CN103713572A - Numerical control system control method based on position giving - Google Patents
Numerical control system control method based on position giving Download PDFInfo
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- CN103713572A CN103713572A CN201310667600.9A CN201310667600A CN103713572A CN 103713572 A CN103713572 A CN 103713572A CN 201310667600 A CN201310667600 A CN 201310667600A CN 103713572 A CN103713572 A CN 103713572A
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Abstract
The invention provides a numerical control system control method based on position giving. Quadrature encoding is performed on a position command pulse signal through a quadrature signal encoder, enables the transmission frequency to be reduced by four times, then decoding is performed on the quadrature encoded signal through a motor driving device, i.e., the quadrature encoded signal is restored after quadruplicated frequency processing, and the restored position command signal is transmitted to a calculation module; then a control signal of a motor is obtained through various controls and operations according to motor-related information obtained by a bus absolute value encoder; and accurate position and speed control is performed on the motor. The numerical control system control method based on position giving can enable a numerical control device to realize control accuracy of under one micron under relatively high processing speed, motor encoder feedback adopts the bus type absolute value encoder, so that the detection accuracy can be substantially improved, thereby truly realizing high-speed high-accuracy processing.
Description
Technical field
The present invention relates to the digital control system control method that a kind of position-based is given, the digital control system control method that particularly adopts orthogonal intersection code signal absolute value encoder given as numerical control device position command and employing bus protocol to feed back as motor encoder.
Background technology
Along with social development is extensive all the more to advanced manufacturing industry demand, the advanced manufacturing technology that the digital control processing of take is especially representative obtains fast development, digital control system is every year with 20% speed increment, the production domesticization popularity rate of digital control system also improves all the more, but because domestic Numeric Control Technology starting and development are all more late, its reliability and machining precision cannot compare favourably with external product, can only meet the processing below medium accuracy, its main cause has the software of control and control algolithm advanced not, be limited by the restriction of the given scheme of digital control system position command simultaneously, the given main flow scheme of digital control system position command has three kinds at present, the motor encoder that the first adopts analog quantity to add various resolution feeds back given as the position command of numerical control device, the shortcoming of this kind of scheme is that analog quantity is very easily interfered at the scene, easily producing zero wafts, also be not suitable for long Distance Transmission, therefore most manufacturers no longer adopt this kind of scheme in new design, the second adopts industrial field bus given as the position command of numerical control device, adopt the absolute value encoder of 20bit or 17bit to feed back as motor encoder, Ci Zhong scheme foreign vendor adopts more, but because its technical difficulty is large, production cost is high, in domestic numerical control system, do not form main flow, the third adopts high-speed pulse string given as the position command of numerical control device, adopt 2500 to 8192 line pulse increment formula scramblers to feed back as motor encoder, this kind of scheme application is simple, with low cost, by a large amount of domestic digital control system manufacturer, adopted, this kind of scheme has two kinds of control modes conventionally:
Fig. 1,2 adds typical application circuit that direction signal controls and the P-pulse instruction waveform of transmission thereof for pulse signal, each pulse represents a position feeding equivalent of numerical control device, so the height of pulsed frequency has determined the speed of its position speed of feed, the level of direction signal just determines its direction of feed.
Fig. 3,4,5 for the typical application circuit of dipulse control mode be the pulse position instruction waveform of its transmission, same each pulse represents a position feeding equivalent of numerical control device, the height of pulsed frequency has determined the speed of its position speed of feed, and direction of feed is determined by positive rotaring signal or reverse signal.
Above two kinds of implementations have common shortcoming: (1) is under this kind of scheme, want to realize the processing of high-speed, high precision, the P-pulse that needs higher frequency, but restricted and long line transmission location pulsed frequency can not be too high, mostly below 500K frequency, transmit, the control accuracy that therefore will realize under satisfied higher process velocity below 1 micron is difficult to realize (because its transmission frequency is inevitable much larger than 500K), as above circuit implementing scheme, surpassing 500K frequency easily causes transmission unstable when especially 1000K frequency is above, form the phenomenon of multiple-pulse or few pulse, cause processing dimension inaccurate.(2) want to realize the processing of high-speed, high precision simultaneously, also need to meet more high-resolution scrambler, more than the encoder resolution of pulse increment type is difficult to reach 8192 lines, and the transmission frequency of high-resolution pulse increment type scrambler also can be very high, under high-frequency, transmit its reliability bad, be easily interfered.(3) load imbalance, pulse adds in direction control mode, the signalling channel burden of transmission pulse signal is very heavy, the signalling channel burden of transmission direction signal is very light, in dipulse control mode, all the time only have that wherein a road signalling channel is effective, another road signalling channel is idle, causes the waste of the uneven and resource of load.
