CN105652806A - Automatic detection method for control-model parameters of closed-loop numerical control system in laser cutting - Google Patents
Automatic detection method for control-model parameters of closed-loop numerical control system in laser cutting Download PDFInfo
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- CN105652806A CN105652806A CN201610120484.2A CN201610120484A CN105652806A CN 105652806 A CN105652806 A CN 105652806A CN 201610120484 A CN201610120484 A CN 201610120484A CN 105652806 A CN105652806 A CN 105652806A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4145—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using same processor to execute programmable controller and numerical controller function [CNC] and PC controlled NC [PCNC]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33218—Motor encoders, resolvers on common bus with drives, servo controllers
Abstract
The invention relates to the technical field of automatic control, in particular to an automatic detection method for control-model parameters of a closed-loop numerical control system in laser cutting. The automatic detection method for the control-model parameters of the closed-loop numerical control system in laser cutting is characterized by including the following specific steps that 1, whether a servo motor is coincident with an encoder in direction or not is measured in an open-loop mode, and if the servo motor is coincident with the encoder in direction, the number of pulses in every revolution of the encoder is measured; if the servo motor is inconsistent with the encoder in direction, detection fails, and exiting is carried out; 2, a machine tool is controlled to move in a closed-loop mode, and the number of pulses in every revolution of the encoder is measured; 3, the minimum control resolution of the encoder is calculated; 4, the highest rotating speed of the servo motor is measured. Compared with the prior art, the whole process is automatically completed through a program, efficiency and convenience are achieved, artificial participation is reduced, the possibility of human errors is reduced, and the debugging efficiency of the system is improved.
Description
Technical field
The present invention relates to automatic control technology field, specifically a kind of Controlling model automatic detection technology of parameter method of Closed-loop Nc System in cut.
Background technology
In laser cutting machine tool, motion is controlled by digital control system used by controlling servomotor, digital control system is according to being divided into opened loop control and closed loop control two kinds with or without feedback element, it is higher that opened loop control precision is compared in closed loop control, real-time and anti-interference are better, along with Laser Processing industry is more and more higher to the requirement of machining accuracy, the importance of closed loop control is more and more obvious.
When being commonly performed closed loop control, what servo-control system adopted is analogue signal control model, and in this mode, servo drive control unit sends the analog voltage instruction of-10V ~+10V to servo-driver, and servo-driver is operated under speed control mode. Need before carrying out closed loop control first to set up actuated-control model, to be obtained the information such as the current position of servomotor, speed, even moment by the encoder feedback of servosystem. Setting up actuated-control model needs the actuated-control model parameter that obtains to be: motor and encoder side to, motor encoder is every turns umber of pulse, Mechanical course resolution (maximum displacement that index Ore-controlling Role can recognise that), speed input instruction gain (speed input instruction gain refers to set with the analog quantity voltage level of speed command needed for rated speed operation servomotor) and motor maximum (top) speed.
Setting up in process currently for Closed-loop Nc System Controlling model, these servo parameters are manually entered after all relying on manual measurement and calculating, and adopt that to carry out system debug in this way inefficient, and have the probability calculating input error.
Summary of the invention
The present invention is for overcoming the deficiencies in the prior art, it is provided that a kind of method measuring servo system control model parameter by Automatic Program, to support the digital control system closed loop control to laser cutting machine tool.
For achieving the above object, the Controlling model automatic detection technology of parameter method of Closed-loop Nc System in a kind of cut is designed, it is characterised in that: idiographic flow is as follows:
The first step, measures servomotor direction in an open loop mode with encoder side to whether consistent, is, measures that encoder is every turns umber of pulse, otherwise detects failure and quits a program;
Second step, controls machine tool motion under closed loop mode, measures that encoder is every turns umber of pulse;
3rd step, the minimum control resolution of calculation code device;
4th step, measures servomotor maximum speed.
Described measure servomotor direction and encoder side to idiographic flow as follows:
(1) open loop control mode is used;
(2) applying the control signal of 200mv speed to servomotor, and continue 50ms, during detection signal ended, the output valve of encoder, is designated as EncOffset1;
(3) applying the control signal of-200mv speed to servomotor, and continue 50ms, during detection signal ended, the output valve of encoder, is designated as EncOffset2;
(4) EncOffset1 >=0 or EncOffset2��0 are judged; It is that detection is passed through, it is possible to carry out following step; Otherwise detecting failure, servomotor direction and encoder side, to inconsistent, quit a program.
