CN111816039A

CN111816039A - Electromechanical transmission control system and control method

Info

Publication number: CN111816039A
Application number: CN202010766472.3A
Authority: CN
Inventors: 庞党锋; 崔健
Original assignee: Tianjin Sino German University of Applied Sciences
Current assignee: Tianjin Sino German University of Applied Sciences
Priority date: 2020-08-03
Filing date: 2020-08-03
Publication date: 2020-10-23

Abstract

The invention discloses an electromechanical transmission control system and a control method, relating to the technical field of mechanical automatic control.A main circuit of the system connects an external power supply with a main power supply breaker firstly, and a servo power supply breaker controls the on-off of a high-voltage circuit; the servo control circuit controls the servo motor to move; the variable-frequency speed regulating circuit controls the rotating speed of the alternating current motor through an analog quantity output signal of the multiplying controller; the controller circuit controls the logic control of the servo driver and the frequency converter through digital signals and analog signals; the PLC control circuit controls a proximity switch on the door to perform safety protection, and is connected with a lead of a system power supply circuit breaker and a proximity sensor of the servo control circuit to form a loop. The invention additionally writes the program of the PLC, so that the motor can realize logic control and a variable frequency speed control system, a man-machine interaction interface is drawn, the electric wiring principle and the control principle of the electric control system are provided, and the practicability of the system is enhanced.

Description

Electromechanical transmission control system and control method

Technical Field

The invention relates to the technical field of mechanical automatic control, in particular to an electromechanical transmission control system and a control method.

Background

At present, mechanical electronic engineering and machine manufacturing and automation thereof are industrial field applications for typical products such as motors, frequency converters, servo systems and the like.

Practice teaching is generally solved by purchasing products of relevant experimental teaching aids manufacturers, but manufacturers and schools are disjointed from practice teaching. And secondly, the method is completed through a virtual simulation method, and the method generally combines simple principle experiments and virtual simulation, so that the aims of training the practical ability of students and improving the comprehensive quality can not be achieved.

The original experiment platform is not convenient for the operation of students and can be in the way. Secondly, if the wiring and control relationship of the whole equipment are to be known, the equipment can only be observed from the back, but the wiring of some electric elements in the front can not be seen, which brings great trouble to the invention in practical courses. Moreover, the function is fixed, the operation is not flexible, and if the invention wants to add other electric elements, no place is available. The wiring and the placement of the electrical elements cannot be achieved independently, and thus the practicability is lacked.

Many technical processes and products in the field of electromechanical control show an increasingly tight integration between mechanical and electronic and information processing. This integration is between components (hardware) and information-driven functions (software), forming an integrated system known as an electromechanical system. The development of the prior art involves finding the best balance between the implementation of the basic mechanical structure, sensors and actuators, automatic digital information processing and overall control, which synergy may lead to innovative solutions.

Mechatronics is therefore a interdisciplinary field in which the following disciplines work together, mechanical systems (mechanical elements, machines, precision machines); electronic systems (microelectronics, power electronics, sensor and actuator technologies); information technology (system theory, control and automation, software engineering, artificial intelligence).

The development of electromechanical control systems is divided into four phases. In the beginning of the 20 th century, the electromechanical integration realizes control only through a contactor and a relay. In the 1930's, the control system evolved from intermittent control to continuous control, increasing productivity. In the late 1950 s, transistors and thyristors were emerging, and a new era of electromechanical control systems has been started due to their advantages. With the development of digital and information technology, control systems have come to a new stage of computer digital control. Since the 1970 s, computer numerical control systems have been used in CNC machine tools and machining centers to improve the versatility and efficiency of the machine tools and have been widely used in production. With the advent of industrial robots, the present invention has realized a fully automated machining process. Nowadays, with the continuous development of scientific technology, the electromechanical control system is also developing towards intellectualization.

In view of the important role of course experiments, innovation thereof has been an important research and construction direction.

The electromechanical transmission control experiment process and the used experimental equipment are the key for supporting the class, and many colleges and institutions correspondingly develop some researches on the experiment platform.

A PLC-based electromechanical-hydraulic integrated experiment platform measurement and control system is developed by Wang Guen of the science and technology university of Xian architecture. The platform directly controls the output torque of the motor through the torque of the frequency converter, researches the parameter change of the diesel engine and the motor during power coupling output, and provides certain reference for the follow-up research of power output stability to a certain extent.

Besada ports of Stovack issued a TwinCAT-based, laboratory Java Server application and Easy Java dependencies (EJS) in combination, developing a remote laboratory for system engineering and automation control courses. The TwinCAT system is used to close the control loop of a selected plant through the PLC in the PC.

The university of maryland established a mechatronic laboratory featuring articulated robotic arms with industrial selective compliance with overhead machine vision for guidance and part inspection.

The design of a Programmable Logic Controller (PLC) is used for replacing a relay panel, and the PLC overcomes all the defects of the relay panel. It is highly efficient and reliable in applications involving sequential control and synchronization in manufacturing, chemical, and process industries. PLC is becoming more and more popular in the industry for its advantages of convenience, speed, reliability, system profile, and low cost. Currently, most of the controls used to execute system logic have been replaced by PLCs.

The first programmable controller was conceived by Dick Morley (Dick Morley) on1 month 1 of 1968. His Company, Gould Module Company, developed the first PLC, model 084 PLC, installed in the Oldsmobile division of general-purpose automotive Company and Landis corporation of Landis, Pa. The first PLC was large and expensive. They can only perform on/off control, thereby limiting their application to operations that require repeated movements.

Through the above analysis, the problems and defects of the prior art are as follows: (1) original electric drive experiment platform and controlgear, the operation is inconvenient, and the wiring and the control relation information of whole equipment are difficult for acquireing, can only go to the rear of equipment to observe, but the wiring of some electrical components in the place ahead can not see again, has brought very big trouble in actual application.

(2) The original electric transmission experiment platform is relatively fixed in function and inflexible in operation, and if other electric elements are added, no place is left. The wiring and the placement of the electrical elements cannot be automatically realized, so that the practicability of the equipment is limited.

The significance of solving the problems and the defects is as follows:

the invention takes an open type electromechanical transmission control experiment platform as an object, firstly carries out advanced theoretical understanding and layout of electrical elements through the existing electromechanical transmission control platform, and analyzes the power supply principle and the control principle of the platform. And then, using professional electrical drawing software such as EPLAN (electronic programmable logic array) to draw an electrical schematic diagram, and then designing the electrical cabinet and simulating and placing positions among electrical components by a three-dimensional simulation means, thereby designing a reasonable electrical cabinet layout diagram. Then, basic assembly of the electric appliance cabinet and installation of all electric appliance elements are carried out, wherein the electric elements comprise Beifu IPC, Siemens PLC, LS servo driver, LS frequency converter, motor and the like, and then correct wiring is carried out according to an electric wiring diagram. Finally, debugging of each element is carried out, and whether the operation can be performed or not is confirmed through software programming.

