CN102866665A - Multi-axial synchronous control system and method for all-electric bending machine - Google Patents
Multi-axial synchronous control system and method for all-electric bending machine Download PDFInfo
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- CN102866665A CN102866665A CN2012103688692A CN201210368869A CN102866665A CN 102866665 A CN102866665 A CN 102866665A CN 2012103688692 A CN2012103688692 A CN 2012103688692A CN 201210368869 A CN201210368869 A CN 201210368869A CN 102866665 A CN102866665 A CN 102866665A
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Abstract
The invention discloses a multi-axial synchronous control system and a multi-axial synchronous control method for an all-electric bending machine. The multi-axial synchronous control system comprises a motion control board clamp, a numerical control system and a plurality of groups of slide block driving mechanisms, wherein each group of the slide block driving mechanisms comprises a servo driver, a permanent magnet synchronous servo motor, a synchronous belt transmission mechanism, a ball screw and a grating scale; the permanent magnet synchronous servo motor is connected with the ball screw through the synchronous belt transmission mechanism; the bottom end of the ball screw is arranged on the top end of a bending machine slide block; the grating scale is arranged on the back of the bending machine slide block and is on the same vertical axis with the ball screw; the permanent magnet synchronous servo motor is connected with the servo driver; and the servo driver and the grating scale are respectively connected with the numerical control system through the motion control board clamp. According to the system, the synchronous operating performance and the bending positioning precision of multiple permanent magnet synchronous servo motors can be obviously improved.
Description
Technical field
The present invention relates to relate to industrial automatic control and bender fields of numeric control technique, particularly a kind of multi-shaft synchronous control system and control method for all-electric bender.
Background technology
The plate bending is important a kind of in the can manufacturing technique.The complete upper/lower die of this process using makes sheet metal produce the sheet metal component that plastic yield folds into predetermined angular by extruding under cold conditions.The versatility of this technique is good, technique simple, the forming quality advantages of higher, has been widely used in the industry fields such as electrical equipment, shipbuilding, aviation, heavy-duty machinery manufacturing.
For realizing the bender numerical control, improve bearing accuracy and synchronization accuracy, overcome the inherent defect of conventional hydraulic formula bender, the all-electric bender that adopts servomotor directly to drive becomes main flow.The all-electric upper die of bending machine slide block of miniwatt only needs two servomotor driven in synchronism controls, and high-power 1000KN and the above bending pressure will realized then needs to use many servomotors to carry out driven in synchronism at a slide block (rigid body).
But, in the actual use of high-power all-electric bender, the position asynchrony phenomenon that exists each motor caused by force unbalance, thereby cause strong coupling mechanically, and strong coupling mechanically will cause the moving-member skews such as slide block, the transmission device wearing and tearing such as aggravation leading screw reduce machining precision and lathe life-span, damage driving element and travel mechanism when serious.For preventing that above-mentioned situation from occuring, driving slide block needs the interlock of multi-axial Simultaneous velocity location.Therefore, research multi-axle motor position synchronous control system is requisite link in the high-power all-electric bender development.
Summary of the invention
Goal of the invention of the present invention is for the technical deficiency of existing industrial automatic control and bender numerical control, and a kind of multi-shaft synchronous control system for all-electric bender is provided.
Further, the invention provides a kind of control method of the multi-shaft synchronous control system for all-electric bender.
For achieving the above object, the technical solution used in the present invention is:
A kind of multi-shaft synchronous control system for all-electric bender is provided, comprises motion control integrated circuit board, digital control system and some groups of slider-actuated mechanisms; Every group of slider-actuated mechanism comprises servo-driver, permanent magnet synchronous servo motor, synchronous belt drive mechanism, ball-screw and grating scale; Described permanent magnet synchronous servo motor is connected with ball-screw by synchronous belt drive mechanism, and the bottom of ball-screw is installed on the top of slider of bender; Described grating scale be installed in slider of bender the back side and with ball-screw on same vertical axis; Described permanent magnet synchronous servo motor also links to each other with servo-driver, and servo-driver and grating scale link to each other with digital control system by the motion control integrated circuit board respectively.
Preferably, the output of the three-phase of described servo-driver is connected with described servomotor power electric source; The X2 function port of described servo-driver links by cable and motion control board and connects, and the scrambler input port of described servo-driver is connected with the rotary encoder output terminal of permanent magnet synchronous servo motor by cable.
Preferably, described digital control system comprises industrial computer and Embedded Touch Screen; Described Embedded Touch Screen is connected with industrial computer; Described motion control integrated circuit board comprises switching value Control card and speed Control card; Described servo-driver and grating scale are connected with the speed Control card, and described switching value Control card connects the up and down lead limit switch of slider of bender by cable; Described switching value Control card and speed Control card all are connected to the PCI module of industrial computer inside by optical fiber.
