CN103163822A - Electronic cam control device and method - Google Patents
Electronic cam control device and method Download PDFInfo
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- CN103163822A CN103163822A CN2011104258057A CN201110425805A CN103163822A CN 103163822 A CN103163822 A CN 103163822A CN 2011104258057 A CN2011104258057 A CN 2011104258057A CN 201110425805 A CN201110425805 A CN 201110425805A CN 103163822 A CN103163822 A CN 103163822A
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Abstract
The invention provides an electronic cam control device which comprises a servo drive module, and the servo drive module comprises a position ring. The electronic cam control device further comprises a reference position obtaining module and an electronic cam module, wherein the reference position obtaining module is used for obtaining the position of a main axle, and the electronic cam module calculates the running position of an auxiliary axle according to the position of the main axle and inputs the running position of the auxiliary axle to the position ring of the servo drive module. The servo drive module outputs control signals to a servo motor according to the input of the position ring. The invention further provides a corresponding method. According to the electronic cam control device and the corresponding method, acquisition of the position of the main axle, interpolation calculation, and servo drive are integrated, unreliable factors in instruction transmission are reduced, reliability of the electronic cam control is enhanced, and cost is saved.
Description
Technical field
The present invention relates to the servomotor control field, more particularly, relate to a kind of electronic cam control device and method with motion control function.
Background technology
Electric cam (Electronic CAM) is a kind of intelligent controller of analog mechanical cam, it feeds back to processing unit by position transducer (as rotary transformer or scrambler etc.) with positional information, by processing unit with the position signalling that receives decode, calculation process, and level signal is arranged and exports at assigned address by setting requirement.Electric cam can be applied in every field such as automobile making, metallurgy, machining, weaving, printing, packaging for foodstuff, water conservancy and hydropower.
Along with the continuous upgrading of industrial automation and the technique of automated production become increasingly complex, in order to satisfy the requirement of distinctive appearance and technique, often need to make the various curve of servomotor operation.As shown in Figure 1, be the example of traditional multiaxis curve interpolating control program, by motion controller 11 processing execution mechanism position feedbacks, and carry out motor-driven by servoamplifier 12 and control.In addition, add servo-driver by PLC in addition and carry out the scheme that the multiaxis curve interpolating is controlled.
Yet above-mentioned two kinds of traditional control programs need programming, realize that cost is higher, control the large and reliability of difficulty relatively a little less than.And above-mentioned PLC adds the scheme of servo-driver and generally only stops to expect cut mode, and efficient is low.
Summary of the invention
The technical problem to be solved in the present invention is, for above-mentioned electric cam control cost height, control large, problem that reliability is low separately, a kind of electronic cam control device and method with motion control function is provided.
the technical scheme that the present invention solves the problems of the technologies described above is, a kind of electronic cam control device is provided, comprise that servo-driven module and this servo-driven module comprise position ring, described electronic cam control device also comprises reference position acquisition module and electric cam module, wherein said reference position acquisition module is used for obtaining main spindle's, described electric cam module is calculated from the axle run location and will be somebody's turn to do from the position ring of axle run location input servo-driven module according to described main spindle's, described servo-driven module is exported control signal according to the input of described position ring to servomotor.
In electronic cam control device of the present invention, described electronic cam control device also comprises memory module, described electric cam module uses an interpolation equation to calculate from the axle run location, store many groups constant and the main spindle's corresponding to each group constant of described interpolation equation in described memory module, described electric cam module selects one group of constant substitution interpolation equation to calculate from memory module according to main spindle's.
In electronic cam control device of the present invention, described interpolation equation is Y=A
0+ A
1x+A
2x
2+ A
3x
3, wherein said A
0, A
1, A
2, A
3Be constant, Y is from the axle run location, and x is main spindle's, and described electronic cam control device comprises that also constant arranges module, is used for adjusting value and the main spindle's corresponding to each group constant of described memory module constant.
In electronic cam control device of the present invention, the ratio of and cutter rod girth long at blank was more than or equal to 2 o'clock, described memory module comprises four groups of constants, wherein first group of constant makes the output of described interpolation equation be linear change, and second group of constant makes the output of described interpolation equation identical with the output of last main spindle's.
In electronic cam control device of the present invention, the ratio of and cutter rod girth long at blank was less than 2 o'clock, and described memory module comprises two groups of constants, and wherein first group of constant makes the output of described interpolation equation be linear change.
In electronic cam control device of the present invention, described reference position acquisition module with the electric cam module by the internal data stream communication or be connected by data bus.
