CN100595707C - Numerical control machine tool double-shaft synchronization controller - Google Patents
Numerical control machine tool double-shaft synchronization controller Download PDFInfo
- Publication number
- CN100595707C CN100595707C CN200810196820A CN200810196820A CN100595707C CN 100595707 C CN100595707 C CN 100595707C CN 200810196820 A CN200810196820 A CN 200810196820A CN 200810196820 A CN200810196820 A CN 200810196820A CN 100595707 C CN100595707 C CN 100595707C
- Authority
- CN
- China
- Prior art keywords
- module
- control
- shaft
- compensation
- synchronizing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Numerical Control (AREA)
Abstract
The invention discloses a digit control machine double-shaft synchronization control device, comprising a clock, an input and output interface, a double-shaft position check module, a control unit, asystem parameter list and a pitch compensation list, wherein the double-shaft position check module processes position and synchronization error check for two synchronous shaft motor encoders and provides the check information to the control unit, the control unit selects a working mode corresponding to the parameters of the system parameter list, according to the position and error information ofthe two synchronous shafts provided with the double-shaft position check module and the process corresponding to the selected working mode, the control on the two synchronous shafts can be realized.The invention resolves the problem of the common digit control system which can not realize synchronous control, realizes the real-time character between transfer and adjustment, avoids the profile error of processed elements caused by delayed transfer time, and avoids the serious dynamic synchronous error caused by long adjustment.
Description
Technical field
The invention belongs to Numeric Control Technology, be specifically related to a kind of numerical control machine tool double-shaft synchronization controller.
Background technology
In gantry straight line of the large-span gantry machine tool that twin shaft drives moves, during the twin columns straight line of large-scale three coordinate measuring machine moves, and in the horizontal Machining centers of some twin shafts drivings, for avoiding the deflection of moving component, the motion of the servo drive motor of these two axles is kept synchronously.Owing to mismachining tolerance and rigging error reason, structurally always there is certain asymmetry in large-scale moving-member; In processing uncertainty and the unbalancedness that also always has load in service.Add coupling mechanically,, destroy synchronization accuracy, even serious consequence such as drive disk assembly occurs damaging so although adopted identical gear train bilateral, also being in operation unavoidably inconsistency occurs, and causes the deflection of moving-member.Therefore, the high-precise synchronization control technology remains the important topic that countries in the world machinery industry faces in large scale structure drives.
At present, the high-grade digital control system of external some is as the NUM 1060M digital control system of French NUM company, the Germany Siemens 840D of company digital control system, all disposed the synchronizing shaft function in Japan Fanuc 30,32 digital control systems, and homemade most digital control system all there is not the synchronizing shaft function.At home, need the numerically-controlled machine of synchronizing function in a large number, its digital control system is also uncomplicated to the demand of numerical control control function.If select for use these to have the external high-grade digital control system of synchronizing function, cost an arm and a leg, and many functions belong to again unnecessary, thereby, improved equipment cost; And select the lower popular digital control system of price for use, and lack synchronizing function again, can not satisfy the synchro control requirement.Even " handling side by side " method that adopts the output of a domestic axle with CNC (numerical control device) commonly used to divide two-way to drive to diaxon; Or with axle of CNC output control, this feedback is controlled another " principal and subordinate follows processing " method again, all is makeshift, all can't realize the monitoring to synchronous error, makes this class numerically-controlled machine all have certain potential safety hazard.
Usually, the digital control system that has possessed synchronizing function is (can be arbitrary Control Shaft of lathe by the digital control system parameter configuration according to an axle X when the programming for two synchronous axles, be that example illustrates with the X-axis in the literary composition) handle, work in-process, visible axle is main drive shaft X1 among the CNC, and sightless axle is driven shaft X2.For bus-type numerical control system, when synchronous error appears in two axles realizing synchronizing function, compensate than being easier to realization by bus; And,, restricted by factors such as CNC software degree of opening and CNC processing capability in real time if in digital control system, realize synchronizing function for the popular digital control system that is extensive use of " pulse+direction " formula, big difficulty is arranged.Therefore, develop a kind of numerically-controlled machine sync control device of cheap external hanging type, replenish the deficiency of popular digital control system on synchronizing function, fundamentally solve the synchro control problem, have very important significance.
Summary of the invention
The object of the present invention is to provide a kind of numerical control machine tool double-shaft synchronization controller, this control device can solve the problem that popular digital control system can not realize synchro control.
Numerical control machine tool double-shaft synchronization controller provided by the invention is characterized in that: this device comprises clock, IO interface, two-axis position detection module, control module, system parameter table, and pitch compensation table;
Clock is used to control module and two-axis position detection module that clock reference is provided;
IO interface is used for the parameter in system parameter table and the pitch compensation table and running status are set and being shown for the user;
System parameter table is used to preserve the The whole control device and controls required inner parameter information;
The pitch compensation table is used to store the pitch compensation data of leading screw;
The two-axis position detection module is used for two synchronizing shaft motor encoders are carried out position and synchronism deviation detection, and detection information is offered control module;
Control module is selected corresponding mode of operation according to the parameter setting of system parameter table; The position and the deviation information of two synchronizing shafts that provide according to the two-axis position detection module are finished control to two synchronizing shafts according to the selected pairing flow process of operational module.