Preferably, described synchronous belt drive mechanism comprises that the first band gear, synchronous belt be with gear with second; First is installed on the output shaft of permanent magnet synchronous servo motor with gear, and second is installed on the nut of ball-screw with gear, and the second band gear is with gear to be connected by synchronous belt and first.
Preferably, the length of described slider of bender is greater than 3000mm.
Preferably, the quantity of described slider-actuated mechanism is four, is respectively the first slider-actuated mechanism, the second slider-actuated mechanism, the 3rd slider-actuated mechanism and Four-slider driving mechanism; The first slider-actuated mechanism comprises the first servo-driver, the first permanent magnet synchronous servo motor, the first synchronous belt drive mechanism, the first ball-screw and the first grating scale; The second slider-actuated mechanism comprises the second servo-driver, the second permanent magnet synchronous servo motor, the second synchronous belt drive mechanism, the second ball-screw and the second grating scale; The 3rd slider-actuated mechanism comprises the 3rd servo-driver, the 3rd permanent magnet synchronous servo motor, the 3rd synchronous belt drive mechanism, the 3rd ball-screw and the 3rd grating scale; The Four-slider driving mechanism comprises the 4th servo-driver, the 4th permanent magnet synchronous servo motor, the 4th synchronous belt drive mechanism, the 4th ball-screw and the 4th grating scale.
Further, the invention provides a kind of multi-axial Simultaneous control method for all-electric bender, industrial computer comprises motion-control module, PID module, fuzzy control model, speed and moment output control module, PCI communication module and moment amplitude limit control module; Described motion controller module comprises Enable Pin control, trajectory planning is processed processes with feedback position; Described multi-axial Simultaneous control method comprises that high-speed synchronous drives stage and pressurization bending driving stage;
1) by Embedded Touch Screen parameter is arranged;
2) input the bending data by Embedded Touch Screen for specific workpiece, industrial computer will calculate bending stroke, angle and deflection compensation amount automatically, generate the bending program;
3) during bending, will treat that the bending plate places on the lower table of all-electric bender, digital control system drives the rear material stopping device location of all-electric bender; At this moment, multi-shaft synchronous control system is that high-speed synchronous drives the stage; Wherein, the first servo-driver and the 4th servo-driver are arranged to speed control mode; The second servo-driver and the 3rd servo-driver are arranged to the Torque Control pattern, the second servo driver drives the second permanent magnet synchronous servo motor moment follow-up the first permanent magnet synchronous servo motor moment, the 3rd servo driver drives the 3rd permanent magnet synchronous servo motor moment follow-up the 4th permanent magnet synchronous servo motor moment; Simultaneously, moment amplitude limit control module is adjusted into set-point with the output torque of four permanent magnet synchronous servo motors, and the moment variations curve is linear change;
4) slide block of all-electric bender drives its patrix and comes downwards to the rate conversion point with the speed of 10～100mm/s, and the speed with 1～10mm/s comes downwards to clamping point again; At this moment, multi-shaft synchronous control system switches to the pressurization bending and drives the stage; Described four servo-drivers all are arranged to speed control mode, and moment amplitude limit control module is adjusted into given pressurization moment with the output torque linearity of four permanent magnet synchronous servo motors, and then the pressurization bending is to the stroke end and carry out pressurize;
5) after the dwell time arrives, moment amplitude limit control module is carried out release simultaneously automatically by reducing four servo-drivers of moment output valve control, multi-shaft synchronous control system switches to the at a high speed upwards backhaul of slide block that high-speed synchronous drives the stage and controls all-electric bender, take the shaping plate away, completion of processing.
Preferably, the described high-speed synchronous driving stage comprises the steps:
(1) each axle movement locus is cooked up in the instruction of motion-control module User, and converts thereof into position command and be issued to the PID module, the PID module according to Auto-proportion, integration and differential parameter to the input instruction process after the first output speed command value;
(2) speed command is directly sent to the speed Control card through the PCI communication module, the speed Control card converts thereof into aanalogvoltage and transfers to the first servo-driver and the 4th servo-driver through cable, the first servo driver drives the first permanent magnet synchronous servo motor, the 4th servo driver drives the 4th permanent magnet synchronous servo motor turns round according to given speed, and makes up and down rectilinear motion by the band movable slider of the first ball-screw and the 4th ball-screw respectively;
(3) first grating scales, the second grating scale, the 3rd grating scale and the 4th grating scale detect respectively the slider of bender mechanical location in real time, convert level signal to and transfer to the speed Control card, the speed Control card converts the electrical signal to the first digital quantity and feeds back to the PID module by the PCI communication module; The PID module is made comparisons the first digital quantity and the first output speed command value and is obtained position deviation, this position deviation produces new speed command after via ratio, integral adjustment, and by step (2) control the first permanent magnet synchronous servo motor and the 4th permanent magnet synchronous servo motor rotating speed;
(4) speed and moment output control module are set to the moment output mode, the speed Control card gathers the torque signals of the first permanent magnet synchronous servo motor and the real-time output of the 4th permanent magnet synchronous servo motor, transfers to speed and moment output control module through the PCI communication module; Through the PCI communication module is done the smoothing and filtration processing to torque signals after, be issued to the speed Control card by the PCI communication module again, deliver to respectively the second servo-driver and the 3rd servo-driver through cable, the second servo-driver drives the second permanent magnet synchronous servo motor moment follow-up the first permanent magnet synchronous servo motor moment by the second ball-screw, and the 3rd servo-driver drives the 3rd permanent magnet synchronous servo motor moment follow-up the 4th permanent magnet synchronous servo motor moment by the 3rd ball-screw;
(5) fuzzy control model will be wherein the speed feedback of a permanent magnet synchronous servo motor poor respectively with the speed feedback of other three permanent magnet synchronous servo motors, then determine the velocity compensation amount according to each permanent magnet synchronous servo motor moment of inertia ratio; And use location compensation rate and rate of change thereof are as a reference, adjust online the parameter of each axle PID controller;
(6) fortune merit control module is switched speed and moment output control module and fuzzy control model mode of operation by its switching controls port output logic low level, realizes that the high-speed synchronous driving stage switches to the bending driving stage of pressurizeing.
