CN111399559B - Method for judging load characteristics and adjusting acceleration of workpiece of machine tool - Google Patents
Method for judging load characteristics and adjusting acceleration of workpiece of machine tool Download PDFInfo
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- CN111399559B CN111399559B CN201910004011.XA CN201910004011A CN111399559B CN 111399559 B CN111399559 B CN 111399559B CN 201910004011 A CN201910004011 A CN 201910004011A CN 111399559 B CN111399559 B CN 111399559B
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- 230000001133 acceleration Effects 0.000 title claims abstract description 113
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 61
- 230000005489 elastic deformation Effects 0.000 claims abstract description 33
- 238000010586 diagram Methods 0.000 description 7
- 238000005259 measurement Methods 0.000 description 4
- 238000003754 machining Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000005483 Hooke's law Effects 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000005457 optimization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
The invention discloses a method for judging the load characteristics and adjusting the acceleration of a workpiece of a machine tool. A first acceleration of the transmission system is set according to the weight of a workpiece, and the working platform and the workpiece are driven by the first acceleration. A first elastic deformation of the transmission system is calculated according to the weight of the workpiece when the transmission system transmits at a first acceleration. A first position error amount of the transmission system is calculated when the transmission system is driven at a first acceleration according to the position signal fed back by the transmission system. A dynamic error value is calculated according to the first elastic deformation and the first position error. When the dynamic error value is smaller or larger than the target error value, setting a second acceleration to the transmission system, and recalculating a second elastic deformation and a second position error when the transmission system is driven by the second acceleration to enable the dynamic error value to be converged to the target error value.
Description
Technical Field
The present invention relates to a method for adjusting acceleration of a machine tool, and more particularly, to a method for determining load characteristics of a workpiece of a machine tool and adjusting acceleration.
Background
The main functions of the current machine tool comprise high-speed and high-precision cutting, and along with the development of a controller, the axial machining parameters are adjusted to enable the machine tool to meet the requirements of high speed and high precision. However, the parameters of the original calibration of the machine tool manufacturer in the factory will vary in practical use according to the weight of the workpiece, so as to affect the speed and accuracy of the machine tool. In addition, on the premise of knowing or estimating the weight of the workpiece, a calibrator can calibrate the working parameters of the machine tool within a certain working range by a trial and error method, however, the calibrating method is time-consuming and needs to be manually operated repeatedly for a plurality of times by the calibrator, so that the overall working efficiency is affected.
Disclosure of Invention
The invention aims at a method for judging the load characteristics and adjusting the acceleration of a workpiece of a machine tool, which can temporarily set an acceleration parameter according to the weight of the workpiece, and then start the operation of the machine tool so as to actually calculate the elastic deformation of a transmission system and the position error of feedback. After feedback control for multiple times, the system can automatically learn the relation between the acceleration parameter and the weight of the workpiece, and is used for finding out the optimized acceleration parameter.
According to an aspect of the present invention, a method for determining load characteristics and adjusting acceleration of a workpiece in a machine tool is provided, the machine tool is adapted to be built in a machine tool, the machine tool includes a transmission system and a working platform, the method includes the following steps. A first acceleration of the transmission system is set according to the weight of a workpiece, and the working platform and the workpiece are driven by the first acceleration. A first elastic deformation of the transmission system is calculated according to the weight of the workpiece when the transmission system transmits at a first acceleration. A first position error amount of the transmission system is calculated when the transmission system is driven at a first acceleration according to the position signal fed back by the transmission system. And calculating a dynamic error value according to the first elastic deformation and the first position error value, judging whether the dynamic error value is equal to a target error value, setting a second acceleration to the transmission system when the dynamic error value is smaller than or larger than the target error value, and recalculating a second elastic deformation and a second position error value when the transmission system is driven by the second acceleration to ensure that the dynamic error value is converged to the target error value.
For a better understanding of the above and other aspects of the invention, reference will now be made in detail to the following examples, examples of which are illustrated in the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of an operating system of a machine tool according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a method for determining load characteristics and adjusting acceleration of a workpiece in a machine tool according to an embodiment of the invention;
FIG. 3A is a schematic illustration of axial acceleration versus feed rate of a drive train of a machine tool;
FIG. 3B is a schematic view of the machine tool with the load and no load currents estimating the weight of the workpiece;
FIG. 4 is a schematic diagram of the weight estimation result;
FIG. 5 is a graph of weight estimation error percentages;
FIG. 6 is a schematic diagram of the machine tool finding the optimal acceleration parameters through feedback control;
FIG. 7 is a schematic diagram of calculating a maximum position error of the feedback position signal;
FIG. 8 is a schematic representation of the weight of a workpiece versus acceleration;
FIG. 9 is a schematic diagram of a table of the relationship between the weight of the work piece, the amount of elastance, the maximum position error, the maximum dynamic error, and the optimal acceleration.
