CN1951682A - Mechanical pressure machine control method for slider stopping at certain point - Google Patents
Mechanical pressure machine control method for slider stopping at certain point Download PDFInfo
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- CN1951682A CN1951682A CN 200610041340 CN200610041340A CN1951682A CN 1951682 A CN1951682 A CN 1951682A CN 200610041340 CN200610041340 CN 200610041340 CN 200610041340 A CN200610041340 A CN 200610041340A CN 1951682 A CN1951682 A CN 1951682A
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Abstract
The invention relates to a method for controlling the compressor sliding block to stop at dead position. Wherein, it uses the rotation coder as the crank angle/block strike sensor of mechanical compressor, to feed collected angle information to the electric cam controller; the controller based on the crank angle information outputs cam signal, based on the passed angle in fixed time of crank to calculate out the crank speed. The invention is characterized in that: based on the brake angles of last two sliding blocks, it finds the incline factor of angle-speed curvature; when the compressor first operates in one sliding block speed, based on said factor, it can find the present brake angle; when the speed is stable, the brake angle will be automatically compensated referring to the shift from last brake angle; the brake angles in different speeds are stored; when the electric cam receives brake signal, based on preset speed to inquire database, and find out present brake angle; when block reaches said brake angle, outputting the brake signal.
Description
Technical field
The present invention relates to punching machine, particularly a kind of control method of punching machine slider stopping at certain point belongs to machining and computer controlled automatic field.
Background technology
During the mechanical pressure machined, generally all to require slide block to be parked in upper dead center position, have enough energy that workpiece is processed during with the assurance punch process.The method in past realizes logic control owing to adopt mechanical cam as the crankshaft angles checkout gear by PLC.The shortcoming of this mode is to guarantee to be parked in top dead-centre when ram speed variation and friction disc wear, adjusts cam angle degree at every turn and all need adopt fixing angle as drag angle by manual adjustment.In case and the shortcoming of this method is that the friction plate of clutch works long hours, braking ability descends; Or velocity variations, during air pressure change, can not guarantee that slide block is parked in top dead-centre.Owing to need the artificial adjustment that does not stop, wasted the time, the inefficiency of production, the action frequency of clutch increases, and the life-span is affected.And the braking angle of clutch with factors such as the physical characteristic of clutch itself, air pressure, flywheel speed exist very strong non-linear and the time stickiness, be difficult to set up precise math model.
" a kind of punching machine electronics control method and the electronic cam controller " of the applicant's separate case application, adopt the sensor of rotary encoder as crankshaft angles/ram travel, with the embedded system is the electronic cam controller of core, and the clutch/brake of punching machine is controlled, produced cam signal output, workpiece is done the processing counting, monitored the clutch friction plate state of wear.A plurality of parts such as former mechanical cam, mechanical/electrical counter, auxiliary reclay have been substituted.Owing to adopted encoder and embedded system, not only removed the time of original adjusting mechanical cam, guarantee that top dead-centre stops under friction speed, and can improve the automatization level and the level of security of punching machine the friction disc wear condition monitoring of clutch.The sub-cam of its current collection, stop multiple functions such as top dead-centre correction, ram speed supervision, friction plate adaptive life monitor in one automatically, frequent to be fit to the punching machine mechanism action, the security requirement height often needs to adjust the working condition requirement of cam angle degree.This application is made the crankshaft angles/ram travel sensor of punching machine with rotary encoder; the controller that the angle information that collects is sent into; controller is according to crankshaft angles information output cam signal; according to one regular time the inside crankshaft angle of passing by calculate the speed of bent axle; controller detects the Machine-Tool Control signal stops to upper dead center position slide block with the crankshaft speed output brake signal solenoidoperated cluthes brake that calculates; the number of times of the action of the crankshaft angles when controller is judged brake/ram travel record clutch; judge the wear condition of clutch by the index of stroke and real work number of times; by the user parameter is set; setting value, then stopping alarm have been counted to when work is inferior; remind user's renewal of facing renewal more in time.Electronic cam controller comprises button display circuit, DSP main control chip, I/O interface circuit, encoder input interface circuit, encoder output interface circuit, power circuit, angle signal by the rotary encoder collection that links to each other with bent axle is delivered to the DSP main control chip through the encoder input interface circuit, the I/O interface circuit is gathered the control signal of lathe and is delivered to the DSP main control chip, the DSP main control chip comprises special-purpose control program, and program is sent the action of control signal through I/O interface circuit control lathe; Simultaneously the encoder output interface circuit is sent other control appliances to lathe with the angle signal of encoder input interface circuit collection; The operator is provided with parameter by the button display circuit, monitoring crankshaft angles and number of strokes information, and power circuit provides required voltage to controller.
