CN113946137A - Impact suppression device and method adopting transmission mechanism gap speed limitation - Google Patents

Impact suppression device and method adopting transmission mechanism gap speed limitation Download PDF

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Publication number
CN113946137A
CN113946137A CN202010679096.4A CN202010679096A CN113946137A CN 113946137 A CN113946137 A CN 113946137A CN 202010679096 A CN202010679096 A CN 202010679096A CN 113946137 A CN113946137 A CN 113946137A
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speed
omega
gap
motor
encoder
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CN113946137B (en
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高建波
李琦
张国强
关胜
仲鲁云
贾中青
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Jinan Jiguang Intelligent Technology Partnership Enterprise LP
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Laser Institute of Shandong Academy of Science
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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
    • G05B19/416—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 of velocity, acceleration or deceleration
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36521—Select by combination of detected force, acceleration, speed, work rate

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  • Automation & Control Theory (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses an impact suppression device adopting transmission mechanism gap speed limitation, which comprises a servo controller, a driver, a motor, a transmission mechanism, a load, a motor encoder and a load encoder, wherein the driver is electrically connected with the motor, and the motor encoder, the motor, the transmission mechanism, the load and the load encoder are sequentially connected. And a control method of the apparatus is disclosed. The invention can help to reduce the vibration of the equipment, reduce the abrasion and the damage, prolong the service life, weaken the noise and improve the working condition.

