CN212873274U - Five-axis high-precision positioning control system based on PMAC - Google Patents
Five-axis high-precision positioning control system based on PMAC Download PDFInfo
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- CN212873274U CN212873274U CN202021741172.1U CN202021741172U CN212873274U CN 212873274 U CN212873274 U CN 212873274U CN 202021741172 U CN202021741172 U CN 202021741172U CN 212873274 U CN212873274 U CN 212873274U
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Abstract
The utility model discloses a PMAC-based five-axis high-precision positioning control system, which comprises a motion control module, a driving module, a five-axis motion module, a data acquisition and processing module and a human-computer interaction module; the motion control module includes a PMAC multi-axis motion controller. The utility model discloses PMAC-based control technique, five-axis ultra-precision positioning mode of innovative adoption has realized the ultra-precision location to work piece curved surface point, and the accuracy is high, stability is good. The utility model discloses when using PMAC multi-axis motion controller to realize positioning control, added the DPRAM chip in the motion control module, the DPRAM chip can carry out automatic passback communication with the host computer to the automatic operation of work piece curved surface laser sculpture has been realized. The utility model discloses used by the dynamic focus unit of RTC5 board control as the Z axle, distance within the adjustable 10mm scope has improved positioning system's precision greatly.
Description
Technical Field
The utility model relates to an etching positioning control technical field especially relates to a five high accuracy positioning control systems based on PMAC.
Background
In recent years, with the development of modern manufacturing and multidisciplinary cross fusion of machinery, materials, mechanics, electronics, communication, optics and the like, secondary precision machining is often required on the surface of curved parts. Before the curved surface etching, based on the requirement on the etching precision, the positioning operation needs to be carried out firstly, so that the positioning precision directly influences the etching precision. At present, a PMAC (multi-axis motion controller) is applied to control systems of numerical control machines, antenna scanning frames, missile rotary table tests and the like in all aspects, and has the advantages of high cost performance, good shielding performance, strong anti-interference capability, compatibility with various motor drivers and high compatibility. However, at present, the PMAC-based control technology is mostly biaxial, triaxial or quadcoptric, which cannot meet the requirement of high-precision positioning on the three-dimensional surface, and requires high-precision positioning and ensures that the normal distance is equal to the laser focal length when laser processing is performed on the three-dimensional surface.
SUMMERY OF THE UTILITY MODEL
For solving the above-mentioned problem that prior art exists, the utility model discloses a can improve three-dimensional surface positioning accuracy greatly five high accuracy positioning control system based on PMAC.
In order to achieve the above purpose, the technical solution of the present invention is as follows: a PMAC-based five-axis high-precision positioning control system comprises a motion control module, a driving module, a five-axis motion module, a data acquisition and processing module and a human-computer interaction module;
the motion control module comprises a PMAC multi-axis motion controller, the driving module comprises three drivers, the three drivers are respectively a Naflange DC servo driver, an Anchuan servo driver and an Aerotech driver, the five-axis motion module comprises a horizontal axis, a vertical axis, a horizontal turntable, a pitching turntable and a Z-axis dynamic focusing unit, the data acquisition and processing module comprises a grating ruler, a displacement sensor, an A/D signal converter, a data sending unit and a data processing unit, the man-machine interaction module comprises an upper computer, and a five-axis high-precision positioning control program is installed in the upper computer;
the human-computer interaction module is respectively connected with the motion control module, the Z-axis dynamic focusing unit, the displacement sensor, the horizontal grating ruler and the vertical grating ruler through data lines; the motion control module is respectively connected with the horizontal shaft, the vertical shaft, the horizontal turntable and the pitching turntable through the driving module;
the horizontal shaft is arranged on the front side of the base, the horizontal turntable is arranged on the horizontal shaft through a sliding block, and a workpiece is arranged on the horizontal turntable; the vertical shaft is arranged at the rear side of the base, the pitching rotary table is arranged on the vertical shaft through a sliding block, and the scanning assembly is arranged on the pitching rotary table;
a horizontal grating scale is arranged on the horizontal shaft, a vertical grating scale is arranged on the vertical shaft, the Z-axis dynamic focusing unit is arranged on the pitching turntable, and the displacement sensor is arranged on the Z-axis dynamic focusing unit;
the motion control module is composed of an instruction receiving unit, a DPRAM (dual port RAM) communication unit and a signal sending unit, and is connected with the human-computer interaction module through a network cable; the human-computer interaction module sends a special motion instruction and workpiece curved surface contour data to the motion control module, the special motion instruction is received by the instruction receiving unit, the workpiece curved surface contour data is received and stored by the DPRAM communication unit, the motion control module converts the special motion instruction and the workpiece curved surface contour data into a CLK + DIR (pulse + direction) signal, and the CLK + DIR signal is sent to the driving module through the signal sending unit.
