CN102744506B - Intrinsic safe two-dimensional intelligent control arc voltage increaser - Google Patents
Intrinsic safe two-dimensional intelligent control arc voltage increaser Download PDFInfo
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Abstract
The invention provides an intrinsic safe two-dimensional intelligent control arc voltage increaser. The two-dimensional intelligent control arc voltage increaser comprises a numerical control cutting system, an increaser, a horizontal moving controller and an executing mechanism. The intrinsic safe two-dimensional intelligent control arc voltage increaser provided by the invention has the advantages as follows: when the vertical height of a cutting torch is controlled, a horizontal moving speed adjusting scale factor is provided through a fuzzy analysis calculator C2 in a main control single chip in the increaser, so that the horizontal moving speed of the cutting torch can be controlled so as to ensure machining quality; as break-overs of field-effect transistors of two upper arms of an H-bridge are respectively controlled by using two control voltage sources, and two lower arms of the H-bridge share a control voltage source, no interference between control power supply potentials is ensured, so that control signals can be correctly and safely executed; and through interlocked bridge arm control circuits, a fault that a power supply is short-circuited to damage the control chip is avoided.
Description
Technical field
The present invention relates to a kind of auxiliary equipment of digital diced system, more specifically to a kind of two-dimentional Based Intelligent Control arc voltage Height-adjusting device of intrinsic safety.
Background technology
In industrial production, digital controlling plasma cutting has become one of important means of machining, the distance between cutting torch in cut quality and cutting process (burning torch) and cut part (steel plate), and torch height is closely related.Arc voltage Height-adjusting device, as the subsidiary engine of cutting machine, is exactly to control for torch height, and cut quality is played to key effect.At present domestic had the Height-adjusting device based on microprocessor control to be put to practicality, but existing Height-adjusting device mostly is switching value control mode, control accuracy is inadequate, and existing Height-adjusting device can not be controlled cutting torch horizontal movement speed, no matter whether surface of the work is smooth, cutting torch is all with same velocity level operation, thereby has that control accuracy is low, poor anti jamming capability and a shortcoming such as security performance is weak.Therefore, be starved of development and exploitation and control the high and antijamming capability of adaptability by force and the intelligent arc voltage Height-adjusting device based on intrinsic safety.
Summary of the invention
The present invention is directed to the proposition of above problem, and develop a kind of two-dimentional Based Intelligent Control arc voltage Height-adjusting device of intrinsic safety.
A two-dimentional Based Intelligent Control arc voltage Height-adjusting device for intrinsic safety, is characterized in that, comprising: numerical control cutting system, Height-adjusting device, move horizontally controller and executing agency;
Height-adjusting device comprises:
The main control singlechip being connected with numerical control cutting system; Main control singlechip comprises fuzzy analysis calculator C1 and fuzzy analysis calculator C2, and fuzzy analysis calculator C1 is responsible for the control that moves both vertically of cutting torch, and fuzzy analysis calculator C2 is responsible for the horizontal movement of cutting torch and controls;
Be connected with the fuzzy analysis calculator C1 of main control singlechip, the H bridge motor-drive circuit of working conditions of motor is provided;
Drive and be connected with H bridge motor, carry out the direct current generator that H bridge motor-drive circuit drives order;
Be connected with direct current generator, the control signal of direct current generator be sent to the transmission mechanism of cutting torch;
Be connected with main control singlechip with cutting torch, detect the arc voltage detecting unit of cutting torch actual height;
Be connected with the fuzzy analysis calculator C2 in main control singlechip, control the controller that moves horizontally that cutting torch moves horizontally;
With move horizontally controller and be connected, be responsible for the executing agency carrying out;
Wherein, four brachium pontis of H bridge motor-drive circuit comprise FET, series diode between upper and lower bridge arm, between the negative pole of two diodes in left and right, connect the dc motor that drives cutting torch to move up and down, during the FET conducting of a pair of brachium pontis on diagonal, power supply is added in the two ends of direct current generator, and left side is for just, the FET cut-off of a pair of brachium pontis on back-diagonal, motor forward; During motor reversal, conducting cut-off state is contrary;
The arc voltage adjusted value that fuzzy analysis calculator C1 produces it within a sampling interval is sent to fuzzy analysis calculator C2, fuzzy analysis calculator C2 is by the actual arc voltage value detecting and ask difference operation from the arc voltage value of fuzzy analysis calculator C1, and the difference of asking for and a upper difference of adjusting interval are asked to difference operation, and according to asking for twice difference operation result to obtain horizontal velocity ratio to searching in horizontal blur state of a control table, and this horizontal velocity ratio is sent to and moves horizontally controller;
Wherein, horizontal blur state of a control table is set up according to following method:
According to presetting language rule, control strategy is described;
Described control strategy is summarized as to 49 control laws, height and position deviation, position deviation rate of change and the corresponding linguistic variable table of output controlled quentity controlled variable are generated to fuzzy set E, C and U, then E, C and U are divided into respectively to seven grades, form seven fuzzy subsets and react size, form horizontal blur state of a control table.