Symbol description
100: machine tool
102: controller for controlling a power supply
103: upper controller
110: weight estimation module
111: weight of work piece
112: transmission system
113: acceleration at present
114: working platform
115: elastic deformation amount
116: deformation calculation module
117: maximum position error
118: signal measuring module
119: maximum dynamic error
120: acceleration parameter setting module
121: lower stage acceleration
122: optimal acceleration
D1: equal acceleration time zone
D2: constant velocity time zone
Ta: equal acceleration average current signal
Tv: constant velocity average current signal
T 0 : no-load current
T 1 : load current
Detailed Description
The following examples are presented for illustrative purposes only and are not intended to limit the scope of the invention. The following description will be given with the same/similar symbols indicating the same/similar elements. The directional terms mentioned in the following embodiments are, for example: upper, lower, left, right, front or rear, etc., are merely references to the directions of the accompanying drawings. Thus, the directional terminology is used for purposes of illustration and is not intended to be limiting of the invention.
According to an embodiment of the present invention, a method for determining load characteristics and adjusting acceleration of a workpiece in a machine tool is provided, which can be implemented in a computer numerical control (Computer Numerical Control, CNC) machine tool, such as a single-axis or multi-axis machine tool, for example, a lathe, a milling machine, etc., by software, hardware or a combination thereof, and is used for adjusting axial acceleration parameters according to machining conditions. The setting of the axial acceleration parameter is related to the feedback of the weight of the workpiece, the motor current, the feedback of the feeding speed and the feedback control of the position error, and the embodiment can find out the relation between the acceleration parameter and the weight of the workpiece by automatically evaluating the weight of the workpiece and calculating the elastic deformation of the transmission system and the position error of the feedback, so as to calibrate the axial acceleration parameter which is most suitable for the processing condition.
The elastic deformation is, for example, the elastic deformation of the drive train caused by the load weight of the workpiece, that is to say the elastic deformation of the screw, nut, bearing, coupling, etc. of the drive train during the load operation of the machine tool. In general, the higher the load weight of the work piece, the higher the amount of elastic deformation that occurs relatively, as shown in fig. 9.
Referring to fig. 1, after a workpiece load characteristic determination and acceleration adjustment method is completed in a machine tool 100 according to an embodiment of the invention, the method may include, for example, a weight estimation module 110, a transmission system 112, a working platform 114, a deformation amount calculation module 116, a signal measurement module 118, and an acceleration parameter setting module 120. The weight estimation module 110 is used for estimating the weight 111 of a workpiece. The transmission system 112 is controlled by a controller 102, and the working platform 114 is disposed on the transmission system 112 for carrying the workpiece and driven by the transmission system 112. The deformation amount calculation module 116 is used for calculating an elastic deformation amount 115 of the transmission system 112. The signal measurement module 118 is configured to measure electrical signals of the transmission system 112, such as a current signal of a motor, a feed speed, an axial acceleration, a position signal, and a position error amount. The acceleration parameter setting module 120 is used for setting an optimal acceleration parameter.
Referring to fig. 1 and 2 together, the method for determining the load characteristics and adjusting the acceleration of a workpiece in a machine tool according to the present invention may include the following steps S11-S17 after being established in the machine tool 100. In step S11, the weight 111 of a workpiece is estimated. In step S12, a first acceleration of the transmission system 112 is set according to the weight 111 of the workpiece, and the working platform 114 and the workpiece are driven with the first acceleration. In step S13, a first elastic deformation 115 of the transmission system 112 is calculated according to the weight 111 of the workpiece. In step S14, a first position error amount of the transmission system 112 driven at the first acceleration is calculated according to the position signal fed back by the transmission system 112. In step S15, a dynamic error value is calculated according to the first elastic deformation and the first position error, and it is determined whether the dynamic error value is equal to a target error value. When the dynamic error value is equal to the target error value, the acceleration at the present stage is used as an optimization parameter. In step S16, when the dynamic error value is smaller or larger than the target error value, the acceleration parameter setting module 120 sets a second acceleration to the transmission system 112. In step S17, the driving system 112 drives the working platform 114 and the workpiece with the second acceleration, and the deformation calculation module 116 and the signal measurement module 118 recalculate a second elastic deformation and a second position error value of the driving system 112 when driving with the second acceleration, so as to converge the dynamic error value to the target error value.
