CN104551813A - Control system based on turning error of spindle - Google Patents
Control system based on turning error of spindle Download PDFInfo
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- CN104551813A CN104551813A CN201510028141.9A CN201510028141A CN104551813A CN 104551813 A CN104551813 A CN 104551813A CN 201510028141 A CN201510028141 A CN 201510028141A CN 104551813 A CN104551813 A CN 104551813A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/02—Driving main working members
- B23Q5/04—Driving main working members rotary shafts, e.g. working-spindles
- B23Q5/10—Driving main working members rotary shafts, e.g. working-spindles driven essentially by electrical means
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- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention discloses a control system based on a turning error of a spindle, and solves the problems that the rotary precision of the spindle is low because the turning error of the spindle of an existing numerical control machine tool is large. The control system comprises a power system, a high voltage air supply system, a spindle system and a control system; the power system comprises a servo motor and the spindle; the high voltage air supply system comprises a valve, a filter, an air vent and a high voltage air source; the spindle system comprises a No. 1 magnetic bearing, a bidirectional gas lubricated thrust bearing, a No. 2 magnetic bearing, a No. 1 gas bearing, a No. 2 gas bearing, a No. 1 displacement sensor, a No. 2 displacement sensor, a No. 3 displacement sensor, a No. 4 displacement sensor, a No. 5 displacement sensor, a No. 6 displacement sensor and an optical-electricity encoder; the control system comprises a filter, a DSP (Digital Signal Processor), a D/A (Digital-to-Analog) converter, a power amplifier and a PC (Personnel Computer). The control system is mainly applied to the spindle of a numerical control machine tool.
Description
Technical field
The present invention relates to a kind of control system of spindle rotation error.
Background technology
Digit Control Machine Tool and machining center are as manufacturing key equipment, along with industrial expansion and scientific and technical continuous progress, also more and more higher to the requirement on machining accuracy of numerically controlled lathe.Main shaft is as " heart " of numerically controlled lathe, its operating accuracy receives the concern of people especially, such as: the gyrorotor that 1kg is heavy, if its barycenter departs from its axis of symmetry 0.5nm, then the error of the error of 100m and the offset track of about 50m can be caused on range.This shows that the precision of main shaft plays vital effect to workpiece.Although current numerically controlled lathe has the advantages such as high accuracy, high efficiency, high automation and high flexibility, the requirement of people's machining high-precision workpiece can be met in certain degree, if but need on this basis to improve its machining accuracy further, reach the requirement of Ultra-precision Turning, cost is higher, difficulty is larger.
At present, most attention and the concern of Chinese scholars is received about the research of the principle of precision bearing system, properity, test and control method.How to meet ever-increasing high-precision requirement, economical rationality, find the scheme of solution technical feasibility, become current urgent problem.
Summary of the invention
When the present invention is the main shaft work in order to solve existing Digit Control Machine Tool, turn error is large, and the problem that the spindle rotation accuracy caused is low, the invention provides a kind of control system based on spindle rotation error.
