CN108983699A - Three-axis numerical control drilling machine control system and its control method based on PLC - Google Patents
Three-axis numerical control drilling machine control system and its control method based on PLC Download PDFInfo
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- CN108983699A CN108983699A CN201811114491.7A CN201811114491A CN108983699A CN 108983699 A CN108983699 A CN 108983699A CN 201811114491 A CN201811114491 A CN 201811114491A CN 108983699 A CN108983699 A CN 108983699A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- 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
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
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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
- G05B2219/45—Nc applications
- G05B2219/45136—Turning, lathe
-
- 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
- G05B2219/45148—Boring
-
- 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
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a kind of three-axis numerical control drilling machine control system and its control method based on PLC, including host computer, start and stop key, acoustic-optic alarm, frequency converter, three motor servo drivers, three servo motors, one alternating current generator, modular communication apparatus and PLC, the host computer uses PC machine, the PLC includes power supply, backboard rack, CPU, digital input module, digital output module, control net module, SERCOS interface and Ethernet interface, the Ethernet interface that the PC machine passes through Enternet connection PLC, three motor servo drivers drive a servo motor to realize control by SERCOS communication line respectively, frequency converter is communicated by the control net module on PLC with frequency converter, frequency converter passes through the exchange electro ultrafiltration alternating current generator after frequency conversion, Realize AC speed regulating.
Description
Technical field
The present invention relates to a kind of three-axis numerical control drilling machine automatic control devices, more particularly, to a kind of three number of axle based on PLC
Control drilling machine control system and its control method.
Background technique
Numerical control drilling machine is the abbreviation of numerically controlled drilling machine, is a kind of automated machine tool for having program control system.Numerical control drilling
Bed is mainly used for the processing such as drilling, reaming, fraising, tapping.Nowadays drilling machine technology is on meeting precision, just towards have it is flexible and
The direction improved efficiency is developed.
Summary of the invention
The object of the present invention is to provide a kind of three-axis numerical control drilling machine control system and its control method based on PLC, this is
System is using Rockwell PLC controller as core, by controlling the movement of servo motor and alternating current generator, realizes the position of drill bit respectively
Control and the revolving speed control of drill bit are set, to realize automatic drilling, and guarantees the mobile short line of drill bit, to save the time.
The drilling machine control system designed herein can also automatically switch to order according to the function of instruction realization sequence drilling by hand
Realization manually controls drilling, and realizes optimal route selection.
It is of the existing technology in order to solve the problems, such as, The technical solution adopted by the invention is as follows:
Three-axis numerical control drilling machine control system based on PLC, including host computer, start and stop key, acoustic-optic alarm, frequency conversion
Device, three motor servo drivers, three servo motors, an alternating current generator, modular communication apparatus and PLC, the host computer
Using PC machine, the PLC include power supply, backboard rack, CPU, digital input module, digital output module, control net module,
SERCOS interface and Ethernet interface, Ethernet interface of the PC machine by Enternet connection PLC, three servo motors drives
Dynamic device drives a servo motor to realize control by SERCOS communication line respectively, and frequency converter passes through the control net module on PLC
It is communicated with frequency converter, frequency converter passes through the exchange electro ultrafiltration alternating current generator after frequency conversion, realizes AC speed regulating.
The PLC uses Rockwell PLC；The power supply uses 1756PA72 power module, to defeated to CPU, number
Enter module, digital output module, Ethernet interface, control net module, the power supply of SERCOS interface, the backboard rack is
1756A7, PLC realize power supply by backboard rack, and backboard rack converts the information of modules；The CPU is used
1756-L61 realizes output to light warning and audible alarm, and light warning accesses lamp, the external electric bell of audible alarm；Control net
Module is used to communicate frequency converter and PLC, and then realizes that PLC controls the revolving speed of alternating current generator, realizes bit part
Rotation；SERCOS interface, by the position control of servo motor, realizes the position control of drill bit for controlling three servo motors
System；Ethernet interface realizes information exchange for realizing the communication between PC machine, touch screen, PLC.