The present invention also provides a kind of electric cam control method, is used for controlling the electric cam operation, and the method comprises the following steps:
Step (a): obtain main spindle's;
Step (b): calculate from the axle run location and will be somebody's turn to do from the position ring of axle run location input servo-driven module according to described main spindle's;
Step (c): described servo-driven module is exported control signal according to the input of described position ring to servomotor.
In electric cam control method of the present invention, use an interpolation equation to calculate from the axle run location in described step (b), this step comprises:
(b1) select one group according to described main spindle's from many groups constant of the described interpolation equation of storage;
(b2) one group of constant substitution interpolation equation will selecting also calculates the variable of main spindle's as described interpolation equation from the axle run location.
In electric cam control method of the present invention, described interpolation equation is Y=A
0+ A
1x+A
2x
2+ A
3x
3, wherein said A
0, A
1, A
2, A
3Be constant.
In electric cam control method of the present invention, the ratio of and cutter rod girth long at blank was more than or equal to 2 o'clock, the constant of the interpolation equation of described storage comprises four groups, wherein first group of constant makes the output of described interpolation equation be linear change, and second group of constant makes the output of described interpolation equation identical with the output of last main spindle's.
In electric cam control method of the present invention, the ratio of and cutter rod girth long at blank was less than 2 o'clock, and the constant of the interpolation equation of described storage comprises two groups, and wherein first group of constant makes the output of described interpolation equation be linear change.
Electronic cam control device of the present invention and method, with main spindle's obtain, interpolation operation and servo driving integrate, and reduced the unreliable factor in the command, strengthened the reliability that electric cam is controlled, provide cost savings simultaneously.The present invention only need know sheared length and measure the basic parameter of material growth device, can shear, and need not coding.
Description of drawings
Fig. 1 is the schematic diagram of existing electric cam control program.
Fig. 2 is the schematic diagram of electronic cam control device the first embodiment of the present invention.
Fig. 3 is the schematic diagram of electronic cam control device the second embodiment of the present invention.
Fig. 4 is the process flow diagram of electric cam control method embodiment of the present invention.
Fig. 5 is the servo-driven module fundamental diagram.
Fig. 6 is that the ratio of the long and cutter rod girth of blank was more than or equal to the electric cam operation curve schematic diagram of 2 o'clock.
Fig. 7 is that the ratio of the long and cutter rod girth of blank was less than 2 o'clock electric cam operation curve schematic diagram.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
As shown in Figure 2, be the schematic diagram that electronic cam control device first of the present invention is implemented.In the present embodiment, electronic cam control device 20 comprises reference position acquisition module 21, electric cam module 22 and servo-driven module 23.Above-mentioned servo-driven module 23 is used for realizing servomotor operation control, and it comprises a position ring, and the output terminal of electric cam module 22 is directly connected to above-mentioned position ring.Reference position acquisition module 21 is used for obtaining main spindle's by position feedback elements, electric cam module 22 is calculated from the axle run location and will be somebody's turn to do from the position ring of axle run location input servo-driven module 23 according to described main spindle's, and servo-driven module 23 is exported control signals according to the input of position ring to servomotor 28.For realizing strengthening operability and reliability, above-mentioned reference position acquisition module 21, electric cam module 22 and servo-driven module 23 can be integrated on same housing or same control panel.
Reference position acquisition module 21 can pass through the internal data stream communication with electric cam module 22, also can connect by data bus.
Above-mentioned main shaft can be the axis of reference of being convenient to obtain its position in topworks 29 (can be for example driven by servomotor or Induction Motor-Driven and with the rotating shaft of the spindle synchronous of topworks 29).This main shaft can be also a virtual axle, only is used for current location (relative or absolute) or the speed of the material of expression conveying.If it is feeding speed that reference position acquisition module 21 directly obtains, this reference position acquisition module 21 needs to convert this feeding speed to positional information.
Above-mentioned electronic cam control device 20 can be applicable in the production equipment such as reinforced bar cold mill, carries out the reinforcing bar cutting with control.In the said equipment, topworks 29 drives operation by servomotor 28, is connected to the main shaft of topworks 29 by gear train from axle in topworks 29, wherein from axle, cutting tool is installed.
Y＝A
0+A
1x+A
2x
2+A
3x
3 (1)
Y′＝A
1+2·A
2x+3·A
3x
2 (2)
Wherein, wherein said A
0, A
1, A
2, A
3Be constant, Y is from the axle run location, and x is main spindle's.