Preferably, the described pressurization bending driving stage comprises the steps:
(1) each axle movement locus is cooked up in the instruction of motion-control module User, and converts thereof into position command and be issued to the PID module, the PID module according to Auto-proportion, integration and differential parameter to the input instruction process after the second output speed command value;
(2) speed command is directly sent to the speed Control card through the PCI communication module, and the speed Control card converts thereof into aanalogvoltage and transfers to the first servo-driver and the 4th servo-driver through cable; The first servo driver drives the first permanent magnet synchronous servo motor, the 4th servo driver drives the 4th permanent magnet synchronous servo motor turn round according to given speed, and make up and down rectilinear motion by the band movable slider of the first ball-screw and the 4th ball-screw respectively;
(3) first grating scales, the second grating scale, the 3rd grating scale and the 4th grating scale detect respectively the slide block mechanical location of full-automatic bending machine in real time, convert level signal to and transfer to the speed Control card; The speed Control card converts the electrical signal to the second digital quantity, feed back to the PID module through the PCI communication module again, the PID module is regulated the second digital quantity, the PID module is made comparisons the second digital quantity and the second output speed command value and is obtained position deviation, this position deviation produces new speed command after via ratio, integral adjustment, and by step (2) control the first permanent magnet synchronous servo motor and the 4th permanent magnet synchronous servo motor rotating speed;
(4) speed and moment output control module are arranged on the speed output mode, the output speed instruction of the second servo-driver and the 3rd servo-driver is relayed to speed and moment output control module, the second servo driver drives the second permanent magnet synchronous servo motor, the 3rd servo driver drives the 3rd permanent magnet synchronous servo motor turn round according to given speed, and make up and down rectilinear motion by the band movable slider of the second ball-screw and the 3rd ball-screw respectively;
(5) the fixing parameter of exporting the PID module that presets of fuzzy control model;
(6) fortune merit control module is switched speed and moment output control module and fuzzy control model mode of operation by its switching controls port output logic high level, and the bending driving stage of realizing pressurizeing switches to the high-speed synchronous driving stage.
Preferably, described Embedded Touch Screen gathers the bending correlation parameter information of user's input, and the parameter information of its collection comprises: target bending angle, bending speed, die information, workpiece material parameter, ram bending is deformation-compensated and the depth of parallelism; Behind user's setup parameter, ram bending is deformation-compensated to realize control to the first ball-screw, the second ball-screw, the 3rd ball-screw and the 4th ball-screw position with the depth of parallelism by motion-control module; Described servo synchronous control system can also be realized dynamically arranging of slide block bending pressure by user's input pressure parameter on Embedded Touch Screen;
Described multi-shaft synchronous control system also comprises positive and negative lead limit switch, positive and negative two the lead limit switch states of switching value Control card Real-Time Monitoring slide block; When slide block is touched positive and negative lead limit switch, the switching value Control card sends trigger pip by the PCI communication module to motion-control module, and motion-control module stops the motion of the first permanent magnet synchronous servo motor, the second permanent magnet synchronous servo motor, the 3rd permanent magnet synchronous servo motor, the 4th permanent magnet synchronous servo motor.