Disclosure of Invention

In order to overcome the problems in the related art, the disclosed embodiments of the present invention provide an electromechanical transmission control system and a control method.

The technical scheme is as follows: according to a first aspect of the disclosed embodiments of the present invention, there is provided an electromechanical transmission control method, comprising:

establishing an HMI (human machine interface) human-computer interaction interface, and setting motion parameters in motion control of an alternating current motor and motion control of a servo motor;

linking variables in motion control of the alternating current motor and motion control of the servo motor;

thirdly, the PLC control circuit receives the variable of the alternating current motor motion control, judges whether the alternating current motor reaches the expected rotating speed through the variable frequency speed regulating circuit, controls a proximity switch on a door of the variable frequency speed regulating circuit and regulates and controls the alternating current motor motion speed;

the PLC control circuit receives variables in the motion control of the servo motor, judges whether the servo motor moves according to set values through the servo control circuit, controls a proximity switch on a door of the servo control circuit and regulates and controls the motion speed and the position of the servo motor.

Preferably, after the third step, oscillography is performed through the action, state and operation data of the touch screen monitoring system main circuit, the servo control circuit, the variable frequency speed control circuit, the Fufu controller circuit and the PLC control circuit.

Preferably, the alternating current motor motion control method includes:

step 1, setting motion parameters of motion control of an alternating current motor: setting the parameter of the frequency converter to be 1, and driving the frequency converter to operate by a terminal; setting the parameter of the frequency converter to be 3, changing the mode of receiving signals, and performing analog quantity access and voltage control;

step 2, linking variables for controlling the motion of the alternating current motor, wherein the variables comprise power supply frequency and induced electromotive force;

in step 3, the frequency conversion speed regulation circuit judges whether the alternating current motor reaches the expected rotating speed, and controls the amplitude and the frequency of the output voltage of the frequency converter through an acceleration and deceleration control mode, a V/f control mode and a pulse width modulation control mode so as to enable the frequency converter to output the voltage

E is the induced electromotive force of the motor.

Preferably, the servo motor motion control method includes:

step 1), establishing an HMI (human machine interface), setting servo parameters, and inputting the current position of a Z axis: %. 2f,%. 2f represents the data type which is displayed as floating point number data type, and only the last two digits of decimal point are reserved;

step 2) setting the related variables and displaying the actual position of the X axis; selecting the IP of the servo driver, and displaying the current positions of the Z axis and the X axis on the HMI; and through a plurality of button controls, the servo motor shaft is enabled, jogged, relatively displaced and zeroed;

step 3) carrying out online monitoring on the servo motor shaft for enabling, rotating, moving the large carriage and stopping the shaft;

and step 4) performing oscillography, and respectively connecting variables MAIN.AXIS1.NCTOPLC.ACTVELO and MAIN.AXIS1.NCTOPLC.ACTPOS, and MAIN.AXIS2.NCTOPLC.ACTVELO and MAIN.AXIS2.NCTOPLC.ACTPOS to control the actual speed and the actual position of the servo axis.

According to a second aspect of the disclosed embodiments of the present invention, there is provided an electromechanical drive control system comprising:

the system main circuit is used for connecting an external power supply with a main power supply breaker and then connecting the system power supply breaker, a servo power supply breaker and the main power supply breaker in parallel; a system power supply circuit breaker is formed to control the on-off of a low-voltage circuit, and a servo power supply circuit breaker is formed to control the on-off of a high-voltage circuit;

the servo control circuit controls the servo motor to move by adopting a servo driver so as to carry out controllable movement of the large carriage and the medium carriage;

the frequency conversion speed regulation circuit adopts a frequency converter to regulate the speed, and controls the rotating speed of the alternating current motor through an analog quantity output signal of the voltage doubling controller circuit;

the controller circuit controls the logic control of the servo driver and the frequency converter through digital signals and analog signals;

the PLC control circuit controls the proximity switches on the doors of the servo control circuit and the variable-frequency speed regulation circuit to carry out safety protection, and is connected with the lead of the system power supply circuit breaker, the servo control circuit and the variable-frequency speed regulation circuit to form a loop.

Preferably, the system main circuit

The method comprises the following steps: the main power circuit breaker is used for supplying power to the system;

the system power supply circuit breaker is used for controlling the PLC control circuit to be switched on and off;

the servo power supply circuit breaker is used for controlling the on-off of the frequency converter, the servo driver, the servo motor and the alternating current motor;

a fuse for protecting the circuit;

the switching power supply rectifies the alternating current 380V into the direct current 24V voltage.

Preferably, the servo control circuit includes:

the servo driver controls the servo motor to move; after the plurality of servo drivers lead out wiring from the servo power supply circuit breaker, the plurality of servo drivers are connected in parallel, and a network among the plurality of servers enables a network protocol to be communicated with the double-fortune controller circuit;

the encoder is used for encoding the network protocol and information for carrying out servo driver communication;

the proximity switch on the door is used for carrying out safety protection on the servo motor; the proximity switch on the door is controlled by a proximity sensor, and the servo motor stops working when the door is opened.

Preferably, the variable frequency speed regulation circuit includes:

the frequency converter is used for controlling the rotating speed of the alternating current motor; after a wiring is led out through a servo power supply circuit breaker, the two frequency converters are connected in parallel, and low-voltage control signals of the frequency converters are connected with a multiplying controller to control the running speed of the alternating current motor;

the blessing controller contact is used for outputting an analog quantity signal of the blessing controller;

the proximity switches on the two variable-frequency speed-regulating doors stop the alternating current motor when the door is opened;

the multiplying controller circuit comprises: the device comprises a coupler, an analog quantity output module, a communication module, a digital quantity input module and a digital quantity output module; the coupler is connected with a leading-out wiring of a system power supply circuit breaker; and data transmission and power supply are carried out among the analog quantity output module, the communication module, the digital quantity input module and the digital quantity output module through six contacts of the E-BUS.

The electro-mechanical transmission control system further comprises:

and the touch screen is used for monitoring the action, state and running data of the main circuit of the system, the servo control circuit, the variable frequency speed regulation circuit, the double-fortune controller circuit and the PLC control circuit and performing oscillography.

According to a third aspect of the disclosed embodiments of the present invention, there is provided a computer device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of:

linking variables in the motion control of the alternating current motor and the motion control of the servo motor;

the PLC control circuit receives the variable of the alternating current motor motion control, judges whether the alternating current motor reaches the expected rotating speed through the variable frequency speed regulating circuit, and controls a proximity switch on a door of the variable frequency speed regulating circuit to regulate and control the alternating current motor motion speed;

the PLC control circuit receives variables in the motion control of the servo motor, judges whether the servo motor moves according to set values through the servo control circuit, controls a proximity switch on a door of the servo control circuit and regulates and controls the motion speed and the position of the servo motor;

the oscillography is carried out through the action, the state and the operation data of the main circuit of the touch screen monitoring system, the servo control circuit, the frequency conversion and speed regulation circuit, the double-fortune controller circuit and the PLC control circuit.

