CN103940303A - Method for conducting closed loop progressive control of numerical control oil cylinder - Google Patents
Method for conducting closed loop progressive control of numerical control oil cylinder Download PDFInfo
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- CN103940303A CN103940303A CN201410133880.XA CN201410133880A CN103940303A CN 103940303 A CN103940303 A CN 103940303A CN 201410133880 A CN201410133880 A CN 201410133880A CN 103940303 A CN103940303 A CN 103940303A
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Abstract
In order to meet the requirement in the prior art, achieve progressive reliable control of a single numerical control oil cylinder, and assist in achieving alignment and automatic posture adjustment control strategies of a guided missile loading system, the invention provides a method for conducting closed loop progressive control of a numerical control oil cylinder through a stepping motor and a displacement sensor. The stepping motor is connected with the numerical control oil cylinder and used for controlling the corner position of the numerical control oil cylinder and making a cylinder rod of the numerical control oil cylinder stretch out, wherein the cylinder rod of the numerical control oil cylinder is used in the method for conducting closed loop progressive control of the numerical control oil cylinder through the stepping motor and the displacement sensor. The displacement sensor is used for detecting the stretch-out length of the cylinder rod of the numerical control oil cylinder and outputting the stretch-out length as absolute displacement of the cylinder rod. The method includes the following steps that firstly, motion times and surplus distance of graded progressive motion are calculated; secondly, the cylinder rod of the numerical control oil cylinder is driven to move according to the motion times and the surplus distance; thirdly, halting is conducted.
Description
Technical field
The invention belongs to Electromechanical Control technical field, more specifically, relate to a kind of method of utilizing closed loop progression that stepper motor and displacement transducer carry out numerical control oil cylinder to control.
Background technology
Before MISSILE LAUNCHING, needed docking and the filling of cylinder, in the face of missile weapon system is changed requirement under battle conditions, rapidity, reliability and the automatization level (detection, a key are controlled automatically) that improve guided missile fitted tube are the main directions of future development.The docking of traditional large tube-like structural member, the method for employing manual measurement, adjustment, efficiency is lower, strong to operating personnel's dependence.For guaranteeing safety and reliability requirement, be provided with a plurality of manual detection, operation link, control flow process complexity, a complete workflow needs many people compounding practice, consuming time longer.
In order to improve rapidity and the ease for operation of docking, adopting automatic-posture-adjustment centering control system that sensor technology, automatic control technology, numerical control oil cylinder Closed loop Control are applied to large-sized structural parts docking operation controls, adopt light, mechanical, electrical, liquid integrated equipment, realize and automatically detect relative position deviation between large tube-like structural member, and carry out analytic solution calculation and control executing agency's motion, realize attitude rapid adjustment and the rapid and accurate centering of large tube-like structural member in four free degree directions.Effectively avoided original manual mode of operation's defect, performance and the technical merit of product are stepped on a new stage, product technology level and performance are stepped on a new stage, especially aspect usability, obtain important breakthrough, in large-sized structural parts posture adjustment centering, docking field, there is dissemination widely.Wherein, the core difficult point of automatic centering is center of circle centering, and this just requires in appearance control procedure in place, and numerical control oil cylinder can be accurately, action message.Thus, need a kind of closed loop progression control method, to realize the place an order progression formula reliable movement of a numerical control oil cylinder of missile loading operating mode.
Summary of the invention
In order to meet needs of the prior art, realizing the progression formula of single numerical control oil cylinder reliably controls, assisting, realize Missile loading system centering automatic-posture-adjustment control strategy, the invention provides a kind of method of utilizing closed loop progression that stepper motor and displacement transducer carry out numerical control oil cylinder to control, described stepper motor is connected with numerical control oil cylinder, for by the control to numerical control oil cylinder angle position, make a kind ofly to utilize the method numerical control oil cylinder bar that closed loop progression that stepper motor and displacement transducer carry out numerical control oil cylinder is controlled to stretch out; Described displacement transducer, for detection of the cylinder bar extension elongation of numerical control oil cylinder, is exported as the absolute displacement of this cylinder bar; Comprise the steps:
(1) calculate times of exercise and the Distance Remaining of gradation progression campaign;
(2), according to described times of exercise and Distance Remaining, drive the cylinder bar motion of numerical control oil cylinder:
(3) shut down.
Further, described step (1) further comprises:
(1.1) the cylinder bar of establishing numerical control oil cylinder is under the control of stepper motor, and the displacement that completes single motion is W, and the displacement of expectation is X;
(1.2) calculate the business's of times of exercise and Distance Remaining: times of exercise=X/W integer part N, Distance Remaining=X-W * N.