Summary of the invention
For solve that prior art exists not enough and based on the applicant's above-mentioned separate case application, the invention provides the position control method that a kind of punching machine slide block stops top dead-centre.
The present invention is achieved by the following technical solution: the control method of punching machine slider stopping at certain point, adopt rotary encoder to make the crankshaft angles/ram travel sensor of punching machine, the angle information that collects is sent into electronic cam controller, controller is according to crankshaft angles information output cam signal, according to one regular time the inside crankshaft angle of passing by calculate the speed of bent axle, it is characterized in that braking angle according to two ram speed points before, determine the slope coefficient of braking angle-rate curve, when forcing press moves under a new ram speed for the first time, according to slope coefficient, determine current braking angle, behind the velocity-stabilization, the braking angle compensates automatically with reference to the deviation of last brake angle.
Drag angle degrees of data under the friction speed is stored, after electric cam is received brake signal,, determine current braking angle then according to the present speed Query Database, when slide block arrives this braking angle, the output brake signal.
Concrete workflow is as follows:
1, program begins, and slide block is in running, the computational speed of not stopping.
2, remove inquiry " speed-braking angle " database according to speed.
If 3 high 2 (the braking angle effective marker positions) that inquire drag angle degrees of data (16) equal 1, then enter flow process 4; Be not equal to 1 if inquire high 2 (the braking angle effective marker position) of drag angle degrees of data (16), then enter flow process 5.
4, use current data to go to calculate the braking angle:
Shut down angle=360-(drag angle degrees of data that inquires; 3FFFh) %360
Electric cam arrives after receiving brake signal when shutting down angle then, the output brake signal, and with the current braking angle clear 0 of current braking angle register.Program changes flow process 8 over to.
5, the current data that inquire of explanation are invalid, and at this moment, electric cam is just inquired about from two nearest valid data of present speed in tables of data.If can inquire two valid data, then enter flow process 6; If can not inquire two valid data, then enter flow process 7.
6, calculate the slope coefficient of braking angle-rate curve according to these two valid data, calculate the braking angle by slope coefficient again, promptly brake angle=slope coefficient * (present speed/speed of tabling look-up).Electric cam arrives after receiving brake signal when shutting down angle then, the output brake signal, and with current braking angle register clear 0.Program changes flow process 8 over to.
7, tables of data does not have any valid data, when electric cam is spent in arrival 210, and the output brake signal, and with current braking angle clear 0.
8, electric cam detects slide block and stops, and according to current location, calculates current braking angle, promptly begins to stop electric cam up to slide block and detects the angle of passing by from sending brake signal.And be saved in tables of data, the data effective marker of current location in the tables of data is changed to effectively.
9, electric cam is preserved current braking angle after detecting slide block and having stopped, and judges that current angle is whether automatically in the compensation range.If in automatic compensation range, the current braking angle after electric cam will compensate is saved in corresponding position in " speed---braking angle " database.If automatically in the compensation range, system is new database more not.The uncompensation scope is calculated according to following empirical data, when speed at 300 rev/mins, get ± 5 the degree; When speed at 301～500 rev/mins, get ± 10 the degree; When speed at 501～1500 rev/mins, get ± 20 the degree.Promptly be in speed at 300 rev/mins, if be parked in ± 5 when spending, " speed---braking angle " database does not upgrade,, need to upgrade " speed---braking angle " database if be parked in ± 5 be outside one's consideration.
10, flow process finishes.
Because the adjustment of press ram position has repeatability, so we have adopted the braking angle with reference to last time, and promptly under same speed, current braking angle is with reference to the braking angle of last brake; In order under different speed, slide block to be parked in the top dead-centre scope accurately, designed speed-drag angle kilsyth basalt; Even under same speed; the braking angle is also relevant with factors such as air pressure; braking angle meeting fuctuation within a narrow range during air pressure change; cause stopping the position concussion of top dead-centre; therefore according to experimental result, spend-5～+ 5 in (i.e. 355～5 degree) scope not to the braking angle compensation, if compensation; shutting down angle will shake near top dead-centre, and top dead-centre is shut down inaccurate.
Advantage of the present invention and effect: the present invention improves positioning accuracy guaranteeing to reduce the adjustment number of times when punching machine accurately stops top dead-centre, promotes the reliability of whole system and the overall quality of product, has very strong application and promotional value.
Description of drawings
Fig. 1 ram speed-braking angle graph of a relation;
Fig. 2 air pressure-braking angle graph of a relation.
