CN105108247B - The electrical discharge machining adaptive control system and method for advanced two-staged prediction - Google Patents
The electrical discharge machining adaptive control system and method for advanced two-staged prediction Download PDFInfo
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Abstract
The invention discloses a kind of electrical discharge machining self-adaptation control method of advanced two-staged prediction, pass through the ONLINE RECOGNITION to procedure parameter, and utilize the procedure parameter of ONLINE RECOGNITION, control signal is obtained according to the Controlling model and current discharge condition of the present invention, the real-time regulation to the cutter lifting cycle is realized.The present invention discloses a kind of control system set up based on above-mentioned control method, using VC++ modularization programmings, processing can be made to maintain effective process segment, the stability of system is greatly strengthened, and improve processing efficiency.
Description
Technical field
The invention belongs to electric machining field, a kind of electrical discharge machining Self Adaptive Control of advanced two-staged prediction is more particularly to
System and method.
Background technology
Electrical discharge machining is that the discharge pulse produced using the electrode being immersed in working solution with power supply carries out galvanic corrosion, and ablation is led
A kind of processing method of electric material.Edm process is a weak steady-state process.If rushing oil or chip removal in process
In the case of harsh conditions, it may appear that harmful processing.The appearance of harmful processing, makes system enter unstable state, discharge condition
Change is violent, the surface for the processing workpiece that can burn, influence processing efficiency.
In order to avoid the appearance of harmful processing, effective method be by change servo motion parameter in process or
Electrical parameter, on the premise of machining accuracy is not influenceed, makes processing come back to effective process segment from harmful process segment, or carry
Preceding change servo motion parameter or electrical parameter, it is to avoid be machined into harmful process segment, the wherein cutter lifting cycle is the one of electrical parameter
Kind, its precision to electrical discharge machining plays certain influence.
The content of the invention
(1) technical problem to be solved
The technical problem to be solved in the present invention is how to monitor machining status in real time in edm process, and according to
Machining status is made adjustment to the cutter lifting cycle, to ensure that electrical discharge machining is in effective process segment.
(2) technical scheme
In order to solve the above-mentioned technical problem, the invention provides a kind of electrical discharge machining of advanced two-staged prediction is self-adaptive controlled
System processed, the system includes：
Parameter estimator, real-time judge is carried out for the gap voltage in edm process and gap current,
Discharge condition is obtained, and the discharge condition is passed into control module；The parameter estimator is additionally operable to put according to
The control signal ONLINE RECOGNITION procedure parameter that electricity condition and control module are provided, and will recognize that the obtained procedure parameter is passed
Pass parameter calculator；
Parameter calculator, multiple governing equation multinomials are obtained for being calculated according to the procedure parameter, and by multiple institutes
State governing equation multinomial and pass to the controller；
Controller, for according to the multiple governing equation multinomial and the discharge condition, being obtained according to POLE PLACEMENT USING
Control signal, and determine the cutter lifting cycle using the control signal；
Controlled device, for being adjusted according to the cutter lifting cycle；
Wherein, edm process consolidation model：
The parameter calculator calculates the multiple governing equation multinomial using formula below：
A (q)=A1(q)D1(q)
B (q)=B1(q)D1(q)
C (q)=C1(q)A1(q)
qd-1B+C=AR+BS
In formula, A (q), B (q), C (q), Am(q)、Bm(q), R, S, T are the multiple governing equation multinomial；Q for it is preceding to
Shift operator；D=2 is super first two steps；B+Represent to stablize reducible branch point in B (q)；B-Represent in B (q) it is unstable can not
Reduce part；R1=R/B+；a1···ana、b1···bnb、c1···cncAnd d1dndIt is the process
Ginseng；am1···amnam、bm1···bmnbmFor reference model parameter, e (t) is random interfering signal.
Preferably, the parameter estimator estimates the procedure parameter, and the process using recurrent least square method
Parameter is：
In formula, a1ana、b1···bnb、c1···cncAnd d1dndFor the procedure parameter, θ
To represent the set of the procedure parameter, na、nb、nc、ndRepresent the number of procedure parameter.
Preferably, the control signal is calculated：
Ru (t)=Tuc-Sy(t)
In formula, R, S, T are the multiple governing equation multinomials calculated according to POLE PLACEMENT USING and advanced two-staged prediction, ucFor
Reference model state, y (t) is the discharge condition, and u (t) is the control signal.
Preferably, the cutter lifting cycle is calculated using equation below：
T=u/k
In formula, T is the cutter lifting cycle, and u is the control signal, and k is cutter lifting periodic Control coefficient.
Preferably, the parameter estimator includes discharge condition recognition unit and discharge condition judgement unit；The electric discharge
State recognition unit obtains Harmful discharges state, effective discharge condition according to the gap voltage and gap current identification and put
Electric delay state, and pass to the discharge condition judgement unit；The discharge condition judgement unit calculates the Harmful discharges
The number of state and the Harmful discharges state, effective discharge condition and discharge delay state number and ratio, and
It regard obtained ratio as the discharge condition.
