CN111708324A - Control method for inhibiting reversing lines based on speed feedforward function - Google Patents
Control method for inhibiting reversing lines based on speed feedforward function Download PDFInfo
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- CN111708324A CN111708324A CN202010594507.XA CN202010594507A CN111708324A CN 111708324 A CN111708324 A CN 111708324A CN 202010594507 A CN202010594507 A CN 202010594507A CN 111708324 A CN111708324 A CN 111708324A
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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
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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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
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Abstract
The invention discloses a control method for inhibiting a reversing line based on a speed feedforward function, which comprises the following steps: 1) providing a control system with a speed feedforward function, which comprises a motor set, a driver and a controller with the speed feedforward function; 2) automatically adjusting the machine tool spindle and the axial direction by using a controller; 3) setting a speed feedforward function parameter by the controller; 4) and carrying out self-learning debugging compensation through the parameters generated by the controller. The invention can effectively solve the problem of axial reversing lines in numerical control machining, does not need to manually adjust the acceleration and deceleration time and gain of the motor, and greatly shortens the debugging time.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of numerical control machine tool control, in particular to a control method for inhibiting reversing lines based on a speed feedforward function.
[ background of the invention ]
At the moment of starting or reversing the machine tool, because each contact surface of the mechanism has friction force, hysteresis can occur, so that lines can be generated due to following errors caused by the viscous phenomenon during processing, back gaps can also be generated after the mechanism is assembled, and poor processing can also be caused by overcoming the back gaps when the machine tool moves. The existing technology solves the problem that the commutation stripes are mainly formed by adjusting axial gains and motor acceleration and deceleration time, the adjusting steps are complicated, and the efficiency is low.
Therefore, it is necessary to provide a new control method for suppressing the commutation striations based on the speed feedforward function to solve the above problems.
[ summary of the invention ]
The invention mainly aims to provide a control method for inhibiting reversing lines based on a speed feedforward function, which can effectively solve the problem of axial reversing lines in numerical control machining, does not need to manually adjust the acceleration and deceleration time and gain of a motor, and greatly shortens the debugging time.
The invention realizes the purpose through the following technical scheme: a control method for inhibiting a commutation stripe based on a speed feedforward function comprises the following steps:
1) providing a control system with a speed feedforward function, which comprises a motor set, a driver and a controller with the speed feedforward function; the controller is used for setting compensation parameters, and the driver controls the motor set to carry out circle following debugging;
2) the controller is used for automatically adjusting the machine tool main shaft and the axial direction, so that the main shaft and the axial motor can be ensured to normally act;
3) setting a speed feedforward function parameter by the controller;
4) self-learning debug compensation is performed by the parameters generated by the controller, which includes:
41) debugging the machine tool by specifying parameters of a circle-following condition, presetting different rotation speeds of a main shaft and different motion radiuses in an X axis and a Z axis, selecting a radius to be used and a speed matching group, calculating compensation parameters required by speed sharp angle compensation by a control system according to data obtained by circle-following, covering an original parameter table, and finally displaying a circle-following result graph after learning parameters;
42) and (3) starting a speed sharp angle compensation function by the control system, and finally displaying a circle result chart after the speed sharp angle compensation is used through the generated speed, radius, plane and coordinate system circle.
Furthermore, the driver has M3 communication interface, power take off interface and encoder interface, the driver pass through M3 communication interface with the controller communicates mutually, power take off interface pass through the cable with the motor group links to each other, the encoder interface pass through the encoder line with the encoder of motor group links to each other.
Further, the driver is an S08-SMD-34C series four-in-one driver.
Further, the controller is a 22-series controller.
Further, the step 3) comprises:
31) connecting the controller with the driver through a cable;
32) performing serial parameter setting on the driver through the controller;
33) and appointing the setting parameters of the controller, and executing the generated program for debugging.
