CN101776887B - Control method of digital control device - Google Patents
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- CN101776887B CN101776887B CN 200910002228 CN200910002228A CN101776887B CN 101776887 B CN101776887 B CN 101776887B CN 200910002228 CN200910002228 CN 200910002228 CN 200910002228 A CN200910002228 A CN 200910002228A CN 101776887 B CN101776887 B CN 101776887B
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Abstract
The invention discloses a digital control device and a control method thereof. The digital control device can perform a path projected by a stroke for doing back and forth movement on the path projected by the stroke and can make an optimal design of the stroke according to boundary conditions such as a fixed stroke length and a maximum value of an absolute value of a preset velocity, a maximum value of an absolute value of a preset acceleration, a maximum value of an absolute value of a preset jerk and the like so as to fulfill the aims of little vibration of the controlled object and the least time taken in the process that the controlled object travels the stroke.
Description
Technical field
The invention relates to a kind of control method of numerical control device, particularly relevant for a kind of control method with numerical control device of traverse planning, the numerical control device that is used for plant equipment, digital control etc. such as the numerical control device of the numerical control device of the numerical control device of CNC lathe, CNC milling machine, tooth machining unit or drilling machine.
Background technology
For doing for the mechanical hook-up that moves reciprocatingly back and forth at same straight line path, for example tooth machining unit or drilling machine, traditional numerical control device is when controlling mechanical hook-up, all can control the motion momentum (JERK) of mechanical hook-up, in the hope of reduce machinery vibrations, and then can improve the degree of accuracy of machined object and can increase machinery serviceable life.Therefore, for reaching above-mentioned control mode, the planning of the traverse of meta-speed is shown in Figure 1 when usually needing to produce one.For example: U.S.'s publication number the 20080032604th namely discloses and a kind ofly produces traverse planning with cam (CAM).This kind traverse planning meeting is at a place of turning back, can use non-zero momentum minimizing acceleration (ACCELERATION) and speed (VELOCITY) to static, such as the 7th and the 8th step place among Fig. 1, simultaneously, also can when static, increase acceleration and speed with the non-zero momentum.Yet such control mode has following two shortcomings:
1. slow down or accelerate waste process time with momentums such as non-zeros turning back a little;
2. non-vanishing momentum still can cause the unnecessary vibrations of machinery and reduce mechanical serviceable life when fold return motion.
Summary of the invention
For solving the problems of the prior art and shortcoming, a fundamental purpose of the present invention can produce according to mechanical hook-up straight line path length the numerical control device of suitable traverse planning providing a kind of, so that approach when turning back when mechanical hook-up moves to, the ways of deceleration of keeping zero momentum is decelerated to zero, and then back do the accelerated motion of zero momentum, so that the momentum perseverance of turning back a little in process is zero, therefore can reduce the unnecessary vibrations of machinery, so that the raising of the degree of accuracy of processing.
Another fundamental purpose of the present invention provide a kind of can be according to job sequence, momentum maximal value and the acceleration maximal value etc. of mechanical hook-up, in order in numerical control device, produce the traverse planning of a corresponding job sequence; Because numerical control device all produces traverse planning with maximal value, so can the shortest time finish traverse.
An again fundamental purpose of the present invention provide a kind of can be according to job sequence, momentum maximal value and the acceleration maximal value of mechanical hook-up; to produce the numerical control device of suitable traverse planning; in the process that wherein this traverse planning is carried out; non-vanishing place all moves with maximum thrust at momentum; and momentum is that zero part is all with peak acceleration motion, maximum deceleration motion or with the maximal rate uniform motion; so the seismism in the time of can significantly reducing the mechanical hook-up motion is with the life-span of protection and prolonged mechanical device.