The technical scheme provided by the embodiment of the invention has the following beneficial effects:

the invention is based on the open design and manufacture of the original electromechanical transmission control experiment platform, carries out deep analysis on the equipment on the original platform and determines the related control flow and principle. Theoretical analysis and design are made. The invention carries out theoretical analysis and equipment principle analysis in advance according to the existing experimental platform. The defects of the original equipment are found out. And (4) redesigning by using drawing software, wherein the drawing software comprises drawing of an electrical schematic diagram by using Eplan and appearance design of an open experimental platform. The invention carries out test experiment and program compiling, and the new detection platform can meet the expected requirements. The servo control of the shaft can be completed, and the frequency converter can be used for frequency conversion and speed regulation.

Compared with the prior art, the invention has the advantages that:

the invention can well combine other learned knowledge in the past, has strong openness, can make experimental contents closely attached to reality, can also independently add other electric elements to realize other functions, and has wide coverage.

The invention has more practical significance in experiments and can embody the process of combining theories with practice. The process of experiment can more be close to actual product installation and debugging process, lets the practice more have actual meaning and is full of the actual combat nature.

The device has strong openness, can enhance the practical ability of students, can well perform component selection, circuit design, installation and debugging according to experimental targets, can realize manual wiring, and is favorable for deepening the perceptual knowledge of the students.

The invention additionally writes the program of the PLC, so that the motor can realize logic control and a variable frequency speed control system, a man-machine interaction interface is drawn, the electric wiring principle and the control principle of the electric control system are provided, and the practicability of the system is enhanced.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a schematic diagram of a three-phase winding according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a three-phase symmetrical ac power provided by an embodiment of the present invention.

Fig. 3 is a real diagram of a servo motor provided in the embodiment of the present invention.

Fig. 4 is a schematic diagram of an encoder according to an embodiment of the present invention.

Fig. 5 is a control block diagram of LSLV-C100 provided by an embodiment of the present invention.

Fig. 6 is a line graph of acceleration and deceleration provided by the embodiment of the present invention.

Fig. 7 is a steady-state equivalent circuit of an asynchronous motor provided by an embodiment of the present invention.

Fig. 8(a) is a schematic diagram of a LSLV-C100 frequency converter provided in the embodiment of the present invention; fig. 8(b) is a schematic diagram of a LSLV-C100 frequency converter provided in the embodiment of the present invention.

Fig. 9 is a main circuit diagram provided by an embodiment of the present invention.

FIG. 10 is a circuit diagram of a servo control circuit according to an embodiment of the present invention.

Fig. 11 is a circuit diagram of a variable frequency speed control circuit according to an embodiment of the present invention.

Fig. 12 is a circuit diagram of a variable frequency speed regulation circuit according to an embodiment of the present invention.

Fig. 13 is a circuit diagram of a siemens PLC control circuit provided in an embodiment of the present invention.

FIG. 14 is a three-dimensional model diagram provided by an embodiment of the invention.

Fig. 15 is a flowchart of the operation of the experimental platform according to the embodiment of the present invention.

Fig. 16 is a logic control program diagram provided in an embodiment of the present invention.

Fig. 17 is a control schematic provided by an embodiment of the present invention.

Fig. 18 is a schematic diagram of a current location provided by an embodiment of the invention.

Fig. 19 is an online monitoring diagram provided by the embodiment of the invention.

Fig. 20 is a diagram of oscilloscope monitoring provided by an embodiment of the present invention.

Fig. 21 is a diagram of 30 sets of positioning errors provided by an embodiment of the present invention.

FIG. 22 is a graph of a Z-axis linear fit provided by an embodiment of the present invention.

FIG. 23 is a graph of a linear fit to the X-axis provided by an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

The invention provides an electromechanical transmission control method, which comprises the following steps:

In the invention, the motion control method of the alternating current motor comprises the following steps:

E is the induced electromotive force of the motor.

In the present invention, a servo motor motion control method includes:

The present invention also provides an electromechanical transmission control system, comprising:

The system main circuit comprises: the main power circuit breaker is used for supplying power to the system;

a fuse for protecting the circuit;

In the present invention, the servo control circuit includes:

Preferably, the variable frequency speed regulation circuit includes:

The electro-mechanical transmission control system further comprises:

The invention is further described below in connection with hardware or related apparatus.

Selection of the PLC:

the programmable controller is easy to install, small in occupied space and low in energy consumption, most of the programmable controllers with the diagnosis indicators can help fault diagnosis, and the programmable controllers can be reused in other projects. Currently, there are over a dozen manufacturers producing PLCs, for example: siemens, ABB, schneider, mitsubishi, ohilong, bosesky, etc., most of which make multiple models.

According to the requirement of the task, the performance and the economical efficiency are reasonably selected. The PLC used in the invention is Siemens S7-200PLC (DC/DC).

Comparison of PLC with other controllers:

(1) comparison of PLC with Relay control System

In a long industrial process, the use of relays is already extensive, but compared with the PLC, due to the physical property, the requirement of modern industrial control is difficult to meet, the relay control is hard contacts and hard wires, which easily cause short circuit of equipment, easy abrasion and short service life, and the PLC adopts internal virtual contacts for control, so that no physical loss exists. Other differences are shown in table PLC versus relay.

Meter PLC and Relay comparison

(2) Comparison of PLC and SCM control system

In a broad sense, the PLC is a set of prepared single-chip machine, the PLC and the single-chip machine are applied to two crossed fields, the background generated by the PLC at first is that the single-chip machine is utilized to find a controller capable of changing an electrical diagram frequently, and the PLC is developed to the present, so that a plurality of functions are added to the PLC, and the functions cannot be realized by the single-chip machine. The comparison between the PLC and the single chip microcomputer shows the comparison between the control functions and the characteristics of the PLC and the single chip microcomputer.

Comparison of the PLC with the single-chip microcomputer

(3) Comparison of PLC with computer control System

Modern computers have recently been provided with high computing and data processing capabilities, with the computing speed increasing year by year, but many aspects of industrial control still lack PLC functionality, as shown by comparison of a table PLC with a PC.

Table PLC vs. PC

Selection of the field bus:

fieldbus technology is intended to define a serial communication network for connecting low-level devices in a plant or process plant, including sensors, actuators, single variable controllers and small (usually embedded) computers. The fieldbus has a lower bit rate than the MAP or miniMAP networks, but its function can satisfy a range of requirements that are critical to the lowest level of automation control, including real-time response, low cost, safety and power bus.

