CN203287747U - Absolute-type grating control system and control method based on industrial Ethernet bus - Google Patents
Absolute-type grating control system and control method based on industrial Ethernet bus Download PDFInfo
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- CN203287747U CN203287747U CN201220739434XU CN201220739434U CN203287747U CN 203287747 U CN203287747 U CN 203287747U CN 201220739434X U CN201220739434X U CN 201220739434XU CN 201220739434 U CN201220739434 U CN 201220739434U CN 203287747 U CN203287747 U CN 203287747U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The utility model discloses an absolute-type grating control system based on an industrial Ethernet bus. A numerical-control system main station is sequentially connected with an input/output (IO) unit, a digital main-shaft driver, a feeding shaft driver, a grating adapter slave station protocol data unit (PDU) and the like through the industrial Ethernet bus, and the grating adapter slave station PDU is connected with an X-axis linear grating, a Y-axis linear grating, a Z-axis linear grating and an angle grating. The grating adapter slave station is flexibly adaptive to different grating devices, so that higher communication throughput, higher communication rate and shorter communication period can be realized, direct high-speed cross communication between a servo system and the grating devices can be realized, and a simple and powerful technical support can be provided for the implementation of a closed-loop vibration inhabitation function. Meanwhile, a closed-loop control system adopts an annular topology, so that simplicity in connection can be realized, the slave station device can be flexibly expanded, the closed-loop control system has multiple system protection functions, and the safe and efficient operation of the system can be guaranteed.
Description
Technical field
The utility model relates to the technical field of Industrial Ethernet, particularly a kind of control system of absolute grating based on the Industrial Ethernet bus.
Background technology
Formed the automatic control system of closed-loop path by signal forward path and feedback network, claim again feedback control system.This is a kind of automatic control system,, comprising power amplification and feedback, makes the value of the value response input variable of output variable.After numerical control device sends command pulse, when command value is delivered to the location comparison circuit, if this moment, worktable was not mobile, be that the position feedback signal is when constant, instruction and feedback difference make servomotor rotate after amplifier amplifies, drive platen through actuated elements such as gear, ball guide screw nats and move.Be contained in the position measurement element on platen, after measuring the actual displacement amount of worktable, feed back to and instruction signal in the comparer of numerical control device and compare, and with the difference relatively, control.If there is difference in both, amplify after amplifier, then control the servo driving motor and rotate, until difference is while being zero, worktable just stops mobile.
Present grating closed-loop control mainly adopts two kinds of methods to realize: 1. the direct grating belt control interface of servo-driver; 2. adopt fieldbus to be connected communication with grating by the grating adapter.
The main existence of method 1 is the shortcoming of adaptive various grating equipment flexibly, is difficult to realize the multiplicated system defencive function, and increases the computational load of servo driving; Method 2 mainly exists field bus communication speed lower, and amount of communication data is little, is difficult to realize the shortcoming of the high speed cross-communication of servo-drive system and grating device data.
The utility model content
The shortcoming that the purpose of this utility model is to overcome prior art, with not enough, provides a kind of control system of absolute grating based on the Industrial Ethernet bus.
In order to achieve the above object, the utility model is by the following technical solutions:
The utility model is based on the absolute grating control system of Industrial Ethernet bus, pass through the Industrial Ethernet bus and respectively from the station equipment ring topology, be connected by digital control system, slave station comprises the IO unit that is linked in sequence, digital spindle driver, feed shaft driver and grating adapter slave station PDU, and described grating adapter slave station PDU connects linear grating and angle grating.
Preferably, described grating adapter slave station PDU comprises the FPGA master chip, serial storage EPCS and SDRAM storer, Ethernet phy chip and dual network interface, power supply conversion and grating equipment serial line interface.
Preferably, described FPGA master chip adopts SOC (system on a chip) SOC technology, but flexible configuration software and hardware system framework, the hardware frame structure comprises soft core host CPU, the internal RAM, timer, industrial ethernet protocol interface and the grating communication protocol module that are connected with soft core host CPU, by inner Avalon bus interconnection communication; By soft core host CPU control program, by grating communication protocol module and grating interface and grating equipment real-time Communication for Power, and by industrial ethernet protocol interface and the CNC of main website system real-time, interactive communications, with grating device data information Real-time Feedback to main system.
Preferably, described digital spindle driver connects spindle motor, and described feed shaft driver connects the feed shaft motor, and described IO unit connects input/output signal,, by Industrial Ethernet interface and main system real-time, interactive data, effectively control the motion of motor and the normal operation of IO signal.