Summary of the invention
In order to address the above problem, the object of the present invention is to provide a kind of digital control system control method that adopts orthogonal intersection code signal absolute value encoder given as digital control system position command and employing bus protocol to feed back as motor encoder, the present invention applies simply, with low cost.
The digital control system control method that position-based provided by the present invention is given, comprises the following steps:
(1) interpolator goes out to represent the high-speed pulse string of digital control system position and speed to the position receiving and rate signal interpolation;
(2) orthogonal signal scrambler carries out orthogonal coding to the high-speed pulse string receiving, and forms orthogonal intersection code signal, and described orthogonal intersection code signal exports differential received device to through differential transmitter part;
(3) differential received device sends orthogonal intersection code signal to orthogonal signal demoder, and described orthogonal signal demoder is decoded to orthogonal intersection code signal, and sends decoded signal to computing module; By bus absolute value encoder, obtain the current position of motor and velocity information, and send to computing module;
(4) computing module is according to the signal of orthogonal signal demoder output, and current position and the velocity information of motor carry out PID adjusting, draws drive and control of electric machine signal;
(5) motor driver is according to drive and control of electric machine signal drive motor.
Further, described bus absolute value encoder is based on BISS bus protocol.Resolution can significantly be brought up to 17bit to 24bit, and reliability and data throughout also significantly improve.
Further, described differential transmitter part, differential received device are realized by RS422 chip difference channel.
The digital control system control method that position-based provided by the present invention is given, with orthogonal coding mode transfer P-pulse, there is not signal transmission passage free time and load imbalance, the coding not only simple but also rear antijamming capability of employing coding is difficult for by force makeing mistakes, the domestic numerical control system main flow scheme more current with above-mentioned the third main flow scheme), can the in the situation that of equal hardware circuit expense, realize, can be in the situation that existing the third scheme change system hardware yet, by upgrade software or the given logical design of upgrading position command, easily realize the pulse of orthogonal coding mode transfer position command, under same signal transmission frequencies, can make position command pulse improve four times, the control accuracy that is system improves four times, motor encoder feedback has adopted bus type absolute value encoder simultaneously, can significantly improve the reliability that accuracy of detection and its feedback detect, thereby can make more easily digital control system realize 1 micron of following control accuracy, realize high-speed, high precision processing, greatly improve the suface processing quality of workpiece.
Accompanying drawing explanation
Fig. 1 is that pulse signal adds direction signal as the given digital control system circuit diagram of position command;
Fig. 2 is the P-pulse instruction oscillogram of circuit transmission described in Fig. 1;
Fig. 3 is that dipulse is as the given digital control system circuit diagram of position command;
Fig. 4 is forward position feeding pulse position instruction oscillogram;
Fig. 5 is reverse position feeding pulse position instruction oscillogram;
Fig. 6 is that orthogonal intersection code signal is as the given digital control system circuit diagram of position command;
Fig. 7 is position command signal orthogonal coding oscillogram;
Fig. 8 is position command signal orthogonal coding forward position feeding oscillogram;
Fig. 9 is position command signal orthogonal coding reverse position feeding oscillogram;
Figure 10 is oscillogram after signal quadruple shown in Fig. 8;
Figure 11 is BISS bus code device feedback oscillogram;
Figure 12 is that PID regulates logical diagram;
Figure 13 is the method for the invention process flow diagram.
