CN213305297U - Mechanical gap impact suppression device adopting double encoders - Google Patents
Mechanical gap impact suppression device adopting double encoders Download PDFInfo
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- CN213305297U CN213305297U CN202021388566.3U CN202021388566U CN213305297U CN 213305297 U CN213305297 U CN 213305297U CN 202021388566 U CN202021388566 U CN 202021388566U CN 213305297 U CN213305297 U CN 213305297U
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Abstract
The utility model discloses a mechanical clearance impact suppression device adopting double encoders, which comprises a servo controller, a driver, a motor, a transmission mechanism, a load, a motor encoder and a load encoder, wherein the driver is electrically connected with the motor, and the motor encoder, the motor, the transmission mechanism, the load and the load encoder are sequentially connected; and the load encoder and the motor encoder are electrically connected with the servo controller. The utility model discloses can help reducing equipment vibration, less wearing and tearing and damage, life-span weakens the noise, improves operating condition.
Description
Technical Field
The utility model relates to a transmission system's mechanical clearance regulation and control technical field, in particular to adopt mechanical clearance impact suppression device of two encoders.
Background
The numerical control machine tool generates power by a servo motor, and pushes a load to move through a transmission mechanism such as a gear, a ball screw, a worm gear, a worm or a threaded screw, so that various machining tasks are realized.
Due to the existence of a gap in the mechanical transmission system, a transition process from one contact surface to another contact surface often occurs when the driving motor is accelerated and decelerated, and the system is in a gap state during the transition. In a clearance state, the servo motor is equivalent to no-load operation, and if the servo motor is not controlled, the servo motor can impact another contact surface at a high speed, so that great impact is generated, huge noise is accompanied, equipment is easy to damage, abrasion is accelerated, and the service life is shortened.
At present, the high-precision parts are generally adopted in the industry to reduce the clearance of a transmission system as much as possible. However, this method requires precision machining, which makes the equipment expensive. And wear is inevitable as the service life increases, and the gap also increases.
With the advancement of automatic control technology, there has been a technology for reducing and suppressing the backlash strike by using a control method. A Chinese utility model patent document with application number of 201811220445.5 discloses a method for suppressing the clearance of a transmission device in an electric vehicle, which is named as a control method, a device and a system for eliminating the clearance of gears and a new energy vehicle. This method applies a small torque to the motor when the vehicle is stationary that is insufficient to cause the vehicle to move, thereby eliminating backlash in the driveline. It can be seen that this method only works when the vehicle is started and does not prevent the impact of mechanical play, both during operation and during stopping of the vehicle.
Another speed control algorithm, entitled to solve the problem of mechanism backlash induced jitter, also discloses a method of backlash suppression, application No. 201811294421.4. However, the application of the patented technology is limited to control processes that start at zero speed, accelerate, equalize, decelerate, and finally end at zero speed. The adaptability to complex motion modes in a numerical control machine tool is not strong, the performance difference is large when the equipment runs with different loads, and the impact and the shaking are difficult to avoid.
Therefore, the prior art lacks an apparatus and method capable of effectively suppressing the backlash in the transmission mechanism of the numerically controlled machine tool.
Disclosure of Invention
The utility model discloses a remedy prior art not enough, provide an adopt mechanical clearance impact suppression device of two encoders.
The utility model discloses a realize through following technical scheme:
a mechanical gap impact suppression device adopting double encoders comprises a servo controller, a driver, a motor, a transmission mechanism, a load, a motor encoder and a load encoder, wherein the driver is electrically connected with the motor; and the load encoder and the motor encoder are electrically connected with the servo controller.
The servo controller comprises a gap judgment module, a speed limit module, a speed selection module and a speed control module, wherein the gap judgment module is electrically connected with the speed limit module and the speed selection module respectively, the speed limit module is electrically connected with the speed selection module, the speed selection module is electrically connected with the speed control module, a driver is electrically connected with the speed control module, a motor encoder is electrically connected with the speed control module and the gap judgment module respectively, and a load encoder is electrically connected with the gap judgment module and the speed limit module respectively.
The gap judgment module comprises an RS trigger.
The transmission mechanism comprises a driving part and a driven part, and the driven part drives the load.
The utility model discloses following beneficial technological effect has:
1. the utility model discloses the position of initiative part and driven part among the utilization two position sensor measurement drive mechanism that are fixed in on servo motor and the load calculates its speed to can judge drive mechanism's clearance and contact condition rapidly according to the relative relation of position and speed.