The specific embodiment
The braking angle of clutch and the relation curve of ram speed are seen Fig. 1.Analyzed pattern, the braking angle of thinking that can be similar to is directly proportional with ram speed.Therefore, after we know the braking angle of two speed points, just can estimate the braking angle of other speed points.But the braking angle also has relation with the position of air pressure size and clutch brake, and under the same speed, when air pressure hanged down, the braking angle was big, and when air pressure was high, the braking angle was little.Same speed, clutch brake angle curve is with reference to Fig. 2, because under the same speed, the braking angle is not only relevant with air pressure, and is also relevant with the position of clutch brake etc., so air pressure and braking angle are not absolute monotonic relationshi.
According to above-mentioned analysis result, sum up following braking algorithm: before this according to the braking angle of two speed points before, calculate the slope coefficient of braking angle-rate curve, when forcing press moves for the first time under a new speed, according to slope coefficient, calculate current braking angle.Behind the velocity-stabilization, the braking angle all is that the deviation with reference to the last brake angle compensates automatically.The use slope calculates, and only is used for estimating a braking angle, might not stop to top dead-centre accurately.Therefore, according to " speed-braking angle " datagram, the drag angle degrees of data under the friction speed is recorded in the storehouse.After electric cam is received brake signal,, calculate current braking angle then according to the present speed Query Database.When slide block arrives this braking angle, the output brake signal.
Claims (3)
1, the control method of punching machine slider stopping at certain point, adopt rotary encoder to make the crankshaft angles/ram travel sensor of punching machine, the angle information that collects is sent into electronic cam controller, controller is according to crankshaft angles information output cam signal, according to one regular time the inside crankshaft angle of passing by calculate the speed of bent axle, it is characterized in that braking angle according to two ram speed points before, determine the slope coefficient of braking angle-rate curve, when forcing press moves under a new ram speed for the first time, according to slope coefficient, determine current braking angle, behind the velocity-stabilization, the braking angle compensates automatically with reference to the deviation of last brake angle.
2, the control method of punching machine slider stopping at certain point according to claim 1, it is characterized in that the drag angle degrees of data under the friction speed is stored, after electric cam is received brake signal, according to the present speed Query Database, determine current braking angle then, when slide block arrives this braking angle, the output brake signal.
3, the control method of punching machine slider stopping at certain point according to claim 2 is characterized in that concrete workflow is as follows:
(1) program begins, and slide block is in running, the computational speed of not stopping;
(2) remove inquiry " speed-braking angle " database according to speed;
(3) if inquiring high 2 of 16 drag angle degrees of data promptly brakes angle effective marker position and equal 1, then enter flow process 4; If high 2 that inquire 16 drag angle degrees of data are promptly braked angle effective marker position and are not equal to 1, then enter flow process (5);
(4) use current data to go to calculate the braking angle:
Shut down angle=360-(drag angle degrees of data that inquires; 3FFFh) %360
Electric cam arrives after receiving brake signal when shutting down angle then, the output brake signal, and the current braking angle of current braking angle register is clear 0, program changes flow process (8) over to;
(5) illustrate that the current data that inquire are invalid, at this moment, electric cam is just inquired about from two nearest valid data of present speed in tables of data, if can inquire two valid data, then enters flow process 6; If can not inquire two valid data, then enter flow process (7);
(6) calculate the slope coefficient of braking angle-rate curve according to these two valid data, calculate the braking angle by slope coefficient again, promptly brake the angle=slope coefficient * present speed/speed of tabling look-up, electric cam arrives after receiving brake signal when shutting down angle then, the output brake signal, and current braking angle register is clear 0, program changes flow process (8) over to;
(7) tables of data does not have any valid data, when electric cam is spent in arrival 210, and the output brake signal, and with current braking angle clear 0;
(8) electric cam detects slide block and stops, according to current location, calculate current braking angle, promptly begin to stop electric cam and detect the angle of passing by up to slide block from sending brake signal, and be saved in tables of data, the data effective marker of current location in the tables of data is changed to effectively;
