TWI313094B - - Google Patents

Description

1313094 9 years 8.1 coincidence replacement page 1 IX. Description of the invention: [Technical field of the invention] The present invention is a series of parallel motor, linear motor synchronous control ", especially - the same motion control architecture, and can be used for vertical motion Double flat;: Straight axial (z-axis) '' Motor-driven control, and can be equipped with π μ θ β ΐ '卞, 'first, with string-parallel mixed six, η ^ can improve the purchase of "The mouth-opening type of control structure" achieves the high-speed precision...the performance of the parallel-parallel linear motor with the same dynamic control performance. [Prior Art] Press, linear horse far 1 dead soil ^ ^ ', 3 bureau fans, high acceleration of the animal, s 4 w Μ maximum speed of movement, 4 and & and points (motor early body, TM · to) The maximum acceleration is up to 钊qnr, #Motion mode is direct drive and "up to 30G", and the indirect drive 2 such as coupling is "transparent through gears, racks, ball screws, nonlinear and error". And the gap caused by the gradual replacement of the rotary horse far mouth this near-adult in linear drive applications such as magnetic floating material, 184 main drive components 'including transportation vehicles' such as steam locomotive Gong Bao ladder: aircraft launch system, etc., with manufacturing plus Industrial, speed cutting and other occasions: t: semiconductor process, laser cutting, electric discharge machining, high rt, ^ from the use of linear motors, the ancient #古人 direct drive and other special speeds 'high acceleration inch 4 to achieve. Line, 丨4 is a tool machine manufacturing and production of motor applications. The current development is the most vigorous domestic boomer; especially with the rapid development of technology, both the body and the LCD panel Fee,, θ ^ Locomotive industry, mechanical board ~ industry, or traditional steam industry are all facing precision, high speed and high acceleration 4

1313094 The direction of the transformation is progressing, and the key to warmth and then in each of them is to improve the work and her ~ efficiency. The linear motor has excellent speed, high acceleration, and large machining capacity: it can meet the needs of high-efficiency machine tools. Force and sorghum in the current high-speed processing technology screen display material exhibition has a long time before the development of the speed spindle, 'feeding high-speed is also the phase: the direction, in recent years with the linear $ up, match It’s awkward! The development of the motor is mature and widely used,

