CN201548840U - Electrical counterweight system of machine tool gravity load - Google Patents
Electrical counterweight system of machine tool gravity load Download PDFInfo
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- CN201548840U CN201548840U CN2009202482253U CN200920248225U CN201548840U CN 201548840 U CN201548840 U CN 201548840U CN 2009202482253 U CN2009202482253 U CN 2009202482253U CN 200920248225 U CN200920248225 U CN 200920248225U CN 201548840 U CN201548840 U CN 201548840U
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Abstract
The utility model discloses an electrical counterweight system of machine tool gravity load, which comprises a current closed-loop controller, a position closed-loop controller, a velocity closed-loop controller, a position feedback collector, a velocity feedback calculator, a current collector and a real-time clock. The electrical counterweight system is characterized in that the electrical counterweight system further comprises a current comparator, a current regulator, a PWM controller and an inverter. The electrical counterweight system achieves the bidirectional high-performance operation by adding the rotating torque offset command to the current loop of the vertical drive coordinate driving system and adopting different control strategies of the velocity loop and the position loop. The electrical counterweight system operates based on the automatic control principle, adopts the numerical control system and servodrive control technique to achieve the electrical counterweight of the gravity load, avoids the defects of the mechanical counterweight and the hydraulic/pneumatic counterweight, simplifies the structure of a machine tool, improves the performance and the reliability of the machine tool, and is widely applied to the field of vertical machine tools.
Description
Technical field
The utility model relates to a kind of lathe vertical coordinate control method, relates in particular to a kind of system of electric weight balance of gravity load of machine tool.
Background technology
The vertical coordinate of lathe is because the moving component action of gravity causes upstroke and downward movement load difference big, and conventional closed-loop control is difficult to satisfy simultaneously so two kinds of big loading conditions of difference.Traditional technical scheme adopts mechanical counterweight or hydropneumatic device counterweight head it off.Mechanical counterweight will directly increase the movement inertia of system, will be unfavorable for that lathe works fast; Hydropneumatic counterweight scheme cost is higher, has the big and defective of " evaporating, emitting, dripping or leaking of liquid or gas " of damping.Therefore a kind of more efficiently Weighting system is badly in need of being developed.
Summary of the invention
The utility model is at the proposition of above problem, and develop a kind of control technology of utilizing closed loop control method by digital control system and servo driving, increase the torque offset instruction at vertical drive coordinate drive system electric current loop, adopt different control strategies to realize two-way high performance operation respectively at speed ring and position ring.Realization is to the system of the electric weight balance of gravity load.Its concrete technical scheme is as follows:
For the coordinate of vertical movement, gravity load is constant existence.In order to offset its effect, can add a constant torque component at electric current loop input end to Electric Machine Control, its controlling models is equivalent to the electric current loop feedforward.This torque component can calculate according to drive connection and gravity load between vertical drive motor and load.This external speed ring and position ring are all distinguished part positive movement and counter motion, adopt different controlling models, to adapt to the difference of forward load and reverse load.
A kind of system of electric weight balance of gravity load of machine tool comprises current closed-loop controller, position closed loop controller, speed closed loop controller, position feedback collector, velocity feedback counter, current acquisition device and real time clock;
Described position closed loop controller is used to carry out the alliance closed-loop control, and its output is as the input instruction input of speed closed loop controller;
Described speed closed loop controller is used to carry out the system speed closed-loop control;
Described real time clock is used to trigger each collector, each controller and counter and periodically works;
Described current closed-loop controller comprises: current comparator, current regulator, PWM controller and inverter;
It is characterized in that also comprising: the balancing moment counter, be used for being responsible for the required torque of calculated equilibrium vertical coordinate gravity, and after being converted into electric current, be applied directly to command end in the current closed-loop controller in the mode of instruction;
Described current comparator, being used for that the speed closed loop controller is calculated the current-order of output compares with effective feedback current from the current acquisition device and asks poor, change the counterweigh electric current summation of trying to achieve with coming self-equilibrating again, export to current regulator jointly apart from counter;
Described current regulator is used to carry out electric current loop and regulates computing;
Described PWM controller is used for the result of current regulator output is converted into the pwm signal that can drive inverter;
Described inverter is used under the control of pwm control signal, by the driving switch power device, DC voltage is converted into the required electric current of motor rotation, carries out the driving of motor;
Described balancing moment counter is connected with current comparator, and described speed closed loop controller is connected with current comparator respectively with the current acquisition device; After described current comparator is made after the difference summation output is sent to coupled current regulator and is carried out computing, with the result send to carry out the conversion of pwm signal in the coupled PWM controller after, be sent to the control of carrying out motor in the inverter that is connected with the PWM controller.
