CN103123477B - Shaft motion control method based on double feedbacks of motor and machine tool location - Google Patents
Shaft motion control method based on double feedbacks of motor and machine tool location Download PDFInfo
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Abstract
The invention relates to the control field of numerically-controlled machine tool and, is specific to a full closed-loop axial motion control method of dynamic correction motion interpolation of a shaft of a machine tool. The feedback of dynamic correction motion interpolation of the shaft of the machine tool is obtained through a belt circumscribed location sensing device. Countershaft motion instruction uses the feedback of a servo motor encoder and a machine tool location sensing device to perform a shaft motion planning and form a shaft speed set value in the processing procedure. The interpolation points of the shaft motion in the processing procedure are achieved by shaft controlling portion, and the smooth running of the servo motor in a shaft transmission device is achieved by PID (picture input device) control. The invention is well-adapted, the positioning accuracy and the repeated positioning accuracy of the machine tool can be ensured, the speed smoothness is high, dynamic nature is good and motion safety is high.
Description
Technical field
The present invention relates to numerically-controlled machine control field, specifically for the full cut-off annulate shaft motion control method of the dynamic corrections motion interpolation of band external position sensing device feedback machine spindle.
Background technology
Current numerically-controlled machine is widely used more and more, also day by day improves position accuracy for CNC machine tools, repetitive positioning accuracy simultaneously, and the semi-closed loop control system that originally leading screw adds coder type cannot meet the demand of user.The driving error that the uncontrollable machine spindle gear train of semi-closed loop control system produces, when running up gear train produce kinematic train wearing and tearing in thermal deformation errors and process and the error that produces, and these errors have badly influenced machining precision and the stability thereof of numerically-controlled machine.The external sensing device such as grating scale carries out full closed loop control to each coordinate axis of numerically-controlled machine, eliminate above-mentioned error, improve the positioning precision of lathe, repetitive positioning accuracy and precision reliability, be day by day subject to the favor of user as the critical component improving Position Accuracy for NC Machines.But complicated for mechanical transmission structure, that mechanical clearance is comparatively large or in axle stroke range, transmission is linearly poor machine coordinates axle, if adopt traditional full closed loop control mode, although axle positioning precision, repetitive positioning accuracy can be met to a certain extent, but there is servomotor rotating speed in motion control process and steadily, easily do not cause machine spindle Vibration Condition, cause machining precision to be affected on the one hand, also can cause the wearing and tearing accelerating transmission device of machine tool on the other hand.
Along with developing rapidly of modern manufacturing industry, machine tool structure is also constantly changing, and such as occurred that single servo motor controls the physical construction of multimachine bed coordinate axis, traditional axle control mode can not well be applicable to this type of lathe.And this type of machine tool drive complex structure, mechanical clearance are comparatively large, in axle stroke range transmission linear unstable etc., need extraneous position sensing device to realize location equally.
Summary of the invention
For the disposal route Problems existing of existing axle motion control, the object of this invention is to provide one can according to the external position sensing devices such as grating scale and encoder for servo motor feedback dynamic corrections interpolation position, realize dynamic programming movement locus, based on the method, the present invention can while meeting positioning precision, repetitive positioning accuracy, ensure servomotor stable operation, ensure Workpiece Machining Accuracy and the serviceable life of prolongation lathe.
The technical scheme that the present invention is adopted for achieving the above object is: a kind of based on motor and the two axle motion control method fed back of machine tool position, encoder for servo motor feedback and machine tool position sensing device is utilized to carry out axle motion planning to axle movement instruction, form the axle speed set point values in process, process axis motion interpolated point is realized, through the smooth rotation of PID control realization to servomotor in shaft drive by axle control section.
Described axle motion planning is in axle motion process, by the external position sensing device gained axle feedback position of the final actuating station of machine spindle, feed back with encoder for servo motor and calculate gained axle feedback position, the difference of the two is constantly revised axle motion planning location point, recalculates motion planning Distance Remaining.