Based on the control system of spindle rotation error, it comprises dynamical system, high pressure air feed system, axis system and control system;
Dynamical system comprises servomotor and main shaft;
High pressure air feed system comprises valve, filter, blow vent and high-pressure air source;
Axis system comprises No. 1 magnetic bearing, two-way gas lubricated thrust bearing, No. 2 magnetic bearings, No. 1 gas bearing, No. 2 gas bearing, No. 1 displacement transducer, No. 2 displacement transducers, No. 3 displacement transducers, No. 4 displacement transducers, No. 5 displacement transducers, No. 6 displacement transducers and photoelectric encoders;
Control system comprises wave filter, DSP, D/A converter, power amplifier and PC;
Servomotor drives main axis by belt pulley, photoelectric encoder for detecting the deflection angle of main shaft in rotary course,
No. 1 displacement transducer, No. 5 displacement transducers and No. 6 displacement transducers are respectively used to detect the radial displacement of main shaft one end along three directions, wherein, No. 1 displacement transducer, No. 5 displacement transducers and No. 6 displacement transducers are positioned at same plane, and described plane orthogonal is in main shaft, it is circumferentially same that described No. 1 displacement transducer, No. 5 displacement transducers and No. 6 displacement transducers are all positioned at centered by main shaft
No. 1 displacement transducer, No. 5 displacement transducers and No. 6 displacement transducers are positioned at the left side of No. 2 gas bearing,
No. 2 displacement transducers, No. 3 displacement transducers and No. 4 displacement transducers are respectively used to detect the radial displacement of the other end along three directions of main shaft;
Wherein, No. 2 displacement transducers, No. 3 displacement transducers and No. 4 displacement transducers are positioned at same plane, and described plane orthogonal is in main shaft, it is circumferentially same that No. 2 displacement transducers, No. 3 displacement transducers and No. 4 displacement transducers are all positioned at centered by main shaft
No. 2 displacement transducers, No. 3 displacement transducers and No. 4 displacement transducers are positioned at the right side of No. 1 gas bearing,
No. 1 magnetic bearing, two-way gas lubricated thrust bearing, No. 2 magnetic bearings, No. 1 gas bearing and No. 2 gas bearing are all embedded in outside main shaft, and two-way gas lubricated thrust bearing is positioned at the centre of main shaft,
No. 1 magnetic bearing and No. 2 magnetic bearings with two-way gas lubricated thrust bearing for minute surface is that specular is arranged, No. 2 gas bearing and No. 1 gas bearing with two-way gas lubricated thrust bearing for minute surface is that specular is arranged, No. 1 magnetic bearing is between No. 2 gas bearing and two-way gas lubricated thrust bearing
The gas that high-pressure air source exports is successively after blow vent, filter, valve, deliver to No. 1 gas bearing and No. 2 gas bearing simultaneously, wave filter is used for the displacement signal No. 1 displacement transducer gathered, No. 2 displacement transducers, No. 3 displacement transducers, No. 4 displacement transducers, No. 5 displacement transducers and No. 6 displacement transducers exported, and photoelectric encoder export deflection angle carry out digital filtering after deliver to DSP
The signal that DSP is used for receiving processes, and obtains control signal, and by this control signal after D/A converter and power amplifier process, controls No. 1 magnetic bearing and No. 2 magnetic bearings,
PC is used for carrying out exchanges data by serial communication mode and DSP.
Described DSP adopts TMS320LF2407A to realize.
Described DSP comprises A/D modular converter, subtracter, differential module, Fuzzy self-adjusting module, pid control module;
Described A/D modular converter signal input part is connected with the signal output part of wave filter, the signal output part of A/D modular converter is connected with the subtrahend signal input part of subtracter, the data signal output of subtracter is connected with the signal input part of differential module and 1 number signal input part of pid control module simultaneously, the signal output part of differential module is connected with the signal input part of Fuzzy self-adjusting module, the signal output part of Fuzzy self-adjusting module is connected with 2 number signal input parts of pid control module, the signal output part of pid control module is as the signal output part of DSP, the signal input output end of Fuzzy self-adjusting module is connected with the signal input output end of PC.
Described Fuzzy self-adjusting module comprises Fuzzy reasoning module and parameters revision module;
The signal input part of described Fuzzy reasoning module as the signal input part of Fuzzy self-adjusting module,
The signal output part of Fuzzy reasoning module is connected with the signal input part of parameters revision module, and the signal output part of parameters revision module is as the signal output part of Fuzzy self-adjusting module;
The signal input output end of Fuzzy reasoning module and the signal input output end of parameters revision module are all as the signal input output end of Fuzzy self-adjusting module.
The control mode of described DSP adopts fuzzy selftuning PID method.
