CN106094728B - Motion control system and method of electromagnetic type plastic material high-speed dynamic stretching machine - Google Patents
Motion control system and method of electromagnetic type plastic material high-speed dynamic stretching machine Download PDFInfo
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Abstract
The invention discloses a motion control system and a motion control method of an electromagnetic type plastic material high-speed dynamic stretcher. The system comprises an upper computer, a controller, a control object, namely a linear biaxial magnetic axis type linear motor in a stretcher and a peripheral circuit. The method comprises the following steps: powering on the system, and initializing the motion control system; the servo motor is slowly lifted, and a test piece is clamped; then the linear motor accelerates; accelerating the linear motor to a set speed, and entering a constant speed state to finish the constant speed stretching of the test piece; when the stretching displacement reaches a set value, the system performs two-stage deceleration and stops at an end state. The motion control takes a linear magnetic axis linear motor as an excitation source, and adopts torque closed-loop control to measure the motion speed. In the stretching motion control, the most key constant speed control follows a specified output equation, an energy compensation algorithm is adopted to compensate the electromagnetic energy consumption in the motion process of the electromagnetic linear motor, and the excitation and fluctuation caused by energy compensation are reduced through sine position compensation and position point position compensation.
Description
Technical Field
The invention relates to the field of measuring dynamic stretching mechanical properties of plastic materials, in particular to a motion control system and a motion control method of an electromagnetic type high-speed dynamic plastic material stretcher.
Background
The motion control method of the electromagnetic plastic material high-speed dynamic stretcher is a core control module of the electromagnetic plastic material high-speed dynamic stretcher. At present, the material testing technology above 0.01s-1 strain rate and below 1000s-1 strain rate is quite mature internationally, but the dynamic tensile mechanics measurement of the material within the strain rate range of 1-100s-1 is difficult, and the dynamic tensile mechanics measurement exceeds the applicable range (above 1000 s-1) of Hopkinson bars; the two static stretching machines have a series of difficulties of energy excitation, beam maintenance and the like, and cannot meet the measurement requirement in the range. Compared with a traditional high-speed servo hydraulic testing machine and a drop hammer impact machine, the electromagnetic type high-speed dynamic plastic material stretching machine has the advantages of convenience in operation, low requirement on working environment, high testing precision, high testing efficiency and the like. However, system oscillations can still cause significant velocity fluctuations that do not meet the test requirements of the polymer high strain rate tensile test standard SAEJ 2749.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a motion control system and a motion control method of an electromagnetic plastic material high-speed dynamic stretcher, energy loss of a linear motor in the stretching process is realized by an energy compensation method, and excitation and fluctuation caused by energy compensation are reduced by adopting a sine position compensation method and a position point position compensation method. Therefore, the speed fluctuation in the high-speed dynamic tensile test reaches +/-10 percent, and the requirement of the speed fluctuation specified in SAE J2749 is completely met.
In order to achieve the purpose, the invention adopts the technical scheme that: a motion control system of an electromagnetic type plastic material high-speed dynamic stretcher comprises an upper computer, a controller, a control object, namely a linear double-shaft magnetic shaft type linear motor and a peripheral circuit in the stretcher; the method is characterized in that: the upper computer is connected with a control object through the controller and is connected with a peripheral circuit; the controller changes the analog quantity of the input voltage value of one servo driver according to the requirement of a speed curve set by the upper computer, corrects the set moment and realizes the closed-loop control of a linear biaxial magnetic axis type linear motor in a control object, namely a stretcher.
