CN101770238A - Control method for realizing mechanical synchronization - Google Patents
Control method for realizing mechanical synchronization Download PDFInfo
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- CN101770238A CN101770238A CN200810230247A CN200810230247A CN101770238A CN 101770238 A CN101770238 A CN 101770238A CN 200810230247 A CN200810230247 A CN 200810230247A CN 200810230247 A CN200810230247 A CN 200810230247A CN 101770238 A CN101770238 A CN 101770238A
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Abstract
The invention relates to a control method for realizing mechanical synchronization, which comprises the following steps: providing server motors with the same type for devices requiring synchronization and setting a same parameter; providing mechanical transmission devices with the same type and the same technical parameter for the server motors; providing pulse signal sources with the same quantity capable of outputting the same frequency for the server motors; controlling each server motor to drive the own mechanical transmission device to synchronously operate, comprising the following steps: installing a grating bar in each mechanical transmission device for measuring the linear displacement of each mechanical transmission device; feeding back the pulse signal of each grating bar to a controller of each server motor for substituting a pulse feedback signal of an encoder of the server motor. The method realizes the high-accuracy synchronous operation control between different devices requiring synchronous operation and improves the quality and the efficiency of machining; moreover, the method has simple realization and wide application.
Description
Technical field
The present invention relates to a kind of device synchronization control technology, specifically a kind of control method that realizes mechanical synchronization.
Background technology
For improving mechanical processing quality, the usually synchro control of application apparatus.As in automobile manufacture industry,, adopt laser welding apparatus to weld the steel plate of different-thickness, but, influence weldquality because the error in the difference of plate quality and the shearing can mismatching phenomenon occur inevitably for reducing complete vehicle quality.For fear of the appearance of above-mentioned phenomenon, adopted the technical scheme of the synchronous operation of rolling wheel and support wheel, but because the existence in plant machinery gap, bias phenomenon can take place in the position of reciprocal rolling wheel in service and support wheel, thus influence rolls quality.And for example, need the gantry mechanism lathe of hi-Fix, require the synchronous operation of two ends mechanism, and be difficult in actual applications guarantee, influenced crudy.
Summary of the invention
At above shortcomings part in the prior art, the technical problem to be solved in the present invention provides a kind of control method that overcomes the realization mechanical synchronization of mechanical clearance.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
A kind of control method that realizes mechanical synchronization of the present invention is characterized in that may further comprise the steps:
For the synchronous equipment of needs provides the servomotor of same model, and set identical parameter;
For above-mentioned each servomotor provides model and the identical mechanical driving device of each technical parameter;
The pulse signal source of exportable same frequency and same number is provided for above-mentioned servomotor;
Control above-mentioned each servomotor drive mechanical driving device synchronous operation separately.
The mechanical driving device synchronous operation that above-mentioned each servomotor of described control drives separately may further comprise the steps:
The grating chi is installed in each mechanical driving device respectively, is used for the straight-line displacement amount of each measurement mechanical gearing;
The pulse signal of above-mentioned each grating chi is fed back in the controller of servomotor separately, replace the pulse feedback signal of servomotor scrambler.
The present invention has following beneficial effect and advantage:
1. synchronous control accuracy height.The inventive method has improved mechanical processing quality and efficient needing to have realized high precision synchronous operation control between the distinct device of synchronous operation;
2. realize simple, easy.The inventive method can realize the high precision synchronous motion control under the condition that does not increase machining accuracy; Working stability, reliable, simple in structure is convenient to processing and manufacturing, and economic effect is obvious;
3. be widely used.The inventive method can be widely used in other fields that needs the high precision position synchro control, as need in the mechanical processing industry to be applied to the gantry mechanism of hi-Fix.
Description of drawings
Fig. 1 is the 1st an embodiment synoptic diagram of the present invention;
Fig. 2 is the 2nd an embodiment synoptic diagram of the present invention.
Embodiment
Embodiment 1
As shown in Figure 1, present embodiment is example with the laser welding apparatus.
