CN110235068B - Positioning control method and system for machine tool spindle - Google Patents
Positioning control method and system for machine tool spindle Download PDFInfo
- Publication number
- CN110235068B CN110235068B CN201780085316.7A CN201780085316A CN110235068B CN 110235068 B CN110235068 B CN 110235068B CN 201780085316 A CN201780085316 A CN 201780085316A CN 110235068 B CN110235068 B CN 110235068B
- Authority
- CN
- China
- Prior art keywords
- loop
- control mode
- closed
- current
- machine tool
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/045—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using logic state machines, consisting only of a memory or a programmable logic device containing the logic for the controlled machine and in which the state of its outputs is dependent on the state of its inputs or part of its own output states, e.g. binary decision controllers, finite state controllers
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P17/00—Arrangements for controlling dynamo-electric gears
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Numerical Control (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
A positioning control method of a machine tool spindle and a positioning control system using the same are provided, the positioning control method includes: starting the machine tool spindle by adopting a closed-loop vector control mode, converting the closed-loop vector control mode into a V/F control mode when the output frequency is greater than a first preset frequency, and continuously controlling the machine tool spindle to operate by the V/F control mode; when a positioning instruction or deceleration is received, after the output frequency is controlled to be reduced to the first preset frequency through the V/F control mode, the V/F control mode is converted into a closed-loop vector control mode, and the positioning control is carried out on the main shaft of the machine tool through the closed-loop vector control mode; continuously reducing the output frequency in a closed-loop vector control mode, and when the output frequency is less than a second preset frequency, obtaining a positioning control signal by the operation of a position loop, a speed loop and a current loop in the closed-loop vector control mode on the input positioning signal and the position signal fed back by the encoder; and outputting a positioning control signal to the machine tool spindle to control the machine tool spindle to move to a corresponding position.
Description
Technical Field
The invention relates to the field of industrial control, in particular to a positioning control method and a positioning control system for a machine tool spindle.
Background
An electric spindle (called a spindle for short) is a new technology which integrates a machine tool spindle and a spindle motor into a whole and appears in the field of numerical control machines in recent years. The spindle of the machine tool refers to a shaft on the machine tool for driving a workpiece or a tool to rotate, and generally, the spindle only performs speed control, but position control on the spindle is also required in some special cases. For example: the main shaft is required to be accurately stopped at a specific position under the conditions that the cutter needs to be replaced due to process requirements in automatic cutter changing and boring processing on a processing center, a lathe needs to be clamped on a workpiece and the like, and the function of positioning the main shaft is required to be realized.
Spindle motor positioning requires the use of position sensing devices, typically implemented by mounting a rotary encoder with a z-phase pulse signal, whereas for spindle motor drives it is required to be able to receive the rotary encoder signal.
At present, a motor control algorithm with an encoder generally adopts closed-loop vector control, and the closed-loop vector control can decompose excitation current and torque current by carrying out coordinate transformation on three-phase current of a motor, so that the output torque and the output speed of the motor can be better controlled.
However, the spindle motor usually requires high-frequency operation, and since the encoder pulse signal is a high-frequency signal, under closed-loop vector control, if the motor is in a high-frequency operation state, the detection of the encoder pulse signal becomes extremely difficult, and both the detection circuit and the detection algorithm have extremely high requirements. Therefore, how to change the control mode of the spindle under the condition of high-frequency operation of the spindle to enable the encoder not to detect pulse signals and realize accurate spindle positioning control becomes a technical problem to be solved urgently.
Disclosure of Invention
Therefore, a positioning control method and a positioning control system for a machine tool spindle, which can realize precise positioning of the spindle without detecting signals by an encoder under the condition of high-frequency operation of the machine tool spindle, are needed.
A method of controlling positioning of a spindle of a machine tool, the method comprising:
starting the machine tool spindle by adopting a closed-loop vector control mode, converting the closed-loop vector control mode into a V/F control mode when the output frequency is greater than a first preset frequency, and continuously controlling the machine tool spindle to operate in the V/F control mode;
when a positioning instruction or deceleration is received, after the output frequency is controlled to be reduced to the first preset frequency through a V/F control mode, the V/F control mode is converted into a closed-loop vector control mode, and the positioning control is carried out on the machine tool spindle through the closed-loop vector control mode;
continuously reducing the output frequency through the closed-loop vector control mode, and when the output frequency is less than a second preset frequency, obtaining a positioning control signal by performing operation on an input positioning signal and a position signal fed back by an encoder through a position loop, a speed loop and a current loop in the closed-loop vector control mode; and
and outputting the positioning control signal to a machine tool spindle, and controlling the machine tool spindle to run to a corresponding position.