The present invention has realized between traditional numerical control device and servo-driver by increasing the sync control device based on microprocessor, require the axle of synchro control to carry out site error monitoring in real time and compensation to two, solved the problem that popular digital control system can not realize synchro control.Numerical control machine tool double-shaft synchronization controller is between traditional numerical control device and servo-driver as a basic separate unit, mainly bears the numerical control instruction and transmits and the compensation adjustment task.Its key is the real-time transmitting and adjust, otherwise, since forwarding time postpone to increase the profile errors of processing parts; Adjust overlong time, dynamic synchronous error down not only can not be eliminated even be worsened.Particularly, the present invention has following technical characterstic:
(1) the position coder signal receives and detects: be used for the servomotor scrambler differential signal of two synchronizing shafts is received in real time, and finish its quadruple detection, direction identification, synchronism deviation calculating, use in order to the adjustment of subsequent synchronisation error compensation.
(2) the catching of CNC command signal, compensation adjustment and transmission also are synchronization control function: since digital control system directly actuated is main drive shaft X1, sync control device only need carry out the CNC instruction to its control and transmit in real time.Promptly after realizing that to CNC instruction is caught, send to the servo controller of main drive shaft X1 immediately without delay, its instruction needn't be adjusted (its pitch error and backlass are all realized) in CNC.For driven shaft X2, the given size according to the actual synchronization position deviation between current two synchronizing shafts of its servo controller instruction (having got rid of the influence of relative pitch compensation accumulated value), relative pitch offset and present speed situation are with the increase and decrease pulse adjustment of dead band and amplitude limit ability.Promptly receive on the CNC instruction basis at sync control device, the paired pulses number increases and decreases the servo controller of adjusting and being transmitted to the X2 axle.
(3) manually single shaft adjustment: be installation and the adjustment that makes things convenient for lathe, particularly when the synchronous manual correction of carrying out two axles is handled, need sync control device to have the ability of two synchronizing shafts being carried out single shaft independence manual adjustment.
(4) two synchronizing shafts vector position manual measurement between zero point under the synchronous regime: owing to be under the free state before the lathe start, for the digital control system that adopts the increment type pick-up unit, owing to can't obtain the current physical location situation of two synchronizing shafts after the start, also just can't know under the synchronous regime after whether two synchronizing shafts are in correction.But synchronizing shaft is controlled, must be guaranteed the synchronous regime after two synchronizing shafts are in correction again, so a synchronous state judgement symbol must be arranged.In digital control system increment type detection system, can utilize between the encoder zero-crossing (Z signal) of proofreading and correct two synchronizing shafts under the synchronous regime of back the vector position size as foundation.Utilize sync control device to carry two synchronizing shafts vector position manual measurement function between zero point, realize to be under the correcting state two synchronizing shafts between zero point vector position measure, setting up automatically for follow-up lathe synchronous operation starting point provides reference frame.
(5) lathe synchronous operation starting point is set up: at the situation that may be in deflected condition before the lathe start, be the adverse effects such as leading screw wearing and tearing that prevent that the lathe operation under deflected condition for a long time from bringing, automatic deviation correction after need starting shooting is handled, set up machine tooling operation synchro control starting point, realize that synchro control detects the starting point initialization.Before the synchro control starting point is set up, can only carry out the intrinsic manual control model of double-shaft synchronization controller; The synchro control of numerically-controlled machine need can normally be carried out after the synchronous operation starting point is set up, otherwise the anxious bed of shutting down of reporting to the police.If " synchronous mark position " in the system parameter table manually is provided with, realize forced synchronism, sync control device can be realized the response of the various operator scheme controls of digital control system.
(6) pitch error and backlash Compensation of Half: for the digital control system of position semiclosed loop, leading screw pitch error and feed screw nut backlass exist inevitably, for reducing its influence to synchronous operation, the two-way relative pitch error information of the relative main drive shaft X1 of driven shaft X2 is stored in (containing backlash Compensation of Half information) power down of sync control device and preserves in the chip system parameter list, use when adjusting for instructing, and can make things convenient for setting by serial ports from axle X2.
(7) sync control device IO interface unit:, each parameter of controller is provided with, revises, shows by keyboard and display unit (or external computing machine).
(8) emergency circumstance is handled: make judgement at hot job (as synchronous deviation excessive etc.), and carry out corresponding urgency and stop handling.Simultaneously, with urgency stop information feedback to the CNC device stopping machine tool motion rapidly, thereby the protection lathe.
Description of drawings
Fig. 1 is numerical control machine tool double-shaft synchronization controller and digital control system connection relationship block diagram;
Fig. 2 is the numerical control machine tool double-shaft synchronization controller block diagram;
Fig. 3 obtains block diagram for code device signal;
Fig. 4 is a numerically-controlled machine sync control device control module functional block diagram;
Fig. 5 is a signal flow block diagram between numerically-controlled machine sync control device control module functional module;
Fig. 6 is that schematic diagram is adjusted in the pulse of numerically-controlled machine sync control device;
Fig. 7 is that manual single shaft is adjusted block diagram;
Fig. 8 is a graph of a relation between manual detection at zero point and manual single shaft are adjusted;
Fig. 9 is a graph of a relation between synchronous starting point foundation and manual single shaft are adjusted;
Figure 10 is synchronizing shaft placement position at zero point figure, and " ● " is expressed as the position on the corresponding guide rail of motor zero Z among the figure;
Figure 11 sets up process flow diagram flow chart for synchronous starting point.