The PC machine installs application software RSLogix5000, RSview, is compiled by RSLogix5000 software realization to PLC
Journey is realized by ethernet network and is communicated, by the editor of RSview software realization host computer interface, realizes data by PC machine
Real time monitoring on the screen.
The movement of the alternating current generator, by the communication of PLC and frequency changer, is realized by ACasynchronous motor drive
PLC controls alternating current generator, realizes speed regualtion of AC motor.
The PLC selects controllogix control system, realizes the communication between PC machine and PLC, and PLC and frequency converter are logical
It crosses DeviceNet to be communicated, ethernet communication module and equipment network communication module is added in controller rack.
The control method of the three-axis numerical control drilling machine control system based on PLC, comprising the following steps:
1. device for opening switchs, PLC starts to work；
2. whether bit change then starts to drill if you do not need to changing for system interrogation；If necessary to bit change, then bit change,
Start to drill after changing finishing drilling head；
3. system interrogation whether there is next hole location, if it does not exist, then terminating；
4. then calculate next hole location if there is next hole location, and repeat step 2. -4..
4. the step is calculated next hole location and is realized using bubble sort.
The bubble sort includes the following steps:
1. more adjacent element.If first bigger than second, them are just exchanged two；
2. same work is done to every a pair of of adjacent element, from start first pair to ending last is right, in this point,
Last element should be able to be the largest number；
3. for step more than all element repetitions, in addition to the last one；
4. continuing to repeat above step to element less and less every time, until no any pair of number needs to compare
Compared with.
The moving track calculation of the drill bit the following steps are included:
During the motion, corresponding mathematical model is established, cartesian coordinate system is established, lower-left angle point is origin respectively,
Three axis are set as X-axis, Y-axis and Z axis, are set as spatial movement point with drill bit point, indicate in vector form here, if drill bit is transported
The abscissa of dynamic point is X0, ordinate Y0, ordinate Z0, establish four dimensional vector P [X0,Y0,Z0, 1], it is moved in each axis direction
It is dynamic, vector can be converted accordingly by way of matrixing；
If needing P point moving 10 units along X-direction, it is only necessary to by vector multiplied by corresponding after PLC is calculated
Transformation matrix:
Since it is desired that considering the relationship of speed and position, i.e., the integral of speed is distance, so needing to calculate per a period of time
The speed at quarter；
So needing each moment to calculate corresponding speed PLC:
It is obtained by above-mentioned formula, by obtained hole location information, calculates the speed of servo motor at this time: for example boring at this time
Head point vector is [X, Y, Z, 1], and target point vector is [X, Y, Z, 1], the vector of origin-to-destination are as follows:
[X1,Y1,Z1,1]-[X0,Y0,Z0, 1] and=[X1-X0,Y1-Y0,Z1-Z0,0] (4)
At this point, expectation origin-to-destination is with fixed speed V0It is mobile, so needing to calculate V0In point of X-axis, Y-axis and Z axis
Amount, wherein vector field homoemorphism is long are as follows:
So the velocity component of X-axis, Y-axis, Z axis is respectively are as follows:
By being configured to Double position loop using Rockwell PLC and matched servo motor, internal servo-system
Servo can realize SERVO CONTROL so only needing to be configured to real-time speed in corresponding register；Assuming that three axial filament thick sticks
Lead be l0, servo motor rotates a circle umber of pulse as n, then corresponding speed is reflected in the umber of pulse in the unit time
n0, the unit time is set as t here, sliding-model control is considered here, so having:
The calculating process of P LC is discrete calculation, is not continuous, but timing discrete calculation, and interval time is identical,
The program scan period is set as 1ms in the design, i.e. unit time t is 1ms, and the servo motor umber of pulse that rotates a circle is that n is
The every circle of 200000 pulses, guide screw lead are designed as 10mm, and the speed of service is unified with fixed speed 50mm/s operation here；In this way may be used
To calculate the corresponding umber of pulse of moving distance；Here due in the control program of PLC, it is only necessary to real-time speed is set,
So discretization formula are as follows:
K0[X0,Y0,Z0, 1] and moment point position thus, K1[X0,Y0,Z0, 1] and it is last moment point position, in transformation matrix,
Vectorial coordinate in each axis component is beginning and end vector, and M is that starting and terminal point vector mould is long；V0For actual speed.
