CN109873576A - A kind of distribution motor synchronous control method and device - Google Patents
A kind of distribution motor synchronous control method and device Download PDFInfo
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- CN109873576A CN109873576A CN201710527228.XA CN201710527228A CN109873576A CN 109873576 A CN109873576 A CN 109873576A CN 201710527228 A CN201710527228 A CN 201710527228A CN 109873576 A CN109873576 A CN 109873576A
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Abstract
The present invention provides a kind of distributed motor synchronous control method and device, is suitable for laser scanning device, and laser scanning device includes that the lasing area of N number of laser rotary scanning device and the scanning of N number of laser rotary scanning device can intersect at a point；N number of laser rotary scanning device rotates under the effect of respective motor respectively, method includes: that the slave motor confirmation on first laser rotating scanning device does not receive the first synchronization signal that the main motor on second laser rotating scanning device is sent within synchronizing cycle, wherein, synchronizing cycle is to determine that the second synchronization signal is the synchronization signal before the first synchronization signal according to the second synchronization signal that main motor is sent from the clock unit of motor；From motor after synchronizing cycle reaches, obtains the current phase from motor and adjust current phase to preset phase.It, being capable of voluntarily adjustment phase place from motor in main motor and from when link failure occurring between motor by the above method.
Description
Technical field
The present embodiments relate to laser and electronic technology field more particularly to a kind of distributed motor synchronous control methods
And device.
Background technique
Virtual reality technology (VR) be it is a kind of generate simulated environment using computer, and by professional equipment, allow user into
Enter Virtual Space, real-time perception and operation, to obtain the technology of sense of reality on the spot in person.VR industry is in starting at present
Phase with nearly 2 years a large amount of VR equipment realization volume productions, and pushes consumer level market to, and industry will enter high-speed development period.
The most important feature of VR technology is its feeling of immersion, and the positioning system that a set of precision is high, real-time is good is to realize this
An important ring for one feature.The precision of laser positioning scheme can achieve mm rank, be the current major technique for realizing VR positioning
One of means.The basic principle of laser positioning is swashed to what located space emitted that vertical and horizontal both direction strafes using locating base station
Light places multiple laser induced receivers on by positioning object, measures the time that laser reaches receiver respectively, then leads to
The alternate position spike for crossing each sensor calculates the three-dimensional space position of target.
Scan round of the laser positioning technology based on more motors to located space, it is laser that motor, which runs simultaneously control technology,
The important support technology of positioning.Firstly, having very high want to the synchronous operation of motor in the application of actual space positioning system
It asks, if speed is non-constant to seriously affect positioning accuracy, if phase is non-constant to will lead to scan round entanglement, positioning is lost
Effect.Secondly as the complexity of environment, synchronous transmission of signal cannot be guaranteed reliable and stable and distributed more between motor
The electrical parameter of a motor may have disturbance there are inconsistent at any time, and motor synchronous operation becomes challenge.
It is synchronous to carry out motor to generally use fuzzy-adaptation PID control in the prior art, but in synchronizing process, if principal and subordinate is electric
Link between machine breaks down, and cannot then synchronize with main motor from motor, affect the precision of positioning.
Summary of the invention
The present invention provides a kind of distributed motor synchronous control method and device, if for solving principal and subordinate's electricity in the prior art
The problem of link between machine breaks down, and then cannot synchronize with main motor from motor, affect the precision of positioning.
The embodiment of the present invention provides a kind of distributed motor synchronous control method, is suitable for laser scanning device, described to swash
Light scanning apparatus includes that the lasing area of N number of laser rotary scanning device and N number of laser rotary scanning device scanning can intersect
In a bit；N number of laser rotary scanning device rotates under the effect of respective motor respectively, which comprises
Slave motor confirmation on first laser rotating scanning device does not receive second laser rotation within synchronizing cycle and sweeps
The first synchronization signal that main motor on imaging apparatus is sent, wherein the synchronizing cycle is the clock unit root from motor
It is determined according to the second synchronization signal that the main motor is sent, before second synchronization signal is first synchronization signal
Synchronization signal；
It is described from motor after the synchronizing cycle reaches, obtain the current phase from motor and adjust described current
Phase is to preset phase.
