WO2018119844A1 - Machine-outil à commande numérique et procédé de réglage de vitesse de rotation pour moteur à broche de celle-ci - Google Patents

Machine-outil à commande numérique et procédé de réglage de vitesse de rotation pour moteur à broche de celle-ci Download PDF

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Publication number
WO2018119844A1
WO2018119844A1 PCT/CN2016/112956 CN2016112956W WO2018119844A1 WO 2018119844 A1 WO2018119844 A1 WO 2018119844A1 CN 2016112956 W CN2016112956 W CN 2016112956W WO 2018119844 A1 WO2018119844 A1 WO 2018119844A1
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Prior art keywords
rotational speed
value
spindle motor
adjustment
adjusted
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PCT/CN2016/112956
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English (en)
Chinese (zh)
Inventor
龚丽辉
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深圳配天智能技术研究院有限公司
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Priority to CN201680027109.1A priority Critical patent/CN107690603A/zh
Priority to PCT/CN2016/112956 priority patent/WO2018119844A1/fr
Publication of WO2018119844A1 publication Critical patent/WO2018119844A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34489—Watchdog with adaptive timeout as function of speed of motor

Definitions

  • the embodiment of the invention relates to the field of numerical control, and particularly relates to a method for adjusting the rotational speed of a numerical control machine tool and a spindle motor.
  • the spindle motor In the machining process of CNC machine tools, due to the requirements of the process, the spindle motor needs to be rotated according to the set speed of the user, and thus always maintain a constant speed for processing. If the spindle motor speed is deviated or unstable, it will affect the quality of the machined parts.
  • the general spindle motor speed adjustment method is: the numerical control system provides an output voltage to the spindle driver according to the spindle speed set by the user. If the actual speed of the spindle motor deviates from the speed set by the user, the adjustment is made by adjusting the parameters of the spindle drive, and the output voltage supplied by the CNC to the spindle drive is no longer changed.
  • the above method takes a long time to debug in order to get a suitable set of spindle drive parameters.
  • the rotational speed deviation of the spindle motor is not constant, it is not strictly linear. Therefore, in most cases, by adjusting the parameters of the spindle drive, only the deviation of the spindle motor within a certain speed range can meet the requirements, but it cannot be guaranteed within the entire speed range of the spindle motor.
  • the performance of each spindle drive and spindle motor is not the same, even the same batch of models can not use the same set of parameters, and each machine must be debugged separately, resulting in a lot of manpower and material waste.
  • the embodiment of the invention provides a method for adjusting the rotational speed of a numerical control machine tool and a spindle motor, so as to solve the problems of poor speed adjustment precision and high debugging complexity of the prior art spindle motor.
  • a technical solution adopted by the embodiment of the present invention is to provide a method for adjusting the rotational speed of a spindle motor, the method comprising: detecting an actual rotational speed value of the spindle motor; and calculating the actual rotational speed value and a preset preset by the user a rotation speed error between the target rotation speed values; determining whether the rotation speed error is within a preset error tolerance range; if the rotation speed error exceeds the error tolerance range, adjusting the rotation speed control value according to the rotation speed error; Adjusting the rotation speed control value to adjust a driving voltage output to a spindle driver of the spindle motor to achieve adjustment of the spindle motor speed whole.
  • the step of adjusting the rotational speed control value according to the rotational speed error comprises: adjusting the rotational speed control value by using the following formula:
  • S_old is the rotation speed control value before the adjustment
  • S_new is the adjusted rotation speed control value
  • S_err is the rotation speed error
  • the pid is the adjustment proportional coefficient
  • the adjustment scale factor is a decimal number greater than 0 and less than 1.
  • the method further comprises: setting the adjusted proportional coefficient according to a user instruction.
  • step of adjusting the rotational speed control value according to the rotational speed error further comprising: determining whether the rotational speed control value adjusted according to the rotational speed error is within a preset adjustment allowable range; if the adjustment is allowed to be exceeded For the range, the speed control value is further adjusted to the adjustment allowable range.
  • the adjustment allowable range is defined by a product of the target rotational speed value and a maximum adjusted proportional coefficient and a minimum adjusted proportional coefficient, respectively.
  • the step of further adjusting the rotational speed control value into the adjustment allowable range includes: if the rotational speed control value is greater than a product of the target rotational speed value and a maximum adjusted proportional coefficient, And adjusting the speed control value to a product of the target speed value and a maximum adjustment ratio coefficient; if the speed control value is less than a product of the target speed value and a minimum adjustment ratio coefficient, adjusting the speed control value The product of the target speed value and the minimum adjustment scale factor.