According to above-mentioned purpose, the present invention at first provides a kind of control method of numerical control device, control a mechanical hook-up in the starting point in a path to motion between turning back a little by this numerical control device, and so that this mechanical hook-up arrival turn back a little speed and momentum be zero and its acceleration non-vanishing, wherein this control method is characterised in that:
A, provide a job sequence;
B, provide a mechanical hook-up, prepare to begin action in the processing start of a run corresponding to this job sequence, this mechanical hook-up has a momentum;
C, provide a motor to drive the motion of this mechanical hook-up, this motor has an accekeration and this mechanical hook-up when equaling the maximal value Jmax of this momentum absolute value according to this momentum absolute value, make this mechanical hook-up add accelerated motion to the acceleration absolute value of this mechanical hook-up towards a work of turning back and reach an acceleration absolute value maximal value Amax, this acceleration absolute value maximal value Amax equals the maximal value of this accekeration of this motor;
D, when this mechanical hook-up of control a little moves to the acceleration absolute value towards turning back and equals this acceleration absolute value maximal value Amax, this mechanical hook-up is done motion with uniform acceleration;
E, when the speed absolute value of this mechanical hook-up reaches a speed absolute value maximal value Vmax soon, control this mechanical hook-up so that
This momentum absolute value equals the maximal value Jmax of this momentum absolute value and this mechanical hook-up and equals this speed absolute value maximal value Vmax towards turning back a little to subtract acceleration movement to the speed absolute value of this mechanical hook-up;
F, when the speed absolute value of this mechanical hook-up equals this speed absolute value maximal value Vmax, this mechanical hook-up is a little done the uniform motion towards turning back;
G, when this mechanical hook-up reduces speed now, this momentum absolute value of controlling this mechanical hook-up equals the maximal value Jmax of this momentum absolute value and this mechanical hook-up and a little moves to the acceleration absolute value that makes this mechanical hook-up with acceleration-deceleration towards turning back and equal this acceleration absolute value maximal value Amax;
H, when this mechanical hook-up a little equals this acceleration absolute value maximal value Amax with the acceleration absolute value towards turning back, control this mechanical hook-up and do the uniform acceleration retarded motion to turning back a little, and speed just is zero when turning back so that this mechanical hook-up moves to, and then flow process finishes;
Wherein, the planning of this processing stroke of this job sequence is to produce according to this job sequence, this momentum and this accekeration.
The present invention then provides a kind of control method of numerical control device, control a mechanical hook-up in the starting point in a path to motion between turning back a little by this numerical control device, and so that this mechanical hook-up arrival turn back a little speed and momentum be zero and its acceleration non-vanishing, wherein this control method is characterised in that:
A, provide a job sequence;
B, provide a mechanical hook-up, prepare to begin action in the processing start of a run corresponding to this job sequence, this mechanical hook-up has a momentum;
C, provide a motor to drive the motion of this mechanical hook-up, this motor has an accekeration and this mechanical hook-up when equaling the maximal value Jmax of this momentum absolute value according to this momentum absolute value, make this mechanical hook-up add accelerated motion to the acceleration absolute value of this mechanical hook-up towards a work of turning back and reach an acceleration absolute value maximal value Amax, this acceleration absolute value maximal value Amax equals the maximal value of this accekeration of this motor;
D, when this mechanical hook-up of control a little equals this acceleration absolute value maximal value Amax with the acceleration absolute value towards turning back, make this mechanical hook-up do motion with uniform acceleration;
E, when this mechanical hook-up need to be prepared to reduce speed now, control this mechanical hook-up so that its momentum absolute value equals the maximal value Jmax of this momentum absolute value and this mechanical hook-up equals zero to subtract acceleration movement to the acceleration of this mechanical hook-up towards turning back a little;
F, control this mechanical hook-up and equal this acceleration absolute value maximal value Amax so that its momentum absolute value equals the maximal value Jmax of this momentum absolute value and this mechanical hook-up towards the acceleration absolute value that moves to this mechanical hook-up with acceleration-deceleration of turning back a little; And
G, when this mechanical hook-up a little equals this acceleration absolute value maximal value Amax with the acceleration absolute value towards turning back, control this mechanical hook-up with the uniform acceleration retarded motion to turning back a little, and speed just is zero when turning back so that this mechanical hook-up moves to, and then flow process finishes;
Wherein, the planning of this processing stroke of this job sequence is to produce according to this job sequence, this momentum and this accekeration.
Description of drawings
Fig. 1 is the Velocity-time figure of existing traverse planning technology.
Fig. 2 is the Velocity-time figure of a preferred embodiment of traverse planning of the present invention.