2. The utility model discloses can adjust motor speed controller's speed given value at any time according to the clearance state, through the relative velocity when driving part contacts with driven part among the restriction clearance transition, restrain the clearance and strike.
3. The utility model discloses can realize variable clearance speed for the initiative part moves with great relative speed when far away with driven part distance, and reduces relative speed when being close to the contact point, thereby can enough suppress the contact striking by a wide margin, can accelerate clearance transition required time again, thereby realizes the transition of flexible clearance.
4. Through reducing the clearance and strikeing, the utility model discloses can help reducing the equipment vibration, less wearing and tearing and damage, life-span weakens the noise, improves operating condition.
Drawings
The present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic structural diagram of a dual encoder gap impact suppression apparatus.
FIG. 2 is a schematic diagram of an embodiment of a transmission mechanism with a gap.
Fig. 3 is a schematic diagram of an RS flip-flop for gap determination.
Fig. 4 is a relative velocity transition curve according to the present invention.
Fig. 5 is a flow chart of the method for suppressing the impact between the square dual encoders according to the present invention.
Fig. 6 shows an example of the implementation of the method according to the invention in a servo press.
FIG. 7 is a graph of the velocity transition without the method of this patent.
FIG. 8 is a velocity transition curve for the process of this patent.
Detailed Description
The structure of the mechanical clearance impact suppression device of the utility model is shown in figure 1, and comprises a servo controller, a driver, a motor, a transmission mechanism, a load, a motor encoder and a load encoder, wherein the driver is electrically connected with the motor, the motor encoder, the motor, the transmission mechanism, the load and the load encoder are connected in sequence, namely, one end of an output shaft of the motor is connected with the motor encoder, the other end of the output shaft is connected with the transmission mechanism, the other end of the transmission mechanism is connected with the load, and the load encoder is arranged on the load; the servo controller is electrically connected with the driver, the motor encoder and the load encoder respectively. The transmission mechanism comprises a driving part and a driven part, the driving part drives the driven part to rotate, and the driven part drives the load to move.
The servo controller comprises four modules which are respectively a gap judgment module, a speed limiting module, a speed selection module and a speed control module, wherein the gap judgment module is electrically connected with the speed limiting module and the speed selection module respectively, the speed limiting module is electrically connected with the speed selection module, and the speed selection module is electrically connected with the speed control module. The driver is electrically connected with the speed control module, the motor encoder is electrically connected with the speed control module and the gap judgment module respectively, and the load encoder is electrically connected with the gap judgment module and the speed limiting module respectively.
The gap judging module comprises an RS trigger.
The flow chart of the mechanical clearance impact suppression method of the present invention is shown in fig. 5, and the mechanical clearance impact suppression method will be described in detail below with reference to the clearance transmission mechanism provided in fig. 2 and fig. 1.
The transmission mechanism in fig. 1 is composed of a driving member and a driven member with a gap therebetween. The driving part is connected with one end of a servo motor shaft, and the other end of the motor shaft is connected with a motor encoder for measuring the rotation angle of the driving part. The driven part is connected with one end of the load rotating shaft, and the other end of the load rotating shaft is connected with the load encoder and used for measuring the angle or the position of the load rotating shaft. The motor is rotated by supplying current through the driver. The magnitude of the current is controlled by a servo controller, so that the rotation speed and the angle of the motor can be controlled. And angle signals generated by the motor encoder and the load encoder are sent to the servo controller. The servo controller uses the two signals to judge whether the transmission mechanism is in a clearance state. When the transmission enters a lash state, the servo controller controls the rotational speed of the driving member so that the relative speed of the driving member and the driven member from one contact surface to the other contact surface is as low as possible, thereby mitigating collisions.
A simplified construction of the transmission mechanism including the gap is shown in fig. 2. The specific transmission mechanism has various realization modes, such as gears, ball screws, threaded screws, worm gears and the like. For gears and worm gears, the speed ratio between the driving wheel and the driven wheel is generally set, and the speed ratio parameter is increased in the formula. For ball screws and threaded screws, one part on either side of the gap is in rotational motion and the other part is in linear motion. The present patent is directed to a rotary mechanism with a speed ratio of 1, which is only for the purpose of describing the method, but can be easily generalized to the various transmission mechanisms mentioned above.