When steel plate is welded, for reducing mispairing, improving weldquality, need steel plate is rolled, then require rolling wheel and support wheel synchronous operation in the laser welding apparatus.The inventive method is by the following technical solutions:
At first, for the synchronous laser welding apparatus of needs provides the rolling wheel servomotor and the support wheel servomotor of same model, and set identical parameter; The model of two servomotors is MDMA152D1D in the present embodiment, and drive model is MDDA153DA1; And the technical parameter of above-mentioned two servomotors done identical setting, comprising: controlled variable is selected; The absolute value coding is set; The position ring gain; The speed ring gain; The speed ring integration time constant; Velocity feed forward; Command pulse divides frequency multiplication to set; The negate of command pulse logic; The command pulse input mode is selected; Scope is finished in the location;
Secondly, for above-mentioned each servomotor provides model and the identical mechanical driving device of each technical parameter;
Present embodiment drives the rolling wheel leading screw respectively by two servomotors and the support wheel leading screw is moving on the guide rail respectively separately, and wherein rolling wheel leading screw and support wheel leading screw all adopt Taiwan HIWIN ball-screw, and model is R32-5T3-FSI-1400-005;
The pulse signal source of exportable same frequency and same number is provided for above-mentioned two servomotors once more; The travelling speed of pulsed frequency decision servomotor, the displacement of pulse number decision leading screw can be adjusted at any time according to the workpiece needs, but will guarantee the pulse unanimity that two servomotors are accepted.Present embodiment adopts Mitsubishi PLC locating module QD75D2 as signal source, and its output pulse frequency and pulse number are all adjustable.
To drive mechanical driving device separately be leading screw synchronous operation for unlatching by signal source and the above-mentioned rolling wheel servomotor of closing control and support wheel servomotor at last.
Because the existence of mechanical clearance influences the synchronous operation effect inevitably, for remedying above-mentioned deficiency, the inventive method has adopted following technical scheme:
High precision grating chi is installed in each mechanical driving device respectively, is used for the straight-line displacement amount of each measurement mechanical gearing; Be about to the parallel installation with leading screw of grating chi, the ruuning situation of leading screw top shoe detects by the grating chi;
The pulse signal of above-mentioned each grating chi is fed back in the motor servo driver of servomotor separately, replace the pulse feedback signal of servomotor scrambler.
Adopt high precision grating chi, the code device signal that the pulse signal that utilizes the grating chi to export substitutes servomotor is as feedback signal, and just the feedback signal that servomotor is rotated becomes the Displacement Feedback signal of straight line, thereby has remedied the influence of mechanical clearance.Roll butt welding steel plate by rolling wheel, reduce mismatching phenomenon, avoided steel plate rough phenomenon to occur simultaneously and influence welding quality and physical strength, also improved weldquality, be subjected to rolling attenuation owing to steel plate simultaneously, thereby can improve speed of welding and efficient.
Embodiment 2
As shown in Figure 2, present embodiment is an example with high precision Longmen machine tool equipment.
When workpiece is carried out high-precision processing, be to reduce error, improve machining precision and quality, high level of synchronization when needing walk, the inventive method to gantry by the following technical solutions:
At first, for the two ends, gantry of the synchronous Longmen machine tool equipment of needs provide the servomotor of same model, and set identical parameter; The model of two servomotors is MDMA152D1D in the present embodiment, and drive model is MDDA153DA1; And above-mentioned two servomotors are set following identical technical parameter: controlled variable is selected; The absolute value coding has been set; The position ring gain; The speed ring gain; The speed ring integration time constant; Velocity feed forward; Command pulse divides frequency multiplication to set; The negate of command pulse logic; The command pulse input mode is selected; Scope is finished in the location.