The three drivers in the driving module are respectively composed of a signal receiving unit, a PID debugging unit and a signal sending unit; the driving module is physically connected with the motion control module through an RS232 interface, the signal receiving unit receives CLC + DIR signals sent by the motion control module and then sends the CLC + DIR signals to the driving module through the signal sending unit, and the driving module respectively sends the CLC + DIR signals to the horizontal axis motor, the vertical axis motor, the horizontal turntable motor and the pitching turntable motor to perform corresponding motion; the PID debugging unit adjusts the gain parameter from small to large in a mode of adjusting the position loop gain parameter until the overshoot stable value of vibration does not appear, and the gain parameter is set as an optimal value, so that the signal output by the driving module is more stable.
The data acquisition and processing module respectively acquires and processes data of the horizontal shaft, the vertical shaft, the horizontal turntable, the pitching turntable and the Z-axis dynamic focusing unit.
The human-computer interaction module is respectively connected with the motion control module and the data acquisition and processing module, and comprises a system initialization unit, a parameter setting unit, a real-time display unit and a data monitoring unit. The system initialization unit and the parameter setting unit initialize the whole electric control system and set various parameters, the data monitoring unit judges whether the data exceeds a specified error range after receiving the data acquired and processed by the data acquisition and processing module, and sends alarm information after the data exceeds the specified error range to remind a worker to send a motion instruction to the motion control module for error compensation; the real-time display unit adopts a three-dimensional graph display mode to display the progress of the curved surface positioning etching in real time.
Furthermore, limiting protection devices are arranged at two ends of the horizontal shaft and the vertical shaft, so that the workpiece is prevented from exceeding the range when moving.
Furthermore, the Z-axis dynamic focusing unit is a light path tube which is adjusted in a rotating mode, and the distance within a range of 10mm is adjusted.
Compared with the prior art, the utility model has the advantages as follows:
1. the utility model discloses a based on PMAC's control technique, innovative adoption five-axis ultra-precision positioning mode has realized the ultra-precision location to work piece curved surface point, and the accuracy is high, stability is good.
2. The utility model discloses when using PMAC multi-axis motion controller to realize positioning control, added the DPRAM chip in the motion control module, the DPRAM chip can carry out automatic passback communication with the host computer to the automatic operation of work piece curved surface laser sculpture has been realized.
3. The utility model discloses used the dynamic focus unit by RTC5 board control as the Z axle, this unit is equipped with the aperture and is 6mm, and the transmission is long for 355 nm's laser. And the dynamic focusing unit dynamically adjusts the focal distance according to the data of the displacement sensor and focuses light spots on the etching points. The dynamic focusing unit can adjust the distance within the range of 10mm, and the precision of the positioning system is greatly improved.
4. The utility model discloses well adopted spacing protection device, surpassed the scope when avoiding the work piece to remove, played the effect of protective apparatus.
Drawings
Fig. 1 is a schematic diagram of the hardware structure of the present invention.
Fig. 2 is a schematic diagram of the module composition of the present invention.
Fig. 3 is a flowchart of the program of the present invention.
Wherein: the system comprises a host computer 1, a motion control module 2, a driving module 3, a vertical shaft 4, a pitching rotary table 5, a dynamic focusing unit 6-Z shaft 7, a displacement sensor 8, a horizontal rotary table 9, a horizontal shaft 10, a horizontal grating ruler 11 and a vertical grating ruler.
