CN106814703A - A kind of method of high-speed single chip microcontroller control model fast and smooth handoff - Google Patents
A kind of method of high-speed single chip microcontroller control model fast and smooth handoff Download PDFInfo
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- CN106814703A CN106814703A CN201510846552.9A CN201510846552A CN106814703A CN 106814703 A CN106814703 A CN 106814703A CN 201510846552 A CN201510846552 A CN 201510846552A CN 106814703 A CN106814703 A CN 106814703A
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- speed
- single chip
- chip microcontroller
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- control
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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
- G05B19/416—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 control of velocity, acceleration or deceleration
- G05B19/4163—Adaptive control of feed or cutting velocity
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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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34426—Same hardware, servo controller for different control modes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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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)
- Control Of Electric Motors In General (AREA)
Abstract
The present invention relates to a kind of method of high-speed single chip microcontroller control model fast and smooth handoff.After high-speed single chip microcontroller receives the position control instruction that epigyny device sends, judge whether current operation mode is speed control mode；If current operation mode is speed control mode, high-speed single chip microcontroller is switched to quasi- switch mode, and speed value is calculated according to the position control order for receiving；Compare the speed value and the current velocity amplitude of AC servo motor for calculating, it is directly switch to position control mode if speed difference is in the range of handoff-security, remain in that speed control mode carries out speed tracing if speed difference is not in the range of handoff-security, until speed difference is switched to position control mode again in safe range.Pattern switching is carried out in real time the invention enables high-speed single chip microcontroller, it is not necessary to change control parameter, reclosing power supply after deenergization again could change the control model of servo drive unit.
Description
Technical field
The present invention relates to digital control system field, specifically a kind of high-speed single chip microcontroller control model is fast
The method that speed takes over seamlessly.
Background technology
As design and the producer of Digit Control Machine Tool are good to the crudy of lathe, efficiency high, low cost not
Disconnected to pursue, numerical control combined machining machine tool arises at the historic moment.Numerical control combined machining machine tool is automated with modern flexible
Digit Control Machine Tool based on, " concentrating operation, once filling with building-block machine and multi-tool semiautomatic Turret machine tool
Folder realizes multiple operation Compound Machining " theory be to instruct the new class Digit Control Machine Tool that grows up.It is relatively common
Have boring-milling center, turning center, double spindle turning center, turn-milling complex machining center, milling car answer
Close machining center, grinding center, car mill combination machining lathe, the processing of five faces and 5-axis machining center.
Wherein, the Cs axles of the composite numerical control machine tool such as turning center, double spindle turning center, grinding center are all needed
Speed control can be carried out can carry out position control again.Accordingly, it would be desirable to high-speed single chip microcontroller can have
Speed control mode drive shaft motor high-speed smooth is rotated up to processing request, and needs AC servo to drive
Moving cell can have position control mode drive shaft motor completion positioning, orientation, rigid tapping, profile to add
The work such as work.Need high-speed single chip microcontroller in real time in two kinds of controls in the middle of the process of Digit Control Machine Tool
Toggled between molding formula, drive servomotor to complete the processing action specified with corresponding control model.
Switching mode between two kinds of control models is typically to first pass through high-speed single chip microcontroller in speed control mode
Lower driving servomotor slows down and it is slowly run, and then makes AC servo by a series of control flow again
Driver element is switched to position control mode.
In sum, the control of the handoff procedure between two kinds of control models of high-speed single chip microcontroller is to close
Key point, if the process of switching will cause very much lathe vibration influence processing effect soon, and if the mistake of switching
Journey is too slow to influence processing efficiency again.High-speed single chip microcontroller how could be caused in speed control mode and
Quick and smooth is switching to key issue between position control mode.
The content of the invention
For the part of above shortcomings in the prior art, the technical problem to be solved in the present invention is to provide one
The method for planting high-speed single chip microcontroller control model fast and smooth handoff.
The technical scheme that is used to achieve the above object of the present invention is：A kind of high-speed single chip microcontroller control
The method of pattern fast and smooth handoff, comprises the following steps：
After high-speed single chip microcontroller receives the position command value that epigyny device sends, work at present is judged
Whether pattern is speed control mode；
If current operation mode is speed control mode, high-speed single chip microcontroller is switched to quasi- switching mould
Formula, speed value is calculated according to the position control order for receiving；
Compare the speed value and the current velocity amplitude of AC servo motor for calculating, if speed difference
Position control mode is then directly switch in the range of handoff-security, if speed difference is not in handoff-security model
Then remain in that speed control mode carries out speed tracing in enclosing, until speed difference switches again in safe range
To position control mode.
