CN100476656C - Closed-loop virtual system of numerically-controlled machine tool - Google Patents

Closed-loop virtual system of numerically-controlled machine tool Download PDF

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CN100476656C
CN100476656C CNB2006100479242A CN200610047924A CN100476656C CN 100476656 C CN100476656 C CN 100476656C CN B2006100479242 A CNB2006100479242 A CN B2006100479242A CN 200610047924 A CN200610047924 A CN 200610047924A CN 100476656 C CN100476656 C CN 100476656C
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module
control
machine
signal
machine tool
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CN101154101A (en
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陶耀东
刘伟
何方
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Shenyang Zhongke CNC Technology Co.,Ltd.
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SHENYANG HIGH-END COMPUTER NUMERICAL CONTROL TECHNOLOGY Co Ltd
Shenyang Institute of Computing Technology of CAS
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Abstract

The invention discloses a closed loop virtual system of numerical control machine and a control method thereof, comprising a central control card, a power module, a servo virtual unit, a machine tools electric virtual unit and a peripheral hardware circuit. The work power is provided by the power module; controlling and data transformation are conducted between the servo virtual unit and the controller of the machine tool numeric control system axis of the machine tools as well as the machine tools electric virtual unit and the I/O controller of the numeric machine tool; the servo virtual unit and the machine tools electric virtual unit are respectively connected with the central control card; a closed loop virtual system software exists in the central control card. The method includes that a mathematic model is built, the control signal of the system is detected and transformed into a mathematic parameter to be substituted into the mathematic for calculation, the acquired control parameter is transferred into a feedback signal to the machine tool numeric system, and the control signal of the next period is output according to the feedback signal by the machine tool numeric system. The invention solves the test problem of large scale production by numeric control machine tool producers, and has good extendibility and replaceability.

Description

Closed-loop virtual system for numerically controlled machine
Technical field
The present invention relates to a kind of test macro of testing digital control system function, performance and precision, especially can accurately test the closed-loop virtual system for numerically controlled machine and the control method thereof of the control performance that digital control system orders to the control performance of servomotor with to discrete I/O.
Background technology
In recent years, continuous development along with national economy, require more and more higher to manufacturing automation, numerically-controlled machine begins to popularize, corresponding also increasing to the demand of all kinds of digital control systems, digital control system begins large scale investment production, in original digital control system production run, the connection servomotor of digital control system employing or the on-line testing means of direct linking number controlled machine are become infeasible, and servomotor quantity, lathe quantity, cost and the time that this method of testing needs is difficult to realize or be difficult to bear to numerical control manufacturer.
Numeric Control Technology is meant that the digital command of forming with numeral, literal and symbol realizes the technology of one or more plant equipment action control, mechanical quantity such as the normally position that it is controlled, angle, speed with flow to relevant switching value with mechanical quantity, the generation of numerically-controlled machine depends on the appearance of data carrier and binary mode data operation.Digital control system is to realize the computer installation of Numeric Control Technology; the Machine Tools Electric system of it and servomotor forms the closed loop in the control; thereby reach the purpose of control lathe accurate converted products, to the performance evaluation of numerically-controlled machine comprise it to mechanical quantity such as position, angle and speed with flow to the precision, speed of relevant switching value control, control ability comprehensive evaluation by quantity and aspects such as fault-tolerant and safeguard protection with mechanical energy.Digital control system itself also is a computing machine, can adopt the large-scale computer method of testing of present maturation for the Test And Checkout of its computer property, but digital control system is irrealizable with the detection that flows to the control ability of relevant switching value with mechanical quantity with the detection method of general computing machine to various mechanical quantity.In small-scale numerically-controlled machine production run, every digital control system of general employing connects servomotor, control its torque, rotating speed or digital control system is installed to carries out actual processing on the numerically-controlled machine and detect the reliability of digital control system and whether satisfy the digital control system standard of dispatching from the factory, but when needs large-scale production digital control system, detection method above-mentioned becomes infeasible, digital control system manufacturer can not provide servomotor or numerically-controlled machine quantity and reach an equilibrium point on the test duration for digital control system, and the number of motors difference that the digital control system of different model can be controlled, a kind of lathe can only be tested a kind of digital control system, obviously is difficult to satisfy the demand of digital control system manufacturer.