Preferably, effective discharge condition includes spark discharge state and transient state arcing state, the Harmful discharges state bag
Include stable state arcing state and short-circuit condition.
Preferably, the system also includes communication module, and it connects with the controller, controlled device and parameter estimator
Connect；
The parameter estimator also includes cutter lifting condition adjudgement unit, and it is carried out according to the gap voltage and gap current
Real-time judge, obtains cutter lifting state, generates and sends effective cutter lifting signal to the communication module；The communication module is being received
To after effective cutter lifting signal, the cutter lifting cycle that the controller latest computed is obtained is passed to described controlled pair
As.
The method that the electrical discharge machining Self Adaptive Control of advanced prediction is carried out according to said system, comprises the following steps：
S1, the gap voltage in edm process and gap current carry out real-time judge, obtain discharge condition；
S2, ONLINE RECOGNITION procedure parameter；
S3, according to the procedure parameter calculate obtain multiple governing equation multinomials；
S4, according to the multiple governing equation multinomial and the discharge condition, calculated and obtained using pole-assignment
Control signal, and determine the cutter lifting cycle using the control signal；
Wherein, edm process consolidation model：
The multiple governing equation multinomial is calculated using formula below：
A (q)=A1(q)D1(q)
B (q)=B1(q)D1(q)
C (q)=C1(q)A1(q)
qd-1B+C=AR+BS
In formula, A (q), B (q), C (q), Am(q)、Bm(q), R, S, T are the multiple governing equation multinomial；Q for it is preceding to
Shift operator；D=2 is super first two steps；B+Represent to stablize reducible branch point in B (q)；B-Represent in B (q) it is unstable can not
Reduce part；R1=R/B+；a1···ana、b1···bnb、c1···cncAnd d1dndIt is the process
Parameter；am1···amnam、bm1···bmnbmFor reference model parameter, e (t) is random interfering signal.
Preferably, the control signal is calculated：
Ru (t)=Tuc-Sy(t)
In formula, R, S, T are the multiple governing equation multinomial, ucFor reference model state, y (t) is the electric discharge shape
State, u (t) is the control signal；
The cutter lifting cycle in the step S4 is calculated using equation below：
T=u/k
In formula, T is the cutter lifting cycle, and u is the control signal, and k is cutter lifting periodic Control coefficient.
Preferably, methods described also includes determining effective cutter lifting state step：
Real-time judge is carried out according to the gap voltage and gap current, cutter lifting state is obtained, and in the cutter lifting state
When number is more than cutter lifting reference model value, effective cutter lifting signal is generated；
In effective cutter lifting signal generation, the cutter lifting cycle that latest computed is obtained is passed to described controlled pair
As.
(3) beneficial effect
The invention provides a kind of electrical discharge machining adaptive control system of advanced two-staged prediction and method, the present invention is logical
The ONLINE RECOGNITION to procedure parameter is crossed, and using the procedure parameter of ONLINE RECOGNITION, according to the Controlling model of the present invention and currently
Discharge condition obtain control signal, realize the real-time regulation to the cutter lifting cycle, processing can be made to maintain effective process segment,
Greatly the stability of system is strengthened, and improve processing efficiency.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the electrical discharge machining adaptive control system of the advanced two-staged prediction of the preferred embodiment of the present invention
Structural representation；
Fig. 2 is the electrical discharge machining adaptive control system of the advanced two-staged prediction of another preferred embodiment of the present invention
Structural representation；
Fig. 3 is the discharge condition decision flow chart of the preferred embodiment of the present invention；
Fig. 4 is the electrical discharge machining self-adaptation control method stream of the advanced two-staged prediction of the preferred embodiment of the present invention
Cheng Tu；
Fig. 5 a are the discharge condition schematic diagram that electrical discharge machining is carried out using conventional method；
Fig. 5 b are discharge condition and the signal in cutter lifting cycle that electrical discharge machining is carried out using the system or method of the present invention
Figure；
Fig. 5 c are to carry out electrical discharge machining with carrying out electrical spark working using the system or method of the present invention using conventional method
The discharge condition and the contrast schematic diagram in cutter lifting cycle of work；
Fig. 6 a are the enlarged diagram of 1 part in Fig. 5 b；
Fig. 6 b are the enlarged diagram of 2 parts in Fig. 5 b；
Fig. 6 c are the enlarged diagram of 3 parts in Fig. 5 b.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.Following examples are used to illustrate this hair
It is bright, but can not be used for limiting the scope of the present invention.