Embodiment
The ultimate principle of this numerically-controlled machine double-shaft synchronization controller is: sync control device is after whenever receiving the CNC pulse command, be transmitted to two synchronized axles (X1 axle and X2 axle in real time, be that example illustrates with the X-axis in the literary composition), simultaneously the position feed back signal of two axles is counted, and calculate the position deviation of two synchronizing shafts, according to deviation to driven shaft (X2 axle) wherein instruction carry out the increase and decrease pulse number adjustment of certain limit, thereby realize the synchro control of two motor outgoing positions.The present invention is further detailed explanation below in conjunction with accompanying drawing and example.
As shown in Figure 1, be numerical control machine tool double-shaft synchronization controller and digital control system binding block diagram; After increasing double-shaft synchronization controller 1, for the digital control system that constitutes, CNC device 5 is only directly controlled an axle X1 in two synchronous axles, can not increase the additional functionality expansion to numerical control device 5, is convenient to engineering construction.For main drive shaft X1, its position closed loop control, the position of being made X1 axle driving governor 2 by the instruction of double-shaft synchronization controller 1 forwarding CNC device 5 is given, the feedback signal of motor encoder 4 is as position feedback, in X1 axle driving governor 2, finish both deviation calculation and carry out position and speed control according to the deviation size, thus the location, exact position of realizing main drive shaft X1.For the control of driven shaft X2, its control principle is with to the control of main drive shaft X1, different just considered actual synchronization position deviation (getting rid of the influence that relative pitch compensates accumulated value) and relative pitch offset in given.
As shown in Figure 2, be the numerical control machine tool double-shaft synchronization controller block diagram; Numerical control machine tool double-shaft synchronization controller comprises: clock 10, IO interface 11, two-axis position detection module 12, control module 13, system parameter table 14, and pitch compensation table 15.
Wherein: clock 10 is used to control module 13 and two-axis position detection module 12 that clock reference is provided, and realizes real-time parallel work between the two.
System parameter table 14 is used to preserve double-shaft synchronization controller 1 and controls required various inner parameter information, as to the mode of operation of synchronizing shaft, the manually operation setting of speed etc. down, be correlated with for control module 13 condition that provides is provided.
Pitch compensation table 15 is used to store the relative pitch offset data of leading screw; Two synchronizing shafts return zero set up the synchronous operation starting point after, adopt machine industry two-way pitch compensation laser ranging method commonly used that main drive shaft X1 pitch precision is measured, its pitch compensation value is inserted in the numerical control device pitch compensation table, under numerical control device performance pitch compensation effect prerequisite, adopt same two-way pitch compensation laser ranging method that driven shaft X2 pitch is measured, the pitch compensation data of its relative main drive shaft X1 are inserted in the pitch compensation table 15 of double-shaft synchronization controller, are used to improve the synchronized positioning precision of two synchronizing shafts.
Two-axis position detection module 12 is used for two synchronizing shaft motor encoders 4,4 ' carries out position and synchronism deviation detection, and detection information offered control module 13, to realize that two synchronizing shafts are carried out motion control, accept control module 13 simultaneously the initialization survey that it carries out is played point control.
Illustrate the concrete modular structure and the workflow of two-axis position detection module 12 and control module 13 below.
As shown in Figure 3, obtain block diagram for code device signal; Two-axis position detection module 12 comprises position probing interface circuit 121 and quadruple position counting module 122.
Position probing interface circuit 121 is realized the differential signal of two synchronizing shaft motor encoders 4,4 ' is carried out differential reception, Filtering Processing, and is flowed to quadruple position counting module 122,
Quadruple position counting module 122, the position signalling that realization transports position probing interface circuit 121 carries out the quadruple processing and the phase demodulation counting is handled, thereby obtain two synchronizing shaft current locations and synchronism deviation size, for further main control unit 13 controls provide two synchronizing shaft current locations and synchronism deviation size information, accept control module 13 simultaneously to its measurement starting point initialization of carrying out.
As shown in Figure 4, control module 13 comprises following each module:
Mode of operation chosen module 130, the mode of operation of determining according to system parameter table 14, the information of utilizing position acquisition module 136 to obtain, realize respectively manual single shaft adjust A, manually detect zero point B, starting point is set up C and the control of synchro control D pattern synchronously, and accepts the monitoring of fault diagnosis module 135.
Manually independent adjustment modes A when two synchronizing shafts are asynchronous, realizes under the manual case two synchronizing shafts being moved respectively, realizes manually operated treatment for correcting; Manually zero point detecting pattern B, realize that synchronizing shaft is corrected under the synchronous regime, position vector measurement function between diaxon zero point (corresponding motor encoder Z pulse position), and measurement result is saved in the system parameter table 14; Starting point is set up pattern C synchronously, owing to be under the free state before the lathe start, may there be the preceding deflection of start, be the no deflection operation that guarantees synchronizing shaft, realizing that by this function lathe returns that to set up no deflection in zero process synchronous, also is the basis of carrying out synchro control; Synchro control pattern D at the synchronism deviation that the lathe synchronizing shaft occurs in motion process, according to the dynamic compensation adjustment process that the certain limitation condition is carried out driven shaft, controls with the coordinate synchronization that realizes diaxon.
X1 axle instruction sending module 133, X2 axle instruction sending module 134 realizes that sync control device is operated in the instruction of output under the different working modes to external drive controller 2 and 2 '.