Summary of the invention
For solving above-mentioned deficiency, the object of the present invention is to provide a kind of the virtual of the running status to a plurality of servomotors in the Servo System of CNC Machine Tool, internal logic location positioning, the output of servomotor position feed back signal of realizing, simultaneously can carry out flowing to the virtual of relevant switching value with mechanical quantity, and then the closed-loop virtual system for numerically controlled machine of virtual this numerically-controlled machine characteristic and control method thereof.
For achieving the above object, the technical solution used in the present invention is:
System of the present invention has central control card, power module, servo dummy unit, Machine Tools Electric dummy unit and peripheral hardware circuit, provide working power by power module, control or data-switching between the machine tool numerical control system axis controller of servo dummy unit and numerically-controlled machine and between Machine Tools Electric dummy unit and the numerically-controlled machine I/O controller, servo dummy unit and Machine Tools Electric dummy unit link to each other with central control card respectively, have lathe closed-loop virtual system software in this central authorities' control card.
Described servo dummy unit inside has FPGA, it comprises that bus interface module, A/D acquisition controlling state machine, memory module, A/D gather time-sequence control module, A/D acquisition channel control module, encoder feedback signal generator module and logic shaft position measurement module, wherein A/D collection time-sequence control module links to each other with the servomotor control signal of machine tool numerical control system by A/D converter in the peripheral hardware circuit under the control of A/D acquisition controlling state machine, and will deliver to memory module after this servomotor control signal sampling; A/D acquisition channel control module inputs to A/D converter by the multichannel gauge tap in the peripheral hardware circuit with the source timesharing of a plurality of external analog signals under the control of A/D acquisition controlling state machine, conversion back data are kept in the above-mentioned memory module; The encoder feedback signal generator module is delivered to machine tool numerical control system at the differential signal generator of generation encoder feedback signal in the peripheral hardware circuit under the control of central control card, also deliver to logic shaft position measurement module simultaneously, this logic shaft position measurement module links to each other with central control card through control signal wire and data line.
Described encoder feedback signal generator module inside is provided with optional frequency generation module, data memory interface module, time zero control module, axle logical place measurement module, square wave processing module and Z signal processing module, wherein optional frequency generation module receives the configuration data that central control card sends, it produces required frequency and delivers to machine tool numerical control system by square wave processing module and Z signal generating module, and the Z signal generating module also receives data memory interface modules configured data; Return zero control module and receive time zero control signal that the Z signal generating module produces, and will return zero control signal and deliver to a logical place measurement module, data memory interface module and axle logical place measurement module link to each other with central control card.
Described each unit or module are card insert type, realize interconnected by bus mother board.
The inventive method has following steps:
A. set up the mathematical model of system;
B. the control signal of system detects and is converted into mathematic parameter, the above-mentioned mathematical model of substitution;
C. will calculate resulting controlled variable in mathematical model is converted to corresponding feedback signal and returns machine tool numerical control system (CNC);
D. machine tool numerical control system (CNC) is exported the control signal of next control cycle according to above-mentioned feedback signal, goes to step b, begins next control cycle.
Described mathematical model comprises servomotor mathematical model and knife rest mathematical model, and wherein the servomotor mathematical model is specially:
The rotating speed formula of servomotor:
Work as u In〉=u IoThe time Ω ( t ) = ku in ( 1 - e - α + t ) + ku io e - α + t - - - ( 3 - 4 )
Work as u In＜u IoThe time Ω ( t ) = ku in ( 1 - e - α - t ) + ku io e - α - t - - - ( 3 - 5 )
Wherein: Ω (t) is a mechanical angle speed; u IoBe a preceding magnitude of voltage; u InBe current magnitude of voltage; α +Be speedup factor; α -Be deceleration parameter, k is the voltage velocity ratio.