Preferably, two upper arm of H bridge motor-drive circuit adopt separately independently controls voltage source, and two underarms share one and control voltage source.
Preferably, H bridge motor-drive circuit left upper arm also comprises comparator C 1, comparator C 2, photoelectrical coupler G1, right upper arm also comprises comparator C 3, comparator C 4, photoelectrical coupler G4, wherein, the reverse input end of comparator C 2 and comparator C 3 input logic control signal generator produces respectively the first logic control signal and the second logic control signal, the input reference signal of input in the same way of comparator C 2 and comparator C 3, comparator C 1 and the reverse input end of comparator C 4 are connected respectively the output of comparator C 2 and comparator C 3, the input in the same way of comparator C 1 and comparator C 4 is input reference signal respectively, the output of the comparator C 2 of left upper arm is connected with the photoelectrical coupler G2 of lower-left arm, the output of the comparator C 3 of right upper arm is connected with the photoelectrical coupler G3 of bottom right arm, make, during the underarm conducting of H bridge, the upper arm automatic cut-off of homonymy.
Preferably, arc voltage detecting unit adopts electricity-magnetic-electric isolation method.
Preferably, between H bridge upper arm and motor drive power supply, access motor drive current testing circuit, adopt electricity-magnetic-electric isolation detection.
Adopt the two-dimentional Based Intelligent Control arc voltage Height-adjusting device of intrinsic safety of the present invention, there is following beneficial effect: (1) is when being controlled the vertical height of cutting torch, the proportionality coefficient that provides horizontal movement speed to adjust by the fuzzy analysis calculator C2 in the main control singlechip in Height-adjusting device, can be controlled the horizontal movement speed of cutting torch, thereby be guaranteed crudy; (2) in the FET conducting of two upper arm of H bridge, control and use respectively two to control voltage sources, two underarms of H bridge share one and control voltage source, have guaranteed control power supply potential non-interference, make control signal can be correctly, carry out safely; (3) by the brachium pontis control circuit of interlocking, avoid occurring the fault that power supply short circuit burns control chip; (4), in the lower end of H bridge upper arm, place respectively diode, prevent electric current reverse-conducting, improve the reliability of control circuit; (5) between H brachium pontis upper end and motor drive power supply, inserted motor drive current testing circuit, and adopted electricity-magnetic-electric isolation detection mode, the security of protection driving power.
Accompanying drawing explanation
Fig. 1 is that the hardware of an embodiment of the two-dimentional Based Intelligent Control arc voltage Height-adjusting device of intrinsic safety of the present invention forms structural representation;
Fig. 2 is the structural representation of an embodiment of H bridge motor driving of the present invention and logic control circuit;
Fig. 3 is the circuit diagram of an embodiment of arc voltage detecting unit of the present invention;
Fig. 4 is the structural representation of the current sensor of electricity-magnetic of the present invention-electricity isolation conversion;
Fig. 5 is logic control signal generation circuit diagram of the present invention;
Fig. 6 is the voltage source circuit figure of H bridge motor-drive circuit of the present invention;
Fig. 7 is motor drive current testing circuit figure of the present invention;
Fig. 8 is vertical fuzzy control state table of the present invention.