Advantage for present invention and beneficial effect are: a kind of three-axis numerical control drilling machine based on PLC of the present invention controls system
System, can be calculated the optimal ordering of drilling sequences, optimal ordering is transmitted to PLC by Industrial Ethernet, PLC will be crucial
Information preservation controls the movement of servo motor and alternating current generator in newly-built structure body array, and according to corresponding sequence, point
Not Shi Xian the position control of drill bit and the revolving speed control of drill bit, to realize automatic drilling, and guarantee the mobile shortest path of drill bit
Journey, to save the time.The drilling machine control system that the present invention designs can also lead to according to the function of instruction realization sequence drilling
It receives and distributes automatic switchover order realization and manually controls drilling, and realize optimal route selection.
Detailed description of the invention
Fig. 1 is a kind of structural block diagram of the three-axis numerical control drilling machine control system based on PLC of the present invention；
Fig. 2 is PLC hardware connection figure；
Fig. 3 is the program flow diagram that PLC is automatically controlled；
Fig. 4 is host computer bubbling program flow diagram.
Specific embodiment
In order to further illustrate the present invention, the present invention is described in detail with reference to the accompanying drawings and embodiments, but not
They can be interpreted as limiting the scope of the present invention.
As shown in Figure 1, the present invention is based on the three-axis numerical control drilling machine control system of PLC, including host computer, start and stop key, sound
Light warning device, frequency converter, three motor servo drivers, three servo motors, an alternating current generator, modular communication apparatus and
PLC。
The host computer uses PC machine 1, installs application software RSLogix5000, RSview, soft by RSLogix5000
Part, which is realized, programs PLC, is realized and is communicated by ethernet network, the editor of RSview software realization host computer interface, by upper
Position machine realizes the real time monitoring of data on the screen.
As shown in Fig. 2, the PLC includes power supply, backboard rack, CPU, digital input module 2, digital output module 3, control
Net module 4, SERCOS interface 5 and Ethernet interface 6 processed.The PLC uses Rockwell PLC, and the power supply uses
1756PA72 power module, to CPU, digital input module, digital output module, Ethernet interface, control net module,
The power supply of SERCOS interface, is realized by backboard rack 1756A7 and is powered, and backboard rack 1756A7 not only realizes function of supplying power, will also
The information of modules is converted, i.e. core bus function.CPU realizes light warning and audible alarm using 1756L61
Output, light warning need to access lamp, and audible alarm needs external electric bell, control net module 1756CNB be used for frequency converter with
PLC communication, and then realize that PLC controls the revolving speed of alternating current generator, realize the rotation of bit part；SERCOS interface uses
1756Mouse SERCOS module passes through the position of servo motor for controlling three servo motors, i.e. X, Y, Z axis servo motor
Control, realizes the position control of drill bit；Ethernet interface use 1756ENBT module, for realizing PC machine, touch screen, PLC it
Between communication, realize information exchange.The central processing unit of PLC, extraneous collected signal are calculated by internal processes, will
As a result it exports, wherein the image register of input/output port and internal register are main operation object.
PLC hardware module type selecting is as shown in table 1 below:
1 PLC of table and module table
It is as shown in table 2 that PLC digital quantity inputs allocation table:
2 PLC digital quantity of table inputs allocation table
PLC digital output allocation table is as shown in table 3:
3 PLC digital output allocation table of table
Ethernet interface of the PC machine by Enternet connection PLC, three ULTRA3000-SE servo motor drivings
Device 9 drives a servo motor 11 to realize control by SERCOS communication line 10 respectively, and SERCOS communication line is fiber optic communication, leads to
It crosses 1756Mouse SERCOS module connection motor servo driver and is being connected to motor realization SERVO CONTROL, Powerfelx40
Frequency converter 8 is communicated by the control net module 1756CNB on PLC with frequency converter Powerfelx40, Powerfelx40 frequency converter
Exchange electro ultrafiltration alternating current generator after through frequency conversion realizes AC speed regulating.