No. 1 described displacement transducer and No. 5 displacement transducers are oppositely arranged, and the straight line that No. 6 displacement transducers are formed perpendicular to No. 1 displacement transducer and No. 5 displacement transducers;
No. 2 displacement transducers and No. 4 displacement transducers are oppositely arranged, and the straight line that No. 3 displacement transducers are formed perpendicular to No. 2 displacement transducers and No. 4 displacement transducers.
The beneficial effect that the present invention brings is, the control system control effects that the present invention is based on spindle rotation error is good, effectively and rapidly can detect error when workpiece works, and response can be made for the turn error produced, not only increase control rate, and improve the precision of main shaft, make control accuracy improve more than 5%, control rate improves more than 20%.
Accompanying drawing explanation
Fig. 1 is the principle schematic of the control system based on spindle rotation error of the present invention;
Fig. 2 is the principle schematic of the DSP inside described in detailed description of the invention three;
Fig. 3 is the control principle block diagram of the control system based on spindle rotation error.
Detailed description of the invention
Detailed description of the invention one: present embodiment is described see Fig. 1, the control system based on spindle rotation error described in present embodiment, it comprises dynamical system, high pressure air feed system, axis system and control system;
Dynamical system comprises servomotor 1 and main shaft 9;
High pressure air feed system comprises valve 10, filter 11, blow vent 12 and high-pressure air source 13;
Axis system comprises No. 1 magnetic bearing 4, two-way gas lubricated thrust bearing 5, No. 2 magnetic bearings 6, No. 1 gas bearing 7, No. 2 gas bearing 17, No. 1 displacement transducer 3, No. 2 displacement transducers 8, No. 3 displacement transducers 14, No. 4 displacement transducers 15, No. 5 displacement transducers 16, No. 6 displacement transducers 18 and photoelectric encoder 19;
Control system comprises wave filter 20-1, DSP20-2, D/A converter 20-3, power amplifier 20-4 and PC 20-5;
Servomotor 1 drives main shaft 9 to rotate by belt pulley 2, photoelectric encoder 19 for detecting the deflection angle of main shaft 9 in rotary course,
No. 1 displacement transducer 3, No. 5 displacement transducers 16 and No. 6 displacement transducers 18 are respectively used to detect the radial displacement of main shaft 9 one end along three directions, wherein, No. 1 displacement transducer 3, No. 5 displacement transducers 16 and No. 6 displacement transducers 18 are positioned at same plane, and described plane orthogonal is in main shaft 9, it is circumferentially same that described No. 1 displacement transducer 3, No. 5 displacement transducers 16 and No. 6 displacement transducers 18 are all positioned at centered by main shaft 9
No. 1 displacement transducer 3, No. 5 displacement transducers 16 and No. 6 displacement transducers 18 are positioned at the left side of No. 2 gas bearing 17,
No. 2 displacement transducers 8, No. 3 displacement transducers 14 and No. 4 displacement transducers 15 are respectively used to detect the radial displacement of the other end along three directions of main shaft 9;
Wherein, No. 2 displacement transducers 8, No. 3 displacement transducers 14 and No. 4 displacement transducers 15 are positioned at same plane, and described plane orthogonal is in main shaft 9, it is circumferentially same that No. 2 displacement transducers 8, No. 3 displacement transducers 14 and No. 4 displacement transducers 15 are all positioned at centered by main shaft 9
No. 2 displacement transducers 8, No. 3 displacement transducers 14 and No. 4 displacement transducers 15 are positioned at the right side of No. 1 gas bearing 7, No. 1 magnetic bearing 4, two-way gas lubricated thrust bearing 5, No. 2 magnetic bearings 6, No. 1 gas bearing 7 and No. 2 gas bearing 17 are all embedded in outside main shaft 9, two-way gas lubricated thrust bearing 5 is positioned at the centre of main shaft 9
And No. 1 magnetic bearing 4 and No. 2 magnetic bearings 6 with two-way gas lubricated thrust bearing 5 for minute surface is that specular is arranged, No. 2 gas bearing 17 and No. 1 gas bearing 7 with two-way gas lubricated thrust bearing 5 for minute surface is that specular is arranged, No. 1 magnetic bearing 4 is between No. 2 gas bearing 17 and two-way gas lubricated thrust bearing 5
The gas that high-pressure air source 13 exports is successively after blow vent 12, filter 11, valve 10, deliver to No. 1 gas bearing 7 and No. 2 gas bearing 17 simultaneously, wave filter 20-1 is used for the displacement signal No. 1 displacement transducer 3, No. 2 displacement transducers 8, No. 3 displacement transducers, 14, No. 4 displacement transducers, 15, No. 5 displacement transducers 16 gathered and No. 6 displacement transducers 18 exported, and photoelectric encoder 19 export deflection angle carry out digital filtering after deliver to DSP20-2
The signal that DSP20-2 is used for receiving processes, and obtains control signal, and by this control signal after D/A converter 20-3 and power amplifier 20-4 process, controls No. 1 magnetic bearing 4 and No. 2 magnetic bearings 6,
PC 20-5 is used for carrying out exchanges data by serial communication mode and DSP20-2.