The utility model has following advantage and effect with respect to prior art:
1, grating adapter slave station adaptive various grating equipment flexibly, can realize higher communication throughput, traffic rate and shorter communication cycle.
2, servo-drive system and grating equipment room can be realized direct high speed cross-communication, for the enforcement of closed loop vibration suppression function provides succinct powerful technical support.
3, closed-loop control system adopts ring topology, connect easy, but from the station equipment flexible expansion.
4, closed-loop control system possesses the multiplicated system defencive function, and the assurance security of system is effectively moved.
Description of drawings
Fig. 1 is the system topological connection layout of the utility model based on the Industrial Ethernet bus;
Fig. 2 is grating adapter slave station software and hardware structure schematic diagram;
Fig. 3 the utility model Double position loop controlling party block diagram;
Fig. 4 grating adapter (Endat2.2/Feedat2.0) slave station is controlled the software treatment scheme.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the utility model is described in further detail, but embodiment of the present utility model is not limited to this.
Embodiment
As shown in Figure 1 and Figure 2, the present embodiment is based on the absolute grating control system of Industrial Ethernet bus, pass through the Industrial Ethernet bus and respectively from the station equipment ring topology, be connected by digital control system, it is characterized in that, slave station comprises the IO unit that is linked in sequence, digital spindle driver, feed shaft driver and grating adapter slave station PDU, and described grating adapter slave station PDU connects linear grating and angle grating.
Described grating adapter slave station PDU comprises the FPGA master chip, serial storage EPCS and SDRAM storer, Ethernet phy chip and dual network interface, power supply conversion and grating equipment serial line interface.
Described FPGA master chip adopts SOC (system on a chip) SOC technology, but flexible configuration software and hardware system framework, the hardware frame structure comprises soft core host CPU, the internal RAM, timer, industrial ethernet protocol interface and the grating communication protocol module that are connected with soft core host CPU, by inner Avalon bus interconnection communication; By soft core host CPU control program, by grating communication protocol module and grating interface and grating equipment real-time Communication for Power, and by industrial ethernet protocol interface and the CNC of main website system real-time, interactive communications, with grating device data information Real-time Feedback to main system.
Described digital spindle driver connects spindle motor, described feed shaft driver connects the feed shaft motor, described IO unit connects input/output signal,, by Industrial Ethernet interface and main system real-time, interactive data, effectively controls the motion of motor and the normal operation of IO signal.
As shown in Figure 4, the present embodiment, based on the absolute grating control method of Industrial Ethernet bus, comprises following key characteristic:
(1) based on the CNC system main website of Industrial Ethernet bus be connected, the belt topology of digital main shaft, IO and grating adapter slave station connects, the system main website identifies the type of each slave station automatically in the starting stage, and according to each slave station type, carry out periodic communication, concrete connected mode is referring to the system topological connection layout of the Industrial Ethernet bus of Fig. 1.
(2) each grating adapter slave station connects at most 6 absolute grating equipment, and can expand grating adapter slave station by Industrial Ethernet, the absolute grating of having supported at present comprises based on the Heidenhain absolute grating of Endat2.2 and based on Feedat2.0, sends out the lattice absolute grating, grating slave station hardware design framework is referring to Fig. 2, Quartus-ii and SOPC Builder development environment that grating adapter slave station adopts AlteraFPGA to provide, set up the system hardware engineering, the particular hardware engineering comprises: soft nucleus CPU, the EPCS storage chip, RAM on sheet, SDRAM, the Feedat2.0 agreement that the Endat2.2 agreement that Heidenhain producer provides or Fa Ge producer provide, and the GSK-Link industrial ethernet protocol etc., interconnect by the Avalon bus, thereby realize the SOC software and hardware system based on FPGA, do not change in the situation of hardware, can support flexibly the absolute grating equipment of multiple producer agreement.
(3) after the absolute grating slave station powers on, software initialization system peripherals equipment, arrange the messaging parameter of each grating equipment, and automatically read the ID of each grating equipment, and the information such as grating type and grating precision are opened the communication of grating cycle data cycle interruption; And by GSK-Link Industrial Ethernet bus, the parameters such as type of each absolute grating equipment are sent to CNC system main website, then enter the proper communication treatment scheme.