Described step b comprises:
B1. detection hardware and initialization closed-loop virtual system for numerically controlled machine generate each thread, wait for that machine tool numerical control system sends servomotor control signal, Electrical Control of Machinery Tools signal or lathe cutter saddle control signal;
B2. closed-loop virtual system for numerically controlled machine enters its respective thread according to the variation of control signal, gathers machine tool numerical control system) control signal, and be translated into mathematical model parameter substitution mathematical model and calculate, and show in real time according to result of calculation.
Wherein said step b2 comprises:
B21. the servomotor control signal of respectively machine tool numerical control system being sent, Electrical Control of Machinery Tools signal and logic shaft position measuring-signal are sampled;
B22. read above-mentioned sampling numerical value, the servo mathematical model of sampled value substitution of above-mentioned servomotor control signal is calculated, obtain the encoder feedback parameter, and above-mentioned Electrical Control of Machinery Tools signals sampling value substitution knife rest mathematical model calculated, obtain Machine Tools Electric dummy unit feedback parameter.
Described step c comprises:
The encoder feedback signal generator module is carried out the parameter setting, control this module and produce the output of corresponding encoder feedback signal, the encoder feedback signal is delivered to machine tool numerical control system, and Machine Tools Electric dummy unit output is set according to above-mentioned Machine Tools Electric dummy unit feedback parameter, output signal is fed back to machine tool numerical control system; Logic shaft position measurement module calculates the present residing position of logic axle to above-mentioned encoder feedback signal-count, to the measurement module zero clearing of logic shaft position or read present logic shaft position information.
The present invention has following beneficial effect and advantage:
1. solved the test problem of numerically-controlled machine manufacturer large-scale production.System of the present invention adopts embedded Linux system, form plate level support package, make up embedded OS, various servomotor models are extracted common trait carry out mathematical modeling, each top unit module is carried out the control of unified fusion by lathe closed-loop virtual system software, adapt to every closed-loop virtual system for numerically controlled machine, can detect many digital control systems simultaneously accurately, for extensive numerical control production provides a good means of testing, save the production cost and the test space of numerically-controlled machine manufacturer, solved the test problem of large-scale production well;
2. volume is little, and is easy to connect, every lathe parameter scalable, and test capacity is big.Because unit of the present invention adopts advanced card insert type design, all unit all are inserted on the bus mother board, and good extendibility and replaceability are arranged;
3. simple to operate, use flexibly.The present invention has special-purpose graphical user interface, for the user provide one simply, closed-loop virtual system for numerically controlled machine flexibly;
4. can be used for teaching.The present invention not only can be used for commercial production, can also be used for teaching, by the configuration analogue system, virtual machine failure, the help student gets information about the behavior of machine tool system, the fault that may occur, lathe servomechanism installation velocity characteristic and PLC control timing, improve the ability of student's handling failure, improve the quality of teaching and saved teaching and dropped into.
Description of drawings
Fig. 1 is system software of the present invention, hardware configuration;
Fig. 2 is a system architecture diagram of the present invention;
Fig. 3 is FPGA structure principle chart in the servo dummy unit of the present invention;
Fig. 4 is the code device signal generation module structure principle chart of FPGA inside in the servo dummy unit of the present invention;
Fig. 5 is a lathe virtual system program flow diagram of the present invention;
Fig. 6 is a knife rest virtual bench program flow diagram of the present invention.
Embodiment
As shown in Figure 1, system of the present invention is based on the Industrial PC technology, adopt embedded Linux system, write driver, form a plate level support package, make up an embedded OS, design servomotor virtual private hardware--servo dummy unit SIM, Machine Tools Electric dummy unit--I/O unit (plate), various servomotor models are extracted common trait carry out mathematical modeling, to specialized hardware design Linux driver, special-purpose graphical user interface, by lathe closed-loop virtual system software each top module is carried out the control of unified fusion at last, for the user provides one simply, closed-loop virtual system for numerically controlled machine flexibly.