Referring to fig. 1, in step S11, the weight estimating module 110 may estimate the weight 111 of the workpiece according to the current signal of the motor. For example: the drive train 112 drives the work platform 114 in the axial direction a fixed distance (e.g., from point a to point B) when empty, and then the drive train 112 drives the work platform 114 in the axial direction a fixed distance (e.g., from point a to point B) when loaded with a work piece. Calculating the idle current T of the motor when the transmission system 112 is idle and loaded respectively 0 Load current T 1 To establish the weight 111 and the idle current T of the workpiece 0 Load current T 1 Is a relationship of (3).
Referring to fig. 3A and 3B, a stable current signal in the equal acceleration time zone D1 is defined as an equal acceleration average current signal Ta, a stable current signal in the equal velocity time zone D2 is defined as an equal velocity average current signal Tv, and an idle current T is obtained by using a t=ta-Tv relation 0 Load current T 1 . Will no-load current T 0 Load current T 1 Carry-inIn the relation, the weight 111 of the workpiece is estimated, where Δm is the weight change before and after loading (i.e., the weight 111 of the workpiece), a is the axial acceleration, p is the thread pitch, and K is the torque constant. The relevant content is described as follows:
when the servo motor of the transmission system 112 drives the working platform 114 to generate linear motion, the torque force (tau) during acceleration of the servo motor needs to overcome the inertia (J) of the transmission system 112 and the load torque (T) required by the linear motion of the working platform 114 load ) Friction torque (T) f ) α is an angular acceleration, and is represented by the following formula (1):
τ＝J×α+T load +T f (1)
in the above formula (1), the load torque (T load ) The torque indicating one rotation of the servo motor corresponds to a thrust force (F) generated by linearly moving the table 114 by one thread pitch (pitch), and the thrust force (F) is determined by the weight 111 of the workpiece and the axial acceleration a of the table 114, as expressed by the following formulas (2) and (3):
T load ×2π＝F×pitch (2)
F＝ΔM×A (3)
in the above formula (1), when the servo motor drives the table 114 and the workpiece at a constant speed, the load torque (T load ) At zero, the angular acceleration α is zero, and therefore, the torque at the constant speed of the motor is equal to the friction torque (T f ) I.e. τ=t f 。
In order to accurately obtain the load weight (Δm) of the workpiece, the stability, reliability and reproducibility of the motor electrical signal are required to be confirmed. Due to the transmission 112 being subjected toWhen the servo motor is accelerated and decelerated instantaneously (Jerk), a position Error (Error) is generated, the servo loop receives the position Error (Error) to compensate the position when the servo motor is accelerated, the compensated position Error (Error) is converged to zero, and a stable electric signal is defined and judged by a region where the position Error (Error) is equal to zero. Therefore, in the present embodiment, a steady current signal (i.e., ta) in the constant acceleration time zone D1 and a steady current signal (i.e., tv) in the constant velocity time zone D2 can be selected to calculate the idle current T 0 Load current T 1 。
Since the drive system 112 is unchanged before and after the load of the working platform 114, the servo motor drives the working platform 114 to generate linear motion, and the load current (T 1 ) Moment at time minus no-load current (T 0 ) The moment of force causes inertia (J) and friction torque (T) of the driveline 112 f ) At this time, the relational expression of the formula (1) can be obtainedAnd the weight 111 (Δm) of the workpiece is calculated using this relation.
Referring to fig. 4 and 5, the weight of the workpiece is simulated by four weight blocks (250 kg each) and the idle current (T) at the load of 250 kg, 500 kg, 750 kg, 1000 kg on the table 114 is measured according to the above steps 0 ) And load current (T) 1 ) To estimate the weight 111 (am) of the workpiece. The weight estimation result and the weight estimation error percentage of the obtained workpiece are estimated by a load of 250 kg as shown in fig. 4 and 5, and the estimation result is 258.5 kg and the error is 3.4%. The method is characterized in that 500 kg of load blocks are used for estimation, the estimation result is 474.9 kg, 750 kg of load blocks are used for estimation, the estimation result is 729.9 kg, 1000 kg of load blocks are used for estimation, the estimation result is 973.7 kg, and the estimation errors can be controlled between 2% and 10%.