(4) position data that reads each grating equipment of PDU slave station system cycle, and, according to the grating type that has obtained in (3) and grating precision information, convert the absolute machine tool position into reality, and pass through Industrial Ethernet bus Real-time Feedback to the CNC system.
When (5) system cycle reads each grating device location data, also obtain the running status of grating, when the grating unit exception is reported to the police, also pass through Industrial Ethernet bus Real-time Feedback to the CNC system, to guarantee the safe operation of system.
Based on the absolute grating control method of Industrial Ethernet bus, can realize the system closed-loop control method of absolute grating, comprise following key characteristic:
(1) by the Industrial Ethernet bus, the CNC main system is in the starting stage, with the absolute position of each grating equipment of feedback as system lathe real coordinate position; In the system normal course of operation, the absolute feedback position data of each grating equipment that system directive position and cycle obtain are made position PID closed-loop process, and the speed command that calculates is controlled the normal operation of servo slave station system.
(2) each grating axle equipment can be selected by parameter effectively or invalid, and while selecting grating equipment invalid, axle is controlled and automatically entered half-closed loop control, but corresponding stop position data can, by the diagnosis Graphics Processing, be debugged grating equipment thereby be conducive to the user.
(3) the stop position direction also can arrange selection by parameter, therefore can guarantee effective operation of PID position closed loop, can prevent from occurring due to reasons such as installations the abnormal conditions of PID positive feedback.
(4) system realizes the Double position loop function,, to solve under closed-loop control,, for the larger lathe of Gap-Ratios, the situation of machine vibration may occur when fair speed is moved.Referring to Fig. 3, obtain the high control performance as semiclosed loop in machine tool movement, and the hi-Fix that uses grating to detect when stopping.
(5) system provides lathe function at zero point is set, and grating is set during zero point, and the zero offset that grating is set is kept in the ferroelectric internal memory of CNC system, even system cut-off does not disappear yet.The difference of the stop position of periodic feedback and zero offset value is exactly actual grating feedback position like this.
(6) be the safe operation of effective protection system; except grating equipment alarm function is provided; because the encoded servo device adopts absolute type encoder; when the difference of the coordinate figure of the coordinate of the absolute grating ruler of feedback and encoded servo device feedback surpasses the permissible range of parameter setting; produce and report to the police, with the security of assurance system operation.
(7) system has static overproof and dynamic overproof two kinds of parameters, can play the effect of two aspects: a. when system initialization, when the grating absolute position of the positional value of instruction and feedback is worth in the overproof parameter area of static state, system PID close-loop automatic adjustment stop position value is to the positional value of instruction, otherwise the system directive value is followed the grating feedback positional value.B. during system quiescence, the deviation maximal value of allowing is static overproof parameter value; During system motion, the deviation maximal value of allowing automatically switches to dynamic overproof parameter value, if when the deviate of system directive positional value and grating feedback positional value surpasses the deviation maximal value of allowing, produce overproof warning, system is played the safeguard protection effect.
(8) the absolute grating scale type mainly contains two kinds: linear grating and angle grating.The value of feedback of linear grating and the command value of system are consistent, and therefore can directly adopt the PID closed-loop process; And the value of feedback of angle grating always changes in 0 to 360 degree, but the instruction coordinate figure may be inconsistent with it, therefore can not directly adopt the PID closed-loop process, also needs the corresponding coupling of feedback grating coordinate figure work is converted and processes.The method that converts: obtain many cycle values by the system directive coordinate, by many cycle values, multiply by 360 degree, add the machine feedback coordinate figure after the grating feedback coordinate figure is conversion, can carry out the computing of PID closed-loop or Double position loop this moment.It is also to be noted that, the raster coordinate value of feedback may saltus step in 0 degree and 360 minizones of spending, may there be the calculated difference of 360 degree in the machine feedback coordinate figure that obtain this moment by the and instruction coordinate figure, so needs to consider that the value after this factor is only actual machine feedback coordinate figure.
(9) communication protocol between CNC system and absolute grating slave station is protected by the two-way handshake energizing signal; be that the instruction control word of CNC system and the each upset of FEEDBACK CONTROL word of grating slave station are shaken hands; make each proper communication data all have the upset handshake, further guarantee the data correctness of system communication.
(10) for (8) described angle grating, in the situation that turning axle moves toward identical direction always, for the operational precision that guarantees system and the problem that prevents data from overflow, system need adopt the computing of double-precision floating point PID closed loop.Adopt the hardware of FPGA to realize closed loop position control function, mitigation system is loaded greatly, and obtains shorter closed-loop control cycle and system real-time Communication for Power cycle, thereby guarantees effective operation of closed-loop control for this reason.