The present invention has following beneficial effect with respect to prior art:
(1) the present invention be used for that the multi-shaft synchronous control system novel structure of all-electric bender is ingenious, clear and rational and easy care; Adopt this system can significantly improve net synchronization capability and the bending bearing accuracy of many permanent magnet synchronous servo motor operations, and significantly reduced wearing and tearing because of the asynchronous ball-screw that causes and line slideway between permanent magnet synchronous servo motor, effectively increased the serviceable life of bender gear train;
(2) the present invention adopts the bender of this control system in the situation that do not move for the multi-shaft synchronous control system of all-electric slider of bender, and permanent magnet synchronous servo motor all remains static, and can farthest save the energy;
(3) in general, when backfin was curved, the frame of full-automatic bending machine is stressed can to produce deformation; Each ball-screw is independent to come accurate control position according to control law separately because native system adopts at the pressurization bending section, calculate required upper frame deformation compensation rate according to different moulding pressures, to can compensate upper frame deformation on its middle two ball-screw position command that are added to, thereby can conveniently realize ram bending is carried out intelligent auto-compensation;
(4) the native system adjustment is simple, and the operator only needs just can finish a series of lathe adjustment work the enterprising line parameter editor of touch-screen, thereby greatly reduces the requirement to operating personnel's skills involved in the labour.
Description of drawings
Fig. 1 is control system general illustration of the present invention;
Fig. 2 is multi-shaft synchronous control system high-level schematic functional block diagram of the present invention;
Fig. 3 is single shaft control subsystem structure schematic diagram of the present invention;
Fig. 4 is multi-shaft synchronous control system structured flowchart of the present invention;
Fig. 5 is multi-shaft synchronous control system hardware abstraction layer block diagram of the present invention;
Fig. 6 is multi-shaft synchronous control system workflow diagram of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments goal of the invention of the present invention is described in further detail, embodiment can not give unnecessary details one by one at this, but therefore embodiments of the present invention are not defined in following examples.Unless stated otherwise, material and the job operation of the present invention's employing are the art conventional material and job operation.
As shown in Figure 1, the present invention is used for the multi-shaft synchronous control system of all-electric bender, comprises motion control integrated circuit board 1, digital control system 2 and four groups of slider-actuated mechanisms (3,4,5 and 6).Every group of slider-actuated mechanism comprises servo-driver, permanent magnet synchronous servo motor, synchronous belt drive mechanism, ball-screw and grating scale.
Wherein, four groups of slider-actuated mechanisms are respectively the first slider-actuated mechanism, the second slider-actuated mechanism, the 3rd slider-actuated mechanism and Four-slider driving mechanism.
The first slider-actuated mechanism comprises the first servo-driver 31, the first permanent magnet synchronous servo motor 32, the first synchronous belt drive mechanism 33, the first ball-screw 34 and the first grating scale 35.The first permanent magnet synchronous servo motor 32 is connected with the first ball-screw 34 by the first synchronous belt drive mechanism 33, and the bottom of the first ball-screw 34 is installed on the top of slider of bender.The first grating scale 35 be installed in slider of bender the back side and with the first ball-screw 34 on same vertical axis.The first permanent magnet synchronous servo motor 32 also links to each other with the first servo-driver 31, and the first servo-driver 31 and the first grating scale 35 link to each other with digital control system 2 by motion control integrated circuit board 1 respectively.The first servo-driver 31, the first permanent magnet synchronous servo motor 32, the first synchronous belt drive mechanism 33 and the first ball-screw 34 consist of the first servo-drive system 30.
The second slider-actuated mechanism comprises the second servo-driver 41, the second permanent magnet synchronous servo motor 42, the second synchronous belt drive mechanism 43, the second ball-screw 44 and the second grating scale 45.The second permanent magnet synchronous servo motor 41 is connected with the second ball-screw 44 by 43 second synchronous belt drive mechanisms, and the bottom of the second ball-screw 44 is installed on the top of slider of bender.The second grating scale 45 be installed in slider of bender the back side and with the second ball-screw 44 on same vertical axis.The second permanent magnet synchronous servo motor 42 also links to each other with the second servo-driver 41, and the second servo-driver 41 and the second grating scale 45 link to each other with digital control system 2 by motion control integrated circuit board 1 respectively.The second servo-driver 41, the second permanent magnet synchronous servo motor 42, the second synchronous belt drive mechanism 43 and the second ball-screw 44 consist of the second servo-drive system 40.
The 3rd slider-actuated mechanism comprises the 3rd servo-driver 51, the 3rd permanent magnet synchronous servo motor 52, the 3rd synchronous belt drive mechanism 53, the 3rd ball-screw 54 and the 3rd grating scale 55.The 3rd permanent magnet synchronous servo motor 52 is connected with the 3rd ball-screw 54 by the 3rd synchronous belt drive mechanism 53, and the bottom of the 3rd ball-screw 54 is installed on the top of slider of bender 8.The 3rd grating scale 55 be installed in slider of bender 8 the back side and with the 3rd ball-screw 54 on same vertical axis.The 3rd permanent magnet synchronous servo motor 52 also links to each other with the 3rd servo-driver 51, and the 3rd servo-driver 51 and the 3rd grating scale 55 link to each other with digital control system 2 by motion control integrated circuit board 1 respectively.The 3rd servo-driver 51, the 3rd permanent magnet synchronous servo motor 52, the 3rd synchronous belt drive mechanism 53 and the 3rd ball-screw 54 consist of the 3rd servo-drive system 50.