A kind of electrical discharge machining adaptive control system of advanced two-staged prediction, as shown in figure 1, the system includes：
Parameter estimator, real-time judge is carried out for the gap voltage in edm process and gap current,
Discharge condition is obtained, and the discharge condition is passed into control module；The parameter estimator is additionally operable to put according to
The control signal ONLINE RECOGNITION procedure parameter that electricity condition and control module are provided, and will recognize that the obtained procedure parameter is passed
Pass parameter calculator；
Parameter calculator, multiple governing equation multinomials are obtained for being calculated according to the procedure parameter, and by multiple institutes
State governing equation multinomial and pass to the controller；
Controller, for according to the multiple governing equation multinomial and the discharge condition, being calculated according to POLE PLACEMENT USING
Control signal is obtained, and the cutter lifting cycle is determined using the control signal；
Controlled device EDM, electric discharge machining apparatus EDM receive the cutter lifting cycle that controller is sent as controlled device, and then
Adjust the cutter lifting cycle in real time；
Wherein, edm process consolidation model：
The parameter calculator calculates the multiple governing equation multinomial using formula below：
A (q)=A1(q)D1(q)
B (q)=B1(q)D1(q)
C (q)=C1(q)A1(q)
qd-1B+C=AR+BS
In formula, A (q), B (q), C (q), Am(q)、Bm(q), R, S, T are the multiple governing equation multinomial；Q for it is preceding to
Shift operator；D=2 is super first two steps；B+, represent to stablize reducible branch point in B (q)；B-, represent in B (q) it is unstable not
Reducible branch point；R1=R/B+；a1···ana、b1···bnb、c1···cncAnd d1dndIt is the mistake
Cheng Can；am1···amnam、bm1···bmnbmFor reference model parameter, e (t) is random interfering signal.
Said system inner ring is made up of controlled device and controller, and wherein controller is set by the method for POLE PLACEMENT USING
Meter；Outer shroud is then made up of parameter estimator and governing equation polynomial calculator, and its task is identification process parameter again by choosing
Fixed design method integrates out controller parameter, the controller to change inner ring.The characteristics of system be must to process or
The parameter of person's controlled device carries out on-line identification estimation, then with the estimate and prior defined performance indications of parameter in twine helad
The governing equation multinomial of controller is closed out, and controlled device is controlled accordingly.By recognizing in multiple times and comprehensive adjustment
Parameter (i.e. above-mentioned governing equation multinomial) can make the performance indications of system tend to be optimal.
Further, the parameter estimator utilizes recurrent least square method
Estimation procedure parameter is carried out, and the procedure parameter is：
In formula, a1ana、b1···bnb、c1···cncAnd d1dndFor the procedure parameter, θ
To represent the set of the procedure parameter, na、nb、nc、ndRepresent the number of procedure parameter.
Further, the controller calculates the control signal：
Ru (t)=Tuc-Sy(t)
In formula, R, S, T are the multiple governing equation multinomial, ucFor reference model state, y (t) is the electric discharge shape
State, u (t) is the control signal.
Further, the cutter lifting cycle is calculated using equation below：
Tdown=u/k
In formula, TdownFor the cutter lifting cycle, u is the control signal, and k is cutter lifting periodic Control coefficient.
Further, the parameter estimator includes discharge condition recognition unit and discharge condition judgement unit；It is described to put
The capture card of electricity condition recognition unit constantly gathers gap voltage and gap current, and according to the gap voltage and gap current
Identification obtains Harmful discharges state, effective discharge condition and discharge delay state, and it is single to pass to the discharge condition differentiation
Member；The discharge condition judgement unit calculates number and the Harmful discharges state, the effectively electric discharge of the Harmful discharges state
The ratio of the sum of the number of state and discharge delay state, and using obtained ratio as the discharge condition, exported in Fig. 1
Y is the discharge condition of output.
Effective discharge condition includes spark discharge state and transient state arcing state, and the Harmful discharges state is drawn including stable state
Arcuation state and short-circuit condition.
Further, the system also includes the communication module of connection slave computer, as shown in Fig. 2 its with the controller,
Controlled device and parameter estimator connection.The parameter estimator also includes cutter lifting condition adjudgement unit, between it is according to
Gap voltage and gap current carry out real-time judge, obtain cutter lifting state, and refer to mould more than cutter lifting in the cutter lifting state number
During offset, effective cutter lifting signal is generated and sent to the communication module；The communication module is receiving effective cutter lifting
After signal, the cutter lifting cycle that the controller latest computed is obtained.
Specifically, as shown in Fig. 2 parameter estimator and communication module are parallel modules, while carrying out to discharge condition
Differentiate, the communication between upper and lower machine；After the discharge condition in parameter estimator is assigned successfully, controller, which is called, to be put
Electricity condition, calculates cutter lifting cycle T；When the effective cutter lifting status signal generated in parameter estimator is detected by communication module
When, communication module starts the T for calling controller to calculate, and is transferred to controlled device EDM, it is changed according to cycle T is lifted to
In the cutter lifting cycle, realize Self Adaptive Control.
To sum up, parameter estimation module of the invention employs recursive least square method, and control module employs minimum side
The coupling process of difference and POLE PLACEMENT USING is built, and the discharge condition in process the cutter lifting cycle of real-time coordination electrode, can
To be greatly enhanced the stability and processing efficiency of system, and processing is set to maintain effective process segment, it is ensured that efficiently, surely
Fixed process.