  • the maximum adjustment ratio coefficient is greater than 1, and the minimum adjustment ratio coefficient is less than 1.
  • the maximum adjustment scale factor is 115%, and the minimum adjustment scale factor is 85%.
  • the step of adjusting the driving voltage output to the spindle driver of the spindle motor by using the adjusted rotation speed control value comprises: adjusting a driving voltage output to the spindle driver of the spindle motor by the following formula:
  • V (S_new/S_max) ⁇ V_max;
  • V is the adjusted driving voltage
  • S_new is the adjusted speed control value
  • S_max is the maximum speed value of the spindle motor
  • V_max is the maximum driving voltage corresponding to the maximum speed value.
  • a technical solution adopted by the embodiment of the present invention is to provide a numerical control machine tool including a spindle motor, a speed detecting device, a spindle driver and a numerical control system.
  • the speed detecting device is configured to detect an actual rotational speed value of the spindle motor;
  • the numerical control system is configured to calculate a rotational speed error between the actual rotational speed value and a target rotational speed value preset by a user, and determine the rotational speed Whether the error is within a preset error tolerance range, if the error tolerance range is exceeded, the numerical control system further adjusts the rotation speed control value according to the rotation speed error, and adjusts the output to the adjusted rotation speed control value to
  • the driving voltage of the spindle driver is used to adjust the rotational speed of the spindle motor.
  • the numerical control system adjusts the rotational speed control value by the following formula:
  • S_old is the rotation speed control value before the adjustment
  • S_new is the adjusted rotation speed control value
  • S_err is the rotation speed error
  • the pid is the adjustment proportional coefficient
  • the adjustment scale factor is a decimal number greater than 0 and less than 1.
  • the numerical control system sets the adjustment proportional coefficient according to a user instruction.
  • the numerical control system further determines whether the rotational speed control value adjusted according to the rotational speed error is within a preset adjustment allowable range, and if the adjustment allowable range is exceeded, the numerical control system further adjusts the rotational speed control value. Within the allowable range of adjustment.
  • the adjustment allowable range is defined by a product of the target rotational speed value and a maximum adjusted proportional coefficient and a minimum adjusted proportional coefficient, respectively.
  • the numerical control system adjusts the rotational speed control value to a product of the target rotational speed value and a maximum adjusted proportional coefficient;
  • the speed control value is less than a product of the target speed value and the minimum adjustment scale factor, and the numerical control system adjusts the speed control value to a product of the target speed value and the minimum adjustment scale factor.
  • the maximum adjustment ratio coefficient is greater than 1, and the minimum adjustment ratio coefficient is less than 1.
  • the maximum adjustment scale factor is 115%, and the minimum adjustment scale factor is 85%.
  • the numerical control system adjusts the driving voltage of the spindle driver output to the spindle motor by the following formula:
  • V (S_new/S_max) ⁇ V_max;
  • V is the adjusted driving voltage
  • S_new is the adjusted speed control value
  • S_max is the maximum speed value of the spindle motor
  • V_max is the maximum driving voltage corresponding to the maximum speed value.
  • the beneficial effects of the embodiment of the present invention are: in the numerical control machine tool and the method for adjusting the rotational speed of the spindle motor provided by the present invention, the numerical control system is provided to the spindle drive according to the difference between the actual rotational speed of the spindle motor and the target rotational speed set by the user.
  • the output voltage, the high precision coefficient of the adjustment method makes the speed of the spindle motor more stable, thereby improving the processing quality; the adjustment method is simple, the debugging time is saved, and the application range is wide.
  • FIG. 1 is a schematic flow chart of a first embodiment of a method for adjusting a rotational speed of a spindle motor according to the present invention
  • FIG. 2 is a schematic flow chart of a second embodiment of a method for adjusting a rotational speed of a spindle motor according to the present invention
  • Figure 3 is a schematic block diagram of a first embodiment of a numerically controlled machine tool in accordance with the present invention.
  • FIG. 1 is a schematic flow chart of a first embodiment of a method for adjusting the rotational speed of a spindle motor according to the present invention.
  • the output voltage supplied from the numerical control system to the spindle drive is adjusted according to the difference between the actual rotational speed of the spindle motor and the target rotational speed set by the user.
  • the calibration method of this embodiment includes the following steps:
  • Step S11 Detect the actual rotational speed value of the spindle motor.
  • the spindle motor starts to rotate after starting. After the speed of the spindle motor is stabilized, the spindle motor rotates at a constant speed to start detecting and obtaining the actual speed value of the spindle motor.
  • the actual speed value of the spindle motor is S_cur.
  • Step S12 Calculate the rotational speed error between the actual rotational speed value and the target rotational speed value preset by the user.