When described axle motion planning is in and plans that boost phase, planning constant velocity stage or axle order speed of feed change the planning stage, axle controls the closed-loop control adopted based on motor and machine tool position two feedback dynamic corrections, increases and carries out closed-loop correction to a upper cycle order interpolation location point and planning Distance Remaining:
lastCmdPos＝LastCmdPos+posCorrection；
remDis＝remDis-posCorrection；
Wherein lastCmdPos represents the order interpolation location point in a cycle, and posCorrection represents shaft position feedback modifiers amount, and remDis represents planning Distance Remaining; PID controls the closed loop PID control adopted based on motor and machine tool position two feedback dynamic corrections;
When described axle motion planning is in and plans that decelerating phase or location complete the stage, axle controls to adopt full closed loop control; PID controls to adopt closed-loop PID to control;
When described axle motion planning is in axle without motion stage, axle controls to adopt half-closed loop control; PID controls to adopt axle anchor point semiclosed loop PID to control.
Described half-closed loop control, refers to and casts aside the direct feedback that machine spindle performs terminal, be i.e. external position sensing device.
Described full closed loop control, refers to and arranges monitoring, i.e. external position sensing device in the final actuating station of machine spindle, the signal fed back to is directly used in the adjustment of machine spindle motion, and have nothing to do with the feedback of encoder for servo motor.
Described external position sensing device can be grating scale, ball bar ruler, also can be the external scrambler of turning axle.
The present invention has the following advantages:
1. strong adaptability.The lathe of every employing axle motion control, no matter possess and perform terminal location feedback, be linear coordinate axle, or turning axle, no matter is adopt grating scale, ball bar ruler, or external position coder, can adopt method of the present invention.
2. machine spindle positioning precision, repetitive positioning accuracy can be protected.The stage that completes in location adopts full closed loop control, axle positioning precision can be ensured, and traditional full closed loop control method needs omnidistance full closed loop control, although also can positioning precision be ensured, but require that machine spindle mechanical drive is good, easily vibrations are caused for gearing poor machine spindle, even occurred emotionally shape.
3. rate smoothing degree is high, dynamic good.The present invention adopts different movement control mode in the different motion stage, in speed planning process, introduce the dynamic corrections mechanism of axle interpolation position, both avoided for ensure speed planning stationarity and bring real electrical machinery running instability, also ensure the stationarity of axle movement velocity, adopt full closed loop control more completely, adjustable height servo loop speed proportional gain simultaneously, reduce following error, improve machining precision.
4. sports safety is high.By introducing the dynamic corrections mechanism of axle interpolation position, while raising rate smoothing, effectively can reduce the possibility that axle motion is overproof, overload; Simultaneously when under the state occurring external sensing device abnormal signal, the reasons such as such as grating scale reading is disorderly, can avoid axle the motor disorder even situation of driving, report overproof early, protection lathe is not damaged.
Accompanying drawing explanation
Fig. 1 is the inventive method general structure block diagram;
Fig. 2 is shaft position calculation flow chart of the present invention;
Fig. 3 is axle motion control process flow diagram of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
Axle motion control comprises axle motion planning, axle controls to control three parts with PID.Its axis motion planning adopts the axle dynamic programming disposal route of two-position feedback, axle motion planning is carried out to axle movement instruction, form the axle speed set point values in process, process axis motion interpolated point is realized, through the smooth rotation of PID control realization to servomotor in shaft drive by axle control section.
Described axle motion planning, comprises 6 stages: 1) plan boost phase; 2) constant velocity stage is planned; 3) decelerating phase is planned; 4) the axle order speed of feed change planning stage; 5) stage has been located; 6) axle is without motion stage.For the different motion planning stages, the described axle motion control method based on motor and the two feedback of machine tool position can be divided into different control modes: 1) half-closed loop control; 2) full closed loop control; 3) based on motor and the two closed-loop control of feeding back dynamic corrections of machine tool position.
Half-closed loop control described here, refer to and cast aside the direct feedback (i.e. the external position sensing device such as grating scale) that machine spindle performs terminal, this feedback is only for the display of physical location and the calculating of following error, and the position of real closed loop is on servomotor.The planning process of axle motion does not take half-closed loop control, only adopts without under motion conditions at axle, and just ensures certain command position point closed loop that servomotor is corresponding, more briefly, is exactly ensure that servomotor location point is motionless.
