CN103676780B - A kind of control system of plant equipment commutation backlash compensation and control method - Google Patents

Abstract

A kind of control system of plant equipment commutation backlash compensation, comprise and be connected to displacement transducer in plant equipment or position coder, displacement transducer or position coder are connected with the signal end of Programmable Logic Controller, other signal ends of Programmable Logic Controller respectively with touch-screen, host computer, operator's console is connected with the signal end of frequency converter, frequency converter is connected with motor, motor is connected with the feeder ear of plant equipment, by the commutation gap using a kind of control method to compensate plant equipment, the physical location displayed value of plant equipment is made to remain consistent with the physical location of plant equipment, pass through electric control system, realize plant equipment accurate location location.

Description

A kind of control system of plant equipment commutation backlash compensation and control method

Technical field

The present invention relates to a kind of plant equipment control technology field, particularly the control system of a kind of plant equipment commutation backlash compensation and control method.

Background technology

The machining precision of plant equipment has certain tolerance, necessary mechanical clearance is inevitably there is in the assembling process of equipment, during plant equipment commutation, just there is the appearance in commutation gap, equipment can not accurately be located, for high-precision location positioning system, just actual requirement can not be met.

The problem in plant equipment commutation gap, by reducing the tolerance of plant equipment machining precision, the precision of raising equipment assembling can reduce gap, but thoroughly can not eliminate gap, for high-precision requirement system will be solved by the backlash compensation that commutates.

The position of plant equipment is detected, major part can not direct-detection, but carry out indirect inspection by displacement transducer or position coder, wherein just contain the error that plant equipment commutation gap causes, the position of plant equipment can not accurately be detected, also make the position of plant equipment locate automatically to control to realize, so it is necessary to carry out plant equipment commutation backlash compensation.

Summary of the invention

In order to overcome the defect of above-mentioned prior art, the object of this invention is to provide control system and the control method of a kind of plant equipment commutation backlash compensation, by the commutation gap using a kind of control method to compensate plant equipment, the physical location displayed value of plant equipment is made to remain consistent with the physical location of plant equipment, by electric control system, realize plant equipment accurate location location.

In order to achieve the above object, technical scheme of the present invention is achieved in that

A kind of control system of plant equipment commutation backlash compensation, comprise and be connected to displacement transducer in plant equipment or position coder, displacement transducer or position coder are connected with the signal end of Programmable Logic Controller, other signal ends of Programmable Logic Controller are connected with the signal end of frequency converter with touch-screen, host computer, operator's console respectively, frequency converter is connected with motor, motor is connected with the feeder ear of plant equipment, and plant equipment comprises plant equipment driving link 2 and plant equipment Passive part 1.

A control method for plant equipment commutation backlash compensation, comprises the following steps:

(1) the device location value that displacement transducer or position coder detect is a; The plant equipment actual position value of preserving instantaneously that commutates from big to small is a'; The plant equipment actual position value of preserving instantaneously that commutates from small to large is a "; Plant equipment commutation clearance measurement value is b ₀; The gap width of plant equipment n-th commutation is from big to small b _n; The gap width that plant equipment commutates for n-th time is from small to large C _n; The physical location displayed value of plant equipment is d;

(2) plant equipment commutates backlash compensation from big to small

The moment that plant equipment commutates from big to small, a value is modified to current d value; And d assignment to a', the physical location displayed value d of calculating machine equipment

As a>=a'-b _ntime, d=a', b _n+1=b _n-(a'-a), C _n+1=C _n+ (a'-a);

Work as a<a'-b _ntime, d=a+b _n, b _n+1=0, C _n+1=b ₀

(3) plant equipment commutates backlash compensation from small to large

The moment that plant equipment commutates from small to large, a value is modified to current d value; And d assignment to a ", the physical location displayed value d of calculating machine equipment

As a≤a "+C _ntime, d=a ", C _n+1=C _n-(a-a "), b _n+1=b _n+ (a-a ");