FIG. 5 is a flow chart illustrating an embodiment of the method of the present patent. The method is run in the form of an algorithm program within the servo controller. When the program is started, initialization is first performed, and the clearance angle is measured. And then enter an infinite loop. In each cycle, the position signals of the motor encoder and the load encoder are first read, the angles of the two encoders are calculated, and the speed is calculated from the angles. Subsequently, a gap speed set is calculated from the raw speed set, the gap position and the load speed. And then, judging the clearance state according to the obtained sensor position and speed parameters, selecting one of the original speed setting and the clearance speed setting according to the clearance state, sending the selected one to a speed controller, and adjusting the rotating speed of the motor at any time. The program is repeated as described above, enabling the transmission to cross the gap condition in a gentle manner by precise control of the motor speed.
The mechanical gap impact suppression method using the dual encoder will be described in detail with reference to fig. 1 to 5.
A simplified construction of the transmission mechanism including the gap is shown in fig. 2. The transmission mechanism comprises a driving wheel and a driven wheel. The driving wheel is fixed on the driving shaft and is driven by the servo motor to rotate. The driven wheel is fixed on the driven shaft and drives the load to rotate.
S100, initializing, and automatically measuring a clearance angle between the driving wheel and the driven wheel. The method comprises the following specific steps:
the rotation angle of the drive shaft is recorded as θDThe angle of rotation of the driven shaft is recorded as thetaL。
S101, calculating a clearance angle. The relationship between the driving wheel angle and the driven wheel angle is specified as follows: keeping the driven wheel stationary, i.e. thetaLRotating the driving wheel clockwise until the driving wheel contacts the driven wheel, so that the driving wheel does not rotate any more, and recording the angle theta of the driving wheel at the momentD1(ii) a The driven wheel is still kept still, the driving wheel rotates anticlockwise to enable the driving wheel and the driven wheel to contact in opposite directions, and the angle of the driving wheel is recorded as thetaD2. Calibrating the relative position of the driven wheel and the driving wheel, namely defining:
the clearance angle between the driving wheel and the driven wheel is defined as 2 α, namely:
2α＝θD1-θD2；
s102, determining a clearance position angle
When the action wheel contacts with the follow driving wheel in the positive direction, define as positive contact state, have this moment:
θD-θL＝α；
when the driving wheel contacts with the driven wheel in the reverse direction, a negative contact state is defined, and at the moment:
θD-θL＝-α；
when the action wheel and the follow driving wheel contactless, drive mechanism is in clearance state, has this moment:
-α＜θD-θL＜α；
the clearance position angle of the transmission mechanism is defined as:
θB＝θD-θL；
s200 reading motor encoderAnd real-time angle theta of load encoderDAnd thetaL：
S300, calculating the motor and load speeds, namely the driving shaft speed and the driven shaft speed in the attached figure 2: the rotational speed of the drive shaft is noted as ωDThe rotational speed of the driven shaft is denoted by ωLRespectively obtained by differentiating the angle, i.e.
S400 calculates the gap velocity given:
the speed limit module calculates a clearance speed setpoint based on the load speed and the raw speed setpoint. The speed limiting module compares the original speed set value with the load speed value obtained by the original speed set value. If the difference between the two is too large, a value close to the load speed is calculated as the given gap speed and sent to the speed selection module.
The magnitude of the gap velocity setpoint is calculated according to the curve shown in fig. 4. Figure 4 shows two gap velocity maximum curves. If formulated, the constant gap velocity profile is
Wherein
Representing the absolute value, ω, of a given value of maximum gap speedBCIs the value of the constant gap velocity profile; the triangular gap velocity curve is
Wherein ω isBMIs the minimum gap velocity of the triangular gap velocity curve and k is the slope of the triangular gap velocity curve.
ωBCAnd ωBMThe impact speed of the driving wheel and the driven wheel is determined according to the requirements of actual equipment at the moment when the transmission mechanism is switched from a clearance state to a contact state, and the impact speed can be about 5-10% of the rated rotation speed on the basis that the generated impact can be accepted. If the numerical value is too large, the impact is strong; if the numerical value is too small, the transition process is slow, and the control effect is influenced.