Description

Impact suppression device and method adopting transmission mechanism gap speed limitation
Technical Field
The invention relates to the technical field of mechanical clearance regulation and control of a transmission system, in particular to an impact suppression device and method adopting clearance speed limitation of a transmission mechanism.
Background
The numerical control machine tool generates power by a servo motor, and pushes a load to move through a transmission mechanism such as a gear, a ball screw, a worm gear, a worm or a threaded screw, so that various machining tasks are realized.
Due to the existence of a gap in the mechanical transmission system, a transition process from one contact surface to another contact surface often occurs when the driving motor is accelerated and decelerated, and the system is in a gap state during the transition. In a clearance state, the servo motor is equivalent to no-load operation, and if the servo motor is not controlled, the servo motor can impact another contact surface at a high speed, so that great impact is generated, huge noise is accompanied, equipment is easy to damage, abrasion is accelerated, and the service life is shortened.
At present, the high-precision parts are generally adopted in the industry to reduce the clearance of a transmission system as much as possible. However, this method requires precision machining, which makes the equipment expensive. And wear is inevitable as the service life increases, and the gap also increases.
With the advancement of automatic control technology, there has been a technology for reducing and suppressing the backlash strike by using a control method. A control method, a device and a system for eliminating gear clearance and a new energy automobile are provided, and the application numbers are as follows: 201811220445.5 discloses a control method and device for eliminating gear backlash. This method applies a small torque to the motor when the vehicle is stationary that is insufficient to cause the vehicle to move, thereby eliminating backlash in the driveline. It can be seen that this method only works when the vehicle is started and does not prevent the impact of mechanical play, both during operation and during stopping of the vehicle.
Another is a speed control algorithm that addresses the jitter caused by mechanism backlash, application No.: 201811294421.4 discloses an acid method for controlling the gap. The application of the patented technology is limited to control processes that start at zero speed, accelerate, equalize, decelerate, and finally end at zero speed. The adaptability to complex motion modes in a numerical control machine tool is not strong, the performance difference is large when the equipment runs with different loads, and the impact and the shaking are difficult to avoid.
Generally, the existing patent method is too crude, is only suitable for specific application occasions, and has poor universality and performance.
Disclosure of Invention
The invention provides an impact suppression device and method adopting transmission mechanism clearance speed limitation to overcome the defects of the prior art.
The invention is realized by the following technical scheme:
an impact suppression device adopting transmission mechanism gap speed limitation comprises a servo controller, a driver, a motor, a transmission mechanism, a load, a motor encoder and a load encoder, wherein the driver is electrically connected with the motor; and the load encoder and the motor encoder are electrically connected with the servo controller.
The servo controller comprises a gap judgment module, a speed limiting module, a speed selection module and a speed control module, wherein the gap judgment module is electrically connected with the speed limiting module and the speed selection module respectively, the speed limiting module is electrically connected with the speed selection module, and the speed selection module is electrically connected with the speed control module. The driver is electrically connected with the speed control module, the motor encoder is electrically connected with the speed control module and the gap judgment module respectively, and the load encoder is electrically connected with the gap judgment module and the speed limiting module respectively.
The transmission mechanism comprises a driving part and a driven part, and the driven part drives the load.
A method of shock suppression employing transmission gap speed limiting, comprising the steps of:
s100, starting;
s200, reading values of a motor encoder and a load encoder;
s300, calculating the speeds of the driving part and the driven part, and calculating the speed omega of the driving part according to the information provided by the numerical values of the motor encoder and the load encoderDAnd speed ω of the driven memberL；
S400, calculating a clearance given speed omega1；
S500, judging whether the contact state is achieved according to the speed, and judging whether the contact state is achieved according to the rotation speed omega of the driving componentDAnd the rotational speed of the driven member is omegaLBetweenSpeed difference ω of (c)BJudging whether the driving wheel and the driven wheel are in a contact state or not;
s600 selecting a given speed omega2Selecting a given value of the original speed in the contact state and a given value of the gap speed in the gap state, i.e.
Figure BDA0002585203750000021
S700 controls the motor according to the speed setting.
The step S400 calculates a clearance given speed omega1The specific calculation method is
Figure BDA0002585203750000022
Wherein ω is0Is the original speed set value, omega, of the whole transmission mechanism1Is a given value of speed in the clearance regime, omegaMIs the maximum value of the gap velocity, which is always positive.
The specific process of judging whether the contact state is in the S500 mode according to the speed is
S501 setting a speed threshold value omegaT；
S502 rotating speed omega of active componentDAnd the rotational speed of the driven member is omegaLSpeed difference ω therebetweenBI.e. omegaB＝ωD-ωL；
S503, comparing and judging the signals,
Figure BDA0002585203750000023
the transmission ratio between the driving part and the driven part is r, and the actual rotating speed of the driven part is omegaGω is saidL＝r·ωG。
The omegaM5-10% of rated rotation speed is taken.
The omegaT5% of the rated speed is taken.
The invention has the following beneficial technical effects:
