CN202815509U - Precision positioning device capable of eliminating backlash error by utilizing error correction closed loop - Google Patents
Precision positioning device capable of eliminating backlash error by utilizing error correction closed loop Download PDFInfo
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- CN202815509U CN202815509U CN 201220500252 CN201220500252U CN202815509U CN 202815509 U CN202815509 U CN 202815509U CN 201220500252 CN201220500252 CN 201220500252 CN 201220500252 U CN201220500252 U CN 201220500252U CN 202815509 U CN202815509 U CN 202815509U
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Abstract
The utility model pertains to the technical field of measurement and control, specifically relates to a precision positioning device capable of eliminating the backlash error by utilizing an error correction closed loop, and the objective of the utility model is to provide a precision positioning device which is capable of eliminating the backlash error by utilizing an error correction closed loop to completely eliminate the backlash influence. The precision positioning device comprises a rate loop, linear position loop components and nolinear position loop components. The linear position loop components and the rate loop form a linear position loop, and the nolinear position loop components are connected with the linear position loop to form a nolinear position loop. According to the utility model, the backlash compensation positioning operation is performed on a ball screw on which the backlash exists through a three-loop control system consisting of a digital tachometer, an angle encoder, a grating ruler and a switch, in the condition that the gap is 0.05mm and the screw pitch is 5mm, the positioning accuracy is up to 0.001mm, and advantages of stable positioning and good repeatability can be realized.
Description
Technical field
The utility model belongs to the observation and control technology field, is specifically related to a kind of precision positioning device that utilizes the error correction closed loop to eliminate gash spacing error.
Background technology
In the length measurement technique field, often use the straight-line displacement type of belt drive, wherein screw pair is the gear train of commonly using, its purposes is the rectilinear motion that rotatablely moving of screw pair is converted to nut or leading screw.Desirable screw pair is that gapless cooperates, and it rotatablely moves and does not have the backhaul gap when being converted to rectilinear motion.And in fact, relative motion can't occur in gapless cooperation, so the screw pair of practical application is clearance fit, and it rotatablely moves and certainly exists the backhaul gap when being converted to rectilinear motion.Screw pair needs to use the angle measurement code-disc as the position feedback element when being used for precision positioning usually, and precision positioning device can produce vibration owing to the existence in gap when there is the backhaul gap in leading screw, makes the device location inaccurate.
At present the method that structure is optimized design commonly used is eliminated the impact that nonlinear element is brought.When carrying out structural design, reserve screw rod pre-tensioning device, when leading screw is installed, leading screw is applied pretightning force, make between itself and the nut and produced wins, reach the purpose of eliminating the gap, but cross the wearing and tearing that the bad meeting of win amount grasp aggravates leading screw.Also can design special nut structure in addition, make when debuging and produced win between nut and the leading screw, same this structure also existed win to measure the situation of excessive generation wearing and tearing aggravation.
Gash spacing error can be effectively eliminated in the interstitial structure that disappears design, but need to readjust structure for the gap that has produced, and the adjustment surplus of adjustment structure is limited.At present, the precision positioning device that can eliminate gash spacing error is fully not yet arranged.
Summary of the invention
The purpose of this utility model provides a kind of precision positioning device that can utilize the error correction closed loop to eliminate gash spacing error.
The utility model is achieved in that
A kind of precision positioning device that utilizes the error correction closed loop to eliminate gash spacing error; It comprises rate loop, linear position loop assembly and non-linear position loop assembly; Wherein, linear position loop assembly is connected with rate loop, forms the linear position loop; Non-linear position loop assembly is connected with the linear position loop, forms non-linear position loop.
Aforesaid rate loop comprises Digit Velocity machine, rate correction device, digital analog converter, power amplifier and first adder; Digit Velocity machine and the rotor of motor are connected an input end and are connected with first adder; The first adder output terminal is connected with the input end of rate correction device; Rate correction device output terminal is connected with the input end of digital analog converter; The output terminal of digital analog converter is connected with the input end of power amplifier; The output terminal of power amplifier is connected with motor.