The Four-slider driving mechanism comprises the 4th servo-driver 61, the 4th permanent magnet synchronous servo motor 62, the 4th synchronous belt drive mechanism 63, the 4th ball-screw 64 and the 4th grating scale 65.The 4th permanent magnet synchronous servo motor 62 is connected with the 4th ball-screw 64 by the 4th synchronous belt drive mechanism 63, and the bottom of the 4th ball-screw 64 is installed on the top of slider of bender.The 4th grating scale 65 be installed in slider of bender the back side and with the 4th ball-screw 64 on same vertical axis.The 4th permanent magnet synchronous servo motor 62 also links to each other with the 4th servo-driver 61, and the 4th servo-driver 61 and the 4th grating scale 65 link to each other with digital control system 2 by motion control integrated circuit board 1 respectively.The 4th servo-driver 61, the 4th permanent magnet synchronous servo motor 62, the 4th synchronous belt drive mechanism 63 and the 4th ball-screw 64 consist of the 4th servo-drive system 60.
As shown in Figure 2, motion control integrated circuit board 1 comprises switching value Control card 11 and speed Control card 12.The optic module Rx port of speed Control card 11 is connected to the Tx port of industrial computer 21 inner PCI modules by optical fiber 7.This x port also links to each other with the optic module Rx end of switching value Control card 11, and the optic module Tx port of switching value Control card 11 links to each other with the Rx port of the inner PCI module card of industrial computer.
As shown in Figure 3, the output of the three-phase of four servo-drivers U, V, W, PE are connected with the power electric source of four permanent magnet synchronous servo motors respectively.The X2 function port of four servo-drivers connects in the DB9 of speed Control card 12 joint by 9 core cables respectively.Wherein, analog input port ISA00 is connected with the speed command output terminal of speed Control card 12; Analog input port ISA01 is connected with the Torque Control instruction output end of speed Control card 12.In addition, the servo start signal of four servo-drivers, servo alerting signal and servo removing alerting signal link to each other with SRV_ON, ALM, the SRV_CLR of speed control card 12 respectively.
In addition, the scrambler input port of four servo-drivers is connected with the scrambler output terminal of corresponding permanent magnet synchronous servo motor respectively by cable.The band-type brake control port of four servo-drivers connects respectively at the relay coil two ends.The band-type brake input port of four permanent magnet synchronous servo motors is connected with the relay normally open switch.
Multi-shaft synchronous control system of the present invention is divided into the slider-actuated mechanism that comprises four groups of single shaft closed-loop synchronization subsystem controls.It adopts velocity equivalent, acceleration compounding feedforward controller to realize the two-dimentional Fuzzy PID of quick and precisely following the tracks of, adopt of given position signal is improved the synchronization accuracy of four permanent magnet synchronous servo motors.Corresponding control method all realizes in the industrial computer inside programming.
As shown in Figure 4, the first servo-driver and the 4th servo-driver are set to the speed output mode, realize fast location under the effect of position ring PID module.The second servo-driver and the 3rd servo-driver are set to the moment output mode.The second servo-driver drives the second permanent magnet synchronous servo motor moment follow-up the first permanent magnet synchronous servo motor moment by the second ball-screw, and the 3rd servo-driver drives the 3rd permanent magnet synchronous servo motor moment follow-up the 4th permanent magnet synchronous servo motor moment by the 3rd ball-screw.Control method realizes in the industrial computer inside programming.
As shown in Figure 5, digital control system 2 comprises industrial computer 21 and Embedded Touch Screen 22.Industrial computer 21 inside comprise motion-control module, PID module, fuzzy control model, speed and moment output control module, PCI communication module and moment amplitude limit control module.Motion-control module, PID module, fuzzy control model are realized the control of fortune merit trajectory planning.Speed and moment output control module are realized the switching controls of system high-speed driven in synchronism structure and pressurization bending structure.Moment amplitude limit control module realizes the control of moment output.Speed Control card 12 is realized the information interaction of four groups of servo-drive systems (30,40,50 and 60) and industrial computer 21.All modules realize in the inner C of use of industrial computer Programming with Pascal Language.
As shown in Figure 6, the bending flow process operates by shown in the figure, finishes each bending node processing.The sheet material bending angle mainly is to realize by the displacement of four groups of servo-drive systems (30,40,50 and 60) control patrix in the counterdie groove.In practical operation, the user finishes the setting of all parameters, and for specific workpiece input bending data, digital control system is calculated bending stroke, angle and deflection compensation amount with industry control, generates the bending program.