The motion control system of the electromagnetic type plastic material high-speed dynamic stretcher is characterized in that: the controller consists of an Ethernet interface, an embedded control platform, a servo driver, a linear grating ruler and a Hall sensor; the upper computer is connected with the embedded control platform through an Ethernet interface by Ethernet and then connected with a control object through a servo driver, and the output of the control object is respectively fed back to the servo driver through a linear grating ruler and a Hall sensor; and receiving a signal instruction from the upper computer through the Ethernet interface. The servo driver works according to the instruction, and the servo driver converts the instruction signal into a corresponding voltage signal, so that a linear biaxial magnetic axis linear motor in the control object, namely the stretcher, moves according to a set action curve. The linear grating ruler is used for acquiring position information of a linear motor, and the Hall sensor is used for acquiring the current of a winding coil of the linear motor and is used for closed-loop feedback control of the linear motor; the embedded control platform adopts NI compactRIO 9073, and the main control module comprises NI9269, NI9215, NI9411, NI9421, NI9481 and NI9402 board cards; the servo driver adopts a model of MDDDT5540L of Panasonic A4L series, the maximum rated current is 50A, and the rated power is 750W; according to the requirement analysis, the torque mode is selected to realize the control of the servo driver, and CW and CCW stroke limit pulse signals are required to be input, wherein the CW signal is used for controlling the stroke of the linear motor, and the CCW signal is used for controlling the direction of the linear motor.
NI9269 is a 4-channel, ± 10V, 16-bit synchronous, inter-channel isolation analog voltage output board card, the channel 0 is used for inputting analog signals to the servo driver terminal SPR/TRQR/SPL (SPR: speed instruction, TRQR: torque instruction, SPL: speed limit), and the SPR/TRQR/SPL terminal plays a protection function. The channel 1 is used for outputting speed analog quantity measured by the grating ruler and is used for debugging mode. Channel 2 is used for control value analog output for debug mode. And the channel 3 is used for outputting the displacement analog quantity of the linear motor and is used for debugging the mode.
NI9215 is 4 channels, +/-10V, 16 bit synchronous analog input integrated circuit boards, and channel 0 receives force value signals of the force sensor and is used for controlling a force value compensation algorithm module in the system.
NI9411 is a 6-channel differential digital signal input board card, and has a main function of acquiring a differential voltage signal measured by a grating ruler and converting the differential voltage signal into a single-ended signal, and a main control program can judge the position information of a linear motor according to the single-ended signal. The channels 0, 1 and 2 are respectively used for receiving Z, A, B three-phase differential signals of the grating ruler, wherein the Z-phase signal is used for judging the moving direction of the linear motor to be upward or downward, and the A, B-phase signal is used for judging the acceleration and deceleration signals of the linear motor.
NI9421 is an 8-channel drain digital input board, and channel 0 records the ready state before the servo driver is operated. Channel 1 records the servo driver alarm state when an abnormal condition occurs.
NI9481 is a 4-channel SPST electromechanical relay board card, and channel 0 outputs a servo driver enable signal for controlling the servo driver drive state. Channel 1 is connected to a 24V power ground signal. If the channel 0 is short-circuited with the channel 1, the servo driver enters a servo enabling state (the motor is electrified); otherwise the servo system cannot enter the enabled state.
NI9402 is 4 channels, LVTTL digital input/output integrated circuit board, is used for triggering high-speed camera and force sensor and gathers the signal simultaneously, keeps triggering in the physics and is in same moment.
The peripheral circuit module is mainly used for configuring a power supply for hardware work and filtering interference voltage. The peripheral circuit includes: the power supply comprises a transformer, a filter, a starter, a safety switch, a 12V direct current power supply, a 24V direct current power supply and a stabilized voltage power supply.
A motion control method of an electromagnetic type plastic material high-speed dynamic stretcher is operated by adopting the system, and is characterized by comprising the following operation steps:
1) the system is powered on, and a motion control system of the electromagnetic type plastic material high-speed dynamic stretcher is initialized;
2) the servo driver drives the linear motor to slowly lift to a set height from the initial position of the bottom, and the tensile test piece is manually clamped;
3) finishing clamping, and accelerating by a linear motor;
4) accelerating the linear motor to a set speed, and entering a constant speed state to finish the constant speed stretching of the test piece;
5) when the stretching displacement reaches a set value, the system performs two-stage deceleration and stops at an end state.
