CN103163822B - electronic cam control device and method - Google Patents
electronic cam control device and method Download PDFInfo
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- CN103163822B CN103163822B CN201110425805.7A CN201110425805A CN103163822B CN 103163822 B CN103163822 B CN 103163822B CN 201110425805 A CN201110425805 A CN 201110425805A CN 103163822 B CN103163822 B CN 103163822B
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Abstract
The invention provides a kind of electronic cam control device, comprise servo-driven module and this servo-driven module comprises position ring, described electronic cam control device also comprises reference position acquisition module and electric cam module, wherein said reference position acquisition module is for obtaining main spindle's, described electric cam module calculates from axle run location according to described main spindle's and this is inputted the position ring of servo-driven module from axle run location, and described servo-driven module exports control signal according to the input of described position ring to servomotor.The present invention also provides a kind of method of correspondence.The present invention, by together integrated to main spindle's acquisition, interpolation operation and servo driving, decreases the unreliable factor in command, enhances the reliability that electric cam controls, provides cost savings simultaneously.
Description
Technical field
The present invention relates to Serve Motor Control field, more particularly, relate to a kind of electronic cam control device and the method with motion control function.
Background technology
Electric cam (Electronic CAM) is a kind of intelligent controller of analog mechanical cam, positional information is fed back to processing unit by position transducer (as rotary transformer or scrambler etc.) by it, the position signalling received carried out decode by processing unit, calculation process, and level signal is carried out arranging and exporting at assigned address by setting requirement.Electric cam can be applied in the every field such as 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 meet the requirement of distinctive appearance and technique, often need to make servomotor run various different curve.As shown in Figure 1, be the example of traditional multiple-axis plot INTERPOLATION CONTROL OF PULSE scheme, by motion controller 11 processing execution mechanism position feedback, and carry out motor-driven control by servoamplifier 12.In addition, add by PLC the scheme that servo-driver carries out multiple-axis plot INTERPOLATION CONTROL OF PULSE in addition.
But above-mentioned two kinds of traditional approach need programming, realize cost higher, control that difficulty is large and reliability is relatively weak.And the scheme that above-mentioned PLC adds servo-driver generally only carries out stopping expecting cut mode, and efficiency 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 separately large, problem that reliability is low, a kind of electronic cam control device and the method with motion control function are 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 servo-driven module and this servo-driven module comprises position ring, described electronic cam control device also comprises reference position acquisition module and electric cam module, wherein said reference position acquisition module is for obtaining main spindle's, described electric cam module calculates from axle run location according to described main spindle's and this is inputted the position ring of servo-driven module from axle run location, described servo-driven module exports control signal according to the input of described position ring to servomotor,
Described electronic cam control device also comprises memory module, described electric cam module uses an interpolation equation to calculate from axle run location, store many groups constant of described interpolation equation and main spindle's corresponding to each group constant in described memory module, described electric cam module is selected one group of constant to substitute into interpolation equation according to main spindle's to calculate from memory module; Described interpolation equation is Y=A
0+ A
1x+A
2x
2+ A
3x
3, wherein said A
0, A
1, A
2, A
3for constant, Y is from axle run location, and x is main spindle's.
In electronic cam control device of the present invention, described electronic cam control device also comprises constant and arranges module, the main spindle's that value and each group constant for adjusting constant in described memory module are corresponding.
In electronic cam control device of the present invention, when ratio that is long at blank and cutter rod girth is more than or equal to 2, described memory module comprises four groups of constants, wherein first group of constant makes the output of described interpolation equation linearly 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, when ratio that is long at blank and cutter rod girth is less than 2, described memory module comprises two groups of constants, and wherein first group of constant makes the output of described interpolation equation linearly change.
In electronic cam control device of the present invention, described reference position acquisition module and electric cam module are by internal data stream communication or be connected by data bus.