As shown in Figure 2, system of the present invention comprises central control card CPU, power module POWER, servo dummy unit SIM, Machine Tools Electric dummy unit MIO and peripheral hardware circuit, POWER provides working power by power module, control or data-switching between the machine tool numerical control system CNC axis controller ECDA of servo dummy unit SIM and numerically-controlled machine and between Machine Tools Electric dummy unit MIO and the numerically-controlled machine I/O controller IO, servo dummy unit SIM and Machine Tools Electric dummy unit MIO link to each other with central control card CPU respectively, have the closed-loop virtual system for numerically controlled machine control program among the control card CPU of these central authorities.Adopt after the quadruplet specialized hardware (servo dummy unit and Machine Tools Electric dummy unit) in the present embodiment, the numerically-controlled machine behavior of virtual 16 servo motor shafts and 64 inputs/96 outputs simultaneously, if the PC ability improves, can insert the virtual ability that more specialized hardware increases native system.
As shown in Figure 3, the critical component that described servo dummy unit SIM is a system of the present invention, it mainly is made of FPGA (field programmable gate array) and peripheral circuit, for the servomotor mathematical model is caught analog or digital servo-control signal, be converted into servomotor mathematical model input parameter and calculate, and the outside outputting standard incremental encoder of the revolution feedback signal+A that obtains according to the servomotor calculated with mathematical model ,+B ,+Z ,-A ,-B ,-Z; A, B impulse meter have been realized to incremental encoder feedback signal technology in inside simultaneously, and after the virtual servo motor was returned zeroing, software calculated the physical location of current motor shaft by the value to this counter.Every servo dummy unit SIM can provide four servomotor virtual interfaces in the present embodiment.
The FPGA module of described servo dummy unit SIM inside comprises bus interface module, A/D acquisition controlling state machine, the A/D data storage device, A/D gathers time-sequence control module, A/D acquisition channel control module, encoder feedback signal generator module and logic shaft position measurement module, wherein A/D collection time-sequence control module links to each other with the servomotor control signal of machine tool numerical control system CNC by A/D converter in the peripheral hardware circuit under the control of A/D acquisition controlling state machine, and delivers to the A/D data storage device after the servomotor control signal sampling with machine tool numerical control system CNC; A/D acquisition channel control module inputs to A/D converter spare AD7665 by the multichannel gauge tap in the peripheral hardware circuit with the source timesharing of a plurality of external analog signals under the control of A/D acquisition controlling state machine, conversion back data are kept at the A/D data storage device; Lathe closed-loop virtual system software reads the A/D signal value that collects from the A/D data storage device; Lathe closed-loop virtual system software is under user's input and systematic parameter configuration, with the servo calculated with mathematical model of A/D signal value substitution that obtains; Lathe closed-loop virtual system software is obtaining the encoder feedback parameter later on through servo calculated with mathematical model, and these parameters are write the encoder feedback signal generator module; The code device signal generation module produces the encoder feedback signal and delivers to machine tool numerical control system CNC through the differential signal generator, also deliver to logic shaft position measurement module simultaneously, this logic shaft position measurement module links to each other with central control card CPU through control signal wire and data line; Logic shaft position measurement module obtains logic shaft position information to the encoder feedback signal measurement, and logic shaft position information is returned to lathe closed-loop virtual system software.Lathe closed-loop virtual system software according to the logic axle forward among the logic shaft position information setting Machine Tool Electric Appliance dummy unit MIO transfinite, negative sense transfinites and return zero-signal.
As shown in Figure 4, encoder feedback signal generator module inside is provided with optional frequency generation module, data memory interface module, time zero control module, axle logical place measurement module, square wave processing module and Z signal generating module, wherein optional frequency generation module receives the configuration data that central control card CPU sends, produce required frequency signal, frequency signal by square wave processing module and Z signal generating module generate A, B, the Z signal is delivered to machine tool numerical control system CNC; The Z signal generating module also receives the Z signal that data memory interface modules configured data produce corresponding frequencies; Return parameter that zero control module is provided with according to the user and receive the Z signal that the Z signal generating module produces and produces back zero control signal, and will return zero control signal and deliver to a logical place measurement module; Axle logical place measurement module accepts to refund zero control signal, and logic zero point is got back in the internal logic position.Data memory interface module and axle logical place measurement module link to each other with central control card CPU.