The specific embodiment
Fig. 1 is that the hardware of an embodiment of the two-dimentional Based Intelligent Control arc voltage Height-adjusting device of intrinsic safety of the present invention forms structural representation, as shown in the figure.
The two-dimentional Based Intelligent Control arc voltage Height-adjusting device of intrinsic safety comprises: numerical control cutting system, Height-adjusting device, move horizontally controller and executing agency; Height-adjusting device comprises: the main control singlechip being connected with numerical control cutting system; Main control singlechip comprises fuzzy analysis calculator C1 and fuzzy analysis calculator C2, and fuzzy analysis calculator C1 is responsible for the control that moves both vertically of cutting torch, and fuzzy analysis calculator C2 is responsible for the horizontal movement of cutting torch and controls; Be connected with the fuzzy analysis calculator C1 of main control singlechip, the H bridge motor-drive circuit of working conditions of motor is provided; Drive and be connected with H bridge motor, carry out the direct current generator that H bridge motor-drive circuit drives order; Be connected with direct current generator, the control signal of direct current generator be sent to the transmission mechanism of cutting torch; Be connected with main control singlechip with cutting torch, detect the arc voltage detecting unit of cutting torch actual height; Wherein, four brachium pontis of H bridge motor-drive circuit comprise FET, series diode between upper and lower bridge arm, between the negative pole of two diodes in left and right, connect the dc motor that drives cutting torch to move up and down, during the FET conducting of a pair of brachium pontis on diagonal, power supply is added in the two ends of direct current generator, and left side is for just, the FET cut-off of a pair of brachium pontis on back-diagonal, motor forward; During motor reversal, conducting cut-off state is contrary; Moving horizontally controller is connected with the fuzzy analysis calculator C2 of main control singlechip; The arc voltage adjusted value that fuzzy analysis calculator C1 produces it within a sampling interval is sent to fuzzy analysis calculator C2, fuzzy analysis calculator C2 is by the actual arc voltage value detecting and ask difference operation from the arc voltage value of fuzzy analysis calculator C1, and the difference of asking for and a upper difference of adjusting interval are asked to difference operation, and according to asking for twice difference operation result to obtain horizontal velocity ratio to searching in horizontal blur state of a control table, and this horizontal velocity ratio is sent to and moves horizontally controller; Executing agency with move horizontally controller and be connected, moving horizontally of cutting torch controlled.
Height-adjusting device is connected with numerical control cutting system by CAN communication bus interface, the instructions such as the given arc voltage that reception numerical control cutting system sends, startup.Numerical control cutting system comprises the keyboard for inputting, the Numerical control cutting CPU for controlling being connected with keyboard, the display being connected with the Numerical control cutting CPU controlling.Numerical control cutting system coordinates the control of torch height, the reference signal output function that design cutting torch level run speed is controlled, to moving horizontally controller, send level run speed parameter ratio, thereby adjust horizontal X direction and Y-direction stepper motor translational speed, improve the precision of following of torch height.The arc voltage Height-adjusting device that invention provides adopts the current sensor structure of electricity-magnetic-electricity isolation conversion.Fig. 4 is the structural representation of the current sensor of electricity-magnetic of the present invention-electricity isolation conversion, as shown in the figure.Two Hall elements are laid at the two poles of the earth that are wound with the U-shaped iron core of coil.The front of sensor, towards U-shaped iron core, is attached to column type iron core both sides, and column type iron core and U-shaped iron core form closed magnetic circuit.Coil series connection access arc voltage detects loop.When loop current changes, the magnetic field producing is applied to respectively and is in magnetic loop on Hall element AS and BS, AS produces positive voltage, BS produces negative voltage (external interference magnetic field all produces identical voltage), two Hall elements adopt differential mode to work, experience opposite direction, equal-sized magnetic field, generation magnitude of voltage changes, get the poor of two ends output voltage values, change for magnitude of voltage 2 times, and disturbing magnetic field effect is offset, output is carried out A/D conversion with the voltage signal of arc voltage direct ratio to single-chip microcomputer.