岐Tool machine manufacturers have introduced J-type machine tools with linear motors, using linear motor high thrust and high servo f characteristics, replacing the ball lead screw and servo motor positioning system, and using the optical tape position signal back Grant 'requires the accuracy of the South. In addition, the machine tool with linear motor is the drive shaft, the machining feed rate can reach 90~18 (jm/min, the acceleration can reach, far exceeding the specifications of the general rotary servo motor (more than 25~4〇m/min) , the maximum does not exceed 60πι / πηη), therefore, can be used 2 to 3 times the processing efficiency of the traditional machine tool, and in addition to the fast feed rate, can shorten the processing time, the high-speed spindle with the linear motor high-speed machine tool can Effectively improve the surface luminosity and precision of the workpiece. Refer to the first figure as shown in the first figure. 'The single-feed axis is driven by two sets of parallel linear active motors (3 〇) and driven motors (7 〇). There is a rigid and light mechanism (9 〇) between the linear motors. Due to the rigid coupling mechanism (90), the synchronous motion performance of the 'double parallel linear motor' is very important in high speed, high acceleration and high precision. If the difference between the motor characteristics of the two groups is too large, the coupling mechanism is prone to flexural deformation. In addition to affecting the machining accuracy of the machined parts and causing the processing machine to change the replacement page ^ 13_09 In addition to the damage, it is even possible to endanger the safety of personnel. It can be seen that the simultaneous control of double parallel linear motors is a key technology. In the literature [RD Lorenz and Ρ· B. Schmidt, Synchronized Motion Control for Process Automation, 5, Proceedings of the 1989 IEEE Industry Applications v〇l· 2, pp. 1 693- 1 698, 1 989.], Lorenz divides the synchronous motion control method into synchronized master command generator control (ynchronized master command generator control) ' : From control (C〇nver) ti〇nal Master-Slave.motion control) Spear relative kinetic, R (a) sHffness m〇ti〇n control 〇, synchronous master command control in the literature The characteristic is that the two motor control J k roads can be independent 5 and a ten, and give the same position and speed commands to the two motors according to the same motion requirements required by each axis. The I main control is the two-axis motor. Divided into active and driven horse f, with the response output of the active motor as the input command of the driven motor 'make the motor follow the active motor ^ step forward 仃 movement' to achieve the master-slave The relative dynamic stiffness control of the moving eye is an extension of the master-slave control of the 疋I, using the difference in the motion of the two-axis motor (the position of the same way to reach the same speed.) is fed back to the driven end to compensate for the step motion. effect. In addition, in the processing machine, when the linearity is broken, the 'axis-axis (Z-axis) drive application, Tian Hao! ·The raw motor drives the vertical feed axis to increase the sound AA T when the speed is moving. 'Because of the influence of the heavy knife acceleration, the force will be too large and difficult to position. U〇94 丨年Η Βί4ιΕ % question, empty shell, L. Two -: 1 is easy to cause processing machine 1 A. In addition to the need to carry out, gentleman M /, 'know bad and the accuracy of the processed object is not good, because of the high rigidity design of the gravity compensation i system, the servo system needs to be further - the general practice is nothing more than 卩 & this cheek problem On the traditional horizontal machine tool, the above-mentioned load weight or the gravity compensation of oil and air pressure should be summarized. The control of the multi-axis motor working platform should be mastered and vertical. Synchronous motion control W-knife compensation technology with dual parallel linear motors. SUMMARY OF THE INVENTION The present invention is designed to provide a "pitch control system" H θ Μ two, X parallel linear motor with the same 'string-sub-sub-integration · 4, ρη 乂 bilinear synchronous control, Moreover, in the two-way synchronous control, the realization of the motor-driven control, in the double parallel line of the vehicle, the acceleration motion process, the gravity acceleration on the control performance, and the initiative Even parallel and mixed π, such as vertical, 仏糸 仏糸 与 and string-D-type synchronous control, so it can effectively improve um, ^ ^ ^ ^ 1 i 1 axial double flat 饤 ',,,,, Control performance to achieve high-speed precision positioning. In order to achieve the technical content of the above purpose, the developed synchronous control system has a double parallel line "= line linear horse « 1 active motor and driven motor are controlled bodies and are arranged in the parallel of the tool machine, ..^ On the custom rail, there is a high-rigidity coupling mechanism between the active horse and the driven motor. W. 'The system is based on the series-parallel hybrid control technology, and the slave will be smashed. The loop part is designed as thrust control, and a thrust command gain is added. ^ The driven motor is passed through the 5 hp proportional gain. The active motor obtains the appropriate input sentence ntL years old to share the output of the active motor, and the two sets of motors are used together to promote , @feed axial movement 7 1313094

98, 3. 17 . - J mechanism, and can effectively average the burden of a single motor. Different from the prior art, the motor of the control system adopts the thrust of compliance (1) in the 'driven output' and the size is adjusted by the proportional gain, ib Μ ® -Α , Λ . ^ 乂To achieve the goal of the average two sets of line twin motor thrust, reduce the motor 贞r Q . _P j N is now. The positioning control of the rigid (5) fairy ess) is carried out by the active motor, which makes it suitable for sports situations with high rigidity and light weight, and precise positioning. Jianye Aspeed [Embodiment] With reference to the first and second diagrams of the I parallel structure block diagram, which constitutes the active material (30) and the driven motor 7 of the present invention; 0 2 has double parallel arrangement on the two parallel slide rails of the tool machine, and the active stirrup (the control body and the motor (7 0 ) are provided with a rigid light-closing mechanism ( ) Ά w UJ , it 卜 - Φ - parallel mixing The synchronous control technology is a driven motor (the 7-circuit part is designed as thrust control and plus-thrust command), servo 0), so that the driven motor (7 0) transmits the proportional gain from the active 1 surplus ( 5 〇) Obtain the appropriate input signal to share the active motor (3 〇, 达 (3 to the shaft, force 'utilize two groups of motors (30) (7 0) to promote the output) The active motor (30) and the driven motor (7 〇) 乂 two parallel lanes, the active motor (3 〇) and the driven motor (7 points are set in the position detection function, but in Active motor (3 〇) 〇) machine word service loop according to 8 1313094 order to set a position loop control (1 〇 ) and —