Further, described step (1.1) before, also comprises and judges whether oil cylinder has reached the limit of displacement, and will continue to move to limit direction.
Further, described step (2) further comprises:
(2.1), if times of exercise is greater than 0, the cylinder bar that Driving Stepping Motor is realized numerical control oil cylinder carries out gradation progression campaign; Described progression campaign each time in, stepper motor all drives the cylinder bar of numerical control oil cylinder to complete the displacement of single motion, then calculate progressive error and make times of exercise subtract 1, the absolute displacement of the cylinder bar that also cumulative described sensor detects, to progression shift value, is controlled to realize the closed loop progression of numerical control oil cylinder; Judge that progressive error is whether in default error range: if in default error range, report to the police and shut down; If in default error range and times of exercise be not 0, continue Driving Stepping Motor and complete a progression campaign; If in default error range and times of exercise be 0, enter step (2.2);
(2.2) if times of exercise is 0, the cylinder bar that Driving Stepping Motor the is realized numerical control oil cylinder described Distance Remaining that moves, and calculate progressive error; Judge that progressive error is whether in default error range: if in default error range, represents all completely apart from progression, provide control and successfully point out and shut down; If, in default error range, do not report to the police and shut down;
Further, described calculating progressive error computational methods are:
Progressive error=(total relative step numerical value of stepper motor steps value+n progression relatively)-(current step Numerical-initial step Numerical), wherein:
The stepping step-length of relative stepper motor steps value=Distance Remaining/stepper motor,
The stepping step-length of total relative step numerical value=progression shift value/stepper motor of n progression,
Current step Numerical and initial step Numerical are respectively step Numerical at this moment of described drive motors and are calculating the times of exercise of gradation progression campaign and the step Numerical before Distance Remaining.
Further, described step (1) also comprises before:
Arrange and initialize progression shift value.
Further, described progressive error requires in W ± E, and wherein E is default limit error.
Further, as all complete apart from progression, wait for after end time T ', then detect progressive error whether in ± E.
Further; also comprise the constraints to the expectation displacement of numerical control oil cylinder: using displacement transducer meta as with reference to zero point; if displacement transducer currency is A; the adjustment amount of oil cylinder input is B; when the extreme displacement of the cylinder bar of │ A+B │ > numerical control oil cylinder; shutdown reports an error, and wherein A, B are vector.
The present invention has following beneficial effect:
(1) progression that has realized single numerical control oil cylinder is reliably controlled.
(2) extreme position of having realized numerical control oil cylinder is controlled and error fault detection.
(3) for missile loading automatic centering system provides a kind of easy, reliable executing agency (numerical control oil cylinder) control method, and obtained successful Application.
Accompanying drawing explanation
Fig. 1 shows the basic procedure block diagram of method of the present invention;
Fig. 2 shows the FB(flow block) of one embodiment of the present of invention.
The specific embodiment
As shown in Figure 1, the invention provides a kind of method of utilizing closed loop progression that stepper motor and displacement transducer carry out numerical control oil cylinder to control, described stepper motor is connected with numerical control oil cylinder, for by the control to numerical control oil cylinder angle position, make a kind ofly to utilize the method numerical control oil cylinder bar that closed loop progression that stepper motor and displacement transducer carry out numerical control oil cylinder is controlled to stretch out; Described displacement transducer, for detection of the cylinder bar extension elongation of numerical control oil cylinder, is exported as the absolute displacement of this cylinder bar; Comprise the steps:
(1) calculate times of exercise and the Distance Remaining of gradation progression campaign;
(2), according to described times of exercise and Distance Remaining, drive the cylinder bar motion of numerical control oil cylinder:
(3) shut down.
Described step (1) further comprises:
(1.1) the cylinder bar of establishing numerical control oil cylinder is under the control of stepper motor, and the displacement that completes single motion is W, and the displacement of expectation is X;
(1.2) calculate the business's of times of exercise and Distance Remaining: times of exercise=X/W integer part N, Distance Remaining=X-W * N.
Described step (1.1) before, also comprises and judges whether oil cylinder has reached the limit of displacement, and will continue to move to limit direction.