Detailed Description
The invention will be further explained with reference to the drawings:
as shown in fig. 1-3, a five-axis high-precision positioning control system based on PMAC comprises a motion control module 2, a driving module 3, a five-axis motion module, a data acquisition and processing module and a human-computer interaction module;
the motion control module 2 comprises a PMAC multi-axis motion controller, the driving module 3 comprises three drivers, the three drivers are respectively a Naflange DC servo driver, an Anchuan servo driver and an Aerotech driver, the five-axis motion module comprises a horizontal axis 9, a vertical axis 4, a horizontal turntable 8, a pitching turntable 5 and a Z-axis dynamic focusing unit 6, the data acquisition and processing module comprises a horizontal grating ruler 10, a vertical grating ruler 11, a displacement sensor 7, an A/D signal converter, a data transmitting unit and a data processing unit, the human-computer interaction module comprises an upper computer 1, and a five-axis high-precision positioning control program is installed in the upper computer 1;
the human-computer interaction module is respectively connected with the motion control module 2, the Z-axis dynamic focusing unit 6, the displacement sensor 7, the horizontal grating ruler 10 and the vertical grating ruler 11 through data lines; the motion control module 2 is respectively connected with a horizontal shaft 9, a vertical shaft 4, a horizontal turntable 8 and a pitching turntable 5 through a driving module 3;
the horizontal shaft 9 is arranged on the front side of the base, the horizontal rotary table 8 is arranged on the horizontal shaft 9 through a sliding block, and a workpiece is arranged on the horizontal rotary table 8; the vertical shaft 4 is arranged at the rear side of the base, the pitching rotary table 5 is arranged on the vertical shaft 4 through a sliding block, and the scanning assembly is arranged on the pitching rotary table 5;
a horizontal grating ruler 10 is installed on the horizontal shaft 9, a vertical grating ruler 11 is installed on the vertical shaft 4, the Z-axis dynamic focusing unit 6 is installed on the pitching turntable 5, and the displacement sensor 7 is installed on the Z-axis dynamic focusing unit 6;
the motion control module 2 consists of an instruction receiving unit, a DPRAM dual-port RAM communication unit and a signal sending unit, and the motion control module 2 is connected with the human-computer interaction module through a network cable; the human-computer interaction module sends a special motion instruction and workpiece curved surface contour data to the motion control module 2, the special motion instruction is received by the instruction receiving unit, the workpiece curved surface contour data is received and stored by the DPRAM communication unit, the motion control module 2 converts the special motion instruction and the workpiece curved surface contour data into CLK + DIR pulse + direction signals, and the CLK + DIR signals are sent to the driving module 3 through the signal sending unit.
The three drivers in the driving module 3 are all composed of a signal receiving unit, a PID debugging unit and a signal sending unit; the driving module 3 is physically connected with the motion control module 2 through an RS232 interface, the signal receiving unit receives CLC + DIR signals sent by the motion control module 2 and then sends the CLC + DIR signals to the driving module 3 through the signal sending unit, and the driving module 3 respectively sends the signals to the horizontal shaft 9 motor, the vertical shaft 4 motor, the horizontal turntable 8 motor and the pitching turntable 5 motor to carry out corresponding motion; the PID tuning unit tunes the gain parameter from small to large by adjusting the gain parameter of the position loop until the overshoot stability value of the vibration does not occur, and sets the gain parameter as an optimal value, so that the signal output by the driving module 3 is more stable.
The data acquisition and processing module respectively acquires and processes data of the horizontal shaft 9, the vertical shaft 4, the horizontal turntable 8, the pitching turntable 5 and the Z-axis dynamic focusing unit 6.
The human-computer interaction module is respectively connected with the motion control module 2 and the data acquisition and processing module, and comprises a system initialization unit, a parameter setting unit, a real-time display unit and a data monitoring unit. The system initialization unit and the parameter setting unit initialize the whole electric control system and set various parameters, the data monitoring unit judges whether the data exceeds the specified error range after receiving the data acquired and processed by the data acquisition and processing module, and sends alarm information after the data exceeds the specified error range to remind a worker to send a motion instruction to the motion control module 2 for error compensation; the real-time display unit adopts a three-dimensional graph display mode to display the progress of the curved surface positioning etching in real time.
Furthermore, two ends of the horizontal shaft 9 and the vertical shaft 4 are provided with limit protection devices, so that the working table is prevented from exceeding the range during moving.
Further, the Z-axis dynamic focusing unit 6 is a light path tube which is adjusted by rotation, and is adjusted to a distance within a range of 10 mm.