Aforesaid linear position loop assembly comprises angular encoder, angle sorting device, position correction device and second adder; Angular encoder is connected input end with motor respectively and is connected with the angle sorting device; The output terminal of angle sorting device is connected with an input end of second adder; Another input end of second adder is as angle position command signal input end, and the output terminal of second adder is connected with the input end of position correction device; The output terminal of position correction device is connected with another input end of first adder.
Aforesaid non-linear position loop assembly comprises grid chi, grating subdivision device, switch, instruction synthesis module and the 3rd totalizer; Grating scale is connected input end with ball-screw respectively and is connected with the grating subdivision device, the output terminal of grating subdivision device is connected with an input end of the 3rd totalizer by switch; Another input end of the 3rd totalizer is as line position command signal input end, and the output terminal of the 3rd totalizer is connected with another input end of second adder.
Aforesaid digital analog converter adopts PCI6208GL, power amplifier and motor to adopt 80CB050 alternating-current servo controller and motor.
Aforesaid angular encoder adopts 2500 line code dishes, angle sorting device to adopt the highest 100 times sub-circuit.
Aforesaid grating scale adopts RES40, grating subdivision device to adopt 1024 times of segmentation cards.
The beneficial effects of the utility model are:
The utility model adopts three loop control systems that are comprised of Digit Velocity machine, angular encoder, grating scale and switch, the ball-screw that has the backhaul gap is carried out backhaul backlash compensation location, at gap 0.05mm, under the pitch 5mm condition, bearing accuracy reaches 0.001mm, positioning stablity, good reproducibility.
Description of drawings
Fig. 1 is a kind of structural representation that utilizes the error correction closed loop to eliminate the precision positioning device of gash spacing error of the present utility model.
Embodiment
Below in conjunction with drawings and Examples the precision positioning device that utilizes the error correction closed loop to eliminate gash spacing error of the present utility model is introduced:
As shown in Figure 1, a kind of precision positioning device that utilizes the error correction closed loop to eliminate gash spacing error comprises rate loop, linear position loop assembly, non-linear position loop assembly.
Rate loop gathers the rotating speed of motor, and is poor with the speed command signal that receives, and obtains the rate error signal, then the rate error signal carried out issuing motor after velocity correction, digital-to-analog conversion and the amplification.Linear position loop assembly and rate loop form the linear position loop, it gathers the position, angle of rotor, poor with the angle position command signal that receives, obtain the turning error signal, then to obtaining the turning error signal, carry out position correction, obtain the speed command signal for rate loop.Non-linear position loop assembly is connected with the linear position loop, form non-linear position loop, linear displacement signal and angular encoder angle signal that it receives grating scale synthesize, obtain actual position signal, poor with the line position command signal that receives, it is synthetic then to carry out instruction, gamma correction is done in the actual line position, obtain the line position error signal, it is synthetic then to carry out instruction, and the actual line position signalling is done gamma correction; Obtain the angle position command signal, for the linear position loop.
Described rate loop comprises Digit Velocity machine, rate correction device, digital analog converter, power amplifier and first adder.The Digit Velocity machine is connected with the rotor of motor, gathers the rotating speed of rotor, and the rotating speed of rotor is sent to first adder.First adder is poor with the speed command signal that receives with the motor speed that receives, and obtains the rate error signal, then the rate error signal is sent to the rate correction device.The rate correction device also is connected with digital analog converter, and the rate correction device carries out speed stabilizing to the rate error signal that receives to be proofreaied and correct, and speed stabilizing is proofreaied and correct and adopted Digital PID Algorithm to realize; Then the signal after will proofreading and correct sends to digital analog converter.Digital analog converter also is connected with power amplifier, and it carries out digital-to-analog conversion with the signal that receives, and obtains simulating signal, then sends it to power amplifier.Power amplifier also is connected with motor, and it amplifies the signal that receives, and then sends it to motor.Digital analog converter adopts PCI6208GL, power amplifier and motor to adopt 80CB050 alternating-current servo controller and motor.
