CN204584968U - Based on the constant force automatically grinding device that fuzzy self-adaption power controls - Google Patents

Abstract

The utility model discloses a kind of constant force automatically grinding device controlled based on fuzzy self-adaption power, comprise industrial control host, workbench, motion, one dimension force sensing equipment, for obtaining the position sensor of location of workpiece coordinate, grinding apparatus and clamping workpiece equipment, the utility model device can realize the detection completing normal grinding force in bruting process based on Intelligent Force control technology, and feed back by testing result, by the process of controller, produce the output torque that drive singal constantly adjusts driver, thus control grinding normal force in real time, realize the polishing of constant pressure.

Description

Based on the constant force automatically grinding device that fuzzy self-adaption power controls

Technical field

The utility model relates to a kind of automatically grinding device, especially a kind of constant force automatically grinding device controlled based on fuzzy self-adaption power.

Background technology

At present, quite a few polishing of polishing industry is completed by hand by skilled workman, and automatization level is lower.Not only labour intensity is large, time-consuming for manual grinding, efficiency is low, and the dust harzard workman's of polishing generation is healthy.The efficiency of special grinding lathe is very high, but the poor universality of special purpose machine tool processing, be applicable to producing in enormous quantities, expansibility is not strong, and moreover special purpose machine tool is expensive.In high-precision grinding, normal grinding force is the key factor affecting suface processing quality and material removing rate, therefore ensures that the constant of normal grinding force is the key guaranteeing grinding quality and efficiency.Therefore traditional position control mode can not meet the requirement more and more higher to product surface quality, adds power and control to be the effective ways addressed this problem in automatic polishing equipment.

Utility model content

The deficiency that the utility model exists to overcome above prior art, provide a kind of constant force automatically grinding method based on force snesor fuzzy adaptivecontroller and realize the sanding apparatus of this polishing process, this apparatus structure is simple, be easy to control, highly versatile.

The purpose of this utility model is realized by following technical scheme:

Based on the constant force automatically grinding method that fuzzy self-adaption power controls, comprise the following steps:

1) by position sensor, workpiece coordinate is demarcated, slow mobile x-axis, when grinding apparatus encounters workpiece, one dimension force sensing equipment can produce a step signal, detect the reading of this step signal and encoder for servo motor, calculate the transformational relation between motion coordinate and workpiece coordinate;

2) magnitude of voltage of the force snesor of different feeding depth is read, the rigidity of estimating motion mechanism and clamping mechanism;

3) to bruting process modeling, design fuzzy adaptive controller, and preresearch estimates controling parameters;

4) algorithm of described fuzzy adaptive controller is programmed by industrial control host, the speed motion that given y-axis one is constant, in x-axis direction by the size of force-feedback control grinding force, record force snesor magnitude of voltage, constantly adjustment fuzzy parameter is until obtain good constant force griding effect;

5) parameter adjusted using step 4 as initial parameter, design fuzzy adaptive controller;

6) in conjunction with the motion control function of motion controller, the design of Fuzzy Self-adaptive PID is completed with the arithmetic programming of the fuzzy adaptive controller described in step 5.

7) industrial control host adopts position control mode to control grinding apparatus y-axis direction uniform motion, adopts the fuzzy adaptive controller designed to control the motion in grinding apparatus x-axis direction, makes grinding apparatus with constant power and absorption surface.

Further, described step 3 specifically comprises:

Step 31) grinding process is simplified to mass-spring-damper model, its kinetics equation can be write as:

$F_d\left(t\right)+F_e\left(t\right)-F_s\left(t\right)=M\stackrel{\·\·}{x}\left(t\right),$

Wherein mass M is the gross mass of force snesor, connector and hand-held angle grinding machine, and x is the displacement in x-axis direction, F _dfor the power of input, F _efor the interference of power, comprise the interference of servo-drive system and the interference of force snesor, F _sdetect force return of value for force snesor:

$F_s\left(t\right)=B\stackrel{\·}{x}\left(t\right)+Kx\left(t\right),$

Wherein stiffness K is stiffness at the end, rigidity the having the greatest impact to K of connector, and B is system damping, the damping namely produced by force snesor, angle grinding machine etc.After Laplace transformation, cancellation X (s) obtains:

$F_d\left(s\right)+F_e\left(s\right)-F_s\left(s\right)=\frac{{\mathrm{MS}}^2}{BS+K}{F}_s\left(s\right);$

Step 32) design band filter PID controller, the closed loop transfer function, of system is:

$G\left(s\right)=\frac{F_s\left(s\right)}{u\left(s\right)}=\frac{{\mathrm{Bk}}_d{s}^3+({\mathrm{kk}}_d+{\mathrm{Bk}}_p)s^2+({\mathrm{Bk}}_i+{\mathrm{kk}}_p)s+{\mathrm{kk}}_i}{A_1{s}^3+A_2{s}^2+A_{3}s+{\mathrm{kk}}_i},$

Wherein A ₁=M+Bk _d, A ₂=B+k _dk+Bk _p, A ₃=k+k _ib+kk _p;

Step 33) root locus diagram of characteristic equation is drawn by damping ratio and angular frequency, tentatively determine a stack features equation root, just can estimate one group of controling parameters k by denominator identity _p, k _iand k _dvalue.