In the embodiment of the present invention, from motor if it is determined that after being all not received by the first synchronization signal within synchronizing cycle, then
It obtains from motor oneself currently from the phase of motor, and adjusts the phase from motor according to preset phase, and be from motor
After the second synchronization signal sent before receiving main motor, determined according to the clock unit from motor.That is,
Method in through this embodiment, main motor and between motor occur link failure when, can be according to the last time from motor
The synchronization signal of the main motor received and from the clock unit of motor itself to determine synchronizing cycle, and reached in synchronizing cycle
Then voluntarily adjustment phase place cannot be with from motor if the link solved between principal and subordinate's motor in the prior art breaks down
The problem of main motor synchronizes, and affects the precision of positioning.
Further, it is second same that the synchronizing cycle, to be the clock unit from motor sent according to the main motor
Walk what signal determined, comprising:
The clock unit carries out periodical timing by the duration of preset synchronizing cycle；
It is described from motor after receiving second synchronization signal, reset the periodical timing of the clock unit rise
Initial point.
It is to carry out timing according to preset duration, and exist from motor from the clock unit of motor in the embodiment of the present invention
After the synchronization signal for often receiving the transmission of a main motor, the starting point of clock unit is reset, i.e. setting clock unit again
Zero, restart timing.
Further, the method also includes:
It is described to receive first synchronization signal from motor, it is described to obtain the current phase from motor simultaneously from motor
The current phase is adjusted to the preset phase.
In the embodiment of the present invention, since the synchronization signal of main motor is accurately, still to exist either within synchronizing cycle
Outside synchronizing cycle, as long as receiving the first synchronization signal of main motor from motor, phase tune is carried out all in accordance with the first synchronization signal
Section.
Further, the method also includes:
It is described from motor according to first synchronization signal is received, reset the periodical timing of the clock unit rise
Initial point.
In the embodiment of the present invention, if after receiving the first synchronization signal from motor, also resetting the starting point of clock devices, making
Restart timing from the clock devices of motor.
Further, it is described from motor synchronizing cycle reach before, further includes:
It is described to determine the motor speed from motor in setting speed section from motor.
In the embodiment of the present invention, when the motor speed from motor is in setting speed section, synchronization signal just can guarantee
Correctness, and then can guarantee the accuracy of laser positioning.
The present invention provides a kind of distributed motor synchronous control device, is suitable for laser scanning device, the laser scanning
Device includes that the lasing area of N number of laser rotary scanning device and N number of laser rotary scanning device scanning can intersect at a point；
N number of laser rotary scanning device rotates under the effect of respective motor respectively, and described device includes:
Determination unit, for confirming the main motor hair not received on second laser rotating scanning device within synchronizing cycle
The first synchronization signal sent, wherein the synchronizing cycle is that the clock unit from motor is sent according to the main motor
What the second synchronization signal determined, second synchronization signal is the synchronization signal before first synchronization signal；
Adjustment unit, for after the synchronizing cycle reaches, obtaining described in the current phase from motor and adjustment
Current phase is to preset phase.
In the embodiment of the present invention, from motor if it is determined that after being all not received by the first synchronization signal within synchronizing cycle, then
It obtains from motor oneself currently from the phase of motor, and adjusts the phase from motor according to preset phase, and be from motor
After the second synchronization signal sent before receiving main motor, determined according to the clock unit from motor.That is,
Method in through this embodiment, main motor and between motor occur link failure when, can be according to the last time from motor
The synchronization signal of the main motor received and from the clock unit of motor itself to determine synchronizing cycle, and reached in synchronizing cycle
Then voluntarily adjustment phase place cannot be with from motor if the link solved between principal and subordinate's motor in the prior art breaks down
The problem of main motor synchronizes, and affects the precision of positioning.
Further, the determination unit is specifically used for:
The clock unit carries out periodical timing by the duration of preset synchronizing cycle；
After receiving second synchronization signal, the starting point of the periodical timing of the clock unit is reset.
Further, the determination unit is also used to:
Receive first synchronization signal；
The adjustment unit is specifically used for:
It obtains the current phase from motor and adjusts the current phase to the preset phase.
Further, the adjustment unit is also used to:
According to first synchronization signal is received, the starting point of the periodical timing of the clock unit is reset.