Embodiment
As shown in Figure 12,13, the digital control system control method that position-based provided by the present invention is given, comprises the following steps:
(1) interpolator goes out to represent the high-speed pulse string of digital control system position and speed to the position receiving and rate signal interpolation;
(2) orthogonal signal scrambler carries out orthogonal coding to the high-speed pulse string receiving, and forms orthogonal intersection code signal, and described orthogonal intersection code signal exports differential received device to through differential transmitter part;
(3) differential received device sends orthogonal intersection code signal to orthogonal signal demoder, by orthogonal signal demoder, orthogonal intersection code signal is decoded, and sends decoded signal to computing module; By bus absolute value encoder, obtain the current position of motor and velocity information, and send to computing module;
(4) computing module is according to the signal of orthogonal signal demoder output, and current position and the velocity information of motor carry out PID adjusting, draws drive and control of electric machine signal;
(5) motor driver is according to drive and control of electric machine signal drive motor.
Computing module can be realized by PID controller, by PID controller, according to information such as orthogonal signal decoder output signal and motor current location and speed, carries out position adjustments, speed adjusting and electric current adjusting etc.
Differential transmitter part and differential received device can be realized by RS422 chip difference channel; Bus absolute value encoder is the scrambler based on BISS bus protocol.
Interpolator can adopt software/hardware interpolation, first by software algorithm, realizes rough interpolation, then realizes smart interpolation by hardware, position and rate signal is converted to high-speed pulse string and transmits, and this high-speed pulse string comprises position and rate signal.Differential transmitter part is changed the orthogonal intersection code signal receiving, and forms differential pair, to reduce interference; Correspondingly, differential received device is converted to the differential pair receiving the orthogonal intersection code signal of common level, so that orthogonal signal demoder is decoded to this signal, is reduced into high-speed pulse string, for computing module after decoding.
Realize the circuit of the digital control system control method that described position-based of the present invention is given as shown in Figure 6, the CPU of digital control system, FPGA or CPLD outgoing position command signal, this signal comprises position and rate signal, position command signal is after software and hardware interpolator rough interpolation and smart interpolation, form high-speed pulse string and send to orthogonal signal scrambler, after coding, form orthogonal intersection code signal, interpolator and orthogonal signal scrambler can be integrated in CPU, FPGA or CPLD; Orthogonal intersection code signal is processed through RS422 chip, output differential pair is to the differential received device in motor driver, differential received device can be realized by RS422 chip difference channel, differential received device is converted to the signal receiving the orthogonal intersection code signal of common level, and sending to orthogonal signal demoder to decode, decoded signal sends to computing module.Bus absolute value encoder is connected with motor, and for obtaining motor current location and velocity information, this information sends computing module to; Bus absolute value encoder can be based on BISS bus protocol, and its waveform as shown in figure 11.Computing module is according to motor current location and velocity information and draw drive and control of electric machine signal through the decoded calculated signals of orthogonal signal demoder, drive and control of electric machine information comprises position signalling, rate signal etc., and motor driver turns round according to drive and control of electric machine signal drive motor.The orthogonal coding of P-pulse as shown in Figure 7, makes its signal transmission frequencies reduce by 4 times after coding, be leading or lag behind and determine the direction of position feeding by two-way orthogonal pulses Yi road with respect to another road.Forward position feeding, reverse position feeding pulse waveform are respectively as shown in Figure 8,9.Processings of decode after orthogonal signal demoder receives, realizes 4 frequencys multiplication by detecting the hopping edge of two-way signal transmission, thereby reduces P-pulse, and the waveform after quadruple processing as shown in figure 10.
Position command signal is transmitted by two-way orthogonal intersection code signal simultaneously, the position command signal equal compared with traditional scheme is given, its signal transmission frequencies can reduce by 4 times, owing to differing between two-way signal transmission under orthogonal coding pattern, motor driver can be realized 4 frequencys multiplication by detecting the hopping edge of two-way signal transmission, thereby reduction P-pulse, so just can on original equivalent signals channel frequence, improve the position feeding pulse of four times, be that two paths of signals is equally in 500K pulsed frequency transmission situation, its equivalent numerical control device P-pulse frequency is 2000K, like this can be in the situation that do not change the hardware circuit of original scheme, thereby do not increase hardware circuit cost and improve P-pulse frequency, motor driver is by detect a wherein road in two paths of signals passage be leading with respect to the phase place on another road or lag behind and decide position command direction, motor encoder adopts bus absolute value encoder simultaneously, its resolution can significantly be brought up to 17bit to 24bit, the transmission of motor encoder detection signal simultaneously adopts bus code pattern, its reliability and data throughout also significantly improve, can adopt the absolute value encoder based on BISS bus protocol.