Full closed loop control described here, refers to and arranges monitoring, i.e. the external position sensing device such as grating scale in the final actuating station of machine spindle, the signal fed back to is directly used in the adjustment of machine spindle motion, and have nothing to do with the feedback of encoder for servo motor.The present invention only adopts full closed loop control in the planning decelerating phase of axle motion process and the location stage that completes, these two stages adopt full closed loop control, be to ensure axle motion positions precision, this process planning moving displacement is short simultaneously, planning time is short, there will not be axle motional jitter.The described location stage of completing is that spindle motion planning completes, but still there is certain following error, adopts full closed loop control can reduce following error as far as possible, reaches accurate positioning action.After the location stage of completing terminates, enter axle without motion state, adopt half-closed loop control, make up full closed loop control and easily occur at anchor point the shortcoming that axle trembles.
Described here based on motor and the two closed-loop control of feeding back dynamic corrections of machine tool position, it is a key of the present invention, refer in axle motion process, break traditions the concept of Motion trajectory, by external position sensing device gained axle feedback positions such as the grating scales of the final actuating station of machine spindle, feed back with encoder for servo motor and calculate gained axle feedback position, the difference of the two is constantly revised axle motion planning location point, recalculate motion planning Distance Remaining, but do not affect axle motion planning speed, new axle interpolation position is calculated within the motion planning cycle.The method is all adopted to control in planning boost phase, planning constant velocity stage and axle order speed of feed change planning stage.This control method, not only ensures the smooth operation of servomotor, also guarantees the easy motion of machine spindle simultaneously.
No matter adopt which kind of control mode, command position is all the time around machine spindle interpolation position, and axle physical location feeds back gained by external position sensing devices such as grating scales all the time, and the difference of the two is following error.
See Fig. 1, describe general structure block diagram of the present invention, comprise axle data acquisition, axle motion planning, axle control, PID and driving, feedback device part.
Part of data acquisition is achieved by driving, feedback device partial data feedback.Axle physical location can be calculated by external position sensing device; Obtain reading by encoder for servo motor, the shaft position that servomotor is corresponding can be calculated; See Fig. 2, by these two feedback positions, can obtain current servo cycle shaft position feedback modifiers amount, this correction is the key that the inventive method is achieved; By this correction, recalculate motor encoder and shaft position feed back between position offset, i.e. motor feedback shaft position skew, calculates shaft position corresponding to servomotor for next servo period; Whether, by the axle order interpolation position of a upper servo period and the axle feedback position of current acquisition, the difference of the two is axle following error, overproof for judging in axle motion process.
Axle movement instruction part, comprises axle moving target position, axle speed of feed, and axle peak acceleration.
Axle motion control portion is chief component of the present invention, and it comprises axle motion planning, axle controls, PID controls and actuating speed calculates.Its axis motion planning is the most important process of the inventive method, contains half-closed loop control, full closed loop control, closed-loop control etc. based on motor and machine tool position two feedback dynamic corrections; Axle control is the continuity of motion planning, for the restriction of axle speed, acceleration restriction and the control of axle motion smoothing etc., finally determines current servo cycle axle order interpolation position; PID controls to be calculate output speed to axle by axle command position and feedback position; Actuating speed calculating part is to axle speed by the output speed command value of the calculating such as Conversion of measurement unit to motor, prepares for controlling servo output.
Driving, feedback device part are the bases that the present invention realizes, and comprise servo unit and external position sensing device.Wherein external position sensing device is arranged on the terminal of axle Motor execution, can be grating scale, ball bar ruler, also may be the external scrambler of turning axle.The load characteristic etc. of the resolution of the external position sensing device such as grating scale, installation site and machine spindle determines the quality of axle positioning precision; For linear axes, the linear error of sensing device improves axle positioning precision by linear compensation.
As shown in Figure 3, the control flow of the inventive method is described in detail.
LastCmdPos represents the order interpolation location point in a cycle, lastCmdVel represents the programming commands speed in a cycle, lastCmdAcc represents the programming commands acceleration in a cycle, remDis represents planning Distance Remaining, actualPos represents axle physical location, motorPos represents the shaft position being fed back calculating gained by encoder for servo motor, posCorrection represents shaft position feedback modifiers amount, cmdPos represents new order interpolation location point, cmdVel represents new programming commands speed, and cmdAcc represents new programming commands acceleration.