A positioning control system for a machine tool spindle comprising a drive for controlling the machine tool spindle and an encoder for measuring a position signal and a velocity signal, the drive comprising a memory having stored therein computer readable instructions which, when executed by the processor, cause the processor to perform the steps of:
starting the machine tool spindle by adopting a closed-loop vector control mode, converting the closed-loop vector control mode into a V/F control mode when the output frequency is greater than a first preset frequency, and continuously controlling the machine tool spindle to operate in the V/F control mode;
when a positioning instruction or deceleration is received, after the output frequency is controlled to be reduced to the first preset frequency through a V/F control mode, the V/F control mode is converted into a closed-loop vector control mode, and the positioning control is carried out on the machine tool spindle through the closed-loop vector control mode;
continuously reducing the output frequency through the closed-loop vector control mode, and when the output frequency is less than a second preset frequency, obtaining a positioning control signal by performing operation on an input positioning signal and a position signal fed back by an encoder through a position loop, a speed loop and a current loop in the closed-loop vector control mode; and
and outputting the positioning control signal to a machine tool spindle, and controlling the machine tool spindle to run to a corresponding position.
According to the positioning control method and the positioning control system for the machine tool spindle, the V/F control mode is adopted to control the machine tool spindle to operate when the output is greater than the first preset frequency, and the closed-loop vector control mode is switched to carry out positioning control on the machine tool spindle when the output is less than the first preset frequency, so that the encoder pulse signal does not need to be detected under the condition of high-frequency operation of the machine tool spindle. The input positioning signal and the position signal fed back by the encoder are subjected to the operation of a position loop, a speed loop and a current loop in the closed-loop vector control mode to obtain the positioning control signal, so that the accurate positioning function of the machine tool spindle is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings of the embodiments can be obtained according to the drawings without creative efforts.
FIG. 1 is a flowchart of a method of controlling the positioning of a spindle of a machine tool according to one embodiment;
FIG. 2 is a flow chart illustrating switching of control modes according to an embodiment;
FIG. 3 is a flow diagram that illustrates the processing of the control module in one embodiment;
FIG. 4 is a block diagram of a positioning control system for a spindle of a machine tool according to one embodiment.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
A method for controlling the positioning of a spindle of a machine tool is provided below, as shown in fig. 1, which is a flowchart of a method for controlling the positioning of a spindle of a machine tool in one embodiment, and the method includes the following steps S110 to S140.
S110: and starting the machine tool spindle by adopting a closed-loop vector control mode, converting the closed-loop vector control mode into a V/F control mode when the output frequency is greater than a first preset frequency, and continuously controlling the machine tool spindle to operate in the V/F control mode.
Specifically, when starting the machine tool spindle, in order to ensure that the spindle motor is driven to rotate by enough output torque at a lower output frequency, a driver for controlling the machine tool spindle starts the machine tool spindle in a closed-loop vector control mode. The driver keeps lower output frequency when the machine tool spindle is just started, the output torque of the spindle motor is gradually increased in the period, the rotating speed is gradually increased, and the driver can receive the torque current feedback and the rotating speed feedback of the spindle motor in real time when working in a closed-loop vector control mode, so that the operation of the machine tool spindle can be controlled more effectively.
Further, when the driver detects that the current output frequency is greater than the first preset frequency F1, at which time the spindle motor is already in a high-frequency operation state, and in a high-speed operation, the operation of the spindle motor enters a steady state. And at the moment, the closed-loop vector control mode is converted into a V/F control mode, under the V/F control mode, the output voltage is ensured to be in direct proportion to the output frequency, the control on the spindle motor is simple, and the spindle motor can be kept in a stable running state.
In an embodiment, as shown in fig. 2, the process of converting the closed-loop vector control mode into the V/F control mode is that, first, the driver starts the V/F control mode, then assigns the current output frequency Fc in the closed-loop vector control mode to the output frequency Fv of the V/F control mode, and assigns the current output phase angle θ c in the closed-loop vector control mode to the output phase angle θ V of the V/F control mode, during which the output voltage of the driver remains unchanged, the closed-loop vector control mode is closed, and the output voltage in the V/F control mode is output to the PWM output module.