As a>a "+C _ntime, d=a-C _n, C _n+1=0, b _n+1=b ₀

Described plant equipment commutation gap b ₀measuring process is: control plant equipment and run along direction that displacement increases, after eliminating commutation gap from small to large, controls plant equipment and to commutate from big to small the location variation Δ d of operation, the direct measurement mechanical equipment of use clock gauge _i, the location variation Δ a that recorded bit displacement sensor or position coder detect _i, above process repeats 10 times, uses formulae discovery b below ₀

$b_0=\underset{i=1}{\overset{10}{\mathrm{\&Sigma;}}}(\mathrm{\&Delta;}{a}_i-\mathrm{\&Delta;}{d}_i)\&divide;10.$

First the present invention carries out the proving operation of plant equipment physical location displayed value d on host computer or touch-screen, then sets the commutation clearance measurement value b of plant equipment ₀, location, plant equipment position desired value, and send Programmable Logic Controller to, Programmable Logic Controller carries out the compensation in plant equipment commutation gap according to the above control method formula working procedure analyzed; Manual and the automatic control operation of plant equipment is carried out on operator's console, Programmable Logic Controller is according to steering order work, the desired value of carrying out location, plant equipment position compares with the plant equipment physical location displayed value d through the backlash compensation that commutates, by Frequency Converter Control electric machine rotation, realize plant equipment accurate location location; Programmable Logic Controller uploads to host computer and touch-screen the process controlled and result data, and picture shows.The present invention makes the physical location displayed value of plant equipment remain consistent with the physical location of plant equipment, by electric control system, realizes plant equipment accurate location location.

Accompanying drawing explanation

Fig. 1 is plant equipment of the present invention commutation gap figure.

Fig. 2 is plant equipment of the present invention commutation clearance measurement value figure.

Fig. 3 is plant equipment of the present invention commutation backlash compensation electric control system block diagram.

Specific implementation method

Below in conjunction with accompanying drawing, the present invention is described in detail.

With reference to Fig. 1, Fig. 2 and Fig. 3, a kind of control system of plant equipment commutation backlash compensation, comprise and be connected to displacement transducer in plant equipment or position coder, displacement transducer or position coder are connected with the signal end of Programmable Logic Controller, other signal ends of Programmable Logic Controller are connected with the signal end of frequency converter with touch-screen, host computer, operator's console respectively, frequency converter is connected with motor, motor is connected with the feeder ear of plant equipment, and plant equipment comprises plant equipment driving link 2 and plant equipment Passive part 1.

Plant equipment is generally divided into driving link and Passive part two parts, displacement transducer or position coder and driving link is linked together, carry out the physical location of indirect inspection Passive part in equipment de-sign in a lot of situation.Commutation gap is there is between the driving link of plant equipment and Passive part, the physical location displayed value of plant equipment is made to remain consistent with the physical location displayed value that Passive part reflects, we compensate commutation gap, and calculating process is completed automatically by programmable controller program.

Fig. 3 is plant equipment of the present invention commutation backlash compensation electric control system block diagram.

First host computer or touch-screen carry out the proving operation of plant equipment physical location displayed value d, then the desired value etc. of the commutation clearance measurement value b0 of plant equipment, location, plant equipment position is set, and sending Programmable Logic Controller to, Programmable Logic Controller carries out the compensation in plant equipment commutation gap according to the above control method formula working procedure analyzed.

Manual and the automatic control operation of plant equipment is carried out on operator's console, Programmable Logic Controller is according to steering order work, the desired value of carrying out location, plant equipment position compares with the plant equipment physical location displayed value d through the backlash compensation that commutates, by Frequency Converter Control electric machine rotation, realize plant equipment accurate location location.

Programmable Logic Controller uploads to host computer and touch-screen the process controlled and result data, and picture shows.