The system of the electric weight balance of gravity load of machine tool that the utility model proposes adopts Automatic Control Theory, control technology by digital control system and servo driving, realization is to the electric weight balance of gravity load, the loading conditions different at uplink and downlink adopt different control strategies, thereby realize the two-way even running of lathe in vertical direction, avoid the defective of mechanical counterweight and hydropneumatic counterweight simultaneously, simplified machine tool structure, improved the Performance And Reliability of lathe.Because it is simple in structure, be convenient to produce, and has significantly reduced cost and be suitable for extensively promoting in vertical machine tool field.
Description of drawings
Fig. 1 is the structural representation of system described in the utility model;
Fig. 2 is the system architecture diagram of the utility model embodiment;
Fig. 3 is the control flow chart of the position closed loop controller of the utility model embodiment;
Fig. 4 is the control flow chart of the speed closed loop controller of the utility model embodiment.
Embodiment
Adopt the electric machine control system commonly used of electric current loop, speed ring and position ring as shown in Figure 1, add a constant torque component at the electric current loop input end, its controlling models is equivalent to the electric current loop feedforward.Control system can have multiple implementation.Can all in servo-driver, realize for electric current loop, speed ring, position ring; Also can all in digital control system, realize; Position ring or position ring and speed ring also can only be arranged in digital control system, and electric current loop is in servo-driver.Therefore relevant computing can be realized by the CPU or the dsp software of digital control system, also can be realized by the CPU or the dsp software of servo driving, also can be realized by the FPGA programmable chip in the digital control system or in the servo driving.
Be illustrated in figure 2 as a kind of implementation of the present utility model, position closed loop is finished in digital control system, and speed closed loop and current closed-loop are realized in servo-driver.The position closed loop controller that is in the digital control system is made of following several parts: real time clock, main responsible regularly trigger position closed-loop control; Servo communication main website interface mainly is responsible for the communication between digital control system and servo driving, can adopt multiple industrial field bus mechanics of communication to realize; The positional information resolver, main being responsible for obtains position feedback information from servo communication main website interface, and is converted into the coordinate position value under the digital control system lathe coordinate system, and with the given identical unit in position; The position feedback comparer, the main responsible given comparison of positional information and position that the positional information resolver is obtained, and ask difference to obtain the position follower error, and judge the direction of this error, be distributed to forward position regulator and reverse position regulator respectively.The position feedback comparer is under the driving of real time clock, periodic duty.The workflow in its each cycle is as shown below: forward position regulator, reverse position regulator, the position closed loop of mainly being responsible for specific direction calculates.Distinguish forward and reverse position closed loop algorithm and can adapt to the different loading condition of vertical coordinate both forward and reverse directions better.Both can adopt different control algolithms and parameter.Usually can adopt and comprise that PID realizes in conjunction with the control algolithm of feedforward.Regulator also is to work under the scheduling of real time clock.Regulator output speed instruction sends servo-drive system to by servo communication main website interface, and its course of work as shown in Figure 3.