Shown in flow process, axle motion process can be divided into following six stages:
1. boost phase is planned
Perform the initial stage at axle movement instruction and be in planning boost phase when axle programming movement process remains enough distances and planning speed does not reach speed of feed.
Planning process is as follows:
First closed-loop correction is carried out to a upper cycle order interpolation location point and planning Distance Remaining:
lastCmdPos＝LastCmdPos+posCorrection；
remDis＝remDis-posCorrection；
Order interpolation location point cmdPos that current period is new, planning speed cmdVel, acceleration cmdAcc is drawn according to acceleration and deceleration algorithm, and Distance Remaining remDis etc.
Planning boost phase complete enter planning at the uniform velocity 2. or the decelerating phase 3..
2. constant velocity stage is planned
Planning constant velocity stage is in when axle programming movement process remains enough distances and planning speed reaches speed of feed.
Planning process with boost phase 1..
Planning constant velocity stage completes and enters the planning decelerating phase 3..
3. the decelerating phase is planned
Axle programming movement process Distance Remaining be not enough at the uniform velocity or Accelerating running time be in planning the decelerating phase.
Planning process, compared with 1., carries out closed-loop makeover process without order interpolation location point and planning Distance Remaining, but utilizes deceleration planning to realize full closed loop control.
If have new movement instruction to wait in planning moderating process, can receive and enter the axle order speed of feed change planning stage 4.; Planning moderating process completes and enters location and complete the stage 5..
4. the axle order speed of feed change planning stage
Between planning constant velocity stage's speed of feed adjustment period (adjustment of such as feeding multiplying power), or newly increase movement instruction in planning moderating process, system enters the axle order speed of feed change planning stage.
Planning process with boost phase 1..
2. or 3. the axle order speed of feed change planning stage belongs to the speed adjusting stage, judges to enter 1., after completing according to the acceleration of planning.
5. the stage has been located
After the planning decelerating phase completes, cmdPos is identical with source location for order interpolation location point, and programming commands speed cmdVel is 0, and planning acceleration cmdAcc is 0, and planning Distance Remaining is 0, and axle motion planning completes, and this stage is that location completes the stage.
This stage is anchor point full closed loop control, and system provides location timing, and duration is specified by systematic parameter, ensures registration.When reaching location timing duration, enter axle without motion stage 6.; If there is new movement instruction order in this stage, receive movement instruction, enter planning boost phase 1..
6. axle is without motion stage
Complete at axle movement instruction, or when performing without movement instruction, this stage is that axle is without motion stage.
This stage adopts half-closed loop control, and external position sensing device is only for the calculating of axle physical location and the calculating of following error.
(3) PID controls
See Fig. 3, in the present invention, PID controls to be divided into four kinds of modes:
1. axle controls without the axle anchor point semiclosed loop PID of motion stage
2. boost phase, constant velocity stage and the closed loop PID control feeding back dynamic corrections based on motor and machine tool position pair of axle order speed of feed change planning stage is planned
3. plan that decelerating phase and location complete the closed-loop PID in stage and control.
Claims (5)
1. the axle motion control method based on the two feedback of motor and machine tool position, it is characterized in that, encoder for servo motor feedback and machine tool position sensing device is utilized to carry out axle motion planning to axle movement instruction, form the axle speed set point values in process, process axis motion interpolated point is realized, through the smooth rotation of PID control realization to servomotor in shaft drive by axle control section;
When described axle motion planning is in and plans that boost phase, planning constant velocity stage or axle order speed of feed change the planning stage, axle controls the closed-loop control adopted based on motor and machine tool position two feedback dynamic corrections, increases and carries out closed-loop correction to a upper cycle order interpolation location point and planning Distance Remaining:
lastCmdPos'＝lastCmdPos+posCorrection；
remDis'＝remDis-posCorrection；
Wherein lastCmdPos represents the order interpolation location point before a cycle correction, lastCmdPos' represents the order interpolation location point after a cycle correction, posCorrection represents shaft position feedback modifiers amount, remDis represents correction preplanning Distance Remaining, and remDis' plans Distance Remaining after representing correction; PID controls the closed loop PID control adopted based on motor and machine tool position two feedback dynamic corrections;
When described axle motion planning is in and plans that decelerating phase or location complete the stage, axle controls to adopt full closed loop control; PID controls to adopt closed-loop PID to control;
When described axle motion planning is in axle without motion stage, axle controls to adopt half-closed loop control; PID controls to adopt axle anchor point semiclosed loop PID to control.