Further, the determination unit is also used to:
Determine the motor speed from motor in setting speed section.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without any creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is a kind of flow diagram of distributed motor synchronous control method provided in an embodiment of the present invention；
Fig. 2 is laser scanning device schematic diagram in laser orientation system provided in an embodiment of the present invention；
Fig. 3 is a kind of flow diagram of distributed motor synchronous control method provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of distributed motor synchronous control device provided in an embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that the described embodiments are only some of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
The present invention provides a kind of distributed motor synchronous control method, as shown in Figure 1, being suitable for laser scanning device, institute
Stating laser scanning device includes that the lasing area of N number of laser rotary scanning device and N number of laser rotary scanning device scanning can
It intersects at a point；N number of laser rotary scanning device rotates under the effect of respective motor respectively, which comprises
Step 101, the slave motor confirmation on first laser rotating scanning device does not receive second within synchronizing cycle and swashs
The first synchronization signal that main motor on light rotating scanning device is sent, wherein the synchronizing cycle be it is described from motor when
Clock component determines that second synchronization signal is the described first synchronous letter according to the second synchronization signal that the main motor is sent
Synchronization signal before number；
Step 102, it is described from motor after the synchronizing cycle reaches, obtain the current phase from motor and adjust
The current phase is to preset phase.
In embodiments of the present invention, as shown in Fig. 2, in a laser orientation system, at least there are two laser scannings
Device, and each laser scanning device includes N number of laser rotary scanning device, and the scanning of N number of laser rotary scanning device is sharp
Smooth surface can intersect at a point, and receive for launching laser, and by target device or locating base station, to realize positioning.Usually
In the prior art, N is more than or equal to 3.
There is a motor in each laser rotary scanning device to control the rotation of laser rotary scanning device, it is assumed that
There are two laser scanning devices in one laser orientation system, and have 3 laser rotary scannings on each laser scanning device
Device, then have 6 laser rotary scanning devices in the laser orientation system, has 6 motors just also to control laser scanning dress
Set rotation.In this 6 motors, there is the main motor of a setting, other motors are from motor, main motor and between motor
Needing to synchronize control just can control the normal rotation of motor.
In a step 101, the motor on first laser rotating scanning device is from motor, second laser rotating scanning device
On motor be main motor, the first synchronization signal for not receiving within synchronizing cycle main motor and sending is determined from motor, and
Synchronizing cycle is determined from the clock unit of motor according to the second synchronization signal that main motor is sent, and the second synchronization signal is the
Synchronization signal before one synchronization signal.
For example, in embodiments of the present invention, the second synchronization signal is that main motor 10:00:00 is sent, the first synchronization signal
It should be that main motor 10:00:01 is sent, but is not received by from motor in synchronizing cycle.
Optionally, in embodiments of the present invention, synchronizing cycle is sent from the clock unit of motor according to main motor
What two synchronization signals determined, comprising:
Clock unit carries out periodical timing by the duration of preset synchronizing cycle；
From motor after receiving the second synchronization signal, the starting point of the periodical timing of clock unit is reset.
That is, in embodiments of the present invention, there is the clock unit of itself from motor, optionally, clock unit is crystalline substance
Shake clock.Periodical timing is carried out according to the duration of preset synchronizing cycle from the clock unit of motor, in the embodiment of the present invention
In, preset synchronizing cycle can be the time period of setting, be also possible to be determined according to the attribute of crystal oscillator clock.
In embodiments of the present invention, main motor with from motor possess identical clock unit, the clock unit of main motor
Periodical timing is carried out by the duration of preset synchronizing cycle.For example, in embodiments of the present invention, according to main motor with from motor
Crystal oscillator clock attribute, determine main motor and the crystal oscillator clock from motor be all according to 12ms time carry out period timing,
I.e. every 12ms, the starting point of main motor and the crystal oscillator clock reset period timing from motor.
In embodiments of the present invention, from the clock unit of motor after receiving the second synchronization signal that main motor is sent,
The starting point of the periodical timing of clock unit is reset, and the second synchronization signal is the clock unit in main motor in clock unit
It is issued at the time of resetting starting point.And refer to from the period of motor from motor after receiving the second synchronization signal, it is heavy first
Then the starting point for setting the periodical timing of clock unit starts to carry out timing, by the duration according to preset synchronizing cycle
As from the synchronizing cycle of motor.