In 1984, ISO issued a special standard, the international standard reference model for open systems interconnection. The purpose of this standard is to coordinate the interconnection of the various computers while allowing existing standards to be placed within the model, as shown in the table OSI model.

TABLE OSI model

Physical layer: to the mechanical and (optical or) electrical means required for data transmission. It is mainly responsible for transmitting bit information. Some communication systems, in particular fieldbus systems, rely heavily on the functionality contained in the physical layer.

Data link layer: is the most important layer in a fieldbus system because it accurately defines system functions related to real-time behavior, effective speed, etc.

Network layer: provides a means for all you need to route data from one application to another in an open communication system.

A transmission layer: the use of the available network services is optimized to provide the performance required by each session entity at the lowest cost.

And a session layer: data exchange between applications is synchronized. Session connections are established and broken and synchronization points are defined.

Presentation layer: if a special syntax is used for data transfer, e.g., the number of characters beginning with a Pascal string, followed by the characters themselves, the application uses another syntax, e.g., a C string ending with a string. With special termination characters, the presentation layer is necessary for syntax conversion.

An application layer: a means is provided for two applications, all that is necessary, to exchange information.

Selection of a blessing controller:

the Ethernet high-speed transmission technology is introduced into the industrial control field. The application promotes the combination of automation technology and internet technology, and is the development trend of automation technology.

Ethercat real-time Ethernet technology proposed by Beckhoff corporation. Currently, it is widely used for industrial automation and motion control. With the rapid development of industrial automation, reliability, rapidity and stability become an important field of industrial fieldbus control technology. However, for fast response times less than 5ms, the industrial fieldbus may not be sufficient. Some enterprises and organizations have begun to propose ethernet-based solutions to meet the needs of practical applications.

Compared with other automation solutions based on Ethernet, Beckhoff has the highest Ethercat efficiency, the shortest cycle time and the highest bandwidth utilization rate. The method is widely applied to the automatic management of industrial production. The performance is excellent, the topology is flexible, and the configuration function is simple. This sets new standards for the traditional fieldbus system to reach the limit. 1,000 distributed I/Os can be allocated in 30 seconds, with almost unlimited network size and the best convergence with Ethernet and Internet technologies. Ethercat allows the replacement of expensive star ethernet topologies with simple linear or tree structures. No expensive infrastructure components are required. All types of ethernet devices may be integrated through a switch or switch port. The specific implementation process of the system is as follows: the software with real-time processing capability for control is installed in the operating system of the PC, and after the operation, the operating system of the PC becomes a real-time controller.

Beifu EtherCAT system composition and working principle

In certain related applications involving electrical actuation, such as (coordinated) motion control, the performance of the fieldbus may not be satisfactory (representing a significant anomaly). The introduction of real-time ethernet can overcome most of the above limitations at least in principle. Real-time ethernet is a high-speed communication system (100/1000Mbits/s) based on the well-known original ethernet specification, designed for industrial applications, to ensure very short transmission times and strict determinism on periodic flows and times.

The EtherCAT network is composed of a master station device and a plurality of slave station devices. The main station unit uses an Ethernet controller with high compatibility and standard, and a computer of a main station network interface provided with EtherCAT and an embedded device with Ethernet control can both become a main station. The TwinCAT software developed by Beckhoff is the primary control software for the Master station.

The EtherCAT operating principle is as follows: the master station sends out a data frame with 1486 bytes, and the slave station can directly process the received message, extract or insert related data, and then the message processed by the last slave station is transmitted to the next EtherCAT slave station. And the last EtherCAT slave station sends back the messages processed by all the slave stations, and the master station receives the messages, analyzes and compares the messages and sends the messages to the control unit.

Selection of controller and input/output module

Controller CX 9020: CX9020 is a compact, high performance, high efficiency PLC and motion controller. It is installed between the bus end controller family BX and the embedded PC CX1000 in the Beckhoff control field. Can run under the Microsoft Windows CE operating system. Thus it provides sufficient computing power to be fully capable of handling complex logic programs. CX9020 does not require an external storage medium-the device starts the operating system with internal flash memory. The module does not need a fan because of low power consumption in heat dissipation. The device is a modular mechanical design. The basic configuration of this compact device is only 58x 100x 91 mm.

EL1008, EL2008, and EL4002 are a digital input module, a digital output module, and an analog output module, respectively. Eight channels are used for automatic control, corresponding LED lamps are lightened when the channels are used, and the three modules need to be powered through an e-bus system by using a bus coupler.

EK1100 coupler, used for connecting EtherCAT and EtherCAT terminal module. The coupler is connected with the network through the Ethernet interface.

The invention is further described with reference to specific examples.

1) LS servo driver

Servo drivers (servo drivers) are controllers for controlling servo motors. Its function is similar to a frequency converter. It is a part of servo system, mainly used for high-precision positioning system. Actuators are typically controlled in three ways: position, velocity and torque to accurately position the system.

Position control mode: and taking the position as a control target, receiving a position control instruction sent by an upper computer, driving the motor through an internal algorithm, and finally enabling the error between the given position and the feedback position to be 0 so as to realize the following of the position. The method is mainly used for scenes such as printing machinery, numerical control machines and the like.

Torque control mode: the torque is taken as a control target, a torque command sent by an upper computer is received, and the motor is driven by a certain algorithm inside, so that the error between the actual torque and the given torque is 0, and the torque control is realized. The device is mainly applied to winding and fiber pulling equipment.

Speed control mode: the rotating speed is taken as a control target, a speed control command, usually analog quantity voltage, sent by an upper computer is received, a motor is driven by a certain algorithm in the motor, and the error between the feedback rotating speed and the given rotating speed is 0, so that the speed control is realized.

In this task, it is required to implement the motion control of two servo axes by using a doubly good controller through an EtherCAT network protocol, so that the communication interfaces of the selected servo driver and the servo motor must be communicated, and therefore, the servo driver adopted by the invention is L7NA001B as shown in fig. 1. L7NA001B servo drive interface. The interface description is shown in table 1:

TABLE 1 Servo driver interface description

The L7NA001B servo driver is compact in size, can be installed in a limited range, needs to be connected by a 3-phase AC200-230(V) 50-60 Hz power supply, controls the servo motor to be a single-phase AC200-230(V) 50-60 Hz power supply, and is internally provided with a real-time Ethernet-based interface which can be communicated with other controllers or slave stations with the same protocol. The connection mode with the encoder comprises a single-turn absolute value of 19Bit and a plurality of turns of absolute value of 16 bits (the single turn means that the current absolute angular position can be fed back at the moment of power-on, and the plurality of turns can also be fed back by how many turns are rotated from the beginning of use). The response speed is high, up to 1kHz (when using a 19-bit single turn absolute encoder). Multiple control modes are supported: a cycle synchronization (position, speed, torque) control mode, a preset (position, speed, torque) control mode, a homing mode, an interpolation mode. The whole device is convenient and quick to use, easy to maintain and low in failure rate.