A control method for plant equipment commutation backlash compensation, comprises the following steps:

(1) the device location value that displacement transducer or position coder detect is a; The plant equipment actual position value of preserving instantaneously that commutates from big to small is a'; The plant equipment actual position value of preserving instantaneously that commutates from small to large is a "; Plant equipment commutation clearance measurement value is b ₀; The gap width of plant equipment n-th commutation is from big to small b _n; The gap width that plant equipment commutates for n-th time is from small to large C _n; The physical location displayed value of plant equipment is d;

(2) plant equipment commutates backlash compensation from big to small

The moment that plant equipment commutates from big to small, a value is modified to current d value; And d assignment to a', the physical location displayed value d of calculating machine equipment

As a>=a'-b _ntime, d=a', b _n+1=b _n-(a'-a), C _n+1=C _n+ (a'-a);

Work as a<a'-b _ntime, d=a+b _n, b _n+1=0, C _n+1=b ₀

(3) plant equipment commutates backlash compensation from small to large

The moment that plant equipment commutates from small to large, a value is modified to current d value; And d assignment to a ", the physical location displayed value d of calculating machine equipment

As a≤a "+C _ntime, d=a ", C _n+1=C _n-(a-a "), b _n+1=b _n+ (a-a ");

As a>a "+C _ntime, d=a-C _n, C _n+1=0, b _n+1=b ₀

Fig. 2 is plant equipment of the present invention commutation clearance measurement value figure,

Described plant equipment commutation gap b ₀measuring process is: control plant equipment and run along direction that displacement increases, after eliminating commutation gap from small to large, controls plant equipment and to commutate from big to small the location variation Δ d of operation, the direct measurement mechanical equipment of use clock gauge _i, the location variation Δ a that recorded bit displacement sensor or position coder detect _i, above process repeats 10 times, uses formulae discovery b below ₀:

$b_0=\underset{i=1}{\overset{10}{\mathrm{\&Sigma;}}}(\mathrm{\&Delta;}{a}_i-\mathrm{\&Delta;}{d}_i)\&divide;10.$

Generally, the gap width of commutation from big to small of plant equipment is substantially identical with the gap width that commutates from small to large.

Claims (1)

1. the control method of a plant equipment commutation backlash compensation, based on a kind of control system of plant equipment commutation backlash compensation, system comprises and is connected to displacement transducer in plant equipment or position coder, displacement transducer or position coder are connected with the signal end of Programmable Logic Controller, other signal ends of Programmable Logic Controller respectively with touch-screen, host computer, operator's console is connected with the signal end of frequency converter, frequency converter is connected with motor, motor is connected with the feeder ear of plant equipment, plant equipment comprises plant equipment driving link (2) and plant equipment Passive part (1), it is characterized in that, comprise the following steps:

(1) the device location value that displacement transducer or position coder detect is a; The plant equipment actual position value of preserving instantaneously that commutates from big to small is a'; The plant equipment actual position value of preserving instantaneously that commutates from small to large is a "; Plant equipment commutation clearance measurement value is b ₀; The gap width of plant equipment n-th commutation is from big to small b _n; The gap width that plant equipment commutates for n-th time is from small to large C _n; The physical location displayed value of plant equipment is d;

(2) plant equipment commutates backlash compensation from big to small

The moment that plant equipment commutates from big to small, a value is modified to current d value; And d assignment to a', the physical location displayed value d of calculating machine equipment

As a>=a'-b _ntime, d=a', b _n+1=b _n-(a'-a), C _n+1=C _n+ (a'-a);

Work as a<a'-b _ntime, d=a+b _n, b _n+1=0, C _n+1=b ₀

(3) plant equipment commutates backlash compensation from small to large

The moment that plant equipment commutates from small to large, a value is modified to current d value; And d assignment to a ", the physical location displayed value d of calculating machine equipment

As a≤a "+C _ntime, d=a ", C _n+1=C _n-(a-a "), b _n+1=b _n+ (a-a ");

As a>a "+C _ntime, d=a-C _n, C _n+1=0, b _n+1=b ₀

Described plant equipment commutation gap b ₀measuring process is: control plant equipment and run along direction that displacement increases, after eliminating commutation gap from small to large, controls plant equipment and to commutate from big to small the location variation Δ d of operation, the direct measurement mechanical equipment of use clock gauge _i, the location variation Δ a that recorded bit displacement sensor or position coder detect _i, above process repeats 10 times, uses formulae discovery b below ₀:

$b_0=\underset{i=1}{\overset{10}{\&Sigma;}}({\mathrm{\&Delta;a}}_i-{\mathrm{\&Delta;d}}_i)\&divide;10.$