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CN-122026766-A - Linear module with feedback control function

CN122026766ACN 122026766 ACN122026766 ACN 122026766ACN-122026766-A

Abstract

The invention relates to the technical field of linear modules, in particular to a linear module with a feedback control function, which has the technical scheme that a sensor is embedded in the linear module and a control unit is integrated, so that real-time state monitoring, data analysis and early warning are realized, and abnormal states are judged by an algorithm to early warn when operation data are acquired; the self-adaptive feedforward-feedback composite control architecture based on the disturbance observer is introduced into the control unit, all uncertainties such as external disturbance, model parameter change and the like are regarded as total disturbance, real-time observation and compensation are carried out, so that high-precision and high-robustness control is realized, the motion parameters are automatically adjusted according to load or environment change, remote diagnosis and maintenance suggestion are realized through a cloud platform or an Internet of things interface, self-adaptive control is realized, and remote maintenance support is realized.

Inventors

  • WU YANG

Assignees

  • 贝亦德机器人(江苏)有限公司

Dates

Publication Date
20260512
Application Date
20251221

Claims (10)

  1. 1. The linear module with the feedback control function is characterized by comprising an execution unit, a driving unit, a control unit and a feedback unit, wherein the execution unit comprises a sliding seat, a sliding rail and a sliding block, the driving unit comprises a driving motor, the control unit is used for controlling the driving unit, the feedback unit comprises a sensing module, a diagnosis module and an early warning module, the sensing module is embedded in the linear module and is used for collecting running state data in real time, the diagnosis module is in communication connection with the sensing module and is used for analyzing the running state data and outputting a diagnosis result, and the early warning module is used for sending an early warning signal when the diagnosis result is abnormal.
  2. 2. The linear module with the feedback control function according to claim 1, wherein the linear module is a screw module, the execution unit further comprises a ball screw, the driving motor is a servo motor, the sliding seat is in sliding connection with the sliding rail through a sliding block, the ball screw penetrates through the sliding seat and is in embedded connection with nuts at two ends of the sliding seat, and one end of the ball screw is connected with the servo motor through a coupler.
  3. 3. The linear module with the feedback control function according to claim 1, wherein the linear module is a belt module, the execution unit further comprises a conveying belt, a transition belt, a driving belt pulley and a driven belt pulley, the driving motor is a servo motor, the sliding seat is in sliding connection with the sliding rail through a sliding block, the servo motor is connected with the driving belt pulley, the driving belt pulley is connected with the driven belt pulley through the transition belt, and the driven belt pulley is connected with the sliding seat through the conveying belt.
  4. 4. The linear module with the feedback control function according to claim 1, wherein the linear module is a linear motor module, the driving motor is a linear motor, and the sliding seat is in sliding connection with the sliding rail through a sliding block.
  5. 5. The linear module with feedback control function according to claim 1, wherein the control unit is configured to execute a disturbance observer-based control algorithm comprising constructing a feedforward controller based on a nominal model of the linear module, constructing a feedback controller based on the nominal model, constructing a disturbance observer for observing and estimating in real time a total disturbance acting on the system, the total disturbance including external load variations, model uncertainties and external disturbances, generating a compensation signal using the total disturbance value estimated by the disturbance observer, and feedforward-feeding the compensation signal to the control output to counteract the effect of the total disturbance on the control performance of the system.
  6. 6. The linear module with the feedback control function according to claim 1, wherein the sensing module comprises a sensor, an energy supply unit and a data interaction unit, the energy supply unit is used for supplying electric energy to the sensor unit, the data interaction unit is in communication connection with the sensor and is used for sending out state data or characteristic data obtained by processing the state data, and the sensor, the energy supply unit and the data interaction unit are integrated on a flexible circuit substrate and form integral integration of structure and function with a body of the linear module.
  7. 7. The linear module with the feedback control function of claim 1, wherein the diagnosis module comprises an edge diagnosis module and a cloud diagnosis platform, the edge diagnosis module is in communication connection with the sensing module, and the cloud diagnosis platform is in communication connection with the plurality of edge diagnosis modules.
  8. 8. The linear module with the feedback control function according to claim 1, wherein the early warning module comprises an early warning grading engine, a man-machine interaction interface and an operation and maintenance integration interface, the early warning grading engine is in communication connection with the diagnosis module, the man-machine interaction interface is configured to present early warning information in a visual form, and the operation and maintenance integration interface is configured to convert the early warning information into a standard data format and automatically send the standard data format to an external maintenance management system.
  9. 9. The linear module with the feedback control function according to claim 7, wherein the edge diagnosis module is configured to perform synchronous simulation based on the received operation state data and drive the local digital twin model, calculate residual errors between actual data and simulation data, perform first diagnosis analysis based on the residual errors and output first diagnosis results, and the cloud diagnosis platform is configured to aggregate encrypted diagnosis data from the plurality of edge diagnosis modules, perform second diagnosis analysis based on the aggregated data, wherein the depth or breadth of the second diagnosis analysis is greater than that of the first diagnosis analysis, and update diagnosis models or parameters issued to the edge diagnosis modules based on the results of the second diagnosis analysis.
  10. 10. The linear module with feedback control function of claim 8, wherein the pre-warning classification engine is configured to receive the diagnosis result output by the diagnosis module, analyze the diagnosis result based on a preset rule base, and dynamically determine a pre-warning level, wherein the pre-warning level comprises four levels of attention, pre-warning, warning and danger, and generate pre-warning information rich in semantics, the information comprising equipment identification, fault component identification, pre-warning level and treatment advice.