The utility model discloses an operating method, including following step:
A. parameter entry
Setting various parameters on a human-computer interaction interface on the upper computer 1;
B. data entry
The displacement sensor 7 is matched with the horizontal shaft 9, the vertical shaft 4, the horizontal rotary table 8 and the pitching rotary table 5 to scan the workpiece curved surface contour data of the workpiece to be processed, the workpiece curved surface contour data are subjected to simulation arrangement by using an array arrangement algorithm to generate a space coordinate data table, and the space coordinate data table is sent to a DPRAM dual-port communication unit in the PMAC multi-axis motion controller;
C. five-axis motion positioning
The upper computer 1 sends an instruction to the motion control module 2, the motion control module 2 converts the instruction into a CLK + DIR signal and sends the CLK + DIR signal to the driving module 3, and the driving module 3 respectively sends the CLK + DIR signal to the horizontal axis motor, the vertical axis motor, the horizontal turntable motor and the pitching turntable motor; when the device works, firstly, the horizontal shaft motor operates to drive a workpiece on the horizontal shaft 9 to make linear motion at a set speed and acceleration according to the direction specified by the received CLC + DIR signal and move to the distance specified by the CLC + DIR signal; then the vertical axis motor runs to drive the scanning component on the vertical axis 4 to make linear motion at a set speed and acceleration according to the direction specified by the received CLC + DIR signal and move to the distance specified by the CLC + DIR signal; then the horizontal turntable motor operates to drive the workpiece on the horizontal turntable 8 to do circular motion at a set speed and acceleration according to the direction specified by the received CLC + DIR signal and move to the angle specified by the CLC + DIR signal; finally, the pitching turntable motor operates to drive the scanning component on the pitching turntable 5 to do circular motion at a set speed and acceleration according to the direction specified by the received CLC + DIR signal and move to the angle specified by the CLC + DIR signal; the Z-axis dynamic focusing unit 6 rotationally adjusts an optical path tube according to data sent by the upper computer 1 to ensure that a light spot focus is on an etching point;
D. data acquisition and processing
Data acquisition and processing of D1, horizontal axis 9, vertical axis 4, horizontal turntable 8, and pitch turntable 5
The horizontal grating ruler 10 collects the actual moving distance, speed and acceleration of the workpiece on the horizontal axis 9 and then transmits the actual moving distance, speed and acceleration to the A/D signal converter, and the vertical grating ruler 11 collects the actual moving distance, speed and acceleration of the scanning assembly on the vertical axis 4 and then transmits the actual moving distance, speed and acceleration to the A/D signal converter; the A/D signal converter converts the signals collected by the horizontal grating ruler 10 and the vertical grating ruler 11 into digital signals, and the digital signals are sent to the man-machine interaction module through the data sending unit. After the difference between the actual moving distance and the designated moving distance exceeds the set moving error range, the man-machine interaction module sends an instruction to the motion control module 2 to respectively control the horizontal axis 9 and the vertical axis 4 to carry out corresponding compensation, and the compensation method comprises the following steps: when the difference between the actual moving distance and the designated moving distance exceeds the set moving error range, the difference between the actual moving distance and the designated moving error is calculated, the difference is sent to the motion control module 2, and the horizontal shaft 9 and the vertical shaft 4 are controlled to move by the distance determined by the difference to complete compensation;
d2, data acquisition and processing of Z-axis dynamic focusing unit 6
The compensation data of the Z-axis dynamic focusing unit 6 collects the distance from light to the normal direction of the etching point on the surface of the curved surface of the workpiece through the displacement sensor 7, the compensation data is sent to the Z-axis dynamic focusing unit 6 through the data sending unit, and the Z-axis dynamic focusing unit 6 is controlled to adjust the distance for compensation. The compensation data calculation formula is as follows:
X2＝X-X1
where X2 is the compensation data, X is the focal length, and X1 is the normal direction distance.
The horizontal axis 9 and the vertical axis 4 receive a CLK + DIR signal sent by the driving module 3 and carry out corresponding movement according to the signal; the Z-axis dynamic focus unit 6 is composed of a dynamic focus unit controlled by an RTC5 board. The Z-axis dynamic focusing unit 6 sends compensation data X2 to dynamically adjust through the received data acquisition and processing module, so that the focal point of the light spot is on the etching point.
