CN105425723B - Flexible mechanical beam end fast locating algorithm for point-to-point thin tail sheep translation - Google Patents
Flexible mechanical beam end fast locating algorithm for point-to-point thin tail sheep translation Download PDFInfo
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- CN105425723B CN105425723B CN201510812488.2A CN201510812488A CN105425723B CN 105425723 B CN105425723 B CN 105425723B CN 201510812488 A CN201510812488 A CN 201510812488A CN 105425723 B CN105425723 B CN 105425723B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
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- Physics & Mathematics (AREA)
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- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a kind of flexible mechanical beam end fast locating algorithm for point-to-point thin tail sheep translation.Comprise the following steps：S1, calculating machine vibration of beam cycle T0；S2, by point-to-point move a cycle time be divided into n equal portions, n value is：N=T0；Speed v at S3, the every Along ent of calculatingi；S4, calculate the umber of pulse W that servomotor is senti；S5, interpolation calculate the umber of pulse W at last Along ent nn.It is simpler that the present invention can not only make it that system controller is realized, operation is more prone to reliable, and due to extra hardware configuration need not be increased, system cost can reduce accordingly, later stage also more easy care, the system that can be equivalent to flexible girder construction can be widely used in, make the quick and precisely location control of point-to-point thin tail sheep motion.
Description
Technical field
The invention belongs to the technical field of Digit Control Machine Tool control, and in particular to a kind of for the soft of point-to-point thin tail sheep translation
Property mechanical beams end fast locating algorithm.
Background technology
At present, in high-speed numeric control Punching Machine Feeding mechanism, high speed placement system and high speed sealed in unit, compliant motion mechanism end
End can be considered that translation flexible mechanical girder system is united, and it makees to can be treated to be when high speed, the speed motion of high plus/minus：Mechanical beams are planar made
Quickly, the frequently thin tail sheep motion of point-to-point, and require beam end mass high accuracy positioning at target point.To high speed translation
The requirement of Rigid chain polymer can not only reach high-speed motion, and require instantaneous and reach at a high speed, instantaneous accurately to stop, so
It is required that very big acceleration and very high positioning precision.Traditional way is that (1) is non-using image technique or laser technology etc.
Contact type measurement mode, the motion state of mechanical beams end is measured, to form closed-loop system, beam end is positioned and carried out
Control；(2) elastic deformation of mechanical beams is compensated using piezoelectric ceramics, to reach the location control of beam end.
Because in the Practical Project simulated in mechanical beams, system is typically all difficult to installation detecting device accurately to obtain beam end
The response at end；In addition, adding the sensor of measurement beam end state in (1) scheme, cost is increased simultaneously as feedback
The addition of detecting element, corresponding interference can be also brought to Precision Position Location System, therefore (1) scheme can not be implemented.If will
Make translation girder system system is instantaneous to reach at a high speed using traditional scheme, beam end can be instantaneously stopped at target point it is necessary to using the
(2) scheme, but piezoelectric ceramics is to effect has certain compensation ability during component vibration compensation similar in bending rigidity, and work as
The bending rigidity of component is more than piezoelectric ceramics, and its compensation effect is obviously reduced, and because piezoelectric ceramics is fragile material, it is to phase
The compensation range for answering component is also limited, therefore can not meet its end fast positioning control during the mechanical beams motion of unlike material
System.
Therefore, it is necessary to design new, the practical flexible mechanical beam end fast positioning for point-to-point thin tail sheep translation
Control algolithm.
Above-mentioned discussion content purpose be to reader introduce may be described below and/or advocate it is of the invention each
The various aspects of the related technology of individual aspect, it is believed that the discussion content contributes to as reader with background's information, to be advantageous to more
Understand various aspects of the invention well, it is therefore to be understood that be that these discussions are read with this angle, it is existing without being to recognize that
Technology.
The content of the invention
There is provided a kind of for point-to-point thin tail sheep translation it is an object of the invention to avoid deficiency of the prior art
Flexible mechanical beam end fast locating algorithm, it can carry out fast positioning to flexible mechanical beam end.