The position control order that the basis is received calculates speed value, specially：
The speed tracing uses following control flow：
The present invention has advantages below and beneficial effect：
1. the present invention can cause that high-speed single chip microcontroller carries out pattern switching in real time, it is not necessary to which exchange is watched
Driver element modification control parameter is taken, reclosing power supply after deenergization again could change servo drive unit
Control model.
2. the present invention can cause that high-speed single chip microcontroller does not need the rotating speed of motor to be reduced near zero-turn speed
Could complete by the switching of speed control mode to position control mode.Therefore, servo drive unit is from speed
Time used by control mode switch to position control mode significantly reduces.
3. the present invention can cause that high-speed single chip microcontroller completes speed control mould when motor is any rotating speed
The switching that formula is smoothed to position control mode, does not have the obvious fluctuation of speed.
Brief description of the drawings
Fig. 1 is high-speed single chip microcontroller switch mode structure chart in the present invention；
Fig. 2 is high-speed single chip microcontroller speed/positional control mode switch control structure figure in the present invention；
Fig. 3 is high-speed single chip microcontroller speed/positional mode switching program flow chart in the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail.
As Figure 1-3, the present invention includes：
1. the command type that high-speed single chip microcontroller sends according to the epigyny device for receiving sets programme-control
The path of selecting switch selection, is switched to corresponding control model in real time.
2. assume that current high-speed single chip microcontroller is in speed control mode, now high-speed single chip microcontroller
The position command value that epigyny device sends is received, then high-speed single chip microcontroller is first switched to speed in real time
Quasi- switch mode of the control mode switch to position control mode.
3. the position command value that high-speed single chip microcontroller sends according to numerical control device calculates speed command
Value.
4. the speed value that will be calculated in the quasi- switch mode of high-speed single chip microcontroller is watched with exchange
The current speed value for taking motor makes the difference.
If 5. speed difference is not within the scope of handoff-security, high-speed single chip microcontroller maintains speed
Control carries out speed tracing.
6. within the scope of speed difference enters handoff-security, then high-speed single chip microcontroller is immediately switched to position
Put control model.Handoff-security scope can rationally be set by the parameter of high-speed single chip microcontroller.
Claims (3)
1. a kind of method of high-speed single chip microcontroller control model fast and smooth handoff, it is characterised in that comprise the following steps：
After high-speed single chip microcontroller receives the position command value that epigyny device sends, judge whether current operation mode is speed control mode；
If current operation mode is speed control mode, high-speed single chip microcontroller is switched to quasi- switch mode, and speed value is calculated according to the position control order for receiving；
Compare the speed value and the current velocity amplitude of AC servo motor for calculating, it is directly switch to position control mode if speed difference is in the range of handoff-security, remain in that speed control mode carries out speed tracing if speed difference is not in the range of handoff-security, until speed difference is switched to position control mode again in safe range.
