CN105955196A - Multi-cylinder synchronous positioning numerically-controlled system based on virtuality-reality combination - Google Patents
Multi-cylinder synchronous positioning numerically-controlled system based on virtuality-reality combination Download PDFInfo
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- CN105955196A CN105955196A CN201610421265.8A CN201610421265A CN105955196A CN 105955196 A CN105955196 A CN 105955196A CN 201610421265 A CN201610421265 A CN 201610421265A CN 105955196 A CN105955196 A CN 105955196A
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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
- G05B19/19—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 characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- Automation & Control Theory (AREA)
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Abstract
The invention relates to a multi-cylinder synchronous positioning numerically-controlled system based on virtuality-reality combination. The system comprises a controller and a position sensor; and the position sensor and the controller are connected. The controller is also connected with a proportional direction value for controlling a motion state of each oil cylinder. An oil cylinder motion track curve is preset in the controller and the controller obtains real-time position information of the corresponding oil cylinder by using the corresponding position sensor; after the real-time position information of the corresponding oil cylinder is obtained, the controller compares the corresponding real-time position information of each oil cylinder with a corresponding dynamic position on the oil cylinder motion track curve, an opening state of the corresponding proportional direction value is controlled based on a position comparison result to control the motion state of the corresponding oil cylinder in real time, so that the current position of each oil cylinder is consistent with the corresponding dynamic position on the oil cylinder motion track curve. According to the invention, the structure is compact; multi-cylinder synchronous positioning is realized; the automation degree is high; and the synchronous positioning precision as well as the security and reliability is high.
Description
Technical field
The present invention relates to a kind of positioning numerical control system, the multi-cylinder synchronous positioning numerical control system that a kind of deficiency and excess combines, belong to the technical field of positioning numerical control system.
Background technology
Numerical-control oil press, bender are the panel beating equipment that a class precision is higher, and it is applied widely, such as industries such as automobile, machinery, boats and ships, household electrical appliances.Large-tonnage, multi-hydraulic-cylinder numerical-control oil press, bender quickly grow in recent years, but the high-end digital control system of core is all dependent on external import, price is high, maintenance cost is high, the cycle is long, and be the Intergration system of Based PC mostly, systematic parameter is opaque, and partial function uses limited, and opening is the highest.
Along with industrial automation, informationalized deep, industry 4.0 epoch being produced as theme with wisdom factory and intelligence have arrived, the networking that proposes equipment, digitized, intelligentized demand for development, a kind of digital control system autonomous, open, intelligentized of research and development is imperative.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that the multi-cylinder synchronous positioning numerical control system that a kind of deficiency and excess combines, its compact conformation, can realize multi-cylinder synchronous location, automaticity is high, synchronizes positioning precision high, safe and reliable.
The technical scheme provided according to the present invention, the multi-cylinder synchronous positioning numerical control system that described deficiency and excess combines, including the controller synchronizing to position for controlling multiple oil cylinder to keep and for obtaining the position sensor of each oil cylinder real-time position information, described position sensor is connected with controller, and controller is also connected with the proportional direction valve controlling each cylinder movement state；
Preset cylinder movement geometric locus in controller, controller obtains the real-time position information of corresponding oil cylinder according to relevant position sensor；After the real-time position information obtaining corresponding oil cylinder, real-time position information corresponding for each oil cylinder is compared by controller with corresponding dynamic position on cylinder movement geometric locus, and according to the open state of location comparison output control correspondence proportional direction valve, to control the kinestate of corresponding oil cylinder in real time so that the current location of each oil cylinder keeps consistent with corresponding dynamic position on controller inner cylinder path curves.
Described controller uses PLC, and controller is connected with man machine interface；By man machine interface, path curves is set in controller.
The quantity of described position sensor is corresponding with the quantity of oil cylinder consistent, and position sensor uses grating scale, and position sensor is connected with controller by counter module.
The quantity of described proportional direction valve is corresponding with the quantity of oil cylinder consistent, and proportional direction valve is connected with controller by analog module, and described analog module also sets up for pressure proportioning valve.
Described controller is connected with servomotor by servo-driver.
The invention have the advantages that preset cylinder movement geometric locus in controller, the real-time position information of oil cylinder is obtained by position sensor, the real-time position information of each oil cylinder is compared by controller with the dynamic position on cylinder movement geometric locus, and passing ratio direction valve controls the kinestate of corresponding oil cylinder, the current location after cylinder movement is made to keep consistent with the dynamic position of cylinder movement geometric locus, thus realize the synchronization location of Multi-cylinder, compact conformation, synchronization positioning precision is high, safe and reliable.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the present invention.
Description of reference numerals: 1-controller, 2-man machine interface, 3-counter module, 4-analog module, 5-proportional pressure valve, 6-proportional direction valve, 7-position sensor, 8-servo-driver and 9-servomotor.
Detailed description of the invention
Below in conjunction with concrete drawings and Examples, the invention will be further described.