Described Machine Tools Electric dummy unit MIO is that system of the present invention realizes the virtual critical component of Machine Tools Electric equally, realizes for the Machine Tools Electric discrete magnitude provides the hardware of input and output amounts.Every Machine Tools Electric dummy unit can provide 48 output points and 32 input points in the present embodiment.This Machine Tools Electric dummy unit MIO links to each other with the digital control system I/O controller of machine tool numerical control system CNC by peripheral circuit, and the servomotor enable signal that this machine tool numerical control system CNC is sent and knife rest control signal are sent into lathe closed-loop virtual system software after adopting, lathe closed-loop virtual system software obtains the servomotor enable signal, according to configuration determination needs machine tool numerical control system CNC servomotor enable signal whether, enable signal if desired, wait for that machine tool numerical control system CNC sends the servomotor enable signal and arrives, beginning servomotor virtual thread is not if need then directly begin the servomotor virtual thread; Lathe closed-loop virtual system software cooperates file to take out the PN model of each knife rest control signal of knife rest according to knife rest type parameter and the knife rest that the user is provided with; Lathe closed-loop virtual system software collects machine tool numerical control system CNC knife rest control signal input PN model by Machine Tool Electric Appliance dummy unit (I/O); Lathe closed-loop virtual system software knife rest PN model produces the virtual output parameter of knife rest according to input signal, configuration Machine Tools Electric dummy unit.The Machine Tools Electric dummy unit produces output signal according to the virtual output parameter of knife rest and feeds back to machine tool numerical control system CNC, finishes the knife rest virtual period of a closed loop.
Above-mentioned each unit or module are card insert type, realize interconnected by bus mother board.
The present invention also has special-purpose graphical user interface, this part is to the invention provides good man-machine interface, the user can pass through this layout setting system of the present invention, observe the running status of virtual system simultaneously, promptly show status information, knife rest control timing waveform and the configuration file editor of machine tool numerical control system CNC dummy pilot signal curve, virtual servo speed curves, knife rest positional information, virtual servo motor by display unit.
In conjunction with Fig. 1, Fig. 2 the principle of work of system of the present invention is described below: the control signal that machine tool numerical control system CNC sends (numeral or simulation) servomotor, the 1st～4 servo dummy unit SIM1～4 among input Figure 1A, by plate level support package BSP and operating system OS control, input control signal is converted into the parameter that the servomotor mathematical model can be discerned through the A/D modular converter (perhaps frequency counting unit) of the inner SIM1 of the 1st～4 servo dummy unit～4; The Electrical Control of Machinery Tools signal input Machine Tools Electric dummy unit MIO that while machine tool numerical control system CNC sends, by plate level support package BSP and operating system OS control, be converted to the parameter that lathe closed-loop virtual system software can be discerned through TX the 1st, 2 Machine Tools Electric dummy unit MIO1, MIO2, lathe closed-loop virtual system software sends to graphical user interface GUI by computing machine and observes to the user according to the calculating of parameter coordination servomotor mathematical model; Simultaneously, lathe closed-loop virtual system software sends to plate level support package BSP and operating system OS with result of calculation, and the output register generation encoder feedback signal that the result that will be obtained by plate level support package BSP and operating system OS is provided with to the 1st～4 servo dummy unit SIM1～4 returns to machine tool numerical control system CNC; Lathe closed-loop virtual system software sends to plate level support package BSP and operating system OS with result of calculation, the result that will be obtained by plate level support package BSP and operating system OS is provided with the output register to the 1st, 2 Machine Tools Electric dummy unit MIO1, MIO2, produces discrete I/O electrical control signal and returns to machine tool numerical control system CNC.
The inventive method may further comprise the steps:
A. set up the mathematical model of system;
B. the control signal to system detects and is converted into mathematic parameter, the above-mentioned mathematical model of substitution;
C. calculating resulting controlled variable in mathematical model is converted to corresponding feedback signal and returns machine tool numerical control system CNC;
D. machine tool numerical control system CNC exports the control signal of next control cycle according to above-mentioned feedback signal, goes to step b, begins next control cycle.