Step 1) mainly completes control system parameter initialization and internal counter zero clearing, and after the servo driver in the control system is started and other modules are initialized, the analog voltage signal output is 0V.
And 2) when the step 2) is executed, the linear motor is in a suspension state. Meanwhile, the control system calculates the predicted average output according to the torque output, the speed component prediction (target speed) and the kinetic friction component prediction. In addition, the program enters a high-speed acceleration branch or a low-speed acceleration branch according to the set stretching speed judgment.
Step 3) there are two acceleration methods: a low-speed acceleration state and a high-speed acceleration state.
The uniform-speed stretching state of the test piece in the step 4) is also the most key part of motion control, the uniform-speed control in the stretching process follows a specified output equation, and the output equation can be expressed as:
wherein,G-controlling the output;M-estimating an average output;Pthe energy compensation factor compensates the influence on the system caused by the energy compensation method;F-test piece tension compensation;K-force value slope compensation;S-sinusoidal position compensation;B-position point position compensation;Tthe torque output quantity when the system is in the test piece clamping state; v. ofSupplement device-estimating the velocity component;festimating the dynamic friction force component;k-an energy compensation factor coefficient; v. ofEyes of a user-target speed, i.e. set speed; v. ofFortune-the actual running speed;
energy compensation, i.e. establishing the input-output relation of control according to the linear relation between the output force demand and kinetic energy demand of the linear motor[58][59]I.e. energy compensation, the smaller the kinetic energy difference is, the smaller the output and input coefficients are, at the target speed determination.
And (4) spline force compensation, wherein the test piece force compensation is realized by adopting a compensation method, loss in the force acquisition process is compensated, and better auxiliary control is realized. Clutter of the force sensor is filtered by adopting a low-pass filter, and the filtered value is multiplied by the force value coefficient to obtain a spline force compensation value.
And (4) force slope compensation, namely, the force slope compensation is realized by continuously refreshing the force value of the test piece and adopting a force slope compensation method.
The sine position compensation method is characterized in that an iterative sine position compensation value is calculated according to an iteration principle, a current displacement value, a displacement compensation reference value and a displacement compensation deviation value.
The position point position compensation method comprises the steps of setting a plurality of reference position points (determined according to the stroke of the linear motor), monitoring the position point information of the linear motor in real time, and adopting corresponding compensation values according to different reached position points.
The speed reduction of the step 5) is divided into two stages of speed reduction, the first stage of speed reduction is realized by controlling the linear motor to reduce speed through the servo driver, and the second stage of speed reduction is realized by assisting with a spring.
Compared with the prior art, the invention has the following substantive characteristics and obvious advantages:
the motion control system and the method of the electromagnetic type plastic material high-speed dynamic stretcher can obviously improve the speed fluctuation in a high-speed dynamic stretching test, the motion control precision reaches +/-10 percent, and the speed fluctuation requirement specified in the polymer high-strain-rate stretching test standard SAE J2749 is completely met.
Drawings
Fig. 1 is a motion control system of the electromagnetic high-speed dynamic plastic material stretcher.
FIG. 2 is a method for controlling the movement of the electromagnetic high-speed dynamic plastic material stretcher.
FIG. 3 is a schematic diagram of the motion control of the electromagnetic high-speed dynamic plastic material stretcher.
Detailed description of the preferred embodiments
Embodiments of the invention are described in further detail below with reference to the accompanying drawings:
the first embodiment is as follows: referring to fig. 1, the motion control system of the electromagnetic type plastic material high-speed dynamic stretcher comprises an upper computer (2), a controller (1), a control object, namely a linear biaxial magnetic axis type linear motor (4) in the stretcher, and a peripheral circuit (3); the method is characterized in that: the upper computer (2) is connected with a control object (4) through the controller (1) and is connected with a peripheral circuit (3); the controller (1) changes the analog quantity of the input voltage value of one servo driver (1-3) according to the speed curve requirement set by the upper computer (2), corrects the set moment, and realizes the closed-loop control of a linear biaxial magnetic axis type linear motor (4) in a control object, namely a stretcher.