2. according to claim 1 a kind of based on motor and the two axle motion control method fed back of machine tool position, it is characterized in that, described axle motion planning is in axle motion process, by the external position sensing device gained axle feedback position of the final actuating station of machine spindle, feed back with encoder for servo motor and calculate gained axle feedback position, the difference of the two is constantly revised axle motion planning location point, recalculates motion planning Distance Remaining.
3. according to claim 1 a kind of based on motor and the two axle motion control method fed back of machine tool position, it is characterized in that, described half-closed loop control, refer to and cast aside the direct feedback that machine spindle performs terminal, be i.e. external position sensing device.
4. according to claim 1 a kind of based on motor and the two axle motion control method fed back of machine tool position, it is characterized in that, described full closed loop control, refer to and monitoring is set in the final actuating station of machine spindle, i.e. external position sensing device, the signal fed back to is directly used in the adjustment of machine spindle motion, and has nothing to do with the feedback of encoder for servo motor.
5. a kind of axle motion control method based on the two feedback of motor and machine tool position according to claim 3 or 4, it is characterized in that, described external position sensing device can be grating scale, ball bar ruler, also can be the external scrambler of turning axle.
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| CN104597846B (en) * | 2013-10-31 | 2017-05-03 | 中国科学院沈阳计算技术研究所有限公司 | Lull-closed-loop motion control method for interpolation of multi-shaft coupling pipeline |
| JP5781241B1 (en) * | 2014-03-17 | 2015-09-16 | 三菱電機株式会社 | Numerical controller |
| CN105824290B (en) * | 2016-04-28 | 2018-06-01 | 叶志刚 | A kind of ultrahigh precision servo drive system based on PID on-line proving lathes |
| CN108073162B (en) * | 2016-11-11 | 2021-05-04 | 中国科学院沈阳计算技术研究所有限公司 | Control method for realizing smooth motion of robot by inserting motion segment |
| JP7003454B2 (en) * | 2017-06-15 | 2022-01-20 | オムロン株式会社 | Control device, position control system, position control method, and position control program |
| CN108111085B (en) * | 2018-01-24 | 2020-04-03 | 深圳市英威腾电气股份有限公司 | Electric transmission equipment, frequency converter and motor control method thereof |
| CN110286643A (en) * | 2019-07-11 | 2019-09-27 | 珠海格力智能装备有限公司 | The control method and device of machine tool motion track, storage medium, processor |
| CN110449990A (en) * | 2019-07-11 | 2019-11-15 | 科德数控股份有限公司 | A kind of open loop dynamic error measurement method of closed-loop lathe |
| CN111736523B (en) * | 2020-06-23 | 2022-11-29 | 吉林省科英激光股份有限公司 | Control system and method capable of realizing zero position compensation of scanning motor |
| CN114178872A (en) * | 2021-12-08 | 2022-03-15 | 江苏特贝尔精密机械科技有限公司 | Numerical control turntable |
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| JPS63148881A (en) * | 1986-12-12 | 1988-06-21 | Fanuc Ltd | Speed control device for servo motor |
| CN1258431C (en) * | 2004-03-31 | 2006-06-07 | 清华大学 | Method for compensating error of numeric-contrlled machine and system |
| CN101436058B (en) * | 2008-12-16 | 2010-08-11 | 电子科技大学 | Fault tolerant correcting method of parallel connection / series-parallel connection machining tool sensor input fault and control device thereof |
| CN101769734B (en) * | 2008-12-30 | 2012-07-04 | 西门子公司 | Method for monitoring misalignment of physically cross-coupling feeding machine shafts |
| CN101722709A (en) * | 2009-11-17 | 2010-06-09 | 厦门太豪电子制版有限公司 | Automatic positioning and fault-tolerant safety device of frame roller in digital electronic engraving system |
| CN101844317B (en) * | 2010-03-25 | 2011-12-14 | 合肥工业大学 | Device and method for correcting transmission error of precise numerical control machine closed loop servo system |
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