The present invention also provides a kind of electric cam control method, and run for controlling electric cam, the method comprises the following steps:
Step (a): obtain main spindle's;
Step (b): to calculate from axle run location according to described main spindle's and by this position ring from axle run location input servo-driven module;
Step (c): described servo-driven module exports 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 axle run location in described step (b), described interpolation equation is Y=A
0+ A
1x+A
2x
2+ A
3x
3, wherein said A
0, A
1, A
2, A
3for constant, Y is from axle run location, and x is main spindle's; This step comprises:
(b1) from many groups constant of the described interpolation equation stored, one group is selected according to described main spindle's;
(b2) the one group of constant selected is substituted into interpolation equation and the variable of main spindle's as described interpolation equation is calculated from axle run location.
In electric cam control method of the present invention, when ratio that is long at blank and cutter rod girth is more than or equal to 2, the constant of the interpolation equation of described storage comprises four groups, wherein first group of constant makes the output of described interpolation equation linearly 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, when ratio that is long at blank and cutter rod girth is less than 2, 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 linearly change.
Electronic cam control device of the present invention and method, integrate main spindle's acquisition, interpolation operation and servo driving, decrease the unreliable factor in command, enhance the reliability that electric cam controls, provide cost savings simultaneously.The present invention only need know sheared length and measure the basic parameter of material growth device, can shear, and without the need to coding.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of existing electric cam control program.
Fig. 2 is the schematic diagram of electronic cam control device first embodiment of the present invention.
Fig. 3 is the schematic diagram of electronic cam control device 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 servo-driven module fundamental diagram.
Fig. 6 is the electric cam operation curve schematic diagram of blank ratio that is long and cutter rod girth when being more than or equal to 2.
Fig. 7 is blank ratio that is long and cutter rod girth electric cam operation curve schematic diagram when being less than 2.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, 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, be 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 runs control for realizing servomotor, 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 for obtaining main spindle's by position feedback elements, electric cam module 22 calculates from axle run location according to described main spindle's and this is inputted the position ring of servo-driven module 23 from axle run location, and servo-driven module 23 exports control signal 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 and electric cam module 22, by internal data stream communication, also connect by data bus.
Above-mentioned main shaft can for being convenient to obtain the axis of reference (can be such as driven by servomotor or Induction Motor-Driven and with the rotating shaft of the spindle synchronous of topworks 29) of its position in topworks 29.This main shaft also can be a virtual axle, only for representing current location (relative or absolute) or the speed of the material of conveying.If it is feeding speed that reference position acquisition module 21 directly obtains, then 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 equipments such as reinforced bar cold mill, to control to carry out reinforcing bar cutting.Individual in the said equipment, topworks 29 drives operation by servomotor 28, and the main shaft being connected to topworks 29 from axle by gear train in topworks 29, is wherein provided with cutting tool from axle.
Electric cam module 22 uses an interpolation equation to calculate from axle run location, and this interpolation equation is as follows:
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
3for constant, Y is from axle run location, and x is main spindle's.
Calculate for simplifying, can by the normalization of x value, there are equation (1), (2) 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 expression (3)-(6), 4 constant A of equation can be solved
0, A
1, A
2, A
3, as the coefficient of interpolation equation.
Above-mentioned constant is substituted into interpolation equation by electric cam module 22, and the main spindle's that reference position acquisition module 21 obtains substitutes into interpolation equation Y=A as variable x
0+ A
1x+A
2x
2+ A
3x
3, can calculate and obtain from axle run location, and calculate the current location Yn from axle according to the current position Xn investigating main shaft, thus obtain the position command P=Yn – Yn-1 needing running from axle current period.
Servo-driven module 23 is for realizing the calculating of 28 control signals from shaft position to servomotor, and its principle as shown in Figure 5, includes position ring, speed ring and torque ring etc.
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, also comprises memory module 34 and constant arranges module 35.
Many groups constant of the interpolation equation of electric cam module 32 and main spindle's corresponding to each group constant is stored in memory module 34.In electric cam control procedure, electric cam module 32 selects one group of constant substitution interpolation equation to calculate according to the main spindle's that reference position acquisition module 31 obtains from memory module 34.