E. Human-computer interaction interface display
Judging whether the difference between the actual moving distance and the appointed moving distance and the difference between the focal length and the normal direction distance exceed respective specified error ranges, if so, sending alarm information at the man-machine interaction module to remind a worker to send a motion instruction to the motion control module 2 for error compensation; meanwhile, a three-dimensional graph display mode is adopted in the man-machine interaction module, and the progress of curved surface positioning etching is displayed in real time.
F. Judging whether all etching point positioning work is finished or not, and if so, closing the whole system; otherwise, turning to the step C.
The present invention is not limited to the embodiment, and any equivalent concept or change within the technical scope of the present invention is all listed as the protection scope of the present invention.
Claims (3)
1. A five-axis high-precision positioning control system based on PMAC is characterized in that: the device comprises a motion control module (2), a driving module (3), a five-axis motion module, a data acquisition and processing module and a human-computer interaction module;
the motion control module (2) comprises a PMAC multi-axis motion controller, the driving module (3) comprises three drivers, the three drivers are respectively a Naflange direct current servo driver, an Anchuan servo driver and an Aerotech driver, the five-axis motion module comprises a horizontal axis (9), a vertical axis (4), a horizontal turntable (8), a pitching turntable (5) and a Z-axis dynamic focusing unit (6), the data acquisition and processing module comprises a horizontal grating ruler (10), a vertical grating ruler (11), a displacement sensor (7), an A/D signal converter, a data transmitting unit and a data processing unit, and the human-computer interaction module comprises an upper computer (1);
the human-computer interaction module is respectively connected with the motion control module (2), the Z-axis dynamic focusing unit (6), the displacement sensor (7), the horizontal grating ruler (10) and the vertical grating ruler (11) through data lines; the motion control module (2) is respectively connected with a horizontal shaft (9), a vertical shaft (4), a horizontal rotary table (8) and a pitching rotary table (5) through a driving module (3);
the horizontal shaft (9) is arranged on the front side of the base, the horizontal rotary table (8) is arranged on the horizontal shaft (9) through a sliding block, and a workpiece is arranged on the horizontal rotary table (8); the vertical shaft (4) is arranged at the rear side of the base, the pitching rotary table (5) is arranged on the vertical shaft (4) through a sliding block, and the scanning assembly is arranged on the pitching rotary table (5);
a horizontal grating ruler (10) is installed on the horizontal shaft (9), a vertical grating ruler (11) is installed on the vertical shaft (4), the Z-axis dynamic focusing unit (6) is installed on the pitching turntable (5), and the displacement sensor (7) is installed on the Z-axis dynamic focusing unit (6);
the motion control module (2) is composed of an instruction receiving unit, a DPRAM communication unit and a signal sending unit, and the motion control module (2) is connected with the human-computer interaction module through a network cable;
three drivers in the driving module (3) are respectively composed of a signal receiving unit, a PID debugging unit and a signal sending unit; the driving module (3) is physically connected with the motion control module (2) through an RS232 interface;
the human-computer interaction module is respectively connected with the motion control module (2) and the data acquisition and processing module, and comprises a system initialization unit, a parameter setting unit, a real-time display unit and a data monitoring unit.
2. The PMAC-based five-axis high-precision positioning control system according to claim 1, characterized in that: and limiting protection devices are arranged at two ends of the horizontal shaft (9) and the vertical shaft (4) to prevent the workbench from exceeding the range during movement.
3. The PMAC-based five-axis high-precision positioning control system according to claim 1, characterized in that: the Z-axis dynamic focusing unit (6) is a light path tube which is adjusted in a rotating mode, and the distance within a range of 10mm is adjusted.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111857042A (en) * | 2020-08-19 | 2020-10-30 | 大连海事大学 | PMAC-based five-axis high-precision positioning control system and working method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111857042A (en) * | 2020-08-19 | 2020-10-30 | 大连海事大学 | PMAC-based five-axis high-precision positioning control system and working method |
| CN111857042B (en) * | 2020-08-19 | 2024-04-26 | 大连海事大学 | Five-axis high-precision positioning control system based on PMAC and working method |
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