CN106681271A - Rotary-type noncircular profile part abrasive machining semi-physical simulation platform - Google Patents
Rotary-type noncircular profile part abrasive machining semi-physical simulation platform Download PDFInfo
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- CN106681271A CN106681271A CN201510753299.2A CN201510753299A CN106681271A CN 106681271 A CN106681271 A CN 106681271A CN 201510753299 A CN201510753299 A CN 201510753299A CN 106681271 A CN106681271 A CN 106681271A
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- profile part
- grinding
- servomotor
- control
- ball
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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
-
- 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
- G05B2219/45—Nc applications
- G05B2219/45145—Milling
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Grinding Of Cylindrical And Plane Surfaces (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
The invention discloses a rotary-type noncircular profile part abrasive machining semi-physical simulation platform. The simulation platform comprises a control module and a movement module. The control module comprises a Dspace device, a data bus, a controller panel and a simulation computer. The movement module comprises a motor fixed seat, a servo motor, a coupler, a support bearing, a ball screw, a fixed support, a linear motor, a circular grating angle measuring device, a slide block, a linear guide rail, a grating ruler displacement sensor and the like. The control module can be used for establishing a control model of a noncircular profile part. The movement module moves according to the established control model, thereby achieving X-C linkage and forming a noncircular profile track. Thus, a problem of a failure to achieve coordination control of the rotary-type noncircular profile part X-C linkage abrasive machining and development and debugging of a control algorithm on a grinding machine numerical control system is solved.
Description
Technical field
The invention belongs to non-circular grinding emulation experiment field, is related specifically to a kind of revolution class non-circular profile part grinding
Semi-physical emulation platform.
Background technology
Revolution class non-circular profile part such as camshaft, rotary engine inner chamber, bent axle, oval piston etc. is used as engine
Core component, is widely used in the fields such as automobile, Aero-Space, and the machining accuracy of its profile is for the drive division of equipment
Divide and play vital effect, its main precision index-profile error is also suggested higher requirement.Such part is general
All over the grinding of X-C two-axle interlockings is adopted to ensure its precision, in Grinding Process, X-axis is with the rotation of C axles
Transhipment is dynamic to carry out position pursuit movement, and mutually coordinated the moving of each axle completes grinding.Due to the not rounded characteristic of profile profile,
Cause grinding spot speed, acceleration in grinding process constantly to undergo mutation, cause servo-drive system input instruction more complicated,
Along with the various disturbing factors such as machine vibration, grinding fluctuation, abrasion of grinding wheel and grinding carriage imbalance affect to make in grinding process
Obtain the larger overshoot of servo-drive system tracking input instruction appearance even unstable.Even if servo-drive system is when specific instruction is tracked
There is little phase error, can result in non-circular profile and produce larger profile error, therefore the tracking of servo-drive system
Performance must is fulfilled for grinding requirement and could improve the profile precision of revolution class non-circular profile part.But in revolution class
In the research process of the grinding X-C linkage motion cuttings control of non-circular profile part and servo system control algorithm, the numerical control grinding height of bed
The encapsulation characteristic of high testing expense, controller and the inconvenience of reality processing condition all greatly constrain X-C connection
Control is coordinated in dynamic processing and the exploitation of tracking control algorithm is debugged, therefore in laboratory conditions to turning round class non-circular profile
Part grinding carries out HWIL simulation research becomes a kind of important means.
Because semi-true object emulation technology can access the Mathematical Modeling to replace appropriate section in kind, motion in analogue system
Close to actual conditions, realize that the control of complex curve high precision tracking provides favourable experiment bar for numerically control grinder servo-control system
Part.Therefore revolution class non-circular grinding grinding machine HWIL simulation emulation platform is designed and built in laboratory conditions, and on this platform
The control algolithm of the tracking performance and quick high accuracy that carry out numerically control grinder servo-drive system carries out theoretical research and emulation, is to improve non-
The control method of circle part profile precision provides certain foundation.
The content of the invention
It is an object of the invention to provide a kind of revolution class non-circular profile part grinding HWIL simulation emulation platform, to solve to turn round class
Control is coordinated in non-circular profile part X-C linkage grindings and control algolithm exploitation debugging can not on grinding machine numerically controlled control system
The problem of realization.