S120: when a positioning instruction or deceleration is received, after the output frequency is controlled to be reduced to the first preset frequency through a V/F control mode, the V/F control mode is converted into a closed-loop vector control mode, and the positioning control is carried out on the machine tool spindle through the closed-loop vector control mode.
Specifically, when the driver receives a positioning instruction or a deceleration instruction, the output frequency is reduced through a V/F control mode, when the output frequency is detected to be smaller than a first preset frequency F1, the spindle motor finishes a high-frequency operation state, the V/F control mode is converted into a closed-loop vector control mode, and low-frequency control is performed on the spindle motor.
Further, a flow of converting the V/F control manner into the closed-loop vector control manner is shown in fig. 2, the closed-loop vector control manner is started first, and since the output voltage can be obtained only by adjusting the position loop, the speed loop, and the current loop in the closed-loop vector control manner, the conversion of the closed-loop vector control manner can be completed only by obtaining input data of the position loop, the speed loop, and the current loop. And detecting the rotating speed of the machine tool spindle through an encoder, feeding the rotating speed back to a speed loop in closed-loop vector control, and obtaining a given current loop after the operation of the speed loop. And then detecting the torque current of the machine tool spindle through a current detection module arranged in the driver, feeding the torque current back to a current loop in closed-loop vector control, outputting a control signal after the operation of the current loop, and closing the V/F control mode after the current loop starts to output the control signal.
In one embodiment, the target frequency specified in the positioning command or the deceleration command is set to the current output frequency, i.e., the speed loop is given equal to the feedback, and the torque current output by the speed loop is given ItRef equal to 0. Two-phase output currents, such as Iu and Iw, in the three-phase output currents of the spindle motor are detected through the current detection module, and the third-phase output current Iv can be calculated according to the condition that the sum of the three-phase currents is zero. And assigning the output phase angle theta V under the V/F control mode to an output phase angle theta c of a closed-loop vector control mode.
Further, the three-phase output currents Iu, Iv, Iw in the three-phase stationary coordinate system are transformed to two-phase operating currents I α, I β in the two-phase stationary coordinate system by Clark transformation (Clark transformation). The formula of the clark transformation is I α ═ Iu,
wherein Iu, Iv and Iw are three-phase balanced alternating currents separated by 120 degrees in time, and I alpha and I beta are two-phase balanced alternating currents separated by 90 degrees in time.
And transforming the two-phase operating currents I alpha and I beta under the two-phase stationary coordinate system into two-phase rotating currents ImFed and ItFed under the two-phase rotating coordinate system through Park transformation. The park transformation formula is ImFed ═ I α cos θ c + I β sin θ c, and ItFed ═ I β cos θ c-I α sin θ c; where ImFed is an excitation current and ItFed is a torque current.
Further, the excitation current ImFed is used as a current loop integral quantity at this time, and the excitation current given ImRef is obtained by self-learning of spindle motor parameters. The current loop performs PID (proportion-integration-differentiation) regulation (proportion-integration-differentiation regulation) on torque current given ItRef, exciting current given ImRef, torque current ItFed and exciting current ImFed to obtain output voltage vectors UmOut and UtOut, and the output voltage vectors UmOut and UtOut are subjected to formula regulation
And calculating to obtain an output voltage Uout, outputting the output phase angle theta c and the output voltage Uout to a PWM output module by the current loop, and outputting a PWM signal to the spindle motor by the PWM module.
S130: and continuously reducing the output frequency through the closed-loop vector control mode, and when the output frequency is less than a second preset frequency, obtaining a positioning control signal by carrying out operation on an input positioning signal and a position signal fed back by an encoder through a position loop, a speed loop and a current loop in the closed-loop vector control mode.
Specifically, the positioning command is executed, the output frequency is continuously reduced in a closed-loop vector control mode, when the output frequency is detected to be smaller than a second preset frequency F2, wherein the second preset frequency F2 is smaller than the first preset frequency F1, a position setting module inside the driver outputs a positioning signal to a position loop in the closed-loop vector control, and a position signal detected by the encoder for the spindle motor is also fed back to the position loop.