(9) electric cam is after detecting slide block and having stopped, preserve current braking angle, and judge that current angle is whether automatically in the compensation range, if in automatic compensation range, the current braking angle after electric cam will compensate is saved in corresponding position in " speed---braking angle " database, if in automatic compensation range, system is new database more not, the uncompensation scope is calculated according to following empirical data, when speed at 300 rev/mins, get ± 5 the degree; When speed at 301～500 rev/mins, get ± 10 the degree; When speed at 501～1500 rev/mins, get ± 20 the degree.Promptly be in speed at 300 rev/mins, if be parked in ± 5 when spending, " speed---braking angle " database does not upgrade,, need to upgrade " speed---braking angle " database if be parked in ± 5 be outside one's consideration;
(10) flow process finishes.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006100413404A CN100478166C (en) | 2006-08-16 | 2006-08-16 | Mechanical pressure machine control method for slider stopping at certain point |
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| CNB2006100413404A CN100478166C (en) | 2006-08-16 | 2006-08-16 | Mechanical pressure machine control method for slider stopping at certain point |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101530885B (en) * | 2009-03-26 | 2012-02-01 | 宁波弘讯科技有限公司 | A top dead point automatic compensation method of punching machine |
| CN103182796A (en) * | 2013-04-16 | 2013-07-03 | 江苏扬力集团有限公司 | Signal collecting device for press and press adopting same |
| CN106094718A (en) * | 2016-02-23 | 2016-11-09 | 泉州市汉威机械制造有限公司 | A kind of electric cam compensating control method |
| CN106564500A (en) * | 2016-10-27 | 2017-04-19 | 同济大学 | Gas moment compensation active control method for restraining starting-stopping vibration of range extender |
| CN108943830A (en) * | 2017-05-25 | 2018-12-07 | 沃得精机(中国)有限公司 | A kind of speed regulation device and speed regulating method of the frequency converter suitable for press machine |
| CN110632894A (en) * | 2018-06-25 | 2019-12-31 | 南京泽荣自动化系统有限责任公司 | Intelligent vertex correction method for electronic cam controller |
| CN111086266A (en) * | 2019-12-30 | 2020-05-01 | 南京信捷泽荣智控技术有限公司 | Self-adaptive variable-speed parking method and device for intelligent press |
| CN113858674A (en) * | 2021-12-06 | 2021-12-31 | 济宁科力光电产业有限责任公司 | Method for controlling position of slide block of servo press and estimating pressure of slide block |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102789228B (en) * | 2012-08-06 | 2014-08-13 | 无锡职业技术学院 | Detection device for mechanical cam controller |
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2006
- 2006-08-16 CN CNB2006100413404A patent/CN100478166C/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101530885B (en) * | 2009-03-26 | 2012-02-01 | 宁波弘讯科技有限公司 | A top dead point automatic compensation method of punching machine |
| CN103182796A (en) * | 2013-04-16 | 2013-07-03 | 江苏扬力集团有限公司 | Signal collecting device for press and press adopting same |
| CN103182796B (en) * | 2013-04-16 | 2015-04-08 | 江苏扬力集团有限公司 | Signal collecting device for press and press adopting same |
| CN106094718A (en) * | 2016-02-23 | 2016-11-09 | 泉州市汉威机械制造有限公司 | A kind of electric cam compensating control method |
| CN106094718B (en) * | 2016-02-23 | 2018-11-02 | 泉州市汉威机械制造有限公司 | A kind of electric cam compensating control method |
| CN106564500A (en) * | 2016-10-27 | 2017-04-19 | 同济大学 | Gas moment compensation active control method for restraining starting-stopping vibration of range extender |
| CN106564500B (en) * | 2016-10-27 | 2019-01-25 | 同济大学 | A kind of gas torque compensation Active Control Method inhibiting distance increasing unit starting and stopping vibration |
| CN108943830A (en) * | 2017-05-25 | 2018-12-07 | 沃得精机(中国)有限公司 | A kind of speed regulation device and speed regulating method of the frequency converter suitable for press machine |
| CN110632894A (en) * | 2018-06-25 | 2019-12-31 | 南京泽荣自动化系统有限责任公司 | Intelligent vertex correction method for electronic cam controller |
| CN111086266A (en) * | 2019-12-30 | 2020-05-01 | 南京信捷泽荣智控技术有限公司 | Self-adaptive variable-speed parking method and device for intelligent press |
| CN113858674A (en) * | 2021-12-06 | 2021-12-31 | 济宁科力光电产业有限责任公司 | Method for controlling position of slide block of servo press and estimating pressure of slide block |
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| CN100478166C (en) | 2009-04-15 |
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Effective date of registration: 20101208 Address after: 211100, No. 155, general South Road, Jiangning Economic Development Zone, Jiangsu, Nanjing Patentee after: Nanjing Aisidun Digital Technology Co., Ltd. Address before: 211100, No. 155, general South Road, Jiangning Economic Development Zone, Jiangsu, Nanjing Co-patentee before: Eedun Ind Automation Co., Ltd., Nanjing Patentee before: Nanjing Aisidun Digital Technology Co., Ltd. |
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Address after: 211100, No. 155, general South Road, Jiangning Economic Development Zone, Jiangsu, Nanjing Patentee after: Nanjing Estun Automation Co., Ltd. Address before: 211100, No. 155, general South Road, Jiangning Economic Development Zone, Jiangsu, Nanjing Patentee before: Nanjing Aisidun Digital Technology Co., Ltd. |