TWI664513B - Tool machine servo control simulation device and establishing method of structure model - Google Patents

Abstract

A machine tool servo control simulation device and a method for establishing a controlled body model. The machine tool servo control simulation device includes a controlled body model and a processor. The controlled body model includes position function, speed function, and drive characteristic parameters. The processor includes a control signal receiver and a simulator. The control signal receiver is used for receiving servo commands. The simulator responds to the servo command and generates a simulated path based on the position function, speed function, and drive characteristic parameters.

Description

Machine tool servo control simulation device and establishment method of controlled body model law

This case relates to a method for establishing a servo control simulation device and a controlled body model, and more particularly to a method for establishing a machine tool servo control simulation device and a controlled body model.

Machine tools are made up of hundreds or thousands of components. After assembly of these components, there will inevitably be assembly errors, and even if the components are produced in the same batch, the component quality (such as actual tolerances) is not completely consistent. In this way, the performance of each machine tool after assembly will be somewhat different. Therefore, before the machine tool is shipped, the machine tool must be measured and adjusted. However, the actual measurement method must make the working platform of the machine tool actually move, which is a time-consuming and inefficient test method.

Therefore, this case proposes a method for establishing a machine tool servo control simulation device and a controlled body model, which can improve the aforementioned conventional problems.

According to one embodiment of the present case, a method for establishing a controlled volume model is proposed. The method for establishing the controlled body model includes the following steps. Receives time-domain position information, time-domain speed information, and time-domain torque information of a controlled body of a machine tool at several drive frequencies; the time-domain position information, the time-domain speed The information and the time-domain torque information are respectively converted into several frequency-domain position information, several frequency-domain speed information, and frequency-domain torque information; according to the frequency-domain position information, the frequency-domain speed information, and the frequency domain Torque information to obtain a number of frequency domain position shift response points and a number of frequency domain speed shift response points; calculate these frequency domain position shift response points to obtain a position function; calculate these frequency domain speed shift response points to obtain A speed function; and combining a position function and a speed function with a drive characteristic parameter.

According to another embodiment of the present invention, a machine tool servo control simulation device is proposed. The machine tool servo control simulation device includes a controlled body model and a processor. The controlled volume model includes a driver characteristic parameter. The processor includes a signal receiver and a function calculator. The signal receiver is used for receiving time-domain position information, time-domain speed information, and time-domain torque information of a controlled body of a machine tool under a plurality of driving frequencies. The function calculator is used to convert the time-domain position information, the time-domain speed information, and the time-domain torque information into frequency-domain position information, frequency-domain speed information, and frequency-domain torque information, respectively; The frequency-domain position information, the frequency-domain speed information, and the frequency-domain torque information are used to obtain a number of frequency-domain position shift response points and a number of frequency-domain speed shift response points; calculate the frequency-domain position shift Response points to obtain a position function; calculate these frequency-domain velocity transfer response points to obtain a speed function; and combine the position function and the speed function with the drive characteristic parameters in the controlled body model.

According to another embodiment of the present invention, a machine tool servo control simulation device is proposed. The machine tool servo control simulation device includes a controlled body model and a processor. The controlled body model includes a position function, a speed function, and a driver characteristic parameter. The processor includes a control signal receiver and an emulator. The control signal receiver is used for receiving a servo command. The simulator responds to the servo command and generates an analog path based on the position function, speed function, and drive characteristic parameters.

In order to have a better understanding of the above and other aspects of this case, the following specific examples are described in detail below in conjunction with the drawings:

100, 100’‧‧‧ Machine tool servo control simulation device

110‧‧‧Controlled body model

111‧‧‧Driver characteristic parameters

120, 120’‧‧‧ processor

130‧‧‧Control signal receiver

140‧‧‧ Simulator

121‧‧‧Signal Receiver

122‧‧‧Function Calculator

200‧‧‧tool machine

210‧‧‧Controlled body

220‧‧‧Controller

230‧‧‧First Drive

240‧‧‧Second driver

C1‧‧‧Control signal

C2‧‧‧Servo command

C _v ‧‧‧speed ratio

C _p ‧‧‧position ratio

F _p ‧‧‧ Frequency domain location information

F _v ‧‧‧ Frequency domain speed information

F _t ‧‧‧Frequency domain torque information

R1‧‧‧Partial area

R _p ‧‧‧ Frequency domain position shift response point

R _v ‧‧‧Frequency domain speed shift response point

S110 ~ S160‧‧‧step

S1‧‧‧ local curve

S _p ‧‧‧ position function

S _v ‧‧‧speed function

T _p ‧‧‧ Time domain location information

T _v ‧‧‧ Time domain speed information

T _t ‧‧‧ Time domain torque information

P1‧‧‧Simulation path

P11‧‧‧ Path Change

P2‧‧‧Measured path

P _m ‧‧‧moving path

FIG. 1 shows a top view of a machine tool servo control simulation system according to an embodiment of the present invention.

FIG. 2 shows a flowchart of establishing the controlled body model of FIG. 1.

FIG. 3 is a schematic diagram of frequency-domain position shift response points according to an embodiment of the present invention.

FIG. 4 is a schematic diagram of a position function according to an embodiment of the present invention.

FIG. 5 is a schematic diagram of a machine tool servo control simulation device according to another embodiment of the present invention.

FIG. 6 shows a simulation path diagram simulated by the machine tool servo control simulation device of FIG. 5.

Please refer to FIG. 1, which illustrates a top view of a machine tool servo control simulation system 100 according to an embodiment of the present invention. The machine tool servo control simulation device 100 includes a controlled body model 110 and a processor 120. The controlled volume model 110 includes driver characteristic parameters 111. The processor 120 includes a signal receiver 121 and a function calculator 122. The signal receiver 121 is configured to receive a plurality of time-domain position information T _p , a plurality of time-domain speed information T _v, and a plurality of time-domain torque information T generated by the controlled body 210 of the machine tool 200 under a plurality of driving frequencies. _t . The function calculator 122 is used to: (1) convert this time-domain position information T _p into several frequency-domain position information F _p , convert this time-domain speed information T _v into several frequency-domain speed information F _v , and The time-domain torque information T _{t is} converted into frequency-domain torque information F _t ; (2) According to the frequency-domain position information F _p , the frequency-domain speed information F _v, and the frequency-domain torque information F _t , Several frequency domain position shift response points R _p and several frequency domain speed shift response points R _v : (3) Calculate these frequency domain position shift response points R _p to obtain the position function S _p : (4) Calculate these The frequency domain speed transfers the response point R _v to obtain the speed function S _v : and (5) combines the position function S _p and the speed function S _v into the driver characteristic parameter 111 in the controlled body model 110.

The aforementioned controlled body 210 is, for example, a work platform of the machine tool 200 for placing a workpiece. The signal receiver 121 and the function calculator 122 may be circuits formed by a semiconductor process. In addition, the signal receiver 121 and the function calculator 122 may be two separate components or integrated into a single component.

Thus, the drive transmission characteristic parameter 111 after binding, function of position and velocity function S _p S _v, i.e., to obtain a controlled machine tool response 210 of the body 200 a predetermined manner through a computer simulation of dynamic trajectory of the machining path. In other words, the dynamic trajectory of the controlled body 210 can be quickly obtained through computer simulation without actual measurement. In addition, the trend of this dynamic trajectory is consistent with the measured dynamic trajectory of the controlled body 210, and therefore has a high reference value, which will be described later.

The detailed process of establishing the controlled volume model 110 is illustrated below.

Please refer to FIG. 2, which illustrates a flowchart of establishing the controlled volume model 110 of FIG. 1.

In step S110, referring to FIG. 1 at the same time, the controller 220 of the machine tool 200 receives a plurality of time-domain position information T _p and a plurality of time-domain speed information T _v generated by the controlled body 210 under a plurality of driving frequencies. And several time domain torque information T _t . For example, the machine tool 200 further includes a first driver 230 and a second driver 240, such as a motor. These driving frequencies are used to drive the first driver 230 and the second driver 240 to drive the controlled body 210 to move along the XY plane. The XY plane is, for example, a placement surface of a workpiece (not shown), and the Z axis of the drawing is, for example, a rotation axis of a cutter (not shown). In one embodiment, the machine tool 200 is, for example, a drilling machine, a milling machine, or a computer numerical control (CNC) processing machine. In another embodiment, the machine tool 200 may be a three-axis machine tool. For example, the machine tool 200 further includes a third driver (not shown), which is connected to the tool shaft (not shown) and controlled by the controller 220. Under the control of the controller 220, the third driver controls the tool axis to move in the Z-axis direction.

The first driver 230 can drive the controlled body 210 to move along one axis, such as the X axis, and the second driver 240 can drive the controlled body 210 to move along the other axis, such as the Y axis.

When the controlled body 210 moves in a controlled manner, the controller 220 receives dynamic information of the controlled body 210, such as time domain position information T _p , time domain speed information T _{v and} time domain torque information T _{t at} each time point. In addition, the time domain position information T _p , time domain speed information T _{v and} time domain torque information T _t can also be obtained by the controller 220 analyzing and / or calculating the control signals for the driver. Several pieces of information at these time points (real-time position information T _p , time-domain speed information T _{v, and} time-domain torque information T _t ) are discrete values. Then, the controller 220 may transmit the time domain position information T _p , the time domain speed information T _{v and the} time domain torque information T _{t at} each time point to the machine tool servo control simulation device 100. The signal receiver 121 of the processor 120 of the machine tool servo control simulation device 100 receives time domain position information T _p , time domain speed information T _{v and} time domain torque information T _{t at} each time point. The time domain position information T _p , time domain speed information T _{v and} time domain torque information T _t are feedback signals when the controlled body 210 moves.

In a method for obtaining time domain position information T _p , time domain speed information T _{v and} time domain torque information T _t , before step S110, the controller 220 of the machine tool 200 outputs several control signals C1 to the first time of the machine tool 200. A driver 230 and a second driver 240. Among them, several control signals C1 are sine wave excitation signals with different frequencies. Among them, several sine wave excitation signals are input to the first in a manner from small to large, for example The driver 230 and the second driver 240. The first driver 230 and the second driver 240 drive the controlled body 210 according to each sine wave excitation signal. In addition, the control signal C1 that controls the first driver 230 and the control signal C1 that controls the second driver 240 may be the same or different. The first driver 230 and the second driver 240 control the controlled body 210 to move according to the control signal C1. When the controlled body 210 moves, the controller 220 may obtain the time-domain position information T _{p of the} controlled body 210 through an optical ruler (not shown) on the controlled body 210; or, the controller 220 may also use the first driver 230 and the second driver 240 obtain the time-domain position information T _{p of the} controlled body 210. When the controlled body 210 moves, the controller 220 can obtain the time domain speed information T _{v and the} time domain torque information T _{t of the} controlled body 210 through the first driver 230 and the second driver 240.

Then, in step S120, the function calculator 122 of the processor 120 uses Fourier frequency analysis technology to convert this time-domain position information T _p into several frequency-domain position information F _p , and convert these time-domain speed information T _v Into a number of frequency domain speed information F _v , and transform this time domain torque information T _t into a number of frequency domain torque information F _t .

Then, in step S130, the function calculator 122 obtains several frequency-domain position shift response points R _p according to the frequency-domain position information F _p , the frequency-domain velocity information F _v, and the frequency-domain torque information F _t . And several frequency-domain speed shift response points R _v .

For example, please refer to FIG. 3, which illustrates a schematic diagram of frequency-domain speed-shift response points _Rv according to an embodiment of the present invention. The function calculator 122 calculates the position ratio C _v (ie, C _v = F _v / F _t ) of the frequency domain frequency information F _v and the frequency domain torque information F _t at the same frequency, and the speed ratio C _{v is} the frequency at the same frequency. Domain speed shift response point R _v . As shown in the figure, these frequency domain speed transfer response points R _v are discrete data points.

Similarly, although not shown in the figure, the function calculator 122 uses a similar method to calculate the position ratio C _{p of} frequency-domain position information F _p and frequency-domain torque information F _t at the same frequency (that is, C _p = F _p / F _t ), and the position ratio C _p is the frequency-domain position shift response point R _{p at} the same frequency. These frequency domain position shift response points R _p are also discrete data points.

In step S140, refer to FIG. 4, which depicts a schematic diagram of the velocity function S _v Example a case is illustrated in accordance with the embodiment. The function calculator 122 may adopt, for example, a curve fitting method to calculate the frequency-domain speed-shift response points R _v shown in FIG. 3 to obtain the speed function S _v . Compared with the discrete-type frequency-domain velocity transfer response point R _v , the velocity function S _v is a continuous distribution pattern. When the number of frequency-domain transfer response speed of the more points R _v, the speed of the frequency domain processor 120 for processing in response to the transfer speed of the slower the point R _v. Since a large number of frequency-domain speed shift response points R _v have been converted into curve equations, the processing load of the processor 120 can be reduced (compared to processing a large number of point signals, the burden of processing curve equations is lighter).

The following equation (1) represents the equation of the speed function S _v . Through the following formula (1), the approximate curves of several frequency-domain velocity shift response points R _v with relatively large amplitude changes shown in FIG. 3 can be fitted. Partial region R1 of FIG. 3, the distribution in the local region R1 plurality of frequency-domain transfer response speed compared to the point R _v adjacent frequency domain amplitude of the response speed of said transfer point R _v varies widely. However, through the piecewise fitting of the following formula (1), several frequency-domain velocity shift response points R _{v in} this local area R1 can be fitted to the approximated local curve S1 in FIG. 4. S in the formula is a complex frequency, which includes a real part and an imaginary part.

In step S150, the function calculator 122 may use, for example, a curve fitting method to calculate these frequency-domain position shift response points R _p to obtain a position function S _p . Compared to the discrete frequency domain position transfer response patterns point R _p, S _p is a function of the position of a continuous distribution type. When the number of frequency-domain position shift response points R _p is larger, the processing speed of the processor 120 for the frequency-domain position shift response points R _p is slower. Since a large number of frequency-domain position shift response points R _p have been converted into curve equations, the processing load of the processor 120 can be reduced.

It represents a function of the position S _p of the equation of the formula (2). Through the following formula (2), several approximate curves of frequency-domain position shift response points R _p with relatively large amplitude changes can be fitted. The fitting manner of the formula (2) is similar to the formula (1), and is not repeated here.

In step S160, the function calculator 122 combines the position function S _p and the speed function S _v with the drive characteristic parameter 111. The drive characteristic parameter 111 is a known drive (such as a motor) parameter and specification, for example: the selected drive Power, speed, frequency or any other parameter related to drive performance. The driver characteristic parameter 111 represents the characteristics of the driver (the first driver 230 and the second driver 240) of the machine tool 200, and the position function S _p and the speed function S _v (the position function S _p and the speed function S _v may also be referred to as controlled The volume frequency response function) may represent the dynamic characteristics of the controlled body 210 of the machine tool 200. The model combining the driver characteristics with the dynamic characteristics of the machine tool can represent the overall characteristics of the entire machine tool 200. In other words, each machine tool 200 may use various manufacturers' drivers (first driver 230 and second driver 240) and different The type of the controlled body 210, and the drive characteristic parameter 111 of the adopted drive and the position function S _p and speed function S _{v of} each machine tool 200 (each machine tool has a different position function S _p and speed function S _v ) In combination, the dynamic characteristics of individual machine tools 200 can be quickly identified, which facilitates subsequent adjustments to individual machine tools 200.

Please refer to FIGS. 5 and 6, which is a schematic diagram of a machine tool servo control simulation device 100 ′ according to another embodiment of the present case, and FIG. 6 is a diagram of the machine tool servo control simulation device 100 ′ shown in FIG. 5. The simulated simulation path map.

The machine tool servo control simulation device 100 'includes a controlled body model 110 and a processor 120'. The controlled body model 110 includes a position function S _p , a speed function S _v, and a driver characteristic parameter 111. The processor 120 ′ has similar or identical features to the aforementioned processor 120, except that the processor 120 ′ further includes a control signal receiver 130 and a simulator 140. The signal receiver 121, the function calculator 122, the control signal receiver 130, and the simulator 140 may be circuits formed by a semiconductor process. In addition, the signal receiver 121, the function calculator 122, the control signal receiver 130, and the simulator 140 may be separate components, or the signal receiver 121, the function calculator 122, the control signal receiver 130, and the simulator 140 at least Both can be integrated into a single component. In another embodiment, the processor 120 ′ of FIG. 5 may omit the signal receiver 121 and / or the function calculator 122.

The control signal receiver 130 is used for receiving a servo command C1. Servo command response simulator 140 C1, depending on the position function S _p, S _v velocity function parameters and driver 111, generates an analog path P1. The aforementioned servo command C1 is a command to drive the controlled body 210 to move along the moving path P _m . As shown in FIG. 5, the same servo command C1 is also input to the machine tool 200. The controller 220 of the machine tool 200 outputs a measured path P2 (drawn as a dotted line).

As shown in FIG. 6, the moving path P _m (over the path), showing a sixth analog together with the measured path path P1 P2. It can be seen from the figure that the movement path P _m , the simulation path P1 and the measured path P2 all have errors. As shown in the figure, the trend of the simulated path P1 is in line with the trend of the measured path P2. For example, the simulated path P1 and the measured path P2 undergo dynamic changes at the path change point P11 (such as a turning point or an inflection point) of the moving path P _m ( (Jitter from the moving path P _m as shown). It is clear that the simulation path P1 has a certain reference value. In addition, the sensitivity of the simulated path P1 at the turning point P11 is greater. For example, compared to the measured path P2, the simulated path P1 has a greater degree of change (larger jitter) at the path change point P11, and can better highlight the dynamic change degree of the path change point P11.

In summary, the machine tool servo control simulation device and the method of establishing the controlled body model in the embodiment of the present case use computer simulation technology to analyze the machine characteristics of the machine tool, and generate a position function and a speed function. The position function and speed function are combined with the drive's characteristic parameters. The combined model can represent the machine characteristics of the entire machine tool. In this way, without changing the controller of the machine tool (such as the design of the hardware and software), the combined model can be used to quickly understand the error of the machine tool on the machining path by using the combined model and computer analysis technology. Processability. In other words, the embodiment of the present invention provides a machine tool servo control simulation device which can replace or simulate the controller of the machine tool. The method of establishing the positioning and controlled body model, after obtaining the position function and the speed function, can perform the performance test of the machine tool with a computer without actually measuring the machine tool.

In one way to obtain the machine characteristics of a machine tool, software (such as finite element analysis software) is used to create a digital model of the machine tool. During the modeling process, the digital model must be adjusted repeatedly, which requires a lot of work time to obtain the machine characteristics of the machine. In contrast, the embodiment of the present case uses the control signals to actually excite the machine tool and then obtain the feedback signals of the machine tool, and then processes these feedback signals to obtain the position function and speed function. Compared with the aforementioned software modeling method, the embodiment of the present case does not need to repeatedly adjust the digital model parameters, so the machine characteristics of the machine tool can be identified more quickly.

Based on the machine tool servo control simulation device and the method of establishing the controlled body model in the embodiment of the present case, the software / hardware of the computer is maintained through maintaining the original design of the machine tool (such as a machine tool that has been completed and ready to be shipped). The improvement of the machine tool can also simulate the characteristics of the machine tool, which shows that the machine tool servo control simulation device and the method of establishing the controlled body model in the embodiment of the present invention can obtain technical effects beyond physical effects such as changes in the internal current and voltage of the computer when the program is executed.

In summary, although this case has been disclosed as above with examples, it is not intended to limit this case. Those with ordinary knowledge in the technical field to which this case belongs can make various modifications and retouching without departing from the spirit and scope of this case. Therefore, the scope of protection in this case shall be determined by the scope of the attached patent application.

Claims (11)

A method for establishing a controlled body model includes: receiving a plurality of time-domain position information, a plurality of time-domain speed information, and a plurality of time-domain torque information of a controlled body of a machine tool at a plurality of driving frequencies; The time domain position information, the time domain speed information, and the time domain torque information are respectively converted into a plurality of frequency domain position information, a plurality of frequency domain speed information, and a plurality of frequency domain torque information; according to the frequency domain position information And the frequency domain speed information and the frequency domain torque information to obtain a plurality of frequency domain position shift response points and a plurality of frequency domain speed shift response points; calculate the frequency domain position shift response points to obtain a position function; Calculate the frequency-domain speed transfer response points to obtain a speed function; and combine the position function, the speed function, and a drive characteristic parameter. The establishment method according to item 1 of the patent application scope, wherein the machine tool further comprises a controller and a driver; the method further comprises: the controller outputs a control signal to the driver; and the controller obtains from the driver The time-domain position information, the time-domain speed information, and the time-domain torque information; among them, the time-domain position information at the driving frequency of the controlled body receiving the machine tool, the time In the step of the domain speed information and the time domain torque information, the time domain position information, the time domain speed information and the time domain torque information are received from the controller. The establishment method described in item 1 of the scope of patent application, wherein the frequency domain position shift response points and the frequency domains are obtained based on the frequency domain position information, the frequency domain speed information, and the frequency domain torque information. The step of speed shifting the response point includes: calculating a position ratio of the frequency-domain position information at a frequency to the frequency-domain torque information, and the position ratio is the frequency-domain position shift response point at the frequency. The establishment method described in item 1 of the scope of patent application, wherein the frequency domain position shift response points and the frequency domains are obtained based on the frequency domain position information, the frequency domain speed information, and the frequency domain torque information. The step of the speed shift response point includes: calculating a speed ratio of the frequency domain speed information to the frequency domain torque information at a frequency, and the speed ratio value is the frequency domain speed transfer response point at the frequency. The establishment method described in item 1 of the scope of patent application, wherein the steps of calculating the frequency-domain position shift response points to obtain the position function and calculating the frequency-domain speed shift response points to obtain the speed function are Curve fitting is implemented. A machine tool servo control simulation device includes: a controlled body model including a characteristic parameter of a driver; and a processor including: a signal receiver for receiving a controlled body of a machine tool at a plurality of driving frequencies A plurality of time-domain position information, a plurality of time-domain speed information, and a plurality of time-domain torque information; a function calculator for: the time-domain position information, the time-domain speed information, and the time-domain information The torque information is converted into a plurality of frequency domain position information, a plurality of frequency domain speed information, and a plurality of frequency domain torque information; according to the frequency domain position information, the frequency domain speed information, and the frequency domain torque information, a complex number is obtained. A number of frequency domain position transfer response points and a plurality of frequency domain speed transfer response points; calculating the frequency domain position transfer response points to obtain a position function; calculating the frequency domain speed transfer response points to obtain a speed function; and Combining the position function, the speed function, and the drive characteristic parameters in the controlled body model. The machine tool servo control simulation device according to item 6 of the patent application scope, wherein the machine tool further includes a controller and a driver; the controller is used to output a control signal to the driver; the controller is used to obtain from the driver The time domain position information, the time domain speed information, and the time domain torque information; wherein the signal receiver is further configured to receive the time domain position information and the time domain speed information from the controller; And the time-domain torque information. The servo control simulation device for a machine tool according to item 6 of the scope of patent application, wherein the function calculator is further configured to obtain the frequency domain position information, the frequency domain speed information, and the frequency domain torque information according to In the steps of the frequency-domain position shift response points and the frequency-domain speed shift response points, a position ratio between the frequency-domain position information and the frequency-domain torque information at a frequency is calculated, and the position ratio is the Frequency domain position shift response point. The servo control simulation device for a machine tool according to item 6 of the scope of patent application, wherein the function calculator is further configured to obtain the frequency domain position information, the frequency domain speed information, and the frequency domain torque information according to In the steps of the frequency-domain position shift response points and the frequency-domain speed shift response points, at a frequency, a speed ratio between the frequency-domain speed information and the frequency-domain torque information is calculated, and the speed ratio is the Frequency domain speed shift response point. The machine tool servo control simulation device according to item 6 of the scope of the patent application, wherein the function calculator is further used to: calculate the steps of shifting the response points in the frequency domain positions to obtain the position functions and calculate the frequency domain speeds The step of shifting the response points to obtain the speed function is achieved by curve fitting. A machine tool servo control simulation device includes: a controlled body model including a position function, a speed function, and a driver characteristic parameter; and a processor, including: a control signal receiver for receiving a servo command; And a simulator, in response to a servo command, according to the position function, the speed function, and the characteristic parameters of the driver, an analog path of a controlled body is generated; wherein the servo command is to drive the controlled body to move along a moving path command.