The purpose of the present invention is achieved through the following technical solutions：
A kind of flexible mechanical beam end fast locating algorithm for point-to-point thin tail sheep translation is provided, wherein mechanical beams by
Servomotor drives, and comprises the following steps：
S1, according to following formula calculator tool vibration of beam cycle Ts0
Wherein, m is mechanical beams and the gross mass of end mass, and l is the beam length of mechanical beams, and E is the Young of mechanical beams material
Modulus, IZFor the cross sectional moment of inertia of mechanical beams；
S2, by point-to-point move a cycle time be divided into n equal portions, n value is：
N=T0 (2)
Speed v at S3, the every Along ent of calculatingi
Mechanical beams were made in the period of motion of a quick point-to-point, the speed v at each Along ent i (0≤i≤n-1) placeiRoot
It is calculated as follows according to following formula：
Wherein, s is displacement of the mechanical beams from starting point at target point, viIt is mechanical beams from the 0th Along ent to (n-1)
The speed of Along ent；
S4, calculate the umber of pulse W that servomotor is senti
At each Along ent, servomotor hair pulsatile once, the umber of pulse W sentiIt is calculated as according to following formula：
Wherein, WiThe umber of pulse sent for servomotor at the i-th Along ent, p are that servomotor walks the arteries and veins that 1mm needs to send
Rush number；
S5, according to following formula interpolations calculate the umber of pulse W at last Along ent nn
Wherein, WnThe umber of pulse sent for servomotor at the n-th Along ent.
Wherein, in step s 2, mechanical beams system planar makees quick, the frequently small position from starting point to target point
Shifting movement, regard the motion of this section of thin tail sheep as a period of motion.
As a result of above-mentioned structure, beneficial effects of the present invention：The present invention can not only make it that system controller is real
Existing simpler, operation is more prone to reliable, and due to that need not increase extra hardware configuration, system cost can drop accordingly
It is low, later stage also more easy care, the system that can be equivalent to flexible girder construction can be widely used in, make the fast of point-to-point thin tail sheep motion
Speed is accurately positioned control.
Brief description of the drawings
Using accompanying drawing, the invention will be further described, but the embodiment in accompanying drawing does not form any limit to the present invention
System, for one of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to the following drawings
Other accompanying drawings.
Fig. 1 is the structure top view of translation flexible mechanical girder system system.
Fig. 2 is mechanical beams control system block diagram.
Fig. 3 is the flow chart of inventive algorithm.
Embodiment
In order that those skilled in the art more fully understands technical scheme, it is below in conjunction with the accompanying drawings and specific real
Apply example the present invention is described in further detail, it is necessary to explanation, in the case where not conflicting, embodiments herein and
Feature in embodiment can be mutually combined.
As shown in figure 1, in the translation flexible mechanical girder system system that the present invention applies, sliding block O side-to-side movements along the horizontal plane, machinery
Beam one end is fixed on sliding block, and the other end is seamless to connect a mass body.When sliding block makees the small of quick point-to-point in the horizontal direction
During displacement movement, sill bolt end mass and also moved in the horizontal direction therewith, and produces vibration relative to sliding block.Whole system
Power source is servomotor, and control targe point is in mechanical beams end mass.As shown in Fig. 2 in mechanical beams control system, servo
Sliding block O in motor direct-drive mechanical beams system, there is mechanical beams mechanism between sliding block O and end mass, therefore to cause
When system makees the motion of point-to-point thin tail sheep, end mass accurately stops at target point, it is necessary to calculation is controlled to servomotor
The design of method.
As shown in figure 3, the control algolithm of the present invention comprises the steps：
S1, mechanical beams vibration period T0Calculating：
Wherein, m is the gross mass of beam and end mass；L is the beam length of mechanical beams；E is the Young's modulus of mechanical beams material；
IZFor the cross sectional moment of inertia of mechanical beams.
S2, the time progress decile by point-to-point motion a cycle
Mechanical beams system planar makees quick, the frequently thin tail sheep motion from starting point to target point, by this section
A period of motion is regarded in the motion of thin tail sheep as, is divided into n equal portions, n value is the time of this period of motion：
N=T0 (2)
Speed v at S3, the every Along ent of calculatingi
Mechanical beams system was made in the period of motion of a quick point-to-point, the speed at each Along ent i (0≤i≤n-1) place
It is calculated as follows：
Wherein, s is displacement of the mechanical beams from starting point at target point, viIt is mechanical beams system from the 0th Along ent to
(n-1) speed of Along ent.
S4, calculate the umber of pulse W that each step of servomotor is senti
Mechanical beams system is driven by servomotor, at each Along ent, servomotor hair pulsatile once, is sent
Umber of pulse WiIt is calculated as：
Wherein, WiThe umber of pulse sent for servomotor at the i-th Along ent, p are that servomotor walks the arteries and veins that 1mm needs to send
Rush number.
S5, interpolation calculate the umber of pulse W at last Along ent nn
Wherein, WnThe umber of pulse sent for servomotor at the n-th Along ent.
Many details are elaborated in above description to facilitate a thorough understanding of the present invention, still, the present invention can be with
It is different from other modes described here using other to implement, it is thus impossible to be interpreted as limiting the scope of the invention.