Fig. 3 is the acceleration-time diagram of corresponding figures 2 of the present invention.
Fig. 4 is the momentum-time diagram of corresponding figures 2 of the present invention.
Fig. 5 is the Velocity-time figure of another preferred embodiment of traverse planning of the present invention.
Fig. 6 is the acceleration-time diagram of corresponding figures 5 of the present invention.
Fig. 7 is the momentum-time diagram of corresponding figures 5 of the present invention.
[main element symbol description]
Embodiment
Owing to the invention provides a kind of numerical control device and control method thereof with traverse planning, so that numerical control device can be controlled mechanical hook-up, therefore, in the following description, produce the several different methods of traverse planning with describing numerical control device in detail, and for the mechanical hook-up of being controlled by numerical control device (such as the numerical control device of the numerical control device of CNC lathe, tooth machining unit or drilling machine digital control etc.), then do not do complete description.In addition, what mentioned traverse was planned among the present invention is graphic, and also not according to the actual complete drafting of relative dimensions, its effect is only being expressed the synoptic diagram relevant with this creation characteristic.To illustrate that especially the various explanations in following explanation are embodiments of the invention, are not to limit the present invention.
The present invention a kind ofly controls the control method of mechanical hook-up motion with numerical control device, is the control method of doing for the machinery of doing back and forth movement in same straight movement path.Because the distance that mechanical hook-up will be carried out processing is not identical at every turn, therefore, numerical control device must be finished the distance that will carry out processing for the path of different stroke length with the fastest speed.We use following several symbol at this for convenience of description:
The maximal value of the speed absolute value that the Vmax representative is default;
The maximal value of the acceleration absolute value that the Amax representative is default;
The maximal value of the momentum absolute value that the Jmax representative is default.
When controlling the mechanical hook-up motion with numerical control device, the momentum maximal value of mechanical hook-up is known; And the acceleration maximal value that the motor of drive mechanism motion can provide also is known.When mechanical hook-up is a tooth machining unit, program to be processed (for example will attack the hole of the 5minimeter degree of depth) can be inputed to numerical control device, and then the momentum maximal value of known mechanical device is set as the maximal value Jmax of default momentum absolute value, and the maximal value Amax that known motor acceleration maximal value is set as default acceleration absolute value also inputs in the numerical control device in the lump, to produce the planning of a corresponding speed and the traverse of time.Clearly, the acceleration maximal value that the momentum maximal value of mechanical hook-up and motor can provide all is known and fixing, therefore, the traverse planning meeting that produces of numerical control device has the traverse of different speed and time to plan according to stroke to be processed.Yet numerical control device of the present invention is except can be according to the path of different stroke length, so that mechanical hook-up all can be covered outside whole strokes with the shortest time; Also have another advantage to be " starting point of mechanical hook-up motion and a little the distance of turning back equal the length in mechanical hook-up to-and-fro movement path ".This advantage can guarantee tooth machining unit attack the hole the degree of depth keep the same degree of depth.
At first, the first preferred embodiment of the present invention is described.When the processing stroke of mechanical hook-up enough made speed absolute value reach default maximal value, numerical control device was carried out the corresponding Velocity-time figure of control, acceleration-time diagram and momentum-time diagram and is shown in Fig. 2, Fig. 3 and Fig. 4; Below be the control step:
1, machinery prepares to begin action in start of a run;
2, control machinery adds accelerated motion to acceleration absolute value towards a work of turning back and reaches Amax so that its momentum absolute value equals Jmax;
3, control machinery a little equals Amax with the acceleration absolute value towards turning back and does motion with uniform acceleration;
4, when speed absolute value reaches Vmax soon, control machinery a little equals Vmax to subtract acceleration movement to speed absolute value so that its momentum absolute value equals Jmax towards turning back;
5, the mechanical speed absolute value of control equals Vmax and a little does the uniform motion towards turning back;
6, when needs reduce speed now, control machinery is so that its momentum absolute value equals Jmax a little moves to the acceleration absolute value with acceleration-deceleration towards turning back and equal Amax;
7, control machinery moves to towards the retarded velocity such as a little equaling the Amax work take the acceleration absolute value of turning back and turns back a little and so that mechanical motion speed when turning back just is zero;
8, control machinery equals Amax towards starting point with the acceleration absolute value and does motion with uniform acceleration;
9, when speed absolute value reaches Vmax soon, control machinery equals Vmax towards starting point to subtract acceleration movement to speed absolute value so that its momentum absolute value equals Jmax;
10, the mechanical speed absolute value of control equals Vmax and does the uniform motion towards starting point;
11, when needs reduce speed now, control machinery equals Amax towards starting point to subtract acceleration movement to acceleration absolute value so that its momentum absolute value equals Jmax;
12, during near starting point, control machinery does to subtract the retarded velocity motion so that its momentum absolute value equals Jmax towards starting point so that when mechanical motion to starting point, and so that the speed of starting point, acceleration and momentum are zero;
13, last, mechanical hook-up moves to starting point, and flow process finishes.