The emulation platform includes control module and motion module, and described control module includes Dspace equipment, data/address bus, control
Device panel processed and simulation computer；Described motion module include motor fixing seat, servomotor, shaft coupling, spring bearing,
Ball-screw, hold-down support, linear electric motors, Circular gratings angel measuring instrument, slide block, line slideway, grating rule displacement sensor
Deng.
Further, it is characterised in that in described control module, Dspace equipment is used to for data signal to be converted into analog signal,
The angular displacement signal of output servomotor and the displacement signal of linear electric motors；The X-C linkage motion cutting models that simulation computer is set up,
The input of on line real time control command signal and output and data acquisition etc., Controlling model can change, for simulating different controls
Non-circular profile part X-C linkage grindings under algorithm.
Further, it is characterised in that described revolution class non-circular profile part grinding semi-physical emulation platform, described motion
The track that block motion is formed is the workpiece to be machined such as revolution such as camshaft, rotary engine inner chamber, bent axle, oval piston
The profile of class non-round accessory.
Further, it is characterised in that the control module and motion module are connected by data/address bus, in described control module,
Dspace equipment, controller panel and simulation computer are connected by data/address bus.In the motion module, servomotor is fixed
In motor fixing seat, it is connected with ball-screw one end by shaft coupling.Ball-screw two ends are by ball-screw support base
Support, and it is parallel with line slideway.Linear electric motors are placed on line slideway, and linear electric motors and ball-screw are connected to one by slide block
Rise.Servomotor fixed seat and line slideway are fixed on pincers worker platform.
Further, it is characterised in that linear electric motors band movable slider does linear reciprocating motion, servomotor drives ball-screw to turn round
Conversion of motion is linear motion, and moving displacement of the linear electric motors with movable slider matches to be formed with the linear motion displacement of ball-screw
Non-circular profile, realizes X-C linkage motion cuttings.
Further, it is characterised in that described motion module is used for simulation revolution class non-circular profile part X in actual grinding
Axle system drives the linear reciprocating motion of grinding carriage and the rotary motion of C axle system workpieces to be machined.Linear electric motors are led along straight line
Rail does linear reciprocating motion, grating rule displacement sensor is housed, for the trace bit on detection of straight lines motor drive direction on line slideway
Move deviation；Servomotor posts Circular gratings angel measuring instrument, for detecting the tracking angle of revolution deviation on servomotor direction.
It is an advantage of the current invention that：The emulation platform can simulate revolution class non-circular profile part X-C linkage Grinding Process,
By change controller model, for simulating different control algolithms under non-circular profile part X-C linkage grinding, can be right
The grinding such as the response speed of servo-drive system, tracking error, profile traces multidate information carries out Real Time Observation in grinding motion, while
The emulation platform can also be used to study impact of the servo-drive system tracking error to profile errors, be to reduce non-circular profile error, carry
The research of high non-round accessory profile precision provides strong experimental basis.
Description of the drawings
Fig. 1 simulation platform structure figures
In figure：
1-Dspace equipment 2- data/address bus 3- controller panel 4- simulation computers
5- motor fixing seat 6- servomotor 7- shaft coupling 8- support bases
9- ball-screw 10- hold-down support 11- slide block 12- linear electric motors
13- pincers worker platform 14- line slideway 15- grating rule displacement sensor 16- Circular gratings angel measuring instruments
Fig. 2 emulation platform motion control flow charts
Specific embodiment
The emulation platform invented is explained in detail below in conjunction with the drawings and specific embodiments.
Fig. 1 represents revolution class non-circular grinding grinding machine HWIL simulation simulation platform structure figure.The emulation platform includes control module and fortune
Dynamic model block, control module includes Dspace equipment 1；Data/address bus 2, for transmitting data information；Controller panel 3, uses
It is input into and output in signal instruction；Simulation computer 4, for creating processing model, on line real time control, data acquisition etc.；
Motor fixing seat 5；Servomotor 6；Shaft coupling 7, for connecting servomotor 6 and ball-screw 9；Support base 8, with axle
Hold bearing to be connected to a fixed ball-screw 9；Ball-screw 9, by the gyration that servomotor is exported linear motion is converted into；Gu
Bearing 10 is determined, for the interaction relation being stably connected between ball-screw and slide block linear electric motors；Slide block 11, according to X-axis straight line
The instruction of motor moves along a straight line；Linear electric motors 12, on line slideway 11；Pincers worker platform 13, for fixing motor
The platform of fixed seat 5 and line slideway 14；Line slideway 14, does back and forth with guide shoe for supporting according to given direction
Linear motion；Grating rule displacement sensor 15, for measuring the straight-line displacement of slide block 11.Circular gratings angel measuring instrument 16, uses
To measure the angular displacement of servomotor 6.