Described mathematical model comprises servomotor mathematical model and knife rest mathematical model, and wherein the servomotor mathematical model is specially:
The rotating speed formula of servomotor:
Work as u In〉=u IoThe time Ω ( t ) = ku in ( 1 - e - α + t ) + ku io e - α + t - - - ( 3 - 4 )
Work as u In＜u IoThe time Ω ( t ) = ku in ( 1 - e - α - t ) + ku io e - α - t - - - ( 3 - 5 )
Wherein: Ω (t) is a mechanical angle speed; u IoBe a preceding magnitude of voltage; u InBe current magnitude of voltage; K is the voltage velocity coefficient, k = Ω b max μ i max , Ω BmaxBe the maximum (top) speed of servomotor, u ImaxMaximum voltage for servomotor; α +Be speedup factor, α + = 1 t + ln ( 2 16 Ω S 10 k ) , α -Be deceleration parameter, α - = 1 t - ln ( 2 16 Ω S 10 k ) ;
Above-mentioned servomotor mathematical model is set up by following process: suppose that the servo controller signal does not have delay; Servomotor is unloaded; No phase inductance; No eddy current loss; No magnetic hysteresis loss; Back electromotive force is sinusoidal wave; The variable-definition that derivation is used is as follows:
u d, u q--d, q shaft voltage;
i d, i q--d, q shaft current;
L d, L q, L a--d, q, a axle inductance, L a=L q=L d
R s--the stator phase resistance;
ω r--rotor electric angle speed, angular frequency;
The P--differentiating operator
Figure C20061004792400094
J--motor moment of inertia;
Φ f--the magnetic flux (constant) that permanent magnet produces;
ψ f--rotor-exciting magnetic field chain is by the magnetic linkage of stator winding;
The B--viscous friction coefficient;
T Em--motor shaft torque;
T l--load torque;
K t--moment coefficient;
Ω, Ω r--rotor velocity, mechanical angle speed;
p n--the magnetic pole logarithm;
u i--the command voltage of digital control system;
Ω b--motor feeds back to the rotating speed of digital control system;
Servo motor rotor reference coordinate voltage equation is:
Figure C20061004792400095
The magnetic linkage equation is:
ψ q＝L qi q (1-3)
ψ d＝L di d+ψ f (1-4)
The electromagnetic torque equation is:
The motor movement equation is:
T em＝T 1+BΩ r+JPΩ r (1-6)
Owing to ignore load, so T 1=0
The relation of mechanical angle speed and electric angle speed is:
ω r＝p nΩ r (1-7)
(1-3) (1-4) substitution (1-1) is had:
Wherein P = d dt , Under general situation, control i dBe zero.So under this condition, i qThe stator current of motor just.
According to (1-8)
Figure C20061004792400103
According to (1-5)
The equation of motion (1-6) substitution (1-9) formula of motor is had:
i q = T l + B Ω r + JP Ω r p n ψ d - - - ( 1 - 11 )
(1-11) substitution (1-9) formula had (make Ω=Ω r)
L q J p n ψ d Ω ′ ′ + 1 p n ψ d ( R s J + L q B ) Ω ′ + ( p n ψ d + R s B p n ψ d ) Ω = u q - Rs p n ψ d T l - L q p n ψ d T 1 ′ - - - ( 1 - 12 )
Can release by top a series of formula:
k 1Ω″+k 2Ω′+k 3＝u q-k 4T i-k 5T′ i (1-13)
Wherein: order k 1 = L q J p n ψ d , k 2 = 1 p n ψ d ( R s J + L q B ) , k 3 = p n ψ d + R s B p n ψ d , k 4 = R s p n ψ d , k 5 = L q p n ψ d ;
Because the front hypothesis has been ignored phase inductance L qSo following formula becomes
k 2Ω′+k 3Ω＝u q (1-14)
Get transport function through Laplace transformation thus:
G ( s ) = Ω ( s ) U q ( s ) = 1 k 2 s + k 3 - - - ( 1 - 15 )
Input voltage is analyzed:
For servo drive system, the command voltage u of reception iWith the motor speed of estimating be linear relationship, promptly
Ω b＝ku i (2-1)
Can release U by the front transport function q, because arbitrary moment input voltage U qCan be considered the stack of a step function and an impulse function, so have:
U q ( s ) = U qn s + σ U qo - - - ( 2 - 2 )
Wherein: U QoBe the last time sampling input voltage that converts out, U QnBe this sampling input voltage that converts out;
Model solution:
According to the AC servo motor handbook, the several characterisitic parameters relevant: maximum voltage u with model Imax, maximum (top) speed Ω Bmax, acceleration time t +, deceleration time t -, the rated rotational frequency Ω of acceleration and deceleration time correspondence S
By preceding deriving: k = Ω b max μ i max - - - ( 3 - 1 )
The acceleration and deceleration factor:
α + = 1 t + ln ( 2 16 Ω S 10 k ) - - - ( 3 - 2 )
α - = 1 t - ln ( 2 16 Ω S 10 k ) - - - ( 3 - 3 )
The rotating speed formula:
Work as u In〉=u IoThe time Ω ( t ) = ku in ( 1 - e - α + t ) + ku io e - α + t - - - ( 3 - 4 )