The two-dimentional Based Intelligent Control arc voltage Height-adjusting device of intrinsic safety of the present invention is a closed-loop control system, control principle is: operator is inputted the instructions such as given arc voltage, the starting the arc by the keyboard of numerical control cutting system, and to arc voltage, heightens controller main control singlechip via CAN bus transfer.Arc voltage is heightened controller and is controlled dc motor running, drives executing agency's work, and then drives cutting torch to rise, decline, and steel plate is cut.In the course of work, arc voltage detection detects arc voltage, and result feedback is heightened to controller to arc voltage, and controller carries out arc voltage comparison.When actual arc forces down in given arc voltage, need to improve actual arc voltage, dc motor is rotated in the forward, and drives operating mechanism to rise, and cutting torch rises; When actual arc voltage is higher than given arc voltage, need to reduce actual arc voltage, dc motor reverse rotation, drives operating mechanism to decline, and cutting torch declines.In the whole course of work, remain actual arc voltage and given arc voltage approximately equal, thereby guarantee the distance substantially constant of cutting torch and steel plate, guaranteed the quality of cutting.When main control singlechip carries out the adjusting of cutting torch vertical height, according to arc voltage, detect the cut steel plate plane situation obtaining, calculate by analysis, provide cutting torch and move horizontally the parameter ratio that speed is controlled, by CAN EBI, send to and move horizontally controller, coordinate adjustment cutting torch to move horizontally speed, further improve cut quality.
Main control singlechip is controlled torch height, its hardware using single-chip microcomputer C8051F500, its work mainly comprises: the actual arc voltage signal that (1) timing acquiring testing circuit is sent here, and the given arc voltage signal comparison of sending with digital control system after the A/D parts conversion in monolithic Bigpian, obtains deviation signal; (2) according to deviation signal and the deviation variation rate obtaining simultaneously, adopt the quick computational algorithm of fuzzy analysis, provide the control signal of direction of motor rotation and rotating speed; (3) through single-chip microcomputer LPT outbound course signal, the pulsewidth modulation output interface output speed control signal through single-chip microcomputer inside; (4) single-chip microcomputer is when controlling cutting torch vertical height, according to arc voltage, detect the cut steel plate plane situation obtaining, calculate by analysis, provide cutting torch and move horizontally the reference coefficient that speed is controlled, by CAN EBI, send to and move horizontally controller.
Heighten control algolithm link is control core in whole height-adjusting system, and its quality directly determines control quality and the efficiency of control system.Arc voltage is heightened and controlled is a kind of real-time control of high speed and super precision, and control cycle is greatly in 10ms.Within the so short time, can not complete the computings such as more complicated fuzzy reasoning and fuzzy decision, therefore be not suitable for adopting the fuzzy controller of online reasoning.Native system adopts control table inquiry mode, in advance according to Position Control rule and fuzzy set degree of the being subordinate to function of numerical control cutting machine, utilize fuzzy deduce synthesize algorithm off-line to obtain control table deposit data in the memory of C8051F500, then when controlling according to different position deviations and position deviation rate of change (speed) grade, by lookup table mode, try to achieve controlled quentity controlled variable, thereby reach the control to control object horizontal and vertical position.
