CN113946137B - Impact suppression device and method adopting transmission mechanism clearance speed limitation - Google Patents
Impact suppression device and method adopting transmission mechanism clearance speed limitation Download PDFInfo
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- CN113946137B CN113946137B CN202010679096.4A CN202010679096A CN113946137B CN 113946137 B CN113946137 B CN 113946137B CN 202010679096 A CN202010679096 A CN 202010679096A CN 113946137 B CN113946137 B CN 113946137B
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—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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Abstract
The invention discloses an impact suppression device adopting transmission mechanism clearance speed limitation, which comprises a servo controller, a driver, a motor, a transmission mechanism, a load and a motor encoder, and further comprises 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. A control method of the device is also disclosed. The invention can help to reduce equipment vibration, reduce abrasion and damage, prolong service life, weaken noise and improve working conditions.
Description
Technical Field
The invention relates to the technical field of mechanical clearance regulation 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 is powered by a servo motor, and drives a load to move through a transmission mechanism such as a gear, a ball screw, a worm gear or a threaded screw, so that various processing tasks are realized.
Because of the clearance in the mechanical transmission system, the transition process from one contact surface to the other contact surface often occurs when the driving motor is accelerated and decelerated, and the system is in a clearance state during the transition. In the gap state, the servo motor is equivalent to no-load operation, and if the servo motor is not controlled, the servo motor can strike other contact surfaces at a high speed, so that great impact is generated, huge noise is generated, equipment is easy to damage, abrasion is accelerated, and the service life is shortened.
High-precision parts are generally adopted in the industry at present to reduce gaps of a transmission system as much as possible. However, this method requires precision machining, resulting in expensive equipment. And wear is unavoidable and the gap increases with the use time.
With the advancement of automatic control technology, a technique of reducing and suppressing the gap shock by using a control method has emerged. A control method, device and system for eliminating gear clearance and new energy automobile are named as: 201811220445.5 discloses a control method and a device for eliminating gear clearance. This method applies a small torque to the motor that is insufficient to cause the vehicle to move when the vehicle is stationary, thereby eliminating lash in the driveline. It can be seen that this method only works when the vehicle is started, and does not prevent the impact caused by the mechanical clearance both during the running and during the stopping of the vehicle.
Another name is a speed control algorithm for solving the problem of jitter caused by mechanism clearance, application number: 201811294421.4 discloses an algorithm for controlling the gap. The application of this technique is limited to control processes that start at zero speed, accelerate, at a uniform speed, decelerate, and end at zero speed. The adaptability to complex movement modes in the numerical control machine tool is not strong, the performance difference is large when the equipment is operated with different loads, and impact and jitter are difficult to avoid.
In general, the existing method is too simple, is only suitable for specific application occasions, and has poor universality and poor performance.
Disclosure of Invention
The invention provides an impact suppression device and method adopting clearance speed limitation of a transmission mechanism to overcome the defects of the prior art.
The invention is realized by the following technical scheme:
The impact suppression device adopting the clearance speed limitation of the transmission mechanism comprises a servo controller, a driver, a motor, a transmission mechanism, a load and a motor encoder, and further comprises 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; the load encoder and the motor encoder are electrically connected with the servo controller.
The servo controller comprises a gap judging module, a speed limiting module, a speed selecting module and a speed control module, wherein the gap judging module is respectively and electrically connected with the speed limiting module and the speed selecting module, the speed limiting module is electrically connected with the speed selecting module, and the speed selecting 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 judging module respectively, and the load encoder is electrically connected with the gap judging 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.
An impact suppression method employing transmission lash 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 D of the driving part and the speed omega L of the driven part according to information provided by motor encoder and load encoder values;
S400, calculating a gap given speed omega 1;
S500, judging whether the driving wheel and the driven wheel are in a contact state according to the speed, and judging whether the driving wheel and the driven wheel are in a contact state according to a speed difference omega B between the rotation speed omega D of the driving part and the rotation speed omega L of the driven part;
S600 selecting a speed given omega 2, selecting an original speed given value in a contact state, and selecting a gap speed given value in a gap state, namely
S700 controls the motor according to the speed setting.
The specific calculation method for calculating the gap given speed omega 1 in the step S400 is as follows
Wherein ω 0 is the original speed given value of the whole transmission mechanism, ω 1 is the speed given value in the clearance state, ω M is the maximum value of the clearance speed, and constant is a positive value.
The specific process of judging whether the contact state is in the S500 according to the speed is that
S501, setting a speed threshold omega T;
S502 the speed difference ω B between the driving member rotational speed ω D and the driven member rotational speed ω L, i.e., ω B＝ωD-ωL;
S503 is a comparison and judgment result,
The transmission ratio between the driving member and the driven member is r, the actual rotation speed of the driven member is ω G, and ω L =r·ωg.
The omega M takes 5% -10% of the rated rotation speed.
The omega T takes 5% of the nominal speed.
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 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 gap state, and restrain the gap impact by limiting the relative speed when the driving part and the driven part are contacted in the gap transition process.
3. By reducing the gap impact, the method can help to reduce equipment vibration, reduce abrasion and damage, prolong the service life, weaken noise and improve working conditions.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic view of a gap speed limiting device according to the present invention.
Fig. 2 is a schematic diagram of a transmission mechanism with a clearance.
Fig. 3 is a flow chart of the method of the present invention.
Fig. 4 is a schematic view of an embodiment of the present invention in a servo press.
FIG. 5 is a graph showing the speed transition curve when the method of the present invention is employed
FIG. 6 is a graph showing the speed transition curve when the method of the present invention is employed
Detailed Description
The structure of the mechanical clearance impact suppression device is shown in the attached figure 1, and the mechanical clearance 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 motor encoder, the motor, the transmission mechanism, the load and the load encoder are sequentially connected, namely one end of an output shaft of the motor is connected with the motor encoder, the other end of the output shaft of the motor is connected with the transmission mechanism, the other end of the transmission mechanism is connected with the load, and the load encoder is arranged on the load; the servo controller is electrically connected with the driver, the motor encoder and the load encoder respectively. The driving part drives the driven part to rotate, and the driven part drives the load to move.
The servo controller comprises four modules, namely a gap judging module, a speed limiting module, a speed selecting module and a speed control module, wherein the gap judging module is electrically connected with the speed limiting module and the speed selecting module respectively, the speed limiting module is electrically connected with the speed selecting module, and the speed selecting 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 judging module respectively, and the load encoder is electrically connected with the gap judging module and the speed limiting module respectively.
FIG. 3 is a flow chart of the method of the present invention, which is run in an algorithmic manner within the servo controller. When the program is started, the initialization is performed first, and then an infinite loop is entered. In each cycle, first, the data of the motor encoder and the load encoder are read, the speeds of the driving shaft and the driven shaft are calculated, and the gap state is judged. While calculating a gap velocity setting from the raw velocity setting, the gap position and the load velocity. And then, selecting one from the original speed setting and the gap speed setting according to the gap state and sending the selected one to a speed controller, and adjusting the motor rotation speed at any time. The program is repeated as described above, enabling the transmission to pass over the lash state at a lower relative speed by precise control of the motor speed.
The impact suppression method using the transmission lash speed limit is described in detail below with reference to fig. 1-3.
A simplified structure of a transmission mechanism with a 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 to rotate by the servo motor. The driven wheel is fixed on the driven shaft and drives the load to rotate. When the driving wheel is static, the driven wheel can freely rotate 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 both the driving wheel and the driven wheel rotate, the two can also be in a clearance state and a contact state respectively according to the above relative relation.
S100, starting.
S200 reads motor encoder and load encoder values.
S300, calculating motor and load speeds, namely a driving wheel speed omega D and a driven wheel speed omega L in a transmission mechanism, and obtaining the motor and load speeds by differentiating the rotation angles of the driving wheel speed and the driven wheel speed.
S400, calculating a given speed of the gap, calculating by a speed limiting module and sending the speed to a speed selecting module.
The gap speed given value is determined according to the original speed given value and the actual load rotating speed value, and is that
Wherein, omega 0 is the original speed given value of the whole transmission mechanism, omega 1 is the speed given value under the clearance state, omega M is the maximum allowable value of the clearance speed, and according to the actual equipment, omega M can firstly take 5-10% of the rated rotation speed and then be determined by 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 limiting module calculates and sends the calculated speed limiting module to the speed selecting module.
S500, the gap judging module judges whether the contact state is in accordance with the speed. Whether the driving wheel and the driven wheel are in a contact state or not is judged according to a speed difference omega B between the driving shaft rotation speed omega D and the driven shaft rotation speed omega L.
And the speed difference omega B＝ωD-ωL between the driving wheel and the driven wheel is equal to zero when the driving wheel and the driven wheel are in contact (namely, the transmission mechanism is in a contact state), and the driving wheel and the driven wheel synchronously rotate. When the driving wheel and the driven wheel are switched from one contact surface to the other contact surface (namely, the transmission mechanism is in a clearance state), the speed difference of the driving wheel and the driven wheel is not equal to zero. Therefore, the speed difference between the driving wheel and the driven wheel is measured to know whether the transmission mechanism is in a contact state or a clearance state.
To determine if the speed difference is zero, a speed threshold ω T is now defined, preferably around 5% of the nominal speed, and should be less than ω M. If the speed difference is less than the threshold, the transmission is considered to be in contact, otherwise the transmission is in a clearance state, i.e
That is, the whole judging process includes S501 of setting a threshold omega T; s502, calculating a speed difference omega B between the rotation speed omega D of the driving shaft and the rotation speed omega L of the driven shaft; s503, comparing and judging.
S600 selects a speed set.
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 omega M, and the relative speed of collision between the driving wheel and the driven wheel is not exceeded when the transmission mechanism returns to a contact state from the clearance state, namely the clearance speed is selected to be given; if the controller judges that the transmission mechanism is in a contact state, the speed controller controls the motor to rotate according to the original speed set value omega 0; i.e. the actual running speed of the motor
And S700, controlling the motor according to the speed set, sending the selected speed set to a speed control module by a speed selection module, and controlling the motor to run by the speed control module through a driver.
And continuously repeating the operation steps S200-S700 in the normal operation process.
Fig. 4 to 6 show an embodiment of the present invention, which provides a servo press gap suppression control system, comprising a servo controller of the present method receiving feedback signals from two sensors of a motor encoder and a load encoder, and sending current commands to a driver according to the algorithm described above, to control the servo motor to rotate at a desired speed. The motor shaft is connected with a pinion shaft of the servo press and meshed with the large gear through a gear. And a load coder 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 stamping processing of the workpiece is completed.
The transmission ratio between the pinion and the pinion is r, and the gear clearance is defined by the pinion shaft rotation angle. In order to calculate according to the method, the speed of the large gear shaft must be converted to the motor shaft by multiplying the gear ratio r. For this purpose, the large gear shaft speed is defined as ω G, ω L＝r·ωG. Thereafter, calculations can be performed using the various formulas described above.
Fig. 5 and 6 show the results of computer simulation of the present method. In the simulation model, the transmission clearance angle is equal to 2 degrees. The model applies a speed step command: given a constant speed command of-20 rad/s before time t=1 second, the motor is brought into steady rotation, suddenly changing to 50rad/s at t=1 second. The curves record the motor speed omega D and the gap speed omega B.
Fig. 5 is a case where the present method is not employed. It can be seen that immediately after the speed step command is issued, the transmission enters a gap state from the contact state, the motor speed rises rapidly (drive shaft profile), the drive wheel reaches the driven wheel positive contact surface about 1.008 seconds after crossing the gap, collides with a speed of 18rad/s, and a shake (relative speed, i.e. gap speed profile) is generated.
Fig. 6 shows the case of using the present method. It can be seen that the transmission enters the lash state from the contact state immediately after a speed-given step command is issued. In the gap state, the motor speed does not increase rapidly (drive shaft curve), but keeps the relative rotational speed between the drive wheel and the driven wheel within a preset range of 2rad/s, and the drive wheel reaches the driven wheel positive contact surface at about 1.036 seconds and collides with a relative speed of 2rad/s, and the shake is slight (relative speed, i.e., gap speed curve).
It can be seen that after the method is adopted, the collision speed of the driving wheel and the driven wheel is reduced to 11% of that of the method, and the collision energy is reduced to 1.2% of that of the method. The effect is obvious. The cost to pay is that it takes a slightly longer time to complete the transition process, which is completely negligible in the production process.
The goal of the servo press is to have precise control over the position of the slide. For this purpose, only the position controller is added on the basis of the speed control function of the method, namely, a corresponding software algorithm is added inside the 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 deviation of the load position from the given position, and sends the original speed given to the gap impact suppression program, so that the position of the large gear can be accurately controlled. According to the determined relation between the angle of the large gear and the position of the sliding block, the position of the sliding block can be accurately controlled.
Claims (7)
1. The utility model provides an adopt mechanical clearance impact suppression device of double encoder, includes servo controller, driver, motor, drive mechanism, load, motor encoder, its characterized in that: the motor encoder, the motor, the transmission mechanism, the load and the load encoder are sequentially connected; the load encoder and the motor encoder are electrically connected with the servo controller, the servo controller comprises a gap judging module, a speed limiting module, a speed selecting module and a speed control module, the gap judging module is electrically connected with the speed limiting module and the speed selecting module respectively, the speed limiting module is electrically connected with the speed selecting module, the speed selecting 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 judging module respectively, the load encoder is electrically connected with the gap judging 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; the motor encoder and the load encoder are used for measuring parameters of the driving part and the driven part and calculating the speed of the driving part and the driven part, so that the clearance and the contact state of the transmission mechanism are rapidly judged according to the relative speed; the speed limiting module and the speed selecting module are used for adjusting the speed given value of the servo controller at any time according to the gap state, and the gap impact is restrained by limiting the relative speed when the driving part and the driven part are contacted in the gap transition process.
2. A method for suppressing impact by limiting the clearance speed of a transmission mechanism is characterized by comprising the following steps,
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 D of the driving part and the speed omega L of the driven part according to information provided by motor encoder and load encoder values;
S400, calculating a gap given speed omega 1;
S500, judging whether the driving wheel and the driven wheel are in a contact state according to the speed, and judging whether the driving wheel and the driven wheel are in a contact state according to a speed difference omega B between the rotation speed omega D of the driving part and the rotation speed omega L of the driven part;
S600, selecting a given speed omega 2, selecting an original given speed value in a contact state to control the motor to rotate, and selecting a given gap speed value in a gap state, namely
S700 controls the motor according to the speed setting.
3. The impact suppression method employing transmission lash speed limitation according to claim 2, wherein: the specific calculation of the gap given speed omega 1 in the step S400 is as follows
Wherein omega 0 is the original speed given value of the whole transmission mechanism, omega 1 is the speed given value under the clearance state, omega M is the maximum allowable value of the clearance speed, and the constant value is positive.
4. The shock absorbing method employing transmission lash speed limiting according to claim 2, wherein: the specific process of S500 for judging whether the contact state is in accordance with the speed is that
S501, setting a speed threshold omega T;
S502 the speed difference ω B between the driving member rotational speed ω D and the driven member rotational speed ω L, i.e., ω B＝ωD-ωL;
S503 is a comparison and judgment result,
5. The shock absorbing method employing transmission lash speed limiting according to claim 2, wherein: the transmission ratio between the driving part and the driven part is r, the actual rotation speed of the driven part is omega G, and the actual rotation speed of the driven part is omega L＝r·ωG.
6. A method of shock suppression employing transmission lash speed limiting as recited in claim 3, wherein: the omega M takes 5% -10% of the rated rotation speed.
7. The impact suppression method employing transmission lash speed limiting according to claim 4, wherein: the omega T takes 5% of the nominal speed.
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| 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 |
| EP2703151A1 (en) * | 2012-09-03 | 2014-03-05 | Shieh Yih Machinery Industry Co., Ltd. | Crank press with dual protection mechanism and control method thereof |
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| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5476106B2 (en) * | 2009-12-07 | 2014-04-23 | アイダエンジニアリング株式会社 | Control method and control apparatus for electric servo press |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| EP2703151A1 (en) * | 2012-09-03 | 2014-03-05 | Shieh Yih Machinery Industry Co., Ltd. | Crank press with dual protection mechanism and control method thereof |
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Effective date of registration: 20240618 Address after: Room 409, Building 3, No. 818 Chunbo Road, High tech Zone, Jinan City, Shandong Province, 250104 Patentee after: Jinan Jiguang Intelligent Technology Partnership Enterprise (Limited Partnership) Country or region after: China Address before: 272000 block B, building A3, industry university research base, high tech Zone, No.9 Haichuan Road, Rencheng District, Jining City, Shandong Province Patentee before: LASER INSTITUTE,SHANDONG ACADEMY OF SCIENCES Country or region before: China |