During bending, will treat that the bending plate places on the lower table of all-electric bender, digital control system drives the rear material stopping device location of all-electric bender; At this moment, multi-shaft synchronous control system is that high-speed synchronous drives the stage; Wherein, the first servo-driver and the 4th servo-driver are arranged to speed control mode; The second servo-driver and the 3rd servo-driver are arranged to the Torque Control pattern, the second servo driver drives the second permanent magnet synchronous servo motor moment follow-up the first permanent magnet synchronous servo motor moment, the 3rd servo driver drives the 3rd permanent magnet synchronous servo motor moment follow-up the 4th permanent magnet synchronous servo motor moment; Simultaneously, moment amplitude limit control module is adjusted into set-point with the output torque of four permanent magnet synchronous servo motors, and the moment variations curve is linear change;
The slide block of all-electric bender drive its patrix from the upper dead center high-speed downstream to rate conversion point, again to descend slowly speed to come downwards to clamping point; At this moment, multi-shaft synchronous control system switches to the pressurization bending and drives the stage; Described four servo-drivers all are arranged to speed control mode, and moment amplitude limit control module is adjusted into given pressurization moment with the output torque linearity of four permanent magnet synchronous servo motors, and then the pressurization bending is to the stroke end and carry out pressurize;
After dwell time arrives, automatically carry out release, multi-shaft synchronous control system switches to the at a high speed upwards backhaul of slide block that high-speed synchronous drives the stage and controls all-electric bender, takes the shaping plate away, completion of processing.
At present, China gains ground in the research and development of each tonnage hydraulic bending machine, but still lags behind foreign vendor on higher level digital control system comprehensively, and shortage can be practical and the bender digital control system of putting on market.In the situation that the developed country such as America and Europe and Japan carries out barrier and blockade policy to China on the Grand Equipments gordian technique a few days ago, for breaking external monopoly position in this technology, guarantee growth of the national economic and sustainable development, have the advanced manufacturing technology of China's independent intellectual property right in the urgent need to exploitation.The all-electric bender of the present invention carries out research and development to it and has very high technical meaning and social and economic significance as the representative of advanced can manufacturing equipment.
Above-described embodiment is preferred embodiment of the present invention only, is not to limit practical range of the present invention.Be that all equalizations of doing according to content of the present invention change and modification, all contained by claim of the present invention scope required for protection.
Claims (10)
1. a multi-shaft synchronous control system that is used for all-electric bender is characterized in that: comprise motion control integrated circuit board, digital control system and some groups of slider-actuated mechanisms; Every group of slider-actuated mechanism comprises servo-driver, permanent magnet synchronous servo motor, synchronous belt drive mechanism, ball-screw and grating scale; Described permanent magnet synchronous servo motor is connected with ball-screw by synchronous belt drive mechanism, and the bottom of ball-screw is installed on the top of slider of bender; Described grating scale be installed in slider of bender the back side and with ball-screw on same vertical axis; Described permanent magnet synchronous servo motor also links to each other with servo-driver, and servo-driver and grating scale link to each other with digital control system by the motion control integrated circuit board respectively.
2. the multi-shaft synchronous control system for all-electric bender according to claim 1 is characterized in that: the three-phase output of described servo-driver is connected with described servomotor power electric source; The X2 function port of described servo-driver links by cable and motion control board and connects, and the scrambler input port of described servo-driver is connected with the rotary encoder output terminal of permanent magnet synchronous servo motor by cable.
3. the multi-shaft synchronous control system for all-electric bender according to claim 1, it is characterized in that: described digital control system comprises industrial computer and Embedded Touch Screen; Described Embedded Touch Screen is connected with industrial computer; Described motion control integrated circuit board comprises switching value Control card and speed Control card; Described servo-driver and grating scale are connected with the speed Control card, and described switching value Control card connects the positive and negative lead limit switch of slider of bender by cable; Described switching value Control card and speed Control card all are connected to the PCI module of industrial computer inside by optical fiber.
4. the multi-shaft synchronous control system for all-electric bender according to claim 1 is characterized in that: described synchronous belt drive mechanism comprises that the first band gear, synchronous belt be with gear with second; First is installed on the output shaft of permanent magnet synchronous servo motor with gear, and second is installed on the nut of ball-screw with gear, and the second band gear is with gear to be connected by synchronous belt and first.
5. the multi-shaft synchronous control system for all-electric bender according to claim 1, it is characterized in that: the length of described slider of bender is greater than 3000mm.
6. each described multi-shaft synchronous control system for all-electric bender according to claim 1-5, it is characterized in that: the quantity of described slider-actuated mechanism is four groups, is respectively the first slider-actuated mechanism, the second slider-actuated mechanism, the 3rd slider-actuated mechanism and Four-slider driving mechanism; The first slider-actuated mechanism comprises the first servo-driver, the first permanent magnet synchronous servo motor, the first synchronous belt drive mechanism, the first ball-screw and the first grating scale; The second slider-actuated mechanism comprises the second servo-driver, the second permanent magnet synchronous servo motor, the second synchronous belt drive mechanism, the second ball-screw and the second grating scale; The 3rd slider-actuated mechanism comprises the 3rd servo-driver, the 3rd permanent magnet synchronous servo motor, the 3rd synchronous belt drive mechanism, the 3rd ball-screw and the 3rd grating scale; The Four-slider driving mechanism comprises the 4th servo-driver, the 4th permanent magnet synchronous servo motor, the 4th synchronous belt drive mechanism, the 4th ball-screw and the 4th grating scale.