Linear position loop assembly comprises angular encoder, angle sorting device, position correction device and second adder.Angular encoder is connected with the angle sorting device with motor, and it gathers the angle position information of motor, and sends it to the angle sorting device.The angle sorting device also is connected with second adder, and it segments the angle position information that angular encoder sends, and then sends it to second adder.Second adder is poor with the angle position command signal that receives with the angle position information that receives, and obtains the turning error signal, then sends it to the position correction device.The position correction device also is connected with the totalizer of rate loop, and it carries out position correction with the turning error signal that receives, and obtains the speed command signal, and position correction adopts Digital PID Algorithm to realize; And send it to first adder.Angular encoder adopts 2500 line code dishes, angle sorting device to adopt the highest 100 times sub-circuit.
Non-linear position loop assembly comprises grating scale, grating subdivision device, switch and the 3rd totalizer.Grating scale is connected with ball-screw, and then the line position signal of the ball-screw that it gathers sends it to the grating subdivision device.The grating subdivision device also is connected with the 3rd totalizer by switch, and it segments the line position signal that receives, and then sends it to the 3rd totalizer.The 3rd totalizer also is connected with second adder, it receives outside line position instruction, it is poor with the line position signal from the grating subdivision device that receives, obtain the line position error signal, then it is sent to second adder as the angle position command signal.Grating scale adopts RES40, grating subdivision device to adopt 1024 times of segmentation cards.
The rotor of motor is connected with ball-screw is coaxial, drives ball-screw and rotates, and ball-screw relies on and cooperates slide block that rotatablely moving of leading screw become the rectilinear motion of slide block, realizes the straight line transmission of motion.
Digit Velocity machine, rate correction device, position correction device, totalizer and switch all can adopt existing techniques in realizing according to the function of its realization.
During work, at first, in the linear orientation pattern, the switch of non-linear position loop assembly is in off-state with the precision positioning device Working mode set.The linear position loop that linear position loop assembly and rate loop form is in running order.Outside displacement commands is delivered to second adder by the 3rd totalizer, with poor from the angle position information of angle sorting device, then sends it to the position correction device, sends to rate loop after position correction, and the through-rate loop is controlled motor.Rotor rotates and drives ball-screw and rotates, and realizes the linear position location.After linear position was finished the location, because the gap error of ball-screw, reality was not finished precision positioning, this moment closed non-linear position loop assembly switch, non-linear position loop assembly is connected with the linear position loop, forms non-linear position loop.Then the linear position signal of the ball-screw that grating scale gathers sends it to the grating subdivision device.The grating subdivision device is connected with the 3rd totalizer, and it segments the line position signal that receives, and then sends it to the 3rd totalizer.The 3rd totalizer receives outside line position instruction, it is poor with the line position signal from the grating subdivision device that receives, then it is sent to the linear position loop as the angle position command signal, and then realization is to the control of motor, thereby eliminate the impact of ball-screw gash spacing error, realize precision positioning.
The utility model adopts three loop control systems that are comprised of Digit Velocity machine, angular encoder, grating scale and switch, the ball-screw that has the backhaul gap is carried out backhaul backlash compensation location, at gap 0.05mm, under the pitch 5mm condition, bearing accuracy reaches 0.001mm, positioning stablity, good reproducibility.
Claims (7)
1. precision positioning device that utilizes the error correction closed loop to eliminate gash spacing error, it is characterized in that: it comprises rate loop, linear position loop assembly and non-linear position loop assembly; Wherein, linear position loop assembly is connected with rate loop, forms the linear position loop; Non-linear position loop assembly is connected with the linear position loop, forms non-linear position loop.