The motor no-load current (T 0 ) Load current (T) 1 ) The weight 111 of the workpiece is estimated, so that the system can meet the requirement of an automatic process, the time and the load of repeated adjustment by an adjuster are reduced, and the overall working efficiency is improvedThe rate. However, in another embodiment, the weight 111 of the workpiece is estimated not limited to the above method, and the weight 111 of the workpiece may be measured by a scale.
Referring to fig. 2 and 6, in step S12, the controller 102 may set a first acceleration of the driving system 112, i.e. the current acceleration 113, according to the weight 111 of the workpiece, and drive the working platform 114 and the workpiece with the first acceleration. In one embodiment, the controller 102 may set the first acceleration based on an initial machining parameter of the machine tool 100 or a user-defined parameter.
Then, in step S13, the deformation amount calculation module 116 may calculate a first elastic deformation amount, i.e. the elastic deformation amount 115 (δ), of the transmission system 112 when the transmission system is driven at the first acceleration according to the weight 111 of the workpiece. In step S14, the signal measurement module 118 can calculate a first position error amount, i.e. the largest of the position errors 117, of the transmission system 112 when the transmission system 112 is transmitting at the first acceleration according to the position signal fed back by the transmission system 112. In step S15, the acceleration parameter setting module 120 calculates a dynamic error value, i.e. a maximum dynamic error 119, according to the first elastic deformation 115 and the first position error, and determines whether the dynamic error value is equal to a target error value (E G )。
Referring to fig. 7, the position error 117 is affected by the acceleration, and when the acceleration changes, the position error amount increases, and when the acceleration is zero, the position error amount converges to zero. In fig. 7, the maximum position error is the leftmost position error 117.
As shown in fig. 9, the sum of the elastic deformation 115 (δ) and the maximum position error 117 is the maximum dynamic error 119, when the maximum dynamic error 119 is equal to the target error value (E G ) In this case, the current acceleration 113 is the optimal acceleration 122. When the maximum dynamic error 119 is less than or greater than the target error value (E G ) In this case, since the current acceleration 113 is not the optimal acceleration 122, it is necessary to calculate the current acceleration (a) based on the maximum dynamic Error 119 (Error) 1 ) Error value from target (E) G ) Relation calculation lower stage acceleration (A 2 ) The relation is as follows
In step S16, the acceleration parameter setting module 120 sets a second acceleration to the transmission system 112 according to the above-mentioned relation. That is, the ratio of the second acceleration to the first acceleration is equal to the target error (E G ) And a ratio to a dynamic error value.
In step S17, the transmission system 112 drives the work platform 114 and the workpiece at the second acceleration, and calculates the elastic deformation 115 (delta) and the maximum position error 117 of the transmission system 112 at the second acceleration again to determine whether the maximum dynamic error 119 is equal to the target error value (E G ). If the maximum dynamic error 119 is not equal to the target error value (E G ) Then, the feedback control is performed to obtain the next-stage acceleration 121 until the dynamic error value converges to the target error value.
Referring to fig. 6, a schematic diagram of the machine tool 100 for finding the optimized acceleration parameter through feedback control is shown. The deformation amount calculation module 116 calculates an elastic deformation amount 115 (δ) of the transmission system 112 based on the weight 111 of the workpiece. According to Hooke's law and Newton's second law of motion, the steel of the transmission system 112 can be regarded as a linear elastic material in engineering applications, the elastic coefficient is K, the transmission system 112 receives the thrust of the acceleration of the motor, the thrust and the elastic deformation 115 (delta) are in a linear relationship, and the thrust is equal to the product of the mass of the transmission system 112 and the acceleration, so the relationship between the elastic deformation 115 (delta) and the weight 111 (delta M) of the workpiece is as follows:
in fig. 6, the weight 111 (Δm) of the workpiece is input to the deformation amount calculation module 116 according to the above-described relational expression, and the elastic deformation amount 115 (δ) of the transmission system 112 at the current-stage acceleration 113 is calculated. Then, the acceleration parameter setting module 120 determines whether the current acceleration 113 is the optimal acceleration 122 according to the difference between the sum of the elastic deformation 115 (δ) and the maximum position error 117 and the target error. In addition, the upper controller 103 may control the lower stageThe parameters of the segment acceleration 121 are returned to the servo loop of the controller 102, the lower segment acceleration 121 is calculated by current feedback, speed feedback and position feedback to become the current segment acceleration 113, and the process is repeated until the maximum dynamic error 119 converges to the target error value (E G ) Until that point.