1. the invention uses two position sensors fixed on the servo motor and the load to measure the parameters of the driving part and the driven part in the transmission mechanism and calculate the speed of the driving part and the driven part, thereby being capable of rapidly judging the clearance and the contact state of the transmission mechanism according to the relative speed.
2. The method can adjust the speed set value of the motor speed controller at any time according to the clearance state, and inhibit clearance impact by limiting the relative speed of the driving part and the driven part in the clearance transition process.
3. By reducing the gap impact, the method can help reduce vibration of the equipment, reduce abrasion and damage, prolong the service life, weaken noise and improve working conditions.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a gap speed limiting device of the present invention.
FIG. 2 is a schematic diagram of a transmission mechanism with a gap.
FIG. 3 is a flow chart of the method of the present invention.
Fig. 4 is a schematic view of an embodiment of the invention in a servo press.
FIG. 5 is a velocity transition curve for the method of the present invention
FIG. 6 is a velocity transition curve for the method of the present invention
Detailed Description
The structure of the mechanical gap impact suppression device is shown in figure 1, and the mechanical gap impact suppression device comprises a servo controller, a driver, a motor, a transmission mechanism, a load, a motor encoder and a load encoder, wherein the driver is electrically connected with the motor; the servo controller is electrically connected with the driver, the motor encoder and the load encoder respectively. The transmission mechanism comprises a driving part and a driven part, the driving part drives the driven part to rotate, and the driven part drives the load to move.
The servo controller comprises four modules which are respectively a gap judgment module, a speed limiting module, a speed selection module and a speed control module, wherein the gap judgment module is electrically connected with the speed limiting module and the speed selection module respectively, the speed limiting module is electrically connected with the speed selection module, and the speed selection module is electrically connected with the speed control module. The driver is electrically connected with the speed control module, the motor encoder is electrically connected with the speed control module and the gap judgment module respectively, and the load encoder is electrically connected with the gap judgment module and the speed limiting module respectively.
FIG. 3 is a flow chart of the method of the present invention, which is run inside the servo controller in the form of an algorithm program. When the program starts, initialization is first performed, and then an infinite loop is entered. In each cycle, data of a motor encoder and a load encoder are read first, the speed of a driving shaft and a driven shaft is calculated, and a gap state is judged. And simultaneously calculating the clearance speed setting according to the original speed setting, the clearance position and the load speed. Then, one of the original speed setting and the gap speed setting is selected according to the gap state and sent to the speed controller, and the rotating speed of the motor is adjusted at any time. The program is repeated as described above, enabling the transmission to cross the gap condition at a lower relative speed by precise control of the motor speed.
The impact suppression method using the transmission gap speed limitation will be described in detail with reference to fig. 1 to 3.
A simplified construction of the transmission mechanism including the gap is shown in fig. 2. The transmission mechanism comprises a driving wheel and a driven wheel. The driving wheel is fixed on the driving shaft and is driven by the servo motor to rotate. The driven wheel is fixed on the driven shaft and drives the load to rotate. When the driving wheel is still, the driven wheel can rotate freely within the clearance angle range, and the transmission mechanism is in a clearance state; when the driven wheel reaches the rotatable limit position in the positive and negative directions, the transmission mechanism is in a contact state, and the positive and negative contact positions are respectively in a positive contact state and a negative contact state. In fact, when the driving wheel and the driven wheel both rotate, the driving wheel and the driven wheel can be in a clearance state and a contact state respectively according to the relative relationship.
S100, starting.
S200, reading the values of the motor encoder and the load encoder.
S300, calculating the motor and load speed, namely the speed omega of the driving wheel in the transmission mechanismDAnd driven wheel speed ωLThe differential is obtained by differentiating the rotation angle of the driving wheel speed and the driven wheel speed.
S400, calculating a clearance given speed, calculating by a speed limiting module and sending to a speed selecting module.
The given value of the gap speed is determined according to the given value of the original speed and the actual load rotating speed, and the given value of the gap speed is
Figure BDA0002585203750000041
Wherein, ω is0Is the original speed set value, omega, of the whole transmission mechanism1Is a given value of speed in the clearance regime, omegaMIs the maximum allowable value of the gap velocity, determined according to the actual equipment, omegaMThe speed can be determined by first taking 5% -10% of the rated speed and then debugging. Overall, the larger this value, the greater the impact, but the faster the transition; the smaller this value, the smaller the impact, but the slower the transition.
The speed limit module calculates and sends the speed limit to the speed selection module.
And S500, judging whether the contact state is achieved or not by the gap judging module according to the speed. According to the rotational speed omega of the driving shaftDAnd the rotational speed of the driven shaft is omegaLSpeed difference ω therebetweenBAnd judging whether the driving wheel and the driven wheel are in a contact state.