Further, the position loop compares the difference value of the positioning signal input by the position setting module and the position signal fed back by the encoder, obtains a speed loop setting value after the compared difference value is regulated by the PID of the position loop, and outputs the speed loop setting value to the speed loop in the closed-loop vector control. The speed loop compares the speed loop given value with a speed signal obtained by the operation of a feedback signal of an encoder, obtains a current loop given value after the compared difference value is regulated by PID of the speed loop, and outputs the current loop given value to a current loop in closed-loop vector control. The current loop compares the current loop set value with the torque current obtained by sampling the machine tool spindle, and the positioning control signal is obtained after the compared difference value is regulated by the PID of the current loop.
In one embodiment, the position setting module outputs a pulse signal M to the position loop according to a preset positioning position, the pulse signal M takes a pulse encoder z pulse as a zero point, the positioning position is a distance from the zero point, where M is the number of pulses, and the encoder feeds back a current position as a pulse signal N, where N is the number of pulses. And calculating the position loop in the closed-loop vector control according to a formula W (K) (M-N) to obtain position loop output, wherein W is the position loop output, and K is the position loop coefficient. And setting W as a speed loop, calculating the speed loop in closed-loop vector control according to the speed loop set W and a speed signal obtained by the calculation of an encoder feedback signal, outputting a current loop set, calculating a current loop in closed-loop vector control to obtain an output voltage Uout and a vector angle theta 1, and performing positioning control on the spindle motor according to the output result of the current loop.
S140: and outputting the positioning control signal to a machine tool spindle, and controlling the machine tool spindle to run to a corresponding position.
Specifically, the current loop outputs a positioning control signal to the PWM output module, and the PWM output module outputs a PWM signal to control the three-phase inverter bridge circuit, thereby controlling the spindle motor to operate to a corresponding position.
According to the positioning control method of the machine tool spindle, the V/F control mode is adopted to control the machine tool spindle to operate when the output is greater than the first preset frequency, and the closed-loop vector control mode is switched to carry out positioning control on the machine tool spindle when the output is less than the first preset frequency, so that the encoder pulse signal does not need to be detected under the condition of high-frequency operation of the machine tool spindle. The input positioning signal and the position signal fed back by the encoder are subjected to the operation of a position loop, a speed loop and a current loop in the closed-loop vector control mode to obtain the positioning control signal, so that the accurate positioning function of the machine tool spindle is realized.
Based on the same inventive concept, there is provided a positioning control system of a machine tool spindle, the system comprising a driver for controlling the machine tool spindle and an encoder for measuring a position signal and a velocity signal, the driver comprising a memory and a processor, the memory having stored therein computer readable instructions, which when executed by the processor, cause the processor to perform the method of the various embodiments described above.
In one embodiment, as shown in fig. 4, there is a block diagram of a positioning control system of a machine tool spindle, which includes a driver (not shown) for controlling the machine tool spindle, which uses an ac asynchronous motor 80, and an encoder 90 for measuring a position signal and a velocity signal, and which includes a control module 100, a velocity setting module 200, a position setting module 300, a V/F control module 400, a closed-loop vector control module 500, a current detection module 600, and a PWM output module 700, in one embodiment.
Referring to fig. 3, the process of the driver performing the positioning control performs the following control process by the control module 100.
The control module 100 selects the closed-loop vector control module 500 to start the machine tool spindle, when the output frequency F is greater than a first preset frequency F1, the control module 100 converts the closed-loop vector control module 500 into the V/F control module 400, and the V/F control module 400 continues to control the machine tool spindle to operate.
Specifically, when starting the machine tool spindle, in order to ensure that there is sufficient output torque to drive the ac asynchronous motor 80 to rotate at a lower output frequency, the driver controlling the machine tool spindle selects the closed-loop vector control module 500 to start the machine tool spindle. Because the driver keeps lower output frequency when the machine tool spindle is just started, the output torque of the alternating current asynchronous motor 80 is gradually increased in the period, the rotating speed is gradually increased, and the driver can receive the torque current feedback and the rotating speed feedback of the spindle motor in real time through the closed-loop vector control module 500, the operation of the machine tool spindle can be controlled more effectively.
Further, when the driver detects that the current output frequency F is greater than the first preset frequency F1, at which time the ac asynchronous motor 80 is already in a high-frequency operation state, and in high-speed operation, the operation of the ac asynchronous motor 80 enters a steady state. At this time, the closed-loop vector control module 500 is converted into the V/F control module 400, and under the control of the V/F control module 400, the output voltage is ensured to be in direct proportion to the output frequency, the control on the ac asynchronous motor 80 is simple, and the ac asynchronous motor 80 can be kept in a stable operation state.