Example two: this embodiment is substantially the same as the first embodiment, and is characterized in that: the motion control system of the electromagnetic type plastic material high-speed dynamic stretcher is characterized in that: the controller (1) consists of an Ethernet interface (1-1), an embedded control platform (1-2), a servo driver (1-3), a linear grating ruler (1-4) and a Hall sensor (1-5); the upper computer (2) is connected with the embedded control platform (1-2) through an Ethernet interface (1-1) by Ethernet, and then is connected with the control object (4) through the servo driver (1-3), and the output of the control object (4) is fed back to the servo driver (1-3) through the linear grating ruler (1-4) and the Hall sensor (1-5) respectively; the signal command from the upper computer (2) is received through the Ethernet interface (1-1). The servo driver (1-3) works according to instructions, the servo driver (1-3) converts instruction signals into corresponding voltage signals, so that a linear biaxial magnetic axis type linear motor (4) in a control object, namely a stretcher, moves according to a set action curve, the linear grating ruler (1-4) is used for collecting position information of the linear motor (4), and the Hall sensor (1-5) is used for collecting the magnitude of winding coil current of the linear motor (4) and is used for closed-loop feedback control of the linear motor (4); the embedded control platform (1-2) adopts NI compactRIO 9073, and the main control module comprises NI9269, NI9215, NI9411, NI9421, NI9481 and NI9402 board cards; the servo driver (1-3) adopts a loose A4L series MDDDT5540L model, the maximum rated current is 50A, and the rated power is 750W; according to the demand analysis, the torque mode is selected to realize the control of the servo drivers (1-3), and CW and CCW stroke limit pulse signals are required to be input, wherein the CW signal is used for controlling the stroke of the linear motor (4), and the CCW signal is used for controlling the direction of the linear motor (4).
Example three: referring to fig. 2 and 3, the motion control method of the electromagnetic type high-speed dynamic plastic stretcher is operated by using the motion control system of the electromagnetic type high-speed dynamic plastic stretcher described in the first embodiment, and is characterized by comprising the following operation steps:
1) the system is powered on, and a motion control system of the electromagnetic type plastic material high-speed dynamic stretcher is initialized;
2) the servo driver (1-3) drives the linear motor (4) to slowly lift to a set height from the initial position of the bottom, and the tensile test piece is manually clamped;
3) after clamping is finished, the linear motor (4) accelerates;
4) accelerating the linear motor (4) to a set speed, entering a constant speed state, and finishing the constant speed stretching of the test piece;
5) when the stretching displacement reaches a set value, the system performs two-stage deceleration and stops at an end state.
Step 1) mainly completes control system parameter initialization and internal counter zero clearing, and after the servo driver in the control system is started and other modules are initialized, the analog voltage signal output is 0V.
And step 2) the linear motor is in a suspension state. Meanwhile, the control system calculates the predicted average output according to the torque output, the speed component prediction (target speed) and the kinetic friction component prediction. In addition, the program enters a high-speed acceleration branch or a low-speed acceleration branch according to the set stretching speed judgment.
Step 3) there are two acceleration methods: a low-speed acceleration state and a high-speed acceleration state.
The uniform-speed stretching state of the test piece in the step 4) is also the most key part of motion control, the uniform-speed control in the stretching process follows a specified output equation, and the output equation can be expressed as:
wherein,G-controlling the output;M-estimating an average output;Pthe energy compensation factor compensates the influence on the system caused by the energy compensation method;F-test piece tension compensation;K-force value slope compensation;S-sinusoidal position compensation;B-position point position compensation;Tthe torque output quantity when the system is in the test piece clamping state; v. ofSupplement device-estimating the velocity component;festimating the dynamic friction force component;k-an energy compensation factor coefficient; v. ofEyes of a user-target speed, i.e. set speed; v. ofFortune-the actual running speed.