It is described that to measure the every idiographic flow turning umber of pulse of encoder as follows:
(1) closed loop control mode is used;
(2) servomotor positive movement is controlled;
(3) during first Z phase signals of detection, and encoder output valve EncZ1 is recorded;
(4) during second Z phase signals of detection, and encoder output valve EncZ2 is recorded;
(5) control servomotor deceleration to stop, and control servomotor adverse movement;
(6) the 3rd Z phase signals of detection, and record encoder output valve EncZ3;
(7) the 4th Z phase signals of detection, and record encoder output valve EncZ4;
(8) control servomotor deceleration to stop;
(9) calculation code device is every turns umber of pulse, owing to servomotor for every revolution can export a z phase signals, so in the same direction motion time adjacent two z be exactly that servomotor turns around the umber of pulse that encoder sends to the encoder pulse number between signal, so the every umber of pulse that turns of encoder is:��
The minimum control resolution of described encoder refers to the maximum displacement that digital control system can recognise that, is the most high control precision that can reach in theory; The least unit signal of encoder feedback is a pulse, so the machine tool motion distance corresponding to a pulse is exactly the minimum control resolution of digital control system, the process measuring minimum control resolution is: obtains mechanical movement distance DisPRound corresponding to each turn of motor according to the drive mechanism of machinery with mechanical parameter calculating and inputs program, then minimum control resolution��
The described idiographic flow measuring servomotor maximum speed is as follows:
(1) open loop control mode is used;
(2) start uniformly to increase to 1V to the voltage signal of driven by servomotor control unit from 0V, until it is stable, reading encoder feedback signal frequency when stablizing is f1, then servomotor rotating speed under stable 1V voltage is: RoutateSpeed1=f1/PulsePRound;
(3) control decelerating through motor to stop;
(4) start uniformly to be reduced to-1V to the voltage signal of driven by servomotor control unit from 0V, until it is stable, reading encoder feedback signal frequency when stablizing is f2, then motor rotating speed under stable-1V voltage is: RotateSpeed2=f2/PulsePRound;
(5) servomotor rated speed is RatedSpeed, unit r/s, obtains by consulting the parameter of servo-driver, then speed input instruction gain;
(6) calculating the maximum speed of servomotor, being to servomotor applying voltage is rotating speed during 10V, owing under analogue signal control model, servomotor rotating speed and driving control unit signal voltage are directly proportional, so motor maximum speed is:��
The structure of described Closed-loop Nc System includes comparing controlling unit module, driving control unit, servomotor, lathe, encoder, relatively the signal output part of controlling unit module connects the signal input part of driving control unit, the signal output part of driving control unit connects the signal input part of servomotor, the signal input part of the signal output part connecting machine tool of servomotor, the signal output part of lathe connects the signal input part of encoder, and the signal output part of encoder connects the signal input part comparing controlling unit module.
Compared with the existing technology, whole process is completed the present invention by Automatic Program, efficiently convenient, reduces artificial participation, reduces mistake probability, improves system debug efficiency.
Accompanying drawing explanation
Fig. 1 is closed loop servo system structure chart.
Fig. 2 is present procedure flow chart.
Fig. 3 is for measuring motor drive direction and encoder side to flow chart.
In order to measure, motor encoder is every turns umber of pulse flow chart to Fig. 4.
Fig. 5 is for measuring motor maximum speed flow chart.
Detailed description of the invention
Below according to accompanying drawing, the present invention is described further.
As shown in Figure 1, the structure of Closed-loop Nc System includes comparing controlling unit module, driving control unit, servomotor, lathe, encoder, relatively the signal output part of controlling unit module connects the signal input part of driving control unit, the signal output part of driving control unit connects the signal input part of servomotor, the signal input part of the signal output part connecting machine tool of servomotor, the signal output part of lathe connects the signal input part of encoder, and the signal output part of encoder connects the signal input part comparing controlling unit module.