Synchro control D mainly is made up of compensation computing module 137, dead band amplitude limit module 138,139 3 unit of impulse compensation adjusting module; Wherein compensate computing module 137, according to carrying out pitch compensation table inquiry and calculate in actual synchronization deviation and two synchronizing shaft current axis positions by the compensation that backoff algorithm is finished synchronous error; Dead band amplitude limit module 138, the band dead band of carrying out according to synchronous error compensation calculated value size and the pulse restriction of amplitude limit ability; Impulse compensation adjusting module 139 is realized according to the result of module 138 that pulse command sequence to the driven shaft X2 that flows to module 134 compensates and is adjusted control.Impulse compensation adjusting module 139 is followed instruction trapping module 131 pulse of catching and is exported, in the time will realizing increasing the compensation adjustment of m pulse, with 131 certain rising edge of a pulse of catching is that starting point is that (T is the cycle of last command pulse to T/2 at 2m width of 139 insertions, the CNC programming time guarantees that the pulse in T/2 cycle can not exceed the responding range of servo driving) continuous impulse, during 139 outputs of ignoring 131 of following; For reducing the pulse adjustment, corresponding pulse output of the pulse shielding of in impulse compensation adjusting module 139 instruction trapping module 131 being sent gets final product.
As shown in Figure 5, be signal flow block diagram between control module 13 functional modules in the numerically-controlled machine sync control device; According to the parameter setting of system parameter table 14, control module 13 operates under the different working modes such as " manually single shaft adjustment A, manual zero point are detected B, starting point is set up C, synchro control D synchronously ".Manually are detecting under the B pattern at single shaft adjustment A or manual zero point, soft switch module 132 chooses the instruction of A or B to export to module 133 and module 134 respectively; Two synchronizing shaft positions, the deviation information that position acquisition module 136 obtains in real time exported to A or B pattern as controlled condition; Fault diagnosis module 135, real-time implementation to two synchronizing shaft positions of position acquisition module 136, deviation information (since A, B pattern may operate in synchronous starting point also set up before, the limiting alarm value of this deviation information is by manually setting in system parameter table 14) and A or B mode state monitor, stop A or B immediately in case take place to report to the police, and cut off soft switch module 132; The duty of A or B will feed back to 14 and also show output.Starting point is set up C synchronously, during CNC device 5 synchronizing shafts return zeroing, in soft switch module 132, what the input of X1 axle instruction sending module 133 was chosen is the output of instruction trapping module 131, also give C with these module 131 outputs simultaneously, and export to module 134 without delay, when setting up the C pattern and finish, starting point synchronously carries out measurement starting point initialization process to two-axis position detection module 12 by position acquisition module 136; During setting up other of synchronizing process automatically, signal flow concerns the same A or B unanimity; Synchronous starting point is set up the C specific implementation and is seen Figure 11.Synchro control D, in the soft switch module 132, the output of instruction trapping module 131 is chosen in the input of X1 axle instruction sending module 133, and the output of the impulse compensation adjusting module 139 of synchro control D is chosen in the input of X2 axle instruction sending module 134; The two synchronizing shaft positions that position acquisition module 136 is obtained in real time, deviation information and obtain the compensation computing module 137 that the pitch compensation value is given synchro control D together according to current location inquiry pitch compensation table 15 realize that relative pitch compensation accumulated value upgrades and compensation is calculated; And according to the dead band, the amplitude limit size that are provided with in the system parameter table 14, finish in dead band amplitude limit module 138 the calculated value size of compensation computing module 137 is carried out the control of dead band, amplitude limit, the output result according to module 138 realizes the output order of instruction trapping module 131 is compensated adjustment in impulse compensation adjusting module 139 again; Fault diagnosis module 135, real-time implementation monitors two synchronizing shaft positions, deviation information and the synchro control D running status of position acquisition module 136, and duty is fed back to 14 show output, stop synchro control D immediately in case break down, and cut off soft switch module 132.
The specific implementation process of each function of apparatus of the present invention is described below: 1, code device signal receiving function respectively
Code device signal obtains block diagram as shown in Figure 3, the position probing interface circuit 121 that utilizes two-axis position detection module 12 to be equipped with, realization is accepted and Filtering Processing servomotor scrambler (4 and the 4 ') differential signal of described two synchronizing shafts, in quadruple position counting module 122, finish the position counting of two axles, direction of motion identification and synchronism deviation are calculated, and all measurement results are stored in the internal register of two-axis position detection module 12, be current direction of motion of diaxon and position measurement count value X1, X2, diaxon position synchronous deviation E=X1-X2, these values all are 0 automatically when start powers on.Read use in order to the follow-up control module that carries out 13.2, the compensation adjustment of CNC command signal and sending function
Sync control device is adjusted principle as shown in Figure 6 to CNC command pulse signal, according to actual synchronization deviation (module 136 obtain deviation E subtract relative pitch compensation aggregate-value) and relative pitch error compensation value to driven shaft X2 increase, the subtract pulse compensation deals.Consider that motor speed is because of being subjected to the influence problem of the contingent velocity perturbation of command pulse adjustment to the part to be processed surface quality, its impulse compensation technology has adopted the increase and decrease pulse of carrying out the amplitude limit function in a sync control device control cycle (suitable with servo-driver position control periodicity magnitude) to adjust method, thereby has guaranteed the steady and level and smooth of synchronizing shaft travelling speed.For the adverse effect that prevents that too frequent adjustment process from bringing motor, in the pulse adjustment process, also be provided with and adjust the dead band, only cross the dead band in synchronous error, just carry out the pulse increase and decrease on the lathe and adjust processing.It is simple relatively to reduce burst process, only needs module 139 inner screening corresponding number pulses to follow output and gets final product.And when increasing burst process, its key is to catch 131 by instruction to obtain the instruction cycle T (CNC guarantees that the pulse in T/2 cycle can not exceed the responding range of servo driving during programming) of CNC device 5 instructions before inserting compensated pulse in control cycle of sync control device, in module 139, the pulse train that the increase cycle is T/2 (this disposal route has reduced the processing burden of sync control device, has improved its responding ability) is carried out in instruction according to calculating the umber of pulse that should increase again.Since numerical control device one in the control cycle width of command pulse be consistent, and the control cycle of sync control device is less, a numerical control device position control cycle is multiple times than the sync control device control cycle, so this compensation method can realize full remuneration in most cases; Undercompensation occurs even stride under the numerical control device position control cycle situation, will also can obtain correcting and realizing full remuneration in the cycle in next synchro control at the sync control device control cycle.Figure 6 shows that carrying out impulse compensation adjusts principle, realized of the no delayed response of lathe synchronizing shaft, thereby realized that synchronizing shaft and lathe other each are consistent to the response that CNC instructs the CNC instruction.