Described step (2) further comprises:
(2.1), if times of exercise is greater than 0, the cylinder bar that Driving Stepping Motor is realized numerical control oil cylinder carries out gradation progression campaign; Described progression campaign each time in, stepper motor all drives the cylinder bar of numerical control oil cylinder to complete the displacement of single motion, then calculate progressive error and make times of exercise subtract 1, the absolute displacement of the cylinder bar that also cumulative described sensor detects, to progression shift value, is controlled to realize the closed loop progression of numerical control oil cylinder; Judge that progressive error is whether in default error range: if in default error range, report to the police and shut down; If in default error range and times of exercise be not 0, continue Driving Stepping Motor and complete a progression campaign; If in default error range and times of exercise be 0, enter step (2.2);
(2.2) if times of exercise is 0, the cylinder bar that Driving Stepping Motor the is realized numerical control oil cylinder described Distance Remaining that moves, and calculate progressive error; Judge that progressive error is whether in default error range: if in default error range, represents all completely apart from progression, provide control and successfully point out and shut down; If, in default error range, do not report to the police and shut down;
Described calculating progressive error computational methods are:
Progressive error=(total relative step numerical value of stepper motor steps value+n progression relatively)-(current step Numerical-initial step Numerical), wherein:
The stepping step-length of relative stepper motor steps value=Distance Remaining/stepper motor,
The stepping step-length of total relative step numerical value=progression shift value/stepper motor of n progression,
Current step Numerical and initial step Numerical are respectively step Numerical at this moment of described drive motors and are calculating the times of exercise of gradation progression campaign and the step Numerical before Distance Remaining.
Described step (1) also comprises before:
Arrange and initialize progression shift value.
Described progressive error requires in W ± E, and wherein E is default limit error.
As all complete apart from progression, wait for after end time T ', then detect progressive error whether in ± E.
Also comprise the constraints to the expectation displacement of numerical control oil cylinder: using displacement transducer meta as with reference to zero point; if displacement transducer currency is A; the adjustment amount of oil cylinder input is B; when the extreme displacement of the cylinder bar of │ A+B │ > numerical control oil cylinder; shutdown reports an error, and wherein A, B are vector.
As shown in Figure 2, provided FB(flow block) according to an embodiment of the invention.Wherein, stepper motor input speed 90r/min, displacement transducer useful range is not less than 230mm, and accuracy of detection is better than 0.1%.By stepper motor angle position, control the accurate adjustment of realizing numerical control oil cylinder bar extension elongation.
Sensor adopts stay wire sensor.Stay wire displacement sensor detects the cylinder bar extension elongation of numerical control oil cylinder, feeds back its absolute displacement.
Step motor control unit, with CAN EBI, receives input shift value by CAN bus, be scaled stepper motor corner information and rotate step number, and control step electric machine rotation is to relevant position.The oil cylinder of stay wire displacement sensor Real-time Feedback numerical control simultaneously extension elongation, step motor control unit gathers cylinder movement information and stepper motor rotation step number compares, and realizes the progression of numerical control oil cylinder closed loop and controls, and whether monitor it in malfunction.
The displacement of numerical control oil cylinder, stepper motor steps, displacement transducer numerical value corresponding relation see the following form.
The displacement of table 1 numerical control oil cylinder, stay wire displacement sensor, stepper motor steps mapping table
In Fig. 2, show the flow chart of another preferred embodiment.It is simpler that the operating mode of this embodiment goes up an embodiment relatively.
First, judge whether oil cylinder has reached the limit of displacement, and continue to move to limit direction.
Then, single motion shift value W is set, sets the shift value X of expectation.
Next, calculate frequency n and the Distance Remaining of progression campaign.Wherein, for the frequency n of progression campaign, if X>W and be the integral multiple of W, n is X/W time; If X<W, n is 1 time; Otherwise n is X/W+1 time.Record " the initial step Numerical " of motor.
Next, driven by motor numerical control oil cylinder movement.Carry out following progression step: the progression of control step motor once; After a progression completes, calculate progressive error: progressive error=(total relative step numerical value of stepper motor steps value+n progression relatively)-(current step Numerical-initial step Numerical); Cumulative progression shift value; Judge that progressive error is whether within the scope of limit error.
In above-mentioned progression step, after each progression step, all times of exercise to be subtracted to 1.Specifically, if times of exercise is greater than 0, the cylinder bar that Driving Stepping Motor is realized numerical control oil cylinder carries out gradation progression campaign; Described progression campaign each time in, stepper motor all drives the cylinder bar of numerical control oil cylinder to complete the displacement of single motion, the absolute displacement of the cylinder bar that then cumulative described sensor detects is to progression shift value, to realize the closed loop progression control of numerical control oil cylinder; Judge that progressive error is whether in default error range: if in default error range, report to the police and shut down; If in default error range and times of exercise be not 0, continue Driving Stepping Motor and complete a progression campaign; If in default error range and times of exercise be 0, the cylinder bar that Driving Stepping Motor the is realized numerical control oil cylinder described Distance Remaining that moves, and calculate progressive error; Judge that progressive error is whether in default error range: if in default error range, represents all completely apart from progression, provide control and successfully point out and shut down; If, in default error range, do not report to the police and shut down.