When the control module 100 receives a positioning instruction or a deceleration instruction, the control V/F control module 400 reduces the output frequency F to the first preset frequency F1, and then the control module 100 converts the V/F control module 400 into the closed-loop vector control module 500, and the closed-loop vector control module 500 performs positioning control on the machine spindle.
Specifically, when the driver receives a positioning instruction or a deceleration instruction, the speed setting module 200 sends a speed setting to the V/F control module 400, the V/F control module 400 reduces the output frequency F after receiving the speed setting, and controls the ac asynchronous motor 80 to decelerate, and when it is detected that the output frequency F is less than a first preset frequency F1, the ac asynchronous motor 80 ends the high-frequency running state, and the V/F control module 400 is converted into the closed-loop vector control module 500 to perform low-frequency control on the ac asynchronous motor 80.
Further, the closed-loop vector control module 500 is first started, the closed-loop vector control module 500 includes a position ring 510, a speed ring 520 and a current ring 530, and since the output voltage can be obtained only through the adjustment of the position ring 510, the speed ring 520 and the current ring 530 under the control of the closed-loop vector control module 500, the conversion of the closed-loop vector control module 500 can be completed only by obtaining the input data of the position ring 510, the speed ring 520 and the current ring 530. The rotational speed of the machine tool spindle is detected by the encoder 90, the rotational speed is fed back to the speed loop 520, and the current loop set is obtained through the operation of the speed loop 520. And then the torque current of the machine tool spindle is detected by a current detection module 600 arranged in the driver, the torque current is fed back to the current loop 530, a control signal is output after the operation of the current loop 530, and the V/F control module 400 is closed after the current loop 530 starts to output the control signal.
The closed-loop vector control module 500 continues to decrease the output frequency, and when the output frequency F is less than the second preset frequency F2, the positioning signal input by the position setting module 300 and the position signal fed back by the encoder 90 are processed by the position loop 510, the speed loop 520 and the current loop 530 to obtain the positioning control signal.
Specifically, the control module 100 executes the positioning command, and continues to decrease the output frequency F through the closed-loop vector control module 500, when the output frequency F is detected to be less than the second preset frequency F2, where the second preset frequency F2 is less than the first preset frequency F1, the position setting module 300 inside the drive outputs the positioning signal to the position loop 510, and the encoder 90 feeds back the position signal detected by the ac asynchronous motor 80 to the position loop 510.
Further, the position loop 510 compares the difference between the positioning signal input by the position setting module 300 and the position signal fed back by the encoder 90, obtains a speed loop setting after the compared difference is subjected to PID adjustment of the position loop 510, and outputs the speed loop setting to the speed loop 520. The speed loop 520 compares the speed loop setpoint with a speed signal calculated from a feedback signal of the encoder 90, adjusts the compared difference by the PID of the speed loop 520 to obtain a current loop setpoint, and outputs the current loop setpoint to the current loop 530. The current loop 530 compares the torque current obtained by sampling the machine tool spindle by the current loop setting and current detection module 600, and obtains a positioning control signal after the compared difference value is regulated by the PID of the current loop 530.
And the PWM output module outputs the positioning control signal to a machine tool spindle and controls the machine tool spindle to run to a corresponding position.
Specifically, the current loop 530 outputs a positioning control signal to the PWM output module 700, and the PWM output module 700 outputs a PWM signal to control the three-phase inverter bridge circuit, so as to control the ac asynchronous motor 80 to operate to a corresponding position.