(11) the grating vibration inhibition is the problem that needs emphasis to solve during the closed-loop grating is controlled.Can bring loss of significance in process owing to adopting the Double position loop control method of mentioning in (4), therefore must adopt closed-loop to control, but due to lathe in the situations such as acceleration and deceleration control, distortion can twist between servomotor and machinery, produce velocity contrast sometimes and cause machine vibration, therefore the speed (being lathe speed) of grating equipment feedback need to be passed through bus cross-communication Real-time Feedback to servo-drive system,, according to the considerations that the difference of servomotor and mechanical speed is controlled as electric current (moment), can avoid the vibration of lathe.
Above-described embodiment is the better embodiment of the utility model; but embodiment of the present utility model is not restricted to the described embodiments; other any do not deviate from change, the modification done under Spirit Essence of the present utility model and principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, within being included in protection domain of the present utility model.
Claims (4)
1. control system of the absolute grating based on the Industrial Ethernet bus, pass through the Industrial Ethernet bus and respectively from the station equipment ring topology, be connected by digital control system, it is characterized in that, slave station comprises the IO unit that is linked in sequence, digital spindle driver, feed shaft driver and grating adapter slave station PDU, and described grating adapter slave station PDU connects linear grating and angle grating.
2. the control system of the absolute grating based on the Industrial Ethernet bus according to claim 1, it is characterized in that, described grating adapter slave station PDU comprises the FPGA master chip, serial storage EPCS and SDRAM storer, Ethernet phy chip and dual network interface, power supply conversion and grating equipment serial line interface.
3. the control system of the absolute grating based on the Industrial Ethernet bus according to claim 1, it is characterized in that, described FPGA master chip adopts SOC (system on a chip) SOC technology, but flexible configuration software and hardware system framework, the hardware frame structure comprises soft core host CPU, the internal RAM, timer, industrial ethernet protocol interface and the grating communication protocol module that are connected with soft core host CPU, by inner Avalon bus interconnection communication; By soft core host CPU control program, by grating communication protocol module and grating interface and grating equipment real-time Communication for Power, and by industrial ethernet protocol interface and the CNC of main website system real-time, interactive communications, with grating device data information Real-time Feedback to main system.
4. the control system of the absolute grating based on the Industrial Ethernet bus according to claim 1, it is characterized in that, described digital spindle driver connects spindle motor, described feed shaft driver connects the feed shaft motor, described IO unit connects input/output signal,, by Industrial Ethernet interface and main system real-time, interactive data, effectively control the motion of motor and the normal operation of IO signal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201220739434XU CN203287747U (en) | 2012-12-28 | 2012-12-28 | Absolute-type grating control system and control method based on industrial Ethernet bus |
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| CN201220739434XU CN203287747U (en) | 2012-12-28 | 2012-12-28 | Absolute-type grating control system and control method based on industrial Ethernet bus |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103076780A (en) * | 2012-12-28 | 2013-05-01 | 广州数控设备有限公司 | Absolute-type grating control system and control method based on industrial Ethernet bus |
| CN104898552A (en) * | 2015-03-30 | 2015-09-09 | 成都颉隆科技有限公司 | Closed-Loop machine tool control system based on precise positioning |
| CN114285347A (en) * | 2021-12-30 | 2022-04-05 | 西安大医集团股份有限公司 | Closed-loop control method for treatment couch, control device, and storage medium |
-
2012
- 2012-12-28 CN CN201220739434XU patent/CN203287747U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103076780A (en) * | 2012-12-28 | 2013-05-01 | 广州数控设备有限公司 | Absolute-type grating control system and control method based on industrial Ethernet bus |
| CN103076780B (en) * | 2012-12-28 | 2015-05-06 | 广州数控设备有限公司 | Control method based on industrial Ethernet bus |
| CN104898552A (en) * | 2015-03-30 | 2015-09-09 | 成都颉隆科技有限公司 | Closed-Loop machine tool control system based on precise positioning |
| CN114285347A (en) * | 2021-12-30 | 2022-04-05 | 西安大医集团股份有限公司 | Closed-loop control method for treatment couch, control device, and storage medium |
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Granted publication date: 20131113 |
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| CX01 | Expiry of patent term |