PC machine and PLC are communicated using Industrial Ethernet, and the PLC selects controllogix control system 7, realize PC machine
Communication between PLC, PLC are communicated with frequency converter by DeviceNet, add ethernet communication in controller rack
Module and equipment network communication module.
The movement of the alternating current generator, by the communication of PLC and frequency changer, is realized by ACasynchronous motor drive
PLC controls alternating current generator, realizes speed regualtion of AC motor.
The start and stop key, acoustic-optic alarm are mainly to be realized by the input and output of digital quantity, be may be implemented
The functions such as equipment emergency stop, by the monitoring to control object, to guarantee the safe and stable operation of object.When equipment work is in it
When abnormality, internal sensor will detect that the part of generation problem and timely arrestment and in the form of alarm
To notify related personnel to carry out relevant issue handling.
The servo motor can make control speed, position precision is very accurate, voltage signal can be converted to torque and
Revolving speed is with drive control object.Servo motor rotor revolving speed is controlled by input signal, and energy fast reaction, in automatic control system
In, it is used as executive component, and there are the characteristics such as electromechanical time constant small, the linearity is high, pickup voltage, it can be the telecommunications received
The angular displacement number being converted on motor reel or angular speed output.It is divided into direct current and AC servomotor two major classes, it is main
Feature is, when signal voltage is zero without rotation phenomenon, revolving speed uniform descent with the increase of torque.
As shown in figure 3, the control method of the three-axis numerical control drilling machine control system based on PLC, comprising the following steps:
1. device for opening switchs, PLC starts to work；
2. whether bit change then starts to drill if you do not need to changing for system interrogation；If necessary to bit change,
Then bit change starts to drill after changing finishing drilling head；
3. system interrogation whether there is next hole location, if it does not exist, then terminating；
4. then calculate next hole location if there is next hole location, and repeat step 2. -4..
4. the step is calculated next hole location and is realized using bubble sort.
As shown in figure 4, the bubble sort includes the following steps:
1. more adjacent element.If first bigger than second, them are just exchanged two.
2. same work is done to every a pair of of adjacent element, from start first pair to ending last is right.In this point,
Last element should be able to be the largest number.
3. for step more than all element repetitions, in addition to the last one.
4. continuing to repeat above step to element less and less every time, until no any pair of number needs to compare
Compared with.
The moving track calculation of the drill bit the following steps are included:
During the motion, corresponding mathematical model is established, cartesian coordinate system is established, lower-left angle point is origin respectively,
Three axis are set as X-axis, Y-axis and Z axis, are set as spatial movement point with drill bit point, indicate in vector form here, if drill bit is transported
The abscissa of dynamic point is X0, ordinate Y0, ordinate Z0, establish four dimensional vector P [X0,Y0,Z0, 1], it is moved in each axis direction
It is dynamic, vector can be converted accordingly by way of matrixing；
If needing P point moving 10 units along X-direction, it is only necessary to by vector multiplied by corresponding after PLC is calculated
Transformation matrix:
Since it is desired that considering the relationship of speed and position, i.e., the integral of speed is distance, so needing to calculate per a period of time
The speed at quarter；
So needing each moment to calculate corresponding speed PLC:
It is obtained by above-mentioned formula, by obtained hole location information, calculates the speed of servo motor at this time: for example boring at this time
Head point vector is [X, Y, Z, 1], and target point vector is [X, Y, Z, 1], the vector of origin-to-destination are as follows:
[X1,Y1,Z1,1]-[X0,Y0,Z0, 1] and=[X1-X0,Y1-Y0,Z1-Z0,0] (4)
At this point, expectation origin-to-destination is with fixed speed V0It is mobile, so needing to calculate V0In point of X-axis, Y-axis and Z axis
Amount, wherein vector field homoemorphism is long are as follows:
So the velocity component of X-axis, Y-axis, Z axis is respectively are as follows:
By being configured to Double position loop using Rockwell PLC and matched servo motor, internal servo-system
Servo can realize SERVO CONTROL so only needing to be configured to real-time speed in corresponding register；Assuming that three axial filament thick sticks
Lead be l0, servo motor rotates a circle umber of pulse as n, then corresponding speed is reflected in the umber of pulse in the unit time
n0, the unit time is set as t here, sliding-model control is considered here, so having:
The calculating process of P LC is discrete calculation, is not continuous, but timing discrete calculation, and interval time is identical,
The program scan period is set as 1ms in the design, i.e. unit time t is 1ms, and the servo motor umber of pulse that rotates a circle is that n is
The every circle of 200000 pulses, guide screw lead are designed as 10mm, and the speed of service is unified with fixed speed 50mm/s operation here；In this way may be used
To calculate the corresponding umber of pulse of moving distance；Here due in the control program of PLC, it is only necessary to real-time speed is set,
So discretization formula are as follows:
K0[X0,Y0,Z0, 1] and moment point position thus, K1[X0,Y0,Z0, 1] and it is last moment point position, in transformation matrix,
Vectorial coordinate in each axis component is beginning and end vector, and M is that starting and terminal point vector mould is long；V0For actual speed.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (9)
1. the three-axis numerical control drilling machine control system based on PLC, it is characterised in that: including host computer, start and stop key, sound-light alarm dress
It sets, frequency converter, three motor servo drivers, three servo motors, an alternating current generator, modular communication apparatus and PLC, it is described
Host computer uses PC machine, and the PLC includes power supply, backboard rack, CPU, digital input module, digital output module, control net
Module, SERCOS interface and Ethernet interface, Ethernet interface of the PC machine by Enternet connection PLC, three servos
Motor driver drives a servo motor to realize control by SERCOS communication line respectively, and frequency converter passes through the control on PLC
Net module is communicated with frequency converter, and frequency converter passes through the exchange electro ultrafiltration alternating current generator after frequency conversion, realizes AC speed regulating.
2. the three-axis numerical control drilling machine control system according to claim 1 based on PLC, it is characterised in that: the PLC is used
Rockwell PLC；The power supply use 1756PA72 power module, to CPU, digital input module, digital output module,
Ethernet interface, control net module, the power supply of SERCOS interface, the backboard rack is 1756A7, and PLC is realized by backboard rack
Power supply, backboard rack convert the information of modules；The CPU uses 1756-L61, to light warning and sound report
Alert to realize output, light warning accesses lamp, the external electric bell of audible alarm；Net module is controlled to be used to communicate frequency converter and PLC, into
And realize that PLC controls the revolving speed of alternating current generator, realize the rotation of bit part；SERCOS interface is watched for controlling three
Motor is taken, by the position control of servo motor, realizes the position control of drill bit；Ethernet interface is for realizing PC machine, touch
Information exchange is realized in communication between screen, PLC.
3. the three-axis numerical control drilling machine control system according to claim 1 based on PLC, it is characterised in that: the PC machine peace
Application software RSLogix5000, RSview is filled, PLC is programmed by RSLogix5000 software realization, passes through ethernet network
It realizes communication, by the editor of RSview software realization host computer interface, the real-time prison of data on the screen is realized by PC machine
Control.
4. the three-axis numerical control drilling machine control system according to claim 1 based on PLC, it is characterised in that: the alternating current
The movement of machine is, by the communication of PLC and frequency changer, to realize that PLC controls alternating current generator by ACasynchronous motor drive, realize
Speed regualtion of AC motor.
5. the three-axis numerical control drilling machine control system according to claim 1 based on PLC, it is characterised in that: the PLC is selected
Controllogix control system, realizes the communication between PC machine and PLC, and PLC is led to frequency converter by DeviceNet
News add ethernet communication module and equipment network communication module in controller rack.