The processing procedure of other said system can be based on VC++ platforms, multithreading operation, using modularization programming, make by
Control object (electrical discharge machining EDM) and change the cutter lifting cycle according to predicted value, realize the Self Adaptive Control to the cutter lifting cycle.
In a word, parameter estimator is used to be joined according to the control signal ONLINE RECOGNITION process that discharge condition and controller are provided
Number, and the procedure parameter obtained according to identification passes to parameter calculator.
The process of above-mentioned judgement discharge condition is as follows：
Parameter estimator is constantly acquired and recognized to the gap voltage and electric current of collection by capture card, is harmful to
Discharge condition, effective discharge condition and discharge delay state, as shown in Figure 3.The number of several discharge conditions adds up respectively, directly
Data are read in capture card and have reached storage cap, using following discharge condition y calculation formula, to accumulative discharge condition number
Mesh is calculated, that is, the number and the Harmful discharges state, effective discharge condition and electric discharge for trying to achieve Harmful discharges state are prolonged
The ratio of the sum of the number of slow state, regard obtained ratio as the discharge condition y.
Wherein, the discharge condition of measurement is divided into following five kinds：Spark discharge τspark, transient state arcing τtran.arc, stable state arcing
τstab.arc, discharge delay τdelayWith short-circuit τshort, wherein spark discharge, transient state arcing be effective discharge condition, stable state arcing and
Short circuit is Harmful discharges state, and discharge condition y is defined with Harmful discharges rate, is：
Calculate detailed process as follows：Each round gathered data and differentiate discharge condition after the completion of, will effectively, adverse condition and
Discharge delay state is added, and as total discharge condition number, and calculates the ratio of adverse condition number and total discharge condition number, with
This weighs the deterioration degree of now discharge condition, referred to as discharge condition.Then start next round collection and differentiate.
Further, the derivation of above-mentioned calculating control signal is as follows：
The forecast model for the discharge condition that the controller is used for：
,
Predicted using advanced 2 step, characteristic equation is represented by：
qd-1B+C=AR+BS
In formula, d=2 represents advanced 2 step prediction, according to this formula, tries to achieve R and S, and then and calculated according to the method for POLE PLACEMENT USING
Control variable u (t)：
In formula,R1=R/B+, finally try to achieve control variable u (t)：
The method that the electrical discharge machining Self Adaptive Control of advanced two-staged prediction is carried out using said system, as shown in figure 4, institute
The method of stating comprises the following steps：
S1, the gap voltage in edm process and gap current carry out real-time judge, obtain discharge condition；
S2, ONLINE RECOGNITION procedure parameter；
S3, according to the procedure parameter calculate obtain multiple governing equation multinomials；
S4, according to the multiple governing equation multinomial and the discharge condition, calculated and controlled according to POLE PLACEMENT USING
Signal, and determine the cutter lifting cycle using the control signal；
Wherein, edm process consolidation model：
The multiple governing equation multinomial is calculated using formula below：
A (q)=A1(q)D1(q)
B (q)=B1(q)D1(q)
C (q)=C1(q)A1(q)
qd-1B+C=AR+BS
In formula, A (q), B (q), C (q), Am(q)、Bm(q), R, S, T are the multiple governing equation multinomial；Q for it is preceding to
Shift operator；D is advanced step number；B+, represent to stablize reducible branch point in B (q)；B-, represent unstable irreducible in B (q)
Branch point；R1=R/B+；a1···ana、b1···bnb、c1···cncAnd d1dndIt is the process
Ginseng；am1···amnam、bm1···bmnbmFor reference model parameter, e (t) is random interfering signal.
Further, the control signal is calculated in the step S4：
Ru (t)=Tuc-Sy(t)
In formula, R, S, T are the multiple governing equation multinomial, ucFor reference model state, y (t) is the electric discharge shape
State, u (t) is the control signal；
The cutter lifting cycle in the step S4 is calculated using equation below：
T=u/k
In formula, T is the cutter lifting cycle, and u is the control signal, and k is cutter lifting periodic Control coefficient.
Further, methods described also includes determining effective cutter lifting state step：
Real-time judge is carried out according to the gap voltage and gap current, cutter lifting state is obtained, and in the cutter lifting state
When number is more than cutter lifting reference model value, effective cutter lifting signal is generated；
In effective cutter lifting signal generation, the cutter lifting cycle that latest computed is obtained is passed to described controlled pair
As
Because the above method is corresponding with said apparatus, so no longer repeating method.