, the obscurity loop controller [P 0 . 屯 into the control signal connection, located in the active horse

^ 1 运 <d 0 ) Backend connection I setting - integrator (4 〇); and control signal front end setting for active « ^ Γ 7 , , ', ( 3 〇) and slave horse inverse <7 0 — η , J moving block is the controller (6 〇) connected to the speed loop controller (2 n, thrust command gain (b 〇) signal output, in the slave horse far s ^ ^ ^ ^ (7 〇) The control signal output is connected to an integrator (8 〇). In the present invention, for the positional circuit design of the active motor (the county needle "◦"), the 疋·10 sub-active motor (30) is subjected to a rigid reading. (7 η, a &lt; position control, and the driven motor (7 〇) 疋 is activated by the thrust command of the active motor (3 〇) as an input signal, so in the control loop J 11 , &lt;100% active motor (3 0) servo circuit setting /, performance $ &amp; + t window to ensure the position of the month after the control, the side of the slave motor (7 n, crying [R η λ ' The position loop control block diagram of the 1 , 0) end and the co-motion error control ° (6 〇), and the active motor side #d 〇) As shown in the third figure, the schematic diagram, ^, and the simplified flow of the servo loop design are shown in the figure. Among them, because most of the motors are your field operators, there is no open current loop for the users to Design the current controller, — u This will switch the drive state to the thrust mode only for the speed loop controller (Η) # position loop control ( (4) 'Simplified flow chart of the entire feeding circuit design, the wind will identify the system The number of motors obtained is given to the 杈 type, which is substituted into the speed loop. The design of the enthalpy speed loop controller (2, and the design of the speed loop control "Jie (2 〇) is '乂 proportional integral (ΡΙ) control The speed response performance required to achieve 4 。. 1313094 3. 1 The motor transfer function in thrust mode is expressed in the order system, when the catch controller is designed as a proportional integral (PI) controller, the field loop transfer function cannot Turn into the standard: order form, ... = closed frequency way to design the controller parameters, two = and: point to eliminate the pole of the controlled motor transfer function to make the example integral (Π) controller ...only 1 'this ratio ρ π ten way' only need to determine the system closed loop bandwidth, you can design the parameters of the controller. Interest Road = Bit 2: Controller (2.) design, completed The speed can not be calculated from the inside and the outside of the position loop (four); similarly, the influence of the bit response, the speed loop is simple..., at this time, the interesting road fiber (10:: and the heart map, so the position can be. Use μ, ° Further, you can use the proportional (ρ) controller transfer function to the surface position controller, the closed loop G(s) of the whole system = ~S^ s + Cr c, +1 1.1 scoops From the perspective of frequency response, the first order: wide: equals its time (four), so given the system position loop frequency t is the temple effect on the given position controller. The proportional gain (8) value. Note 2: The thrust command design of the slave horse...0), after the completion of the position control loop design of '', (3 〇), the slave horse can be performed; 聿Γ 7 η heart 攸〇 攸〇 ^ ) Thrust control design, although the controlled two sets of motors (3) (7 〇) are the same motor produced by the same manufacturer, but the same order, Fuxiang vine &amp; There must be a difference between "," and 'w. See the figure shown in Figure 5 for the two motors to be 0 7 0) X, 2, and 3 ^ ϋ - Replace I, Input, 6, Output Response For _, ^, therefore Yu Ψ. '2, J Tianchang Guang 6 o'clock, because the controlled u this round less, will not be equal and the diameter 2 right to get two motors, the description is as follows) the same round, must Appropriate adjustment of the input command, do not make the transfer function of the dual motor as follows: α α2 1. 6 'The input and rotation relationship is as follows if you want G2r2 =^&gt;r =,

(1.3) Φ This gain can be obtained according to the following formula: Ruler r == lim = αΦ\ Kwa,)—(1.4) IZ / From (1.4), + Λ In the series-parallel hybrid control frame The dynamic motor) thrust command and the driven motor (7 0) thrust life: ' must not be a 1: 1 relationship, but must be based on the two-stage motor (? ' (7 〇) itself's bandwidth and dynamic response, etc. Characteristics, adjust the two sets of motors) 〇) (7 〇) between the thrust command proportional gain center, the media 3 close response output. The design of the co-moving error controller (6 〇) described in the following picture, due to the difference in the motion characteristics of different motor owners, coupled with the uncertainty of the external environment (such as the friction meal), resulting in double Motor C 3 Q ) ( γ 〇,