The speed reduction of the step 5) is divided into two stages of speed reduction, the first stage of speed reduction is realized by controlling the linear motor to reduce speed through the servo driver, and the second stage of speed reduction is realized by assisting with a spring.
Claims (8)
1. A motion control system of an electromagnetic type plastic material high-speed dynamic stretcher comprises an upper computer (2), a controller (1), a control object (4), a linear biaxial magnetic axis type linear motor and a peripheral circuit (3) in the stretcher; the method is characterized in that: the upper computer (2) is connected with a control object (4) through the controller (1) and is connected with a peripheral circuit (3); the controller (1) changes the input voltage value analog quantity of the servo driver (1-3) according to the speed curve requirement set by the upper computer (2), corrects the set moment, and adopts a Hall sensor and a linear grating ruler to carry out speed and position feedback on the output quantity of the motor, thereby realizing the closed-loop control of a linear biaxial magnetic axis type linear motor in a control object (4), namely a stretcher;
the motion control method of the electromagnetic plastic high-speed dynamic stretcher comprises the following steps:
1) the system is powered on, and a motion control system of the electromagnetic type plastic material high-speed dynamic stretcher is initialized;
2) the servo driver (1-3) drives the linear motor to slowly lift to a set height from the initial position of the bottom, and the tensile test piece is manually clamped;
3) finishing clamping, and accelerating by a linear motor;
4) accelerating the linear motor to a set speed, and entering a constant speed state to finish the constant speed stretching of the test piece;
5) when the stretching displacement reaches a set value, the system performs two-stage deceleration and stops at an end state;
the uniform-speed stretching state of the test piece in the step 4) is also the most key part of motion control, the uniform-speed control in the stretching process follows a specified output equation, and the output equation is expressed as:
G(t)＝M(t)+P(t)+F(t)+K(t)+S(t)+B(t)
M＝T+vsupplement device+f
P＝k×((vEyes of a user/1000)2-(vFortune/1000)2))/(vEyes of a user/1000)
Wherein G is the control output; m-predicted average output; p is an energy compensation factor, and the influence on the system caused by an energy compensation method is compensated; f, compensating the tensile force of the test piece; k is the slope compensation of the force value; s-sinusoidal position compensation; b-position point position compensation; t is the torque output quantity when the system is clamped by the test piece; v. ofSupplement deviceVelocityComponent estimation; f, estimating the dynamic friction force component; k is the energy compensation factor coefficient; v. ofEyes of a user-target speed, i.e. set speed; v. ofFortune-the actual running speed.
2. The motion control system of the electromagnetic type plastic material high-speed dynamic stretching machine according to claim 1, characterized in that: the controller (1) consists of an Ethernet interface (1-1), an embedded control platform (1-2), a servo driver (1-3), a linear grating ruler (1-4) and a Hall sensor (1-5); the upper computer (2) is connected with the embedded control platform (1-2) through an Ethernet interface (1-1) by Ethernet, and then is connected with the control object (4) through the servo driver (1-3), and the output of the control object (4) is fed back to the servo driver (1-3) through the linear grating ruler (1-4) and the Hall sensor (1-5) respectively; receiving a signal instruction from an upper computer (2) through an Ethernet interface (1-1); the servo driver (1-3) works according to an instruction, the servo driver (1-3) converts the instruction signal into a corresponding voltage signal, so that a linear biaxial magnetic axis type linear motor in a control object, namely a stretcher, moves according to a set action curve, the linear grating ruler (1-4) is used for collecting position information of the linear motor, and the Hall sensor (1-5) is used for collecting the current of a winding coil of the linear motor and is used for closed-loop feedback control of the linear motor; the embedded control platform (1-2) adopts NICompactRIO 9073, and the main control module comprises NI9269, NI9215, NI9411, NI9421, NI9481 and NI9402 board cards; the servo driver (1-3) adopts a loose A4L series MDDDT5540L model, the maximum rated current is 50A, and the rated power is 750W; according to the demand analysis, the torque mode is selected to realize the control of the servo drivers (1-3), and CW and CCW stroke limit pulse signals are required to be input, wherein the CW signal is used for controlling the stroke of the linear motor, and the CCW signal is used for controlling the direction of the linear motor.
