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为了解决数据处理过程由于浮点小数累加所导致的结果数据漂移问题,文章提出浮点数-整数(F-I)混合运算的数据处理策略,该策略以编码器的最小分辨率为换算单元,将计算所得的浮点小数指令转化为脉冲数,并将脉冲数的整数部分发送给基于整数运算的伺服控制系统,同时将小数部分保留,与下一周期的指令进行累加,再将累加值的整数部分发送,小数部分继续保留,这种数据处理方法将使指令数据精度控制在小于一个分辨率的范围内。为实现该运算处理策略,开发了基于F-I的多轴控制系统,有效地解决了结果数据漂移问题,并为数控系统的进一步发展提供很好的借鉴。
In order to solve the data floating-point problem caused by floating-point fractional accumulation in data processing, this paper proposes a data processing strategy of floating-point-integer (FI) mixed arithmetic. The minimum resolution of the encoder is used as the conversion unit. Of the floating-point decimal instructions into pulses, and the integer part of the pulse number sent to the integer-based servo control system, while the fractional part of the reservation, and the next cycle of instructions to accumulate, and then the integral part of the value is sent , The fractional part continues to be retained. This method of data processing will control the accuracy of the command data within a range of less than one resolution. In order to realize this computing strategy, a multi-axis control system based on F-I is developed, which effectively solves the problem of data drift and provides a good reference for the further development of numerical control system.