Speed difference omega between driving wheel and driven wheelB＝ωD-ωLWhen the driving wheel and the driven wheel are contacted with each other (namely, the transmission mechanism is in a contact state), the driving wheel and the driven wheel synchronously rotate, and the speed difference between the driving wheel and the driven wheel is equal to zero. When in useIn the process of switching the driving wheel and the driven wheel from one contact surface to the other contact surface (namely, the transmission mechanism is in a clearance state), the speed difference between the driving wheel and the driven wheel is not equal to zero. Therefore, whether the transmission mechanism is in a contact state or a gap state can be known by measuring the speed difference between the driving wheel and the driven wheel.
To determine whether the speed difference is zero, a speed threshold ω is definedTIt can take about 5% of rated speed and should be less than omegaM. If the speed difference is less than the threshold value, the transmission mechanism is considered to be in a contact state, otherwise, the transmission mechanism is in a clearance state, namely
Figure BDA0002585203750000042
That is, the whole judgment process includes S501 setting the threshold value ωT(ii) a S502 calculating the rotation speed omega of the driving shaftDAnd the rotational speed of the driven shaft is omegaLSpeed difference ω therebetweenB(ii) a S503 performs comparison and determination.
S600 selects a speed give.
If the controller judges that the transmission mechanism is in a clearance state, the motor can be controlled to operate, so that the absolute value of the actual speed difference between the driving wheel and the driven wheel is smaller than omegaMTherefore, when the transmission mechanism returns to the contact state from the clearance state, the collision relative speed of the driving wheel and the driven wheel does not exceed, namely the clearance speed is selected for setting; if the controller judges that the transmission mechanism is in a contact state, the speed controller uses the original speed given value omega0Controlling the motor to rotate; i.e. the actual running speed of the motor
Figure BDA0002585203750000051
S700, controlling the motor according to the speed setting, sending the selected speed setting to the speed control module by the speed selection module, and controlling the motor to operate by the speed control module through a driver.
And continuously repeating the steps S200-S700 in the normal operation process.
Fig. 4-6 illustrate an embodiment of the present invention that provides a servo press gap suppression control system, wherein the servo controller of the method of the present invention receives feedback signals from both the motor encoder and the load encoder and sends current commands to the drive according to the algorithm described above to control the servo motor to rotate at the desired speed. The motor shaft is connected with a small gear shaft of the servo press and is meshed with a large gear through a gear. And a load encoder is fixed on the large gear shaft. The big gear is additionally fixed with a crank and is connected with the slide block through a connecting rod. When the motor rotates, the sliding block can move up and down along the guide rail, and the workpiece is punched.
The gear ratio between the large and small gears is r, and the gear backlash is defined by the pinion shaft angle. To perform the calculations according to the method of this patent, the speed of the pinion shaft must be converted to the motor shaft by multiplying the gear ratio r. For this purpose, the speed of the gear shaft of the gear is defined as ωGThen ω isL＝r·ωG. And thereafter can be calculated using the respective formulas described above.
Fig. 5 and 6 show the results of a computer simulation of the method. In the simulation model, the transmission clearance angle is equal to 2 degrees. Model-applied speed step command: a constant rotation speed command of-20 rad/s is given before the time t is 1 second, the motor is put into stable rotation, and the motor is suddenly changed to 50rad/s when the time t is 1 second. The curve records the motor speed omegaDAnd gap velocity ωBCurve (c) of (d).
Figure 5 is a situation where the method of the present patent is not employed. It can be seen that immediately after the speed step command is issued, the transmission enters the gap state from the contact state, the motor speed rises rapidly (the drive shaft curve), the drive wheel reaches the driven wheel positive contact surface about 1.008 seconds after crossing the gap, the collision occurs at a speed of 18rad/s, and chattering (the relative speed, the gap speed curve) occurs.
FIG. 6 is a case of applying the method of the present patent. It can be seen that the transmission enters the lash state from the contact state immediately after the speed-giving step command has been issued. In the clearance state, the speed of the motor does not rapidly increase (a driving shaft curve), but the relative rotation speed between the driving wheel and the driven wheel is kept within the preset 2rad/s range, the driving wheel reaches the positive contact surface of the driven wheel in about 1.036 seconds, the collision occurs at the relative speed of 2rad/s, and the shaking is slight (the relative speed is the clearance speed curve).
It can be seen that after the method of the patent is adopted, the collision speed of the driving wheel and the driven wheel is reduced to 11% of that of the driving wheel and the driven wheel which are not adopted, and the collision energy is reduced to 1.2% of that of the driving wheel and the driven wheel which are not adopted. The effect is obvious. The price paid is that it takes a slightly longer time to complete the transition, which is completely negligible in the production process.
The goal of servo presses is to provide precise control of the slide position. Therefore, only on the basis of the speed control function of the method, a position controller is added, namely a corresponding software algorithm is added in a servo controller. The position controller receives a position given signal from the user interface, reads position information of the load from the load encoder, generates an original speed given according to the deviation of the load position and the given position, and sends the original speed given to the gap impact suppression program, so that the position of the gear wheel can be accurately controlled. According to the determined relation between the angle of the bull gear and the position of the slide block, the position of the slide block can be accurately controlled.