Calculate for simplifying, can with the normalization of x value, equation (1), (2) be arranged and can obtain:
Y＝A
0 (3)
Y＝A
0+A
1+A
2+A
3 (4)
Y′＝A
1 (5)
Y′＝A
1+2·A
2+3·A
3 (6)
By above-mentioned 4 arithmetic expressions (3)-(6), can solve 4 constant A of equation
0, A
1, A
2, A
3, as the coefficient of interpolation equation.
Servo-driven module 23 is used for realizing the calculating of 28 control signals from the shaft position to the servomotor, and its principle includes position ring, speed ring and torque ring etc. as shown in Figure 5.
As shown in Figure 3, be the schematic diagram that electronic cam control device second of the present invention is implemented.In the present embodiment, electronic cam control device 30 comprises outside reference position acquisition module 31, electric cam module 32 and servo-driven module 33, comprises that also memory module 34 and constant arrange module 35.
Store many groups constant and the main spindle's corresponding to each group constant of the interpolation equation of electric cam module 32 in memory module 34.In the electric cam control procedure, the main spindle's that electric cam module 32 is obtained according to reference position acquisition module 31 selects one group of constant substitution interpolation equation to calculate from memory module 34.
Especially, the ratio of and cutter rod girth long at the equipment blank was more than or equal to 2 o'clock, and can turn round from axle be divided into accelerating sections, sync section, braking section, wait section, as shown in Figure 6.For above-mentioned each section, be provided with one group of corresponding constant in memory module 34, namely have four groups of constants.At sync section, in memory module 34, one group of corresponding constant makes the output of interpolation equation be linear change (constant A for example
0, A
2, A
3=0, A
1=1), identical with the speed of main shaft from the speed of axle, shear reinforcing bar from the cutting tool of axle this moment.Waiting for section, the output that in memory module 34, one group of corresponding constant makes the interpolation equation remains unchanged with the output of the last position of main shaft, and namely the speed from axle is zero.At accelerating sections, in memory module 34, one group of corresponding constant makes from the rotating speed of axle according to the position of main shaft from zero rotating speed that is increased to sync section.At braking section, in memory module 34, one group of corresponding constant makes from the rotating speed of axle and is reduced to zero according to the position of main shaft from the rotating speed of sync section.
The ratio of and cutter rod girth long at the equipment blank is less than 2 o'clock, can be divided into from the axle running adjusting section and sync section, as shown in Figure 7.For above-mentioned each section, be provided with one group of corresponding constant in memory module 34, namely have two groups of constants.At sync section, in memory module 34, one group of corresponding constant makes the output of interpolation equation be linear change (constant A for example
0, A
2, A
3=0, A
1=1), identical with the speed of main shaft from the speed of axle, shear reinforcing bar from the cutting tool of axle this moment.Adjusting section, one group of corresponding constant makes from the rotating speed of axle and is reduced to zero and again from zero rotating speed that is increased to sync section according to the position of main shaft from the rotating speed of sync section.
Constant arranges value and main spindle's corresponding to each group constant that module 35 is used for adjusting memory module 34 constants.This constant arranges module 35 can adopt graphical man-machine interface, thus convenient operation.By constant, module 35 is set, can adjusts at any time the running from axle, to adapt to different demands.
As shown in Figure 4, be the schematic diagram of electric cam control method embodiment of the present invention, the method is used for controlling the electric cam operation, comprises the following steps:
Step S41: obtain main spindle's, such as by position feedback elements etc.
Step S42: calculate from the axle run location and will be somebody's turn to do from the position ring of axle run location input servo-driven module according to main spindle's.
Step S43: servo-driven module is exported control signal according to the input of position ring to servomotor.
In above-mentioned steps S42, can use an interpolation equation to calculate from the axle run location, for example adopt interpolation equation Y=A
0+ A
1x+A
2x
2+ A
3x
3, A wherein
0, A
1, A
2, A
3Be constant, Y is from the axle run location, and x is main spindle's.Constant A wherein
0, A
1, A
2, A
3Can pre-storedly organize the corresponding one section main spindle's of each group more.When calculating from the axle run location, can first select one group according to main spindle's from many groups constant, one group of constant substitution interpolation equation then will selecting also calculates the variable of main spindle's as the interpolation equation from the axle run location.
The ratio of and cutter rod girth long at the equipment blank was more than or equal to 2 o'clock, and can turn round from axle be divided into accelerating sections, sync section, braking section, wait section, as shown in Figure 6.One group of constant of above-mentioned each section correspondence namely has four groups of constants, thereby when step S42 calculates from the axle run location, selects one group of constant to calculate for each section respectively.At sync section, one group of corresponding constant makes the output of interpolation equation be linear change (constant A for example
0, A
2, A
3=0, A
1=1), identical with the speed of main shaft from the speed of axle, shear reinforcing bar from the cutting tool of axle this moment.Waiting for section, the output that one group of corresponding constant makes the interpolation equation remains unchanged with the output of the last position of main shaft, and namely the speed from axle is zero.At accelerating sections, one group of corresponding constant makes from the rotating speed of axle according to the position of main shaft from zero rotating speed that is increased to sync section.At braking section, one group of corresponding constant makes from the rotating speed of axle and is reduced to zero according to the position of main shaft from the rotating speed of sync section.