As in figure 2 it is shown, idiographic flow is as follows:
The first step, measures servomotor direction in an open loop mode with encoder side to whether consistent, is, measures that encoder is every turns umber of pulse, otherwise detects failure and quits a program;
Second step, controls machine tool motion under closed loop mode, measures that encoder is every turns umber of pulse;
3rd step, the minimum control resolution of calculation code device;
4th step, measures servomotor maximum speed.
As it is shown on figure 3, measure servomotor direction and encoder side to idiographic flow as follows:
(1) open loop control mode is used;
(2) applying the control signal of 200mv speed to servomotor, and continue 50ms, during detection signal ended, the output valve of encoder, is designated as EncOffset1;
(3) applying the control signal of-200mv speed to servomotor, and continue 50ms, during detection signal ended, the output valve of encoder, is designated as EncOffset2;
(4) EncOffset1 >=0 or EncOffset2��0 are judged; It is that detection is passed through, it is possible to carry out following step; Otherwise detecting failure, servomotor direction and encoder side, to inconsistent, quit a program.
As shown in Figure 4, the every idiographic flow turning umber of pulse of encoder is measured as follows:
(1) closed loop control mode is used;
(2) servomotor positive movement is controlled;
(3) during first Z phase signals of detection, and encoder output valve EncZ1 is recorded;
(4) during second Z phase signals of detection, and encoder output valve EncZ2 is recorded;
(5) control servomotor deceleration to stop, and control servomotor adverse movement;
(6) the 3rd Z phase signals of detection, and record encoder output valve EncZ3;
(7) the 4th Z phase signals of detection, and record encoder output valve EncZ4;
(8) control servomotor deceleration to stop;
(9) calculation code device is every turns umber of pulse, owing to servomotor for every revolution can export a z phase signals, so in the same direction motion time adjacent two z be exactly that servomotor turns around the umber of pulse that encoder sends to the encoder pulse number between signal, so the every umber of pulse that turns of encoder is:��
The minimum control resolution of encoder refers to the maximum displacement that digital control system can recognise that, is the most high control precision that can reach in theory; The least unit signal of encoder feedback is a pulse, so the machine tool motion distance corresponding to a pulse is exactly the minimum control resolution of digital control system, the process measuring minimum control resolution is: obtains mechanical movement distance DisPRound corresponding to each turn of motor according to the drive mechanism of machinery with mechanical parameter calculating and inputs program, then minimum control resolution��
As it is shown in figure 5, the idiographic flow measuring servomotor maximum speed is as follows:
(1) open loop control mode is used;
(2) start uniformly to increase to 1V to the voltage signal of driven by servomotor control unit from 0V, until it is stable, reading encoder feedback signal frequency when stablizing is f1, then servomotor rotating speed under stable 1V voltage is: RoutateSpeed1=f1/PulsePRound;
(3) control decelerating through motor to stop;
(4) start uniformly to be reduced to-1V to the voltage signal of driven by servomotor control unit from 0V, until it is stable, reading encoder feedback signal frequency when stablizing is f2, then motor rotating speed under stable-1V voltage is: RotateSpeed2=f2/PulsePRound;
(5) servomotor rated speed is RatedSpeed, unit r/s, obtains by consulting the parameter of servo-driver, then speed input instruction gain;
(6) calculating the maximum speed of servomotor, being to servomotor applying voltage is rotating speed during 10V, owing under analogue signal control model, servomotor rotating speed and driving control unit signal voltage are directly proportional, so motor maximum speed is:��
Detecting above parameter, kinetic control system just can set up Controlling model accurately, and lathe is carried out accurate position-force control, whole process is completed by Automatic Program, efficiently convenient, reduces artificial participation, reduce mistake probability, improve system debug efficiency.
Claims (6)
1. the Controlling model automatic detection technology of parameter method of Closed-loop Nc System in a cut, it is characterised in that: idiographic flow is as follows:
The first step, measures servomotor direction in an open loop mode with encoder side to whether consistent, is, measures that encoder is every turns umber of pulse, otherwise detects failure and quits a program;
Second step, controls machine tool motion under closed loop mode, measures that encoder is every turns umber of pulse;
3rd step, the minimum control resolution of calculation code device;
4th step, measures servomotor maximum speed.