2. the method for a kind of high-speed single chip microcontroller control model fast and smooth handoff according to claim 1, it is characterised in that the position control order that the basis is received calculates speed value, specially：
。
3. the method for a kind of high-speed single chip microcontroller control model fast and smooth handoff according to claim 1, it is characterised in that the speed tracing uses following control flow：
。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510846552.9A CN106814703A (en) | 2015-11-27 | 2015-11-27 | A kind of method of high-speed single chip microcontroller control model fast and smooth handoff |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510846552.9A CN106814703A (en) | 2015-11-27 | 2015-11-27 | A kind of method of high-speed single chip microcontroller control model fast and smooth handoff |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106814703A true CN106814703A (en) | 2017-06-09 |
Family
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|---|---|---|---|
| CN201510846552.9A Pending CN106814703A (en) | 2015-11-27 | 2015-11-27 | A kind of method of high-speed single chip microcontroller control model fast and smooth handoff |
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| CN (1) | CN106814703A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108762064A (en) * | 2018-06-13 | 2018-11-06 | 武汉久同智能科技有限公司 | A kind of rate smoothing method of servo-driver |
| CN108762196A (en) * | 2018-05-29 | 2018-11-06 | 云科智能伺服控制技术有限公司 | Servo-drive, motion control method, system, terminal and the numerically-controlled machine tool of Tai Wei mechanisms |
| CN109212967A (en) * | 2018-08-22 | 2019-01-15 | 浙江大学 | A kind of online track smoothing switching method of hydraulic material testing machine control model |
| CN110703683A (en) * | 2019-09-26 | 2020-01-17 | 天津市天森智能设备有限公司 | Numerical control system single-axis error adjusting algorithm based on speed step |
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| US4689540A (en) * | 1983-05-31 | 1987-08-25 | Sharp Kabushiki Kaisha | Position control in a D.C. motor |
| US5021898A (en) * | 1987-11-10 | 1991-06-04 | Kabushiki Kaisha Toshiba | Head positioning control method and apparatus |
| JPH07241093A (en) * | 1994-02-25 | 1995-09-12 | Toshiba Corp | Motor controller |
| CN101320955A (en) * | 2007-06-05 | 2008-12-10 | 发那科株式会社 | Electric motor control device |
| CN101458509A (en) * | 2007-12-13 | 2009-06-17 | 发那科株式会社 | Numerical controller having control mode switching function |
| CN102284965A (en) * | 2010-06-17 | 2011-12-21 | 陆生杰 | Cutting machine |
| CN203003212U (en) * | 2012-11-20 | 2013-06-19 | 芜湖日升重型机床有限公司 | Circuit for improving impact occurrence during fast inching stop of boring machine |
| CN103259470A (en) * | 2012-02-16 | 2013-08-21 | 上海安浦鸣志自动化设备有限公司 | Stepping motor movement system supporting a plurality of working modes |
| CN103457536A (en) * | 2013-09-12 | 2013-12-18 | 南京欧陆电气传动有限公司 | Alternating current servo driver based on current detection and position feedback structure |
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2015
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| US4689540A (en) * | 1983-05-31 | 1987-08-25 | Sharp Kabushiki Kaisha | Position control in a D.C. motor |
| US5021898A (en) * | 1987-11-10 | 1991-06-04 | Kabushiki Kaisha Toshiba | Head positioning control method and apparatus |
| JPH07241093A (en) * | 1994-02-25 | 1995-09-12 | Toshiba Corp | Motor controller |
| CN101320955A (en) * | 2007-06-05 | 2008-12-10 | 发那科株式会社 | Electric motor control device |
| CN101458509A (en) * | 2007-12-13 | 2009-06-17 | 发那科株式会社 | Numerical controller having control mode switching function |
| CN102284965A (en) * | 2010-06-17 | 2011-12-21 | 陆生杰 | Cutting machine |
| CN103259470A (en) * | 2012-02-16 | 2013-08-21 | 上海安浦鸣志自动化设备有限公司 | Stepping motor movement system supporting a plurality of working modes |
| CN203003212U (en) * | 2012-11-20 | 2013-06-19 | 芜湖日升重型机床有限公司 | Circuit for improving impact occurrence during fast inching stop of boring machine |
| CN103457536A (en) * | 2013-09-12 | 2013-12-18 | 南京欧陆电气传动有限公司 | Alternating current servo driver based on current detection and position feedback structure |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108762196A (en) * | 2018-05-29 | 2018-11-06 | 云科智能伺服控制技术有限公司 | Servo-drive, motion control method, system, terminal and the numerically-controlled machine tool of Tai Wei mechanisms |
| CN108762064A (en) * | 2018-06-13 | 2018-11-06 | 武汉久同智能科技有限公司 | A kind of rate smoothing method of servo-driver |
| CN108762064B (en) * | 2018-06-13 | 2022-06-17 | 武汉久同智能科技有限公司 | Speed smoothing method of servo driver |
| CN109212967A (en) * | 2018-08-22 | 2019-01-15 | 浙江大学 | A kind of online track smoothing switching method of hydraulic material testing machine control model |
| CN110703683A (en) * | 2019-09-26 | 2020-01-17 | 天津市天森智能设备有限公司 | Numerical control system single-axis error adjusting algorithm based on speed step |
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Application publication date: 20170609 |