The ratio of and cutter rod girth long at the equipment blank is less than 2 o'clock, can be divided into from the axle running adjusting section and sync section, as shown in Figure 7.One group of constant of above-mentioned each section correspondence namely has two groups of constants, thereby when step S42 calculates from the axle run location, selects one group of constant to calculate for each section respectively.At sync section, one group of corresponding constant makes the output of interpolation equation be linear change (constant A for example
0, A
2, A
3=0, A
1=1), identical with the speed of main shaft from the speed of axle, shear reinforcing bar from the cutting tool of axle this moment.Adjusting section, one group of corresponding constant makes from the rotating speed of axle and is reduced to zero and again from zero rotating speed that is increased to sync section according to the position of main shaft from the rotating speed of sync section.
In said method, also can comprise the following steps: value and main spindle's corresponding to each group constant of adjusting the constant of storage.By this step, can adjust at any time the running from axle, to adapt to different demands.
The above; only for the better embodiment of the present invention, but protection scope of the present invention is not limited to this, anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement are within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (10)
1. electronic cam control device, comprise that servo-driven module and this servo-driven module comprise position ring, it is characterized in that: described electronic cam control device also comprises reference position acquisition module and electric cam module, wherein said reference position acquisition module is used for obtaining main spindle's, described electric cam module is calculated from the axle run location and will be somebody's turn to do from the position ring of axle run location input servo-driven module according to described main spindle's, and described servo-driven module is exported control signal according to the input of described position ring to servomotor.
2. electronic cam control device according to claim 1, it is characterized in that: described electronic cam control device also comprises memory module, described electric cam module uses an interpolation equation to calculate from the axle run location, store many groups constant and the main spindle's corresponding to each group constant of described interpolation equation in described memory module, described electric cam module selects one group of constant substitution interpolation equation to calculate from memory module according to main spindle's.
3. electronic cam control device according to claim 2, it is characterized in that: described interpolation equation is Y=A
0+ A
1x+A
2x
2+ A
3x
3, wherein said A
0, A
1, A
2, A
3Be constant, Y is from the axle run location, and x is main spindle's, and described electronic cam control device comprises that also constant arranges module, is used for adjusting value and the main spindle's corresponding to each group constant of described memory module constant.
4. according to claim 2 or 3 described electronic cam control devices, it is characterized in that: the ratio of and cutter rod girth long at blank was more than or equal to 2 o'clock, described memory module comprises four groups of constants, wherein first group of constant makes the output of described interpolation equation be linear change, and second group of constant makes the output of described interpolation equation identical with the output of last main spindle's.
5. according to claim 2 or 3 described electronic cam control devices is characterized in that: the ratio of and cutter rod girth long at blank was less than 2 o'clock, and described memory module comprises two groups of constants, and wherein first group of constant makes the output of described interpolation equation be linear change.
6. electronic cam control device according to claim 1 is characterized in that: described reference position acquisition module with the electric cam module by the internal data stream communication or be connected by data bus.
7. an electric cam control method, be used for controlling the electric cam operation, and it is characterized in that: the method comprises the following steps:
Step (a): obtain main spindle's;
Step (b): calculate from the axle run location and will be somebody's turn to do from the position ring of axle run location input servo-driven module according to described main spindle's;
Step (c): described servo-driven module is exported control signal according to the input of described position ring to servomotor.
8. electric cam control method according to claim 7 is characterized in that: use an interpolation equation to calculate from the axle run location in described step (b), this step comprises:
(b1) select one group according to described main spindle's from many groups constant of the described interpolation equation of storage;
(b2) one group of constant substitution interpolation equation will selecting also calculates the variable of main spindle's as described interpolation equation from the axle run location.
9. electric cam control method according to claim 8, it is characterized in that: the ratio of and cutter rod girth long at blank was more than or equal to 2 o'clock, the constant of the interpolation equation of described storage comprises four groups, wherein first group of constant makes the output of described interpolation equation be linear change, and second group of constant makes the output of described interpolation equation identical with the output of last main spindle's.