Clearly, in the present embodiment, when numerical control device control mechanical hook-up when turning back, this moment, speed and the momentum of mechanical hook-up just were zero, at the same time, the acceleration absolute value of numerical control device control mechanical hook-up when turning back is non-vanishing, therefore can reduce the unnecessary vibrations of machinery, so that the degree of accuracy of processing improves; In addition; in the process that the traverse planning of present embodiment is carried out; mechanical hook-up all moves with maximum thrust at the non-vanishing place of momentum; and momentum is that zero part is all with peak acceleration motion, maximum deceleration motion or with the maximal rate uniform motion; so the seismism in the time of can significantly reducing the mechanical hook-up motion is with the life-span of protection and prolonged mechanical device.
Then, the second preferred embodiment of the present invention is described.When the processing stroke of mechanical hook-up is not enough to so that the speed absolute value of mechanical hook-up reaches Vmax, and the maximum of acceleration absolute value is when reaching Amax, and then the numerical control device of this embodiment is carried out the corresponding Velocity-time figure of control, acceleration-time diagram and momentum time diagram and is shown in Fig. 5, Fig. 6 and Fig. 7; Below be the control step:
1, provides a mechanical hook-up, prepare to begin action in starting point;
2, the control mechanical hook-up adds accelerated motion to acceleration absolute value and reaches Amax towards a work of turning back so that its momentum absolute value equals Jmax;
3, the control mechanical hook-up a little equals Amax with the acceleration absolute value and does motion with uniform acceleration towards turning back;
4, when needs are prepared to reduce speed now, the control mechanical hook-up is so that its momentum absolute value equals Jmax a little equals zero to subtract acceleration movement to acceleration towards turning back;
5, the control mechanical hook-up is so that its momentum absolute value equals Jmax a little moves to the acceleration absolute value with acceleration-deceleration and equal Amax towards turning back;
6, the control mechanical hook-up equals Amax towards turning back a little with the acceleration absolute value and makes uniform acceleration and retarded velocity and move to and turn back a little, and speed just is zero when turning back so that mechanical hook-up moves to;
7, the control mechanical hook-up equals Amax towards starting point with the acceleration absolute value and does motion with uniform acceleration;
8, when needs are prepared to reduce speed now, the control mechanical hook-up is so that its momentum absolute value equals Jmax equals zero to subtract acceleration movement to acceleration towards starting point;
9, the control mechanical hook-up is so that its momentum absolute value equals Jmax moves to the acceleration absolute value towards starting point with acceleration-deceleration and equal Amax;
10, during near starting point, the control mechanical hook-up does to subtract the retarded velocity motion so that its momentum absolute value equals Jmax towards starting point; When mechanical hook-up moves to starting point, so that the speed of starting point, acceleration and momentum are zero;
11, last, mechanical hook-up moves to starting point, and flow process finishes.
Clearly, in the present embodiment, when numerical control device control mechanical hook-up when turning back, this moment, speed and the momentum of mechanical hook-up just were zero, at the same time, the acceleration absolute value of numerical control device control mechanical hook-up when turning back is non-vanishing, therefore can reduce the unnecessary vibrations of machinery, so that the degree of accuracy of processing improves; In addition; in the process that the traverse planning of present embodiment is carried out; mechanical hook-up all moves with maximum thrust at the non-vanishing place of momentum; and momentum is that zero part is all with peak acceleration motion, maximum deceleration motion or with the maximal rate uniform motion; so the seismism in the time of can significantly reducing the mechanical hook-up motion is with the life-span of protection and prolonged mechanical device.