Especially, when ratio that is long at equipment blank and cutter rod girth is more than or equal to 2, accelerating sections, sync section, braking section, wait section can be divided into by from axle running, as shown in Figure 6.For each section above-mentioned, be provided with one group of corresponding constant in memory module 34, namely have four groups of constants.At sync section, one group of constant corresponding in memory module 34 makes the output of interpolation equation linearly change (such as constant A
0, A
2, A
3=0, A
1=1), identical with the speed of main shaft from the speed of axle, now from the cutting tool of axle, reinforcing bar is sheared.In wait section, one group of constant corresponding in memory module 34 makes the output of the output of interpolation equation and the last position of main shaft remain unchanged, namely from the speed of axle be zero.At accelerating sections, one group of constant corresponding in memory module 34 makes the rotating speed being increased to sync section from the rotating speed of axle according to the position of main shaft from zero.At braking section, one group of constant corresponding in memory module 34 makes to be reduced to zero according to the position of main shaft from the rotating speed of sync section from the rotating speed of axle.
When ratio that is long at equipment blank and cutter rod girth is less than 2, adjustment section and sync section can be divided into by from axle running, as shown in Figure 7.For each section above-mentioned, be provided with one group of corresponding constant in memory module 34, namely have two groups of constants.At sync section, one group of constant corresponding in memory module 34 makes the output of interpolation equation linearly change (such as constant A
0, A
2, A
3=0, A
1=1), identical with the speed of main shaft from the speed of axle, now from the cutting tool of axle, reinforcing bar is sheared.In adjustment section, one group of corresponding constant makes to be reduced to from the rotating speed of sync section zero is also increased to sync section again rotating speed from zero according to the position of main shaft from the rotating speed of axle.
Constant arranges module 35 for adjusting the value of constant in memory module 34 and main spindle's corresponding to each group constant.This constant arranges module 35 can adopt graphical man-machine interface, thus convenient operation.Module 35 is set by constant, the running from axle can be adjusted at any time, 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 run for controlling electric cam, comprises the following steps:
Step S41: obtain main spindle's, such as, by position feedback elements etc.
Step S42: according to main spindle's calculate from axle run location and by this from axle run location input servo-driven module position ring.
Step S43: servo-driven module exports control signal according to the input of position ring to servomotor.
In above-mentioned steps S42, an interpolation equation can be used to calculate from axle run location, such as, adopt interpolation equation Y=A
0+ A
1x+A
2x
2+ A
3x
3, wherein A
0, A
1, A
2, A
3for constant, Y is from axle run location, and x is main spindle's.Wherein constant A
0, A
1, A
2, A
3can many groups be prestored, the corresponding one section of main spindle's of each group.When calculating from axle run location, first can select one group according to main spindle's from many group constants, then the one group of constant selected being substituted into interpolation equation and the variable of main spindle's as interpolation equation is calculated from axle run location.
When ratio that is long at equipment blank and cutter rod girth is more than or equal to 2, accelerating sections, sync section, braking section, wait section can be divided into by from axle running, as shown in Figure 6.Above-mentioned each section of correspondence one group of constant, namely has four groups of constants, thus when step S42 calculates from axle run location, selects one group of constant to calculate respectively for each section.At sync section, one group of corresponding constant makes the output of interpolation equation linearly change (such as constant A
0, A
2, A
3=0, A
1=1), identical with the speed of main shaft from the speed of axle, now from the cutting tool of axle, reinforcing bar is sheared.In wait section, one group of corresponding constant makes the output of the output of interpolation equation and the last position of main shaft remain unchanged, namely from the speed of axle be zero.At accelerating sections, one group of corresponding constant makes the rotating speed being increased to sync section from the rotating speed of axle according to the position of main shaft from zero.At braking section, one group of corresponding constant makes to be reduced to zero according to the position of main shaft from the rotating speed of sync section from the rotating speed of axle.
When ratio that is long at equipment blank and cutter rod girth is less than 2, adjustment section and sync section can be divided into by from axle running, as shown in Figure 7.Above-mentioned each section of correspondence one group of constant, namely has two groups of constants, thus when step S42 calculates from axle run location, selects one group of constant to calculate respectively for each section.At sync section, one group of corresponding constant makes the output of interpolation equation linearly change (such as constant A
0, A
2, A
3=0, A
1=1), identical with the speed of main shaft from the speed of axle, now from the cutting tool of axle, reinforcing bar is sheared.In adjustment section, one group of corresponding constant makes to be reduced to from the rotating speed of sync section zero is also increased to sync section again rotating speed from zero according to the position of main shaft from the rotating speed of axle.