Compared with the prior art, the control method for inhibiting the reversing lines based on the speed feedforward function has the beneficial effects that: the problem of axial reversing lines in numerical control machining can be effectively solved by adopting a parameter self-learning mode to carry out circle-following debugging compensation, the acceleration and deceleration time and the gain of a motor do not need to be manually adjusted, the debugging time is shortened, the labor cost is reduced, and the method is also suitable for machining under various machining conditions.
[ description of the drawings ]
Fig. 1 is a schematic diagram of a control system according to an embodiment of the present invention.
[ detailed description ] embodiments
Example (b):
the embodiment is a control method for inhibiting a commutation stripe based on a speed feedforward function, which comprises the following steps:
1) referring to fig. 1, a control system with speed feedforward function is provided, which includes a motor set, a driver 1, and a controller 2 with speed feedforward function;
the motor group comprises an X-axis motor 3, a Z-axis motor 4 and a spindle motor 5, wherein a driver 1 is connected with the motor group, parameters are set at the end of a controller 2 to generate processing conditions, the circle following debugging is carried out by setting different radiuses and feeding of a number of groups, (the lathe is generally preset to act in a mode of turning feeding), and a spindle also rotates along with the circle following when circle following is carried out; the controller 2 sends a planning command to the driver 1, and the driver 1 controls the X-axis motor and the Z-axis motor to perform a circle-following action. The driver 1 is respectively connected with the motor and the motor encoder and used for receiving the torque signal transmitted by the encoder to convert the torque signal into a motor feedback value and driving the motor to work according to a control command. In the present embodiment, the drive 1 preferably uses a model S08-SMD-34C of a new generation company, which has a front board CPU, a rear board DCBUS, and various input/output interfaces and specific function interfaces, such as a power input interface, an M3 communication interface, a power output interface, and an encoder interface; the driver 1 is communicated with the controller 2 through an M3 communication interface, the power output interface is connected with the motor through a cable, and the encoder interface is connected with the encoder through an encoder wire.
The controller 2 is generally mounted on a lathe (specifically, on a metal plate of the lathe) and controls (parameters, signals, etc.) a spindle motor of the lathe, etc. In the present embodiment, the controller 2 may be selected from a 22-series controller of a new generation company; it has a plurality of interfaces, do respectively: interface B, LAN1&2, group 2 10/100M network interface; interface C, keyboard interface; interface D, 2 sets of USB2.0 interfaces; interface E, M3 serial servo communication interface; interface F, I/O device; interface G, RIO PORT interface. The controller 2 is also connected to the driver 1 by a cable.
2) The controller 2 is used for automatically adjusting the machine tool main shaft and the axial direction; ensuring the normal action of the main shaft and the axial motor; the method specifically comprises the following steps:
21) estimating the inertia of the axial motor by using the controller 2; the specific operation is as follows: the following functions are selected in turn by keys on a 22-series controller: parameter setting-debugging function-automatic tuning;
22) in order to improve the responsiveness of the machine tool, the gain of the axial motor needs to be increased; the specific operation is as follows: the following functions are selected in turn by keys on a 22-series controller: parameter setting-next page-serial parameter setting, changing Pn-100 speed loop gain, Pn-101 speed loop integral time constant and Pn-102 position loop gain;
3) setting, by a controller, a speed feedforward function parameter comprising:
31) connecting the controller with the driver through a cable;
32) performing serial parameter setting on the driver through the controller;
33) appointing the controller to set parameters, executing the generated program for debugging, which comprises: the following key operation settings are performed at the controller: parameter setting, debugging function, circle-following debugging, speed sharp angle debugging, shaft group selection, plane selection, anticlockwise or clockwise circle-following selection, switching of an operation mode to function learning, switching of five groups of different radiuses, speeds and main shaft rotating speeds in circle-following condition modification, compatibility of multiple groups of processing conditions, opening of a Z-axis compensation function and an X-axis compensation function, program generation, starting execution of processing, and generation of a learned circle-following result diagram by a controller according to the different radiuses, speeds and main shaft rotating speeds;
4) self-learning debug compensation is performed by the parameters generated by the controller, which includes:
41) switching to a compensation starting mode, randomly selecting a group of processing conditions, generating a program and executing processing;
42) debugging the X and Z axes of the machine tool for multiple times by selecting different machining conditions, and verifying the compensation effect;
43) the processing effect is analyzed through the controller, and observation can be carried out through a debugging result (namely, a circle-following effect graph generated in the controller is observed); in particular, the resolution, roundness and average circle radius, and the debugging result and the feed-forward function of the unopened speed can be greatly improved.