Clearly, in the present embodiment, when numerical control device control mechanical hook-up when turning back, this moment, speed and the momentum of mechanical hook-up just were zero, at the same time, the acceleration absolute value of numerical control device control mechanical hook-up when turning back is non-vanishing, therefore can reduce the unnecessary vibrations of machinery, so that the degree of accuracy of processing improves; In addition; in the process that the traverse planning of present embodiment is carried out; mechanical hook-up all moves with maximum thrust at the non-vanishing place of momentum; and momentum is that zero part is all with peak acceleration motion, maximum deceleration motion or with the maximal rate uniform motion; so the seismism in the time of can significantly reducing the mechanical hook-up motion is with the life-span of protection and prolonged mechanical device.
Test via reality is compared, after testing with the control method of control device of the present invention and prior art; If 6000 turn accelerating in 0.2 second, the speed of mainshaft 6000 turns, the R point is tested apart from the tooth of 2mm, feeding depth 9mm, M3, its result shows, the control method of prior art needs 0.8503 second in the single hole tapping time, and needs 0.7982 second with control device of the present invention; If 6000 turn accelerating in 0.2 second, the speed of mainshaft 6000 turns, the R point is tested apart from the tooth of 2mm, feeding depth 18mm, M6, its result shows, the control method of prior art needs 0.8100 second in the single hole tapping time, and needs 0.7569 second with control device of the present invention; Control device of the present invention has been saved than prior art and has been surpassed for 6 percent time.
More than be purpose for illustrating for the explanation of preferred embodiment of the present invention, and be not intended to limit accurate application form of the present invention, by above instruction or to be done to revise to a certain degree by embodiments of the invention study be possible.Therefore, technological thought of the present invention will be decided by claim scope and equalization thereof.
Claims (3)
1. the control method of a numerical control device, control a mechanical hook-up in the starting point in a path to motion between turning back a little by this numerical control device, and so that this mechanical hook-up arrival turn back a little speed and momentum be zero and its acceleration non-vanishing, wherein this control method is characterised in that:
A, provide a job sequence;
B, provide a mechanical hook-up, prepare to begin action in the processing start of a run corresponding to this job sequence, this mechanical hook-up has a momentum;
C, provide a motor to drive the motion of this mechanical hook-up, this motor has an accekeration and this mechanical hook-up when equaling the maximal value Jmax of this momentum absolute value according to this momentum absolute value, make this mechanical hook-up add accelerated motion to the acceleration absolute value of this mechanical hook-up towards a work of turning back and reach an acceleration absolute value maximal value Amax, this acceleration absolute value maximal value Amax equals the maximal value of this accekeration of this motor;
D, when this mechanical hook-up of control a little moves to the acceleration absolute value towards turning back and equals this acceleration absolute value maximal value Amax, this mechanical hook-up is done motion with uniform acceleration;
E, when the speed absolute value of this mechanical hook-up reaches a speed absolute value maximal value Vmax soon, control this mechanical hook-up so that this momentum absolute value equals the maximal value Jmax of this momentum absolute value and this mechanical hook-up and equal this speed absolute value maximal value Vmax towards turning back a little to subtract acceleration movement to the speed absolute value of this mechanical hook-up;
F, when the speed absolute value of this mechanical hook-up equals this speed absolute value maximal value Vmax, this mechanical hook-up is a little done the uniform motion towards turning back;
G, when this mechanical hook-up reduces speed now, this momentum absolute value of controlling this mechanical hook-up equals the maximal value Jmax of this momentum absolute value and this mechanical hook-up and a little moves to the acceleration absolute value that makes this mechanical hook-up with acceleration-deceleration towards turning back and equal this acceleration absolute value maximal value Amax;
H, when this mechanical hook-up a little equals this acceleration absolute value maximal value Amax with the acceleration absolute value towards turning back, control this mechanical hook-up and do the uniform acceleration retarded motion to turning back a little, and speed just is zero when turning back so that this mechanical hook-up moves to, and then flow process finishes;
Wherein, the planning of this processing stroke of this job sequence is to produce according to this job sequence, this momentum and this accekeration.