Fig. 2 emulation platform analog simulation control flow charts.Not rounded mill is set up in simulation computer using MATLAB/Simulink
X-C linkage motion cuttings system motion control Simulink Diagram Models during cutting, being generated in Simulink block diagrams by RTW can
After the C code of execution, Dspace equipment and controller board change mouth output voltage signal Jing D/A after C code signal transacting,
Through the power amplification of motor be changed into motion module reception movement instruction, control and export servomotor angular displacement signal and
The displacement signal of linear electric motors, passes through the mutual transmission information of data/address bus between all parts.In motion module, ball-screw
One end is connected by shaft coupling with servomotor, and the gyration that servomotor is exported is converted into linear motion, ball-screw
It is parallel with line slideway, it is ensured that the stationarity of motion, the other end is connected with line slideway by spring bearing and is fixed, servo
After signal is received, servomotor drives ball-screw to move along a straight line for motor and linear electric motors, and linear electric motors band movable slider is straight
Line guide rail does linear reciprocating motion.It is connected by spring bearing between ball-screw and slide block.In motion process, straight-line electric
Machine not input instruction, during servomotor input instruction, described motion module is used to simulate C axle systems band in actual grinding
The rotary motion of dynamic workpiece to be machined.Servomotor not input instruction, during linear electric motors input instruction, described motion module is used
In the linear reciprocating motion for simulating X-axis system drive grinding carriage in actual grinding.Servomotor and linear electric motors are input into simultaneously
During instruction, servomotor drives ball-screw to rotate by shaft coupling, and the slide block on ball-screw does with linear electric motors
Linear motion, the straight-line displacement of linear electric motors matches with the angle displacement of servomotor, realizes the simulation revolution of X-C two-axle interlockings
The actual grinding of class non-round accessory.Grating rule displacement sensor is housed on line slideway, move in X-direction for being detected
Slide block tracks offset deviation；C axle motor posts Circular gratings angel measuring instrument, for detecting servomotor output tracking angle of revolution
Deviation.Grating sensor and the measurement of Circular gratings angel measuring instrument obtain displacement signal and angular displacement signal, and by the right of Dspace
Interface is answered to be transferred in industrial computer as Real-time Feedback signal.Servomotor, linear electric motors in motion module, line slideway are solid
It is scheduled on pincers worker platform, it is ensured that steady and measurement the accuracy of motion process.
It is exectorial simultaneously in motion module, the ControlDesk Comprehensive Experiment environment softwares in simulation computer are opened, it is soft
Part Navigator Window can show the Dspace platforms and Simulink platforms downloaded, and tool window can be used in accessing
Variable and parameter in Simulink simulation models, software main window can show C in motion module by the instrument face plate set up
The angular displacement curve of axle servomotor output and the displacement curve of X-axis linear electric motors output, by ball-screw in motion module
And the collection of slide block movement data.By Circular gratings angel measuring instrument and the feedback information of grating rule displacement sensor, constantly
The parameter of adjustment non-circular profile part X-C linkage motion cutting simulation model controllers, C axles and X-axis tracking in observation instrument face plate is missed
Difference curve and Noncircular profile curve.The emulation platform can also change linkage motion cutting controller model by simulation computer, use
The X-C linkage grindings of the non-circular profile part under to simulate different control algolithms.
The semi-physical emulation platform of the present invention realizes the tracking control algorithm debugging of revolution class non-circular profile part linkage motion cutting system
Simulated experiment, its structure is novel, is not required to expend substantial amounts of manpower and materials, and debugging is convenient.Can under safe and reliable experiment condition,
Emulated for various revolution class non-circular profile part grindings, by analog simulation, non-round accessory can be really presented
Grinding multidate information change in grinding process, can give full play to virtual machine modeling and simulating and build with grinding machine simulated scenario again
Advantage, the present invention can be that the tracing control of servo-drive system in revolution class non-circular profile part grinding process be tested and be provided and accurately survey
Amount result, can largely save the R＆D cycle of control algolithm, while saving debugging cost, real-time is good, with compared with
Accurately control effect and autgmentability.To realize the stability contorting of non-circular profile class part high-speed grinding process, improving non-round accessory
Profile precision and production efficiency provide it is important experiment support.