Description

Linear module with feedback control function Technical Field The invention relates to the technical field of linear modules, in particular to a linear module with a feedback control function. Background The linear module has the characteristics of high positioning accuracy, high movement speed and light structure, and the support unit combination realizes linear and curved movement of the load, so that the automatic operation of light load is more flexible and accurate. However, the existing linear module lacks status monitoring and fault early warning functions, so that a user cannot know the current status of the module in real time, which may cause sudden shutdown. In view of this, we propose a linear module with feedback control function to solve the existing problem. Disclosure of Invention The present invention is directed to a linear module with feedback control function, so as to solve the problems set forth in the above background art. The linear module with the feedback control function comprises an execution unit, a driving unit, a control unit and a feedback unit, wherein the execution unit comprises a sliding seat, a sliding rail and a sliding block, the driving unit comprises a driving motor, the control unit is used for controlling the driving unit, the feedback unit comprises a sensing module, a diagnosis module and an early warning module, the sensing module is embedded in the linear module and is used for collecting running state data in real time, the diagnosis module is in communication connection with the sensing module and is used for analyzing the running state data and outputting a diagnosis result, and the early warning module is used for sending an early warning signal when the diagnosis result is abnormal. Further, the linear module is a screw rod module, the execution unit further comprises a ball screw, the driving motor is a servo motor, the sliding seat is in sliding connection with the sliding rail through the sliding block, the ball screw penetrates through the sliding seat and is in embedded connection with nuts at two ends of the sliding seat, and one end of the ball screw is connected with the servo motor through the coupler. Further, the linear module is a belt module, the execution unit further comprises a conveying belt, a transition belt, a driving belt pulley and a driven belt pulley, the driving motor is a servo motor, the sliding seat is in sliding connection with the sliding rail through the sliding block, the servo motor is connected with the driving belt pulley, the driving belt pulley is connected with the driven belt pulley through the transition belt, and the driven belt pulley is connected with the sliding seat through the conveying belt. Further, the linear module is a linear motor module, the driving motor is a linear motor, and the sliding seat is in sliding connection with the sliding rail through the sliding block. Further, the control unit is configured to execute a disturbance observer-based control algorithm comprising constructing a feedforward controller based on a nominal model of the linear model, constructing a feedback controller based on the nominal model, constructing a disturbance observer for observing and estimating in real time a total disturbance acting on the system, the total disturbance including external load variations, model uncertainties and external disturbances, generating a compensation signal using the total disturbance value estimated by the disturbance observer, and feedforward the compensation signal to the control output to counteract the effect of the total disturbance on the control performance of the system. The sensing module comprises a sensor, an energy supply unit and a data interaction unit, wherein the energy supply unit is used for supplying electric energy to the sensor unit, the data interaction unit is in communication connection with the sensor and is used for sending out state data or characteristic data obtained by processing the state data, and the sensor, the energy supply unit and the data interaction unit are integrated on a flexible circuit substrate and integrated with the body of the linear module to form a structure and function. The diagnosis module comprises an edge diagnosis module and a cloud diagnosis platform, wherein the edge diagnosis module is in communication connection with the sensing module, and the cloud diagnosis platform is in communication connection with the plurality of edge diagnosis modules. The early warning module comprises an early warning grading engine, a man-machine interaction interface and an operation and maintenance integration interface, wherein the early warning grading engine is in communication connection with the diagnosis module, the man-machine interaction interface is configured to present early warning information in a visual form, and the operation and maintenance integration interface is configured to convert the early warning information into a standard dat