10. electric cam control method according to claim 8, it is characterized in that: the ratio of and cutter rod girth long at blank was less than 2 o'clock, the constant of the interpolation equation of described storage comprises two groups, and wherein first group of constant makes the output of described interpolation equation be linear change.
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|---|---|---|---|
| CN201110425805.7A CN103163822B (en) | 2011-12-19 | 2011-12-19 | electronic cam control device and method |
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|---|---|---|---|
| CN201110425805.7A CN103163822B (en) | 2011-12-19 | 2011-12-19 | electronic cam control device and method |
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| CN103163822B CN103163822B (en) | 2015-09-16 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104570952A (en) * | 2015-01-19 | 2015-04-29 | 深圳市微秒控制技术有限公司 | Multi-axis interpolation control method and device |
| CN105128010A (en) * | 2015-08-07 | 2015-12-09 | 深圳市微秒控制技术有限公司 | Distributed control system and method for selective compliance assembly robot arm (SCARA) robot |
| CN106597987A (en) * | 2016-12-20 | 2017-04-26 | 中达电通股份有限公司 | Electronic cam control system and control method |
| CN108415375A (en) * | 2018-02-07 | 2018-08-17 | 大连理工大学 | A kind of electric cam control method for more spindle processings |
| CN109059555A (en) * | 2018-09-06 | 2018-12-21 | 江苏石川岛丰东真空技术有限公司 | Feeding mechanism and vacuum drying oven |
| CN109629121A (en) * | 2018-12-10 | 2019-04-16 | 杰克缝纫机股份有限公司 | Sewing device control method, sewing device, controller and storage medium |
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| CN113815100A (en) * | 2021-09-24 | 2021-12-21 | 北新集团建材股份有限公司 | Servo cutter control method and device |
| CN113984424A (en) * | 2021-11-08 | 2022-01-28 | 深圳市汇川技术股份有限公司 | Diagnostic method, apparatus, device and storage medium for electronic cam function application |
| CN114669791A (en) * | 2022-04-29 | 2022-06-28 | 西门子工厂自动化工程有限公司 | Shearing control system and method and plate shearing equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104570952A (en) * | 2015-01-19 | 2015-04-29 | 深圳市微秒控制技术有限公司 | Multi-axis interpolation control method and device |
| CN104570952B (en) * | 2015-01-19 | 2017-11-07 | 深圳市微秒控制技术有限公司 | Multi-axis interpolation control method and device |
| CN105128010A (en) * | 2015-08-07 | 2015-12-09 | 深圳市微秒控制技术有限公司 | Distributed control system and method for selective compliance assembly robot arm (SCARA) robot |
| CN106597987A (en) * | 2016-12-20 | 2017-04-26 | 中达电通股份有限公司 | Electronic cam control system and control method |
| CN108415375A (en) * | 2018-02-07 | 2018-08-17 | 大连理工大学 | A kind of electric cam control method for more spindle processings |
| CN109059555A (en) * | 2018-09-06 | 2018-12-21 | 江苏石川岛丰东真空技术有限公司 | Feeding mechanism and vacuum drying oven |
| CN109629121A (en) * | 2018-12-10 | 2019-04-16 | 杰克缝纫机股份有限公司 | Sewing device control method, sewing device, controller and storage medium |
| CN109629121B (en) * | 2018-12-10 | 2020-12-29 | 杰克缝纫机股份有限公司 | Sewing equipment control method, sewing equipment, controller and storage medium |
| CN110470440A (en) * | 2019-06-12 | 2019-11-19 | 宁波高悦精密机械有限公司 | A kind of elastomer performance test equipment and elastomer performance test method |
| CN113815100A (en) * | 2021-09-24 | 2021-12-21 | 北新集团建材股份有限公司 | Servo cutter control method and device |
| WO2023045061A1 (en) * | 2021-09-24 | 2023-03-30 | 北新集团建材股份有限公司 | Servo cutter control method and apparatus |
| CN113984424A (en) * | 2021-11-08 | 2022-01-28 | 深圳市汇川技术股份有限公司 | Diagnostic method, apparatus, device and storage medium for electronic cam function application |
| CN113984424B (en) * | 2021-11-08 | 2023-10-27 | 深圳市汇川技术股份有限公司 | Diagnostic method, device, equipment and storage medium for electronic cam function application |
| CN114669791A (en) * | 2022-04-29 | 2022-06-28 | 西门子工厂自动化工程有限公司 | Shearing control system and method and plate shearing equipment |
| CN114669791B (en) * | 2022-04-29 | 2024-01-26 | 西门子工厂自动化工程有限公司 | Shearing control system, method and shearing plate equipment |
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