Compensate and be treated to example explanation detailed process to increase, to subtract a pulse below.
Because the characteristics of servo driving location of controls control, servo driving controller pulse-width in the impulse response limit of power requires not strict, so on the basis that the instruction of 131 pairs of lathe numerical control devices of instruction trapping module is caught, the cycle size T of while recording instruction pulse.Impulse compensation adjusting module 139 is starting point a pulse train (CNC when programming guarantee the pulse in T/2 cycle can not exceed the responding range of servo driving) that continuously insert 2m width be T/2 to follow instruction trapping module 131 pulses output rising edge a synchro control in the cycle, the numerical control command pulse is followed and is not carried out during this time, thereby realize increasing the compensation adjustment of m pulse, compensation adjustment module 139 is followed the command pulse output that instruction trapping module 131 is caught again behind the negative edge of last compensated pulse that inserts; For reducing the pulse adjustment, in impulse compensation adjusting module 139, the pulse of catching is reduced by corresponding pulse output and get final product.Wherein, m is for compensating the pulse number that is about to driven shaft X2 is increased compensation that computing module 137 and dead band amplitude limit module 138 are determined, T is the cycle size of the last command pulse of train pulse of compensation insertion.
3, manually single shaft is adjusted function
In the lathe operational process, when finding tangible deflection situation, need carry out manual single shaft control, so that proofread and correct the relative position of two between centers, adjust A by manual single shaft and realize.Its controlling party block diagram is proofreaied and correct back two synchronizing shaft worktable effects shown in Z1-A1 among Figure 10 as shown in Figure 7.4, two synchronizing shafts vector position manual measurement function between zero point under the synchronous regime
Two synchronizing shafts vector position manual measurement function between zero point under the synchronous regime realizes by detecting B manual zero point.Manually carrying out after two synchronizing shafts are corrected to synchronous regime, start under the synchronous regime two synchronizing shafts vector position manual measurement function between zero point, two synchronizing shafts are not carrying out under the pulse adjustment situation, move (in system parameter table 14, being provided with) with one than low velocity, after main drive shaft X1 detects zero point, operation stops, as two synchronizing shafts between zero point vector position measure 0; And be the center with this position, two synchronizing shaft motors are rotated in the forward half-turn by fixed routine again, fail to detect driven shaft X2 zero point, counter again turning around, just stop immediately after zero point as long as detect driven shaft X2 during this time, can realize the manual measurement of two synchronizing shaft vector position L0 between zero point under the synchronous regime.Manually detect zero point between B and manual single shaft adjustment A and concern as shown in Figure 8.
5, lathe synchronous operation starting point is set up function
Lathe synchronous operation starting point is set up function, sets up C by synchronous starting point and realizes.Owing to be under the free state before the lathe start, may there be the preceding deflection of start, be the no deflection operation that guarantees synchronizing shaft, must set up the synchronous starting point of no deflection by lathe zero process of returning.For the increment type detection system, its key is to locate following two the position deviation L1 that synchronizing shaft Z is interpulse of current virtual condition, and with proofread and correct no deflection synchronous regime under the interpulse vector position deviation L0 (being recorded in the sync control device system parameter table 14) of (worktable is vertical with two synchronizing shafts) two axle Z compare, thereby obtain the preceding actual already present synchronism deviation EE=(L1-L0) of start, utilizing sync control device to carry out automatic deviation correction again handles, promptly only make driven shaft X2 move EE, thereby set up the synchronous operation starting point.Because after setting up the synchronous operation starting point, the position deviation E of sync control device should serve as to carry out with reference to 0 with this synchronous starting point, so when setting up the C pattern in synchronous starting point and finish, also need realize measurement starting point initialization process to two-axis position detection module 12.Detect synchronous starting point set up C and manually single shaft adjust between A relation as shown in Figure 9.