  • Step S13 determining whether the rotation speed error is within a preset error tolerance range; if the rotation speed error is within the error tolerance range, returning to step 11: detecting the actual rotation speed value of the spindle motor.
  • step S14 the rotational speed control value is adjusted according to the rotational speed error.
  • Step S15 Adjusting the driving voltage of the spindle driver output to the spindle motor by using the adjusted rotational speed control value to adjust the rotational speed of the spindle motor. Then, returning to step S11, the actual rotational speed value of the spindle motor is detected and acquired in real time during the uniform rotation.
  • the output voltage supplied from the numerical control system to the spindle drive is adjusted according to the difference between the actual rotational speed of the spindle motor and the target rotational speed set by the user, and the method adjusts the voltage of the spindle drive by adjusting the voltage of the spindle drive.
  • the speed of the spindle motor is not directly adjusted, and the precision coefficient of the adjustment method makes the speed of the spindle motor more stable, thereby improving the processing quality; the adjustment method is simple, the debugging time is saved, and the application range is wide.
  • step 14 is specifically: adjusting the speed control value by the following formula:
  • the speed control value before the adjustment may be the speed control value of the previous adjustment period, or the speed control value of the upper adjustment period, that is, the speed error is the actual speed value within the preset error tolerance range or the adjusted The actual speed value is specifically set by the user.
  • the speed control value of the above adjustment period is a reference.
  • the speed control value of the first adjustment period is a first actual speed value or a target speed value of the spindle motor that rotates at a constant speed after the spindle motor is started.
  • the first actual speed value S_cur1 and the target speed value S_target preset by the user are set. If the rotational speed error is within the error tolerance range, the first actual rotational speed value S_cur1 is output; if the error allowable range is exceeded, the target rotational speed value S_target is output.
  • the first actual speed value S_cur1 or the target speed value S_target provides the speed control value of the last adjustment period for the later speed control value.
  • the later speed control values are adjusted by referring to the above formula.
  • the step 14 may further include: adjusting the scaling factor according to the user instruction.
  • the adjustment scale factor in step 14 can be adjusted according to a user instruction, and the adjustment scale coefficient pid can be set by the user, or can be set by the system of the spindle motor for the user to select.
  • FIG. 2 is a schematic flow chart of a second embodiment of a method for adjusting the rotational speed of a spindle motor according to the present invention.
  • the calibration method of this embodiment includes the following steps:
  • Steps S21-S24 are substantially the same as steps S11-S14 of the first embodiment, and are not described herein again.
  • the difference between this embodiment and the first embodiment is that the embodiment further includes the following steps:
  • Step S25 determining whether the rotational speed control value adjusted according to the rotational speed error is within a preset adjustment allowable range; if the adjustment allowable range is in progress, proceeding to step S27.
  • step S26 the speed control value is further adjusted to within the adjustment allowable range.
  • Step S27 The driving voltage output to the spindle driver of the spindle motor is adjusted by the adjusted rotational speed control value.
  • step S25 is specifically:
  • the rotational speed control value adjusted according to the rotational speed error is within the adjustment allowable range defined by the product of the target rotational speed value and the maximum adjusted proportional coefficient and the minimum adjusted proportional coefficient, respectively. That is, the adjustment allowable range is defined by the product of the target rotational speed value and the maximum adjusted proportional coefficient and the minimum adjusted proportional coefficient, respectively.
  • the speed control value S_new adjusted according to the rotational speed error is compared with the product of the target rotational speed value S_target and the maximum adjusted proportional coefficient, and the product of the target rotational speed value S_target and the minimum adjusted proportional coefficient, wherein the adjusted rotational speed control value
  • the allowable range is not more than the product of the rotational speed control value S_new and the target rotational speed value S_target and the maximum adjusted proportional coefficient, and is not less than the product of the target rotational speed value S_target and the minimum adjusted proportional coefficient.
  • the value of the maximum adjustment scale factor is greater than the value of the minimum adjustment scale factor. Specifically, the maximum adjustment scale factor is a fraction greater than 1 and less than 2; the minimum adjustment scale factor is a fraction greater than 0 and less than 1.
  • step S26 is specifically:
  • the rotational speed control value S_new is adjusted to the product of the target rotational speed value S_target and the maximum adjusted proportional coefficient; if the rotational speed control value S_new is smaller than the target rotational speed value S_target and the minimum When the product of the proportional coefficient is adjusted, the rotational speed control value S_new is adjusted to the product of the target rotational speed value S_target and the minimum adjusted proportional coefficient.