The invention simultaneously utilizes EtherCAT communication to connect the master server (controller) and the slave server.

2) Servo motor

The invention uses two servo motors (model LS APM-SA01AMBN) and two alternating current motors, and the two motors have the same structure. The servo motor controls the movement of the large dragging plate and the middle dragging plate, and the alternating current motor acts on the main shaft and the drill floor respectively.

An ac servo motor is an ac motor that includes an encoder used in conjunction with a controller to provide closed loop control and feedback. The motor can be placed with high precision and can also be precisely controlled according to application requirements.

The alternating current servo motor mainly comprises a stator, a rotor and an encoder. Three-phase symmetrical current is conducted into the three-phase symmetrical winding of the stator to generate a stator rotating magnetic field, the rotating magnetic field magnetizes the rotor, when the rotor coil is magnetized by the stator rotating magnetic field, three-phase induced electromotive force is generated in the rotor coil, and the three-phase induced electromotive force forms a rotor magnetic field to drive the rotor to rotate (the asynchronous motor). When the rotor is a permanent magnet, the synchronous motor is obtained.

Rotating the magnetic field: the current flows in from the tail end (X, Y, Z) and flows out from the head end (A, B, C) to be positive; the axes of the three-phase windings are shown in figure 1. It is clear that the A, B and C axes are at 120 to each other in space.

The following three-phase symmetrical currents are conducted in the three symmetrical windings:

the curve of the three-phase symmetrical current along with the time is shown in the three-phase symmetrical alternating current principle of figure 2.

For a pair of two-pole motors, the maximum value of each phase of current of the stator varies once over time, and the corresponding resultant magnetic field rotates one revolution. Taking into account the change f in one second per phase current₁Then, the rotating speed of the rotating magnetic field of the two-pole motor is obtained as follows:

n₁＝60f₁(r/min) (2)

for p-pole machines, the maximum value of each phase of the stator current varies once over time, and the corresponding resultant magnetic field will still move by two pole pitches or

And (4) week. Taking into account the change f in one second per phase current₁Then, the corresponding resultant magnetic field will rotate within one second

The rotational speed of the resultant magnetic field is thus determined as:

the stator is as shown in the servo motor of fig. 3: the stator of the alternating current servo motor is a three-phase winding, the windings of the alternating current servo motor are respectively arranged at a phase difference of 120 degrees, and a rotating magnetic field is generated after three-phase alternating current is supplied.

The rotor of the ac servomotor is a permanent magnet, and the rotor rotates synchronously under the influence of a rotating magnetic field generated by the stator.

Encoder (photosensor): the encoder is arranged on the rotating shaft of the rotor, the coded disc of the encoder also rotates when the rotor rotates, and the encoder outputs pulses to be fed back to the servo driver.

The structure of the encoder is as follows: code disc, illuminator, photoelectric receiver, amplifier circuit. Principle of encoder code wheel: the peripheral output is A phase pulse, the middle output is B phase pulse, and the innermost output is Z phase pulse. The higher the accuracy of the encoder, the more spacing on its disk surface.

The working principle of the encoder as shown in fig. 4 includes: the photoelectric receiving tube receives the signal of the outermost code disc, the photoelectric receiving tube receives the signal of the middle code disc, and the photoelectric receiving tube receives the signal of the innermost code disc.

When the encoder rotates, light emitted by the light emitter irradiates on the photoelectric receiver through the code disc. The photoelectric receiver converts the optical signal into an electric signal, sends the electric signal to an amplifier circuit to become a pulse signal, and feeds back the pulse signal to the servo driver to form a closed-loop system. The phase A and the phase B have a certain phase difference.

3) LS frequency converter

The frequency converter is one kind of AC electric drive system, and is a power electronic converter converting AC industrial frequency power supply into variable voltage and frequency suitable for AC motor speed regulation. The working principle of the frequency converter is that the torque and the rotating speed of the motor are changed by changing the working power supply frequency of the motor. The object controlled by the frequency converter is an alternating current motor. The model adopted by the invention is LSLV-C100.

Advantages of variable frequency speed regulation (compared with other speed regulation modes of alternating current motors) the advantages of variable frequency speed regulation are as follows: (1) stepless speed regulation is realized, and the speed regulation precision is high; (2) smooth soft start to ensure the safety of the motor; (3) the working efficiency can be improved by improving the output frequency of the frequency converter under the condition of mechanical permission; (4) the access communication network control of the point is very convenient, and the production automation is realized; (5) the forward and reverse directions of the motor do not need to be switched through a contactor.

The basic structure of the frequency converter which is mainstream in the market at present comprises:

a rectifier: the alternating current is converted into direct current. An inverter: converting the direct current into alternating current.

FIG. 5 is a control block diagram of LSLV-C100. The method comprises the following steps:

acceleration and deceleration mode: in the process of load acceleration and deceleration, the change curve of the output frequency of the frequency converter along with time is called an acceleration and deceleration mode. The general frequency converter has three linear modes (linear, nonlinear and S-curve), and parameters can be set according to the characteristics of the load. For example: if the maximum frequency is set to 60Hz, the acceleration and deceleration time is set to 5 seconds. When the operating frequency was set to 30Hz, the time to 30Hz was 2.5 seconds, as shown in the acceleration-deceleration line graph of FIG. 6.

In the present invention, V/f control:

when the power supply frequency of the motor is changed, the internal resistance of the motor is changed, so that the exciting current of the motor is changed, the output torque of the motor is influenced, and the performance of a speed regulating system is influenced. The purpose of the pressure control method is to obtain an ideal torque-speed characteristic. In order to keep the exciting current unchanged, only the magnetic flux is required to be kept unchanged in the speed regulation process, and in order to achieve the purpose, the induced electromotive force is changed while the power supply frequency is changed, so that the ratio of the frequency to the voltage is a constant. Since the voltage drop due to the stator impedance of the motor is much less than the voltage across the stator, the induced electromotive force can be replaced by a supply voltage.

In the equivalent circuit (steady-state equivalent circuit) of the asynchronous motor given in fig. 7, assuming that the air gap magnetism of the motor is indicated by phi, it can be seen that the excitation current I_MThe induced potential E and the air gap magnetic flux phi have the following relations:

φ＝MI_M(4)

therefore, in order to keep the air gap magnetic flux phi unchanged in the whole speed regulation process, the induced electromotive force E is changed while the power supply frequency f is changed, so that the requirements of the induced electromotive force E are met:

in the actual speed regulation control process of the motor, because E is the induced electromotive force of the motor, the detection and the control cannot be directly carried out, and other methods must be adopted to meet the requirement (6).