U 1313094 When performing synchronous motion control, the m-state of the unavoidable dish is the same, especially when the two sets of motors (3: when the temporary mechanism coupling between speed and position is generated) will be due to the hardware between the two groups of horses (:0). Synchronization and the mutual movement of the pull 7 0) of the movement is not born, can be controlled back into the second difference. Second, avoid this - the phenomenon of synchronous motion. . Is to supplement the stomach, coordinate the dual motor into the first design of the same motion μ, 簟弋盍η红* set the difference gain and the same speed error 捭1 equivalent to the same speed Tang 曰 曰 k degree decision through ratio The integral compensation signal is fed back to the two motors (3 ^ will be supplemented (7 〇), as shown in the sixth figure. Then use the Mason, s gain formula to make the sixth picture The signal flow chart is not as shown in the seventh figure, and the transfer function of 屮L is as follows: factory m __ As2 + Bs 4- c lm ~dp7e?~^Tg (1. 5) A —bY B = + Lu C two b't^K' where _D = 1 E two a' + a] + b'Kj + biK) F two a\a2 + b'K' + a2b'K2 + b2K' + a'b2K2 G ~ + (1·^)^Κ-\ According to the formula (1. 5), the transfer function of /&quot;, 4匕 has 2 zero points (Zero) and 3 poles (P〇le). As a curve fitting condition of the system identification I test result, the / 4 ^ transfer function is obtained as the formula (1. 6) 12 1313094 4 is the next day 1 _| Ψ η umbrella A s' + Β s + c* D%3+EV7F^f (1.6) and other parameters are known, as long as they are compared (].5) and (6·6) due to each of a', a2, b' The coefficient coefficient relationship, ie ^^". J Yongshou &amp; and the value of κ2 - with reference to the eighth figure of the household jin - string together f,, θ people 4 η * no, / 'system active pressure compensation system plus Shen Asru commits the same type of action 拎 ^ ^ ^ The structure of the strip (position / thrust), can indeed achieve idle speed and 咼 precision Λ ^ Pregnancy by the same servo performance. In many machine tools application field force demand, ... B. Ask for the speed of the feed and the big push type (G her y-type) machine / use the box (Β〇χ, - (four) or the dragon double motor with the same feed, "冓 e e ten In addition, the vertical axis (ζ axis) also has a parallel linear active ^ =, with the reference shown in the ninth figure, which has a double horse built (3 0 ) and a driven horse 33Γ 7 η λ body and is set in the work I樯”, 达(7 0 ) is controlled/female 0 ( 9 5 ) two flat rods, 妯 rn, active motor (3 〇) 仃α rail (9 1 ), with driven motor (7 〇 ^ ^ Institution (Θ 0 ), think that +) between the government - rigid coupling and J in the vertical axis of the tool machine (9 with optical scale (θ2) b) for the active motor (3 〇) 盥〇) Position detection, ,, swaying horse (Gamma] '. In the machine tool (95) a set of one thousand persons pneumatic cylinder (Qq〗 &quot; S disposed axially straight' and a rigid _ n sowing machine to the shaft (94). The configuration of the private (9 〇) is shown in the eighth figure. The series-parallel eight-segment, the part of the driven motor Q-type synchronous control technology bite <7 〇) is designed to draw a thrust command gain (', Force control, plus the gain of the example by the active motor (30"1 is appropriate / 〇) through the output of the ratio of the active motor (30) using ... signal to share the J « force, using two groups of horses @ 卩 co-power Promote the entrance ^〇) (7〇) return, .Q vehicles, and can effectively average the single-min WU; the burden of the motor, with 13 1313094. 3 combined active air pressure compensation system, power source 'and proposed active air pressure The force can be based on the feed axis r Q 〇t to make the air pressure compensation system.. 4) the weight and acceleration, the appropriate force of the 呻 并 and the compensation should be compensated as an electric air proportional valve (9 input pen pressure) , and the command signal of ^ X . " is used to control the pneumatic cylinder (9 electrician proportional valve (9-axis) motor and load, the 'force size' provides vertical axis (" Ζ , , 7 , , π , to achieve the dynamic balance demand, in order to obtain the most _ ζ axis synchronous servo performance ^ ^ The entire feed axis will drop downwards, :,, in the case of sudden power failure, it is 曰 ,, and the s-curve curve (s-curve) is used as the motor simulation and experimental motion path. The main motion characteristics of the motion curve are position, velocity, acceleration, and the impulse curve is continuous 'so that when the motor is performing acceleration and deceleration, 35 kinetic energy is smooth and the cow is low vibration' S &amp; curve planning must be based on the given four conditions; The ', fixed' user can design the following conditions according to the motor's performance specifications, including: 1. Motion stroke (Smax) 2 'Maximum speed (Vmax) 3 · Maximum acceleration (Amax) 4 · Average acceleration (Aavg) When given Four conditions after the curve ' and as shown in the tenth figure Τα : V max Aavg η: _2*V max A max Tc: Ta ~ Tb 2 Ts: 5 