6. the control method of the three-axis numerical control drilling machine control system according to claim 1 based on PLC, it is characterised in that packet
Include following steps:
1. device for opening switchs, PLC starts to work；
2. whether bit change then starts to drill if you do not need to changing for system interrogation；If necessary to bit change, then bit change, has been changed
Start to drill after drill bit；
3. system interrogation whether there is next hole location, if it does not exist, then terminating；
4. then calculate next hole location if there is next hole location, and repeat step 2. -4..
7. the control method of the three-axis numerical control drilling machine control system according to claim 6 based on PLC, it is characterised in that:
4. the step is calculated next hole location and is realized using bubble sort.
8. the control method of the three-axis numerical control drilling machine control system according to claim 7 based on PLC, it is characterised in that:
The bubble sort includes the following steps:
1. more adjacent element.If first bigger than second, them are just exchanged two；
2. same work is done to every a pair of of adjacent element, from start first pair to ending last is right, in this point, finally
Element should be able to be the largest number；
3. for step more than all element repetitions, in addition to the last one；
4. continuing to repeat above step to element less and less every time, until no any pair of number needs to compare.
9. the control method of the three-axis numerical control drilling machine control system according to claim 6 based on PLC, it is characterised in that:
The moving track calculation of the drill bit the following steps are included:
During the motion, corresponding mathematical model is established, establishes cartesian coordinate system, lower-left angle point is origin respectively, three
Axis is set as X-axis, Y-axis and Z axis, is set as spatial movement point with drill bit point, indicates in vector form here, if drill bit movement point
Abscissa be X0, ordinate Y0, ordinate Z0, establish four dimensional vector P [X0,Y0,Z0, 1], it is mobile in each axis direction,
Vector can be converted accordingly by way of matrixing；
If needing P point moving 10 units along X-direction after PLC is calculated, it is only necessary to by vector multiplied by corresponding transformation
Matrix:
Since it is desired that considering the relationship of speed and position, i.e., the integral of speed is distance, so needing to calculate each moment
Speed；
So needing each moment to calculate corresponding speed PLC:
It is obtained by above-mentioned formula, by obtained hole location information, calculates the speed of servo motor at this time: such as drill bit point at this time
Vector is [X, Y, Z, 1], and target point vector is [X, Y, Z, 1], the vector of origin-to-destination are as follows:
[X1,Y1,Z1,1]-[X0,Y0,Z0, 1] and=[X1-X0,Y1-Y0,Z1-Z0,0] (4)
At this point, expectation origin-to-destination is with fixed speed V0It is mobile, so needing to calculate V0In the component of X-axis, Y-axis and Z axis,
Middle vector field homoemorphism is long are as follows:
So the velocity component of X-axis, Y-axis, Z axis is respectively are as follows:
By being configured to Double position loop servo using Rockwell PLC and matched servo motor, internal servo-system,
So only needing real-time speed to be configured in corresponding register, can realize SERVO CONTROL；Assuming that three axial filament thick sticks are led
Journey is l0, servo motor rotates a circle umber of pulse as n, then corresponding speed is reflected in the umber of pulse n in the unit time0, this
In the unit time be set as t, consider sliding-model control here, so having:
The calculating process of PLC is discrete calculation, is not continuous, but timing discrete calculation, interval time is identical, the design
The middle program scan period is set as 1ms, i.e. unit time t is 1ms, and the servo motor umber of pulse that rotates a circle be n is 200000 arteries and veins
Every circle is rushed, guide screw lead is designed as 10mm, and the speed of service is unified with fixed speed 50mm/s operation here；It can calculate in this way
The corresponding umber of pulse of moving distance；Here due in the control program of PLC, it is only necessary to real-time speed be arranged, so discrete
Change formula are as follows:
K0[X0,Y0,Z0, 1] and moment point position thus, K1[X0,Y0,Z0, 1] and it is last moment point position, in transformation matrix, each axis
Vectorial coordinate in component is beginning and end vector, and M is that starting and terminal point vector mould is long；V0For actual speed.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112835327A (en) * | 2020-12-17 | 2021-05-25 | 中国化学工程第六建设有限公司 | Industrial processing system for chemical pipelines |
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