CN107272661A - A kind of numerical control device motion control Performance Test System based on Machine simulation model - Google Patents
A kind of numerical control device motion control Performance Test System based on Machine simulation model Download PDFInfo
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- CN107272661A CN107272661A CN201710619214.0A CN201710619214A CN107272661A CN 107272661 A CN107272661 A CN 107272661A CN 201710619214 A CN201710619214 A CN 201710619214A CN 107272661 A CN107272661 A CN 107272661A
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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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
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
Abstract
The invention belongs to numerical control device motion control performance test field, and disclose a kind of numerical control device motion control Performance Test System based on Machine simulation model.The system includes emulation module, data transmit-receive module, performance evaluation module and result display module, simulation model in emulation module is to carry out real-time simulation to the movement position and dynamic characteristic of each servo feed axle of actual lathe, so as to export the position feedback data of each servo feed axle, data transmit-receive module is used to feedback data being transferred to performance evaluation module；Performance evaluation module carries out the value that analyzing and processing draws each Performance Evaluating Indexes to data, and exports and show by result display module.The present invention utilizes the true mechanical property and kinetic characteristic of Machine simulation model simulated machine tool, and corresponding position feedback data is calculated in real time, eliminate the uncertain influence with the inconsistency of processing characteristics to numerical control device motion control performance measuring and evaluating result of true machine tool system.
Description
Technical field
The invention belongs to numerical control device motion control performance test field, and in particular to be based on Machine simulation model to one kind
Numerical control device motion control Performance Test System.
Background technology
Digit Control Machine Tool is manufacturing basis, is the strategic material of country, and numerical control device is the core group of Digit Control Machine Tool
Into part, the function and performance of Digit Control Machine Tool are decide, is flourished with manufacturing, technical indicator to numerical control device,
Higher requirement is proposed in terms of combination property and reliability, while also promoting numerical control device technical indicator and comprehensive
The development of energy detection level, makes greater efforts to promote under background of the domestic numerical control device development with numerical control device research and development in country, urgently
The equipment for needing energy technical indicator objective, accurate, easily to numerical control device and overall target performance to be detected and evaluated,
Contribute to the product and weak link that understand oneself of the production firm and research and development unit of numerical control device in all directions, in favor of domestic
The raising of numerical control device whole synthesis performance.
The test and appraisal to numerical control device motion control performance typically use the direct processing on Digit Control Machine Tool to possess specific at present
The test specimen of geometric properties, the motion control performance of numerical control device is judged with the final physical dimension of obtained test specimen is processed, but
It is that the final physical dimension of test specimen is influenceed with machining accuracy by multi-party factor, in addition to numerical control device oneself factor, also lathe servo
Measurement error of feed system positions error, geometric precision of machine tool and test specimen etc., the method by processing test specimen on lathe
The motion control performance of numerical control device itself can not be made and evaluated exactly.Accordingly, it would be desirable to set up the imitative of a set of standard machine tool
True mode is used for test to numerical control device motion control performance, so as to avoid lathe itself uncertain factor and processing characteristics
Influence of the inconsistency to numerical control device motion control performance measuring and evaluating result.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the invention provides a kind of number based on Machine simulation model
Control device motion control Performance Test System, by setting up Machine simulation model, thus solve lathe itself uncertain factor and
Processing characteristics inconsistency influences the technical problem of numerical control device motion control performance measuring and evaluating result.
To achieve the above object, according to one aspect of the present invention, there is provided a kind of numerical control based on Machine simulation model
Device motion control Performance Test System, it is aobvious that the system includes emulation module, data transmit-receive module, performance evaluation module and result
Show module, it is characterised in that
The emulation module is simulated actual lathe and is connected with numerical control device to be measured, and it includes multiple simulation models, by connecing
By the director data from the numerical control device to be measured, and according to the simulation model to each servo feed axle of actual lathe
Movement position and dynamic characteristic carry out real-time simulation, so that the position feedback data of each servo feed axle is exported,
Wherein, the simulation model includes servo feed system model, cutting Force Model, NC instruction unit and positional number
According to output unit, the servo feed system model is the main part of the simulation model, and each axle for simulated machine tool is transported
Dynamic characteristic and mechanical property, the cutting Force Model are used for the size for simulating each direction of principal axis cutting force during actual processing, institute
Stating NC instruction unit is used to receive and parse through the director data that the numerical control device to be measured is sent, and the position data exports mould
Block is used to each feed shaft position data that simulation model calculating is obtained being transferred to the data transmit-receive module；
The data transmit-receive module connect the emulation module and with the performance evaluation module, the data transmit-receive module reads
The NC instruction data of numerical control device to be measured and the position feedback data from the emulation module are taken and gathered, and is passed
It is handed to the performance evaluation module；
The performance evaluation module is connected with the result display module, and the performance evaluation module receives the data transmit-receive
The data of module, and the data are analyzed and processed according to performance indications detecting and evaluating algorithms, so as to show that each performance evaluation refers to
Target value, and export and show by result display module, thus complete the test and appraisal to numerical control device motion control performance to be measured.