Work as u In＜u IoThe time Ω ( t ) = ku in ( 1 - e - α - t ) + ku io e - α - t - - - ( 3 - 5 )
Described step b comprises:
B1. detection hardware and initialization closed-loop virtual system for numerically controlled machine generate each thread, wait for that machine tool numerical control system (CNC) sends servomotor control signal, Electrical Control of Machinery Tools signal or lathe cutter saddle control signal;
B2. closed-loop virtual system for numerically controlled machine enters its respective thread according to the variation of control signal, gathers the control signal of machine tool numerical control system CNC, and is translated into mathematical model parameter substitution mathematical model and calculates, and shows in real time according to result of calculation.
Wherein step b2 comprises:
B21. the servomotor control signal of respectively machine tool numerical control system CNC being sent, Electrical Control of Machinery Tools signal and logic shaft position measuring-signal are sampled;
B22. read above-mentioned sampling numerical value, in user input and systematic parameter according under disposing, the sampled value substitution servomotor mathematical model of above-mentioned servomotor control signal is calculated, obtain the encoder feedback parameter, and above-mentioned Electrical Control of Machinery Tools signals sampling value substitution knife rest mathematical model (adopting the modeling of Petri NET method in the present embodiment) calculated, obtain Machine Tools Electric dummy unit feedback parameter.
Described step c comprises:
Lathe closed-loop virtual system software carries out the parameter setting by system bus ISA to the encoder feedback signal generator module, control this module and produce the output of corresponding encoder feedback signal, the encoder feedback signal is delivered to machine tool numerical control system CNC, and Machine Tools Electric dummy unit output is set according to above-mentioned Machine Tools Electric dummy unit feedback parameter, output signal is fed back to machine tool numerical control system CNC; Logic shaft position measurement module calculates the present residing position of logic axle to above-mentioned encoder feedback signal-count, to the measurement module zero clearing of logic shaft position or read present logic shaft position information.
As shown in Figure 5, specifically be expressed as follows with control method of the present invention:
After the program start, detect servo dummy unit SIM, Machine Tools Electric dummy unit MIO; After hardware detection is normal, generate each thread, comprising: servomotor virtual thread, Machine Tools Electric virtual thread, lathe cutter saddle virtual thread; After thread generates,,, then the servomotor virtual thread is preserved and be updated to the information of user's modification if the user makes amendment to servomotor virtual thread allocating default parameter; The lathe cutter saddle virtual thread reads user's knife rest configuration file, and required object is carried out instantiation; Each thread all dispose finish after, each thread waits user input and external control signal variation; If receive user's tool changing order then enter the tool changing thread, read the knife rest mathematical model that the PLC order (form of order by I/O) of user input is disposed, virtual knife rest running and in real time to PLC feedback corresponding signal (form of ordering by I/O), in the present embodiment, use Petri net method abstract and modeling is carried out in the knife rest behavior; If receive servomotor running order (analog voltage signal and the input of I/O point), then enter the servomotor virtual thread, this thread can be concurrent with the knife rest virtual thread, the servomotor virtual thread reads servomotor control signal (analog voltage signal and the input of I/O point), with the quantized signal input servomotor calculated with mathematical model that obtains, after obtaining corresponding feedback parameter, the virtual encoder feedback signal generator module of servomotor is set, makes it to produce the encoder feedback signal of corresponding current machine tool numerical control system CNC control signal.If user's input exits command, then close all threads, EOP (end of program).