In the algorithm link of controlling in vertical height movement velocity, the present invention adopts the two dimension of height and position deviation, the dual input of position deviation rate of change and the output of controlled quentity controlled variable list to control model, e is that the cutting torch of cutting machine is apart from the target location of workpiece and the deviation of physical location, c is cutting torch position deviation rate of change, and u is controlled quentity controlled variable.First two input quantity obfuscations of fuzzy control, make it to be converted into fuzzy set, to adapt to fuzzy algorithmic approach.Height and position deviation e and position deviation rate of change c and the corresponding linguistic variable of output controlled quentity controlled variable u are expressed as to fuzzy set E, C and U.Fig. 8 is vertical fuzzy control state table of the present invention, as shown in the figure.The cutting torch of cutting machine is apart from the target location of workpiece and the deviation E of physical location, and cutting torch position deviation rate of change C has determined controlled quentity controlled variable U jointly.Deviation E, cutting torch position deviation rate of change C has determined that controlled quentity controlled variable U is divided into respectively seven grades jointly, forms respectively seven fuzzy subsets, in order to reflect its size.PB, PM, PS, ZE, NS, NM, NB describe respectively seven fuzzy language variablees.PB represents positive large position deviation, and PM represents positive middle position deviation, and PS represents positive little position deviation, and ZE represents zero position deviation, and NS represents the little position deviation of bearing, and NM represents the middle position deviation of bearing, and NB represents the large position deviation of bearing.The corresponding domain of each subset is: and 6 ,-5 ,-4 ,-3 ,-2 ,-1,0,1,2,3,4,5,6}.So just can list each element degree of membership table of the fuzzy subset of deviation E, deviation variation rate C and controlled quentity controlled variable U.Fuzzy control rule be take operating personnel experience and to control principle be foundation, can each control strategy be described with a series of language rules, for example:
IF E=NB AND C=NB，THEN U=NB
IF E=PB AND C=PB，THEN U=PB
Above-mentioned fuzzy control strategy is summarized as to 49 control laws, can be made into fuzzy control state table (as table 1).In table, each control law was converted into the fuzzy set on corresponding E, C and U after entering domain conversion, and all these control law collection can be summed up as a fuzzy relation R, that is:
R=V{Ei×Cj}×Uij (1)
When certain deviation constantly and the fuzzy value of change of error, get respectively E and C, according to above fuzzy relation, carry out compose operation and obtain corresponding controlled quentity controlled variable fuzzy value:
U=(E×C)×R (2)
According to (1), (2) formula, can calculate corresponding controlled quentity controlled variable according to fuzzy reasoning method.System adopts off-line calculation mode, and through repeatedly debugging, revising, the question blank that obtains a controlled quentity controlled variable leaves in single-chip microcomputer.In actual control in real time, the position deviation that single-chip microcomputer obtains according to sampling and position deviation rate of change, check and control tabulation just can obtain output controlled quentity controlled variable.
H bridge motor-drive circuit is adjusted the critical piece of executing agency as torch height, motor forward, reversion, shutdown can be provided, brake the drive condition of each duty.Fig. 2 is the structural representation of an embodiment of H bridge motor driving of the present invention and logic control circuit, as shown in the figure.Four brachium pontis of H bridge consist of high-power FET IRF740.Between the left upper arm of H bridge and lower-left arm, be connected in series a diode DD1, between right upper arm and bottom right arm, be connected in series a diode DD2, between the negative pole of two diodes, connect dc motor M.During motor forward, the FET conducting of a pair of brachium pontis on diagonal, another on back-diagonal ends brachium pontis FET.During motor reversal, conducting cut-off state is contrary.The conducting cut-off of each FET is implemented by supporting brachium pontis logic control circuit.The conducting of four brachium pontis of H bridge is controlled three of employings and is independently controlled voltage source EQ1, EQ4, EQ23, and the left upper arm of H bridge connects EQ1, and right upper arm connects EQ4, and Bei He bottom right, the lower-left arm of H bridge connects EQ23 jointly.In figure, LMC is the reference signal of comparator, and numerical value is 1/2nd of data signal high level.The logical signal of main control singlechip output is produced by logic control signal generator, and Fig. 5 is logic control signal generation circuit diagram of the present invention, as shown in the figure.When single-chip microcomputer P1.1=0, P1.2=0, two and a door A_1, A_2 exports A1=0, and B1=0 makes comparator C 2 output F02=1, C3 exports F03=1, C1 exports F01=0, C4 exports F04=0, has cut off the control voltage source of four FET Q1, Q2, Q3, Q4, make it in cut-off state, motor transfixion.Work as A1=1, during B1=0, Q2, Q4 conducting, Q1, Q3 cut-off, motor reversal.Work as A1=0, during B1=1, Q1, Q3 conducting, Q2, Q4 cut-off, motor forward.Coordinate software, when single-chip microcomputer P1.0 output pulse width modulation signal, motor obtains different mean direct voltage, and then changes the rotating speed of motor.Circuit guarantees the conducting of H bridge homonymy underarm simultaneously, and upper arm automatic cut-off locking is controlled each link device and implemented isolation completely, and how