Fig. 5 a be using conventional method progress electrical discharge machining discharge condition schematic diagram, it can be seen that conventional method due to
The cutter lifting cycle is fixed cycle, and as working depth increases, chip removal situation worse and worse, causes to be machined into harmful process segment,
Discharge condition worse and worse and can not suppress.And present system or method, as shown in Figure 5 b, change cutter lifting to the property of can adapt to
In the cycle, when discharge condition is deteriorated, cycle T reduces rapidly, i.e., cutter lifting frequency is raised, and chip removal situation is taken a turn for the better, so that electric discharge
It is in stable condition near setting value.As working depth increase chip removal is deteriorated, T is less and less, so as to maintain the steady of longer time
Fixed processing, obtains larger aspect ratio, because effectively electric discharge number is more, is also shortened process time, efficiency is greatly improved.Figure
5c is to carry out the electric discharge shape that electrical discharge machining carries out electrical discharge machining with system or method using the present invention using conventional method
Can substantially it be observed in state and the contrast schematic diagram in cutter lifting cycle, figure, the electric discharge of conventional method (part of i.e. uppermost figure)
State is 0.1 or so, and the discharge condition of the system of the present invention or method is stablized in set point value 0.01 or so (below Fig. 5 c
Two figure parts), only individual discharges state rises to 0.1, then improves immediately, and stably near setting value.
Accompanying drawing 6a, 6b, 6c are the partial enlarged drawing of three parts in accompanying drawing 5b.Fig. 6 a are the enlarged drawing of 1 part in Fig. 5 b,
Embody at the beginning of processing, in the case of chip removal in order, discharge condition all-the-time stable is near setting value, and now u is kept
Maximum is so as to obtain most fast process velocity.Fig. 6 b are the enlarged drawing of 2 parts, embody the process that chip removal situation is gradually deteriorated
In, the detailed process that u is adjusted as discharge condition changes：When discharge condition deteriorates and higher than setting value, u reduces rapidly,
The rise of cutter lifting frequency is set to improve discharged condition；When discharge condition is good and less than setting value, u gradually rises, with obtain compared with
Fast process velocity.Fig. 6 c are the enlarged drawing of 3 parts, in the case of embodying processing latter stage chip removal situation extreme difference, discharge condition
It is poor, therefore u maintains minimum value to obtain most fast cutter lifting frequency, so as to farthest improve discharge condition.
The above method utilizes the procedure parameter of ONLINE RECOGNITION by the ONLINE RECOGNITION to procedure parameter, according to the present invention
Controlling model and current discharge condition obtain control signal, realize the real-time regulation to the cutter lifting cycle.Corresponding to above-mentioned
Method, the present invention discloses a kind of system, can use VC++ modularization programmings, processing can be made to maintain effective processing
In the stage, the stability of system is greatly strengthened, and improve processing efficiency.
Embodiment of above is merely to illustrate the present invention, rather than limitation of the present invention.Although with reference to embodiment to this hair
It is bright to be described in detail, it will be understood by those within the art that, to technical scheme carry out it is various combination,
Modification or equivalent substitution, without departure from the spirit and scope of technical solution of the present invention, the right that all should cover in the present invention is wanted
Ask among scope.
Claims (10)
1. a kind of electrical discharge machining adaptive control system of advanced two-staged prediction, it is characterised in that the system includes：
Parameter estimator, carries out real-time judge for the gap voltage in edm process and gap current, obtains
Discharge condition, and the discharge condition is passed into control module；The parameter estimator is additionally operable to according to the discharge condition
And the control signal ONLINE RECOGNITION procedure parameter that control module is provided, and will recognize that the obtained procedure parameter passes to ginseng
Number calculator；
Parameter calculator, multiple governing equation multinomials are obtained for being calculated according to the procedure parameter, and by multiple controls
Equation multinomial processed passes to controller；
Controller, for according to the multiple governing equation multinomial and the discharge condition, being controlled according to POLE PLACEMENT USING
Signal, and determine the cutter lifting cycle using the control signal；
Controlled device, for being adjusted according to the cutter lifting cycle；
Wherein, edm process consolidation model：
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The parameter calculator calculates the multiple governing equation multinomial using formula below：