Two synchronizing shafts exist the deflection situation to describe during with start, and its locus of synchronizing shaft worktable figure sets up no deflection synchronization onwards point process as shown in figure 11 as shown in figure 10.The CNC start, synchronizing shaft returns zero and finds (because of the X1 axle is a CNC device working control axle, have the zero process characteristics of returning of general numerically-controlled machine, this moment, CNC device X-axis coordinate was shown as 0) behind the main drive shaft X1 Z1 at zero point, because Z1-B1 situation among worktable such as Figure 10 may appear in the actual deflection of worktable.Set up synchronous operation starting point process flow diagram as can be known according to Figure 11, because two synchronizing shafts return zero process independently, only be the relation of following each other, after main drive shaft returns zero end, main drive shaft X1 will be parked in the Z1 position forever; Driven shaft X2 will be parked in the Z2 position when returning zero end forever.Owing to return the deflected condition when worktable can not change start in zero, driven shaft X2 returns zero when finishing, and worktable will be in and (Z1-B1) (B-Z2) position (influence of pitch error is very little, does not consider) of keeping parallelism.(Z1-A1) for synchronizing shaft CNC returns Z-operation desirable no deflection sync bit of worktable when finishing, the vector shift between the relative main drive shaft X1 of driven shaft X2 Z2 at zero point this moment Z1 at zero point is L0, has been recorded in the sync control device system parameter message table 14.Figure 11 knows by flow process, when driven shaft returns zero end and is parked in the Z2 position, the main drive shaft X1 that obtains current location vector value (being the absolute position value of relative main drive shaft Z1 at zero point) at this moment is the vector position L1 of Z1B, and actual skewed error is EE=L1-L0; Can automatic deviation correction handle for realizing this moment, keeps main drive shaft X1 invariant position and driven shaft X2 promptly arrives mobile EE vector shift in (B-B2) position, realized that promptly correction handles, and set up the synchronous operation starting point.Because the CNC device shows this moment be not 0; for guaranteeing that synchronizing shaft is shown as 0 in the X-axis of returning zero back CNC; generally also need return zero once more (because of the generation of deflection only may occur in lathe anxious stop or the motor power-down conditions under; and this moment, motor was in excitatory state; so deflection can not take place automatically again) realize that the CNC device is shown as 0; worktable will be in (Z1-A1) position this moment, and finish synchronous starting point and set up pattern C.6, pitch error and backlash Compensation of Half function
The The compensation of pitch error of main drive shaft X1 and backlash Compensation of Half are finished in numerical control device CNC, and all realizations in the control module 13 of Fig. 4 of driven shaft X2.Detect the physical location that obtains current axis according to position acquisition module 136, and inquiry pitch compensation table 15, obtain relative pitch offset (containing backlass information), in compensation computing module 137, finish pitch compensation and backlash Compensation of Half.7, sync control device IO interface unit
By IO interface 11, utilize keyboard and display (or external computing machine), the controller inner parameter is provided with, revises, shows.
8, emergency circumstance processing capacity
After starting point is set up synchronously; the output information 10 of fault diagnosis module 16 real time monitoring diaxon position detecting module; hot job such as excessive or axle physical location ultralimit is handled at position synchronism deviation in the motion; and feed back to CNC device 5 and realize that lathes promptly stop, the design protection of fault diagnosis module 16 safe operation of lathe.
The present invention is not limited to above-mentioned embodiment; persons skilled in the art are according to content disclosed by the invention; can adopt other multiple embodiment to implement the present invention; therefore; every employing project organization of the present invention and thinking; do some simple designs that change or change, all fall into the scope of protection of the invention.
Claims (1)
1, a kind of numerical control machine tool double-shaft synchronization controller is characterized in that: this device comprises clock (10), IO interface (11), two-axis position detection module (12), control module (13), system parameter table (14), and pitch compensation table (15);
Clock (10) is used to control module (13) and two-axis position detection module (12) that clock reference is provided;
IO interface (11) is used for the interior parameter of system parameter table (14) and pitch compensation table (15) and running status are set and being shown for the user;
System parameter table (14) is used to preserve the The whole control device and controls required inner parameter information;
Pitch compensation table (15) is used to store the pitch compensation data of leading screw;
Two-axis position detection module (12) is used for two synchronizing shaft motor encoders are carried out position and synchronism deviation detection, and detection information is offered control module (13);
Control module (13) is selected corresponding mode of operation according to the parameter setting of system parameter table (14); The position and the deviation information of two synchronizing shafts that provide according to two-axis position detection module (12) are finished control to two synchronizing shafts according to the selected pairing flow process of mode of operation;
Two-axis position detection module (12) comprises position probing interface circuit (121) and quadruple position counting module (122);