configuration can not produce out of control input signal.Fig. 7 is the voltage source circuit figure of H bridge motor-drive circuit of the present invention, as shown in the figure.By LM331, be that main part forms square-wave generator, the power supply of LM331 is DC24V.The rectangular signal gauge tap transistor of generator output makes it to produce pulsating current, and pulsating current produces independently three pulsating volages at the output of pulsation transformer, through each self-rectifying, produces three independently voltage sources.This cover circuit by main power source 24V through straight-hands over-be directly transformed to three cover 9～12V to control voltage sources, guaranteed control power supply potential non-interference, make control signal can be correctly, execution safely.In the lower end of two H bridge upper arm, placing respectively a diode DD1 and DD2, to realize Dui Qiao road power supply be the protection of motor drive power supply.Diode DD1 and DD2 one-way conduction characteristic can prevent that motor commutation from producing induced potential and polluting the control of bridge road power supply, motor drive power supply and other components and parts of reverse breakdown, improve the reliability and stability of control circuit.In order to reach better protection object, between H brachium pontis upper end and motor drive power supply, inserted current detection circuit.Fig. 7 is motor drive current testing circuit figure of the present invention.This testing circuit is also taked electricity-magnetic-electric isolation detection mode, repeats no more here.If exceeding standard, electric current stops cutting work through CAN bus reporting system main frame.For preventing that external magnetic field from, on detecting the impact of electric current, adopting differential conversion and the method that adds ferrimagnet armoured magnetic field at current detecting change-over circuit, make to detect electric current more accurate, thereby realize electricity-magnetic-electric high-fidelity isolation detection.The H bridge motor-drive circuit of the present invention's design has following principal character: the conducting of (1) four brachium pontis is controlled three of employings and independently controlled voltage source.Two upper arm of H bridge are controlled voltage source with two respectively, and two underarms of H bridge share one and control voltage source.Can get rid of phase mutual interference, guarantee the independence of four brachium pontis FET conducting cut-offs.Controlling voltage source is that main part forms by LM331 chip, main power source 24V is passed through directly-hand over-is directly transformed to three cover 9～12V and control voltage sources.(2) brachium pontis logic control circuit is by forming with door 74LS08, comparator LM339, photoelectrical coupler PC817 and aforesaid three control voltage sources, and control logic is guaranteed the homonymy underarm conducting of H bridge, upper arm automatic cut-off locking., can there is not the fault that power supply short circuit burns control chip in the possibility that does not have homonymy conducting simultaneously.(3) adopt photoelectric isolation method to make there is electrical isolation between the control element IRF740 of control signal and motor-drive circuit, avoid damaging single-chip microcomputer and control logic circuit.(4) the drive current testing circuit consisting of parts such as electricity-magnetic conversion magnetic core coil, differential Hall element, differential operational amplifiers, can realize electricity-magnetic-electric high-fidelity isolation detection.When motor-drive circuit electric current is excessive, testing circuit carries out protectiveness processing by this signal feedback to single-chip microcomputer.(5) diode being connected in series between the FET of upper and lower bridge arm has played the protective effect of bridge mains.Motor is perceptual parts, when commutating and stopping, can producing high back voltage, increases one-way commutation protection device in drive circuit.
Arc voltage detecting unit detects cutting torch actual height arc voltage signal, and arc voltage signal is proportional to cutting torch actual height.Fig. 3 is the circuit diagram of an embodiment of arc voltage detecting unit of the present invention, as shown in the figure.Arc voltage signal leading detects loop (from input terminal ECANL1 process resistance R SHR1, current-limiting inductance LSHR1, electricity-magnetic conversion magnetic core coil THJ3, current-limiting inductance LSHR2, resistance R SHR2, to terminal ECANH1) the rear current signal i (h) that is proportional to torch height h that produces, i (h) produces magnetic flux phi (i (h)) through coil, by differential Hall element (AS and BS), be converted to voltage signal, CEX (h) after further being amplified by amplifier CA3140 is by single-chip microcomputer Real-time Collection, carry out data analysis and processing, obtain cutting torch actual height parameter, and then with given parameters comparison, the control of realization to motor positive and inverse and rotating speed, thereby guarantee arc voltage substantially constant.Similar with the drive current detection principle of motor, because arc voltage signal is higher, and signal distorted due to interference is larger, so except the parts such as electricity-magnetic conversion magnetic core coil, differential Hall element, differential operational amplifier, also increased the elements such as current-limiting resistance, inductance.For preventing that external magnetic field from, on detecting the impact of electric current, adopting differential conversion and the method that adds ferrimagnet armoured magnetic field at current detecting change-over circuit, make to detect electric current more accurate, thereby realize electricity-magnetic-electric high-fidelity isolation detection.