2. the control method of a numerical control device, control a mechanical hook-up in the starting point in a path to motion between turning back a little by this numerical control device, and so that this mechanical hook-up arrival turn back a little speed and momentum be zero and its acceleration non-vanishing, wherein this control method is characterised in that:
A, provide a job sequence;
B, provide a mechanical hook-up, prepare to begin action in the processing start of a run corresponding to this job sequence, this mechanical hook-up has a momentum;
C, provide a motor to drive the motion of this mechanical hook-up, this motor has an accekeration and this mechanical hook-up when equaling the maximal value Jmax of this momentum absolute value according to this momentum absolute value, make this mechanical hook-up add accelerated motion to the acceleration absolute value of this mechanical hook-up towards a work of turning back and reach an acceleration absolute value maximal value Amax, this acceleration absolute value maximal value Amax equals the maximal value of this accekeration of this motor;
D, when this mechanical hook-up of control a little equals this acceleration absolute value maximal value Amax with the acceleration absolute value towards turning back, make this mechanical hook-up do motion with uniform acceleration;
E, when this mechanical hook-up need to be prepared to reduce speed now, control this mechanical hook-up so that its momentum absolute value equals the maximal value Jmax of this momentum absolute value and this mechanical hook-up equals zero to subtract acceleration movement to the acceleration of this mechanical hook-up towards turning back a little;
F, control this mechanical hook-up and equal this acceleration absolute value maximal value Amax so that its momentum absolute value equals the maximal value Jmax of this momentum absolute value and this mechanical hook-up towards the acceleration absolute value that moves to this mechanical hook-up with acceleration-deceleration of turning back a little; And
G, when this mechanical hook-up a little equals this acceleration absolute value maximal value Amax with the acceleration absolute value towards turning back, control this mechanical hook-up with the uniform acceleration retarded motion to turning back a little, and speed just is zero when turning back so that this mechanical hook-up moves to, and then flow process finishes;
Wherein, the planning of this processing stroke of this job sequence is to produce according to this job sequence, this momentum and this accekeration.
3. control method according to claim 1 and 2, wherein said mechanical hook-up is by selecting in the following combination: CNC lathe, CNC milling machine, tooth machining unit and drilling machine.
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| CN105867313B (en) * | 2016-05-25 | 2017-03-29 | 湖北工业大学 | A kind of digital stamping feeding intelligence real-time speed Forecasting Methodology |
| CN109313429B (en) * | 2017-04-24 | 2021-01-08 | 深圳配天智能技术研究院有限公司 | S-shaped speed planning method, device and system, robot and numerical control machine |
| CN111015785B (en) * | 2019-12-27 | 2021-05-18 | 湖南鼎一致远科技发展有限公司 | Cutter deceleration method and device |
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| CN1971457A (en) * | 2005-11-25 | 2007-05-30 | 中国科学院沈阳计算技术研究所有限公司 | Speed control method used for numerical control machine |
| CN101130413A (en) * | 2006-08-22 | 2008-02-27 | 西安交通大学 | Method for controlling speed increase and reduction of high speed positioning movement of paper pulling device of paper cutter |
| KR100819654B1 (en) * | 2006-07-28 | 2008-04-04 | 호서대학교 산학협력단 | Method for Controlling Motor by Use of Asymmetric S-Curve |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1971457A (en) * | 2005-11-25 | 2007-05-30 | 中国科学院沈阳计算技术研究所有限公司 | Speed control method used for numerical control machine |
| KR100819654B1 (en) * | 2006-07-28 | 2008-04-04 | 호서대학교 산학협력단 | Method for Controlling Motor by Use of Asymmetric S-Curve |
| CN101130413A (en) * | 2006-08-22 | 2008-02-27 | 西安交通大学 | Method for controlling speed increase and reduction of high speed positioning movement of paper pulling device of paper cutter |
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