Claims (6)
1. a kind of revolution class non-circular profile part is ground semi-physical emulation platform, and the emulation platform includes control module and motion module,
Described control module includes Dspace equipment, data/address bus, controller panel and simulation computer；Described motion module bag
Include motor fixing seat, servomotor, shaft coupling, spring bearing, ball-screw, fixed support, linear electric motors, Circular gratings angle
Degree measuring instrument, slide block, line slideway, grating rule displacement sensor etc., control module can be used to create the control of non-circular profile part
Simulation, motion module realizes that X-C links to form non-circular profile track according to the Controlling model motion set up.Control module
Pass through the mutual transmission information of data/address bus with motion module.
2. it is as claimed in claim 1 to turn round class non-circular profile part grinding semi-physical emulation platform, it is characterised in that described
Control module in, machining control model can be set up by simulation computer according to the profile characteristic of non-round accessory, Controlling model can
With change, for simulating different control algolithms under non-circular profile part X-C linkage grinding.
3. it is as claimed in claim 1 to turn round class non-circular profile part grinding semi-physical emulation platform, it is characterised in that described
Motion module move the track to be formed for workpiece to be machined such as camshaft, rotary engine inner chamber, bent axle, oval piston etc.
The profile of revolution class non-round accessory.
4. it is as claimed in claim 1 to turn round class non-circular profile part grinding semi-physical emulation platform, it is characterised in that described
In motion module, servomotor is fixed in motor fixing seat, is connected with ball-screw one end by shaft coupling.Ball-screw
Two ends support seat supports by ball-screw, and parallel with line slideway.Linear electric motors are placed on line slideway, and slide block will be straight
Line motor and ball-screw link together.Servomotor fixed seat and line slideway are fixed on pincers worker platform.
5. it is as claimed in claim 1 to turn round class non-circular profile part grinding semi-physical emulation platform, it is characterised in that straight line
Motor not input instruction, during servomotor input instruction, described motion module is used to simulate C axle systems in actual grinding
Drive the rotary motion of workpiece to be machined.Servomotor not input instruction, during linear electric motors input instruction, described motion module
The linear reciprocating motion of X-axis system drive grinding carriage in for simulating actual grinding.
6. it is as claimed in claim 1 to turn round class non-circular profile part grinding semi-physical emulation platform, it is characterised in that servo
Motor and linear electric motors simultaneously input instruction when, servomotor is rotated by shaft coupling drive ball-screw, ball-screw
On slide block move along a straight line with linear electric motors, the straight-line displacement of linear electric motors matches with the angle displacement of servomotor, real
The actual grinding of existing X-C two-axle interlockings simulation revolution class non-round accessory.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510753299.2A CN106681271A (en) | 2015-11-09 | 2015-11-09 | Rotary-type noncircular profile part abrasive machining semi-physical simulation platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510753299.2A CN106681271A (en) | 2015-11-09 | 2015-11-09 | Rotary-type noncircular profile part abrasive machining semi-physical simulation platform |
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| CN106681271A true CN106681271A (en) | 2017-05-17 |
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| CN201510753299.2A Pending CN106681271A (en) | 2015-11-09 | 2015-11-09 | Rotary-type noncircular profile part abrasive machining semi-physical simulation platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115077426A (en) * | 2022-07-14 | 2022-09-20 | 上海隐冠半导体技术有限公司 | Angular displacement measuring device and angular displacement measuring method |
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2015
- 2015-11-09 CN CN201510753299.2A patent/CN106681271A/en active Pending
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| CN101982265A (en) * | 2010-10-27 | 2011-03-02 | 江苏科技大学 | Digital controlled lathe for processing piston with non-circular section |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115077426A (en) * | 2022-07-14 | 2022-09-20 | 上海隐冠半导体技术有限公司 | Angular displacement measuring device and angular displacement measuring method |
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