Fuzzy analysis calculator C2 in main control singlechip compares the arc voltage value of the pulsewidth modulation parameter that is converted into arc voltage value through emulation receiving and the detection of arc voltage testing circuit, judges whether to adjust level run speed.When the arc voltage value of arc voltage testing circuit detection changes, there is irregular place in surface of the work, and two arc voltage values are done difference by Fuzzy Calculation input level mobile controller, thereby be up to the standard the mobile object of slowing down or accelerating.
The variation of arc voltage causes by three kinds of reasons, and rough and uneven in surface (arc voltage of generation is designated as V to cut sheet material
b), vertical executing agency drive cutting torch to move both vertically (arc voltage of generation is designated as V
j) and disturb that (arc voltage of generation is designated as V
n).When sheet material convex-concave changes greatly, still by traveling at the uniform speed, (it is constant that level run speed keeps horizontal direction, the component velocity of X and Y-direction is passed to and is moved horizontally controller by CAN bus by numerical control cutting system), cut quality is affected, at this moment require to accelerate the vertical response speed of adjusting, this affects again vertical adjustment precision.In order to address this problem, suitably lower in this case horizontal movement speed, improve the adaptability of controlling, thereby improve cut quality.
Numeral executing agency is the Mathematical Modeling of vertical executing agency, and output is that the displacement of vertical executing agency adjusts at one the arc voltage that interval produces.First fuzzy analysis calculator C2 deducts the actual arc voltage of detection the output of digital executing agency, obtains a difference V
c(such V
conly comprised V
band V
n), this difference is mainly to cause by sheet material is rough and uneven in surface, recycles this value and last difference and does difference computing, obtains Δ V
c(mainly by V
bchange and produce).Use V
csubstitute height and position deviation e, Δ V in fuzzy analysis calculator 1
calternative site deviation variation rate c, with horizontal displacement speed than the alternative output of B controlled quentity controlled variable u, foundation moves horizontally fuzzy control state table, by tabling look-up, can obtain horizontal velocity ratio, by CAN bus, pass to and move horizontally controller and executing agency's carrying out horizontal speed of service is controlled.The array of the corresponding fuzzy control state table of B() value is all initially 1, cutting object for different plates, excursion is between 0.8～1, specifically by test, determine after (guaranteeing not put out a fire), there is numerical control cutting system, when certain material of processing, numerical control cutting system passes to main control singlechip by corresponding data group (B) by CAN bus.
Compared with the prior art, advantage of the present invention is apparent, is mainly manifested in motor-drive circuit and has intrinsic safety, not only to the vertical height of cutting torch, can carry out Based Intelligent Control, can also provide control reference signal to the speed that moves horizontally of cutting torch.There is the functions such as signals collecting and processing, fuzzy algorithmic approach analysis, Based Intelligent Control, guarantee cutting control adaptability, thereby improve cutting accuracy.
The above; it is only the preferably specific embodiment of the present invention; but protection scope of the present invention is not limited to this; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; according to technical scheme of the present invention and inventive concept thereof, be equal to replacement or changed, within all should being encompassed in protection scope of the present invention.