In a word, although the present invention illustrates above-mentioned preferred embodiment, although it should be noted that those skilled in the art
Member can carry out various change and remodeling, unless such change and remodeling deviate from the scope of the present invention, otherwise should all wrap
Include within the scope of the present invention.
Claims (2)
1. a kind of flexible mechanical beam end fast locating algorithm for point-to-point thin tail sheep translation, wherein mechanical beams are by servo electricity
Machine drives, it is characterised in that comprises the following steps：
S1, according to following formula calculator tool vibration of beam cycle Ts0
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Wherein, m is mechanical beams and the gross mass of end mass, and l is the beam length of mechanical beams, and E is the Young's modulus of mechanical beams material,
IzFor the cross sectional moment of inertia of mechanical beams；
S2, by point-to-point move a cycle time be divided into n equal portions, n value is：
N=T0 (2)
Speed v at S3, the every Along ent of calculatingi
Mechanical beams were made in the period of motion of a quick point-to-point, the speed v at each Along ent i (0≤i≤n-1) placeiUnder
Formula is stated to be calculated as follows：
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Speed；
S4, calculate the umber of pulse W that servomotor is senti
At each Along ent, servomotor hair pulsatile once, the umber of pulse W sentiIt is calculated as according to following formula：
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Wherein, WiThe umber of pulse sent for servomotor at the i-th Along ent, p are that servomotor walks the umber of pulse that 1mm needs to send；
S5, according to following formula interpolations calculate the umber of pulse W at last Along ent nn
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2. the flexible mechanical beam end fast locating algorithm according to claim 1 for point-to-point thin tail sheep translation, its
It is characterised by：In step s 2, mechanical beams system planar makees quick, the frequently thin tail sheep fortune from starting point to target point
It is dynamic, regard the motion of this section of thin tail sheep as a period of motion.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510812488.2A CN105425723B (en) | 2015-11-19 | 2015-11-19 | Flexible mechanical beam end fast locating algorithm for point-to-point thin tail sheep translation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510812488.2A CN105425723B (en) | 2015-11-19 | 2015-11-19 | Flexible mechanical beam end fast locating algorithm for point-to-point thin tail sheep translation |
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| CN105425723B true CN105425723B (en) | 2017-12-22 |
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| US4626758A (en) * | 1983-11-04 | 1986-12-02 | Tokyo Keiki Company, Ltd. | Digital valve control apparatus |
| US5959862A (en) * | 1994-02-18 | 1999-09-28 | Fujitsu Limited | Variable-rate data entry control device and control method |
| EP1278109A1 (en) * | 2001-07-18 | 2003-01-22 | Itt Manufacturing Enterprises, Inc. | Tuned open-loop switched to closed-loop method for rapid point-to-point movement of a periodic motion control system |
| CN103558002A (en) * | 2013-09-23 | 2014-02-05 | 广东工业大学 | Flexible beam end vibration characteristic testing device and testing method thereof |
| CN103558769A (en) * | 2013-09-23 | 2014-02-05 | 广东工业大学 | Flexible beam system dynamics modeling method with terminal quality body and control method thereof |
-
2015
- 2015-11-19 CN CN201510812488.2A patent/CN105425723B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4626758A (en) * | 1983-11-04 | 1986-12-02 | Tokyo Keiki Company, Ltd. | Digital valve control apparatus |
| US5959862A (en) * | 1994-02-18 | 1999-09-28 | Fujitsu Limited | Variable-rate data entry control device and control method |
| EP1278109A1 (en) * | 2001-07-18 | 2003-01-22 | Itt Manufacturing Enterprises, Inc. | Tuned open-loop switched to closed-loop method for rapid point-to-point movement of a periodic motion control system |
| CN103558002A (en) * | 2013-09-23 | 2014-02-05 | 广东工业大学 | Flexible beam end vibration characteristic testing device and testing method thereof |
| CN103558769A (en) * | 2013-09-23 | 2014-02-05 | 广东工业大学 | Flexible beam system dynamics modeling method with terminal quality body and control method thereof |
Non-Patent Citations (2)
| Title |
|---|
| Precise Point-to-Point Positioning Control of Flexible Structures;S.P.Bhat，D.K.Miu;《Journal of Dynamic Systems，Measurement，and Control》;19901231;第112卷;第667-674页 * |
| 作平面运动柔性梁的刚柔耦合动力学建模及分析;党玉倩，和兴锁，邓峰岩;《燕山大学学报》;20081130;第32卷(第6期);第535-538,547页 * |
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