method can avoid misjudging the inherent background deviation such as thermal drift, flexible deformation, transmission hysteresis and the like of the equipment as real assembly abnormality, and can effectively separate the self error and the real assembly interference of the equipment from the same observation data, thereby realizing the stable compensation and the safe yielding control of the multi-axis equipment under the complex working condition. The aim of the invention can be achieved by the following technical scheme: intelligent device pairing cooperative control system with multiaxis linkage compensation includes: An execution node comprising a plurality of controlled motion axes and corresponding drive units; the data acquisition module is used for acquiring time sequence current data, force/moment data, temperature data, position data and speed data of the execution node under a unified time reference; the reference reconstruction module is used for generating an ideal position reference and an ideal force/moment reference based on an ideal rigid body model under a preset reference coordinate system according to a preset task track and constraint conditions; The parameter injection module is used for injecting preset thermoelastic deformation parameters, stiffness attenuation parameters and hysteresis friction parameters into the ideal rigid body model to generate a theoretical simulation state comprising a theoretical position sequence and a theoretical force/moment response sequence; The double-track difference module is used for mapping the time sequence current data, the force/moment data, the temperature data, the position data and the speed data into actual state vectors, carrying out difference on the actual state vectors formed by corresponding to the ideal position reference and the ideal force/moment reference to generate an actual residual error vector sequence, and carrying out difference on the theoretical simulation state and the ideal position reference and the ideal force/moment reference to generate a theoretical residual error vector sequence; The coupling judgment module is used for carrying out time sequence similarity verification on the actual residual error vector sequence and the theoretical residual error vector sequence to generate a state judgment result; And the feedback control module is used for outputting a multi-axis linkage compensation instruction or a compliant return instruction to the driving unit according to the state judgment result. Further, the data acquisition module includes: The current loop acquisition unit is used for acquiring high-frequency time sequence current data of the servo drive link; The force sense acquisition unit is used for acquiring multidimensional space force and moment data; the thermal state acquisition unit is used for acquiring distributed temperature data; The position acquisition unit is used for acquiring absolute coding position data and speed data; And the time synchronization unit is used for carrying out unified time stamp calibration and resampling alignment on each acquired data. Further, the reference reconstruction module is used for constructing an ideal rigid body model without thermal drift, flexible deformation and friction disturbance under the preset reference