Referring to fig. 9, assume that the target error (E G ) Equal to 12 μm, the optimal acceleration 122 is adjusted by the acceleration parameter setting module 120 according to the estimated result (258.5 kg, 474.9 kg, 729.9 kg, 973.7 kg) of the weight 111 of the workpiece, so as to obtain a graph of the weight 111 of the workpiece and the optimal acceleration 122, as shown in fig. 8. Further, as can be seen from FIG. 9, the different workpiece weights are within the target error (E G ) As the estimated weight of the workpiece is greater, the greater the amount of elastic deformation 115 of the drive train 112, the less the optimal acceleration 122.
According to the machine tool and the acceleration control and adjustment method thereof disclosed by the embodiment of the invention, an acceleration parameter can be set temporarily according to the weight of the workpiece, and then the operation of the machine tool is started, so that the elastic deformation of the transmission system and the feedback position error amount can be calculated actually. After feedback control for multiple times, the system can automatically learn the relation between the acceleration parameter and the weight of the workpiece, and is used for finding out the optimized acceleration parameter. Therefore, the control method of the embodiment can be suitable for parameter adjustment of various machine tools and controllers thereof, and achieves the aim of automatically adjusting the optimal acceleration parameters.
In summary, although the present invention is disclosed in conjunction with the above embodiments, it is not intended to limit the present invention. Those skilled in the art to which the present invention pertains will appreciate that numerous modifications and variations can be made without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be determined from the following claims.
Claims (4)
1. The utility model provides a work piece load characteristic judgement and acceleration adjustment method of instrument machine is suitable for setting up in the instrument machine, and this instrument machine includes transmission system and work platform, and this work platform sets up on this transmission system to bear this work piece, and with this transmission system drive, this method includes:
estimating the weight of the workpiece from the current signal of the motor of the transmission system;
setting a first acceleration of the transmission system according to the weight of the workpiece, and driving the working platform and the workpiece with the first acceleration;
calculating a first elastic deformation of the transmission system when the transmission system transmits at the first acceleration according to the weight of the workpiece;
calculating a first position error amount of the transmission system when the transmission system is driven by the first acceleration according to the position signal fed back by the transmission system; and
and calculating a dynamic error value according to the first elastic deformation and the first position error value, judging whether the dynamic error value is equal to a target error value, setting a second acceleration to the transmission system when the dynamic error value is smaller than or larger than the target error value, and recalculating the second elastic deformation and the second position error value when the transmission system is driven by the second acceleration to enable the dynamic error value to be converged to the target error value.
2. The method according to claim 1, wherein the idle current and the load current of the motor are calculated based on a difference between an average current signal in a constant acceleration time zone and an average current signal in a constant velocity time zone.
3. The method of claim 1, wherein the ratio of the second acceleration to the first acceleration is equal to the ratio of the target error to the dynamic error value.
4. The method of claim 1 wherein the product of the weight of the workpiece and the first acceleration is linearly related to the elastic deformation.
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| CN108829034A (en) * | 2018-09-25 | 2018-11-16 | 西安科技大学 | A kind of numerically-controlled machine tool inclination feed system frictional error compensation method |
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| JP6143222B2 (en) * | 2013-03-07 | 2017-06-07 | 三菱重工工作機械株式会社 | Machine tool abnormality diagnosis apparatus and abnormality diagnosis method |
| JP5620535B2 (en) * | 2013-03-19 | 2014-11-05 | ファナック株式会社 | Motor control system that detects voltage saturation |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001126977A (en) * | 1999-10-27 | 2001-05-11 | Nikon Corp | Stage system, aligner, and processing method for circuit device |
| JP2002142480A (en) * | 2000-08-21 | 2002-05-17 | Mitsuba Corp | Servo motor controller |
| CN104656549A (en) * | 2014-09-02 | 2015-05-27 | 苏州宝时得电动工具有限公司 | Control method and system for electric tool, and electric tool |
| CN106208821A (en) * | 2016-08-30 | 2016-12-07 | 北京精密机电控制设备研究所 | A kind of multiple stage is without sensor permagnetic synchronous motor simultaneously or substep Start-up and Adjustment method |
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