CN101487688B - Method and apparatus for measuring and compensating transmission error of electric cylinder - Google Patents
Method and apparatus for measuring and compensating transmission error of electric cylinder Download PDFInfo
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- CN101487688B CN101487688B CN2009100665108A CN200910066510A CN101487688B CN 101487688 B CN101487688 B CN 101487688B CN 2009100665108 A CN2009100665108 A CN 2009100665108A CN 200910066510 A CN200910066510 A CN 200910066510A CN 101487688 B CN101487688 B CN 101487688B
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Abstract
The invention is a method and a device for measuring and compensating transmission error of electric cylinders; a control computer transmits position commands to a position controller for signal conversion via software, and a servo driver drives an alternating current servo motor to rotate so as to drive an ejector rod of the electric cylinder to have a straight line motion; an encoder outputs feedback signals to the position controller, and the position commands are compared with the feedback signals output by the encoder; when the ejector rod of the electric cylinder has a straight line motion, a digital display magnetoscale measures the travel route; a strain gauge force sensor is used for detecting the load supported by the ejector rod of the electric cylinder, and the load value is converted into analog voltage signals that are input to an A/C interface card; the A/C interface card converts the analog voltage signals to digital signals which are input to the control computer. To give full consideration to influence factors of transmission error in inverting and oscillating load when the electric cylinder moves, when the control computer compensates transmission error, over compensation or undercompensation of the electric cylinder is avoided, thereby improving the control precision of electric cylinders.
Description
Technical field
The present invention is the method for a kind of measurement and compensating transmission error of electric cylinder, and the detection compensation system that is applicable to this method also is provided simultaneously, belongs to automatic control and mechanical detection means field
Background technology
Electronic cylinder is the critical movements parts of six degree of freedom motorized motions platform.Usually the measurement of transmission error of electric cylinder is the electronic cylinder length of employing standard displacement sensor.Difference between the given instruction length value of length measured and control computer then is a transmission error of electric cylinder.The shortcoming of this measurement transmission error of electric cylinder is: do not consider to commutate and variable load underdrive error effect when electronic cylinder moves.Therefore when control computer is carried out the driving error compensation, over-compensation or under-compensation phenomenon appear easily.
Summary of the invention
The invention provides a kind of method of measuring with compensating transmission error of electric cylinder, purpose be under the situation of electronic cylinder variable load, measure its driving error, and carry out error compensation, improve the kinematic accuracy of electric platforms.
The present invention also provides the detection that is applicable to this method compensation system, has simple in structurely, and pick-up unit is few, and detection time is short, detects the comprehensive characteristics of performance.
The method of measurement of the present invention and compensating transmission error of electric cylinder may further comprise the steps:
1) measurement of pitch error
Measure pitch error when electronic cylinder is applied different loads, load-less condition is measured the backlass error down, and concrete steps are as follows:
Electronic cylinder rod is equally divided into several backoff interval, controls electronic cylinder by control computer and carry out back zero instruction, electronic cylinder rod zero-bit is coordinate zero point; Compensation rate with coordinate zero point is made as null value then, and is measuring basis with this position; After importing electronic cylinder instruction, control electronic cylinder rod and move a backoff interval, after moving into place, measure the actual amount of movement of electronic cylinder rod; Calculate the difference of actual amount of movement of rod and control computer command value at last, this difference is inserted in the compensation meter of computing machine; Repeat this process, measure the error amount of whole compensating measure points, move to maximum travel position until electronic cylinder rod;
2) measurement of backlass error
Carry out under unloaded, compensating measure point is identical with the interval of measuring pitch error; Measurement mechanism adopts the digital display magnetic scale, at first makes electronic cylinder forward move to the compensating measure point during measurement, record magnetic scale digital display value; Import reverse crawl instruction to computing machine then, when treating that magnetic scale digital display meter indicated value changes, then stop the crawl instruction, control computer crawl increment size then is the backlass measuring error; This value is also inserted in the compensation meter of computing machine, repeated this process, measure all compensating measure point backlass errors;
3) gear train error compensation
With step 1, the 2 electronic cylinder variable load pitch error values of measuring and backlass error amount input control computer, setting up one goes out the throw of lever with electronic cylinder and changes and change two-dimentional error compensation tables with electronic cylinder load, determine the error compensation value of compensating measure point, establishing computer instruction output displacement is X
Instruction, actual output displacement is X
Actual, current location error compensation is I, during electronic cylinder unidirectional motion, error compensation I is the The compensation of pitch error value; When electronic cylinder commutated, error compensation I added the backlash Compensation of Half value for the The compensation of pitch error value; X
Instruction=X
Actual+ I.
Therefore in steering order, add exactly and just can improve electronic cylinder kinematic accuracy by error compensation I.
Electronic cylinder control of the present invention and measuring system, concrete structure is as follows:
The core of error measure of electronic cylinder control system and error compensation is a control computer, its course of work is: control computer sends to positioner by software with position command and carries out signal transformation, voltage signal is to servo-driver behind the positioner output transform, the servo driver drives AC servo motor is rotated, the band leading screw rotates the electronic cylinder rod of leading screw band rectilinear motion.The scrambler output feedback signal is given positioner simultaneously, and positioner compares position command and scrambler output feedback signal, and when fiducial value was zero, positioner output also was zero, and the servo driver drives AC servo motor stops operating.Thereby make the stop motion of electronic cylinder rod.The digital display magnetic scale is measured the stroke of electronic cylinder rod when electronic cylinder rod rectilinear motion, and shows the stroke value of electronic cylinder rod on digital display meter.The foil gauge force transducer is transformed into analog voltage signal with load value and exports to the A/D interface card in order to detect the load that electronic cylinder rod bears, and the A/D interface card is converted to digital signal input control computer with analog voltage signal.
At first electronic cylinder rod is equally divided into several backoff interval during error measure, control electronic cylinder by control computer and carry out back zero instruction, with electronic cylinder rod zero-bit is coordinate zero point, and the compensation rate with coordinate zero point is made as null value then, and is measuring basis with this position.Import electronic cylinder movement instruction from control computer, control electronic cylinder rod and move a backoff interval.After moving into place, measure the actual amount of movement of electronic cylinder rod with the digital display magnetic scale; Calculate the difference of actual amount of movement of rod and control computer command value, this difference is the driving error value at compensation point place.
The process of error compensation is that control computer is set up two-dimentional error compensation tables according to stroke, driving error and the load value of electronic cylinder rod with software.The error compensation of adjacent two measurement points of compensation meter is pressed linear interpolation by control computer and is calculated, and different loads changes the error that causes and also calculates by linear interpolation.Thereby obtain the error compensation value.When the electronic cylinder of control moves, control computer adds that with position command the error compensation value sends to positioner and carries out signal transformation by software, voltage signal is to servo-driver behind the positioner output transform, the servo driver drives AC servo motor is rotated, the band leading screw rotates the electronic cylinder rod of nut band rectilinear motion.Reached fine compensation to electronic cylinder motion.
Good effect of the present invention is: take into full account when electronic cylinder moves and commutate and variable load underdrive error effect factor, when control computer is carried out the driving error compensation, avoid occurring electronic cylinder over-compensation or under-compensation phenomenon, improve the control accuracy of electronic cylinder.
Description of drawings
Fig. 1 is the electronic cylinder system architecture signal of the present invention.
1, computing machine; 2, positioner; 3, A/D interface card; 4, scrambler; 5, AC servo motor; 6, electronic cylinder housing; 7, ball-screw; 8, nut; 9, digital display magnetic scale; 10, servo-driver; 11, electronic cylinder rod; 12, foil gauge force transducer;
Embodiment:
(1) driving error is measured
Driving error is divided two parts, pitch error and backlass error.We apply different loads to electronic cylinder when measuring pitch error, have considered the influence of variable load during owing to the measurement pitch error, therefore measure the backlass error and then do not reload.
In order to obtain the electronic cylinder pitch error of variable load data, we divide unloaded and fully loaded two kinds of situations to measure its pitch error, calculate for interpolation and lay foundation.The method of twice error measure is identical with step, at first electronic cylinder rod is equally divided into several backoff interval, controls electronic cylinder by control computer and carries out back zero instruction, and electronic cylinder rod zero-bit is coordinate zero point; Compensation rate with coordinate zero point is made as null value then, and is measuring basis with this position.After importing electronic cylinder instruction, control electronic cylinder rod and move a backoff interval.After moving into place, measure the actual amount of movement of electronic cylinder rod with high precision digital display magnetic scale; Calculate the difference of actual amount of movement of rod and control computer command value at last, this difference is inserted in the compensation meter.Repeat this process, measure the error amount of whole compensating measure points, move to maximum travel position until electronic cylinder rod.
The measurement of backlass error is to carry out under zero load, and compensating measure point is identical with the interval of measuring pitch error.Measurement mechanism adopts the digital display magnetic scale, at first makes electronic cylinder forward move to the compensating measure point during measurement, record magnetic scale digital display value; Import reverse crawl instruction to computing machine then, when treating that magnetic scale digital display meter indicated value changes, then stop the crawl instruction.At this moment, control computer crawl increment size then is the backlass measuring error.This value is also inserted in the compensation meter, repeated this process, measure all compensating measure point backlass errors.
(2) gear train error compensation
Electronic cylinder variable load error compensation is realized by control computer, control computer is according to electronic cylinder variable load pitch error value and the backlass error amount measured, set up a two-dimentional error compensation tables, this table shows that the gear train error not only goes out the throw of lever with electronic cylinder and changes, but also changes with electronic cylinder load.The two dimension compensation meter has been listed the error compensation value of compensating measure point, and the error compensation of adjacent two measurement points is calculated by linear interpolation by control computer, and different loads changes the error that causes and also compensates by linear interpolation.When control computer compensated, establishing instruction output displacement was X
Refer to Order, actual output displacement is X
Actual, current location error compensation is I, during electronic cylinder unidirectional motion, error compensation I is the The compensation of pitch error value.When electronic cylinder commutated, error compensation I added the backlash Compensation of Half value for the The compensation of pitch error value.X
Instruction=X
Actual+ I; Therefore in steering order, add exactly and just can improve electronic cylinder kinematic accuracy by error compensation I.