3. A motion control method of an electromagnetic type plastic material high-speed dynamic stretching machine, which is operated by adopting the motion control system of the electromagnetic type plastic material high-speed dynamic stretching machine according to claim 1, and is characterized by comprising the following operation steps:
1) the system is powered on, and a motion control system of the electromagnetic type plastic material high-speed dynamic stretcher is initialized;
2) the servo driver (1-3) drives the linear motor to slowly lift to a set height from the initial position of the bottom, and the tensile test piece is manually clamped;
3) finishing clamping, and accelerating by a linear motor;
4) accelerating the linear motor to a set speed, and entering a constant speed state to finish the constant speed stretching of the test piece;
5) when the stretching displacement reaches a set value, the system performs two-stage deceleration and stops at an end state.
4. The motion control method of the electromagnetic type high-speed dynamic plastic material stretcher according to claim 3, characterized in that the step 1) mainly completes parameter initialization of the control system and zero clearing of an internal counter, and after the start of a servo driver in the control system is initialized by other modules, the output of an analog voltage signal is 0V.
5. The motion control method of the electromagnetic type high-speed dynamic plastic material stretching machine as claimed in claim 3, wherein in the step 2), the linear motor is in a suspension state; meanwhile, according to the data of torque output, speed component estimation, namely target speed and kinetic friction component estimation, the control system calculates the estimated average output; in addition, the program enters a high-speed acceleration branch or a low-speed acceleration branch according to the set stretching speed judgment.
6. The motion control method of the electromagnetic type high-speed dynamic plastic material stretching machine as claimed in claim 3, wherein the acceleration method of step 3) is a low-speed acceleration state or a high-speed acceleration state.
7. The motion control method of the electromagnetic type high-speed dynamic plastic material stretching machine according to claim 3, wherein the constant-speed stretching state of the test piece in the step 4) is also the most critical part of the motion control, and the constant-speed control in the stretching process follows a specified output equation, and the output equation is expressed as:
G(t)＝M(t)+P(t)+F(t)+K(t)+S(t)+B(t)
M＝T+vsupplement device+f
P＝k×((vEyes of a user/1000)2-(vFortune/1000)2))/(vEyes of a user/1000)
Wherein G is the control output; m-predicted average output; p is an energy compensation factor, and the influence on the system caused by an energy compensation method is compensated; f, compensating the tensile force of the test piece; k is the slope compensation of the force value; s-sinusoidal position compensation; b-position point position compensation; t is the torque output quantity when the system is clamped by the test piece; v. ofSupplement device-estimating the velocity component; f, estimating the dynamic friction force component; k is the energy compensation factor coefficient; v. ofEyes of a user-target speed, i.e. set speed; v. ofFortune-the actual running speed.
8. The method for controlling the movement of an electromagnetic high-speed dynamic stretcher for plastic materials as claimed in claim 3, characterized in that the deceleration of step 5) is divided into two stages, the first stage is decelerated by a linear motor controlled by a servo driver (1-3), and the second stage is decelerated by a spring assist.
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| CN101917159A (en) * | 2010-07-07 | 2010-12-15 | 电子科技大学 | System and method for controlling running speed and displacement of linear motor |
| CN102141484A (en) * | 2010-12-29 | 2011-08-03 | 天津大学 | Multi-functional portable electric servo control loading device and loading method thereof |
| CN102854796A (en) * | 2011-06-29 | 2013-01-02 | 宝山钢铁股份有限公司 | Cable tensile resistance device based on two-dimension fuzzy control |
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