Claims (5)
1. a two-dimentional Based Intelligent Control arc voltage Height-adjusting device for intrinsic safety, is characterized in that, comprising: numerical control cutting system, Height-adjusting device, move horizontally controller and executing agency;
Height-adjusting device comprises:
The main control singlechip being connected with numerical control cutting system; Main control singlechip comprises fuzzy analysis calculator C1 and fuzzy analysis calculator C2, and fuzzy analysis calculator C1 is responsible for the control that moves both vertically of cutting torch, and fuzzy analysis calculator C2 is responsible for the horizontal movement of cutting torch and controls;
Be connected with the fuzzy analysis calculator C1 of main control singlechip, the H bridge motor-drive circuit of working conditions of motor is provided;
Drive and be connected with H bridge motor, carry out the direct current generator that H bridge motor-drive circuit drives order;
Be connected with direct current generator, the control signal of direct current generator be sent to the transmission mechanism of cutting torch;
Be connected with main control singlechip with cutting torch, detect the arc voltage detecting unit of cutting torch actual height;
Be connected with the fuzzy analysis calculator C2 in main control singlechip, control the controller that moves horizontally that cutting torch moves horizontally;
With move horizontally controller and be connected, be responsible for the executing agency carrying out;
Wherein, four brachium pontis of H bridge motor-drive circuit comprise FET, series diode between upper and lower bridge arm, between the negative pole of two diodes in left and right, connect the dc motor that drives cutting torch to move up and down, during the FET conducting of a pair of brachium pontis on diagonal, power supply is added in the two ends of direct current generator, and left side is for just, the FET cut-off of a pair of brachium pontis on back-diagonal, motor forward; During motor reversal, conducting cut-off state is contrary;
The arc voltage adjusted value that fuzzy analysis calculator C1 produces it within a sampling interval is sent to fuzzy analysis calculator C2, fuzzy analysis calculator C2 is by the actual arc voltage value detecting and ask difference operation from the arc voltage value of fuzzy analysis calculator C1, and the difference of asking for and a upper difference of adjusting interval are asked to difference operation, and according to asking for twice difference operation result to obtain horizontal velocity ratio to searching in horizontal blur state of a control table, and this horizontal velocity ratio is sent to and moves horizontally controller;
Wherein, horizontal blur state of a control table is set up according to following method:
According to presetting language rule, control strategy is described;
Described control strategy is summarized as to 49 control laws, height and position deviation, position deviation rate of change and the corresponding linguistic variable table of output controlled quentity controlled variable are generated to fuzzy set E, C and U, then E, C and U are divided into respectively to seven grades, form seven fuzzy subsets and react size, form horizontal blur state of a control table.
2. the two-dimentional Based Intelligent Control arc voltage Height-adjusting device of intrinsic safety according to claim 1, is characterized in that, two upper arm of H bridge motor-drive circuit adopt separately independently controls voltage source, and two underarms share one and control voltage source.
3. the two-dimentional Based Intelligent Control arc voltage Height-adjusting device of intrinsic safety according to claim 1, it is characterized in that, H bridge motor-drive circuit left upper arm also comprises comparator C 1, comparator C 2, photoelectrical coupler G1, right upper arm also comprises comparator C 3, comparator C 4, photoelectrical coupler G4, wherein, the reverse input end of comparator C 2 and comparator C 3 input logic control signal generator produces respectively the first logic control signal and the second logic control signal, the input reference signal of input in the same way of comparator C 2 and comparator C 3, comparator C 1 and the reverse input end of comparator C 4 are connected respectively the output of comparator C 2 and comparator C 3, the input in the same way of comparator C 1 and comparator C 4 is input reference signal respectively, the output of the comparator C 2 of left upper arm is connected with the photoelectrical coupler G2 of lower-left arm, the output of the comparator C 3 of right upper arm is connected with the photoelectrical coupler G3 of bottom right arm, make, during the underarm conducting of H bridge, the upper arm automatic cut-off of homonymy.
4. the two-dimentional Based Intelligent Control arc voltage Height-adjusting device of intrinsic safety according to claim 1, is characterized in that, arc voltage detecting unit adopts electricity-magnetic-electric isolation method.
5. the two-dimentional Based Intelligent Control arc voltage Height-adjusting device of intrinsic safety according to claim 1, is characterized in that, accesses motor drive current testing circuit between H bridge upper arm and motor drive power supply, adopts electricity-magnetic-electric isolation detection.
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| CN115430897B (en) * | 2022-11-08 | 2023-03-21 | 南京超颖新能源科技有限公司 | Bus type digital arc voltage regulator and control system and processing method thereof |
| CN118204643B (en) * | 2024-04-07 | 2024-08-09 | 常熟市金鹅纺织科技有限公司 | Intelligent textile material cutting equipment and method for textile processing |
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