7. multi-axial Simultaneous control method for all-electric bender as claimed in claim 6: it is characterized in that: industrial computer comprises motion-control module, PID module, fuzzy control model, speed and moment output control module, PCI communication module and moment amplitude limit control module; Described motion controller module comprises Enable Pin control, trajectory planning is processed processes with feedback position; Described multi-axial Simultaneous control method comprises that high-speed synchronous drives stage and pressurization bending driving stage;
1) by Embedded Touch Screen parameter is arranged;
2) input the bending data by Embedded Touch Screen for specific workpiece, industrial computer will calculate bending stroke, angle and deflection compensation amount automatically, generate the bending program;
3) during bending, will treat that the bending plate places on the lower table of all-electric bender, digital control system drives the rear material stopping device location of all-electric bender; At this moment, multi-shaft synchronous control system is that high-speed synchronous drives the stage; Wherein, the first servo-driver and the 4th servo-driver are arranged to speed control mode; The second servo-driver and the 3rd servo-driver are arranged to the Torque Control pattern, the second servo driver drives the second permanent magnet synchronous servo motor moment follow-up the first permanent magnet synchronous servo motor moment, the 3rd servo driver drives the 3rd permanent magnet synchronous servo motor moment follow-up the 4th permanent magnet synchronous servo motor moment; Simultaneously, moment amplitude limit control module is adjusted into set-point with the output torque of four permanent magnet synchronous servo motors, and the moment variations curve is linear change;
4) slide block of all-electric bender drives its patrix and comes downwards to the rate conversion point with the speed of 10～100mm/s, and the speed with 1～10mm/s comes downwards to clamping point again; At this moment, multi-shaft synchronous control system switches to the pressurization bending and drives the stage; Described four servo-drivers all are arranged to speed control mode, and moment amplitude limit control module is adjusted into given pressurization moment with the output torque linearity of four permanent magnet synchronous servo motors, and then the pressurization bending is to the stroke end and carry out pressurize;
5) after the dwell time arrives, moment amplitude limit control module is carried out release simultaneously automatically by reducing four servo-drivers of moment output valve control, multi-shaft synchronous control system switches to the at a high speed upwards backhaul of slide block that high-speed synchronous drives the stage and controls all-electric bender, take the shaping plate away, completion of processing.
8. control method according to claim 7, it is characterized in that: the described high-speed synchronous driving stage comprises the steps:
(1) each axle movement locus is cooked up in the instruction of motion-control module User, and converts thereof into position command and be issued to the PID module, the PID module according to Auto-proportion, integration and differential parameter to the input instruction process after the first output speed command value;
(2) speed command is directly sent to the speed Control card through the PCI communication module, the speed Control card converts thereof into aanalogvoltage and transfers to the first servo-driver and the 4th servo-driver through cable, the first servo driver drives the first permanent magnet synchronous servo motor, the 4th servo driver drives the 4th permanent magnet synchronous servo motor turns round according to given speed, and makes up and down rectilinear motion by the band movable slider of the first ball-screw and the 4th ball-screw respectively;
(3) first grating scales, the second grating scale, the 3rd grating scale and the 4th grating scale detect respectively the slider of bender mechanical location in real time, convert level signal to and transfer to the speed Control card, the speed Control card converts the electrical signal to the first digital quantity and feeds back to the PID module by the PCI communication module; The PID module is made comparisons the first digital quantity and the first output speed command value and is obtained position deviation, this position deviation produces new speed command after via ratio, integral adjustment, and by step (2) control the first permanent magnet synchronous servo motor and the 4th permanent magnet synchronous servo motor rotating speed;
(4) speed and moment output control module are set to the moment output mode, the speed Control card gathers the torque signals of the first permanent magnet synchronous servo motor and the real-time output of the 4th permanent magnet synchronous servo motor, transfers to speed and moment output control module through the PCI communication module; Through the PCI communication module is done the smoothing and filtration processing to torque signals after, be issued to the speed Control card by the PCI communication module again, deliver to respectively the second servo-driver and the 3rd servo-driver through cable, the second servo-driver drives the second permanent magnet synchronous servo motor moment follow-up the first permanent magnet synchronous servo motor moment by the second ball-screw, and the 3rd servo-driver drives the 3rd permanent magnet synchronous servo motor moment follow-up the 4th permanent magnet synchronous servo motor moment by the 3rd ball-screw;
(5) fuzzy control model will be wherein the speed feedback of a permanent magnet synchronous servo motor poor respectively with the speed feedback of other three permanent magnet synchronous servo motors, then determine the velocity compensation amount according to each permanent magnet synchronous servo motor moment of inertia ratio; And use location compensation rate and rate of change thereof are as a reference, adjust online the parameter of each axle PID controller;
(6) fortune merit control module is switched speed and moment output control module and fuzzy control model mode of operation by its switching controls port output logic low level, realizes that the high-speed synchronous driving stage switches to the bending driving stage of pressurizeing.