As shown in Figure 6, be knife rest virtual program process flow diagram, described the virtual workflow of knife rest.In the present embodiment,, and come course of work modeling,, set up the simulation work that corresponding simulated program module is correlated with automatically according to the knife rest configuration file that the user provides to knife rest with the Petri net with the various knife rests of a kind of unified language description.Utilize Petri Net (hereinafter to be referred as PN) as abstraction hierarchy, be equivalent to the process of the configuration file of system understanding user input, then this PN is changed into the simulated program module from the centre of changing between knife rest configuration file and the simulated program module; Angle from abstract model, each input signal of knife rest is abstracted into each input PN model independently, the output signal of knife rest is abstracted into each output PN model independently, get up according to some conditioned connections between these input PN models and the output PN model, certainly these conditions also are abstract PN models, wherein condition is meant: the course of work of output signal is subjected to the control of input signal to a certain extent, show as cause-effect relationship or logical relation, with this control relation abstract be condition, just form a complete PN model after getting up with conditioned connection like this.The emulation of knife rest also just is equivalent to the process that this complete PN model is carried out a series of actions.Program begins, and obtains knife rest parameter and each signal of initialization according to configuration file, sets up independently PN model, and the class object of PN and output PN is imported in instantiation accordingly, and to PLC feedback knife rest original state.The simulated program module constantly detects the PLC order then, arrive up to the tool changing order, according to the signal that obtains from PLC each input PN is set, judge the condition of the generation action of output signal then, whether the condition that promptly is equivalent to get in touch input PN and export the PN model satisfies, and then carries out corresponding action if satisfy, and output PN is set simultaneously, and, finish up to tool changing in real time to PLC feedback current state.

Claims (3)

1. closed-loop virtual system for numerically controlled machine, it is characterized in that: have central control card, power module, servo dummy unit, Machine Tools Electric dummy unit and peripheral hardware circuit, provide working power by power module, control or data-switching between the machine tool numerical control system axis controller of servo dummy unit and numerically-controlled machine and between Machine Tools Electric dummy unit and the numerically-controlled machine I/O controller, servo dummy unit and Machine Tools Electric dummy unit link to each other with central control card respectively, have lathe closed-loop virtual system software in this central authorities' control card;
Described servo dummy unit inside has FPGA, it comprises that bus interface module, A/D acquisition controlling state machine, memory module, A/D gather time-sequence control module, A/D acquisition channel control module, encoder feedback signal generator module and logic shaft position measurement module, wherein A/D collection time-sequence control module links to each other with the servomotor control signal of machine tool numerical control system by A/D converter in the peripheral hardware circuit under the control of A/D acquisition controlling state machine, and will deliver to memory module after this servomotor control signal sampling; A/D acquisition channel control module inputs to A/D converter by the multichannel gauge tap in the peripheral hardware circuit with the source timesharing of a plurality of external analog signals under the control of A/D acquisition controlling state machine, conversion back data are kept in the above-mentioned memory module; The encoder feedback signal generator module is delivered to machine tool numerical control system at the differential signal generator of generation encoder feedback signal in the peripheral hardware circuit under the control of central control card, also deliver to logic shaft position measurement module simultaneously, this logic shaft position measurement module links to each other with central control card through control signal wire and data line.
2. by the described closed-loop virtual system for numerically controlled machine of claim 1, it is characterized in that: described encoder feedback signal generator module inside is provided with optional frequency generation module, data memory interface module, time zero control module, axle logical place measurement module, square wave processing module and Z signal generating module, wherein optional frequency generation module receives the configuration data that central control card sends, it produces required frequency and delivers to machine tool numerical control system by square wave processing module and Z signal generating module, and the Z signal generating module also receives data memory interface modules configured data; Return zero control module and receive time zero control signal that the Z signal generating module produces, and will return zero control signal and deliver to a logical place measurement module, data memory interface module and axle logical place measurement module link to each other with central control card.
3. by any one described closed-loop virtual system for numerically controlled machine in the claim 1～2, it is characterized in that: described each unit or module are card insert type, realize interconnected by bus mother board.
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