Present embodiment, PC 20-5 for control DSP20-2 startup and quit work, the control algolithm program of control DSP20-2 loads, and realizes the change of on-line parameter during magnetic bearing system work.
By No. 1 displacement transducer 3, No. 5 displacement transducers 16 and No. 6 displacement transducers 18 for detecting one end displacement radially of main shaft 9 respectively, No. 2 displacement transducers 8, No. 3 displacement transducers 14 and No. 4 displacement transducers 15 are for detecting the other end displacement radially of main shaft 9 respectively, obtain the turn error value of main shaft 9, by DSP20-2, turn error value is processed and revised, thus main shaft 9 is controlled more accurately.
The described control system based on spindle rotation error, it comprises dynamical system, high pressure air feed system, axis system and control system.
Adopt the power between belt pulley conveying motor and main shaft in dynamical system, not only structure is simple, cost is low, and easy for operation.
High pressure air feed system adopts high voltage style, ensure that the source of the gas of gas bearing, and is provided with filter in structure, thus ensure that the pure of gas, prevents because plugging orifice restriction device containing particulate material in gas.
Axis system by as main supporting two gas lubricated journal bearings and form as two active magnetic bearings of aiding support, a two-way gas lubricated thrust bearing and 6 displacement transducers.The structure of gas magnetic bearing adopts symmetrical structure form.Thrust bearing is positioned at the centre of main shaft.
Angle of eccentricity is by the on-line measurement of LEC type low profile photovoltaic encoder, this encoder often transfers out 3600 pulses and 1 zero-bit triggering signal, DSP with zero-bit triggering signal for starting point, often detect that the motion of main shaft situation now detected by sensor is just deducted surface error value now and the first harmonic component caused due to bias by 1 pulse, data after process are changed through D/A and send into magnetic bearing after power amplifications, the motion of the magnetic force produced by magnetic bearing to rotary main shaft controls, eliminate radial motion error, to improve the rotary precision of main shaft.
Detailed description of the invention two: the difference of present embodiment and the control system based on spindle rotation error described in detailed description of the invention one is, described DSP20-2 adopts TMS320LF2407A to realize.
Present embodiment, above-mentioned control system employing TMS320LF2407A is the chip of single-chip microcomputer DSP, forms multiple functional digital vector control system.The output of displacement transducer is through respective filtering process, be connected with the input of single-chip microcomputer through A/D conversion, the input that the output of single-chip microcomputer and D/A change, and the input of computer is connected, the output of D/A conversion is connected with power amplifier, then by the output of power amplifier by signal feedback on two magnetic bearings, specifically see Fig. 3.