The meaning of the curve is that when in the clearance state, the original speed is given a given value omega*With load speed omegaLWhen the absolute value of the difference is larger than the value specified by the curve in the figure, the load speed is added with (if the original speed is given to be larger than the load speed) or subtracted with (if the original speed is given to be smaller than the load speed) the value represented by the clearance speed curve, and the value is output as a clearance speed set value; otherwise, the original speed set value is output as the clearance speed set value. Defining a given value of gap velocity as
The above description is formulated as
The constant gap speed profile in fig. 4 shows that the gap speed set point is calculated independent of the gap position, and the absolute value of the maximum gap speed set point is held constant at any gap position. The triangular gap velocity profile indicates that when the gap is large (when the absolute value of the gap position angle is close to 0), the absolute value of the maximum gap velocity set value is also large, and the relative velocity is reduced when the driving wheel and the driven wheel are about to contact. This speeds up the gap transition time while ensuring a low contact velocity.
S500, judging whether the contact state is achieved according to the speed and the position, namely the gap speed and the gap position angle:
s501 according to real-time thetaDAnd thetaLCalculating thetaBAnd gap velocity ωBWherein
When the transmission mechanism is in a contact state, the gap speed is equal to zero;
when the action wheel is equal with the clearance of following the driving wheel in positive and negative two directions, drive mechanism is in the clearance intermediate state promptly, has: thetaD＝θL。
In general, when the driving wheel pushes the driven wheel to rotate in the positive direction, the formula θD-θLα holds. If the driving wheel suddenly decelerates and the driven wheel keeps the original rotating speed due to inertia, the two wheels will rapidly reach a negative contact state from a positive contact state through a gap state. At the moment of reaching the negative contact state, the driving wheel and the driven wheel collide with each other. The larger the relative speed of the two is, the more serious the collision is;
s501, judging whether the driving wheel and the driven wheel are in a contact state or not, adopting an RS trigger judging method,
first, define
Wherein alpha is0The value is close to alpha but less than alpha, which means that the driving wheel and the driven wheel are close to each other, and can be selected according to the actual situation, and the general optional range is 0.8 alpha-alpha ≤ alpha00.95. alpha. or less, preferably 0.9 times the amount of alpha. If α is0Too close to alpha, it is susceptible to interference. R represents the size of the gap, and means that if the distance between the driving wheel and the driven wheel is very close, namely the contact surfaces of the driving wheel and the driven wheel are close, the distance is logic 1, otherwise, the distance is logic 0;
wherein, ω isB0Is a small gap speed value, preferablyThe rotating speed of the motor is 1% -5%, preferably 5%. If the absolute value of the gap speed is less than the value, the driving wheel and the driven wheel are relatively static. The value of S represents the size of the gap velocity, and if the velocity is larger than omegaB0It is logic 1, otherwise it is logic 0. 1 indicates that the driving wheel and the driven wheel move relatively; 0 means that both are relatively static.
Q is the output signal of the RS flip-flop, logic 1 represents the contact state and 0 represents the gap state. According to the RS flip-flop principle, a gap state determination method described in the following table can be obtained:
the meaning of this table is that if the relative speed between the driving wheel and the driven wheel is close to zero, the two are considered to be in a contact state; if the relative speed is high, the gap position is comprehensively considered for further judgment: if the distance between the driving wheel and the driven wheel is far, the mechanism is in a clearance state; if the distance is short, the last gap judgment result is kept.
Wherein Q is calculated as follows:
respectively inputting R and S into two input ends of the RS trigger for calculation to obtain an output Q, wherein the calculation formula is as follows:
wherein Qn+1Is the latest calculation result of Q, QnIs the state of Q before calculation, and n is an integer of 0 or more.
The S503 gap judgment module sends the contact state information Q output by the RS trigger to the speed selection module.
S600, speed setting is selected according to the contact state:
the output signal Q of the clearance judgment module represents the state of the contact mechanism of the transmission mechanism and the clearance position, and is output to the speed selection module for selecting the speed set value.
If the output of the clearance judgment module is logic 1, namely in a contact state, the speed selection module selects the original speed to be given.
If the output of the clearance judgment module is logic 0, namely in a clearance state, the speed selection module selects clearance speed to be given.
S700, controlling the motor according to the speed setting: the speed selection module sends the speed information to the speed control module, and the rear speed control module controls the rotating speed of the motor through the driver.
FIG. 6 is a schematic representation of a servo press gap suppression control system incorporating the apparatus and method described above, wherein the servo controller of the disclosed method receives feedback signals from both the motor encoder and load encoder sensors and sends current commands to the drive in accordance with the algorithm described above to control the servo motor to rotate at the desired speed. The motor shaft is connected with a small gear shaft of the servo press and is meshed with a large gear through a gear. And a load encoder is fixed on the large gear shaft. The big gear is additionally fixed with a crank and is connected with the slide block through a connecting rod. When the motor rotates, the sliding block can move up and down along the guide rail, and the workpiece is punched.