As shown in Figure 1: in order to be able to realize multi-cylinder synchronous location, improve automaticity and synchronize positioning precision, the present invention includes the controller 1 synchronizing to position for controlling multiple oil cylinder to keep and for obtaining the position sensor 7 of each oil cylinder real-time position information, described position sensor 7 is connected with controller 1, and controller 1 is also connected with the proportional direction valve 6 controlling each cylinder movement state；
Preset cylinder movement geometric locus in controller 1, controller 1 obtains the real-time position information of corresponding oil cylinder according to relevant position sensor 7；After the real-time position information obtaining corresponding oil cylinder, real-time position information corresponding for each oil cylinder is compared by controller 1 with corresponding dynamic position on cylinder movement geometric locus, and according to the open state of location comparison output control correspondence proportional direction valve 6, to control the kinestate of corresponding oil cylinder in real time so that the current location of each oil cylinder keeps consistent with corresponding dynamic position on controller 1 inner cylinder path curves.
Specifically, the quantity of oil cylinder is relevant to concrete process equipment, and for concrete process equipment, the quantity of oil cylinder is for determining value, as numerical-control oil press, bender can effectively determine in requisition for the oil cylinder quantity synchronizing location.By obtaining the real-time position information of corresponding oil cylinder with the position sensor 7 of each oil cylinder corresponding matching, by can control the kinestate of corresponding oil cylinder with the proportional direction valve 6 of each oil cylinder corresponding matching.
By to the measurement during arbitrary cylinder movement, it is possible to obtain cylinder movement geometric locus；When to oil cylinder process measurement, specifically can be by data acquisitions such as the acceleration in motor process, displacements；For the process equipment determined, the movement locus needing multiple oil cylinders of synchronization in process equipment is identical, i.e. can effectively obtain the cylinder movement geometric locus of correspondence, and detailed process is that known to those skilled in the art, here is omitted.
During specific works, position sensor 7 is by the real-time position information transmission of corresponding oil cylinder to controller 1, the dynamic position that real-time position information corresponding for each oil cylinder is corresponding with on cylinder movement geometric locus is compared by controller 1, and described location comparison result can be typically identical or different；Relatively time, controller 1 utilizes the modes such as PID arithmetic to obtain location comparison result, and concrete comparison procedure can select in the way of using the art conventional as required, and here is omitted.
Controller 1, according to the opening of location comparison output control proportional direction valve 6, i.e. controls the kinestate of corresponding oil cylinder so that the current location after cylinder movement keeps consistent with the dynamic position on the cylinder movement geometric locus of controller 1；When the current location of all oil cylinders all keeps consistent with the dynamic position on cylinder movement geometric locus, it is possible to realizing the synchronization location of all oil cylinders, positioning precision is high.In the embodiment of the present invention, on cylinder movement geometric locus, corresponding dynamic position refers to the controller 1 positional information obtaining correspondence according to cylinder movement geometric locus, owing to the current location of all oil cylinders is kept consistent with the dynamic position on the cylinder movement geometric locus in controller 1, the movement locus that can make all oil cylinders is corresponding with cylinder movement geometric locus consistent.
Further, described controller 1 uses PLC, man machine interface 2 to use touch screen, controller 1 to be connected with man machine interface 2；By man machine interface 2, cylinder movement geometric locus is set in controller 1.
In the embodiment of the present invention, after measuring the cylinder movement track obtaining arbitrary oil cylinder, cylinder movement geometric locus can be generated by man machine interface 2, and can be by described cylinder movement geometric locus transmission to controller 1, when controlling oil cylinder and synchronizing location, owing to needing to carry out the location point of cylinder movement geometric locus real-time contrast, therefore, the location point on cylinder movement geometric locus is as dynamic position.When being embodied as, controller 1 can also show preset cylinder movement geometric locus by man machine interface 2, also can show the movement locus of each oil cylinder in real time.
The quantity of described position sensor 7 is corresponding with the quantity of oil cylinder consistent, and position sensor 7 uses grating scale, position sensor 7 to be connected with controller 1 by counter module 3.The quantity of described proportional direction valve 6 is corresponding with the quantity of oil cylinder consistent, and proportional direction valve 6 is connected with controller 1 by analog module 4, and described analog module 4 also sets up for pressure proportioning valve 5.
In the embodiment of the present invention, position sensor 7, proportional direction valve 6 are all one_to_one corresponding with oil cylinder, when controller 1 uses PLC, when position sensor 7 uses grating scale, position sensor 7 is connected with controller 1 by counter module 3, and proportional direction valve 6 is connected with controller 1 by analog module 4, and counter module 3, analog module 4 all can use the version that the art is conventional, being specially known to those skilled in the art, here is omitted.The pressure of oil cylinder output can be controlled by pressure proportioning valve 5.Additionally, described controller 1 is connected with servomotor 9 by servo-driver 8.