max - To v max Τα Print can plan the required S-type motion Among them: 14 1313094 In the z-axis synchronous control into the J shell, the test, according to the above various control design, the control, and the whole, the relevant parameters are as follows: the child root active motor (the design of the controller According to the actual response of the motor The function Gm=a 125^ 〇) of Han Shachuan 7.11 and according to the derivation c, _ = 5, ^^〇07,, ^ 'There will be a driven motor G = 0. He, so the speed feedforward control two Good response, but on the implementation of J οσ C / - 0.98 ^ 0)) speed controller (2 0); _10 + 1^ Drive motor (7 0 ) thrust command gain ( s simultaneous position error gain ϋ .5 曰 simultaneous velocity error gain 2 = 002 See also Figure 11 (a) (b) Drive motor (7 ΓΜ 掩 * 〇 〇 〇 〇 〇 〇 〇 , , , , , , , , , d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d d Obtained: the thrust output, its thrust command will not be a 1:1 relationship, sexually. Seven, υ" 1) its own motion response is increased; adjust the thrust command between the two groups of motors (30) (70) t Proportion of the size of the second dish, 卩 obtain similar thrust output 'as shown in the figure is the different thrust motor (7 〇) thrust command gain value, the obtained thrust of the active motor (3) and the driven motor (7 0) Comparing the output voltage, it can be found from the figure that [Τ' left#,,, °, the increase of the gain value of the operator, the thrust voltage of the active motor is significantly reduced [because the motor (7 〇) assists the output, so the active motor (3 〇) The required thrust load becomes lighter], when the driven motor (7 〇) thrust command gain (5 position controller active motor 〇 ) Kr = 0.8 15 1313094 -|8: 丨r&gt;t曰flf replaces negative 0) Designed to be 0.8., ±/^ The main-slave motor (3 0 ) ( 7 0 ) has the most uniform thrust voltage curve, gp Your left gp represents the output thrust provided by the double horse (3 0 ) ( .70 ). Referring to the + _* 叱 、, Μ , , , 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本Synchronous servo performance of the same-motion control (position/thrust), according to the regulation: the S垔 motion path has a movement stroke of 200 faces, and the maximum speed is 20 0/0 - 6/7 /5, the fools l , too - , . degree is 400/0.36 mm / s2, the average acceleration is 500 / 〇 · 6 mm / s2, the movement n ± „ * 1 sec between the transitions. The movement of the high-speed s-type motion path is not Changed but the maximum 抻庳 _ 込 咼 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 〇. 7 sec. Sine transmission without v _ The path amplitude is 30 mm, and the motion frequency is tested at 1 Hz, 2 Hz, q Η, 3 Ηζ, 4 分别. See the tenth with the tea: r_带- 3, No, it is the series-parallel hybrid synchronous control C position/thrust) S-scraping military-synchronous road----------------------------------------- Port state, however, the two curves are subtracted to obtain the tracking error shown in the fourteenth figure, π, a J knows the maximum transient servo backward control in ww 'steady state error is 0 system right +1 + ^ t system Within The resolution of the optical ruler.) The fifth chart further shows the co-location position error between the two sets of linear motors during the s-type movement path. The two parallel motors are seen by the figures ^, . The dynamic error can be captured in ±6 townships. In the high-speed s-type transport t-connected road test, the command and position t should be compared, and the misplaced discs should not be compared. 4, , , ^ 同 The linear motion between the linear motors is as follows: According to the figure of the seventeen ψ έ and the younger brother, it can be seen from the figures that the large transient servo is backward and the ridge can be completed. In the 0 · 14 / 7 simple, the steady-state error can be controlled 16 1313094 ▲ ^| Positive replacement page · Within ±1/^77 (resolution of optical p丄)) The co-movement error of the double parallel motor can be controlled within +6~-12. _ In the experimental sinusoidal motion path experiment, the nineteenth figure is the two-axis co-movement error of the 30-sided _HZ sine wave motion path. The co-movement error range is between 〇 and 4 pm; the __j_ axis, a picture For the 30mm-2Hz sinusoidal motion path, the two are separated by the same motion, and the same diligent symplectic &amp; dynamism is about between the + Bu; the first - + picture shows the 30 Qing Bu 3Hz brother - The ten-motion error range is about the two-axis co-movement error of the +3~_5 motion path, and the 4Hz sine wave-military niece's $30 surface shown in the twenty-second figure—the ίπζ-string motion path +5 ~Additional door "two-axis simultaneous motion error, the same dynamic error range is about in the army, observation. It can be seen that the peak of the two-axis simultaneous motion error occurs when the motion speed is maximum, and the * value appears ^ f^ ^ the higher the animal motion frequency , that is, the speed of movement 盥 4 movements and the higher the catch, the 同·Η ^. The same motion error of the At axis will also increase,