In a step 102, if determining the first synchronous letter for being all not received by main motor transmission in synchronizing cycle from motor
Number, and the first synchronization signal is that the clock devices of main motor issue at the time of needing to reset timing starting point, is obtained from motor
Take the current phase currently from motor, and by current phase adjustment to preset phase.
In embodiments of the present invention, preset phase refers to turn when receiving the first synchronization signal from motor from motor
The phase moved.For example, in embodiments of the present invention, there are 5 from motor and 1 main motor, main motor with from motor it
Between there are preset phase difference, such as main motor and be 10 ° from the preset phase difference between motor 1 is receiving from motor 1
When one synchronization signal, 10 ° should be turned to from motor 1, obtaining currently is 11 ° from the rotation phase of motor 1, then will be from motor 1
10 ° of phase adjustment.
Optionally, in embodiments of the present invention, however, it is determined that the phase current from motor is greater than preset phase, then reduces from electricity
The revolving speed of machine；If it is determined that being less than preset phase from the current phase of motor, then accelerate the revolving speed from motor.
Optionally, in embodiments of the present invention, it if receiving the first synchronization signal from motor, obtains from motor from motor
Current phase simultaneously adjusts current phase to preset phase.
That is, in embodiments of the present invention, as long as receiving the first synchronization signal that main motor is sent from motor,
It obtains from the current phase of motor, and by current phase adjustment to preset phase；For example, in embodiments of the present invention, main motor
The first synchronization signal that main motor is received within the synchronizing cycle from motor then obtains the phase currently from motor, and will work as
Preceding phase adjustment is to preset phase；The first synchronization signal is not received within synchronizing cycle from motor, and is reached in synchronizing cycle
When, it obtains current from motor phase, and by current phase adjustment to preset phase, and after synchronizing cycle reaches, connects
The first synchronization signal of main motor transmission is had received, then obtains current slave motor phase again, and will adjust from motor phase
To preset phase.
Optionally, in embodiments of the present invention, the first synchronization signal of main motor transmission no matter when is received from motor,
All reset the starting point of the periodical timing from the clock unit of motor；For example, in embodiments of the present invention, from motor in T1
Between reset starting point from the periodical timing of the clock unit of motor, it is synchronous in the T2 time to receive first from motor
Signal then resets the starting point from the periodical timing of the clock unit of motor again.
Optionally, in embodiments of the present invention, in order to be held in position the accuracy of system, the electricity from motor is determined from motor
Machine revolving speed is in setting speed section.That is, when being synchronized between principal and subordinate's motor, it is thus necessary to determine that from the motor of motor
Revolving speed is stable, further, it is also necessary to determine that the motor speed of main motor is stable.
Embodiment in order to preferably explain the present invention describes the embodiment of the present invention below by specific implement scene and provides
A kind of distributed motor synchronous control method process, specific process is as shown in Figure 3.
Step 301, from the electric motor starting of motor；
Step 302, speed control is carried out from the motor of motor；
Step 303, current rotating speed is determined whether in setting speed section from motor, if so, thening follow the steps 304；It is no
Then return step 302；
Step 304, the second synchronization signal that main motor is sent is received from motor, resets the period from the clock devices of motor
Property timing starting point, and start according to preset synchronizing cycle duration carry out timing；
Step 305, it obtains from motor currently from the phase of motor, and by current phase adjustment to preset phase；
Step 306, it determines from motor when the duration of preset synchronizing cycle reaches, does not receive main motor transmission also
First synchronization signal, then obtain the phase currently from motor, and by current phase adjustment to preset phase；
Step 307, the starting point of the periodical timing from the clock devices of motor is reset from motor, and is started according to default
Synchronizing cycle duration carry out timing.
In the above-described embodiments, the resetting in step 304 is from the starting point of the periodical timing of the clock devices of motor, and
Start there is no the statement of sequencing between process and step 305 according to the duration progress timing of preset synchronizing cycle, walks
Obtaining currently from the phase of motor in rapid 306, and current phase adjustment is successive to not having between preset phase and step 307
The statement of sequence.