The speed feedforward function is also called speed sharp angle compensation, and aims to inhibit a sharp angle phenomenon caused by friction force during reversing so as to improve the reversing lines, and the automatic debugging is carried out in the axial direction with the problem of the reversing lines, so that the friction force generated by a mechanism and a contact surface at the moment of starting or reversing a machine table is inhibited, the compensation is carried out through specific circle following conditions (radius and speed), and the reversing lines generated by the friction force can be effectively inhibited.
The direction of the speed error is consistent with the acceleration of the speed, the place with the largest speed error is when the speed is 0, when the speed error is the largest, the waveform with a convex sharp corner is generated, the reason of the phenomenon is friction, the compensation of the speed sharp corner is to compensate the friction, namely, the friction is estimated by using the feedback of the speed, and finally, the required speed feedforward compensation is calculated. The embodiment carries out the graph simulation to the result that the mechanism follows the circle through generating the circle result picture, and the effect after the compensation can directly show through this picture good or bad, and the compensation effect is seen out to the audio-visual, can carry out manual parameter compensation adjustment to the axial parameter through following the circle result picture simultaneously for the result is more accurate.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (5)
1. The control method for inhibiting the reversing lines based on the speed feedforward function is characterized in that: which comprises the following steps:
1) providing a control system with a speed feedforward function, which comprises a motor set, a driver and a controller with the speed feedforward function; the controller is used for setting compensation parameters, and the driver controls the motor set to carry out circle following debugging;
2) the controller is used for automatically adjusting the machine tool main shaft and the axial direction, so that the main shaft and the axial motor can be ensured to normally act;
3) setting a speed feedforward function parameter by the controller;
4) self-learning debug compensation is performed by the parameters generated by the controller, which includes:
41) debugging the machine tool by specifying parameters of a circle-following condition, presetting different rotation speeds of a main shaft and different motion radiuses in an X axis and a Z axis, selecting a radius to be used and a speed matching group, calculating compensation parameters required by speed sharp angle compensation by a control system according to data obtained by circle-following, covering an original parameter table, and finally displaying a circle-following result graph after learning parameters;
42) and (3) starting a speed sharp angle compensation function by the control system, and finally displaying a circle result chart after the speed sharp angle compensation is used through the generated speed, radius, plane and coordinate system circle.
2. The control method for suppressing the commutation striations based on the speed feedforward function as claimed in claim 1, wherein: the driver has M3 communication interface, power take off interface and encoder interface, the driver passes through M3 communication interface with the controller communicates mutually, power take off interface pass through the cable with the motor group links to each other, the encoder interface pass through the encoder line with the encoder of motor group links to each other.
3. The control method for suppressing the commutation striations based on the speed feedforward function as claimed in claim 1, wherein: the driver is an S08-SMD-34C series four-in-one driver.
4. The control method for suppressing the commutation striations based on the speed feedforward function as claimed in claim 1, wherein: the controller is a 22-series controller.
5. The control method for suppressing the commutation striations based on the speed feedforward function as claimed in claim 1, wherein: the step 3) comprises the following steps:
31) connecting the controller with the driver through a cable;
32) performing serial parameter setting on the driver through the controller;
33) and appointing the setting parameters of the controller, and executing the generated program for debugging.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113485242A (en) * | 2021-08-09 | 2021-10-08 | 新代科技(苏州)有限公司 | Method for solving highlight quadrant striations by utilizing driver torque feedforward compensation |
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