It is further preferred that the servo feed system model be multiple-axis servo feed system, it include three translations with
Two rotation feed shafts, each rotary shaft is a single-axis servo feed system model.
It is further preferred that structure of the single-axis servo feed system model according to actual lathe servo feed system
It is modeled with kinetic characteristic, including position ring controller, speed ring controller, current loop controller and servo feed system
Mechanical ＆ Electrical Transmission part.
It is further preferred that the servo feed system Mechanical ＆ Electrical Transmission part include motor, it is ball screw system, non-linear
Friction, Coupling Clearance.
It is further preferred that the high-speed field bus main website card based on EPA is provided with numerical control device to be measured,
The simulation model is run in real-time simulation board, is set in the test device hardware platform for being provided with the real-time simulation board
The slave stations of high-speed field bus card based on EPA is equipped with, so as to realize between numerical control device to be measured and the simulation model
Data interaction.
It is further preferred that the real-time simulation process of the simulation model based on high-speed dsp and the real-time of FPGA by being imitated
True board is realized.
In general, by the contemplated above technical scheme of the present invention compared with prior art, it can obtain down and show
Beneficial effect：
1st, the present invention is tested numerical control device motion control performance by using the master pattern of actual lathe, and it is surveyed
Test result itself uncertain factor will not be influenceed by different lathes, with higher accuracy and stronger versatility；
2nd, when the present invention is by testing numerical control device motion control performance, based on High Performance DSP and FPGA
Carry out online motion simulation using Machine simulation model in real-time simulation board, with it is real-time the characteristics of；
3rd, the test system that the present invention is provided employs the method for testing based on lathe model, the data between numerical control device
Interaction is realized using high-speed field bus, it is not necessary to excessive external equipment and interface, with digitized degree height, integration
Good, low testing cost, small volume, be easy to carry, it is easy for operation the advantages of；
4th, the test system that the present invention is provided utilizes location following error and profile of the Machine simulation model to numerical control device
The motion control performance indications such as control error are tested, and the parameter of used Machine simulation model is all from actual machine
Bed, user according to demand can download to each parameter of actual lathe by test and evaluation software the machine simulation mould of real-time simulation board
It is practical among type；
5th, the Performance Test System that the present invention is provided is not limited by processing conditions and place, is easily ground in numerical control device
Hair laboratory, manufacture workshop and Digit Control Machine Tool Commissioning field are used, applied widely.
Brief description of the drawings
Fig. 1 is according to the numerical control device motion control based on Machine simulation model constructed by the preferred embodiments of the present invention
The structural representation of Performance Test System；
Fig. 2 is the overall construction drawing according to the simulation model constructed by the preferred embodiments of the present invention；
Fig. 3 is according to the single-axis servo feeding system structure figure constructed by the preferred embodiments of the present invention；
Fig. 4 is according to the Mechanical ＆ Electrical Transmission model structure schematic diagram constructed by the preferred embodiments of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Not constituting conflict each other can just be mutually combined.
Fig. 1 is according to the numerical control device motion control based on Machine simulation model constructed by the preferred embodiments of the present invention
The structural representation of Performance Test System, as shown in figure 1, a kind of numerical control device motion control performance based on Machine simulation model
Test system, is tested in numerical control device equipped with the high-speed field bus main website card based on EPA, test device hardware
The main part of platform is a portable industrial pc, and the slave stations of high-speed field bus based on EPA is provided with inside it
Being downloaded in card, and the real-time simulation board based on High Performance DSP and FPGA, simulation card has Machine simulation model, can simulate
The true mechanical property of lathe carries out real-time simulation with kinetic characteristic.Test and evaluation software system is by data transmit-receive module, performance evaluation
Module is constituted with the part of result display module three, by based on EPA between test device hardware platform and numerical control device
High-speed field bus carry out data interaction.