According to the positioning control system of the machine tool spindle, the V/F control module is adopted to control the machine tool spindle to operate when the output is greater than the first preset frequency, and the closed-loop vector control module is switched to perform positioning control on the machine tool spindle when the output is less than the first preset frequency, so that the encoder pulse signal does not need to be detected under the condition of high-frequency operation of the machine tool spindle. The positioning control signal is obtained by the operation of the position ring, the speed ring and the current ring in the closed-loop vector control module on the positioning signal input by the position setting module and the position signal fed back by the encoder under the control of the closed-loop vector control module, so that the accurate positioning function of the machine tool spindle is realized.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (16)
1. A positioning control method of a machine tool spindle comprises the following steps:
starting the machine tool spindle by adopting a closed-loop vector control mode, converting the closed-loop vector control mode into a V/F control mode when the output frequency is greater than a first preset frequency, and continuously controlling the machine tool spindle to operate in the V/F control mode; wherein converting the closed-loop vector control mode to the V/F control mode comprises: assigning the current output phase angle in the closed-loop vector control mode to the output phase angle in the V/F control mode;
when a positioning instruction or deceleration is received, after the output frequency is controlled to be reduced to the first preset frequency through a V/F control mode, the V/F control mode is converted into a closed-loop vector control mode, and the positioning control is carried out on the machine tool spindle through the closed-loop vector control mode; wherein converting the V/F control mode to the closed-loop vector control mode comprises: assigning the output phase angle under the V/F control mode to the output phase angle of a closed-loop vector control mode; calculating according to the output phase angle of the closed-loop vector control mode, then outputting a control signal, and closing the V/F control mode after the current loop starts to output the control signal;
continuously reducing the output frequency through the closed-loop vector control mode, and when the output frequency is less than a second preset frequency, obtaining a positioning control signal by performing operation on an input positioning signal and a position signal fed back by an encoder through a position loop, a speed loop and a current loop in the closed-loop vector control mode; and
and outputting the positioning control signal to a machine tool spindle, and controlling the machine tool spindle to run to a corresponding position.
2. The method of claim 1, wherein converting the closed-loop vector control mode to the V/F control mode comprises:
starting a V/F control mode;
assigning the current output frequency in the closed-loop vector control mode to the output frequency in the V/F control mode;
and closing the closed-loop vector control mode after the control signal is started to be output in the V/F control mode.
3. The method of claim 1, wherein converting the V/F control mode to a closed-loop vector control mode comprises:
starting a closed-loop vector control mode;
detecting the rotation speed of the machine tool spindle, feeding the rotation speed back to a speed loop in closed-loop vector control, and obtaining a given current loop after the operation of the speed loop;
and detecting the torque current of the machine tool spindle, feeding the torque current back to a current loop in closed-loop vector control, and outputting a control signal after the operation of the current loop.
4. The method of claim 3, wherein said detecting a torque current of the machine tool spindle comprises:
detecting two-phase output current in three-phase output current of the spindle motor, and calculating the magnitude of third-phase output current according to the condition that the sum of the three-phase current is zero;
and converting the three-phase output current and the output phase angle through coordinates to obtain an excitation current and a torque current.
5. The method of claim 1, wherein the second predetermined frequency is less than the first predetermined frequency.
6. The method of claim 1, wherein the operation of the position loop comprises:
comparing the difference value of the input positioning signal with the position signal fed back by the encoder, and adjusting the compared difference value by PID of the position loop to obtain a given speed loop;
outputting the speed loop assignment to a speed loop in closed-loop vector control.
7. The method of claim 1, wherein the operation of the velocity loop comprises:
comparing the speed loop given value with a speed signal obtained by the operation of a feedback signal of an encoder, and adjusting the compared difference value by PID of the speed loop to obtain a current loop given value;
and outputting the current loop to a current loop in closed-loop vector control.
8. The method of claim 1, wherein the operation of the current loop comprises:
comparing the current loop set with the torque current obtained by sampling the machine tool spindle, and obtaining a positioning control signal after the compared difference value is regulated by PID of the current loop;
and outputting the positioning control signal to a machine tool spindle, and controlling the machine tool spindle to operate to a corresponding position.
9. A positioning control system for a machine tool spindle comprising a drive for controlling the machine tool spindle and an encoder for measuring a position signal and a velocity signal, the drive comprising a memory having stored therein computer readable instructions which, when executed by the processor, cause the processor to perform the steps of:
starting the machine tool spindle by adopting a closed-loop vector control mode, converting the closed-loop vector control mode into a V/F control mode when the output frequency is greater than a first preset frequency, and continuously controlling the machine tool spindle to operate in the V/F control mode; wherein converting the closed-loop vector control mode to the V/F control mode comprises: assigning the current output phase angle in the closed-loop vector control mode to the output phase angle in the V/F control mode;
when a positioning instruction or deceleration is received, after the output frequency is controlled to be reduced to the first preset frequency through a V/F control mode, the V/F control mode is converted into a closed-loop vector control mode, and the positioning control is carried out on the machine tool spindle through the closed-loop vector control mode; wherein converting the V/F control mode to the closed-loop vector control mode comprises: assigning the output phase angle under the V/F control mode to the output phase angle of a closed-loop vector control mode; calculating according to the output phase angle of the closed-loop vector control mode, then outputting a control signal, and closing the V/F control mode after the current loop starts to output the control signal;
continuously reducing the output frequency through the closed-loop vector control mode, and when the output frequency is less than a second preset frequency, obtaining a positioning control signal by performing operation on an input positioning signal and a position signal fed back by an encoder through a position loop, a speed loop and a current loop in the closed-loop vector control mode; and
and outputting the positioning control signal to a machine tool spindle, and controlling the machine tool spindle to run to a corresponding position.