Secondly, for above-mentioned each servomotor provides model and the identical mechanical driving device of each technical parameter;
By two servomotors difference driven wheel tooth bars, moved in gantry on guide rail in the present embodiment;
The pulse signal source of exportable same frequency and same number is provided for above-mentioned two servomotors once more; The travelling speed of pulsed frequency decision servomotor, the displacement of pulse number decision leading screw can be adjusted at any time according to the workpiece needs, but will guarantee the pulse unanimity that two servomotors are accepted.Present embodiment adopts Mitsubishi PLC locating module QD75D2 as signal source, and its output pulse frequency and pulse number are all adjustable.
Be rack-and-pinion synchronous operation by the unlatching of signal source and two servomotors drives mechanical driving device separately at the above-mentioned gantry mechanism of closing control two ends at last.
Because the existence of mechanical clearance influences the synchronous operation effect inevitably, for remedying above-mentioned deficiency, the inventive method has adopted following technical scheme:
High precision grating chi is installed in each mechanical driving device respectively, is used for the straight-line displacement amount of each measurement mechanical gearing; Be about to the parallel installation with rack-and-pinion of grating chi, the ruuning situation of tooth bar detects by the grating chi;
The pulse signal of above-mentioned each grating chi is fed back in the motor servo driver of servomotor separately, replace the pulse feedback signal of servomotor scrambler.
The code device signal that the pulse signal that utilizes high precision grating chi to export substitutes servomotor is as feedback signal, and just the feedback signal that servomotor is rotated becomes the Displacement Feedback signal of straight line, thereby has remedied the influence of mechanical clearance.
Claims (2)
1. control method that realizes mechanical synchronization is characterized in that may further comprise the steps:
For the synchronous equipment of needs provides the servomotor of same model, and set identical parameter;
For above-mentioned each servomotor provides model and the identical mechanical driving device of each technical parameter;
The pulse signal source of exportable same frequency and same number is provided for above-mentioned servomotor;
Control above-mentioned each servomotor drive mechanical driving device synchronous operation separately.
2. by the control method of the described realization mechanical synchronization of claim 1, it is characterized in that: the mechanical driving device synchronous operation that above-mentioned each servomotor of described control drives separately may further comprise the steps:
The grating chi is installed in each mechanical driving device respectively, is used for the straight-line displacement amount of each measurement mechanical gearing;
The pulse signal of above-mentioned each grating chi is fed back in the controller of servomotor separately, replace the pulse feedback signal of servomotor scrambler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810230247A CN101770238A (en) | 2008-12-26 | 2008-12-26 | Control method for realizing mechanical synchronization |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200810230247A CN101770238A (en) | 2008-12-26 | 2008-12-26 | Control method for realizing mechanical synchronization |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699688A (en) * | 2012-06-05 | 2012-10-03 | 汉川机床集团有限公司 | Numerical control planer type machine tool movable beam planer and method for controlling horizontal state of movable beam of planer |
| CN106020126A (en) * | 2016-06-30 | 2016-10-12 | 山东鲁南机床有限公司 | Large-span dual-drive synchronizing device for glass engraving machine |
| CN109495026A (en) * | 2018-11-29 | 2019-03-19 | 苏州汇川技术有限公司 | Double drive gantry platform drive system, method, equipment and computer-readable memory |
| CN109713946A (en) * | 2019-01-22 | 2019-05-03 | 东北大学 | A kind of modularization tactilely-perceptible control device and method |
-
2008
- 2008-12-26 CN CN200810230247A patent/CN101770238A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699688A (en) * | 2012-06-05 | 2012-10-03 | 汉川机床集团有限公司 | Numerical control planer type machine tool movable beam planer and method for controlling horizontal state of movable beam of planer |
| CN106020126A (en) * | 2016-06-30 | 2016-10-12 | 山东鲁南机床有限公司 | Large-span dual-drive synchronizing device for glass engraving machine |
| CN109495026A (en) * | 2018-11-29 | 2019-03-19 | 苏州汇川技术有限公司 | Double drive gantry platform drive system, method, equipment and computer-readable memory |
| CN109713946A (en) * | 2019-01-22 | 2019-05-03 | 东北大学 | A kind of modularization tactilely-perceptible control device and method |
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Open date: 20100707 |