Next, continue to control motor progression: repeat above-mentioned progression step, until complete all progression number of times.
Finally, all progressions are complete, wait for T ' second, detect error whether within the scope of limit error.
In above steps, if judgement oil cylinder has reached the limit of displacement, or in T second, progressive error, not within the scope of limit error, or detects error not in limit error, all shuts down and reports an error; Otherwise perform an action according to above-mentioned listed step order.
In the mode of word and accompanying drawing explanation, explained the structure of some specific embodiment of the present invention above, be not exhaustive or be limited to concrete form described above.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (9)
1. a method of utilizing closed loop progression that stepper motor and displacement transducer carry out numerical control oil cylinder to control, described stepper motor is connected with numerical control oil cylinder, for by the control to numerical control oil cylinder angle position, make a kind ofly to utilize the method numerical control oil cylinder bar that closed loop progression that stepper motor and displacement transducer carry out numerical control oil cylinder is controlled to stretch out; Described displacement transducer, for detection of the cylinder bar extension elongation of numerical control oil cylinder, is exported as the absolute displacement of this cylinder bar; It is characterized in that, comprise the steps:
(1) calculate times of exercise and the Distance Remaining of gradation progression campaign;
(2), according to described times of exercise and Distance Remaining, drive the cylinder bar motion of numerical control oil cylinder:
(3) shut down.
2. method according to claim 1, is characterized in that, described step (1) further comprises:
(1.1) the cylinder bar of establishing numerical control oil cylinder is under the control of stepper motor, and the displacement that completes single motion is W, and the displacement of expectation is X;
(1.2) calculate the business's of times of exercise and Distance Remaining: times of exercise=X/W integer part N, Distance Remaining=X-W * N.
3. method according to claim 2, is characterized in that, described step (1.1) before, also comprises and judges whether oil cylinder has reached the limit of displacement, and will continue to move to limit direction.
4. method according to claim 3, is characterized in that, described step (2) further comprises:
(2.1), if times of exercise is greater than 0, the cylinder bar that Driving Stepping Motor is realized numerical control oil cylinder carries out gradation progression campaign; Described progression campaign each time in, stepper motor all drives the cylinder bar of numerical control oil cylinder to complete the displacement of single motion, then calculate progressive error and make times of exercise subtract 1, the absolute displacement of the cylinder bar that also cumulative described sensor detects, to progression shift value, is controlled to realize the closed loop progression of numerical control oil cylinder; Judge that progressive error is whether in default error range: if in default error range, report to the police and shut down; If in default error range and times of exercise be not 0, continue Driving Stepping Motor and complete a progression campaign; If in default error range and times of exercise be 0, enter step (2.2);
(2.2) if times of exercise is 0, the cylinder bar that Driving Stepping Motor the is realized numerical control oil cylinder described Distance Remaining that moves, and calculate progressive error; Judge that progressive error is whether in default error range: if in default error range, represents all completely apart from progression, provide control and successfully point out and shut down; If, in default error range, do not report to the police and shut down.
5. method according to claim 4, is characterized in that, described calculating progressive error computational methods are: progressive error=(total relative step numerical value of stepper motor steps value+n progression relatively)-(current step Numerical-initial step Numerical), wherein:
The stepping step-length of relative stepper motor steps value=Distance Remaining/stepper motor,
The stepping step-length of total relative step numerical value=progression shift value/stepper motor of n progression,
Current step Numerical and initial step Numerical are respectively step Numerical at this moment of described drive motors and are calculating the times of exercise of gradation progression campaign and the step Numerical before Distance Remaining.
6. method according to claim 4, is characterized in that, described step (1) also comprises before:
Arrange and initialize progression shift value.
7. method according to claim 4, is characterized in that, described progressive error requires in W ± E, and wherein E is default limit error.
8. method according to claim 7, is characterized in that, as all complete apart from progression, waits for after end time T ', then detects progressive error whether in ± E.
9. according to the method one of claim 1-8 Suo Shu; it is characterized in that; also comprise the constraints to the expectation displacement of numerical control oil cylinder: using displacement transducer meta as with reference to zero point; if displacement transducer currency is A; the adjustment amount of oil cylinder input is B;, when the extreme displacement of the cylinder bar of │ A+B │ > numerical control oil cylinder, shutdown reports an error, and wherein A, B are vector.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105629852A (en) * | 2016-02-19 | 2016-06-01 | 西安大医数码技术有限公司 | Device and method for monitoring closed-loop control system, and closed-loop control system |
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| CN103940303B (en) | 2016-05-18 |
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