From the above, P-pulse its transmission frequency after orthogonal coding can reduce by 4 times, then through the laggard line position pulse reduction of motor driver 4 frequency multiplication.Reduced the requirement to signal transmission passage, under the equivalent signals transmission frequency of traditional scheme, its position command pulse can improve four times, thereby can under higher process velocity, make numerical control device realize the control accuracy below 1 micron, the feedback of motor encoder adopts bus type absolute value encoder can significantly improve its accuracy of detection simultaneously, there have been these two good basic indexs just can really realize high-speed, high precision processing, the energetically market competitiveness of hoisting device equipment.
Claims (3)
1. the digital control system control method that position-based is given, is characterized in that, comprises the following steps:
(1) interpolator goes out to represent the high-speed pulse string of digital control system position and speed to the position receiving and rate signal interpolation;
(2) orthogonal signal scrambler carries out orthogonal coding to the high-speed pulse string receiving, and forms orthogonal intersection code signal, and described orthogonal intersection code signal exports differential received device to through differential transmitter part;
(3) differential received device sends orthogonal intersection code signal to orthogonal signal demoder, and described orthogonal signal demoder is decoded to orthogonal intersection code signal, and sends decoded signal to computing module; By bus absolute value encoder, obtain the current position of motor and velocity information, and send to computing module;
(4) computing module is according to the signal of orthogonal signal demoder output, and current position and the velocity information of motor carry out PID adjusting, draws drive and control of electric machine signal;
(5) motor driver is according to drive and control of electric machine signal drive motor.
2. the digital control system control method that position-based according to claim 1 is given, is characterized in that: described bus absolute value encoder is based on BISS bus protocol.
3. the digital control system control method that position-based according to claim 1 and 2 is given, is characterized in that: described differential transmitter part, differential received device are realized by RS422 chip difference channel.
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| CN106849520A (en) * | 2016-11-29 | 2017-06-13 | 广东德康威尔科技有限公司 | A kind of linear electric motors track encoder, linear electric motors and its method for detecting position |
| CN107992109A (en) * | 2017-12-06 | 2018-05-04 | 深圳易能电气技术股份有限公司 | Closed-loop positioning control system and method |
| CN108856307A (en) * | 2018-05-23 | 2018-11-23 | 山信软件股份有限公司 | A kind of mechanical equipment position detecting device and detection method |
| CN109586626A (en) * | 2018-12-13 | 2019-04-05 | 张茂青 | The encoderless driving method and device of servo motor in the integrated joint assembly of robot |
| CN111637907A (en) * | 2019-03-01 | 2020-09-08 | 株式会社安川电机 | Encoder, servo motor and servo system |
| CN113156839A (en) * | 2020-01-22 | 2021-07-23 | 科德数控股份有限公司 | Electronic gear of servo system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106849520A (en) * | 2016-11-29 | 2017-06-13 | 广东德康威尔科技有限公司 | A kind of linear electric motors track encoder, linear electric motors and its method for detecting position |
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| CN108856307A (en) * | 2018-05-23 | 2018-11-23 | 山信软件股份有限公司 | A kind of mechanical equipment position detecting device and detection method |
| CN109586626A (en) * | 2018-12-13 | 2019-04-05 | 张茂青 | The encoderless driving method and device of servo motor in the integrated joint assembly of robot |
| CN111637907A (en) * | 2019-03-01 | 2020-09-08 | 株式会社安川电机 | Encoder, servo motor and servo system |
| CN111637907B (en) * | 2019-03-01 | 2022-03-29 | 株式会社安川电机 | Encoder, servo motor and servo system |
| CN113156839A (en) * | 2020-01-22 | 2021-07-23 | 科德数控股份有限公司 | Electronic gear of servo system |
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| CN103713572B (en) | 2016-06-08 |
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