Claims (9)

1. The utility model provides an adopt mechanical clearance impact suppression device of two encoders, includes servo controller, driver, motor, drive mechanism, load, motor encoder, its characterized in that: the driver is electrically connected with the motor, and the motor encoder, the motor, the transmission mechanism, the load and the load encoder are sequentially connected; and the load encoder and the motor encoder are electrically connected with the servo controller.
2. The mechanical gap shock suppression device using a dual encoder as set forth in claim 1, wherein: the servo controller comprises a gap judgment module, a speed limiting module, a speed selection module and a speed control module, wherein the gap judgment module is electrically connected with the speed limiting module and the speed selection module respectively, the speed limiting module is electrically connected with the speed selection module, and the speed selection module is electrically connected with the speed control module. The driver is electrically connected with the speed control module, the motor encoder is electrically connected with the speed control module and the gap judgment module respectively, and the load encoder is electrically connected with the gap judgment module and the speed limiting module respectively.
3. The mechanical gap shock-suppressing device using a dual encoder according to any one of claims 1 to 2, characterized in that: the transmission mechanism comprises a driving part and a driven part, and the driven part drives the load.
4. An impact-suppression device employing transmission gap speed limiting, comprising the steps of,
s100, starting;
s200, reading values of a motor encoder and a load encoder;
s300, calculating the speeds of the driving part and the driven part, and calculating the speed omega of the driving part according to the information provided by the numerical values of the motor encoder and the load encoderDAnd speed of driven member omegaL；
S400, calculating a clearance given speed omega1；
S500, judging whether the contact state is achieved according to the speed, and judging whether the contact state is achieved according to the rotation speed omega of the driving componentDAnd the rotational speed of the driven member is omegaLSpeed difference ω therebetweenBJudging whether the driving wheel and the driven wheel are in a contact state or not;
s600 selecting a given speed omega2The motor is controlled to rotate by selecting the original speed set value in the contact state and selecting the gap speed set value in the gap state, i.e. the motor is controlled to rotate by selecting the original speed set value in the contact state and the gap speed set value in the gap state
Figure FDA0002585203740000011
S700 controls the motor according to the speed setting.
5. The impact-suppression device with transmission gap speed limitation according to claim 4, wherein: the step S400 calculates a clearance given speed omega1Is specifically calculated as
Figure FDA0002585203740000012
Wherein ω is0Is the original speed set value, omega, of the whole transmission mechanism1Is a given value of speed in the clearance regime, omegaMIs the maximum allowable value of the gap speed and is always positive.
6. The impact-suppression device with transmission gap speed limiting of claim 4, wherein: the specific process of S500 judging whether the contact state is achieved according to the speed is
S501 setting a speed threshold value omegaT；
S502 rotating speed omega of active componentDAnd the rotational speed of the driven member is omegaLSpeed difference ω therebetweenBI.e. omegaB＝ωD-ωL；
S503, comparing and judging the signals,
Figure FDA0002585203740000021
7. the impact-suppression device with transmission gap speed limiting of claim 4, wherein: the transmission ratio between the driving part and the driven part is r, and the actual rotating speed of the driven part is omegaGω is saidL＝r·ωG。
8. The impact-suppression device with transmission gap speed limiting of claim 5, wherein: the omegaM5-10% of rated rotation speed is taken.
9. The impact-suppression device with transmission gap speed limiting of claim 6, wherein: the omegaT5% of the rated speed is taken.
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006072598A (en) * 2004-09-01 2006-03-16 Yaskawa Electric Corp Servo controller and servo control method
CN101909867A (en) * 2008-01-08 2010-12-08 会田工程技术有限公司 Electric servo-press, and control device and control method for electric servo press
US20110132209A1 (en) * 2009-12-07 2011-06-09 Aida Engineering, Ltd. Method and apparatus for controlling electric servo press
EP2703151A1 (en) * 2012-09-03 2014-03-05 Shieh Yih Machinery Industry Co., Ltd. Crank press with dual protection mechanism and control method thereof
CN103611861A (en) * 2013-11-29 2014-03-05 浙江理工大学 Zero pressure sensor control device and method of servo pressure machine
CN213305297U (en) * 2020-07-15 2021-05-28 山东省科学院激光研究所 Mechanical gap impact suppression device adopting double encoders

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006072598A (en) * 2004-09-01 2006-03-16 Yaskawa Electric Corp Servo controller and servo control method
CN101909867A (en) * 2008-01-08 2010-12-08 会田工程技术有限公司 Electric servo-press, and control device and control method for electric servo press
US20110132209A1 (en) * 2009-12-07 2011-06-09 Aida Engineering, Ltd. Method and apparatus for controlling electric servo press
EP2703151A1 (en) * 2012-09-03 2014-03-05 Shieh Yih Machinery Industry Co., Ltd. Crank press with dual protection mechanism and control method thereof
CN103611861A (en) * 2013-11-29 2014-03-05 浙江理工大学 Zero pressure sensor control device and method of servo pressure machine
CN213305297U (en) * 2020-07-15 2021-05-28 山东省科学院激光研究所 Mechanical gap impact suppression device adopting double encoders

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