A (q)=A1(q)D1(q)
B (q)=B1(q)D1(q)
C (q)=C1(q)A1(q)
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<mi>c</mi>
</msub>
</mrow>
</msup>
</mrow>
<mrow>
<msub>
<mi>D</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>q</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>d</mi>
<mn>1</mn>
</msub>
<msup>
<mi>q</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>+</mo>
<mo>...</mo>
<mo>+</mo>
<msub>
<mi>d</mi>
<msub>
<mi>n</mi>
<mi>d</mi>
</msub>
</msub>
<msup>
<mi>q</mi>
<mrow>
<mo>-</mo>
<msub>
<mi>n</mi>
<mi>d</mi>
</msub>
</mrow>
</msup>
</mrow>
<mrow>
<msub>
<mi>A</mi>
<mi>m</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>q</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>am</mi>
<mn>1</mn>
</msub>
<msup>
<mi>q</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>+</mo>
<mo>...</mo>
<mo>+</mo>
<msub>
<mi>am</mi>
<msub>
<mi>n</mi>
<mrow>
<mi>a</mi>
<mi>m</mi>
</mrow>
</msub>
</msub>
<msup>
<mi>q</mi>
<mrow>
<mo>-</mo>
<msub>
<mi>n</mi>
<mrow>
<mi>a</mi>
<mi>m</mi>
</mrow>
</msub>
</mrow>
</msup>
</mrow>
<mrow>
<msub>
<mi>B</mi>
<mi>m</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>q</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>bm</mi>
<mn>1</mn>
</msub>
<msup>
<mi>q</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>+</mo>
<mo>...</mo>
<mo>+</mo>
<msub>
<mi>bm</mi>
<msub>
<mi>n</mi>
<mrow>
<mi>b</mi>
<mi>m</mi>
</mrow>
</msub>
</msub>
<msup>
<mi>q</mi>
<mrow>
<mo>-</mo>
<msub>
<mi>n</mi>
<mrow>
<mi>b</mi>
<mi>m</mi>
</mrow>
</msub>
</mrow>
</msup>
</mrow>
qd-1B+C=AR+BS
<mrow>
<mi>T</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mo>(</mo>
<msub>
<mi>AR</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msup>
<mi>B</mi>
<mo>-</mo>
</msup>
<mi>S</mi>
<mo>)</mo>
<msub>
<mi>B</mi>
<mi>m</mi>
</msub>
</mrow>
<mrow>
<msup>
<mi>B</mi>
<mo>-</mo>
</msup>
<msub>
<mi>A</mi>
<mi>m</mi>
</msub>
</mrow>
</mfrac>
</mrow>
In formula, A (q), B (q), C (q), A1(q)、B1(q)、C1(q)、D1(q)、Am(q)、Bm(q) for time-varying model on q-1It is many
Item formula, R, S, T are the multiple governing equation multinomial；Q is to be preceding to shift operator, q-1For backward shift operator；D=2 is super
First two steps；B+Represent to stablize reducible branch point in B (q)；B-Represent the unstable irreducible branch point in B (q)；R1=R/B+；
a1…ana、b1…bnb、c1…cncAnd d1 ... dndIt is the procedure parameter；am1…amnam、bm1…bmnbmFor reference model
Parameter, e (t) is random interfering signal；Y (t) is the discharge condition, and u (t) is the control signal.
2. system according to claim 1, it is characterised in that the parameter estimator is estimated using recurrent least square method
The procedure parameter, and the procedure parameter is：
<mrow>
<mi>&theta;</mi>
<mo>=</mo>
<msup>
<mrow>
<mo>&lsqb;</mo>
<msub>
<mi>a</mi>
<mn>1</mn>
</msub>
<mo>...</mo>
<msub>
<mi>a</mi>
<msub>
<mi>n</mi>
<mi>a</mi>
</msub>
</msub>
<msub>
<mi>b</mi>
<mn>1</mn>
</msub>
<mo>...</mo>
<msub>
<mi>b</mi>
<msub>
<mi>n</mi>
<mi>b</mi>
</msub>
</msub>
<msub>
<mi>c</mi>
<mn>1</mn>
</msub>
<mo>...</mo>
<msub>
<mi>c</mi>
<msub>
<mi>n</mi>
<mi>c</mi>
</msub>
</msub>
<msub>
<mi>d</mi>
<mn>1</mn>
</msub>
<mo>...</mo>
<msub>
<mi>d</mi>
<msub>
<mi>n</mi>
<mi>d</mi>
</msub>
</msub>
<mo>&rsqb;</mo>
</mrow>
<mi>T</mi>
</msup>
</mrow>
In formula, a1 ... ana、b1…bnb、c1…cncAnd d1 ... dndFor the procedure parameter, θ is the expression procedure parameter
Set, na、nb、nc、ndRepresent the number of procedure parameter.
3. system according to claim 1, it is characterised in that calculate the control signal：
Ru (t)=Tuc-Sy(t)
<mrow>
<mi>u</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<msub>
<mi>AB</mi>
<mi>m</mi>
</msub>
</mrow>
<mrow>
<msub>
<mi>BA</mi>
<mi>m</mi>
</msub>
</mrow>
</mfrac>
<mo>+</mo>
<mfrac>
<mrow>
<msub>
<mi>SB</mi>
<mi>m</mi>
</msub>
</mrow>
<mrow>
<msub>
<mi>RA</mi>
<mi>m</mi>
</msub>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
<msub>
<mi>u</mi>
<mi>c</mi>
</msub>
<mo>-</mo>
<mfrac>
<mi>S</mi>
<mi>R</mi>
</mfrac>
<mi>y</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
</mrow>
In formula, R, S, T are the multiple governing equation multinomials calculated according to POLE PLACEMENT USING and advanced two-staged prediction, ucFor reference
Model state.
4. system according to claim 1, it is characterised in that the cutter lifting cycle is calculated using equation below：
T=u/k
In formula, T is the cutter lifting cycle, and u is the control signal, and k is cutter lifting periodic Control coefficient.
5. system according to claim 1, it is characterised in that the parameter estimator include discharge condition recognition unit and
Discharge condition judgement unit；The discharge condition recognition unit obtains harmful put according to the gap voltage and gap current identification
Electricity condition, effective discharge condition and discharge delay state, and pass to the discharge condition judgement unit；The discharge condition
Judgement unit calculates the number and the Harmful discharges state, effective discharge condition and discharge delay of the Harmful discharges state
The ratio of the sum of the number of state, and it regard obtained ratio as the discharge condition.