Based on same design, the embodiment of the present invention also provides a kind of distributed motor synchronous control device, such as Fig. 4 institute
Show, be suitable for laser scanning device, the laser scanning device includes N number of laser rotary scanning device and N number of laser rotation
The lasing area for turning scanning means scanning can intersect at a point；N number of laser rotary scanning device is made in respective motor respectively
With lower rotation, described device includes:
Determination unit 401, for confirming the main electricity not received on second laser rotating scanning device within synchronizing cycle
The first synchronization signal that machine is sent, wherein the synchronizing cycle is that the clock unit from motor is sent out according to the main motor
What the second synchronization signal sent determined, second synchronization signal is the synchronization signal before first synchronization signal；
Adjustment unit 402, for after the synchronizing cycle reaches, obtaining the current phase from motor and adjusting institute
Current phase is stated to preset phase.
Further, the determination unit 401 is specifically used for:
The clock unit carries out periodical timing by the duration of preset synchronizing cycle；
After receiving second synchronization signal, the starting point of the periodical timing of the clock unit is reset.
Further, the determination unit 401 is also used to:
Receive first synchronization signal；
The adjustment unit 402 is specifically used for:
It obtains the current phase from motor and adjusts the current phase to the preset phase.
Further, the adjustment unit 402 is also used to:
According to first synchronization signal is received, the starting point of the periodical timing of the clock unit is reset.
Further, the determination unit 401 is also used to:
Determine the motor speed from motor in setting speed section.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of distribution motor synchronous control method, which is characterized in that be suitable for laser scanning device, the laser scanning dress
Setting the lasing area including N number of laser rotary scanning device and N number of laser rotary scanning device scanning can intersect at a point；Institute
N number of laser rotary scanning device is stated to rotate under the effect of respective motor respectively, which comprises
Slave motor confirmation on first laser rotating scanning device does not receive second laser rotary scanning dress within synchronizing cycle
The first synchronization signal that the main motor set is sent, wherein the synchronizing cycle is the clock unit from motor according to institute
State what the second synchronization signal that main motor is sent determined, second synchronization signal is the synchronization before first synchronization signal
Signal；
It is described from motor after the synchronizing cycle reaches, obtain the current phase from motor and adjust the current phase
To preset phase.
2. the method according to claim 1, wherein the synchronizing cycle is the clock unit root from motor
It is determined according to the second synchronization signal that the main motor is sent, comprising:
The clock unit carries out periodical timing by the duration of preset synchronizing cycle；
It is described from motor after receiving second synchronization signal, reset the starting of the periodical timing of the clock unit
Point.
3. the method according to claim 1, wherein the method also includes:
It is described to receive first synchronization signal from motor, it is described to obtain the current phase from motor from motor and adjust
The current phase is to the preset phase.
4. according to the method described in claim 3, it is characterized in that, the method also includes:
It is described from motor according to first synchronization signal is received, reset the starting of the periodical timing of the clock unit
Point.
5. method according to claim 1 to 4, which is characterized in that it is described from motor synchronizing cycle reach before, also
Include:
It is described to determine the motor speed from motor in setting speed section from motor.
6. a kind of distribution motor synchronous control device, which is characterized in that be suitable for laser scanning device, the laser scanning dress
Setting the lasing area including N number of laser rotary scanning device and N number of laser rotary scanning device scanning can intersect at a point；Institute
It states N number of laser rotary scanning device to rotate under the effect of respective motor respectively, described device includes:
Determination unit does not receive the transmission of the main motor on second laser rotating scanning device for confirming within synchronizing cycle
First synchronization signal, wherein the synchronizing cycle is second that the clock unit from motor is sent according to the main motor
What synchronization signal determined, second synchronization signal is the synchronization signal before first synchronization signal；
Adjustment unit, for after the synchronizing cycle reaches, obtaining the current phase from motor and adjusting described current
Phase is to preset phase.
7. device according to claim 6, which is characterized in that the determination unit is specifically used for:
The clock unit carries out periodical timing by the duration of preset synchronizing cycle；
After receiving second synchronization signal, the starting point of the periodical timing of the clock unit is reset.
8. device according to claim 6, which is characterized in that the determination unit is also used to:
Receive first synchronization signal；
The adjustment unit is specifically used for:
It obtains the current phase from motor and adjusts the current phase to the preset phase.
9. device according to claim 8, which is characterized in that the adjustment unit is also used to:
According to first synchronization signal is received, the starting point of the periodical timing of the clock unit is reset.
10. according to device as claimed in claim 6 to 8, which is characterized in that the determination unit is also used to:
Determine the motor speed from motor in setting speed section.
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