The gear ratio between the large and small gears is r, and the gear backlash is defined by the pinion shaft angle. To perform the calculation according to the method of the patent, the angle of the pinion shaft must be multiplied by the transmission ratio r, converted to the motor shaft. For this purpose, the angle of the large gear shaft is defined as thetaGThen thetaL＝r·θG. And thereafter can be calculated using the respective formulas described above.
Fig. 7 and 8 show the results of computer simulations of the present method. In the simulation model, the clearance angle of the transmission mechanism is equal to 5 degrees, and the clearance speed adopts a triangular clearance speed curve. Model-applied speed step command: a constant rotation speed command of-25 rad/s is given before the time t is 1 second, the motor is put into stable rotation, and the motor is suddenly changed to 50rad/s when the time t is 1 second. The curves record the motor speed and gap speed curves.
FIG. 7 is a case where the method of the present patent is not employed. It can be seen that immediately after the speed step command is issued, the transmission enters the gap state from the contact state, the motor speed rises rapidly, the driving wheel reaches the positive contact surface of the driven wheel about 1.01 seconds after crossing the gap, and the collision occurs at a speed of 40 rad/s.
FIG. 8 is a case of applying the method of the present patent. It can be seen that immediately after the speed given step command has been issued, the transmission enters the gap state from the contact state, the motor speed is first increased above that and then decreased, the driving wheel reaches the positive contact surface of the driven wheel at about 1.032 seconds and the collision occurs at a relative speed of 2 rad/s. It can be seen that after the method of the patent is adopted, the collision speed of the driving wheel and the driven wheel is reduced to 5% of that of the driving wheel and the driven wheel which are not adopted, and the collision energy is 0.25%. The effect is obvious. The price paid is that it takes a slightly longer time to complete the transition, which is completely negligible in the production process.
The goal of servo presses is to provide precise control of the slide position. Therefore, only on the basis of the speed control function of the method, a position controller is added, namely a corresponding software algorithm is added in a servo controller. The position controller receives a position given signal from the user interface, reads position information of the load from the load encoder, generates an original speed given according to the deviation of the load position and the given position, and sends the original speed given to the gap impact suppression program, so that the position of the gear wheel can be accurately controlled. According to the determined relation between the angle of the bull gear and the position of the slide block, the position of the slide block can be accurately controlled.
Claims (4)
1. The utility model provides an adopt mechanical clearance impact suppression device of two encoders, includes servo controller, driver, motor, drive mechanism, load, motor encoder, its characterized in that: the servo controller is electrically connected with the driver, and the motor encoder, the motor, the transmission mechanism, the load and the load encoder are sequentially connected; and the load encoder and the motor encoder are electrically connected with the servo controller.
2. The mechanical gap shock suppression device using a dual encoder as set forth in claim 1, wherein: the servo controller comprises a gap judgment module, a speed limit module, a speed selection module and a speed control module, wherein the gap judgment module is electrically connected with the speed limit module and the speed selection module respectively, the speed limit module is electrically connected with the speed selection module, the speed selection module is electrically connected with the speed control module, a driver is electrically connected with the speed control module, a motor encoder is electrically connected with the speed control module and the gap judgment module respectively, and a load encoder is electrically connected with the gap judgment module and the speed limit module respectively.
3. The mechanical gap shock suppressing device using a dual encoder as set forth in claim 2, wherein: the gap judgment module comprises an RS trigger.
4. The mechanical gap shock-suppressing device using a dual encoder according to any one of claims 1 to 3, characterized in that: the transmission mechanism comprises a driving part and a driven part, and the driven part drives the load.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113946137A (en) * | 2020-07-15 | 2022-01-18 | 山东省科学院激光研究所 | Impact suppression device and method adopting transmission mechanism gap speed limitation |
| CN113946137B (en) * | 2020-07-15 | 2024-06-04 | 山东省科学院激光研究所 | Impact suppression device and method adopting transmission mechanism clearance speed limitation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113946137A (en) * | 2020-07-15 | 2022-01-18 | 山东省科学院激光研究所 | Impact suppression device and method adopting transmission mechanism gap speed limitation |
| CN113946137B (en) * | 2020-07-15 | 2024-06-04 | 山东省科学院激光研究所 | Impact suppression device and method adopting transmission mechanism clearance speed limitation |
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