2. the Controlling model automatic detection technology of parameter method of Closed-loop Nc System in cut according to claim 1, it is characterised in that: described measure servomotor direction and encoder side to idiographic flow as follows:
(1) open loop control mode is used;
(2) applying the control signal of 200mv speed to servomotor, and continue 50ms, during detection signal ended, the output valve of encoder, is designated as EncOffset1;
(3) applying the control signal of-200mv speed to servomotor, and continue 50ms, during detection signal ended, the output valve of encoder, is designated as EncOffset2;
(4) EncOffset1 >=0 or EncOffset2��0 are judged; It is that detection is passed through, it is possible to carry out following step; Otherwise detecting failure, servomotor direction and encoder side, to inconsistent, quit a program.
3. the Controlling model automatic detection technology of parameter method of Closed-loop Nc System in cut according to claim 1, it is characterised in that: it is described that to measure the every idiographic flow turning umber of pulse of encoder as follows:
(1) closed loop control mode is used;
(2) servomotor positive movement is controlled;
(3) during first Z phase signals of detection, and encoder output valve EncZ1 is recorded;
(4) during second Z phase signals of detection, and encoder output valve EncZ2 is recorded;
(5) control servomotor deceleration to stop, and control servomotor adverse movement;
(6) the 3rd Z phase signals of detection, and record encoder output valve EncZ3;
(7) the 4th Z phase signals of detection, and record encoder output valve EncZ4;
(8) control servomotor deceleration to stop;
(9) calculation code device is every turns umber of pulse, owing to servomotor for every revolution can export a z phase signals, so in the same direction motion time adjacent two z be exactly that servomotor turns around the umber of pulse that encoder sends to the encoder pulse number between signal, so the every umber of pulse that turns of encoder is:��
4. the Controlling model automatic detection technology of parameter method of Closed-loop Nc System in cut according to claim 1, it is characterized in that: the minimum control resolution of described encoder refers to the maximum displacement that digital control system can recognise that, be the most high control precision that can reach in theory; The least unit signal of encoder feedback is a pulse, so the machine tool motion distance corresponding to a pulse is exactly the minimum control resolution of digital control system, the process measuring minimum control resolution is: obtains mechanical movement distance DisPRound corresponding to each turn of motor according to the drive mechanism of machinery with mechanical parameter calculating and inputs program, then minimum control resolution��
5. the Controlling model automatic detection technology of parameter method of Closed-loop Nc System in cut according to claim 1, it is characterised in that: the described idiographic flow measuring servomotor maximum speed is as follows:
(1) open loop control mode is used;
(2) starting uniformly to increase to 1V to the voltage signal of driven by servomotor control unit from 0V, until stable, reading encoder feedback signal frequency when stablizing is f1, then servomotor rotating speed under stable 1V voltage is:;
(3) control decelerating through motor to stop;
(4) starting uniformly to be reduced to-1V to the voltage signal of driven by servomotor control unit from 0V, until stable, reading encoder feedback signal frequency when stablizing is f2, then motor rotating speed under stable-1V voltage is:;
(5) servomotor rated speed is RatedSpeed, unit r/s, obtains by consulting the parameter of servo-driver, then speed input instruction gain;
(6) calculating the maximum speed of servomotor, being to servomotor applying voltage is rotating speed during 10V, owing under analogue signal control model, servomotor rotating speed and driving control unit signal voltage are directly proportional, so motor maximum speed is:��
6. the Controlling model automatic detection technology of parameter method of Closed-loop Nc System in cut according to claim 1, it is characterized in that: the structure of described Closed-loop Nc System includes comparing controlling unit module, driving control unit, servomotor, lathe, encoder, relatively the signal output part of controlling unit module connects the signal input part of driving control unit, the signal output part of driving control unit connects the signal input part of servomotor, the signal input part of the signal output part connecting machine tool of servomotor, the signal output part of lathe connects the signal input part of encoder, the signal output part of encoder connects the signal input part comparing controlling unit module.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109164760A (en) * | 2018-10-22 | 2019-01-08 | 大族激光科技产业集团股份有限公司 | A kind of height-regulating method and device with dual modes of operation |
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