Further, described step 5 specifically comprises:

51) change ec with membership function to error originated from input e and error and carry out Fuzzy processing, use Gaussian membership function, functional equation is:

$f(x,\mathrm{\σ},c)=e^{-\frac{{(x-c)}^2}{2{\mathrm{\σ}}^2}};$

52) adjusting of pid parameter is carried out according to control law, thus realizing the self adaptation of controling parameters to control procedure, the formulation of described control law is the core content of design of Fuzzy Controller, needs the operating experience of combination technology personnel, set up suitable rule list, obtain Δ k respectively _p, Δ k _d, Δ k _ifuzzy control rule table;

53) ambiguity solution, adopt maximum membership degree mean value method, i.e. mom method, if on the domain of fuzzy set, has multiple point all to get maximum membership degree value, then get the mean value u of these points _momabscissa as the representative point of fuzzy set, if A (u _j)=max (A (u)), j=1,2 ..., n, has n the degree of membership put to get maximum, then gets: u _mom=∑ u _j/ n.

The utility model additionally provides the sanding apparatus of the constant force automatically grinding method based on the control of fuzzy self-adaption power described in realization, comprise industrial control host, workbench, motion, one dimension force sensing equipment, for obtaining the position sensor of location of workpiece coordinate, grinding apparatus and clamping workpiece equipment, described motion and clamping workpiece equipment are separately fixed on workbench, described motion comprises x-axis direction motion, y-axis direction motion, described one dimension force sensing equipment one end is connected with grinding apparatus, the other end is connected by y-axis direction slide block with the y-axis direction motion of motion, described industrial control host is by circuit and one dimension force sensing equipment, position sensor, grinding apparatus, x-axis direction motion, y-axis direction motion is connected, during polishing, described y-axis direction motion drives grinding apparatus at the uniform velocity to move along the y-axis direction, described x-axis direction motion produces driving force makes grinding apparatus with constant power and absorption surface.

Further, described x-axis direction motion comprises the x-axis AC servo motor, x-axis shaft coupling and the x-axis ball screw that connect successively, described x-axis ball screw is provided with x-axis direction slide block; Described y-axis direction motion comprises the y-axis AC servo motor, y-axis shaft coupling and the y-axis ball screw that connect successively, described y-axis ball screw is provided with y-axis direction slide block; Described y-axis direction driver element is secured by bolts on the slide block of x-axis direction; Described y-axis direction slide block is connected with sensor base; Described sensor base is connected with sensor holder; Described sensor holder is connected with one dimension force sensing equipment with Baltimore groove by bolt.

Further, described grinding apparatus comprises the angle grinding machine connector be connected with one dimension force sensing equipment, and described angle grinding machine connector is connected with angle grinding machine fixed mount; Described angle grinding machine fixed mount is connected with electric angle grinder.

Further; described one dimension force sensing equipment comprises the clamping device of S type one dimension force sensor, transmitter, A/D translation interface and force snesor; the clamping device of described force snesor is connected with S type one dimension force sensor by female connectors, for the protection of the stability that S type one dimension force sensor is connected with enhancing.

Further, the shape of described electric angle grinder is cylindrical; Described angle grinding machine fixed mount is that two semicircle mechanisms are bolted thus are fixed by electric angle grinder; Grinding machine connector one end, described angle is connected with S type one dimension force sensor by groove part, and the other end is connected with angle grinding machine fixed mount by bolt.

Further, described clamping workpiece equipment is secured by bolts in workbench surface, comprise base, L-type pressing plate and base plate, described base plate is connected by screw workpiece, described base is provided with two T-slot, described L-type pressing plate one end has elongated hole, and described base plate is pressed solidly on base by the bolt be arranged in T-slot by described L-type pressing plate.

Compared to existing technology, the utility model can realize the detection completing normal grinding force in bruting process based on Intelligent Force control technology, and feeds back by testing result, by the process of controller, produce the output torque that drive singal constantly adjusts driver, thus control grinding normal force in real time, realize the polishing of constant pressure, versatility is good, polishing quality is high, is applicable to producing in enormous quantities, and expansibility is strong, price is suitable simultaneously, and cost is low.