Machine simulation model is built in the Simulink modeling and simulations tool box of Matlab softwares, passes through RTW afterwards
Function is translated into the C programmer that may be used as embedded development.Machine simulation model after sequencing is downloaded into base
In High Performance DSP (Digital Signal Processing) and FPGA (Field-Programmable Gate Array)
Real-time simulation board in, just can slave station clamping is received in read test device hardware platform in real time NC instruction data,
And online real-time simulation is carried out, while the position feedback data that emulation is obtained exports and gives test and evaluation software system.
The groundwork of test and evaluation software system is to obtain the NC instruction that slave station clamping is received in test device hardware platform
The position feedback data that data are exported with Machine simulation model, binding test NC legends, according to numerical control device motion control
The test evaluation algorithm of energy index carries out analytic operation to acquired data, draws the value of each performance indications, and pass through result
Display module is exported to the man-machine interface of test and evaluation software system.
Fig. 2 is the overall construction drawing according to the simulation model constructed by the preferred embodiments of the present invention；
As shown in Fig. 2 Machine simulation model is by lathe servo feed system model, cutting Force Model, NC instruction module
And position data output module composition.Wherein, lathe servo feed system model is the main part of Machine simulation model, by
Three translation feed shafts and two rotation feed shaft compositions, each feeding shaft model is exactly a single-axis servo feed system mould
Type, lathe servo feed system model is used for each axle kinetic characteristic and mechanical property for simulating five-axis machine tool；Cutting Force Model is used
The size of each direction of principal axis cutting force during simulation actual processing；NC instruction module is used to receive and parse through numerical control device hair
The director data come, and position command data transfer therein is used for each feeding shaft position to lathe servo feed system model
Real-time simulation, while by the information transmissions such as cutting depth and feed speed to cutting Force Model be used for calculate cutting for each direction of principal axis
Cut power size.Position data output module is used to each feed shaft position data that Machine simulation model calculating is obtained being transferred to survey
Comment the data transmit-receive module of software systems；Each parameter of Machine simulation model is all from actual lathe, can be in test and evaluation software system
In lathe model parameter is selected, set and downloaded.
Fig. 3 be according to the single-axis servo feeding system structure figure constructed by the preferred embodiments of the present invention, as shown in figure 3,
The single-axis servo feed system of Machine simulation model mainly includes：Position ring controller, speed ring controller, current loop control
Device and servo feed system Mechanical ＆ Electrical Transmission model.Wherein, position ring controller, speed ring controller and current loop controller
Design and realize all in accordance with classical PID control theory.The input of single-axis servo feed system be position command information and cutting force, its
It is output as emulating the obtained axle actual position information.Position ring controller is calculated according to the location of instruction with actual position information
Position controls output quantity, and speed ring controller is transferred to as speed ring instruction input.Speed ring controller is according to receiving
The values for actual speed of command speed and feedback calculates speed ring control output quantity, and electricity is transferred to as the instruction input of electric current loop
Flow ring controller.Current loop controller is used to control current of electric in the Mechanical ＆ Electrical Transmission model in single-axis servo feed system big
It is small.Servo feed system Mechanical ＆ Electrical Transmission model is according to the motor of the output quantity and cutting force of current loop controller to servo-drive system
Operating position carries out simulation calculation in electric current, motor speed and ball screw system, and by these feedback of the information to corresponding
Electric current loop, speed ring and position ring controller.
Fig. 4 be according to the Mechanical ＆ Electrical Transmission model structure schematic diagram constructed by the preferred embodiments of the present invention, as shown in figure 4,
Servo feed system Mechanical ＆ Electrical Transmission model includes again：Motor model, motor friction model, Coupling Clearance model, ball-screw
System model.Wherein, motor model is used for the control instruction signal u exported according to current loop controllerqWith loading moment TLCalculate
Rotational speed omega in motor operation coursemWith electric current iq；Motor friction model is mainly used in the non-linear friction effect in working motor
It should be emulated and be calculated and obtain moment of friction TF0；Coupling Clearance model is mainly to due to non-linear caused by Coupling Clearance
Effect is modeled and simulation calculation；Ball screw system model is used for according to the torque T acted on leading screwNCalculate ball wire
Leading screw rotational angle theta in thick stick motion process1And operating position x information.
Below to the workflow of the numerical control device motion control Performance Test System based on Machine simulation model of the invention
Journey is illustrated.
First, by being operated in test and evaluation software system, the NC examples that control numerical control device operation is specified.Afterwards,
Test device hardware platform gathers the director data that numerical control device is sent by high-speed field bus, and sends it to imitative in real time
True board, the motion simulation of each servo feed axle of lathe is carried out using Machine simulation model, the position feedback data of each axle is obtained.