On the other hand, it can also be known from the equivalent circuit of fig. 7 that:

V＝I₁Z₁+E (7)

wherein:

Z＝j2πL₁+r₁(8)

is the stator impedance. Therefore, when the voltage drop across the stator impedance is small compared to the stator voltage, since V ≈ E, as long as the power supply voltage and frequency are controlled, so that (6) is established.

PWM: the pwm control is a control method in which the inverter circuit portion simultaneously controls the amplitude and frequency of the output voltage (current). The frequency converter used by the invention is an LSLV-C100 frequency converter such as the LSLV-C100 frequency converter shown in figure 8.

In fig. 8(a) and 8(B), the a-download interface, the B-PNP/NPN selection switch, the C-analog input V/I selection, the D-panel control terminal, the E-power supply terminal, and the F-ground terminal.

4) Wenlon touch screen

By touching graphical buttons on the screen, the touch feedback system can operate the various linking devices according to a preprogrammed program. Dynamic sound and video effects can be created using the display screen. Touch screens, as modern computer input screens, are currently the simplest, comfortable, and natural way of human-computer interaction. And can also be used to monitor the actions, status, data, etc. of various devices operating on the field. The monitored objects comprise a PLC, a motor, a frequency converter, some instruments and meters and the like, and all automation equipment can be used as controlled objects to be monitored by the touch screen.

5) System electric control part

The hardware circuit of the device comprises a system main circuit, a servo control circuit, a frequency conversion speed regulation circuit, a double-fortune controller circuit and a Siemens S7-200PLC control circuit. The circuit drawing software used at this time is EPLAN, which integrates electrical design, signal simulation, 3D control cabinet modeling, equipment type selection, support of various electrical standards and the like. Special devices can download parameters and models of required equipment from a network quickly, and are very suitable for electrical design.

5.1) Main Circuit of the System

The power supply of the main power supply of the system is 380V/50Hz, and the circuit diagram is shown in figure 9.

The parts in fig. 9 function as follows: f1: for the main power circuit breaker, function as system power supply, F2: for system power supply circuit breaker, play control PLC break-make electric function, F3: for servo power breaker, play control converter, servo driver, servo motor and alternating current motor switching function, F4: protection circuit, V2: the switching power supply rectifies the alternating current 380V into direct current 24V voltage.

An external power supply is connected with an F1 main power circuit breaker, and then an F2 system power circuit breaker, an F3 servo power circuit breaker and an F1 main power circuit breaker are connected in parallel. Thus, F2 is formed to control the on-off of the low-voltage 24V circuit, and F3 is formed to control the on-off of the high-voltage 220V circuit.

5.2) Servo control Circuit

The servo driver is used for controlling the movement of the servo motor to realize the controllable movement of the large carriage and the medium carriage, as shown in fig. 10.

The parts in fig. 10 function as follows: SF1, SF 2: for LS servo driver, controlling servo motor movement, M1, M2: servo motor, BMQ1, BMQ 2: encoder, KM 1: the door is a proximity switch on the door, and the safety protection effect is achieved.

After a wiring is led out from the F3 servo power supply breaker, two servo drivers are connected in parallel to supply power to the servo drivers. The network between the two servers uses the EtherCAT network protocol to communicate with the xfy CX9020 controller. The KMI and KM2 are controlled by proximity sensor, and the motor can stop working when the door is opened.

5.3) frequency conversion speed regulation circuit

The frequency converter is used for speed regulation, and the rotating speed of the alternating current motor is controlled through an analog quantity output signal of the voltage doubling controller, as shown in figure 11.

The parts in fig. 11 function as follows: LS1, LS 2: the method is an LSLV-C100 frequency converter, and the rotating speed of a motor, M3 and M4 are controlled: the AC motor, P1, AI1, RW1, ALM1, SA3.2, FW2, AI2 and ALM2 are all double-blessing controller contacts.

After the F3 servo power supply circuit breaker is used for leading out a wiring, the two frequency converters are connected in parallel, a low-voltage control signal is connected with the Beifu controller module to achieve a control effect, and the two KM1 switches have the same effect as the KM1 switch in the servo control circuit.

5.4) controller circuit of multiplying fortune

The logic controller for controlling the servo and the frequency converter is controlled by digital signals and analog signals, as shown in fig. 12.

In fig. 12, the respective parts are: the device comprises an A3 EK1100 coupler, an A4 EL4002 analog quantity output module, an A5 communication module, an A6 EL1008 digital quantity input module and an A7 EL2008 digital quantity output module. After the wiring is led out through an F2 system power supply breaker, the system power supply breaker is connected with an EK1100 coupler of a Fufu controller, and other modules perform data transmission and power supply through six contacts of an E-BUS among the modules.

The PC is connected with the controller through an Ethernet cable.

5.5) Siemens S7-200PLC control circuit

The proximity switch on the door is controlled to achieve safety protection, as shown in fig. 13.

And after a wiring is led out through a system power supply breaker of a system main circuit, the system main circuit is connected with the Siemens PLC. The proximity sensor is connected with a terminal of the PLC to form a loop.

5.6) 3D model and object map of experiment platform

In order to improve the design efficiency of the experimental platform, the 3D model was rendered using EPLAN, as shown in fig. 14. And drawing a model diagram for the layout and installation design of the electric components in the early stage. The subsequent physical assembly will be based on the position of the components on this figure as an important reference.

TABLE 2 description of the apparatus

The invention is further described below in conjunction with experimental platform programming.

1) Twi nCAT software

TwinCAT is an abbreviation for The Windows Control and Automation Technology, and is Control software based on a PC platform and a Windows operating system. The function of the system is to change an industrial PC or an embedded PC into a PLC or Motion Controller control production device with strong functions. The data exchange between the PLC and the field I/O is realized through the mapping with the field bus data area.

The TwinCAT2 software includes TwinCAT System Manager and TwinCAT PLC Control. The TwinCATSystemmanager is mainly responsible for hardware configuration and I/O mapping, and the TwinCAT PLC Control is mainly used for development and debugging of a PLC program. A plurality of logic PLCs can be simultaneously carried out on one PC, each task runs independently and is not interfered mutually, and the PLC is a soft PLC. It can be retrofitted to any compatible PC as a real-time controller. Based on the function, TwinCAT automation software and an embedded PC are used as the control core of the system, a perfect, efficient and mature function library is developed automatically by Beifu, and the coordination control is performed on the mobile platform equipment, the laser sensor, the robot equipment, the I/O input and output equipment and the like. The EtherCAT master station is realized through TwinCAT software, and completes the functions of scanning of EtherCAT slave station equipment, XML file parsing, monitoring of working states of all slave station equipment and the like. The function test software is used for hardware function test and complete machine performance test of the motion control system, and great convenience is provided for hardware design improvement, software program debugging and motion control performance analysis.

2) Twi nCAT parameter configuration

(2.1) set the TwinCAT System Manager, click on the SYSTEM-configuration general tab, and then click on the hoop target. A Choose Target System window appears when the name of the controller CX-2DEAAB and IP address 5.45.234.171.1.1 are displayed. It is selected for connection.