Adopt technology of the present utility model to realize and to constitute by following several parts in the servo-driver.Real time clock mainly is responsible for the work of trigger position sampling thief, speed closed loop controller and current closed-loop controller cycle.The position feedback collector, the main positional information of being responsible for timing acquiring from angle or extension position sensor, this collector also has the function (position feedback comes from the extension position sensor that comprises the grating chi usually or comprises rotary encoder and the angular position sensor of circle grating) that sends positional information by servo communication from station interface to digital control system simultaneously.Servo communication mainly is responsible for the communication between servo driving and digital control system from station interface, comprises the speed command of reception from digital control system, and transmits positional information to digital control system.Can adopt multiple industrial field bus mechanics of communication to realize.The current closed-loop controller mainly is responsible for current closed-loop control.Periodically work by the real time clock triggering.The current closed-loop controller comprises that mainly following a few part constitutes: balance is changeed apart from counter, mainly is responsible for the required torque of calculated equilibrium vertical coordinate gravity, and is converted into electric current, submits current comparator to.The balancing moment component is T, is applied directly to the electric current loop command end in the mode of instructing, in order to the action of gravity of balance vertical moving parts.With the ball-screw transmission is example, and this instruction deterministic process is as follows:
T＝(M*g*L)/(2πη)
M vertical movement quality
G acceleration of gravity
L leading screw helical pitch
The η transmission efficiency
Correspond to the given I of current feed-forward
T=T/K
T
K
TMoment coefficient
The current acquisition device, main be responsible for surveying from motor gather electric current, through the A/D conversion, be converted into can digitized processing digital quantity.Adopt different technology to obtain the effective feedback electric current for different motors.For example for adopting the Clarke conversion usually with this synchronous motor, adopt the Park conversion again, three-phase alternating current is converted to id and iq component, wherein iq is effective electric current, as feedback quantity, send current comparator, participates in electric current loop and calculates than ring.Current comparator, main be responsible for that the speed closed loop controller is calculated the current-order of output and compare with effective feedback current and ask poor from the current acquisition device, change the counterweigh electric current summation of trying to achieve with coming self-equilibrating again, export to current regulator jointly apart from counter.Current regulator mainly is responsible for electric current loop and is regulated computing.Usually regulate computing earlier, can adopt PID to regulate algorithm, also can adopt other control algolithms such as comprising fuzzy control.For AC Motor Control, usually result of calculation is still needed and will be carried out coordinate transform and be converted into and generate the required voltage signal of modulation signal, for example contrary Park conversion.The PWM controller, main being responsible for is converted into the pwm signal that can drive inverter with the result of current regulator output.For the Thee-phase alternating current permanent-magnetic synchronous motor, adopt the SVPWM technology usually.Inverter mainly is responsible under the control of pwm control signal, by the driving switch power device, DC voltage is converted into the required electric current of motor rotation, realizes the driving of servomotor.For the three-phase alternating current servomotor, adopt the three phase full bridge inverter circuit usually.
The velocity feedback counter, the main responsible positional information that obtains from the position feedback collector of handling adopts the feedback count (M method) of set time or the time (T method) of measuring between adjacent two feedback quantities (feedback pulse) to calculate present speed.The speed closed loop controller, the main realization speed closed loop of being responsible for is controlled.Periodically work by the real time clock triggering.The speed closed loop controller comprises that mainly following a few part constitutes: speed comparator, main be responsible for velocity information that the positional information resolver is obtained with from servo communication relatively from the velocity setting of station interface, and ask difference to obtain the speed following error, judge the direction of this error, be distributed to forward direction speed regulator and inverted speed regulator respectively.Speed comparator is under the driving of real time clock, periodic duty.Forward direction speed regulator, inverted speed regulator, the speed closed loop of mainly being responsible for specific direction calculates.Distinguish forward and reverse speed closed loop algorithm and can adapt to the different loading condition of vertical coordinate both forward and reverse directions better.Both can adopt different control algolithms and parameter.Usually can adopt and comprise that PID realizes in conjunction with the control algolithm of feedforward.Regulator also is to work under the scheduling of real time clock.The instruction of regulator output current is as the given current closed-loop controller that sends to of electric current.The workflow in its each cycle as shown in Figure 4.