Accompanying drawing explanation

Fig. 1 is the constant force automatically grinding device processing parts schematic diagram controlled based on fuzzy self-adaption power of the present utility model.

Fig. 2 is the grinding apparatus structural representation of the utility model embodiment.

Fig. 3 is S type one dimension force sensor construction schematic diagram.

Fig. 4 is sensor fixed seat structure schematic diagram.

Fig. 5 is angle grinding machine connecting-piece structure schematic diagram.

Fig. 6 is angle grinding machine fixed rack structure schematic diagram.

Fig. 7 is control method schematic diagram.

Shown in figure be: 1-workbench, 2-y direction of principal axis motion, 21-y shaft ball screw; 22-y axle shaft coupling; 23-y axis AC servomotor; 3-y direction of principal axis slide block, 4-sensor base, 5-sensor holder, 6-S type one dimension force sensor, 7-angle grinding machine connector, 8-electric angle grinder, 9-angle grinding machine fixed mount, 10-workpiece, 11-clamping workpiece equipment, 12-x direction of principal axis motion; 121-x axis AC servomotor; 122-x axle shaft coupling; 123-x shaft ball screw; 13-x direction of principal axis slide block.

Detailed description of the invention

Be described in further detail utility model object of the present utility model below in conjunction with the drawings and specific embodiments, embodiment can not repeat one by one at this, but therefore embodiment of the present utility model is not defined in following examples.

Embodiment one

Based on the constant force automatically grinding method that fuzzy self-adaption power controls, comprise the following steps:

1) by position sensor, workpiece coordinate is demarcated, slow mobile x-axis, when grinding apparatus encounters workpiece, one dimension force sensing equipment can produce a step signal, detect the reading of this step signal and encoder for servo motor, calculate the transformational relation between motion coordinate and workpiece coordinate;

2) magnitude of voltage of the force snesor of different feeding depth is read, the rigidity of estimating motion mechanism and clamping mechanism;

3) to bruting process modeling, design fuzzy adaptive controller, and preresearch estimates controling parameters;

4) algorithm of described fuzzy adaptive controller is programmed by industrial control host, the speed motion that given y-axis one is constant, in x-axis direction by the size of force-feedback control grinding force, record force snesor magnitude of voltage, constantly adjustment fuzzy parameter is until obtain good constant force griding effect;

5) parameter adjusted using step 4 as initial parameter, design fuzzy adaptive controller;

6) programme in C# with the fuzzy adaptivecontroller algorithm described in step 5 and in conjunction with the motion control function of motion controller, complete the design of fuzzy adaptive controller.

7) industrial control host adopts position control mode to control grinding apparatus y-axis direction uniform motion, adopts the Fuzzy Self-adaptive PID designed to control the motion in grinding apparatus x-axis direction, makes grinding apparatus with constant power and absorption surface.

Further, described step 3 specifically comprises:

Step 31) grinding process is simplified to mass-spring-damper model, its kinetics equation can be write as:

$F_d\left(t\right)+F_e\left(t\right)-F_s\left(t\right)=M\stackrel{\·\·}{x}\left(t\right),$

Wherein mass M is the gross mass of force snesor, connector and hand-held angle grinding machine, and x is the displacement in x-axis direction, F _dfor the power of input, F _efor the interference of power, comprise the interference of servo-drive system and the interference of force snesor, F _sdetect force return of value for force snesor:

$F_s\left(t\right)=B\stackrel{\·}{x}\left(t\right)+Kx\left(t\right),$

Wherein stiffness K is stiffness at the end, rigidity the having the greatest impact to K of connector, and B is system damping, the damping namely produced by force snesor, angle grinding machine etc.After Laplace transformation, cancellation X (s) obtains:

$F_d\left(s\right)+F_e\left(s\right)-F_s\left(s\right)=\frac{{\mathrm{MS}}^2}{BS+K}{F}_s\left(s\right);$

Step 32) design band filter PID controller, the closed loop transfer function, of system is:

$G\left(s\right)=\frac{F_s\left(s\right)}{u\left(s\right)}=\frac{{\mathrm{Bk}}_d{s}^3+({\mathrm{kk}}_d+{\mathrm{Bk}}_p)s^2+({\mathrm{Bk}}_i+{\mathrm{kk}}_p)s+{\mathrm{kk}}_i}{A_1{s}^3+A_2{s}^2+A_{3}s+{\mathrm{kk}}_i},$

Wherein A ₁=M+Bk _d, A ₂=B+k _dk+Bk _p, A ₃=k+k _ib+kk _p;

Step 33) root locus diagram of characteristic equation is drawn by damping ratio and angular frequency, tentatively determine a stack features equation root, just can estimate one group of controling parameters k by denominator identity _p, k _iand k _dvalue.

Further, described step 5 specifically comprises:

51) change ec with membership function to error originated from input e and error and carry out Fuzzy processing, use Gaussian membership function, functional equation is:

$f(x,\mathrm{\σ},c)=e^{-\frac{{(x-c)}^2}{2{\mathrm{\σ}}^2}};$

52) adjusting of pid parameter is carried out according to control law, thus realizing the self adaptation of controling parameters to control procedure, the formulation of described control law is the core content of design of Fuzzy Controller, needs the operating experience of combination technology personnel, set up suitable rule list, obtain Δ k respectively _p, Δ k _d, Δ k _ifuzzy control rule table;

53) ambiguity solution, adopt maximum membership degree mean value method, i.e. mom method, if on the domain of fuzzy set, has multiple point all to get maximum membership degree value, then get the mean value u of these points _momabscissa as the representative point of fuzzy set, if A (u _j)=max (A (u)), j=1,2 ..., n, has n the degree of membership put to get maximum, then gets: u _mom=∑ u _j/ n.

Embodiment two

As shown in Figure 1, based on the constant force automatically grinding device that fuzzy self-adaption power controls, comprise industrial control host, workbench 1, motion, one dimension force sensing equipment, for obtaining the position sensor of location of workpiece coordinate, grinding apparatus and clamping workpiece equipment 11, described motion and clamping workpiece equipment are separately fixed on workbench, described motion comprises x-axis direction motion 12, y-axis direction motion 2, described one dimension force sensing equipment one end is connected with grinding apparatus, the other end is connected by y-axis direction slide block 3 with the y-axis direction motion 2 of motion, described industrial control host is by circuit and one dimension force sensing equipment, position sensor, grinding apparatus, x-axis direction motion 12, y-axis direction motion 2 is connected, during polishing, described y-axis direction motion 2 drives grinding apparatus at the uniform velocity to move along the y-axis direction, described x-axis direction motion 12 produces driving force makes grinding apparatus with constant power and absorption surface.

Further, described x-axis direction motion comprises the x-axis AC servo motor 121, x-axis shaft coupling 122 and the x-axis ball screw 123 that connect successively, described x-axis ball screw 123 is provided with x-axis direction slide block 13; Described y-axis direction motion comprises the y-axis AC servo motor 23, y-axis shaft coupling 22 and the y-axis ball screw 21 that connect successively, described y-axis ball screw 21 is provided with y-axis direction slide block 3; Described y-axis direction driver element is secured by bolts on x-axis direction slide block 13; Described y-axis direction slide block 3 is connected with sensor base 4; Described sensor base 4 is connected with sensor holder 5; Described sensor holder 5 is connected with one dimension force sensing equipment with Baltimore groove by bolt, sensor base 4 is fixed on y-axis direction slide block 3 by hexagon socket head cap screw, the other end of sensor base 4 is connected with sensor holder 5, sensor base 4 with sensor holder 5 have the unthreaded hole of 8mm, is connected with S type one dimension force sensor 6 by the bolt of M8.

As shown in Figure 2, described grinding apparatus comprises the angle grinding machine connector 7 be connected with one dimension force sensing equipment, and described angle grinding machine connector 7 is connected with angle grinding machine fixed mount 9; Described angle grinding machine fixed mount 9 is connected with electric angle grinder 8.

As shown in Figure 3 and Figure 4; described one dimension force sensing equipment comprises the clamping device of S type one dimension force sensor 6, transmitter, A/D translation interface and force snesor; the clamping device of described force snesor is connected with S type one dimension force sensor 6 by female connectors, for the protection of the stability that S type one dimension force sensor 6 is connected with enhancing.

As shown in Figure 5 and Figure 6, the shape of described electric angle grinder 8 is cylindrical; Described angle grinding machine fixed mount 9 is that two semicircle mechanisms are bolted thus are fixed by electric angle grinder 8; Grinding machine connector 7 one end, described angle is connected with S type one dimension force sensor 6 with M8 hexagon socket head cap screw by groove part, and the other end is connected with angle grinding machine fixed mount 9 by bolt.

In the present embodiment, described clamping workpiece equipment 11 is secured by bolts in workbench 1 surface, comprise base, L-type pressing plate and base plate, described base plate is connected by screw workpiece 10, workpiece 10 described in the present embodiment is cuboids of a hollow, described base is provided with two T-slot, and described L-type pressing plate one end has elongated hole, and described base plate is pressed solidly on base by the bolt be arranged in T-slot by described L-type pressing plate.

The control principle of the present embodiment as shown in Figure 7, first given grinding expected force, given y-axis feed speed again, at the uniform velocity feed motion is done with speed-mode control y-axis direction slide block, in feeding process, one dimension force sensor 6 records the contact force of bistrique and workpiece 10 in real time, controller is fed back to after A/D conversion, feedback force and expected force compare and obtain power error, the analog quantity voltage value of controller output is changed by the control algolithm of setting, thus control the size of x-axis AC servo motor 121 Driving Torque, reach the object that constant force controls.

In sum, the constant force automatically grinding device based on the control of fuzzy self-adaption power of the present embodiment can realize the detection and the feedback that complete polishing power based on power control technology, and by fuzzy self-adaptive PID, realizes the constant force automatically grinding of plane.

Above-described embodiment of the present utility model is only for the utility model example is clearly described, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.All do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., within the protection domain that all should be included in the utility model claim.

Claims (6)

1. based on the constant force automatically grinding device that fuzzy self-adaption power controls, it is characterized in that: comprise industrial control host, workbench (1), motion, one dimension force sensing equipment, for obtaining the position sensor of location of workpiece coordinate, grinding apparatus and clamping workpiece equipment (11), described motion and clamping workpiece equipment are separately fixed on workbench, described motion comprises x-axis direction motion (12), y-axis direction motion (2), described one dimension force sensing equipment one end is connected with grinding apparatus, the other end is connected by y-axis direction slide block (3) with y-axis direction motion (2) of motion, described industrial control host is by circuit and one dimension force sensing equipment, position sensor, grinding apparatus, x-axis direction motion, y-axis direction motion (2) is connected, during polishing, described y-axis direction motion (2) drives grinding apparatus at the uniform velocity to move along the y-axis direction, described x-axis direction motion (12) produces driving force makes grinding apparatus with constant power and absorption surface.

2. the constant force automatically grinding device controlled based on fuzzy self-adaption power according to claim 1, it is characterized in that: described x-axis direction motion comprises the x-axis AC servo motor (121), x-axis shaft coupling (122) and the x-axis ball screw (123) that connect successively, and described x-axis ball screw (123) is provided with x-axis direction slide block (13); Described y-axis direction motion comprises the y-axis AC servo motor (23), y-axis shaft coupling (22) and the y-axis ball screw (21) that connect successively, and described y-axis ball screw (21) is provided with y-axis direction slide block (3); Described y-axis direction driver element is secured by bolts on x-axis direction slide block (13); Described y-axis direction slide block (3) is connected with sensor base (4); Described sensor base (4) is connected with sensor holder (5); Described sensor holder (5) is connected with one dimension force sensing equipment with Baltimore groove by bolt.

3. the constant force automatically grinding device controlled based on fuzzy self-adaption power according to claim 1, it is characterized in that: described grinding apparatus comprises angle grinding machine connector (7) be connected with one dimension force sensing equipment, described angle grinding machine connector (7) is connected with angle grinding machine fixed mount (9); Described angle grinding machine fixed mount (9) is connected with electric angle grinder (8).

4. the constant force automatically grinding device controlled based on fuzzy self-adaption power according to claim 1; it is characterized in that: described one dimension force sensing equipment comprises the clamping device of S type one dimension force sensor (6), transmitter, A/D translation interface and force snesor; the clamping device of described force snesor is connected with S type one dimension force sensor (6) by female connectors, for the protection of the stability that S type one dimension force sensor (6) is connected with enhancing.

5. the constant force automatically grinding device controlled based on fuzzy self-adaption power according to claim 3, is characterized in that: the shape of described electric angle grinder (8) is cylindrical; Described angle grinding machine fixed mount (9) is that two semicircle mechanisms are bolted thus are fixed by electric angle grinder (8); Grinding machine connector (7) one end, described angle is connected with S type one dimension force sensor (6) by groove part, and the other end is connected with angle grinding machine fixed mount (9) by bolt.

6. the constant force automatically grinding device controlled based on fuzzy self-adaption power according to claim 1, it is characterized in that: described clamping workpiece equipment (11) is secured by bolts in workbench (1) surface, comprise base, L-type pressing plate and base plate, described base plate is connected by screw workpiece (10), described base is provided with two T-slot, described L-type pressing plate one end has elongated hole, and described base plate is pressed solidly on base by the bolt be arranged in T-slot by described L-type pressing plate.