2. a kind of precision positioning device that utilizes the error correction closed loop to eliminate gash spacing error according to claim 1, it is characterized in that: described rate loop comprises Digit Velocity machine, rate correction device, digital analog converter, power amplifier and first adder; Digit Velocity machine and the rotor of motor are connected an input end and are connected with first adder; The first adder output terminal is connected with the input end of rate correction device; Rate correction device output terminal is connected with the input end of digital analog converter; The output terminal of digital analog converter is connected with the input end of power amplifier; The output terminal of power amplifier is connected with motor.
3. a kind of precision positioning device that utilizes the error correction closed loop to eliminate gash spacing error according to claim 1, it is characterized in that: described linear position loop assembly comprises angular encoder, angle sorting device, position correction device and second adder; Angular encoder is connected input end with motor respectively and is connected with the angle sorting device; The output terminal of angle sorting device is connected with an input end of second adder; Another input end of second adder is as angle position command signal input end, and the output terminal of second adder is connected with the input end of position correction device; The output terminal of position correction device is connected with another input end of first adder.
4. a kind of precision positioning device that utilizes the error correction closed loop to eliminate gash spacing error according to claim 1, it is characterized in that: described non-linear position loop assembly comprises grid chi, grating subdivision device, switch and the 3rd totalizer; Grating scale is connected input end with ball-screw respectively and is connected with the grating subdivision device, the output terminal of grating subdivision device is connected with an input end of the 3rd totalizer by switch; Another input end of the 3rd totalizer is as line position command signal input end, and the output terminal of the 3rd totalizer is connected with another input end of second adder.
5. a kind of precision positioning device that utilizes the error correction closed loop to eliminate gash spacing error according to claim 2 is characterized in that: described digital analog converter employing PCI6208GL, power amplifier and motor employing 80CB050 alternating-current servo controller and motor.
6. a kind of precision positioning device that utilizes the error correction closed loop to eliminate gash spacing error according to claim 3, it is characterized in that: described angular encoder adopts 2500 line code dishes, angle sorting device to adopt the highest 100 times sub-circuit.
7. a kind of precision positioning device that utilizes the error correction closed loop to eliminate gash spacing error according to claim 4 is characterized in that: described grating scale employing RES40,1024 times of segmentation cards of grating subdivision device employing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220500252 CN202815509U (en) | 2012-09-28 | 2012-09-28 | Precision positioning device capable of eliminating backlash error by utilizing error correction closed loop |
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| CN 201220500252 CN202815509U (en) | 2012-09-28 | 2012-09-28 | Precision positioning device capable of eliminating backlash error by utilizing error correction closed loop |
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| CN 201220500252 Expired - Lifetime CN202815509U (en) | 2012-09-28 | 2012-09-28 | Precision positioning device capable of eliminating backlash error by utilizing error correction closed loop |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109476024A (en) * | 2016-09-27 | 2019-03-15 | 松下知识产权经营株式会社 | The control method and welding method of robot |
| CN111123832A (en) * | 2018-10-31 | 2020-05-08 | 富鼎电子科技(嘉善)有限公司 | Detection compensation device, detection compensation method, and computer-readable storage medium |
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2012
- 2012-09-28 CN CN 201220500252 patent/CN202815509U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109476024A (en) * | 2016-09-27 | 2019-03-15 | 松下知识产权经营株式会社 | The control method and welding method of robot |
| CN109476024B (en) * | 2016-09-27 | 2021-09-28 | 松下知识产权经营株式会社 | Robot control method and welding method |
| CN111123832A (en) * | 2018-10-31 | 2020-05-08 | 富鼎电子科技(嘉善)有限公司 | Detection compensation device, detection compensation method, and computer-readable storage medium |
| CN111123832B (en) * | 2018-10-31 | 2022-09-30 | 富鼎电子科技(嘉善)有限公司 | Detection compensation device, detection compensation method, and computer-readable storage medium |
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Granted publication date: 20130320 |