Position probing interface circuit (121) is used to realize that the differential signal to two synchronizing shaft motor encoders carries out differential reception, Filtering Processing, and flows to quadruple position counting module (122);
Quadruple position counting module (122) is used for the position signalling that position probing interface circuit (121) transports is carried out quadruple processing and the processing of phase demodulation counting, obtain two synchronizing shaft current locations and synchronism deviation information, and offer control module (13), receive control module (13) simultaneously it is detected the initialization process of starting point;
Control module (13) comprises following each module:
Instruction trapping module (131) is used for the instruction of lathe numerical control device is caught;
Position acquisition module (136) is used for obtaining from two-axis position detection module (12) current location and the deviation information of two synchronizing shafts, offer the various different working modes control use down that mode of operation chosen module (130) is determined, and can realize initialization process quadruple position counting module (122);
Fault diagnosis module (135) is realized the real-time monitoring to whole sync control device according to two synchronizing shaft position and deviation informations under each mode of operation;
The mode of operation that mode of operation chosen module (130) is determined according to system parameter table (14), the information of utilizing position acquisition module (136) to obtain, realize manual single shaft adjustment (A), manual detecting pattern at zero point (B), starting point foundation synchronously (C) and four kinds of mode of operations of synchro control (D) respectively, and accept the monitoring of fault diagnosis module (135);
The selectivity that soft switch module (132) is used for giving an order at different working modes is exported;
X1 axle instruction sending module (133) and X2 axle instruction sending module (134) are used for that sync control device is operated in the instruction of exporting under the different working modes and offer outside first driving governor (2) and outside second driving governor (2 ');
Compensation computing module (137), dead band amplitude limit module (138), impulse compensation adjusting module (139) are used to be implemented under the synchro control mode of operation synchro control to two synchronizing shafts; Wherein, compensation computing module (137) carries out the compensation calculating that synchronous error was inquired about and finished to the pitch compensation table according to actual synchronization deviation and two synchronizing shaft current axis positions; The band dead band that dead band amplitude limit module (138) is carried out according to synchronous error compensation calculated value size and the pulse restriction of amplitude limit ability; Impulse compensation adjusting module (139) is realized according to the result of dead band amplitude limit module (138) that pulse command sequence to the driven shaft X2 that flows to X2 axle instruction sending module (134) compensates and is adjusted control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810196820A CN100595707C (en) | 2008-08-29 | 2008-08-29 | Numerical control machine tool double-shaft synchronization controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810196820A CN100595707C (en) | 2008-08-29 | 2008-08-29 | Numerical control machine tool double-shaft synchronization controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101349910A CN101349910A (en) | 2009-01-21 |
| CN100595707C true CN100595707C (en) | 2010-03-24 |
Family
ID=40268726
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810196820A Expired - Fee Related CN100595707C (en) | 2008-08-29 | 2008-08-29 | Numerical control machine tool double-shaft synchronization controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100595707C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI679507B (en) * | 2018-10-23 | 2019-12-11 | 國立中正大學 | Learning system and method for controlling dual-axis machine tool with equivalent contour error |
Families Citing this family (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102347720B (en) * | 2010-08-06 | 2013-04-24 | 上海开通数控有限公司 | Method for automatically zeroing analog quantity speed instructions of servo controller |
| CN102059573B (en) * | 2010-11-10 | 2012-07-04 | 西安交通大学 | Modeling method for dual-driving synchronous electromechanical coupling characteristic of walking beam type gantry machine tool |
| CN102298357B (en) * | 2011-03-28 | 2012-09-19 | 中国科学院沈阳计算技术研究所有限公司 | CNC double-spindle coordinated synchronization control method based on field bus |
| CN102306011B (en) * | 2011-05-17 | 2016-04-06 | 机械科学研究总院先进制造技术研究中心 | A kind of Double-axis synchronous control method for linear motion unit |
| CN102637011B (en) * | 2011-11-30 | 2014-02-26 | 沈阳工业大学 | Robust control method and system for directly driving numerical control platform based on coordinate transformation and parameter adjustment |
| CN102841551A (en) * | 2012-09-25 | 2012-12-26 | 北京机械设备研究所 | Double-electric-cylinder synchronous control method based on multi-ring absolute encoders |
| CN102914968B (en) * | 2012-10-11 | 2015-01-07 | 河南卫华重型机械股份有限公司 | Self-learning synchronous corrosion control system and method |
| CN104854523B (en) * | 2013-01-08 | 2017-07-04 | 富士电机株式会社 | Control system, main Programmable Logic Controller, from Programmable Logic Controller and control method |
| CN103753351B (en) * | 2013-12-24 | 2016-05-18 | 西安瑞特快速制造工程研究有限公司 | A kind of Digit Control Machine Tool backlass monitoring method of Full-closed servo system |
| JP5893678B2 (en) | 2014-06-10 | 2016-03-23 | ファナック株式会社 | Motor control device and motor control method for protecting tool and workpiece during power failure |
| CN104238447B (en) * | 2014-09-19 | 2017-04-05 | 上海电器科学研究院 | A kind of method for realizing Biaxial synchronous control |