Detailed description of the invention three: present embodiment is described see Fig. 2, the difference of present embodiment and the control system based on spindle rotation error described in detailed description of the invention one is, described DSP20-2 comprises A/D modular converter (20-2-1), subtracter (20-2-2), differential module (20-2-3), Fuzzy self-adjusting module 20-2-4, pid control module 20-2-5;
Described A/D modular converter (20-2-1) signal input part is connected with the signal output part of wave filter 20-1, the signal output part of A/D modular converter (20-2-1) is connected with the subtrahend signal input part of subtracter (20-2-2), the data signal output of subtracter (20-2-2) is connected with the signal input part of differential module (20-2-3) and the 1 number signal input part of pid control module 20-2-5 simultaneously, the signal output part of differential module (20-2-3) is connected with the signal input part of Fuzzy self-adjusting module 20-2-4, the signal output part of Fuzzy self-adjusting module 20-2-4 is connected with the 2 number signal input parts of pid control module 20-2-5, the signal output part of pid control module 20-2-5 is as the signal output part of DSP20-2, the signal input output end of Fuzzy self-adjusting module 20-2-4 is connected with the signal input output end of PC 20-5.
In present embodiment, the fuzzy Self-adjusting PID Control module of use, system adopts upper and lower computer Slave Parallel working method, and host computer is PC, and slave computer is DSP20-2.Host computer, as back-stage management, carries out exchanges data with serial communication mode and DSP, completes the startup of DSP and quits work, and the control algolithm program of control DSP loads, and realizes the change of on-line parameter during magnetic bearing system work.
DSP20-2 inner setting standard value, the data signal that standard value and A/D modular converter (20-2-1) are exported is poor.
Detailed description of the invention four: the difference of present embodiment and the control system based on spindle rotation error described in detailed description of the invention three is, described Fuzzy self-adjusting module 20-2-4 comprises Fuzzy reasoning module and parameters revision module;
The signal input part of described Fuzzy reasoning module as the signal input part of Fuzzy self-adjusting module 20-2-4,
The signal output part of Fuzzy reasoning module is connected with the signal input part of parameters revision module, and the signal output part of parameters revision module is as the signal output part of Fuzzy self-adjusting module 20-2-4;
The signal input output end of Fuzzy reasoning module and the signal input output end of parameters revision module are all as the signal input output end of Fuzzy self-adjusting module 20-2-4.
Present embodiment, DSP20-2 is made up of self-operated controller and indirect controller two parts: self-operated controller part is PID controller, and indirect controller part is fuzzy reasoning.
Detailed description of the invention five: the difference of present embodiment and the control system based on spindle rotation error described in detailed description of the invention one is, the control mode of described DSP20-2 adopts fuzzy selftuning PID method.
Present embodiment, fuzzy self-turning PID control method adopts error and error rate as input, with ratio K
p, integration K
iwith differential K
das output, according to not error in the same time and error rate, online self-adjusting is carried out to the parameter of PID, reach the object improving error compensation control system response speed, precision and stable state.
Detailed description of the invention six: the difference of present embodiment and the control system based on spindle rotation error described in detailed description of the invention one is, described No. 1 displacement transducer 3 and No. 5 displacement transducers 16 are oppositely arranged, and the straight line that No. 6 displacement transducers 18 are formed perpendicular to No. 1 displacement transducer 3 and No. 5 displacement transducers 16;
No. 2 displacement transducers 8 and No. 4 displacement transducers 15 are oppositely arranged, and the straight line that No. 3 displacement transducers 14 are formed perpendicular to No. 2 displacement transducers 8 and No. 4 displacement transducers 15.
