CN1261693A - Omnibearing integrated PC digit control system - Google Patents
Omnibearing integrated PC digit control system Download PDFInfo
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The present invention relates to the field of machine building automation and digital control technology and is a two-level structure comprising central control level and peripheral executing level. The central control level includes a PC system platform and integrated digital control software; and the peripheral executing level includes several executing interfaces connected to the PC system platform via system bus and executors connected via the executing interfaces. The present invention has excellent performance, powerful functions, high reliability and simple structure and may be used widely in manufacture, defense industry and other production departments.
Description
The invention belongs to automation of machinery manufacture and fields of numeric control technique, particularly a kind of structural design of novel integrated PC digital control system.
At present, the PC digital control system structurally mainly contains three types, and what promptly the dedicated numerical control composite structure, the universal PC that add the PC front end added real-time control module passs hierarchic structure and networked distributed frame.
The design philosophy of combined type system is universal PC to be connected together by the high speed information interchange channel with special-purpose NC form a composite numeric control system.Though this type systematic can keep original NC technical foundation, performance producer is in the advantage that realizes aspect such as special control function with the dedicated hardware chip, and it is technical secret easily, but it is higher that the disadvantage of this type systematic is exactly open limited, exploitation and production cost, and technical upgrading is slower.At present, this type systematic does not have big development just on the down grade.
The design philosophy of passing cascade system is to utilize PC to be the digital control system hardware and software platform, on its STD bus, directly connect real-time control module (as smart interpolation, axle motion control, switching value control module etc.), connect servo drive unit by these modules again and form complete digital control system.For example a kind of existing P C digital control system that adopts sandwich construction comprises the system platform by PC as shown in Figure 1, the numerical control upper layer software (applications) (is finished system management, man-machine interaction, information processing, tasks such as track rough interpolation) the macro-control layer of forming such as, be connected on the system bus by feed shaft control module (finishing smart interpolation of track and position ring control task), the main shaft control module, the motion control layer that switching value control module etc. are formed, form a connecting link by digital/analog converter, pulse transmission/receiving circuit, the hardware Communication Layer that shielded cable etc. are formed, servocontrol layer of forming by DSP (digital signal processor) etc. in the driver and the power amplification layer of forming by IGBT (bipolar transistor is deleted in insulation) etc., connect lathe by the feeding motor, the execution level that spindle motor etc. are formed etc.Though that this type systematic has preferably is open, be easy to adopt standardized component (as various position control cards, switching value control card, servo-drive system etc.) composition system.But the component units and the module of this type systematic are more, each unit and intermodule, and particularly the message exchange between control module and servo drive unit often becomes the bottleneck that hinders the system performance raising in real time.At present, the method that real-time control information is sent to servo drive unit mainly contains two kinds: a kind of is to be undertaken by the analog quantity form, subject matter be difficult to eliminate zero waft, temperature wafts to the influence of precision, is subjected to external disturbance easily.Another kind is to be undertaken by the pulsed quantity form, major defect is to need between real-time control module and servo drive unit directly to transmit the command pulse signal by non-coded system, in case pulse-losing or introduced disturbing pulse is difficult to carry out the debugging error correction, be difficult for the high reliability that guarantee information is transmitted.In addition, the highest frequency of pulse can be accepted at present only for about 500K in the digital servo unit of pulsed driven, has limited the raising of speed of feed, can not satisfy the needs of numerical control to the high-speed, high precision development.
The scheme of distributed system is the digital servo module that will be made up of DSP (digital signal processor) etc. etc. by being that the network and the PC numerical control device of medium couples together with optical cable etc., forms a complete digital control system.Though this system has solved the bottom communication problem of digital control system preferably by adopting real-time network.But it is taller that its exploitation and production cost ratio are passed cascade system, do not have big investment to be difficult to start.If adopt the parts of external (comprising the introduction of foreign technology domestic production) such as digital AC servo, real-time communication network to wait to form homemade networked DNC system, then cost is high too, is difficult in the recent period be accepted by users.
In sum, the common outstanding problem that existing PC digital control system exists is: system level is many, each level is separated from each other on hardware, removing the PC system platform on upper strata and the real-time control module of the second layer (controls as switching value, feed shaft control, main shaft control etc.) need independently outside the hardware circuit, each servo drive of lower floor also has oneself independently hardware circuit and cabinet and electric power system that these hardware circuits are installed, and need communication line (as the serial or parallel communication line, real-time network, analog quantity transfer circuit etc.) these independent subsystem are coupled together, therefore cause whole CNC system hardware in large scale, the communication trouble, control is complicated, not only reliability is difficult to be guaranteed, and exploitation and production cost height, a little less than the competitiveness of product.
The objective of the invention is TRAJECTORY CONTROL and servo driving to be separated for solving existing PC digital control system, complex structure, hardware size are huge, reliability is difficult to be guaranteed, outstanding problems such as production cost height, the structural design of proposition omnibearing integrated PC digit control system.Make its have excellent performance, powerful, reliability is high, and is simple in structure, easy to manufacture, production cost is low, be convenient to the advantage of popularization and application, can be widely used in other production divisions of manufacturing industry, national defense industry and national economy.
Omnibearing integrated PC digit control system of the present invention is characterized in that, adds the peripheral double-layer structure of execution level that disperses by central centralized control layer and forms, and this central authorities' centralized control layer comprises PC system platform and integrated cnc system software; The peripheral execution level that disperses comprises by system bus and this PC system platform a plurality of executive's interfaces that are connected and the actuating unit that is connected by said executive's interface; Said PC system platform comprises hardware platform and software platform two parts; Said integrated cnc system software comprises that numerical control device software, servo-driver software, switching value Control Software, the support of finishing information processing and TRAJECTORY CONTROL task ensure software subsystem; Said executive's interface comprises power interface, feedback interface, switching value interface.
Said power interface can comprise, the three-phase bridge rectifier circuit of forming by six diodes that links to each other with three-phase alternating-current supply, be connected in the capacitor filter of this rectification circuit, one end of six IPM modules links to each other with this capacitor filter, and the other end links to each other with the I/O interface of computing machine by photoelectric isolation module.
Said feedback interface can comprise Displacement Feedback interface, zero-bit feedback interface and several parts of current feedback interface; This Displacement Feedback interface comprises, photoelectric encoder, two output terminals that its signal phase difference is 90 ° link to each other with differential transmitter respectively, again through shielded cable successively with differential receiver, smit circuit process of frequency multiplication circuit,, direction discriminator circuit and up-down counter link to each other; Said zero-bit feedback interface comprises, photoelectric encoder, and with its differential transmitter that links to each other successively, differential receiver, smit circuit, the other end of this smit circuit links to each other with signal processing circuit with Sheffer stroke gate respectively; Also comprise travel switch, with its amplifier that links to each other successively, photoelectrical coupler, shaping circuit, the other end of this shaping circuit respectively with signal processing circuit, Sheffer stroke gate 9.Sheffer stroke gate links to each other; Said current feedback interface comprises, is serially connected with the precision resistance in the motor main circuit, and first amplifier and second amplifier be made up of operational amplifier, resistance that link to each other with its two ends are connected in the A/D converter and the photoisolator of this second amplifier.
Incorporate integrated form architecture that the present invention adopts comprehensive (information processing, TRAJECTORY CONTROL, servo driving, switching value control), its The general frame as shown in Figure 2.Among the figure, the power PC system platform is made up of hardware platform and software platform two parts.Core of hardware platform is the high-performance CPU (as Pentium III) of a high primary frequency (more than the 500MHz), high tens of times of the CPU that its performance generally adopts than conventional digital control system (as 80386,80486 etc.).The core of software platform is the kernel software of a high-performance real time operating system (as Windows NT).Integrated cnc system software runs on the above-mentioned hardware and software platform, finishes all control algolithms of digital control system by it.This software constitutes the control center of integrated PC digital control system with the PC system platform.This center connects all executive's interfaces by system bus, comprise power interface, feedback interface, switching value interface etc., connect corresponding actuating unit by executive's interface again, as drive motor, pick-up unit, switching value actuating unit etc., form complete control system thus, finish all control tasks of integrated PC digital control system jointly.
Because integrated PC digital control system has not only been finished the upper strata hardware capability of conventional digital control system with powerful, a highly integrated hardware platform, but also required separate hardware circuit such as feed shaft control, main shaft control, switching value control have been replaced finishing in the conventional digital control system, and the hardware circuit of finishing information processing and control in each discrete actuators, in addition, this system has also saved the communication line that drive unit is connected with the upper strata control module.Like this, the hardware size of integrated PC numerical control greatly reduces than general NC system, therefore, has not only effectively reduced the volume of forceful electric power power unit, has also further reduced system cost.
The important component part that integrated PC cnc system software of the present invention is integrated PC digital control system, its general structure as shown in Figure 7.This software is made up of numerical control device software, servo-driver software, switching value Control Software, support guarantee software subsystem.Wherein numerical control device software comprises numerical control real time operating system, man-machine interaction, information processing, track patching plug program module, servo-driver software comprises the servocontrol program module, the switching value Control Software comprises the switching value control program module, supports to ensure the communication of software package includes network, workpiece location, machining simulation, safety guarantee program module.The function of each program module is as follows:
1. numerical control real time operating system
The numerical control real time operating system is the fortune keyholed back plate reason subsystem in the integrated cnc system software, it carries out unified management to the resource in the system, task process is carried out dynamic dispatching, coordinate the efficient operation of each module, and auxiliary communication and the message exchange of finishing between process.
2. man-machine interaction
Man-machine interaction is the basic module of integrated digital control system, and the mode of mainly finishing is controlled and the dynamic two main tasks that shows.Mode controls by automated manner, MDI mode, manually continuously, manually increment, networking control, return submodules such as reference point, system management and form.Under each mode, at first show mode interface separately, and the display system information is carried out operation guide in respective window, the operator by operation keyboard to system's input instruction, system analyzes operator's instruction, finishes the operation of regulation according to its content.
Dynamically showing of task is to show in real time the movement locus of cutter in the process, the dynamic coordinate figure of each coordinates of motion, the information such as running status of system to make the operator understand the operation conditions of system and lathe at any time on the display screen of digital control system.
3. network communication
Native system can be by network interface and higher level's computer networking, can and realize resource sharing with online computing machine (as supervisory computer, supervisory control comuter, CAD/CAM computing machine etc.) exchange message.At this moment, the upper management computing machine can directly be controlled the operation of digital control system, and obtains the relevant status information of digital control system and lathe in real time.
4. workpiece is located
This module can be determined position and the attitude of workpiece in lathe coordinate system according to actual measurement information, realizes that the area of computer aided of workpiece is installed, and reduces the requirement to frock clamp, effectively shortens leading time and non-cutting time, improves numerical control production efficiency.
5. information processing
This module is responsible for input information is deciphered, and finishes the preceding cutter complementary operation of track interpolation, and pre-process is carried out in subroutine, macroprogram, fixed cycles, coordinate transform etc.
6. track interpolation
This module is the nucleus module of integrated digital control system, and its task is on the pretreated basis of information, generates the move of cutting tool path and each coordinate in real time.Because integrated PC digital control system has hardware speed than conventional digital control system high tens of times and the integrated advantage of software and hardware height, therefore the present invention brings up to the sample frequency of track patching plug program and the identical sample frequency of servocontrol (position ring), and make the sampling instant of track interpolation algorithm and positional control algorithm synchronous fully, thereby realized with frequency synchronous high-speed sampling interpolation, thoroughly overcome the restriction that existing PC digital control system is subjected to multilayer low energy (number of plies is many but every layer of ability is not high) structure, the track interpolation generally needs two-stage (the upper strata rough interpolation adds the thin interpolation of lower floor) to realize and the interpolator complex structure that produces, speed is low, shortcomings such as low precision are for new approach has been opened up in the high-speed, high precision control that realizes numerically-controlled machine.
7. servocontrol
Another nucleus module that this module is integrated digital control system, its task is not only according to the interpolation operation result, by high speed algorithm coordinate axis such as lathe X, Y, Z are carried out high precision position control, but also need finish high real-time control tasks such as speed closed loop control, transform vector control.Because servocontrol module and track interpolation module run on the same hardware platform in the present invention, therefore at software inhouse two modules are directly connected (need not by communication line and hardware interface), thereby realized the transmission of high speed immediate data interpolation and servo, the interpolation that exists in the general digital control system and servo 's the information of thoroughly having eliminated is transmitted bottleneck, has effectively improved the overall performance of system.
8. switching value control
This module is carried out logical operation to the switching value in the system, presses the logical order motion of the principle control lathe of PLC (programmable controller).
9. safety guarantee
This module matches with relevant sensor, and the process of lathe is monitored with relevant action, prevents that the generation of some malfunction and fault from spreading, and phylogenetic fault is carried out inline diagnosis.
10. machining simulation
In the animation mode numerical control process is carried out dynamic simulation, thereby can before processing, check the correctness of parts program and the rationality of machine tool motion process.
Because integrated architecture all focuses on all subsystems of digital control system on powerful, highly integrated, the general fully hardware and software platform, making the function unification such as information processing, TRAJECTORY CONTROL, servocontrol, switching value control of digital control system add integrated cnc system software by a novel high-performance CPU realizes, thereby thoroughly eliminate the redundant hardware of each subsystem and hardware interface and the communication line between each subsystem, and saved the control hardware interface and carried out the required software of communication processing, simplified software configuration significantly.Therefore, the implication of " integrated " is not only information integration in the general sense in the integrated PC digital control system, but integrated comprehensively to information from hardware, software.Realized the transfer of hardware complexity thus, realized producing dynamical change to knowledge so that the material generation is high-effect to software complexity.The simplification of hardware, the reinforcement of knowledge affect mean produce simplifies, economizes on resources, energy savings, cleaning ambient, more help the mankind's sustainable development.Therefore, integrated PC digital control system architecture of the present invention will make digital control system change typical kownledge economy product into from traditional product.
In sum, the innovative point of integrated PC digital control system is: 1. with in the integrated PC of the advancing platform of the control hardware of feed servo and spindle driver, realize the integrated of servo driving hardware and numerical control device hardware; The software that 2. will run in each discrete actuators is integrated in the integrated cnc system software that runs on the host CPU, realizes the fusion of servo software and numerical control software; 3. connect with logic and replace physical connection, the interface between software and hardware of thoroughly eliminating the communication line between system module and being associated is realized the direct high speed information exchange of intermodule.4. the high-speed, high precision interpolation with single level replaces multi-level thick-smart interpolation traditional mode, realizes the high-speed, high precision TRAJECTORY CONTROL.
The present invention has following effect unique:
(1) reliability height
The reliability quality is the key that can this high-tech product of digital control system win in market competition.Though it is a lot of to influence the factor of digital control system reliability, excessive hardware size and lower hardware manufacturing technological level often cause maximum threat to reliability.The present invention is owing to selected computing and the control core of novel high-performance CPU as system for use, need a plurality of CPU (comprising DSP) to add the numerical control task that a large amount of hardware just can be finished before making, now just can finish with a CPU, thus the scale of having dwindled system hardware significantly.And the required hardware of integrated PC numerical control belongs to the main product on the international computer market, its reliability quite high (mean free error time as the Industrial PC main frame has reached more than 200,000 hours), this can make the product of being produced by the present invention reach very high reliability.
(2) performance is good, function is strong
Utilize the powerful hardware and software platform of the integrated PC digital control system of the present invention, can develop performance cnc system software better, with better function.For example, can realize the high-speed, high precision sampling interpolation of sample frequency up to thousands of Hz (sampling period is several milliseconds of zero points).The benefit that this high frequency interpolator brought is, not only help improving the resolution of system, make speed of feed, can guarantee that still the interpolation error is less than 0.1 micron up to 60 meters/timesharing, and can realize thick smart interpolation unification, thereby effectively simplify software algorithm and system architecture.
Add under the environment of high speed isochronous data transfers at unified hardware that the present invention had and the high-speed interpolation that is provided, be very beneficial for the track interpolation and directly be connected, thereby realize the immediate data transmission with servo-controlled.So-called immediate data transmission is meant that the information transmission between interpolation module and position control module directly undertaken by the digital quantity between software, and does not adopt conventional hardware based analog quantity or pulsed quantity to transmit.Like this, can remove and connect interpolation module and required numeral/pulses switch link (interpolation side) and the pulse/digital conversion link (servo side) of digital servo-drive system according to a conventional method, thereby the information of thoroughly eliminating the interpolation that exists in the general digital control system and servo is transmitted bottleneck, has effectively improved running efficiency of system.
Under integrated environment, system software can obtain the built-in type servo-drive system for information about easily, therefore is very beneficial for the operation conditions of servo-drive system is monitored in real time, thereby guarantees the operation of servo-drive system high reliability, performance optimum operation benefit.
In addition, in integrated PC digital control system, also can realize new functions such as the direct interpolation of curved surface, three-dimensional cutter radius compensation, fieldbus networking control, CAD/CAM/CNC be integrated easily, the performance of digital control system is improved comprehensively.
(3) exploitation and production cost are low
Integrated PC digital control system of the present invention, its hardware size will reach and minimize, and whole digital control system is except that a PC platform, and remaining have only motor, driving interface and feedback interface.Make full use of the permanent magnetism resources advantage of China, can lower the cost of motor by specialization production, and adopt intelligentized IPM module also very cheap as driving interface, therefore the price with the built-in type feed servo is controlled in thousands of units, the price of built-in type main axle servo is controlled in 20,000 yuan, will be fully possible.Like this, the price of an integrated digital control system (comprising motor) can be reduced to about half of existing digital control system.Obviously, this high-performance, high reliability, the novel numerical control system will have extremely strong competitive power cheaply.
(4) be easy to realize Open architecture
Another big advantage of the present invention is exactly to realize Open architecture easily.This be because, the hardware of this system itself has been wide-open, the work that constitutes digital control system in open type is fully on software, as long as the standard of formulation and agreement, control to servocontrol from information processing, track interpolation, acceleration and deceleration control, switching value and can realize opening, thus can be user-friendly greatly.
In addition, the hardware platform of integrated PC digital control system is fully general, therefore can obtain technical progress fast, when PC upgrades, digital control system also can upgrade accordingly, thereby keeps technical advantage for a long time, stands on the invincible position in competition.
The present invention can provide a kind of new and effective automation control appliance with optimal performance price ratio for war production, aerospace vehicle manufacturing and all kinds of civilian manufacturing industry.Because the lathe of being controlled can carry out the comprehensive processing of multi-coordinate, thereby not only can process various complex parts, and can increase substantially processing flexibility and working (machining) efficiency.Applying of this novel system will be the process industry modernization, strengthen the contribution that overall national strength is made big actual effect.
Brief Description Of Drawings:
Fig. 1 is the general structure synoptic diagram of existing PC digital control system.
Fig. 2 is an integrated PC digital control system general structure synoptic diagram of the present invention.
Fig. 3 is the power interface schematic diagram of embodiments of the invention.
Fig. 4 is the Displacement Feedback interface principle figure of embodiments of the invention.
Fig. 5 is the zero-bit feedback interface schematic diagram of embodiments of the invention.
Fig. 6 is the current feedback interface principle figure of embodiments of the invention.
Fig. 7 is an integrated PC cnc system software general structure block diagram of the present invention.
Fig. 8 is the workpiece finder structured flowchart of embodiments of the invention.
Fig. 9 is the message processing program structured flowchart of embodiments of the invention.
Figure 10 is the passage handling procedure FB(flow block) of embodiments of the invention.
Figure 11 is the track patching plug program FB(flow block) of embodiments of the invention.
Figure 12 is the servocontrol program structure diagram of embodiments of the invention.
Figure 13 is the general structure block diagram of the embodiment of the invention.
The embodiment of a kind of integrated PC digital control system of the present invention's design is described in detail as follows respectively in conjunction with each accompanying drawing.
The general structure of present embodiment is used to be connected the executive's interface of bottom actuating unit as shown in figure 13 on the hardware of this enforcement comprises the power PC hardware platform and is installed on system bus.This executive's interface comprises the power interface that connects drive motor, feedback interface and switching value interface that is connected various switching value devices etc. of joint detection device.This system can be used for controlling the numerical control machining center lathe, and wherein, Pentium III computer system platform is made up of the PentiumIII CPU of 500MHz dominant frequency, 64M internal memory, 5G hard disk etc., moves integrated PC cnc system software thereon.
Being connected in floppy disk on the system bus, to be used to import processing for information about required, as NC program, cutter and the lathe parameter etc. of part to be processed.Be connected in liquid color display, keyboard and control knob are housed on the guidance panel on the system bus.Operating personnel can control the operation of system by keyboard and control knob.Showing with motion graphics and data mode by color monitor for information about of system's operation.By being connected in CAN (Controller AreaNetwork) network interface on the system bus, native system can with the upper management computer exchange of information.At this moment, higher level's computing machine can directly be controlled the operation of digital control system, thereby realizes unmanned operation.
Be connected in X, Y, Z power interface and spindle power interface on the system bus and be used for the light current control signal that computing machine produces is converted to the forceful electric power signal of drive motor, to drive X, Y, Z axle feeding motor and spindle motor motion.Power interface is made by schematic diagram shown in Figure 3.
The photoelectric coded disk 1 that is installed on the motor afterbody is used to obtain the angular displacement information of motor.The actual value of motor angular displacement can be sent in the computing machine by X, the Y, Z and the main shaft Displacement Feedback interface that are connected on the system bus, and integrated cnc system software can accurately be controlled the motion of motor in view of the above, thereby makes lathe obtain high machining precision.X, the Y, Z and the spindle motor current feedback interface that are connected on the system bus are used to obtain the current of electric actual value, and integrated cnc system software can accurately be controlled the moment of motor in view of the above, thereby make motor and lathe obtain high dynamic property.X, the Y, Z and the main shaft zero-bit feedback interface that are connected on the system bus are used to obtain the actual phase information of motor and the mechanical origin information of machine tool motion component, thereby realize motor is carried out the high precision vector controlled, for accurate reference point is set up in machine tooling.The zero-bit feedback information comprises thick zero message and smart zero message two parts.Smart zero message is taken from the zero pulse signal of photoelectric encoder 1, and thick zero message is provided by the travel switch 2 that is installed on the lathe.
Be connected in switching value I/O interface on the system bus and be used to connect switching value actuating unit on the lathe, as the electromagnetic switch valve of the drive unit of cutter-exchange mechanism, liquid coolant, travel switch, limit switch, protective device etc. on each parts of lathe.Switching value control program in the integrated cnc system software will be finished the switching value motion control of lathe by these interfaces and actuating unit.
On the physical layout of present embodiment system, all executive's interfaces are installed in the same PC case.For preventing the phase mutual interference, add gauze screen between power interface and the weak current part.All power interfaces have not only effectively reduced the volume of forceful electric power power unit by the unified power supply of centralized forceful electric power rectification filtering module that is installed in the PC case, have also further reduced system cost.
For adapting to the needs of modern manufacturing system, native system can work in two kinds of patterns, i.e. off-line mode and line model.When system works during in off-line mode, operating personnel can be by input processing information needed such as floppy disks, and senior editor's function that can provide by system, and the information of having imported is made amendment.The operation of system is controlled by keyboard on the guidance panel and control knob by operating personnel.Showing with motion graphics and data mode by the color monitor on the guidance panel for information about of system's operation.System works can be passed through CAN network interface and higher level's computer networking when line model, can and realize resource sharing with online computing machine (as supervisory computer, supervisory control comuter, CAD/CAM computing machine etc.) exchange message.At this moment, the upper management computing machine can directly be controlled the operation of digital control system, and obtains the relevant status information of digital control system and lathe in real time.Based on this, can constitute various advanced manufacturing systems.
Each the main hardware parts and the software program of present embodiment are described in detail as follows respectively:
The effect of power interface is that the light current control signal that computing machine produces is converted to the forceful electric power signal of drive motor in the system, and finishes the isolation between the strong and weak electricity.Because power interface does not need to finish complicated information processing and control function, but need have extremely strong self-protection ability, therefore adopt the intelligentized AC servo-driven module (IPM) that carries defencive function to add compositions such as photoelectric isolation module.Fig. 3 is the power interface schematic diagram.Among the figure, the three-phase bridge rectifier circuit rectification that three-phase alternating-current supply is formed via six diodes, and behind capacitor filtering, obtain more stable direct current.Six IPM modules on the right become dc inverter the variable three-phase alternating current of drive motor motion again.Control for frequency, amplitude and the phase place of alternating current that inversion is produced, the input signal of six IPM modules is provided by computing machine.Consider that the IPM module directly is connected with forceful electric power, and computing machine belongs to the light current device,, between IPM module and computing machine, installed photoelectric isolation module additional for guaranteeing the safety of computer system.For strengthening protection to power interface, the status monitoring signal of IPM is imported in the computing machine by the I/O interface, realize unified intelligent monitoring and protection by the safety guarantee program in the integrated numerical control software.
Feedback interface in the integrated PC digital control system comprises Displacement Feedback interface, zero-bit feedback interface and several parts of current feedback interface.The effect of Displacement Feedback interface is the actual displacement information that motor and machine tool motion component are provided to digital control system, and Control Software can be obtained the instantaneous position and the speed of moving component in view of the above.The zero-bit feedback interface can provide alternating current generator is carried out required phase information of vector controlled and the former dot information of machine tool mechanical.The effect of current feedback interface is the current information that the control motor torque is provided to control system.Can connect multiple pick-up units such as high precision code-wheel, grating, Hall element by above-mentioned feedback interface, thus can be according to user's pattern of wants semiclosed loop, closed-loop control system, to guarantee being had high machining precision by controlled machine.
The circuit theory diagrams of Displacement Feedback interface as shown in Figure 4.Wherein, photoelectric encoder (or grating) 1 is used to detect the displacement of motor or platen, and it is output as two phase signals A, the B of 90 ° of phase differential.This signal is passed to differential receiver 4 by differential transmitter 3 through shielded cable.Smit circuit 5 carries out the Transistor-Transistor Logic level signal that shaping obtains standard to the received signal, then this signal is sent to the process of frequency multiplication processing of circuit and obtains segmenting displacement pulse signals.Be direct impulse or negative-going pulse sequence with this conversion of signals further by the direction discriminator circuit.By up-down counter positive negative pulse stuffing is counted at last, and be stored in its inner register.The content that computing machine reads in the register can obtain motor and platen displacement information.
The circuit theory diagrams of zero-bit feedback interface as shown in Figure 5.Wherein, the zero pulse signal Z of photoelectric encoder (or grating) 1 output passes to smit circuit 5 through differential transmitter 3 and differential receiver 4.After its shaping, obtain meeting the smart zero signal of Transistor-Transistor Logic level standard.This signal is divided into two-way, and one the tunnel is sent to Sheffer stroke gate 9, and signal processing circuit is sent on another road.The thick zero signal that travel switch 2 produces amplifies through amplifier 6 earlier.After isolating, photoelectrical coupler 7 passes to shaping circuit 8 then.Thick zero signal after the shaping, the one tunnel is sent to signal processing circuit, and Sheffer stroke gate 9 is sent on another road.Sheffer stroke gate 9 is synthesized thick smart zero signal and is obtained comprehensive zero signal.This signal also is admitted to signal processing circuit.Pass to control system after by signal processing circuit thick, smart and comprehensive zero signal being handled at last.
The circuit theory diagrams of current feedback interface as shown in Figure 6.Wherein, the precision resistance R0 that is serially connected with in the motor main circuit is used for the electric current of motor is detected.When flowing through R0, current of electric will produce the voltage that is proportional to current of electric at its two ends.This voltage obtains the bipolarity output voltage after amplifying through the amplifier of being made up of operational amplifier O1, resistance R 1, R2, R3 etc.This voltage is further amplified by the amplifier that operational amplifier O2, resistance R 4, R5, R6, R7 etc. form, and becomes the receptible unipolarity voltage of A/D converter.This voltage becomes digital quantity after the A/D conversion, after photoelectricity is sent to control system after isolating.
Switching value interface in the system can provide the I/O contact of general PLC standard of meeting of some.These contacts can be as required be connected with corresponding switching value actuating unit (as solenoid valve, travel switch etc.).Switching value control module in the cnc system software will be moved to the logical order of lathe by switching value interface and switching value actuating unit, be installed, will process cooling, stroke protection etc. and control as main shaft start-stop, cutter exchange, workpiece.The switching value control module will match with servocontrol module, TRAJECTORY CONTROL module etc., finish the control of the lathe course of work jointly.
The integrated PC cnc system software general structure of present embodiment as shown in Figure 7.The function of each program module illustrates respectively in conjunction with Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12 in the system.
The structure of workpiece finder as shown in Figure 8.Its input information is the geometry processes information of the part to be processed that transmits from network.Workpiece positioning analysis module in the workpiece finder is at first analyzed workpiece geometry processes information, determines suitable locating surface.Measuring planning module selects the measurement point of some again and determines its coordinate position on the workpiece locating surface.Further move according to the measuring system that the measurement point position control is installed on the lathe by measuring control module.The metrical information processing module is obtained metrical information by feedback interface, and is sent to coordinate transformation module after it is handled.This module is carried out geometric transformation according to the workpiece real measured data to the relevant element of workpiece.Obtain the current attained pose of workpiece by workpiece pose computing module at last, and with this information stores in the workpiece posture file, handle and module use such as track interpolation for follow-up.
The structure of message processing program comprises N (passage 1 is to passage N) divisional processing program as shown in Figure 9 altogether, and each divisional processing program is finished the information handling task of a passage.Each passage divisional processing program is made up of modules such as passage control, passage detection, passage processing, channel queues.The passage processing module is its core, and the operation of this module is controlled according to channel scheduling information and passage detection information by the passage control module of correspondence.The output information that each passage processing module produces is sent in the corresponding channel queue.Follow-up track patching plug program will obtain its input information from the channel queue of correspondence.
The FB(flow block) of passage processing module as shown in figure 10.After passage is handled startup, at first import the part to be processed program, then parts program is scanned decoding, it is become the form that computer-internal is handled of being convenient to.Further the subroutine in the parts program is handled, fixed cycles is launched.Carry out cutter compensation at last and calculate, and result is sent in the channel queue.If channel queue is full, then handle and suspend, otherwise input subsequent parts program is proceeded to handle.
The FB(flow block) of track interpolation module as shown in figure 11.After this module starts, at first from channel queue, import for information about by the interpolation curve.Carry out acceleration and deceleration calculating according to difference of wishing speed and actual speed and acceleration requirement then, obtain current instantaneous velocity, and according to being obtained permissible error by the geometric relationship of interpolation curve.Further obtain interpolation line segment length in the three dimensions, and obtain trajectory parameters value in the parameter space according to this interpolation line segment according to instantaneous velocity and permissible error.Calculate interpolation tracing point coordinate according to trajectory parameters at last, promptly finish the interpolation in a sampling period.If the interpolation track has arrived terminal point, then interpolation finishes, otherwise the interpolation that enters the new round sampling period, until arriving final on trajectory.
Figure 12 is the structured flowchart of servocontrol program.At first movement instruction that is produced according to the track interpolation by position control module and the physical location that provided by position computation module is poor, the computing velocity command value.The actual speed that is provided according to speed command with by speed calculation module by rate control module is poor then, calculates the quadrature current command value.Further the actual phase that is provided according to the phase calculation module by the transform vector module is the three-phase current command value with the quadrature current instruction map.At last the three-phase current actual value that is provided according to the three-phase current command value with by the electric current computing module by current control module is poor, calculates the PWM steering order, and by the operation of PWM control motor.The actual motion state of motor is detected by pick-up unit, and detected value is sent to the corresponding calculated module after digital filtering and information processing.After calculating, it obtains finishing the required physical location of above-mentioned control, actual speed, actual phase and actual current.
Other program module in the integrated PC cnc system software adopts the conventional method exploitation, and narration is omitted.
The general structure of present embodiment as shown in figure 13, this system can be used for controlling the numerical control machining center lathe, wherein, Pentium III computer system platform is made up of the PentiumIIICPU of 500MHz dominant frequency, 64M internal memory, 5G hard disk etc., moves integrated PC cnc system software thereon.
Being connected in floppy disk on the system bus, to be used to import processing for information about required, as NC program, cutter and the lathe parameter etc. of part to be processed.Be connected in liquid color display, keyboard and control knob are housed on the guidance panel on the system bus.Operating personnel can control the operation of system by keyboard and control knob.Showing with motion graphics and data mode by color monitor for information about of system's operation.By being connected in CAN (Controller AreaNetwork) network interface on the system bus, native system can with the upper management computer exchange of information.At this moment, higher level's computing machine can directly be controlled the operation of digital control system, thereby realizes unmanned operation.
Be connected in X, Y, Z power interface and spindle power interface on the system bus and be used for the light current control signal that computing machine produces is converted to the forceful electric power signal of drive motor, to drive X, Y, Z axle feeding motor and spindle motor motion.Power interface is made by schematic diagram shown in Figure 3.
The photoelectric coded disk 1 that is installed on the motor afterbody is used to obtain the angular displacement information of motor.The actual value of motor angular displacement can be sent in the computing machine by X, the Y, Z and the main shaft Displacement Feedback interface that are connected on the system bus, and integrated cnc system software can accurately be controlled the motion of motor in view of the above, thereby makes lathe obtain high machining precision.X, the Y, Z and the spindle motor current feedback interface that are connected on the system bus are used to obtain the current of electric actual value, and integrated cnc system software can accurately be controlled the moment of motor in view of the above, thereby make motor and lathe obtain high dynamic property.X, the Y, Z and the main shaft zero-bit feedback interface that are connected on the system bus are used to obtain the actual phase information of motor and the mechanical origin information of machine tool motion component, thereby realize motor is carried out the high precision vector controlled, for accurate reference point is set up in machine tooling.The zero-bit feedback information comprises thick zero message and smart zero message two parts.Smart zero message is taken from the zero pulse signal of photoelectric encoder 1, and thick zero message is provided by the travel switch 2 that is installed on the lathe.
Be connected in switching value I/O interface on the system bus and be used to connect switching value actuating unit on the lathe, as the electromagnetic switch valve of the drive unit of cutter-exchange mechanism, liquid coolant, travel switch, limit switch, protective device etc. on each parts of lathe.Switching value control program in the integrated cnc system software will be finished the switching value motion control of lathe by these interfaces and actuating unit.
For adapting to the needs of modern manufacturing system, native system can work in two kinds of patterns, i.e. off-line mode and line model.When system works during in off-line mode, operating personnel can be by input processing information needed such as floppy disks, and senior editor's function that can provide by system, and the information of having imported is made amendment.The operation of system is controlled by keyboard on the guidance panel and control knob by operating personnel.Showing with motion graphics and data mode by the color monitor on the guidance panel for information about of system's operation.System works can be passed through CAN network interface and higher level's computer networking when line model, can and realize resource sharing with online computing machine (as supervisory computer, supervisory control comuter, CAD/CAM computing machine etc.) exchange message.At this moment, the upper management computing machine can directly be controlled the operation of digital control system, and obtains the relevant status information of digital control system and lathe in real time.Based on this, can constitute various advanced manufacturing systems.
Claims (3)
1, a kind of omnibearing integrated PC digit control system is characterized in that, adds the peripheral double-layer structure of execution level that disperses by central centralized control layer and forms, and this central authorities' centralized control layer comprises PC system platform and integrated cnc system software; The peripheral execution level that disperses comprises by system bus and this PC system platform a plurality of executive's interfaces that are connected and the actuating unit that is connected by said executive's interface; Said PC system platform comprises hardware platform and software platform two parts; Said integrated cnc system software comprises that numerical control device software, servo-driver software, switching value Control Software, the support of finishing information processing and TRAJECTORY CONTROL task ensure software subsystem; Said executive's interface comprises power interface, feedback interface, switching value interface.
2, integrated PC digital control system as claimed in claim 1, it is characterized in that, said power interface comprises, the three-phase bridge rectifier circuit of forming by six diodes that links to each other with three-phase alternating-current supply, be connected in the capacitor filter of this rectification circuit, one end of six IPM modules links to each other with this capacitor filter, and the other end links to each other with the I/O interface of computing machine by photoelectric isolation module.
3, integrated PC digital control system as claimed in claim 1 is characterized in that, said feedback interface comprises Displacement Feedback interface, zero-bit feedback interface and several parts of current feedback interface; This Displacement Feedback interface comprises, photoelectric encoder, two output terminals that its signal phase difference is 90 ° link to each other with differential transmitter respectively, link to each other with differential receiver, smit circuit process of frequency multiplication circuit, direction discriminator circuit and up-down counter successively through shielded cable again; Said zero-bit feedback interface comprises, photoelectric encoder, and with its differential transmitter that links to each other successively, differential receiver, smit circuit, the other end of this smit circuit links to each other with signal processing circuit with Sheffer stroke gate respectively; Also comprise travel switch, with its amplifier that links to each other successively, photoelectrical coupler, shaping circuit, the other end of this shaping circuit respectively with signal processing circuit, Sheffer stroke gate 9.Sheffer stroke gate links to each other; Said current feedback interface comprises, is serially connected with the precision resistance in the motor main circuit, and first amplifier and second amplifier be made up of operational amplifier, resistance that link to each other with its two ends are connected in the A/D converter and the photoisolator of this second amplifier.
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| CN00100550A CN1095556C (en) | 2000-01-25 | 2000-01-25 | Omnibearing integrated PC digit control system |
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| CN00100550A CN1095556C (en) | 2000-01-25 | 2000-01-25 | Omnibearing integrated PC digit control system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102455684A (en) * | 2011-10-20 | 2012-05-16 | 西安交通大学 | Dynamic characteristic on-line tester of feeding system of numerical control machine |
| CN102999009A (en) * | 2012-12-11 | 2013-03-27 | 深圳市麦格米特驱动技术有限公司 | Control circuit of machine tool |
| CN103368485A (en) * | 2012-03-28 | 2013-10-23 | 南京工程学院 | Multi-coordinate servo drive method and multi-coordinate servo drive device specific to medical imaging equipment |
| CN104570958A (en) * | 2015-02-04 | 2015-04-29 | 湖南天冠电子信息技术有限公司 | Cnc cooperative control device and numerical control system |
| CN112468212A (en) * | 2020-11-04 | 2021-03-09 | 北京遥测技术研究所 | High-availability servo system of all-weather unattended measurement and control station |
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| US4847830A (en) * | 1987-12-02 | 1989-07-11 | Network Equipment Technologies, Inc. | Method and apparatus for automatic loading of a data set in a node of a communication network |
| US5297257A (en) * | 1991-04-15 | 1994-03-22 | Allen-Bradley Company, Inc. | Distributing a real-time control program to a plurality of input/output nodes |
| US5475601A (en) * | 1994-02-15 | 1995-12-12 | Emhart Glass Machinery Investments Inc. | Control for glassware forming system including bidirectional network gateway |
| CN1067619C (en) * | 1994-06-10 | 2001-06-27 | 险峰机床厂 | Roll grinder digital control system |
| CN1102890A (en) * | 1994-07-02 | 1995-05-24 | 华中理工大学 | CNC system of directly interpolation of curved surface profile |
| CN2229672Y (en) * | 1995-10-06 | 1996-06-19 | 曹一峰 | Computer digital control core plane |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102455684A (en) * | 2011-10-20 | 2012-05-16 | 西安交通大学 | Dynamic characteristic on-line tester of feeding system of numerical control machine |
| CN102455684B (en) * | 2011-10-20 | 2013-06-05 | 西安交通大学 | Dynamic characteristic on-line tester of feeding system of numerical control machine |
| CN103368485A (en) * | 2012-03-28 | 2013-10-23 | 南京工程学院 | Multi-coordinate servo drive method and multi-coordinate servo drive device specific to medical imaging equipment |
| CN103368485B (en) * | 2012-03-28 | 2018-03-16 | 南京工程学院 | A kind of special multi-coordinate servo drive method of medical imaging equipment and device |
| CN102999009A (en) * | 2012-12-11 | 2013-03-27 | 深圳市麦格米特驱动技术有限公司 | Control circuit of machine tool |
| CN104570958A (en) * | 2015-02-04 | 2015-04-29 | 湖南天冠电子信息技术有限公司 | Cnc cooperative control device and numerical control system |
| CN112468212A (en) * | 2020-11-04 | 2021-03-09 | 北京遥测技术研究所 | High-availability servo system of all-weather unattended measurement and control station |
| CN112468212B (en) * | 2020-11-04 | 2022-10-04 | 北京遥测技术研究所 | High-availability servo system of all-weather unattended measurement and control station |
Also Published As
| Publication number | Publication date |
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| CN1095556C (en) | 2002-12-04 |
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