10. The system of claim 9, wherein the process of the processor converting the closed-loop vector control mode to the V/F control mode comprises:
starting a V/F control mode;
assigning the current output frequency in the closed-loop vector control mode to the output frequency in the V/F control mode;
and closing the closed-loop vector control mode after the control signal is started to be output in the V/F control mode.
11. The system of claim 9, wherein the processor converting the V/F control mode to the closed-loop vector control mode comprises:
starting a closed-loop vector control mode;
detecting the rotation speed of the machine tool spindle, feeding the rotation speed back to a speed loop in closed-loop vector control, and obtaining a given current loop after the operation of the speed loop;
and detecting the torque current of the machine tool spindle, feeding the torque current back to a current loop in closed-loop vector control, and outputting a control signal after the operation of the current loop.
12. The system of claim 11, wherein the process of the processor detecting the torque current of the machine tool spindle comprises:
detecting two-phase output current in three-phase output current of the spindle motor, and calculating the magnitude of third-phase output current according to the condition that the sum of the three-phase current is zero;
and converting the three-phase output current and the output phase angle through coordinates to obtain an excitation current and a torque current.
13. The system of claim 9, wherein the second predetermined frequency is less than the first predetermined frequency.
14. The system of claim 9, wherein the processor performs the operation of the position loop comprising:
comparing the difference value of the input positioning signal with the position signal fed back by the encoder, and adjusting the compared difference value by PID of the position loop to obtain a given speed loop;
outputting the speed loop assignment to a speed loop in closed-loop vector control.
15. The system of claim 9, wherein the processor performs a speed loop calculation process comprising:
comparing the speed loop given value with a speed signal obtained by the operation of a feedback signal of an encoder, and adjusting the compared difference value by PID of the speed loop to obtain a current loop given value;
and outputting the current loop to a current loop in closed-loop vector control.
16. The system of claim 9, wherein the processor performs a current loop operation comprising:
comparing the current loop set with the torque current obtained by sampling the machine tool spindle, and obtaining a positioning control signal after the compared difference value is regulated by PID of the current loop;
and outputting the positioning control signal to a machine tool spindle, and controlling the machine tool spindle to operate to a corresponding position.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/084874 WO2018209637A1 (en) | 2017-05-18 | 2017-05-18 | Positioning control method and system for machine tool spindle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110235068A CN110235068A (en) | 2019-09-13 |
| CN110235068B true CN110235068B (en) | 2022-04-19 |
Family
ID=64273063
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780085316.7A Active CN110235068B (en) | 2017-05-18 | 2017-05-18 | Positioning control method and system for machine tool spindle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110235068B (en) |
| WO (1) | WO2018209637A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927681A (en) * | 2019-03-27 | 2019-06-25 | 四川中匠科技有限公司 | A kind of power tracking contact car washer control device and method of dual closed loop |
| CN112713821B (en) * | 2020-12-17 | 2023-03-14 | 杭州海康威视数字技术股份有限公司 | Method and system for closed-loop control of brush motor |
| CN112953321B (en) * | 2021-03-19 | 2023-12-05 | 北京自动化控制设备研究所 | Heavy load starting control method and system |
| CN115371346B (en) * | 2021-05-17 | 2024-04-16 | 合肥美的电冰箱有限公司 | Starting control method and device for variable frequency compressor and refrigeration equipment |
| CN116449884A (en) * | 2023-04-14 | 2023-07-18 | 江苏吉泰科电气有限责任公司 | Positioning method and device for motor spindle and computer readable storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3845372A (en) * | 1970-11-19 | 1974-10-29 | Allis Chalmers Mfg Co | Circuit for starting electric motor from standstill with maximum torque |
