CN-122018340-A - Regulation and control system based on multistage motion speed smooth transition

Abstract

The invention relates to the technical field of motion control and discloses a regulation and control system based on multistage motion speed smooth transition, which comprises a command look-ahead unit, a control unit and a control unit, wherein the command look-ahead unit acquires a state deviation vector of a motion stage joint point; the method comprises the steps of constructing a control potential energy model representing energy distribution, acquiring an inertia coupling matrix of a driving execution unit by a dynamic adjusting unit, calculating transition correction increment by combining gradient pointing of the control potential energy model, converting signal jump into guiding force information, loading the guiding force information into an energy functional to adjust coordinates of a path control point to be processed by an optimized output unit, and outputting target spline parameters with first derivative continuity.

Inventors

• JIANG YINGFENG
• HE TAO
• Hu Handi

Assignees

• 宁波斗士油压有限公司

Dates

Publication Date

20260512

Application Date

20260413

Claims (9)

1. 1. Regulation and control system based on multistage motion speed smooth transition, characterized in that, the system includes: The instruction look-ahead unit is used for acquiring a motion instruction stream representing a path to be processed and extracting a state deviation vector comprising a speed vector difference, an acceleration vector difference and a jerk vector difference at the joint point of the adjacent motion segments; the parameter modulation unit is used for constructing a control potential energy model representing the state energy distribution of each axis in a control state space mapped with the multi-axis linkage coupling characteristic according to the state deviation vector, and the control potential energy model defines space curvature distribution based on the inertia magnitude of the controlled object and is used for converting the path deviation of the geometric domain into potential well constraint of the energy domain; The dynamic adjusting unit is used for acquiring an inertia coupling matrix of the driving executing unit, calculating transition correction increment representing dynamic compensation among multiple axes according to gradient direction of the control potential energy model and the inertia coupling matrix, and converting signal mutation caused by a state deviation vector into guiding force information evolving along a potential energy decreasing direction in a control state space; The optimizing output unit is used for loading the guiding force information as an external constraint item into an energy functional equation to be optimized, carrying out multidimensional position deflection adjustment on the control point coordinates of the path to be processed according to the external constraint item, outputting target spline parameters with first derivative continuity and dynamics smoothing characteristics, and updating the bottom interpolation register value of the driving execution unit so as to offset resonance impact generated by the controlled object in the physical domain in advance in the information domain.
2. 2. The regulation and control system based on multistage motion speed smooth transition according to claim 1 is characterized in that when calculating transition correction increment, the dynamic regulation unit obtains dynamic envelope constraint representing physical output limit of the driving execution unit, determines compensation weight of each axis according to diagonal element distribution of inertia coupling matrix, distributes gradient direction to corresponding linkage axis components according to compensation weight, carries out amplitude limiting treatment on the distributed linkage axis components according to the dynamic envelope constraint, generates transition correction increment, and enables guiding force information to realize progressive energy dissipation of state deviation vector without breaking physical saturation limit of the driving execution unit.
3. 3. The regulation and control system based on multistage motion speed smooth transition according to claim 1 is characterized in that a damping coefficient representing the transmission chain characteristic of a regulation and control system is introduced when a control potential energy model is constructed by a parameter modulation unit and used for inhibiting a high-frequency command signal by adjusting the spatial curvature distribution of the control potential energy model, so that system resonance energy excited by speed vector jump is reduced in a control command generation stage, wherein the damping coefficient is dynamically selected according to the real-time rotation speed fluctuation frequency of a driving execution unit, so that the targeted filtering of different frequency noise by the control potential energy model is ensured, and the steady-state operation precision of a multi-axis linkage system is ensured.
4. 4. The regulation and control system based on the multistage motion speed smooth transition according to claim 1 is characterized in that the dynamic regulation unit regulates iteration step length of gradient analysis in real time according to the modular length of a state deviation vector, when the modular length exceeds a preset threshold value of 10mm or 5mm/s, the iteration step length of the gradient analysis is reduced to improve the mapping precision of guiding force information on motion instruction stream jump, the dynamic regulation unit improves the capturing capacity of nonlinear characteristics at a track corner through the shrinkage of the iteration step length, and the generated transition correction increment can be ensured to accurately match with the dynamic response characteristic of a controlled object, so that accumulation of position tracking errors in a high-speed processing environment is prevented.
5. 5. The regulation and control system based on multistage motion speed smooth transition according to claim 1 is characterized in that when the optimization output unit performs position deflection adjustment, guiding force information is used as an external constraint load to be introduced into an energy functional equation of a path to be processed, position deflection occurs through driving a control point in the negative gradient direction of the energy functional until the total virtual energy of the regulation and control system reaches a minimum state, the optimization output unit performs iterative search on an optimal solution of the energy functional, smooth transition of a speed vector is realized through fine adjustment of a local geometric topological structure on the premise of ensuring track conformality, and finally target spline parameters meeting kinematic constraints are obtained.
6. 6. The regulation and control system based on the multistage motion speed smooth transition according to claim 1 is characterized by further comprising a state monitoring unit, wherein the state monitoring unit is used for acquiring feedback pose signals of the driving execution unit in real time and dynamically compensating energy distribution gain in the parameter modulation unit through a preset proportional integral gain function according to dynamic tracking errors between the feedback pose signals and target spline parameters, and the state monitoring unit ensures that a control potential energy model can be adaptively adjusted according to actual mechanical load changes of a controlled object by constructing a closed loop regulation loop of the energy distribution gain, so that stability of the regulation and control system under variable working conditions is improved.
7. 7. The regulation and control system based on multistage motion speed smooth transition according to claim 1, wherein the state deviation vector extracted by the command look-ahead unit characterizes geometrical topological discontinuity and physical time sequence mismatch of adjacent motion command stages at space engagement points, wherein the speed vector difference determines potential well depth of a control potential energy model, the acceleration vector difference determines gradient slope of the control potential energy model, the jerk vector difference determines change rate of guiding force information, and the regulation and control system can establish complete physical impact quantitative characterization in a multidimensional state space through multidimensional state combination.
8. 8. The regulation and control system based on multistage motion speed smooth transition according to claim 2, wherein the dynamic envelope constraint comprises maximum output torque saturation limit of each motor in the driving execution unit, maximum allowable centripetal acceleration of each transmission shaft in a high-speed motion state and vibration-resistant rigidity limit of each mechanical structure, and the dynamic regulation unit ensures that the generated transition correction increment has realizability on a physical level by limiting the linkage axis component in a convex space defined by the dynamic envelope constraint, and avoids protective shutdown of the driving system or fatigue damage of mechanical structures caused by command overshoot.
9. 9. The regulation and control system based on the multistage motion speed smooth transition according to claim 1 is characterized in that target spline parameters output by an optimization output unit are directly mapped into periodic sampling point data of an interpolation controller in a controlled object, so that when a drive execution unit performs multistage path connection tasks, progressive switching of speed direction and module length can be realized according to the guiding action of a control potential energy model, and after the target spline parameters are updated to a hardware buffer memory, a multi-axis linkage system is driven to operate according to an optimized smooth curve through a high-frequency synchronous pulse, so that machining efficiency is guaranteed, and meanwhile mechanical abrasion and energy consumption of a transmission chain are reduced.