6. system according to claim 5, it is characterised in that effective discharge condition includes spark discharge state and transient state is drawn
Arcuation state, the Harmful discharges state includes stable state arcing state and short-circuit condition.
7. system according to claim 1, it is characterised in that the system also includes communication module, itself and the control
Device, controlled device and parameter estimator connection；
The parameter estimator also includes cutter lifting condition adjudgement unit, and it carries out real-time according to the gap voltage and gap current
Judge, obtain cutter lifting state, generate and send effective cutter lifting signal to the communication module；The communication module is receiving
State after effective cutter lifting signal, the cutter lifting cycle that the controller latest computed is obtained is passed into the controlled device.
8. the system according to any one of claim 1 to 7 carries out the electrical discharge machining Self Adaptive Control of advanced two-staged prediction
Method, it is characterised in that the described method comprises the following steps：
S1, the gap voltage in edm process and gap current carry out real-time judge, obtain discharge condition；
S2, ONLINE RECOGNITION procedure parameter；
S3, according to the procedure parameter calculate obtain multiple governing equation multinomials；
S4, according to the multiple governing equation multinomial and the discharge condition, calculated and controlled using pole-assignment
Signal, and determine the cutter lifting cycle using the control signal；
Wherein, edm process consolidation model：
<mrow>
<mi>y</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>B</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>q</mi>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<mi>A</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>q</mi>
<mo>)</mo>
</mrow>
</mrow>
</mfrac>
<mi>u</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mfrac>
<mrow>
<msub>
<mi>C</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>q</mi>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<mi>D</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>q</mi>
<mo>)</mo>
</mrow>
</mrow>
</mfrac>
<mi>e</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
</mrow>
The multiple governing equation multinomial is calculated using formula below：
A (q)=A1(q)D1(q)
B (q)=B1(q)D1(q)
C (q)=C1(q)A1(q)
<mrow>
<msub>
<mi>A</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>q</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>a</mi>
<mn>1</mn>
</msub>
<msup>
<mi>q</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>+</mo>
<mo>...</mo>
<mo>+</mo>
<msub>
<mi>a</mi>
<msub>
<mi>n</mi>
<mi>a</mi>
</msub>
</msub>
<msup>
<mi>q</mi>
<mrow>
<mo>-</mo>
<msub>
<mi>n</mi>
<mi>a</mi>
</msub>
</mrow>
</msup>
</mrow>
<mrow>
<msub>
<mi>B</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>q</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>b</mi>
<mn>1</mn>
</msub>
<msup>
<mi>q</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>+</mo>
<mo>...</mo>
<mo>+</mo>
<msub>
<mi>b</mi>
<msub>
<mi>n</mi>
<mi>b</mi>
</msub>
</msub>
<msup>
<mi>q</mi>
<mrow>
<mo>-</mo>
<msub>
<mi>n</mi>
<mi>b</mi>
</msub>
</mrow>
</msup>
</mrow>
<mrow>
<msub>
<mi>C</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>q</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>c</mi>
<mn>1</mn>
</msub>
<msup>
<mi>q</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>+</mo>
<mo>...</mo>
<mo>+</mo>
<msub>
<mi>c</mi>
<msub>
<mi>n</mi>
<mi>c</mi>
</msub>
</msub>
<msup>
<mi>q</mi>
<mrow>
<mo>-</mo>
<msub>
<mi>n</mi>
<mi>c</mi>
</msub>
</mrow>
</msup>
</mrow>
<mrow>
<msub>
<mi>D</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>q</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>d</mi>
<mn>1</mn>
</msub>
<msup>
<mi>q</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>+</mo>
<mo>...</mo>
<mo>+</mo>
<msub>
<mi>d</mi>
<msub>
<mi>n</mi>
<mi>d</mi>
</msub>
</msub>
<msup>
<mi>q</mi>
<mrow>
<mo>-</mo>
<msub>
<mi>n</mi>
<mi>d</mi>
</msub>
</mrow>
</msup>
</mrow>
2
<mrow>
<msub>
<mi>A</mi>
<mi>m</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>q</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mn>1</mn>
<mo>+</mo>
<msub>
<mi>am</mi>
<mn>1</mn>
</msub>
<msup>
<mi>q</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>+</mo>
<mo>...</mo>
<mo>+</mo>
<msub>
<mi>am</mi>
<msub>
<mi>n</mi>
<mrow>
<mi>a</mi>
<mi>m</mi>
</mrow>
</msub>
</msub>
<msup>
<mi>q</mi>
<mrow>
<mo>-</mo>
<msub>
<mi>n</mi>
<mrow>