| CN104731024B (en) * | 2015-04-01 | 2020-02-21 | 中国工程物理研究院机械制造工艺研究所 | Multi-mode operation control method for double flexible grinding heads of magnetorheological polishing machine |
| CN105278553B (en) * | 2015-10-13 | 2018-09-21 | 华中科技大学 | A kind of dual controller synchronization contour outline control method |
| CN106903853B (en) * | 2015-10-27 | 2019-05-24 | 深圳市亚启科技有限公司 | Control method and system for injection molding machine servo turntable |
| CN106502161B (en) * | 2016-11-11 | 2023-10-27 | 北京精密机电控制设备研究所 | Three-channel flow regulation control method, device and servo control driving system |
| CN107598676A (en) * | 2017-09-07 | 2018-01-19 | 安徽涌诚机械有限公司 | Heavy duty machine tools correct automatically in test specimen point and allowance determines method |
| CN109189003A (en) * | 2018-08-03 | 2019-01-11 | 天津工程机械研究院有限公司 | A kind of gantry synchronisation control means |
| CN108646668A (en) * | 2018-08-08 | 2018-10-12 | 深圳市山龙智控有限公司 | Four axis dual stage face processing space control systems and method |
| CN111130400B (en) * | 2018-11-01 | 2021-12-21 | 松下电气机器（北京）有限公司 | Control method, controller and control system of platform door |
| CN110045681B (en) * | 2019-03-12 | 2020-10-23 | 浙江大学 | External compensation method for numerical control machine tool position-related errors based on position prediction |
| CN110262394B (en) * | 2019-07-05 | 2020-09-08 | 华中科技大学 | Method for compensating contour error in numerical control machining |
| CN110794771B (en) * | 2019-09-26 | 2022-06-17 | 天津市天森智能设备有限公司 | Dual-drive closed-loop control algorithm of numerical control system |
| CN111360580B (en) * | 2019-12-26 | 2022-05-13 | 武汉善福重型机床有限公司 | Method for detecting synchronous numerical control shaft of non-marking machine tool |
| CN112462684B (en) * | 2020-06-16 | 2021-10-01 | 宁波智能装备研究院有限公司 | Contour tracking and bilateral synchronous cooperative control method and system for gantry platform |
| CN112621198B (en) * | 2020-12-16 | 2022-05-24 | 歌尔光学科技有限公司 | Screw locking machine control method, device, equipment and storage medium |
| CN112894801B (en) * | 2020-12-28 | 2022-03-22 | 广东拓斯达科技股份有限公司 | Zero returning method and device for double-shaft same-guide-rail equipment |
| CN112776344B (en) * | 2020-12-31 | 2022-09-06 | 天津镭明激光科技有限公司 | Molding shaft double-drive structure debugging control system of additive manufacturing equipment and control method thereof |
| CN113552845B (en) * | 2021-07-29 | 2022-06-21 | 重庆博张机电设备有限公司 | Measurement control method and flaker |
| CN114264211B (en) * | 2021-12-27 | 2024-02-13 | 青岛弗尔迪测控有限公司 | Large gear detection device and method |
| CN115167280A (en) * | 2022-08-15 | 2022-10-11 | 新代科技(苏州)有限公司 | Coupling error protection and compensation method |
| CN115933544A (en) * | 2023-01-10 | 2023-04-07 | 东莞市兆丰精密仪器有限公司 | Multi-axis synchronous motion control method and device and computer readable storage medium |
-
2008
- 2008-08-29 CN CN200810196820A patent/CN100595707C/en not_active Expired - Fee Related
Non-Patent Citations (8)
| Title |
|---|
| NUM数控系统在机床双轴同步控制中的应用. 李伟光，刘其洪，王元聪，赵博.机电工程技术，第34卷第4期. 2005 |
| NUM数控系统在机床双轴同步控制中的应用. 李伟光，刘其洪，王元聪，赵博.机电工程技术，第34卷第4期. 2005 * |
| 五轴电液仿真转台的双马达同步控制. 王燕山，李运华，王益群.北京航空航天大学学报，第34卷第4期. 2008 |
| 五轴电液仿真转台的双马达同步控制. 王燕山，李运华，王益群.北京航空航天大学学报，第34卷第4期. 2008 * |
| 以FANUC-15i为例浅析数控系统同步控制在双驱中的应用. 戴永红.制造技术与机床，第5期. 2005 |
| 以FANUC-15i为例浅析数控系统同步控制在双驱中的应用. 戴永红.制造技术与机床，第5期. 2005 * |
| 双轴同步控制技术的研究. 曹毅，周会成，唐小琦.制造技术与机床，第2期. 2008 |
| 双轴同步控制技术的研究. 曹毅，周会成，唐小琦.制造技术与机床，第2期. 2008 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI679507B (en) * | 2018-10-23 | 2019-12-11 | 國立中正大學 | Learning system and method for controlling dual-axis machine tool with equivalent contour error |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101349910A (en) | 2009-01-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100595707C (en) | Numerical control machine tool double-shaft synchronization controller | |
| CN1892523B (en) | Servo controller | |
| CN102441569A (en) | New method for controlling flying shears for bars and wires based on T400 | |
| US9588509B2 (en) | Correction method at time of feed axis reversal | |
| CN105122160A (en) | Numerical control apparatus | |
| CN102016733A (en) | Numerical control method and apparatus therefor | |
| CN103676653A (en) | Servo synchronous control method and system applied to gantry mechanism | |
| US5194790A (en) | Control device for controlling a servo motor | |
| CN102075125B (en) | Method for controlling multi-axis linkage servo control systems of numerical control (NC) machine tools | |
| CN102540965A (en) | Bus-based synchronization control method for two servo shafts | |
| CN110286643A (en) | The control method and device of machine tool motion track, storage medium, processor | |
| CN104977898B (en) | Five-coordinate linkage processes dynamic Error Analysis method and its system | |
| CN111813052A (en) | Numerical control system structure and general numerical control system | |
| CN103853094A (en) | Numerical control machine tool CNC (Computer Numerical Control) system | |
| CN103455007A (en) | Multi-punch online synchronous operation system and operation control method thereof | |
| CN102478820A (en) | Novel device for compensating positioning error of numerical control machine tool in real time | |
| JPS6079209A (en) | Automatic dimensions measuring system | |
| CZ290203B6 (en) | Decentralized control of a motor drive | |
| US4266170A (en) | Safety arrangement for NC systems | |
| CN208743711U (en) | A kind of double axis systems for vertical machining centre | |
| CN206278839U (en) | Automation loaded van track crane cart alignment system based on Flag location-plates | |
| CN106477855A (en) | A kind of control method based on pid algorithm intellectuality bottle-making machine | |
| CN102073299A (en) | Fixed length flying saw control system controlled by servo speed regulation programmable logic controller (PLC) | |
| CN221170625U (en) | Screw rod synchronous control system | |
| EP0346476A1 (en) | Spindle control method and numerical controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100324 Termination date: 20140829 |
|
| EXPY | Termination of patent right or utility model |