9. control method according to claim 8, it is characterized in that: the described pressurization bending driving stage comprises the steps:
(1) each axle movement locus is cooked up in the instruction of motion-control module User, and converts thereof into position command and be issued to the PID module, the PID module according to Auto-proportion, integration and differential parameter to the input instruction process after the second output speed command value;
(2) speed command is directly sent to the speed Control card through the PCI communication module, and the speed Control card converts thereof into aanalogvoltage and transfers to the first servo-driver and the 4th servo-driver through cable; The first servo driver drives the first permanent magnet synchronous servo motor, the 4th servo driver drives the 4th permanent magnet synchronous servo motor turn round according to given speed, and make up and down rectilinear motion by the band movable slider of the first ball-screw and the 4th ball-screw respectively;
(3) first grating scales, the second grating scale, the 3rd grating scale and the 4th grating scale detect respectively the slide block mechanical location of full-automatic bending machine in real time, convert level signal to and transfer to the speed Control card; The speed Control card converts the electrical signal to the second digital quantity, feed back to the PID module through the PCI communication module again, the PID module is regulated the second digital quantity, the PID module is made comparisons the second digital quantity and the second output speed command value and is obtained position deviation, this position deviation produces new speed command after via ratio, integral adjustment, and by step (2) control the first permanent magnet synchronous servo motor and the 4th permanent magnet synchronous servo motor rotating speed;
(4) speed and moment output control module are arranged on the speed output mode, the output speed instruction of the second servo-driver and the 3rd servo-driver is relayed to speed and moment output control module, the second servo driver drives the second permanent magnet synchronous servo motor, the 3rd servo driver drives the 3rd permanent magnet synchronous servo motor turn round according to given speed, and make up and down rectilinear motion by the band movable slider of the second ball-screw and the 3rd ball-screw respectively;
(5) the fixing parameter of exporting the PID module that presets of fuzzy control model;
(6) fortune merit control module is switched speed and moment output control module and fuzzy control model mode of operation by its switching controls port output logic high level, and the bending driving stage of realizing pressurizeing switches to the high-speed synchronous driving stage.
10. control method according to claim 8, it is characterized in that: described Embedded Touch Screen gathers the bending correlation parameter information of user's input, and the parameter information of its collection comprises: target bending angle, bending speed, die information, workpiece material parameter, ram bending is deformation-compensated and the depth of parallelism; Behind user's setup parameter, ram bending is deformation-compensated to realize control to the first ball-screw, the second ball-screw, the 3rd ball-screw and the 4th ball-screw position with the depth of parallelism by motion-control module; Described servo synchronous control system can also be realized dynamically arranging of slide block bending pressure by user's input pressure parameter on Embedded Touch Screen;
Described multi-shaft synchronous control system also comprises positive and negative lead limit switch, positive and negative two the lead limit switch states of switching value Control card Real-Time Monitoring slide block; When slide block is touched positive and negative lead limit switch, the switching value Control card sends trigger pip by the PCI communication module to motion-control module, and motion-control module stops the motion of the first permanent magnet synchronous servo motor, the second permanent magnet synchronous servo motor, the 3rd permanent magnet synchronous servo motor, the 4th permanent magnet synchronous servo motor.
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| CN105573245A (en) * | 2015-12-24 | 2016-05-11 | 马鞍山市中亚机床制造有限公司 | Precision debugging method of numerical control bending machine |
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| CN103454967A (en) * | 2013-09-13 | 2013-12-18 | 绍兴市安雅信自动化技术有限公司 | Axis adding device and axis adding method for torsion axis bending machine |
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| WO2016201870A1 (en) * | 2015-06-17 | 2016-12-22 | 江苏江海机床集团有限公司 | Numerical control system for smart synchronous torque numerically controlled bending machine |
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| CN107831734A (en) * | 2017-11-17 | 2018-03-23 | 广船国际有限公司 | The controller and control method of numerical control bender, device, equipment and storage medium |
| CN108255209B (en) * | 2017-12-14 | 2020-12-25 | 武汉菲仕运动控制系统有限公司 | Bending machine control method and system |
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| CN110899395A (en) * | 2019-12-24 | 2020-03-24 | 株洲特装智能装备有限公司 | Pure electric servo numerical control bending machine |
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| CN113877994B (en) * | 2021-09-22 | 2024-01-16 | 深圳市合信自动化技术有限公司 | All-electric-drive bending machine |
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| CN116107268A (en) * | 2023-04-04 | 2023-05-12 | 瑞铁机床（苏州）股份有限公司 | Control system of pure electric servo numerical control bending machine |
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