..., can still be controlled within acceptable limits. Q All of the above experiments were carried out under the conditions of addition. According to other related experimental results of θ ^ , π , the symmetry of the θ ^ , π , the string _ # , 二Γ (position 7 thrust), in the same axis without the same dynamic-difference The positional response of the dynamic error 々 乜 相 甚 甚 甚 , , , , , , , , , , , , _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Thrust control,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, Detailed description of the test can be clarified: into the structure, technical content and simulation, and the actual supply - "Shuangping = design features of the invention are:, motor-driven control system", and in the absence of 17 1313094 &gt; Replace I: ' s for the same power control, this can not guarantee the synchronous movement 〇) The hard-to-acquisition thrust pulls each other. In addition, it can be averaged to disturb the situation. When the rigid mechanism is compensated, the 'driven motor (70) is driven by the open circuit and the physical quantity of the control is the thrust instead of the position or speed. The position and speed of the two sets of motors (3 〇) (7 〇) are obtained. :丨' and when adding the same motion error compensation and having a rigid light-synchronization mechanism (after the body shank is closed, the two groups of motors (30) (70) have a significant improvement in the same motion error' and because of the slave^(7〇 ) Compliance control, so it is possible to improve the two sets of motors (3 〇) (7 disturbances rise 3' so that the feed car is moved by (9 4) ^ 'by the driven horse it (70) thrust command gain Appropriately set two sets of linear motor (3 〇) (70) thrust output to avoid single-motor overload phenomenon, can also improve their mutual pull, so the control architecture of the present invention is suitable for short span and highly coupled In the application, it can provide high-speed precision positioning function. [Simplified description of the drawing] First figure: Schematic diagram of the double parallel linear motor synchronous system with rigid coupling mechanism coupling in the present invention. ''Second picture: related to the present invention Series-parallel hybrid synchronous control architecture (position/push Figure 3 is a block diagram of the motor position loop control in the present invention. A simplified flow chart of the servo circuit design in the present invention. The present invention relates to a dual motor input/wheel. The present invention relates to an equivalent double motor mechanism coupling block diagram. The invention relates to an equivalent double horse mechanism conversion signal flow 18 1313094, the eighth figure, the ninth figure, the tenth figure, the eleventh