The above; it only is the preferable embodiment of the utility model; but protection domain of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; be equal to replacement or change according to the technical solution of the utility model and inventive concept thereof, all should be encompassed within the protection domain of the present utility model.
Claims (1)
1. the system of an electric weight balance of gravity load of machine tool comprises current closed-loop controller, position closed loop controller, speed closed loop controller, position feedback collector, velocity feedback counter, current acquisition device and real time clock;
Described position closed loop controller is used to carry out the alliance closed-loop control, and its output is as the input instruction input of speed closed loop controller;
Described speed closed loop controller is used to carry out the system speed closed-loop control;
Described real time clock is used to trigger each collector, each controller and counter and periodically works;
Described current closed-loop controller comprises: current comparator, current regulator, PWM controller and inverter;
It is characterized in that also comprising: the balancing moment counter, be used for being responsible for the required torque of calculated equilibrium vertical coordinate gravity, and after being converted into electric current, be applied directly to command end in the current closed-loop controller in the mode of instruction;
Described current comparator, being used for that the speed closed loop controller is calculated the current-order of output compares with effective feedback current from the current acquisition device and asks poor, change the counterweigh electric current summation of trying to achieve with coming self-equilibrating again, export to current regulator jointly apart from counter;
Described current regulator is used to carry out electric current loop and regulates computing;
Described PWM controller is used for the result of current regulator output is converted into the pwm signal that can drive inverter;
Described inverter is used under the control of pwm control signal, by the driving switch power device, DC voltage is converted into the required electric current of motor rotation, carries out the driving of motor;
Described balancing moment counter is connected with current comparator, and described speed closed loop controller is connected with current comparator respectively with the current acquisition device; After described current comparator is made after the difference summation output is sent to coupled current regulator and is carried out computing, with the result send to carry out the conversion of pwm signal in the coupled PWM controller after, be sent to the control of carrying out motor in the inverter that is connected with the PWM controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202482253U CN201548840U (en) | 2009-11-17 | 2009-11-17 | Electrical counterweight system of machine tool gravity load |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202482253U CN201548840U (en) | 2009-11-17 | 2009-11-17 | Electrical counterweight system of machine tool gravity load |
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| CN201548840U true CN201548840U (en) | 2010-08-11 |
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| CN2009202482253U Expired - Lifetime CN201548840U (en) | 2009-11-17 | 2009-11-17 | Electrical counterweight system of machine tool gravity load |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102789205A (en) * | 2011-05-17 | 2012-11-21 | 大连光洋科技工程有限公司 | Position information processing device with multiple interfaces and capable of supporting semi-closed loop control and entire closed-loop control |
| CN111702549A (en) * | 2020-07-08 | 2020-09-25 | 佛山市普拉迪数控科技有限公司 | Five-axis precise small gantry numerical control machining center with intelligent electronic balance weight |
-
2009
- 2009-11-17 CN CN2009202482253U patent/CN201548840U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102789205A (en) * | 2011-05-17 | 2012-11-21 | 大连光洋科技工程有限公司 | Position information processing device with multiple interfaces and capable of supporting semi-closed loop control and entire closed-loop control |
| CN111702549A (en) * | 2020-07-08 | 2020-09-25 | 佛山市普拉迪数控科技有限公司 | Five-axis precise small gantry numerical control machining center with intelligent electronic balance weight |
| CN111702549B (en) * | 2020-07-08 | 2021-07-06 | 广东普拉迪科技股份有限公司 | Five-axis precise small gantry numerical control machining center with intelligent electronic balance weight |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20100811 Effective date of abandoning: 20091117 |