When the selection is completed, the System Manager software displays the host name of the target controller and displays whether the TwinCAT state of the target controller is successfully connected.

(2.1) after the target controller is successfully connected, clicking the Set/Reset TwinCAT to configure mode to switch the target controller to the configuration. And after the switching is successful, displaying in a software status bar: ConfigMode.

And (2.3) scanning the hardware equipment. The right key selects Scan Devices in the I/O Device, automatic scanning is carried out,

the determination is followed by the following operation. After the scanning is successful, the I/O Device tree structure is unfolded, all selected I/O modules and devices can be seen at the lowest layer, and ports 1-8 appear after term2 is opened.

Clicking Set/Reset TwinCAT to run mode completes configuration, entering the running state, and the state display at the lower right corner turns to green. Finally, two axes are established in the NC-Configuration and used in the subsequent control.

3) Control flow chart of experiment platform

Programming is performed according to the flow shown in fig. 15, first, the shaft is powered on, the position where the servo shaft is displayed is reset to zero when the position is not 0, then the position and the speed of the shaft movement are set, the motor is started until the motor stops rotating, the actual position of the current shaft is displayed at this time, the actual position is compared with the set position, the actual position passes through the same position, and the motion control needs to be modified if the actual position is different from the set position.

The invention is further described below in connection with the experiments.

1) Logic control of AC motor using TwinCAT2

(1.1) firstly opening TwinCAT PLC control software, clicking New in File menu, and selecting the controller model operated by the program, wherein CX (ARM) is selected.

The Program Organization Unit (POU) type and language are selected, there are three ways: programs, functional blocks, and functions. The following is a language interpretation used:

ST (structured text): consisting of a series of instructions, can execute as in a high level language (IF.. then.

LD (ladder diagram): a graphical programming language suitable for use as a logic switch can be used to set up different networks. The ladder diagram consists of a series of grids, with current lines on the left and right sides of the grid. Inside is a circuit diagram consisting of contacts and wires connected to the coil.

The LD ladder is selected here, and the programming interface pops up after selection.

(1.2) program description the following tasks are accomplished on demand: when a start button is pressed, the spindle motor immediately rotates, and the background drilling motor is started after 10 seconds of delay. When the stop button is pressed, the bench drill motor stops immediately, and the spindle motor stops after 10 seconds of delay. When the press is stopped suddenly, the two motors are stopped immediately. As shown in the logic control routine of fig. 16.

The procedure is as follows:

0001 PROGRAM MAIN

0002 VAR

0003 TON1 TON; (delayed turn on)

0004 TON2 TON; (delayed turn on)

0005X 1 AT% I BOOL; (start button)

0006X 2 AT% I BOOL; (stop button)

0007X 3 AT% I BOOL; (stop rapidly)

0008Y 1 AT% Q BOOL; (. main shaft motor)

0009Y 2 AT% Q BOOL; (Xinjiang stand motor)

0010A 1 AT% I BOOL; (intermediate variable)

0011A 2 AT% I BOOL; (intermediate variable)

0012A 3 AT% I BOOL; (intermediate variable)

END_VAR

(1.3) at this time, a file is required to be saved, and the file name is PLC. And compiling after storage. The result of compilation will be displayed in the information window, and 0errors is the success of compilation. The plc.tpy file is created in the destination folder and then used when it is imported into SYSTEMMANAGER software.

Wherein tpy is an associated file; SDB is a binary system file; SYM is an ASC code system file, commonly used for OPC communication.

(1.4) linking variables: open SYSTEM MANAGER software, right click PLC configuration, click on appendix PLCProject, pick PLC. tpy, and then click open. Clicking on Set/Reset TwinCAT to configure mode switches the controller to the configured state. The set variable can then be associated with the remote I/O point.

Clicking Term2 expands the tree, and can see number 1 to 8 input ports of digital quantity, and clicking corresponding ports to be configured with variables. If the Channel3 port is actually connected to the device by the start button, then Channel3 is connected to the X1 variable and the same is done for the other interfaces. Clicking Term3 expands the tree diagram, and the number 1 to 8 digital quantity output ports can be seen, and the corresponding ports are clicked to be configured with variables. If Channel4 is the forward rotation of the spindle motor, then Channel4 is connected to the Y1 variable and the other interfaces operate the same.

Meanwhile, Mappings under IO configuration can see the establishment condition of mapping, and a program named 'PLC' can be successfully connected with the EL module hardware point. Active CONFIGURATION under ACTIONS is actively activated to enable the previous CONFIGURATION, and TWINCAT is restarted to be in the running mode after activation.

And (1.5) finally logging the program into a target controller, clicking ONLINE-login to download the program, and then clicking ONLINE-run to run the program.

(1.6) at this point, the start button is pressed and the device will start in the logical order of instructions.

2) Frequency conversion speed regulation control for AC motor

The rotation speed of the motor is controlled by changing the output of the analog quantity voltage. The specific operation comprises the following steps:

(1) the model of the two selected motors is 51K180 RA-SFW. The nameplate information is rated power of 180W, rated voltage of 220V, rated frequency of 50/Hz and rotation speed of 1400 RPM.

(2) According to teaching requirements, when executing a logic program, the motor speed needs to be controlled at 1000RPM (spindle motor) and 800RPM (drill floor motor), respectively.

(3) The voltage signal of the EL4002 analog quantity output module is controlled, and the rotating speed of the motor is controlled through parameter setting of the frequency converter.

First this is the control panel and key description of the frequency converter.

This is the alphabet table, shown in table 3.

Table 3 illustrates

Setting parameters:

(1) the display of the frequency converter is adjusted to drv and its parameter is set to 1, which changes the driving mode to become terminal driven operation, and when the multifunction input terminals P1 and P2 function as FX and RX functions, I17 and I18 of the I/O bank are each set to 0 and 1, "FX" is the forward command and "RX" is the reverse. Since the control signal at point P1 is from the channel4 channel of the EL2008 module (defined as motor forward rotation in the Twincat variable), the motor can rotate in forward rotation when executing. When the Channel6 Channel is connected, the motor rotates reversely. The settings of the two frequency converters are the same. When the FX/RX terminals are simultaneously ON or simultaneously OFF, the motor stops running.

(2) Then, the display of the frequency converter is adjusted to Frq, the parameter is set to 3, the mode of receiving signals is changed into analog quantity access and voltage control, and a terminal AI is set (J1 is set to a V end): 0-10V, and load 0- +10V signal between the panel terminals AI and CM of the frequency converter, as shown in FIG. 17. The size of the AI controls the size of the frequency.