Claims (6)
1. based on the control system of spindle rotation error, it is characterized in that, it comprises dynamical system, high pressure air feed system, axis system and control system;
Dynamical system comprises servomotor (1) and main shaft (9);
High pressure air feed system comprises valve (10), filter (11), blow vent (12) and high-pressure air source (13);
Axis system comprises No. 1 magnetic bearing (4), two-way gas lubricated thrust bearing (5), No. 2 magnetic bearings (6), No. 1 gas bearing (7), No. 2 gas bearing (17), No. 1 displacement transducer (3), No. 2 displacement transducers (8), No. 3 displacement transducers (14), No. 4 displacement transducers (15), No. 5 displacement transducers (16), No. 6 displacement transducers (18) and photoelectric encoders (19);
Control system comprises wave filter (20-1), DSP (20-2), D/A converter (20-3), power amplifier (20-4) and PC (20-5);
Servomotor (1) by belt pulley (2) drive main shaft (9) rotate, photoelectric encoder (19) for detecting main shaft (9) deflection angle in rotary course,
No. 1 displacement transducer (3), No. 5 displacement transducers (16) and No. 6 displacement transducers (18) are respectively used to detect the radial displacement of main shaft (9) one end along three directions, wherein, No. 1 displacement transducer (3), No. 5 displacement transducers (16) and No. 6 displacement transducers (18) are positioned at same plane, and described plane orthogonal is in main shaft (9), it is circumferentially same that described No. 1 displacement transducer (3), No. 5 displacement transducers (16) and No. 6 displacement transducers (18) are all positioned at centered by main shaft (9)
No. 1 displacement transducer (3), No. 5 displacement transducers (16) and No. 6 displacement transducers (18) are positioned at the left side of No. 2 gas bearing (17),
No. 2 displacement transducers (8), No. 3 displacement transducers (14) and No. 4 displacement transducers (15) are respectively used to detect the radial displacement of the other end along three directions of main shaft (9);
Wherein, No. 2 displacement transducers (8), No. 3 displacement transducers (14) and No. 4 displacement transducers (15) are positioned at same plane, and described plane orthogonal is in main shaft (9), it is circumferentially same that No. 2 displacement transducers (8), No. 3 displacement transducers (14) and No. 4 displacement transducers (15) are all positioned at centered by main shaft (9)
No. 2 displacement transducers (8), No. 3 displacement transducers (14) and No. 4 displacement transducers (15) are positioned at the right side of No. 1 gas bearing (7),
No. 1 magnetic bearing (4), two-way gas lubricated thrust bearing (5), No. 2 magnetic bearings (6), No. 1 gas bearing (7) and No. 2 gas bearing (17) are all embedded in main shaft (9) outward, two-way gas lubricated thrust bearing (5) is positioned at the centre of main shaft (9)
No. 1 magnetic bearing (4) and No. 2 magnetic bearings (6) with two-way gas lubricated thrust bearing (5) for minute surface is that specular is arranged, No. 2 gas bearing (17) and No. 1 gas bearing (7) with two-way gas lubricated thrust bearing (5) for minute surface is that specular is arranged, No. 1 magnetic bearing (4) is positioned between No. 2 gas bearing (17) and two-way gas lubricated thrust bearing (5)
The gas that high-pressure air source (13) exports is successively through blow vent (12), filter (11), after valve (10), deliver to No. 1 gas bearing (7) and No. 2 gas bearing (17) simultaneously, No. 1 displacement transducer (3) of wave filter (20-1) for gathering, No. 2 displacement transducers (8), No. 3 displacement transducers (14), No. 4 displacement transducers (15), the displacement signal that No. 5 displacement transducers (16) and No. 6 displacement transducers (18) export, and the deflection angle that exports of photoelectric encoder (19) carry out digital filtering after deliver to DSP (20-2),
DSP (20-2) is for processing the signal received, obtain control signal, and by this control signal after D/A converter (20-3) and power amplifier (20-4) process, No. 1 magnetic bearing (4) and No. 2 magnetic bearings (6) are controlled
PC (20-5) is for carrying out exchanges data by serial communication mode and DSP (20-2).
2. the control system based on spindle rotation error according to claim 1, is characterized in that, described DSP (20-2) adopts TMS320LF2407A to realize.
3. the control system based on spindle rotation error according to claim 1, it is characterized in that, described DSP (20-2) comprises A/D modular converter (20-2-1), subtracter (20-2-2), differential module (20-2-3), Fuzzy self-adjusting module (20-2-4), pid control module (20-2-5);
Described A/D modular converter (20-2-1) signal input part is connected with the signal output part of wave filter (20-1), the signal output part of A/D modular converter (20-2-1) is connected with the subtrahend signal input part of subtracter (20-2-2), the data signal output of subtracter (20-2-2) is connected with the signal input part of differential module (20-2-3) and 1 number signal input part of pid control module (20-2-5) simultaneously, the signal output part of differential module (20-2-3) is connected with the signal input part of Fuzzy self-adjusting module (20-2-4), the signal output part of Fuzzy self-adjusting module (20-2-4) is connected with 2 number signal input parts of pid control module (20-2-5), the signal output part of pid control module (20-2-5) is as the signal output part of DSP (20-2), the signal input output end of Fuzzy self-adjusting module (20-2-4) is connected with the signal input output end of PC (20-5).
4. the control system based on spindle rotation error according to claim 3, is characterized in that, described Fuzzy self-adjusting module (20-2-4) comprises Fuzzy reasoning module and parameters revision module;
The signal input part of described Fuzzy reasoning module as the signal input part of Fuzzy self-adjusting module (20-2-4),
The signal output part of Fuzzy reasoning module is connected with the signal input part of parameters revision module, and the signal output part of parameters revision module is as the signal output part of Fuzzy self-adjusting module (20-2-4);
The signal input output end of Fuzzy reasoning module and the signal input output end of parameters revision module are all as the signal input output end of Fuzzy self-adjusting module (20-2-4).
5. the control system based on spindle rotation error according to claim 1, is characterized in that, the control mode of described DSP (20-2) adopts fuzzy selftuning PID method.
6. the control system based on spindle rotation error according to claim 1, it is characterized in that, No. 1 described displacement transducer (3) and No. 5 displacement transducers (16) are oppositely arranged, and the straight line that No. 6 displacement transducers (18) are formed perpendicular to No. 1 displacement transducer (3) and No. 5 displacement transducers (16);
No. 2 displacement transducers (8) and No. 4 displacement transducers (15) are oppositely arranged, and the straight line that No. 3 displacement transducers (14) are formed perpendicular to No. 2 displacement transducers (8) and No. 4 displacement transducers (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510028141.9A CN104551813A (en) | 2015-01-20 | 2015-01-20 | Control system based on turning error of spindle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510028141.9A CN104551813A (en) | 2015-01-20 | 2015-01-20 | Control system based on turning error of spindle |
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| CN104551813A true CN104551813A (en) | 2015-04-29 |
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| CN201510028141.9A Pending CN104551813A (en) | 2015-01-20 | 2015-01-20 | Control system based on turning error of spindle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107202016A (en) * | 2016-03-18 | 2017-09-26 | 株式会社岛津制作所 | Magnetic bearing formula vavuum pump |
| CN112392561A (en) * | 2019-08-13 | 2021-02-23 | 江苏国富氢能技术装备有限公司 | Magnetic-gas combined bearing structure for turbo expander |
-
2015
- 2015-01-20 CN CN201510028141.9A patent/CN104551813A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107202016A (en) * | 2016-03-18 | 2017-09-26 | 株式会社岛津制作所 | Magnetic bearing formula vavuum pump |
| CN107202016B (en) * | 2016-03-18 | 2019-04-26 | 株式会社岛津制作所 | Magnetic bearing formula vacuum pump |
| CN112392561A (en) * | 2019-08-13 | 2021-02-23 | 江苏国富氢能技术装备有限公司 | Magnetic-gas combined bearing structure for turbo expander |
| CN112392561B (en) * | 2019-08-13 | 2022-08-19 | 江苏国富氢能技术装备股份有限公司 | Magnetic-gas combined bearing structure for turbo expander |
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