Tenth

Tenth, first, first picture. ~: In the present invention, the active air pressure compensation system plus the parallel hybrid synchronous control architecture (position/thrust) is a schematic diagram of the pneumatic gravity compensation in the present invention. &quot; . In the present invention, the s-type motion path graph is shown. Figure Γ g, • 丄. This is a schematic diagram of the S-type motion path—the main thrust voltage ‘ thrust command gain=0.5 :: versus time. Packing map (h, *丄. s-type motion path in the present invention) Thrust voltage, thrust command gain = 〇 vs. time. Thrust voltage diagram Γ .,., related to the motion path - the main thrust voltage 'Thrust command gain=&quot;It: ',, '--time relationship diagram. Force voltage g:d): In the present invention, the s-type motion path m reaches the thrust voltage, the thrust command gain, ', and the relationship with time . ... force diagrams. Figure 3. Schematic diagram of the z-axis command in this invention. The "n-type motion path is used to perform the s-type motion path command and the plasticity comparison diagram. s This ι-month s-type motion path diagram. The trajectory tracking error of the present invention s-type motion 疋 two-axis motion error diagram four figure five Figure 1313094 is a schematic diagram.

Figure 16 Figure 17 Figure 18 Figure 19 The high speed schematic of the present invention. Positional Response of Type Motion Path The present invention performs a high speed s type motion path error diagram. The present invention performs a schematic diagram of a high speed s-type motion path error. The two-axis simultaneous motion of the trace tracking of the present invention performs a sinusoidal motion 1 Η z sine wave motion path diagram. In the Lucer experiment, the two motion errors at 30靡ί are shown in Fig. τ. 仏 Only in the rear view of the 30mm 3Hz sine wave motion path. The two axes of the same motion error

5 ^ 3 0 mm.- Error indicates a two-axis diagram of the 4 Hz sine wave motion path. Main component symbol description] 1 0) Position loop controller (3 〇) Active motor (4, 5 〇) Thrust command gain 7 〇) Slave motor 〇) Speed loop control integrator 〇) Co-motion error controller 0) Integration Cry οσ 20 1313094 f —- pottery, form feed (9 0 ) rigid coupling mechanism (9 1 ) parallel slide rail (92) optical ruler (93) pneumatic cylinder (94) feed axis (95) tool machine (9 6 Electric air proportional valve

twenty one

Claims (1)

1313094 MJ&amp; X. Patent application scope: 1 A double parallel linear g technology ηk i motor synchronous control system with dual parallel linear active motor and two parallel slides set on the tool machine from the power motor for the text control body On the track, the active 焉 设置 设置 设置 3 设置 设置 设置 设置 设置 设置 设置 设置 设置 设置 设置 设置 设置 设置 设置 设置 设置 设置 设置 设置 设置 设置 设置 设置 设置 设置 刚性 刚性 刚性 刚性 刚性 刚性 刚性 刚性 刚性 刚性 刚性 刚性 刚性 刚性 刚性 刚性 刚性'Asia plus a thrust command gain, The driven motor obtains the appropriate input signal by the active motor through the proportional gain to share the output of the active motor, and the two sets of motors work together to push the feed shaft, thereby effectively averaging the burden of the single motor. 2The double parallel linear motor synchronous &amp; system as described in claim 1 of the patent scope, wherein the front end of the active motor is sequentially provided with a position loop control . . And the speed loop controller forms a double loop control signal connection, and an integrator is arranged at the rear end of the active motor, and a synchronous error controller is arranged at the front end of the control signal of the active motor and the slave motor. And the signal output end of the thrust command gain, and an integrator is connected to the control signal of the slave motor. For example, the double parallel linear motor synchronous motion system described in claim 2 of the scope of the patent application, wherein the optical axis of the tool machine is provided with an optical ruler for position detection of the active motor spot AA tongue/moving motor know. The double parallel linear motor is the same as the two-parallel linear motor system according to the first, second or third aspect of the patent application, wherein a pneumatic cylinder is disposed in the vertical axis of the tool machine, tx V, and a rigid coupling mechanism is provided. Give the shaft. 5. The dual parallel linear motor synchronous 1313094 control system according to claim 4, wherein the series-parallel hybrid synchronous control cooperates with an active pneumatic compensation system, and the pneumatic system is used as a power source of the gravity compensation system. With the active air pressure compensation design, the air pressure compensation system can calculate the force to be compensated according to the weight and acceleration of the feed axis, and obtain the correct input voltage through unit conversion, and serve as the command signal of an electric air proportional valve. Through the electro-pneumatic proportional valve to control the output of the pneumatic cylinder, the z-axis motor and the load are provided with a force to achieve dynamic balance. Φ XI, schema: as the next page