The present invention is possible not only in electric-hydraulic proportion bender to use, can also be its stable performance, reliable at servo-pump control bender, multi-cylinder as four cylinders, six cylinder hydraulic presses use, precision meets relevant criterion requirement.
The present invention is preset cylinder movement geometric locus in controller 1, the real-time position information of oil cylinder is obtained by position sensor 7, the real-time position information of each oil cylinder is compared by controller 1 with the dynamic position on cylinder movement geometric locus, and passing ratio direction valve 6 controls the kinestate of corresponding oil cylinder, the current location after cylinder movement is made to keep consistent with the dynamic position of cylinder movement geometric locus, thus realize the synchronization location of Multi-cylinder, compact conformation, synchronization positioning precision is high, safe and reliable.
Claims (5)
1. the multi-cylinder synchronous positioning numerical control system that a deficiency and excess combines, it is characterized in that: include the controller (1) synchronizing to position for controlling multiple oil cylinder to keep and for obtaining the position sensor (7) of each oil cylinder real-time position information, described position sensor (7) is connected with controller (1), and controller (1) is also connected with the proportional direction valve (6) controlling each cylinder movement state；
Preset cylinder movement geometric locus in controller (1), controller (1) obtains the real-time position information of corresponding oil cylinder according to relevant position sensor (7)；After the real-time position information obtaining corresponding oil cylinder, real-time position information corresponding for each oil cylinder is compared by controller (1) with corresponding dynamic position on cylinder movement geometric locus, and according to the open state of location comparison output control correspondence proportional direction valve (6), to control the kinestate of corresponding oil cylinder in real time so that the current location of each oil cylinder keeps consistent with corresponding dynamic position on controller (1) inner cylinder path curves.
The multi-cylinder synchronous positioning numerical control system that deficiency and excess the most according to claim 1 combines, is characterized in that: controller (1) is connected with man machine interface (2)；By man machine interface (2), path curves is set in controller (1).
The multi-cylinder synchronous positioning numerical control system that deficiency and excess the most according to claim 1 combines, it is characterized in that: the quantity of described position sensor (7) is corresponding with the quantity of oil cylinder consistent, position sensor (7) uses grating scale, and position sensor (7) is connected with controller (1) by counter module (3).
The multi-cylinder synchronous positioning numerical control system that deficiency and excess the most according to claim 1 combines, it is characterized in that: the quantity of described proportional direction valve (6) is corresponding with the quantity of oil cylinder consistent, proportional direction valve (6) is connected with controller (1) by analog module (4), and described analog module (4) also sets up for pressure proportioning valve (5).
The multi-cylinder synchronous positioning numerical control system that deficiency and excess the most according to claim 1 combines, is characterized in that: described controller (1) is connected with servomotor (9) by servo-driver (8).
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| CN201610421265.8A CN105955196A (en) | 2016-06-14 | 2016-06-14 | Multi-cylinder synchronous positioning numerically-controlled system based on virtuality-reality combination |
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| CN201610421265.8A CN105955196A (en) | 2016-06-14 | 2016-06-14 | Multi-cylinder synchronous positioning numerically-controlled system based on virtuality-reality combination |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101660458A (en) * | 2009-09-28 | 2010-03-03 | 张育华 | Joint operating technology of multicylinder engine main-subsidiary multi-electronic control units and method thereof |
| CN102086893A (en) * | 2010-12-28 | 2011-06-08 | 深圳华强数码电影有限公司 | Multi-axis hydraulic synchronization control system, method and device |
| CN102328888A (en) * | 2011-09-15 | 2012-01-25 | 莱芜钢铁集团有限公司 | Hydraulic servo synchronous lifting device and control method thereof |
| CN103089750A (en) * | 2012-12-10 | 2013-05-08 | 天水锻压机床(集团)有限公司 | Controller and method for controlling multiple oil cylinders by using programmable controller |
| US20130139397A1 (en) * | 2011-06-01 | 2013-06-06 | Tesa Sa | Coordinate measuring machine |
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2016
- 2016-06-14 CN CN201610421265.8A patent/CN105955196A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101660458A (en) * | 2009-09-28 | 2010-03-03 | 张育华 | Joint operating technology of multicylinder engine main-subsidiary multi-electronic control units and method thereof |
| CN102086893A (en) * | 2010-12-28 | 2011-06-08 | 深圳华强数码电影有限公司 | Multi-axis hydraulic synchronization control system, method and device |
| US20130139397A1 (en) * | 2011-06-01 | 2013-06-06 | Tesa Sa | Coordinate measuring machine |
| CN102328888A (en) * | 2011-09-15 | 2012-01-25 | 莱芜钢铁集团有限公司 | Hydraulic servo synchronous lifting device and control method thereof |
| CN103089750A (en) * | 2012-12-10 | 2013-05-08 | 天水锻压机床(集团)有限公司 | Controller and method for controlling multiple oil cylinders by using programmable controller |
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