Description

Regulation and control system based on multistage motion speed smooth transition Technical Field The invention relates to the technical field of motion control, in particular to a regulation and control system based on multistage motion speed smooth transition. Background The method is characterized in that a current multi-section path is continuously spliced to form a foundation for realizing complex space geometric form, a complete track is decomposed into a plurality of discrete motion instruction sections, independent speed planning is processed in each section, steady-state tracking quality and dynamic response characteristics of a control system are related to first-order or higher-order derivative continuity of an input instruction stream, when a motion instruction generates speed vector deflection or acceleration step at an adjacent section joint, a high-frequency component easily exceeds a frequency response bandwidth of a servo system, under the working condition of extruding or precisely processing high-viscosity materials, the instruction derivative step at the track joint causes a transmission chain to generate closed loop oscillation, tracking errors are continuously accumulated along with the motion process under the multi-axis coupling state, and the inconsistency of space track deformation is generated due to the fact that the dynamic response characteristics of each axis are different, and in order to maintain the processing rhythm, the prior art, the compromise between shape precision and response speed is generally needed, and the system impact load generated by the instruction step is accepted by default. In order to cope with the vibration, the industry usually adopts linear means such as geometric spline smoothing or post low-pass filtering, etc., however, the geometric fitting path is separated from nonlinear dynamics boundary constraint of an actuating mechanism, which is easy to cause saturation of driving torque, a post filtering mechanism introduces phase lag of a system, shape retention at the corners of a track is reduced, the prior art scheme cannot realize predictive inhibition of command step energy on the premise of ensuring instantaneity, and for structural vibration sensitivity characteristics, besides optimizing hardware means such as mechanical rigidity, etc., motion control algorithm optimization also faces challenges, for example, chinese patent application publication No. CN120595731A discloses a method for calculating acceleration and deceleration of each motion axis by stroke and vibration limitation, by establishing algebraic constraint relation between stroke and acceleration of each axis, searching shortest motion time meeting vibration limitation by using iterative optimization or table look-up method, when a stroke pre-planning mode is used for high-frequency engagement of a plurality of continuous tracks, the method belongs to static parameter adaptation, lack of real-time evolution characterization of energy of joint point vector jump, multi-axis amplitude limitation is difficult to eliminate resonance caused by command step inertia under the condition scene, phase lag state prediction is lacked by simple acceleration amplitude limitation, and the method causes loss of shape retention of the curve map-lag when the vibration limitation is mapped. Therefore, how to establish a continuous state mapping mechanism based on physical dynamics constraint, eliminate excitation energy generated by command steps on the premise of avoiding phase lag, and improve the closed-loop bandwidth utilization rate of the multi-axis linkage system, and the method is a technical problem to be solved. Disclosure of Invention The invention provides a regulation and control system based on smooth transition of multi-section movement speed, which comprises: The instruction look-ahead unit is used for acquiring a motion instruction stream representing a path to be processed and extracting a state deviation vector comprising a speed vector difference, an acceleration vector difference and a jerk vector difference at the joint point of the adjacent motion segments; the parameter modulation unit is used for constructing a control potential energy model representing the state energy distribution of each axis in a control state space mapped with the multi-axis linkage coupling characteristic according to the state deviation vector, and the control potential energy model defines space curvature distribution based on the inertia magnitude of the controlled object and is used for converting the path deviation of the geometric domain into potential well constraint of the energy domain; The dynamic adjusting unit is used for acquiring an inertia coupling matrix of the driving executing unit, calculating transition correction increment representing dynamic compensation among multiple axes according to gradient direction of the control potential energy model and the inertia coupling matrix, and con