<mi>a</mi>
<mi>m</mi>
</mrow>
</msub>
</mrow>
</msup>
</mrow>
<mrow>
<msub>
<mi>B</mi>
<mi>m</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>q</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msub>
<mi>bm</mi>
<mn>1</mn>
</msub>
<msup>
<mi>q</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>+</mo>
<mo>...</mo>
<mo>+</mo>
<msub>
<mi>bm</mi>
<msub>
<mi>n</mi>
<mrow>
<mi>b</mi>
<mi>m</mi>
</mrow>
</msub>
</msub>
<msup>
<mi>q</mi>
<mrow>
<mo>-</mo>
<msub>
<mi>n</mi>
<mrow>
<mi>b</mi>
<mi>m</mi>
</mrow>
</msub>
</mrow>
</msup>
</mrow>
qd-1B+C=AR+BS
<mrow>
<mi>T</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mo>(</mo>
<msub>
<mi>AR</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msup>
<mi>B</mi>
<mo>-</mo>
</msup>
<mi>S</mi>
<mo>)</mo>
<msub>
<mi>B</mi>
<mi>m</mi>
</msub>
</mrow>
<mrow>
<msup>
<mi>B</mi>
<mo>-</mo>
</msup>
<msub>
<mi>A</mi>
<mi>m</mi>
</msub>
</mrow>
</mfrac>
</mrow>
In formula, A (q), B (q), C (q), A1(q)、B1(q)、C1(q)、D1(q)、Am(q)、Bm(q) for time-varying model on q-1It is many
Item formula, R, S, T are the multiple governing equation multinomial；Q is to be preceding to shift operator；D=2 is super first two steps；B+Represent B (q)
In stablize reducible branch point；B-Represent the unstable irreducible branch point in B (q)；R1=R/B+；a1…ana、b1…bnb、
c1…cncAnd d1 ... dndIt is the procedure parameter；am1…amnam、bm1…bmnbmFor reference model parameter, e (t) is random
Interference signal；Y (t) is the discharge condition, and u (t) is the control signal.
9. method according to claim 8, it is characterised in that
Calculate the control signal：
Ru (t)=Tuc-Sy(t)
<mrow>
<mi>u</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<msub>
<mi>AB</mi>
<mi>m</mi>
</msub>
</mrow>
<mrow>
<msub>
<mi>BA</mi>
<mi>m</mi>
</msub>
</mrow>
</mfrac>
<mo>+</mo>
<mfrac>
<mrow>
<msub>
<mi>SB</mi>
<mi>m</mi>
</msub>
</mrow>
<mrow>
<msub>
<mi>RA</mi>
<mi>m</mi>
</msub>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
<msub>
<mi>u</mi>
<mi>c</mi>
</msub>
<mo>-</mo>
<mfrac>
<mi>S</mi>
<mi>R</mi>
</mfrac>
<mi>y</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
</mrow>
In formula, R, S, T are the multiple governing equation multinomial, ucFor reference model state, y (t) is the discharge condition, u
(t) it is the control signal；
The cutter lifting cycle in the step S4 is calculated using equation below：
T=u/k
In formula, T is the cutter lifting cycle, and u is the control signal, and k is cutter lifting periodic Control coefficient.
10. method according to claim 8, it is characterised in that methods described also includes determining effective cutter lifting state step：
Real-time judge is carried out according to the gap voltage and gap current, cutter lifting state is obtained, generates effective cutter lifting signal；
In effective cutter lifting signal generation, the cutter lifting cycle that latest computed is obtained is passed into the controlled device.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6326576B1 (en) * | 1999-09-22 | 2001-12-04 | General Electric Company | Method and apparatus for electrical discharge machining |
| US6369343B1 (en) * | 2000-09-20 | 2002-04-09 | General Electric Company | Method and apparatus for electrical discharge machining |
| CN104220201A (en) * | 2012-04-12 | 2014-12-17 | 三菱电机株式会社 | Wire electric discharge machining device and manufacturing method for semiconductor wafer by using same |
| CN104259601A (en) * | 2014-08-26 | 2015-01-07 | 汪涛 | Machining process using electric spark machining equipment control system |
| CN104400165A (en) * | 2014-10-27 | 2015-03-11 | 北京建筑大学 | Adaptive filtering method and device of electric spark machining discharging state signal |
-
2015
- 2015-09-23 CN CN201510613448.5A patent/CN105108247B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6326576B1 (en) * | 1999-09-22 | 2001-12-04 | General Electric Company | Method and apparatus for electrical discharge machining |
| US6369343B1 (en) * | 2000-09-20 | 2002-04-09 | General Electric Company | Method and apparatus for electrical discharge machining |
| CN104220201A (en) * | 2012-04-12 | 2014-12-17 | 三菱电机株式会社 | Wire electric discharge machining device and manufacturing method for semiconductor wafer by using same |
| CN104259601A (en) * | 2014-08-26 | 2015-01-07 | 汪涛 | Machining process using electric spark machining equipment control system |
| CN104400165A (en) * | 2014-10-27 | 2015-03-11 | 北京建筑大学 | Adaptive filtering method and device of electric spark machining discharging state signal |
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