According to Fig. 1, electronic cylinder control of the present invention and measuring system are by control computer 1, positioner 2, servo-driver 10, scrambler 4, AC servo motor 5, electronic cylinder housing 6, leading screw 7, and nut 8, electronic cylinder rod 11, foil gauge force transducer 12, digital display magnetic scale 9 and A/D interface card 3 constitute.Control computer 1 is in order to send the motion control instruction of servomotor 5, driving error compensating instruction, and collection force sensor signals; Positioner 2 is connected with the bus of computing machine 11, positioner 2 drives servomotor by servo-driver 10 and rotates, feedback coder 4 is installed on the servo motor shaft, and servomotor 5 rotates by shaft coupling band leading screw 7, nut 8, and nut 8 is with electronic cylinder rod 11 rectilinear motions; Foil gauge force transducer 12 is installed in electronic cylinder rod 11 tops, and the load signal that foil gauge force transducer 12 is gathered is given control computer 1 by A/D interface card 3; Digital display magnetic scale 9 main scales are connected with electronic cylinder housing 6, and digital display magnetic scale 9 slide rules are connected with electronic cylinder rod 11.
The core of error measure of electronic cylinder control system and error compensation is a control computer 1, its course of work is: control computer 1 sends to positioner 2 by software with position command and carries out signal transformation, voltage signal is to servo-driver 10 behind positioner 2 output transforms, servo-driver 10 drives AC servo motor 5 and rotates, the band ball-screw rotates 7,8, ball- screw nut 7,8 is with electronic cylinder rod 11 rectilinear motions.Scrambler 4 output feedback signals are given positioner 2 simultaneously, positioner 2 compares position command and scrambler 4 output feedback signals, when fiducial value was zero, positioner 2 outputs also were zero, and servo-driver 10 drives AC servo motor 5 and stops operating.Thereby make electronic cylinder rod 11 stop motions.Digital display magnetic scale 9 is measured the stroke of electronic cylinder rod 11 when electronic cylinder rod 11 rectilinear motions, and shows the stroke value of electronic cylinder rod 11 on digital display meter.Foil gauge force transducer 12 is transformed into analog voltage signal with load value and exports to A/D interface card 3 in order to detect the load that electronic cylinder rod 11 bears, and A/D interface card 3 is converted to digital signal input control computer 1 with analog voltage signal.
Claims (1)
1. the method for measurement and compensating transmission error of electric cylinder may further comprise the steps:
1) measurement of pitch error
Measure pitch error when electronic cylinder is applied different loads, load-less condition is measured the backlass error down, and concrete steps are as follows:
Electronic cylinder rod is equally divided into several backoff interval, controls electronic cylinder by control computer and carry out back zero instruction, electronic cylinder rod zero-bit is coordinate zero point; Compensation rate with coordinate zero point is made as null value then, and is measuring basis with this position; After importing electronic cylinder instruction, control electronic cylinder rod and move a backoff interval, after moving into place, measure the actual amount of movement of electronic cylinder rod; Calculate the difference of actual amount of movement of rod and control computer command value at last, this difference is inserted in the compensation meter of computing machine; Repeat this process, measure the error amount of whole compensating measure points, move to maximum travel position until electronic cylinder rod;
2) measurement of backlass error
Carry out under unloaded, compensating measure point is identical with the interval of measuring pitch error; Measurement mechanism adopts the digital display magnetic scale, at first makes electronic cylinder forward move to the compensating measure point during measurement, record magnetic scale digital display value; Import reverse crawl instruction to computing machine then, when treating that magnetic scale digital display meter indicated value changes, then stop the crawl instruction, control computer crawl increment size then is the backlass measuring error and inserts in the compensation meter of computing machine, repeat this process, measure all compensating measure point backlass errors;
3) gear train error compensation
With step 1, the 2 electronic cylinder variable load pitch error values of measuring and backlass error amount input control computer, setting up one goes out the throw of lever with electronic cylinder and changes and change two-dimentional error compensation tables with electronic cylinder load, determine the error compensation value of compensating measure point, establishing computer instruction output displacement is X
Instruction, actual output displacement is X
Actual, current location error compensation is I, during electronic cylinder unidirectional motion, error compensation I is the The compensation of pitch error value; When electronic cylinder commutated, error compensation I added the backlash Compensation of Half value for the The compensation of pitch error value; X
Instruction=X
Actual+ I.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2009100665108A CN101487688B (en) | 2009-02-11 | 2009-02-11 | Method and apparatus for measuring and compensating transmission error of electric cylinder |
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| CN2009100665108A CN101487688B (en) | 2009-02-11 | 2009-02-11 | Method and apparatus for measuring and compensating transmission error of electric cylinder |
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| CN101487688A CN101487688A (en) | 2009-07-22 |
| CN101487688B true CN101487688B (en) | 2010-12-29 |
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