The port description is shown in table 4:

table 4 port description

(3) And finally, operating the logic program, and then performing variable frequency speed regulation by using TwinCAT System Manager software. The set voltage is input into an output channel 1 of the EL4002, the output channel 1 can observe the output state, corresponding indicator lamps on the EL4002 can be lightened, and the set voltage can be measured by using a universal meter, so that the variable-frequency speed regulation is realized.

According to the existing spindle motor with the maximum rotation speed of 1300RPM and the maximum analog voltage of 10V, when 7 or 8V voltage is written in the SetValue Dialog, the spindle rotation speed of about 1000RPM can be obtained, and similarly, when 6V voltage is written in the port of the drill floor motor, the drill floor rotation speed of about 800RPM can be obtained.

And after the display of the frequency converter is adjusted to the rpm and then determined, the current motor rotating speed can be displayed.

3) TwinCAT controlled servo drive NC PTP

3.1) PC-based position control

The twinCAT NC PTP comprises shaft positioning software, integrated software PLC with an NC interface, an operating program for debugging and an I/O interface connected with a shaft through various buses. TwinCAT NC PTP replaces the traditional positioning module and NC controller.

The controller is modeled by exchanging data with the drive and the measurement system via the fieldbus. The movement of the axes is controlled in combination with the processing power of the PC and the functionality of the PLC. The PC has strong computing power, and the computer can be used for positioning tens of axes at the same time.

Having special logic functions, including: linear coupling (electronic gear), distance compensation, online spindle/slave axis and slave axis/spindle transition, fly saw (diagonal moment), cam control, external set point generator, multi-spindle coupling.

3.2) PLC Programming control servo motor

Firstly, opening TwinCAT PLC control software, selecting an ARM kernel by a newly-built program, and selecting an ST language format. And then, double-clicking a management library in a lower left corner resource tab, then clicking an adding library in a blank position of a right key, and loading a TCMC2.LIB library file, wherein the functional text which is required by the invention and is edited by Beifu is provided.

And then switch back to the program editing interface. And defining two axis type variables which are mainly used for displaying the position between the NC and the PLC, nesting other structures inside the axis type variables, and taking the axis _ ref variable as the axis type variable. Enter one in the program edit area "; ".

0001 PROGRAM MAIN

0002 VAR

0003 axisA,axisB:axis_ref；

0004 END_VAR

After editing is finished, "compiling" after "storing as" is carried out, and generating a TPY file (link variable). Next, link NC with PLC's variables, go back to TwinCAT system manager software, right-click PLC configuration, click Append PLC Project, and add TPY file. Linking variables, linking MAIN. axisz. NCTOPLC, MAIN. axisz. PLCTONC, MAIN. axisx. NCTOPLC, MAIN. axisx. PLCTONC, with declared axis variables. The PLC and the NC transmit data through associated variables, the NC side transmits the state, the speed and the position of the servo driver to the PLC, and the PLC sends a logic control program to the NC side.

Then, an HMI (human machine interface) human-computer interaction interface is established, the HMI can be used for controlling the action of the shaft and the debugging of the shaft more quickly and conveniently when a program is operated, two functional blocks are drawn in the HMI, the double-click functional blocks are configured, and the double-click functional blocks fill parameter setting: inputting the current position of the Z axis in the Text Content: %. 2f,%. 2f represents a data type that is shown as a floating point number data type and retains only the last two decimal points.

The associated Variables are set in Textdisplay inside Variables, filling in main. The second function is to display the actual position of the X-axis. The IP of the controller is selected and then Login (program log upload) follows. After the program is logged in, the current position of the Z-axis and X-axis is displayed on the HMI as seen by the running program, as shown in fig. 18.

Eight additional button controls are added to the HMI for enabling, jogging, relative displacement, and zeroing the shaft.

And finally, after the program is compiled, Log in and run, pressing a Z-axis enabling button to enable the shaft, pressing Z + to see that the servo shaft rotates, and simultaneously, seeing that the large carriage moves. Pressing Z + again can see the shaft stopped. The status of the axis can also be monitored online in the Manager as shown in FIG. 19 for online monitoring.

Finally, oscillography is carried out by using TCatScopeView, four channel branches are established firstly, and the four variables of variables MAIN.AXIS1.NCTOPLC.ACTVELO and MAIN.AXIS1.NCTOPLC.ACTPOS, MAIN.AXIS2.NCTOPLC.ACTVELO and MAIN.AXIS2.NCTOPLC.ACTPOS are respectively connected into the actual speed and the actual position of two servo axes. The edited program and the connected hardware device are now tested for their ability to execute.

The invention is further described below in connection with the test experiments.

In the program, the Z-axis Distance input 2000, the Velocity input 150, the X-axis input 1500, the Velocity input 100 and the program are logged to start the test. The test is repeated for 30 times, and the positioning precision of the Z and X axes is analyzed. The results of one of these tests are shown in the oscilloscope monitor of fig. 20.

Fig. 21 shows the positioning error of 30 tests with a precision of 0.01 mm. And selecting data with the lowest Z, X axis error as the 23 rd acquisition of the Z axis and the 4 th acquisition of the X axis respectively, and performing linear analysis respectively. Tables 5 and 6 are data collected. The results of the linear fit are shown in fig. 22 and 23.

TABLE 5Z-axis motion data

TABLE 6X-axis motion data

From FIGS. 21, 22 and 23, it can be seen that the linear fitting degree of the two servo axes is high, wherein the r value is in the interval of 0 < r < 1, the stability of the servo system in the whole stroke can be predicted, and therefore the result of the running test reaches the expected requirement. However, the control accuracy of the servo motor still needs to be improved, and the reasons for generating errors include low accuracy of the servo motor, unreliable mechanical transmission, and optimization of programming of a motion control program.

Through the test on the open type electromechanical transmission control experiment platform, the result can meet the use requirement, and the actual use process is more convenient.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure should be limited only by the attached claims.

Claims

1. An electromechanical transmission control method, characterized by comprising:

2. The electromechanical transmission control method according to claim 1, wherein after the third step, oscillography is performed by monitoring operation, state and operation data of the main circuit of the system, the servo control circuit, the variable frequency speed control circuit, the doubly fed controller circuit and the PLC control circuit through the touch screen.

3. The electromechanical transmission control method according to claim 1, wherein the alternating current motor motion control method includes:

E isThe induced electromotive force of the motor.

4. The electromechanical transmission control method according to claim 1, wherein the servo motor motion control method includes:

5. An electro-mechanical transmission control system, comprising:

6. The electromechanical transmission control system of claim 5, wherein the system main circuit comprises: the main power circuit breaker is used for supplying power to the system;

a fuse for protecting the circuit;

7. The electro-mechanical transmission control system of claim 5, wherein the servo control circuit comprises:

8. The electro-mechanical transmission control system of claim 5, wherein the variable frequency speed regulation circuit comprises:

9. The electro-mechanical transmission control system of claim 5, further comprising:

10. A computer device, characterized in that the computer device comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the steps of: