CN1437081A - Numerical controller for quick precise point-to-point locator of high speed moving parts - Google Patents
Numerical controller for quick precise point-to-point locator of high speed moving parts Download PDFInfo
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Abstract
The present invention is one kind of numerical controller for quick precise point-to-point locator of high speed moving parts. The start signal and the brake signal provide the motion target with start and brake command separately; the deceleration rate selector selects proper deceleration rate curve to ensure fast and accurate location; the fuzzy controller outputs the displacement coordinate x1 for the system to perform switch change-over under control amount state and the speed decreasing rate Rdv for the part in deceleration brake state; the mode controller has the functions of CPU; the pulse width modulator output PWM waveform to reflect the work state connected to the mode controller; the inversion driver amplifiers the power of PWM wave; and the decoder decodes the position signal output by the photoelectronic coder and converts level for matching.
Description
Technical field
The present invention relates to a kind of numerical control device that is used for the point-to-point quick precise localizer of high-speed motion parts.
Background technology
Point-to-point location positioning system comes down to adopt the servo servomechanism of digital technology control, its basic task is to realize that topworks follows the tracks of as far as possible fast and accurately to position command, so its control structure must have the position feedback closed signal.This is a class application system very widely, spreads all over each department of national economy, as the positioning control of lathe in the mechanical processing process; Require welding head can align weld seam exactly in the metallurgical industry to realize the precision welding of seamed steel pipe; The pin position control of textile industry high speed flat seam machine; The penholder of various registering instruments control in the measurement instrument industry; The action control of robot arm etc. we can say that it is the electrical integrated core technology (see figure 1) of high performance machine.
(1) program composition and input media
Numerical control program be by object in the position that mechanical coordinate is fastened, the running orbit of motion object is implemented the instruction of control with the computerese system of standard.The effect of input media is to convert the numerical control code on the program carrier to corresponding electric impulse signal, transmits and deposits to automation equipment.
(2) heavy-current control device
This device is the control system between numerical control device and movable machinery, and it mainly acts on is the movement instruction that receives numerical control device output, direct corresponding Electrified Transmission parts of driving after the compiling of necessity, logic determines, power amplification; In addition, also having feedback signal such as overcurrent-overvoltage to deliver to numerical control device through it handles.
(3) servo drive system and position detecting device
Servo drive system is made up of servo driving circuit and servo drive, and it carries out the running orbit signal that numerical control device is sent, and the core of this part is to adopt the driving moment and the braking moment of frequency-variable controller output maximal efficiency.Position detecting device mainly is to detect position signalling with position transducer or speed pickup.
Numerical control device is system-wide core, and gordian technique mostly is external grasp, present domestic numerical control position servo equipment, and its key component, as master control borad (or software), sophisticated sensor, high efficiency drive device etc., dependence on import all, a large amount of foreign exchanges of annual spend.As rely on independent development, and too poor or quality is unstable because of cost performance, can't form industry, restricted the process of research and development conversely.
Current, the point-to-point quick Precise Position System of external high-speed motion parts, basic theories is based on the Bang-Bang control principle, the real work block diagram roughly as shown in Figure 2:
It comprises: controlled quentity controlled variable switch signal generator (being the bang-bang controller), linear controller, mode selector etc., when the stroke of motion object is big, system opens the first location in stage beginning and adopts bang-bang control, in case the site error of system becomes less, the pass-through mode selector switch makes system transfer Linear Control to by bang-bang control again, the former is used to guarantee the rapidity of locating, and the latter then guarantees last bearing accuracy.But said structure has increased a linear controller on bang-bang controller basis, and system is complicated.And this method will guarantee bearing accuracy, need know the speed amount exactly, promptly need valuable speed pickup or estimate by the computed in software of complexity, and the centering mini system, relative cost is higher.
Summary of the invention
The purpose of this invention is to provide a kind of numerical control device that is used for the point-to-point quick precise localizer of high-speed motion parts.
Enabling signal is provided enabled instruction for the motion object and makes it by the movement locus operation of setting; Brake signal provides braking instruction; Deceleration rate selector accesses suitable rate of deceleration curve according to the fuzzy controller output signal after braking instruction sends, guarantee that the location not only fast but also accurate; The fuzzy controller output system is carried out the displacement coordinate value x that the controlled quentity controlled variable status switch switches
1And parts are in the speed fall off rate R under the retarding braking state
DvThe mode controller includes the central processing unit function, exports according to the input signal decision of fuzzy controller to be in which type of duty; Pulse width modulator output pwm pulse waveform, the form of waveform has reflected the duty that the mode controller is connected; Inversion drives the pwm pulse ripple that overpower amplification is provided for the action motor; Photoelectric encoder outgoing position signal; Code translator is deciphered position signalling, and converts the level that mates with the mode controller to, does last location positioning correction.
Advantage of the present invention is:
A kind of new quick accurate point-to-point location numerical control device of the present invention is still based on the thought of bang-bang controller.This research project at the very start with fill the domestic gaps, the comprehensive industry of achievement turns to purport, cost performance is well an important indicator, this is the basis that forms direct competitive power with external product.Therefore,, compare, the distinguishing feature of oneself arranged on system constitutes, be mainly reflected in external product satisfying under the performance index:
(1) dependence motion model within reason, simple structure.
(2) there is not complex mathematical to calculate, not high to the processor Capability Requirement.
(3) overall manufacturing cost is saved more than 25% at least than external product.
(4) economical and practical simple and reliable, but cost performance is original.
The characteristic of the present invention on concrete technical scheme is:
1) cancelled speed pickup, also do not pursued accurately the asking for of speed amount, only use two extremely low resolution photoelectric encoders of cost (several yuans, detection position amount and do last location and revise as shown in Figure 2).
2) the switching signal switching point coordinate of controlled quentity controlled variable produces with a fuzzy controller, and this is the core of apparatus of the present invention.
3) fuzzy controller is done to analyze qualitatively to the characteristics of motion, promptly the speed physical quantity that must know position fixing process is made Fuzzy processing, this kind processing scheme is complete energy practical requirement on rapidity, stability and the degree of accuracy of location, and software and hardware resources is all saved greatly, and is easy to realize.
The new technology that the present invention had at first is applied to the fast accurately control of pin position of domestic textile industry high speed flat seam machine, before, the numerical control device of domestic high speed parallel sewing machine without exception pass through import.It is the numerical control device that truly has independent intellectual property right for the first time fully, and economic benefit is huge, and has formed large-scale production and export situation.
Description of drawings
Fig. 1 is the point-to-point quick precise localizer basic structure synoptic diagram of high-speed motion parts;
Fig. 2 is the external point-to-point quick precise localizer numerical control device structural representation of certain high-speed motion parts;
Fig. 3 is the point-to-point quick precise localizer numerical control device structural representations of high-speed motion parts of the present invention;
Fig. 4 is the inner synoptic diagram of resolving of fuzzy controller;
Fig. 5 is that low-cost resolution is 2 photoelectric encoder synoptic diagram.
Embodiment
The basic function of numerical control device of the present invention is described below: elder generation's given target location reference value, under the enabled instruction effect, moving parts finish to the A point with short as far as possible time 0～t1 operation, the controlled quentity controlled variable state carries out switch by the mode controller and switches, send the stopping brake instruction, to t2 constantly (B point) stop just, finish accurate point-to-point location fast, wherein switch switching point coordinate is the (see figure 5) that is provided by fuzzy controller.
As shown in Figure 3, enabling signal is provided enabled instruction for the motion object and makes it by the movement locus operation of setting; Brake signal provides braking instruction; Deceleration rate selector accesses suitable rate of deceleration curve according to the fuzzy controller output signal after braking instruction sends, guarantee that the location not only fast but also accurate; The displacement coordinate value x that fuzzy controller output carrying out controlled quentity controlled variable status switch switches
1Be in speed fall off rate R under the retarding braking state with parts
DvThe mode controller includes the central processing unit function, input signal decision whole system operation attitude according to fuzzy controller and code translator, when mode switch is connected the enabling signal passage, parts move with peak acceleration, and this moment, central processing unit was constantly with the position signalling of code translator input and the variable x of fuzzy controller output
1Value compares, when both are equal, controlled quentity controlled variable state generation switch switches, mode switch is forwarded to the brake signal passage, and runs slowly according to the rate of deceleration curve that calls, and last location is revised and just finished according to the A point signal level that code translator detects by the mode controller, when parts move to the A point, the mode controller sends the stopping brake instruction, makes parts arrive the B point and stops just, and this moment, mode switch disconnected all signalling channels.
Pulse width modulator output pwm pulse waveform, the form of waveform has reflected the duty that the mode controller is connected; Inversion drives the pwm pulse ripple that overpower amplification is provided for the action motor; Photoelectric encoder outgoing position signal; Code translator is deciphered position signalling, and converts the level that mates with the mode controller to, does last location positioning correction.
As shown in Figure 4, total fuzzy controller is made of fuzzy sub-controller 1 and fuzzy sub-controller 2, and fuzzy sub-controller 1 is the current spinner velocity v of general judgement from given speed command
r, carry out the displacement coordinate value x that the controlled quentity controlled variable status switch switches to determine system
1, corresponding fuzzy relation is v
rBig more, x
1More little; Fuzzy sub-controller 2 comprehensive spinner velocity fuzzy value v
rWith displacement coordinate value x
1After the switching of decision controlled quentity controlled variable status switch, parts are in the speed fall off rate R under the retarding braking state
Dv, corresponding fuzzy relation is v
rBig more, R
DvBig more.Total fuzzy controller be it seems from outside port, only comprises a variable v
rInput, two variable R
DvAnd x
1Output there is no the actual measurement physical quantity and exists; And by the fuzzy control curve that the fuzzy implication relation of two fuzzy sub-controllers is formulated for, be to be engineering objective, obtain with form by a large amount of experiments with reference to man-machine expertise, so saved software and hardware resources greatly with bearing accuracy and rapidity.Fuzzy control belongs to the Based Intelligent Control category, because it has that overshoot is little, strong robustness, can overcome characteristics such as effect of non-linear, so be a kind of effective control strategy to complication system.
Claims (3)
1. numerical control device that is used for the point-to-point quick precise localizer of high-speed motion parts is characterized in that: enabling signal is provided enabled instruction for the motion object and makes it by movement locus operation of setting; Brake signal provides braking instruction; Deceleration rate selector accesses suitable rate of deceleration curve according to the fuzzy controller output signal after braking instruction sends, guarantee that the location not only fast but also accurate; The fuzzy controller output system is carried out the displacement coordinate value x that the controlled quentity controlled variable status switch switches
1And parts are in the speed fall off rate R under the retarding braking state
DvThe mode controller includes the central processing unit function, exports according to the input signal decision of fuzzy controller to be in which type of duty; Pulse width modulator output pwm pulse waveform, the form of waveform has reflected the duty that the mode controller is connected; Inversion drives the pwm pulse ripple that overpower amplification is provided for the action motor; Photoelectric encoder outgoing position signal; Code translator is deciphered position signalling, and converts the level that mates with the mode controller to, does last location positioning correction.
2. a kind of numerical control device that is used for the point-to-point quick precise localizer of high-speed motion parts according to claim 1, the fuzzy sub-controller 1 that it is characterized in that said fuzzy controller are the current spinner velocity v of general judgement from given speed command
r, carry out the displacement coordinate value x that the controlled quentity controlled variable switch switches to determine system
1, fuzzy sub-controller 2 comprehensive spinner velocity fuzzy value v
rWith displacement coordinate value x
1After the switching of decision controlled quentity controlled variable status switch, parts are in the speed fall off rate R under the retarding braking state
Dv
3. a kind of numerical control device that is used for the point-to-point quick precise localizer of high-speed motion parts according to claim 1, it is characterized in that said photoelectric encoder is two resolutions, after the instruction of given target location, moving parts finish to the A point with short as far as possible time 0～t1 operation, the controlled quentity controlled variable switch switches, send brake signal, to t2 constantly (B point) stop just, rely on the photoelectric encoder of this minimum resolution just can finish and have only the quick accurate point-to-point positioning function that could realize traditionally by the high resolution photoelectric encoder.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 03115717 CN1267797C (en) | 2003-03-08 | 2003-03-08 | Numerical controller for quick precise point-to-point locator of high speed moving parts |
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| CN 03115717 CN1267797C (en) | 2003-03-08 | 2003-03-08 | Numerical controller for quick precise point-to-point locator of high speed moving parts |
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| CN1437081A true CN1437081A (en) | 2003-08-20 |
| CN1267797C CN1267797C (en) | 2006-08-02 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106788000A (en) * | 2016-12-02 | 2017-05-31 | 深圳天才动力科技有限公司 | A kind of electric motor starting and speed-regulating control circuit and its drive control method |
| CN109396053A (en) * | 2018-10-30 | 2019-03-01 | 福建省亿顺机械设备有限公司 | Intelligent sorting method |
-
2003
- 2003-03-08 CN CN 03115717 patent/CN1267797C/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106788000A (en) * | 2016-12-02 | 2017-05-31 | 深圳天才动力科技有限公司 | A kind of electric motor starting and speed-regulating control circuit and its drive control method |
| CN106788000B (en) * | 2016-12-02 | 2022-12-23 | 深圳市斗索科技有限公司 | Motor starting and speed regulating control circuit and driving control method thereof |
| CN109396053A (en) * | 2018-10-30 | 2019-03-01 | 福建省亿顺机械设备有限公司 | Intelligent sorting method |
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| CN1267797C (en) | 2006-08-02 |
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