| GB1380362A (en) * | 1971-03-16 | 1975-01-15 | Gildermeister Ag | Control means to control machining of workpieces on lathes or the like |
| US5212438A (en) * | 1987-09-24 | 1993-05-18 | Kabushiki Kaisha Toshiba | Induction motor control system |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1127998A (en) * | 1997-06-30 | 1999-01-29 | Meidensha Corp | Inverter device |
| CN2462679Y (en) * | 2000-12-29 | 2001-12-05 | 云南昆船第二机械有限公司 | Master-slave follow-up controller for cutter drum and chain of tobacco filament cutter |
| JP3783159B2 (en) * | 2002-07-10 | 2006-06-07 | 株式会社日立製作所 | Synchronous motor drive control device |
| CN2701579Y (en) * | 2004-09-20 | 2005-05-25 | 沈阳建筑大学 | High speed precise numerical-control grinding and processing device based on PMAC |
| JP2010206945A (en) * | 2009-03-03 | 2010-09-16 | Mitsubishi Heavy Ind Ltd | Driver for motor |
| JP5476788B2 (en) * | 2009-05-13 | 2014-04-23 | 富士電機株式会社 | Inverter device |
| GB2489434A (en) * | 2011-03-25 | 2012-10-03 | Technelec Ltd | Controlling an electrical machine with an observer |
| CN102751944B (en) * | 2012-06-29 | 2014-11-05 | 华为技术有限公司 | Method and system for controlling middle/high voltage frequency converter |
| KR101622011B1 (en) * | 2013-12-31 | 2016-05-17 | 현대모비스 주식회사 | Method and apparatus for controlling of 3-phase ac motor |
| CN106602962B (en) * | 2017-02-07 | 2019-02-05 | 北京利德华福电气技术有限公司 | Work converting operation method for synchronously switching based on high-voltage frequency converter electric machine control system |
-
2017
- 2017-05-18 CN CN201780085316.7A patent/CN110235068B/en active Active
- 2017-05-18 WO PCT/CN2017/084874 patent/WO2018209637A1/en active Application Filing
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3845372A (en) * | 1970-11-19 | 1974-10-29 | Allis Chalmers Mfg Co | Circuit for starting electric motor from standstill with maximum torque |
| GB1380362A (en) * | 1971-03-16 | 1975-01-15 | Gildermeister Ag | Control means to control machining of workpieces on lathes or the like |
| US5212438A (en) * | 1987-09-24 | 1993-05-18 | Kabushiki Kaisha Toshiba | Induction motor control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110235068A (en) | 2019-09-13 |
| WO2018209637A1 (en) | 2018-11-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110235068B (en) | Positioning control method and system for machine tool spindle | |
| EP2403132B1 (en) | Method and apparatus for controlling motor torque | |
| EP1612929B1 (en) | Motor control device | |
| CN1237698C (en) | Motor control apparatus | |
| US10095222B2 (en) | Device and method of controlling machine tool, to control synchronized operation of spindle axis and feed axis | |
| CN103684209A (en) | Control device of permanent magnet synchronous motor and control system including the same | |
| US9753452B2 (en) | Device and method of controlling machine tool, to control synchronized operation of spindle axis and feed axis | |
| JP2004048885A (en) | Power converter | |
| US11529709B2 (en) | Control device and control system for machine tool | |
| CN108448965B (en) | Heavy-load closed-loop driving system and method of two-phase hybrid stepping motor | |
| JP2013153607A (en) | Motor controller limiting torque command depending on input current or power | |
| CN104730973A (en) | Motor control device | |
| CN113741350A (en) | Servo control system and method based on double-encoder feedback and electric equipment | |
| CN111791087B (en) | Control device for machine tool having spindle and feed shaft | |
| CN109687793B (en) | Motor control device | |
| CN109309465A (en) | Control device of electric motor | |
| JP3918557B2 (en) | Numerical control drive system | |
| JP3427800B2 (en) | Numerical control unit | |
| US11296625B2 (en) | Control device and control method for synchronous electric motor | |
| JP2008086072A (en) | Motor control device and motor control method | |
| JP4756464B2 (en) | AC motor drive inverter device and operation method thereof | |
| KR100441916B1 (en) | Numerical control drive system | |
| US20230299700A1 (en) | Power Conversion Device | |
| JPH07112356B2 (en) | Electric motor controller | |
| US11211887B2 (en) | Motor control device and machine tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |