CN205103634U - Feedforward weight calculation device - Google Patents
Feedforward weight calculation device Download PDFInfo
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- CN205103634U CN205103634U CN201520877957.4U CN201520877957U CN205103634U CN 205103634 U CN205103634 U CN 205103634U CN 201520877957 U CN201520877957 U CN 201520877957U CN 205103634 U CN205103634 U CN 205103634U
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Abstract
The utility model discloses a feedforward weight calculation device, include: monitoring devices, this monitoring devices installs on the digit control machine tool, operating parameter in the monitoring devices monitoring digit control machine tool, the device is predetermine to the orbit, and the message is predetermine to the orbit of predetermineeing in the digit control machine tool, anticipatory control device, the input of this anticipatory control device respectively with monitoring devices, orbit are predetermine the output electricity of device and are connected, feed back control system, this feed back control system's input respectively with the orbit is predetermine the output electricity of device, anticipatory control device and is connected, drive arrangement, this drive arrangement's input respectively with anticipatory control device, feed back control system's output electricity is connected. The utility model discloses an anticipatory control module and feedback control module are actually adjusted according to the processing orbit of work piece in good time to reach under high -speed machining's environment, workpiece surface's smooth finish effect obtains the optimization with the effect of dimensional deviation.
Description
Technical field
The utility model relates to numerically-controlled machine automatic control technology field, particularly relates to the feedforward weight calculation apparatus controlled for numerically-controlled machine.
Background technology
Feedback refers to that the output of system is turned back to input end changes input in some way, and then the process of influential system function, to reach predetermined object.Therefore, there is user to be used on numerically-controlled machine by feedback theory at present, to improve product size error performance.
Refer to shown in the 1st figure, the weight that feedovers in prior art calculation apparatus is by a trajectory planning unit 110, one feedforward control unit 111, one closed loop control module 112 and a driver element 113 formed, above-mentioned trajectory planning unit 110 is electrically connected at above-mentioned feedforward control unit 111, and in order to produce a trajectory planning message, one can be formed when above-mentioned feedforward control unit 111 receives above-mentioned trajectory planning message there is the feedforward message of current gain value and be transferred to above-mentioned driver element 113, above-mentioned trajectory planning unit 110 produces a track position order to above-mentioned closed loop control module 112 simultaneously, be transferred to above-mentioned driver element 113 again.
But, above-mentioned trajectory planning unit 110 cannot form above-mentioned trajectory planning message according to the demand of the demand of machining precision and processed surface smoothness, applicable feedforward message is calculated again via above-mentioned feedforward control unit 111, and for numerically-controlled machine actual motion in the future, because the profile pattern of workpiece is numerous, and when numerically-controlled machine runs use, the surface of the work machined often finds that subregion does not meet the demand of machining precision or do not meet the demand of processed surface smoothness.Therefore, above-mentioned feedforward control unit 111 needs again to compromise manually to adjust between machining precision demand and processed surface smoothness demand, form above-mentioned feedforward message, after numerically-controlled machine is run again, allow the demand that surface of the work can reach certain, relatively can cause the increase of cost of manufacture, also need to spend the more time to find out the track feedforward message of applicable workpiece surface finish, thus cause the inconvenience of user on using.
In sum, the weight that feedovers in prior art calculation apparatus still has weak point, is necessary improvement innovation feedforward weight calculation apparatus, to reduce the scale error of workpiece and the smooth finish improving surface of the work.
Utility model content
The technical scheme that the utility model provides is as follows:
A kind of feedforward weight calculation apparatus, comprising: monitoring device, this monitoring device is arranged on numerically-controlled machine, the operational factor in described monitoring device monitoring numerically-controlled machine; Track preinstall apparatus, the track in present count controlled machine presets message; Feedforward control device, the input end of this feedforward control device is electrically connected with the output terminal of described monitoring device, track preinstall apparatus respectively; Feed back control system, the input end of this feed back control system is electrically connected with the output terminal of described track preinstall apparatus, feedforward control device respectively; Drive unit, the input end of this drive unit is electrically connected with the output terminal of described feedforward control device, feed back control system respectively.
The utility model also provides a kind of feedforward weight calculation apparatus, and comprising: monitoring device, this monitoring device is arranged on numerically-controlled machine, the operational factor in described monitoring device monitoring numerically-controlled machine; Track preinstall apparatus, the track in present count controlled machine presets message; Feedforward control device, the input end of this feedforward control device is electrically connected with the output terminal of described monitoring device, track preinstall apparatus respectively; Feed back control system, the input end of this feed back control system is electrically connected with the output terminal of described track preinstall apparatus, feedforward control device respectively; Drive unit, the input end of this drive unit is electrically connected with the output terminal of described feedforward control device, feed back control system respectively; Described feedforward control device comprises feedforward smoothness computing module, and the input end of this feedforward smoothness computing module is electrically connected with the output terminal of described monitoring device, track preinstall apparatus respectively; The output terminal of described feedforward smoothness computing module is electrically connected with the input end of described feed back control system.
The utility model provides a kind of monitoring device feedovered in weight calculation apparatus to comprise: speed pickup, the speed of feed value of cutter in this speed pickup monitoring numerically-controlled machine; Acceleration transducer, the feeding accekeration of cutter in this acceleration transducer monitoring numerically-controlled machine; Jerking movement degree monitoring modular, the jerking movement angle value of cutter in this jerking movement degree monitoring module monitors numerically-controlled machine; Torsion torque sensor, the torque value that the monitoring of this torsion torque sensor applies cutter in numerically-controlled machine; Position monitoring module, the change in location of cutter in this position monitoring module monitors numerically-controlled machine; Cut strength monitoring modular, the cutting force value of cutter in this cutting strength monitoring module monitors numerically-controlled machine; Torque monitoring module, this torque monitoring module monitors is to the torque value in the torsion of cutter applying in numerically-controlled machine.
The utility model also provides a kind of track preinstall apparatus feedovered in weight calculation apparatus to comprise: speed of feed presetting module, the speed of feed value of cutter in this speed of feed presetting module present count controlled machine; Feeding acceleration presetting module, the feeding accekeration of cutter in this feeding acceleration presetting module present count controlled machine; Workpiece parameter presetting module, this workpiece parameter presetting module presets the workpiece parameter of workpiece according to the shape of workpiece; Jerking movement degree presetting module, the input end of this jerking movement degree presetting module is electrically connected with the output terminal of described speed of feed presetting module and workpiece parameter presetting module respectively; Position gain presetting module, the position gain value of cutter in this position gain presetting module present count controlled machine; Servo gain presetting module, the servo agc value of cutter in this servo gain presetting module present count controlled machine.
The utility model also provides a kind of feedforward smoothness computing module feedovered in weight calculation apparatus to comprise: adjustment message calculating sub module, and this adjustment message calculating sub module utilizes gradient method to calculate son adjustment message according to two of two-dimensional function space dimensions; Judge submodule, the input end of this judgement submodule is electrically connected with the output terminal of described speed of feed presetting module and workpiece parameter presetting module respectively.
The utility model also provides a kind of one feedforward smoothness computing module feedovered in weight calculation apparatus to comprise: adjustment message calculating sub module, and this adjustment message calculating sub module utilizes gradient method to calculate son adjustment message according to two of two-dimensional function space dimensions; Judge submodule, the input end of this judgement submodule is electrically connected with the output terminal of described speed of feed presetting module and workpiece parameter presetting module respectively; Site error calculating sub module, the input end of this site error calculating sub module is electrically connected with described speed pickup, position gain presetting module and the output terminal that adjusts message calculating sub module respectively; Profile errors calculating sub module, the input end of this profile errors calculating sub module is electrically connected with described speed of feed presetting module, position gain presetting module and the output terminal that adjusts message calculating sub module respectively; Accuracy computation submodule, the input end of this accuracy computation submodule is electrically connected with described speed of feed presetting module, servo gain presetting module and the output terminal that adjusts message calculating sub module respectively; Roughness meter operator module, the input end of this roughness meter operator module is electrically connected with the output terminal of described jerking movement degree presetting module.
The utility model also provides a kind of another kind feedforward smoothness computing module feedovered in weight calculation apparatus to comprise: adjustment message calculating sub module, and this adjustment message calculating sub module utilizes gradient method to calculate son adjustment message according to two of two-dimensional function space dimensions; Judge submodule, the input end of this judgement submodule is electrically connected with the output terminal of described speed of feed presetting module and workpiece parameter presetting module respectively; Site error calculating sub module, the input end of this site error calculating sub module is electrically connected with described speed pickup, position gain presetting module and the output terminal that adjusts message calculating sub module respectively; Profile errors calculating sub module, the input end of this profile errors calculating sub module is electrically connected with described speed of feed presetting module, position gain presetting module and the output terminal that adjusts message calculating sub module respectively; Accuracy computation submodule, the input end of this accuracy computation submodule is electrically connected with the output terminal of described site error calculating sub module and profile errors calculating sub module respectively; Roughness meter operator module, the input end of this roughness meter operator module is electrically connected with the output terminal of described jerking movement degree presetting module.
The utility model also provides a kind of feedforward weight calculation apparatus, and also comprise feedforward data memory module, this feedforward data memory module is electrically connected with described feedforward smoothness computing module.
The utility model also provides a kind of feedforward weight calculation apparatus, and also comprise Leveling Block, this Leveling Block is electrically connected with each sub-submodule in described feedforward smoothness computing module.
Preferably, described Leveling Block is low-pass filter circuit.
Compared with prior art, when the weight that feedovers in the utility model calculation apparatus runs, adjusted by feedforward control module and the actual machining locus according to workpiece of feedback control module in good time, to reach under the environment of High-speed machining, the smooth finish effect of surface of the work and the effect of dimensional discrepancy obtain optimization.
Accompanying drawing explanation
Below by clearly understandable mode, accompanying drawings preferred implementation, is further described a kind of above-mentioned characteristic of the weight calculation apparatus that feedovers, technical characteristic, advantage and implementation thereof.
Fig. 1 is the structural representation of weight calculation apparatus of feedovering in prior art;
Fig. 2 is the main composition structural representation of a kind of weight calculation apparatus that feedovers of the utility model;
Fig. 3 be a kind of weight calculation apparatus that feedovers of the utility model be fully composed structural representation;
Fig. 4 is the partial structurtes schematic diagram of a kind of weight calculation apparatus that feedovers of the utility model;
Fig. 5 is the partial structurtes schematic diagram of the utility model another kind feedforward weight calculation apparatus;
Fig. 6 is the schematic diagram of position error formula and fillet profile errors formula concrete utilization in the utility model;
Fig. 7 is the schematic diagram of gradient method in the utility model.
Drawing reference numeral illustrates:
10. monitoring device, 11. speed pickups, 12. acceleration transducers, 13. jerking movement degree monitoring modulars, 14. torsion torque sensors, 15. position monitoring modules, 16. torque monitoring modules, 17. cut strength monitoring modular, 20. track preinstall apparatus, 21. speed of feed presetting module, 22. feeding acceleration presetting module, 23. workpiece parameter presetting module, 24. jerking movement degree presetting module, 25. position gain presetting module, 26. servo gain presetting module, 30. feedforward control devices, 31. feedforward smoothness computing modules, 311. adjustment message calculating sub module, 312. judge submodule, 313. site error calculating sub module, 314. profile errors calculating sub module, 315. accuracy computation submodules, 316. roughness meter operator module, 40. feed back control systems, 50. drive units, 60. feedforward data memory modules, 70. Leveling Block,
110. trajectory planning unit, 111, feedforward control unit, 112. closed loop control modules, 113. driver elements.
Embodiment
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, contrast accompanying drawing is illustrated embodiment of the present utility model below.Apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, and obtain other embodiment.
For making simplified form, only schematically show the part relevant to the utility model in each figure, they do not represent its practical structures as product.In addition, be convenient to make simplified form understand, there are the parts of identical structure or function in some figure, only schematically depict one of them, or only marked one of them.In this article, " one " not only represents " only this ", also can represent the situation of " more than one ".
Fig. 2 is the main composition structural representation of a kind of weight calculation apparatus that feedovers of the utility model.As shown in Figure 1, the present embodiment provides a kind of feedforward weight calculation apparatus, and comprising: monitoring device 10, this monitoring device 10 is arranged on numerically-controlled machine, the operational factor in numerically-controlled machine monitored by described monitoring device 10, and this operational factor comprises speed of feed, torsion, cutting strength etc.; Track preinstall apparatus 20, the machining locus for workpiece has different path geometry features, processing feed rate and requires that the track in present count controlled machine presets message for the difference of surface of the work smoothness; Feedforward control device 30, the input end of this feedforward control device 30 is electrically connected with the output terminal of described monitoring device 10, track preinstall apparatus 20 respectively; The track of operational factor and track preinstall apparatus 20 output that described feedforward control device 30 receives the output of described monitoring device 10 presets message, and generates feedforward control message; Feed back control system 40, the input end of this feed back control system 40 is electrically connected with the output terminal of described track preinstall apparatus 20, feedforward control device 30 respectively; Described feed back control system 40 receives track that described track preinstall apparatus 20 exports and presets the feedforward control message that message and feedforward control device 30 export, and generates FEEDBACK CONTROL message; Drive unit 50, the input end of this drive unit 50 is electrically connected with the output terminal of described feedforward control device 30, feed back control system 40 respectively; Described drive unit 50 receives the feedforward control message of described feedforward control device 30 output and the FEEDBACK CONTROL message of feed back control system 40 output, and generation drives message to drive numerically-controlled machine.
For the improvement of above-described embodiment, the present embodiment provides another kind of feedforward weight calculation apparatus, and comprising: monitoring device 10, this monitoring device 10 is arranged on numerically-controlled machine, and the operational factor in numerically-controlled machine monitored by described monitoring device 10; Track preinstall apparatus 20, the track in present count controlled machine presets message; Feedforward control device 30, this feedforward control device 30 comprises feedforward smoothness computing module 31, and the input end of described feedforward smoothness computing module 31 is electrically connected with the output terminal of described monitoring device 10, track preinstall apparatus 20 respectively; The track of operational factor and track preinstall apparatus 20 output that described feedforward smoothness computing module 31 receives the output of described monitoring device 10 presets message, and described feedforward control device 30 produces the feedforward control message containing adjustment message; Described feedforward smoothness computing module 31 produces adjustment message; If H=H is (Fc, Rc), Fc is the speed of feed value that track presets in message, Rc is the arc radius value that track presets in message, separately set Hc0, Hc1 as the critical value of precision and smooth finish, if H<Hc0, calculate bright and clean angle value, H>Hc1 is computational accuracy value then.Therefore, described feedforward smoothness computing module 31 assessment can perform the H value of work procedure single-unit future in advance, judge whether applicable computational accuracy value or calculate bright and clean angle value, then by site error formula to calculating accuracy formula and try to achieve accuracy requirement (C1) and track ballistic kick degree by fillet profile errors formula to calculating and estimate and try to achieve smooth finish index (C2); Feed back control system 40, the input end of this feed back control system 40 is electrically connected with the output terminal of described track preinstall apparatus 20, feedforward control device 30 respectively; Described feed back control system 40 receives track that described track preinstall apparatus 20 exports and presets the feedforward control message that message and feedforward control device 30 export, and generates FEEDBACK CONTROL message; Drive unit 50, the input end of this drive unit 50 is electrically connected with the output terminal of described feedforward control device 30, feed back control system 40 respectively; Described drive unit 50 receives the feedforward control message of described feedforward control device 30 output and the FEEDBACK CONTROL message of feed back control system 40 output, and generation drives message to drive numerically-controlled machine.
Monitoring device 10 in the feedforward weight calculation apparatus that above-described embodiment provides comprises: speed pickup 11, and the speed of feed value of cutter in numerically-controlled machine monitored by this speed pickup 11; Acceleration transducer 12, the feeding accekeration of cutter in numerically-controlled machine monitored by this acceleration transducer 12; Jerking movement degree monitoring modular 13, this jerking movement degree monitoring modular 13 monitors the jerking movement angle value of cutter in numerically-controlled machine; Torsion torque sensor 14, this torsion torque sensor 14 monitors the torque value applied cutter in numerically-controlled machine; Position monitoring module 15, this position monitoring module 15 monitors the change in location of cutter in numerically-controlled machine; Torque monitoring module 16, this torque monitoring module 16 is monitored the torque value in the torsion of cutter applying in numerically-controlled machine; Cut strength monitoring modular 17, this cutting strength monitoring modular 17 monitors the cutting force value of cutter in numerically-controlled machine.
Track preinstall apparatus 20 in the feedforward weight calculation apparatus that above-described embodiment provides comprises: speed of feed presetting module 21, the speed of feed value of cutter in this speed of feed presetting module 21 present count controlled machine; Feeding acceleration presetting module 22, the feeding accekeration of cutter in this feeding acceleration presetting module 22 present count controlled machine; Workpiece parameter presetting module 23, this workpiece parameter presetting module 23 presets the workpiece parameter of workpiece according to the shape of workpiece, such as the arc radius of arc-shaped workpiece, or width, the length of square body shape workpiece; Jerking movement degree presetting module 24, the input end of this jerking movement degree presetting module 24 is electrically connected with the output terminal of described speed of feed presetting module 21 and workpiece parameter presetting module 23 respectively; The workpiece parameter of speed of feed value and workpiece parameter presetting module 23 output that described jerking movement degree presetting module 24 receives the output of described speed of feed presetting module 21 presets the jerking movement angle value of cutter; Position gain presetting module 25, the position gain value of cutter in this position gain presetting module 25 present count controlled machine; Servo gain presetting module 26, the servo agc value of cutter in this servo gain presetting module 26 present count controlled machine.
Fig. 3 be a kind of weight calculation apparatus that feedovers of the utility model be fully composed structural representation.Fig. 4 is the partial structurtes schematic diagram of a kind of weight calculation apparatus that feedovers of the utility model.Fig. 6 is the schematic diagram of position error formula and fillet profile errors formula concrete utilization in the utility model.The schematic diagram of gradient method in Fig. 7 the utility model.Composition graphs 3, Fig. 4, Fig. 6 and Fig. 7, for the improvement of above-described embodiment, the present embodiment provides another feedforward weight calculation apparatus, comprising: monitoring device 10, this monitoring device 10 is arranged on numerically-controlled machine, and the operational factor in numerically-controlled machine monitored by described monitoring device 10; Described monitoring device 10 comprises: speed pickup 11, and the speed of feed value of cutter in numerically-controlled machine monitored by this speed pickup 11; Acceleration transducer 12, the feeding accekeration of cutter in numerically-controlled machine monitored by this acceleration transducer 12; Jerking movement degree monitoring modular 13, this jerking movement degree monitoring modular 13 monitors the jerking movement angle value of cutter in numerically-controlled machine; Torsion torque sensor 14, this torsion torque sensor 14 monitors the torque value applied cutter in numerically-controlled machine; Position monitoring module 15, this position monitoring module 15 monitors the change in location of cutter in numerically-controlled machine; Torque monitoring module 16, this torque monitoring module 16 is monitored the torque value in the torsion of cutter applying in numerically-controlled machine; Cut strength monitoring modular 17, this cutting strength monitoring modular 17 monitors the cutting force value of cutter in numerically-controlled machine;
Track preinstall apparatus 20, the track in present count controlled machine presets message; Described track preinstall apparatus 20 comprises: speed of feed presetting module 21, the speed of feed value of cutter in this speed of feed presetting module 21 present count controlled machine; Feeding acceleration presetting module 22, the feeding accekeration of cutter in this feeding acceleration presetting module 22 present count controlled machine; Workpiece parameter presetting module 23, this workpiece parameter presetting module 23 presets the workpiece parameter of workpiece according to the shape of workpiece, such as the arc radius of arc-shaped workpiece, or width, the length of square body shape workpiece; Jerking movement degree presetting module 24, the input end of this jerking movement degree presetting module 24 is electrically connected with the output terminal of described speed of feed presetting module 21 and workpiece parameter presetting module 23 respectively; The workpiece parameter of speed of feed value and workpiece parameter presetting module 23 output that described jerking movement degree presetting module 24 receives the output of described speed of feed presetting module 21 presets the jerking movement angle value of cutter; Position gain presetting module 25, the position gain value of cutter in this position gain presetting module 25 present count controlled machine; Servo gain presetting module 26, the servo agc value of cutter in this servo gain presetting module 26 present count controlled machine;
Feedforward control device 30, this feedforward control device 30 comprises feedforward smoothness computing module 31, and the input end of described feedforward smoothness computing module 31 is electrically connected with the output terminal of described monitoring device 10, track preinstall apparatus 20 respectively; The track of operational factor and track preinstall apparatus 20 output that described feedforward smoothness computing module 31 receives the output of described monitoring device 10 presets message, and described feedforward control device 30 produces the feedforward control message containing adjustment message; Described feedforward smoothness computing module 31 produces adjustment message; If H=H is (Fc, Rc), Fc is the speed of feed value that track presets in message, Rc is the arc radius value that track presets in message, separately set Hc0, Hc1 as the critical value of precision and smooth finish, if H<Hc0, calculate bright and clean angle value, H>Hc1 is computational accuracy value then.Therefore, described feedforward smoothness computing module 31 assessment can perform the H value of work procedure single-unit future in advance, judge whether applicable computational accuracy value or calculate bright and clean angle value, then by site error formula to calculating accuracy formula and try to achieve accuracy requirement (C1) and track ballistic kick degree by fillet profile errors formula to calculating and estimate and try to achieve smooth finish index (C2); Feedforward smoothness computing module 31 comprises: adjustment message calculating sub module 311, and this adjustment message calculating sub module 311 utilizes gradient method to calculate son adjustment message α according to two dimensions in two-dimensional function space;
Wherein, the described gradient genealogy of law is set to two dimensions in two-dimensional function space with α value and β value, and utilizes following formula to find out optimized α value and β value; Wherein, β value equals 1 and subtracts α;
(αk,βk)＝(αk-1,βk-1)+M×(dαk,dβk)-(αk-1+M×dαk,βk-1+M×dβk)；
First can the initial value of first given α value and β value, and the best finding out α value and β value in two-dimensional function space changes direction (d α, d β), can must minimized These parameters function (C), and then obtain optimized α value and β value, the α value of so trying to achieve in kth time and β value are α value and the β value of foundation kth-1 time, and by the α value of secondary change direction (d α, the d β) optimize of kth and β value; Therefore, adjustment message calculating sub module 311 calculates with gradient method, automatically to adjust the rate of specific gravity of above-mentioned son adjustment message α, and reaches the requirement meeting different accuracy and smooth finish; Described son adjustment message will change in a smooth continuous fashion when implementing;
Judge submodule 312, the input end of this judgement submodule 312 is electrically connected with the output terminal of described speed of feed presetting module 21 and workpiece parameter presetting module 23 respectively; Described judgement submodule 312 receives the speed of feed value of speed of feed presetting module 21 output and the workpiece parameter of workpiece parameter presetting module 23 output, and judges computational accuracy value or bright and clean angle value; Described judgement submodule 312, according to assessing the following H value performing work procedure single-unit in advance, judges whether applicable computational accuracy value or calculates bright and clean angle value; If H<Hc0, calculate bright and clean angle value, H>Hc1 is computational accuracy value then;
Site error calculating sub module 313, the input end of this site error calculating sub module 313 is electrically connected with described speed pickup 11, position gain presetting module 25 and the output terminal that adjusts message calculating sub module 311 respectively; The position gain value that described site error calculating sub module 313 receives speed of feed value that described speed pickup 11 exports, position gain presetting module 25 exports and the son adjustment message that adjustment message calculating sub module 311 exports calculate the site error value of cutter;
Site error formula is as follows:
Site error=(speed of feed × (1-α × α))/(speed of feed minimum detection unit × position gain);
Wherein, speed of feed minimum detection unit: the speed of feed that speed pickup 11 monitors;
Position gain: the position gain value preset in position gain presetting module 25;
α: the son adjustment message that adjustment message calculating sub module 311 calculates;
Profile errors calculating sub module 314, the input end of this profile errors calculating sub module 314 is electrically connected with described speed of feed presetting module 21, position gain presetting module 25 and the output terminal that adjusts message calculating sub module 311 respectively; The position gain value that described profile errors calculating sub module 314 receives speed of feed value that described speed of feed presetting module 21 exports, position gain presetting module 25 exports and the son adjustment message that adjustment message calculating sub module 311 exports calculate the profile errors value of workpiece;
When Machining Arc, because the radial direction of servo-drive system is delayed, the arc contour error that can cause, utilizes fillet profile errors formula to try to achieve fillet error, smooth finish surface of the work being reached specify or precision; Fillet profile errors formula is as follows:
Fillet profile errors formula Δ R2=(speed of feed × (1-α × α))/(2 × radius × position gain × position gain);
Wherein, speed of feed: the speed of feed value preset in speed of feed presetting module 21;
Radius: the radius value preset in workpiece parameter presetting module 23;
Position gain: the position gain value preset in position gain presetting module 25;
α: the son adjustment message that adjustment message calculating sub module 311 calculates;
Accuracy computation submodule 315, the input end of this accuracy computation submodule 315 is electrically connected with described speed of feed presetting module 21, servo gain presetting module 26 and the output terminal that adjusts message calculating sub module 311 respectively; The servo agc value that described accuracy computation submodule 315 receives speed of feed value that described speed of feed presetting module 21 exports, servo gain presetting module 26 exports and the son adjustment message that adjustment message calculating sub module 311 exports calculate the accuracy value of workpiece;
Try to achieve accuracy formula via after reckoning again, precision index is as follows:
C1＝C1(Fc,Kp,Rc,α,β)；
Wherein, Rc: the arc radius parameter of trajectory planning message;
Fc: the speed of feed value preset in speed of feed presetting module 21;
Kp: the servo gain preset in servo gain presetting module 26;
α: the son adjustment message that adjustment message calculating sub module 311 calculates;
β：1－α。
Roughness meter operator module 316, the input end of this roughness meter operator module 316 is electrically connected with the output terminal of described jerking movement degree presetting module 24; Described roughness meter operator module 316 receives the jerking movement angle value that described jerking movement degree presetting module 24 exports and calculates the bright and clean angle value of workpiece;
Try to achieve smooth finish index after calculating via track ballistic kick degree, smooth finish index is that the function of track jerking movement degree is as follows:
C2＝C2(J)；
Wherein, J: jerking movement degree;
Utilize above-mentioned rule, can calculate precision index and smooth finish index, and jerking movement degree (J) is decided by described jerking movement degree presetting module 24, it is that the function H of arc radius in workpiece parameter presetting module 23 and speed of feed is as follows:
J＝J(Rc,Fc)；
Wherein, Rc: the arc radius value preset in workpiece parameter presetting module 23;
Fc: the speed of feed value in speed of feed presetting module 21;
Bring the precision index of trying to achieve and smooth finish index into cost formula in the hope of cost index letter again
Number (C); Cost formula is as follows:
C＝W1×C1+W2×C2＝W1×dR/Rc+W2×1/J；
Wherein, the parameter of W1 and W2 refers to Fig. 7;
Feedforward data memory module 60, this feedforward data memory module 60 is electrically connected with described feedforward smoothness computing module 31; Described feedforward data memory module 60 stores the adjustment message that described feedforward smoothness computing module 31 exports, this adjustment message be integrate by described feedforward smoothness computing module 31 data that described feedforward data memory module 60 exports, various operational factor that monitoring device 10 exports and the various default message that track preinstall apparatus 20 exports and obtain; Data information in described feedforward data memory module 60 can be used for the smooth effect promoting processing work;
Leveling Block 70, this Leveling Block 70 with described adjustment message calculating sub module 311, judge that submodule 312, site error calculating sub module 313, profile errors calculating sub module 314, accuracy computation submodule 315 and roughness meter operator module 316 are electrically connected; Described Leveling Block 70 respectively by described adjustment message calculating sub module 311, judge that the numerical value obtained in submodule 312, site error calculating sub module 313, profile errors calculating sub module 314, accuracy computation submodule 315 and roughness meter operator module 316 averages; Described Leveling Block 70 is low-pass filter circuit;
Feed back control system 40, the input end of this feed back control system 40 is electrically connected with the output terminal of described track preinstall apparatus 20, feedforward control device 30 respectively; Described feed back control system 40 receives track that described track preinstall apparatus 20 exports and presets the feedforward control message that message and feedforward control device 30 export, and generates FEEDBACK CONTROL message;
Drive unit 50, the input end of this drive unit 50 is electrically connected with the output terminal of described feedforward control device 30, feed back control system 40 respectively; Described drive unit 50 receives the feedforward control message of described feedforward control device 30 output and the FEEDBACK CONTROL message of feed back control system 40 output, and generation drives message to drive numerically-controlled machine.
Fig. 5 is the partial structurtes schematic diagram of the utility model another kind feedforward weight calculation apparatus.Composition graphs 3 and Fig. 5, for the improvement of above-described embodiment, the present embodiment provides another feedforward weight calculation apparatus, comprising:
Monitoring device 10, this monitoring device 10 is arranged on numerically-controlled machine, and the operational factor in numerically-controlled machine monitored by described monitoring device 10; Described monitoring device 10 comprises: speed pickup 11, and the speed of feed value of cutter in numerically-controlled machine monitored by this speed pickup 11; Acceleration transducer 12, the feeding accekeration of cutter in numerically-controlled machine monitored by this acceleration transducer 12; Jerking movement degree monitoring modular 13, this jerking movement degree monitoring modular 13 monitors the jerking movement angle value of cutter in numerically-controlled machine; Torsion torque sensor 14, this torsion torque sensor 14 monitors the torque value applied cutter in numerically-controlled machine; Position monitoring module 15, this position monitoring module 15 monitors the change in location of cutter in numerically-controlled machine; Torque monitoring module 16, this torque monitoring module 16 is monitored the torque value in the torsion of cutter applying in numerically-controlled machine; Cut strength monitoring modular 17, this cutting strength monitoring modular 17 monitors the cutting force value of cutter in numerically-controlled machine;
Track preinstall apparatus 20, the track in present count controlled machine presets message; Described track preinstall apparatus 20 comprises: speed of feed presetting module 21, the speed of feed value of cutter in this speed of feed presetting module 21 present count controlled machine; Feeding acceleration presetting module 22, the feeding accekeration of cutter in this feeding acceleration presetting module 22 present count controlled machine; Workpiece parameter presetting module 23, this workpiece parameter presetting module 23 presets the workpiece parameter of workpiece according to the shape of workpiece, such as the arc radius of arc-shaped workpiece, or width, the length of square body shape workpiece; Jerking movement degree presetting module 24, the input end of this jerking movement degree presetting module 24 is electrically connected with the output terminal of described speed of feed presetting module 21 and workpiece parameter presetting module 23 respectively; The workpiece parameter of speed of feed value and workpiece parameter presetting module 23 output that described jerking movement degree presetting module 24 receives the output of described speed of feed presetting module 21 presets the jerking movement angle value of cutter; Position gain presetting module 25, the position gain value of cutter in this position gain presetting module 25 present count controlled machine; Servo gain presetting module 26, the servo agc value of cutter in this servo gain presetting module 26 present count controlled machine
Feedforward control device 30, this feedforward control device 30 comprises feedforward smoothness computing module 31, and the input end of described feedforward smoothness computing module 31 is electrically connected with the output terminal of described monitoring device 10, track preinstall apparatus 20 respectively; The track of operational factor and track preinstall apparatus 20 output that described feedforward smoothness computing module 31 receives the output of described monitoring device 10 presets message, and described feedforward control device 30 produces the feedforward control message containing adjustment message; Described feedforward smoothness computing module 31 produces adjustment message; If H=H is (Fc, Rc), Fc is the speed of feed value that track presets in message, Rc is the arc radius value that track presets in message, separately set Hc0, Hc1 as the critical value of precision and smooth finish, if H<Hc0, calculate bright and clean angle value, H>Hc1 is computational accuracy value then.Therefore, described feedforward smoothness computing module 31 assessment can perform the H value of work procedure single-unit future in advance, judge whether applicable computational accuracy value or calculate bright and clean angle value, then by site error formula to calculating accuracy formula and try to achieve accuracy requirement (C1) and track ballistic kick degree by fillet profile errors formula to calculating and estimate and try to achieve smooth finish index (C2);
Feedforward smoothness computing module 31 comprises: adjustment message calculating sub module 311, and this adjustment message calculating sub module 311 utilizes gradient method to calculate son adjustment message according to two dimensions in two-dimensional function space; Judge submodule 312, the input end of this judgement submodule 312 is electrically connected with the output terminal of described speed of feed presetting module 21 and workpiece parameter presetting module 23 respectively; Described judgement submodule 312 receives the speed of feed value of speed of feed presetting module 21 output and the workpiece parameter of workpiece parameter presetting module 23 output, and judges computational accuracy value or bright and clean angle value; Site error calculating sub module 313, the input end of this site error calculating sub module 313 is electrically connected with described speed pickup 11, position gain presetting module 25 and the output terminal that adjusts message calculating sub module 311 respectively; The position gain value that described site error calculating sub module 313 receives speed of feed value that described speed pickup 11 exports, position gain presetting module 25 exports and the son adjustment message that adjustment message calculating sub module 311 exports calculate the site error value of cutter; Profile errors calculating sub module 314, the input end of this profile errors calculating sub module 314 is electrically connected with described speed of feed presetting module 21, position gain presetting module 25 and the output terminal that adjusts message calculating sub module 311 respectively; The position gain value that described profile errors calculating sub module 314 receives speed of feed value that described speed of feed presetting module 21 exports, position gain presetting module 25 exports and the son adjustment message that adjustment message calculating sub module 311 exports calculate the profile errors value of workpiece; Accuracy computation submodule 315, the input end of this accuracy computation submodule 315 is electrically connected with the output terminal of described site error calculating sub module 313 and profile errors calculating sub module 314 respectively; Described accuracy computation submodule 315 receives the site error value that described site error calculating sub module 313 exports and extrapolates the accuracy value of workpiece, and described accuracy computation submodule 315 receives the profile errors value that described profile errors calculating sub module 314 exports and calculates the accuracy requirement of trying to achieve out workpiece; Roughness meter operator module 316, the input end of this roughness meter operator module 316 is electrically connected with the output terminal of described jerking movement degree presetting module 24; Described roughness meter operator module 316 receives the jerking movement angle value that described jerking movement degree presetting module 24 exports and calculates the bright and clean angle value of workpiece;
Feedforward data memory module 60, this feedforward data memory module 60 is electrically connected with described feedforward smoothness computing module 31; Described feedforward data memory module 60 stores the adjustment message that described feedforward smoothness computing module 31 exports, this adjustment message be integrate by described feedforward smoothness computing module 31 data that described feedforward data memory module 60 exports, various operational factor that monitoring device 10 exports and the various default message that track preinstall apparatus 20 exports and obtain; Data information in described feedforward data memory module 60 can be used for the smooth effect promoting processing work;
Leveling Block 70, this Leveling Block 70 with described adjustment message calculating sub module 311, judge that submodule 312, site error calculating sub module 313, profile errors calculating sub module 314, accuracy computation submodule 315 and roughness meter operator module 316 are electrically connected; Described Leveling Block 70 respectively by described adjustment message calculating sub module 311, judge that the numerical value obtained in submodule 312, site error calculating sub module 313, profile errors calculating sub module 314, accuracy computation submodule 315 and roughness meter operator module 316 averages; Described Leveling Block 70 is low-pass filter circuit;
Feed back control system 40, the input end of this feed back control system 40 is electrically connected with the output terminal of described track preinstall apparatus 20, feedforward control device 30 respectively; Described feed back control system 40 receives track that described track preinstall apparatus 20 exports and presets the feedforward control message that message and feedforward control device 30 export, and generates FEEDBACK CONTROL message;
Drive unit 50, the input end of this drive unit 50 is electrically connected with the output terminal of described feedforward control device 30, feed back control system 40 respectively; Described drive unit 50 receives the feedforward control message of described feedforward control device 30 output and the FEEDBACK CONTROL message of feed back control system 40 output, and generation drives message to drive numerically-controlled machine.
It should be noted that above-described embodiment all can independent assortment as required.The above is only preferred implementation of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the utility model principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (10)
1. feedover a weight calculation apparatus, it is characterized in that, comprising:
Monitoring device, this monitoring device is arranged on numerically-controlled machine, the operational factor in described monitoring device monitoring numerically-controlled machine;
Track preinstall apparatus, the track in present count controlled machine presets message;
Feedforward control device, the input end of this feedforward control device is electrically connected with the output terminal of described monitoring device, track preinstall apparatus respectively;
Feed back control system, the input end of this feed back control system is electrically connected with the output terminal of described track preinstall apparatus, feedforward control device respectively;
Drive unit, the input end of this drive unit is electrically connected with the output terminal of described feedforward control device, feed back control system respectively.
2. feedforward weight calculation apparatus as claimed in claim 1, it is characterized in that: described feedforward control device comprises feedforward smoothness computing module, and the input end of this feedforward smoothness computing module is electrically connected with the output terminal of described monitoring device, track preinstall apparatus respectively; The output terminal of described feedforward smoothness computing module is electrically connected with the input end of described feed back control system.
3. feedforward weight calculation apparatus as claimed in claim 1 or 2, it is characterized in that, described monitoring device comprises:
Speed pickup, the speed of feed value of cutter in this speed pickup monitoring numerically-controlled machine;
Acceleration transducer, the feeding accekeration of cutter in this acceleration transducer monitoring numerically-controlled machine;
Jerking movement degree monitoring modular, the jerking movement angle value of cutter in this jerking movement degree monitoring module monitors numerically-controlled machine;
Torsion torque sensor, the torque value that the monitoring of this torsion torque sensor applies cutter in numerically-controlled machine;
Position monitoring module, the change in location of cutter in this position monitoring module monitors numerically-controlled machine;
Cut strength monitoring modular, the cutting force value of cutter in this cutting strength monitoring module monitors numerically-controlled machine;
Torque monitoring module, this torque monitoring module monitors is to the torque value in the torsion of cutter applying in numerically-controlled machine.
4. feedforward weight calculation apparatus as claimed in claim 2, it is characterized in that, described track preinstall apparatus comprises:
Speed of feed presetting module, the speed of feed value of cutter in this speed of feed presetting module present count controlled machine;
Feeding acceleration presetting module, the feeding accekeration of cutter in this feeding acceleration presetting module present count controlled machine;
Workpiece parameter presetting module, this workpiece parameter presetting module presets the workpiece parameter of workpiece according to the shape of workpiece;
Jerking movement degree presetting module, the input end of this jerking movement degree presetting module is electrically connected with the output terminal of described speed of feed presetting module and workpiece parameter presetting module respectively;
Position gain presetting module, the position gain value of cutter in this position gain presetting module present count controlled machine;
Servo gain presetting module, the servo agc value of cutter in this servo gain presetting module present count controlled machine.
5. feedforward weight calculation apparatus as claimed in claim 4, it is characterized in that, described feedforward smoothness computing module comprises:
Adjustment message calculating sub module, this adjustment message calculating sub module utilizes gradient method to calculate son adjustment message according to two of two-dimensional function space dimensions;
Judge submodule, the input end of this judgement submodule is electrically connected with the output terminal of described speed of feed presetting module and workpiece parameter presetting module respectively;
Site error calculating sub module, the input end of this site error calculating sub module is electrically connected with described speed pickup, position gain presetting module and the output terminal that adjusts message calculating sub module respectively;
Profile errors calculating sub module, the input end of this profile errors calculating sub module is electrically connected with described speed of feed presetting module, position gain presetting module and the output terminal that adjusts message calculating sub module respectively;
Roughness meter operator module, the input end of this roughness meter operator module is electrically connected with the output terminal of described jerking movement degree presetting module.
6. feedforward weight calculation apparatus as claimed in claim 5, it is characterized in that: described feedforward smoothness computing module also comprises accuracy computation submodule, the input end of this accuracy computation submodule is electrically connected with described speed of feed presetting module, servo gain presetting module and the output terminal that adjusts message calculating sub module respectively.
7. feedforward weight calculation apparatus as claimed in claim 5, it is characterized in that: described feedforward smoothness computing module also comprises accuracy computation submodule, the input end of this accuracy computation submodule is electrically connected with the output terminal of described site error calculating sub module and profile errors calculating sub module respectively.
8. as the feedforward weight calculation apparatus in claim 4 ~ 7 as described in any one, it is characterized in that: also comprise feedforward data memory module, this feedforward data memory module is electrically connected with described feedforward smoothness computing module.
9. the feedforward weight calculation apparatus as described in claim 5 or 6 or 7, is characterized in that: also comprise Leveling Block, and this Leveling Block is electrically connected with each sub-submodule in described feedforward smoothness computing module.
10. feedover weight calculation apparatus as described in claim 9, it is characterized in that: described Leveling Block is low-pass filter circuit.
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|---|---|---|---|
| CN201520877957.4U CN205103634U (en) | 2015-11-06 | 2015-11-06 | Feedforward weight calculation device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520877957.4U CN205103634U (en) | 2015-11-06 | 2015-11-06 | Feedforward weight calculation device |
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| CN205103634U true CN205103634U (en) | 2016-03-23 |
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