In the above-mentioned methods, also can comprise the following steps: the value of constant that adjustment stores and main spindle's corresponding to each group constant.By this step, the running from axle can be adjusted at any time, to adapt to different demands.
The above; be only the present invention's preferably embodiment, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within 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 (8)
1. an electronic cam control device, comprise servo-driven module and this servo-driven module comprises 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 for obtaining main spindle's, described electric cam module calculates from axle run location according to described main spindle's and this is inputted the position ring of servo-driven module from axle run location, and described servo-driven module exports control signal according to the input of described position ring to servomotor;
Described electronic cam control device also comprises memory module, described electric cam module uses an interpolation equation to calculate from axle run location, store many groups constant of described interpolation equation and main spindle's corresponding to each group constant in described memory module, described electric cam module is selected one group of constant to substitute into interpolation equation according to main spindle's to calculate from memory module; Described interpolation equation is Y=A
0+ A
1x+A
2x
2+ A
3x
3, wherein said A
0, A
1, A
2, A
3for constant, Y is from axle run location, and x is main spindle's.
2. electronic cam control device according to claim 1, is characterized in that: described electronic cam control device also comprises constant and arranges module, the main spindle's that value and each group constant for adjusting constant in described memory module are corresponding.
3. electronic cam control device according to claim 2, it is characterized in that: when ratio that is long at blank and cutter rod girth is more than or equal to 2, described memory module comprises four groups of constants, wherein first group of constant makes the output of described interpolation equation linearly change, and second group of constant makes the output of described interpolation equation identical with the output of last main spindle's.
4. electronic cam control device according to claim 2, is characterized in that: when ratio that is long at blank and cutter rod girth is less than 2, described memory module comprises two groups of constants, and wherein first group of constant makes the output of described interpolation equation linearly change.
5. electronic cam control device according to claim 1, is characterized in that: described reference position acquisition module and electric cam module are by internal data stream communication or be connected by data bus.
6. an electric cam control method, running for controlling electric cam, it is characterized in that: the method comprises the following steps:
Step (a): obtain main spindle's;
Step (b): to calculate from axle run location according to described main spindle's and by this position ring from axle run location input servo-driven module;
Step (c): described servo-driven module exports control signal according to the input of described position ring to servomotor;
Use an interpolation equation to calculate from axle run location in described step (b), described interpolation equation is Y=A
0+ A
1x+A
2x
2+ A
3x
3, wherein said A
0, A
1, A
2, A
3for constant, Y is from axle run location, and x is main spindle's; This step comprises:
(b1) from many groups constant of the described interpolation equation stored, one group is selected according to described main spindle's;
(b2) the one group of constant selected is substituted into interpolation equation and the variable of main spindle's as described interpolation equation is calculated from axle run location.
7. electric cam control method according to claim 6, it is characterized in that: when ratio that is long at blank and cutter rod girth is more than or equal to 2, the constant of the interpolation equation of described storage comprises four groups, wherein first group of constant makes the output of described interpolation equation linearly change, and second group of constant makes the output of described interpolation equation identical with the output of last main spindle's.
8. electric cam control method according to claim 6, it is characterized in that: when ratio that is long at blank and cutter rod girth is less than 2, 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 linearly 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 true CN103163822B (en) | 2015-09-16 |
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| 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 |
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| 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 |
| CN108415375B (en) * | 2018-02-07 | 2019-12-27 | 大连理工大学 | Electronic cam control method for multi-spindle machining |
| 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 |
| 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 |
| CN110470440B (en) * | 2019-06-12 | 2021-07-06 | 宁波高悦智能科技有限公司 | Elastomer performance test equipment and elastomer performance test method |
| CN113815100B (en) * | 2021-09-24 | 2023-03-17 | 北新集团建材股份有限公司 | Servo cutter control method and device |
| 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 |
| 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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