Test and evaluation software system reads the position that the NC instruction data collected and Machine simulation model are exported by data transmit-receive module
Feedback data is put, and is passed to performance evaluation module, test data is carried out at analysis according to performance indications detecting and evaluating algorithms
Reason, draws the value of each Performance Evaluating Indexes, and is exported by result display module to test and evaluation software man-machine interface, completes to numerical control
The test and appraisal of device motion control performance.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not used to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., it all should include
Within protection scope of the present invention.
Claims (6)
1. a kind of numerical control device motion control Performance Test System based on Machine simulation model, the system include emulation module,
Data transmit-receive module, performance evaluation module and result display module, it is characterised in that
The emulation module is simulated actual lathe and is connected with numerical control device to be measured, and it includes multiple simulation models, by receive come
From the director data of the numerical control device to be measured, and the motion according to the simulation model to each servo feed axle of actual lathe
Position and dynamic characteristic carry out real-time simulation, so that the position feedback data of each servo feed axle is exported,
Wherein, the simulation model is defeated including servo feed system model, cutting Force Model, NC instruction unit and position data
Go out unit, the servo feed system model is the main part of the simulation model, and each axle for simulated machine tool moves special
Property and mechanical property, the cutting Force Model is used for the size for simulating each direction of principal axis cutting force during actual processing, the number
Control command unit is used to receive and parse through the director data that the numerical control device to be measured is sent, and the position data output module is used
The data transmit-receive module is transferred in each feed shaft position data for obtaining simulation model calculating；
The data transmit-receive module connect the emulation module and with the performance evaluation module, the data transmit-receive module read and
The NC instruction data of numerical control device to be measured and the position feedback data from the emulation module are gathered, and is passed to
The performance evaluation module；
The performance evaluation module is connected with the result display module, and the performance evaluation module receives the data transmit-receive module
Data, and the data are analyzed and processed according to performance indications detecting and evaluating algorithms, so as to draw each Performance Evaluating Indexes
Value, and export and show by result display module, thus complete the test and appraisal to numerical control device motion control performance to be measured.
2. a kind of numerical control device motion control Performance Test System based on Machine simulation model as claimed in claim 1, its
It is characterised by, the servo feed system model is multiple-axis servo feed system, it includes three translations and two rotate feeding
Axle, each rotary shaft is a single-axis servo feed system model.
3. a kind of numerical control device motion control Performance Test System based on Machine simulation model as claimed in claim 2, its
It is characterised by, the single-axis servo feed system model enters according to the structure of actual lathe servo feed system with kinetic characteristic
Row modeling, including position ring controller, speed ring controller, current loop controller and servo feed system Mechanical ＆ Electrical Transmission portion
Point.
4. a kind of numerical control device motion control Performance Test System based on Machine simulation model as claimed in claim 3, its
It is characterised by, the servo feed system Mechanical ＆ Electrical Transmission part includes motor, ball screw system, non-linear friction, shaft coupling
Gap.
5. a kind of numerical control device motion control performance test based on Machine simulation model as described in claim any one of 1-4
System, it is characterised in that the real-time simulation process of the simulation model is realized by the real-time simulation card based on DSP and FPGA.
6. a kind of numerical control device motion control Performance Test System based on Machine simulation model as claimed in claim 5, its
It is characterised by, the high-speed field bus main website card based on EPA, the real-time simulation is provided with numerical control device to be measured
The slave stations of high-speed field bus card based on EPA is provided with the test device hardware platform of board, so as to realize to be measured
Data interaction between numerical control device and the simulation model.
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Cited By (6)
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| TWI664513B (en) * | 2017-12-22 | 2019-07-01 | 財團法人工業技術研究院 | Tool machine servo control simulation device and establishing method of structure model |
| CN109960832A (en) * | 2017-12-22 | 2019-07-02 | 财团法人工业技术研究院 | Tune machine method and its tune machine system and simulation unit and emulation mode |
| US10613511B2 (en) | 2017-12-22 | 2020-04-07 | Industrial Technology Research Institute | Tool machine servo control simulation device and establishing method of structure model |
| CN111027194A (en) * | 2019-12-02 | 2020-04-17 | 珠海格力智能装备有限公司 | Debugging method and device for machine tool |
| CN113448890A (en) * | 2021-07-12 | 2021-09-28 | 贾晶艳 | Distributed simulation system and control method |
| JP7199616B1 (en) * | 2022-05-18 | 2023-01-05 | 三菱電機株式会社 | Machining result evaluation device, machining result evaluation method, machining condition determination device, and machining condition determination method |
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