  • the rotational speed control value S_new has a nominal limited range, and the maximum value is the product of the target rotational speed value S_target and the maximum adjusted proportional coefficient; the minimum value is the product of the target rotational speed value S_target and the minimum adjusted proportional coefficient.
  • the target speed value S_target is initially set by the user; wherein the maximum adjustment scale factor is greater than 1, The minimum adjustment scale factor is less than 1; further, the maximum adjustment scale factor is 115%, and the minimum adjustment scale factor is 85%; further, the maximum adjustment scale factor is 125%, and the minimum adjustment scale factor is 75%.
  • step S27 is specifically:
  • the drive voltage of the spindle drive output to the spindle motor is adjusted by the following formula:
  • V (S_new/S_max) ⁇ V_max;
  • V is the adjusted driving voltage
  • S_new is the adjusted speed control value
  • S_max is the maximum speed value of the spindle motor
  • V_max is the maximum driving voltage corresponding to the maximum speed value.
  • the adjustment method provided by the embodiment has the characteristics of high efficiency and easy to use, and the user only needs to set some parameter information such as the target speed value S_target, the adjustment scale coefficient pid, the maximum adjustment scale coefficient and the minimum adjustment scale coefficient, and other numerical control systems. Automated, no user involvement is required, which shortens the commissioning time of the machine, and the scale factor is applicable to a wide range of applications. In general, most machines can use the same adjustment factor. In the spindle motor operation, when the actual speed of the spindle motor has an error with the target speed value set by the user, the speed adjustment process can be repeated until the spindle motor stops.
  • the method for adjusting the rotational speed of the spindle motor provided by the present invention adjusts the output provided by the numerical control system to the spindle drive according to the difference between the actual rotational speed of the spindle motor and the target rotational speed set by the user and further adjusting the rotational speed difference to the allowable range.
  • the voltage further increases the accuracy factor of the adjustment method, so that the speed of the spindle motor is further stabilized.
  • Figure 3 is a schematic block diagram of a first embodiment of a numerically controlled machine tool in accordance with the present invention.
  • the respective modules of the numerical control machine tool 10 of the embodiment can respectively perform corresponding steps in the above method embodiments.
  • the numerical control machine tool 10 of the embodiment includes a spindle motor 11, a speed detecting device 12, a spindle driver 13, and a numerical control system. 14.
  • the speed detecting device 12 is configured to detect the actual rotational speed value of the spindle motor 11, and the numerical control system 14 is configured to calculate a rotational speed error between the actual rotational speed value obtained by the speed detecting device 12 and a target rotational speed value set by the user, and determine the rotational speed error. Whether within the preset error tolerance range, if the error tolerance range is exceeded, the numerical control system 14 further adjusts the rotation speed control value according to the rotation speed error, and adjusts the driving voltage output to the spindle driver 13 by using the adjusted rotation speed control value, the main shaft The driver 13 drives the spindle motor 11 to operate.
  • the invention realizes the automatic adjustment of the speed of the spindle motor 11 through the numerical control system 14, and the speed of the spindle motor 11 can be consistent with the user set value throughout the entire production process.
  • CNC system 14 With the above adjustment method, even if the spindle motor 11 of the machine tool is not performing well, the numerical control system 14 can be automatically adjusted so that the speed of the spindle motor 11 during machining is moderate to the target speed set by the user, and does not deviate too much from the user. Pre-set target speed. Therefore, the numerically controlled machine tool 10 is no longer heavily dependent on the performance of the spindle motor 11, thereby increasing the range of application of the numerically controlled machine tool 10.
  • the numerical control system is provided to the spindle drive according to the difference between the actual rotational speed of the spindle motor and the target rotational speed set by the user.
  • the method adjusts the voltage of the spindle drive instead of directly adjusting the speed of the spindle motor.
  • the high precision coefficient of the adjustment method makes the speed of the spindle motor more stable, thereby improving the processing quality; the adjustment method is simple, the debugging time is saved and the application is applied. wide range.

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Electric Motors In General (AREA)
  • Automatic Control Of Machine Tools (AREA)

Abstract

La présente invention concerne une machine-outil à commande numérique (10) et un procédé de réglage de vitesse de rotation pour un moteur à broche (11) de celle-ci, ledit procédé comprenant : la détection d'une valeur de vitesse de rotation réelle d'un moteur à broche (11) ; le calcul de l'erreur de vitesse de rotation entre la valeur de vitesse de rotation réelle et une valeur de vitesse de rotation cible prédéfinie par un utilisateur ; la détermination que l'erreur de vitesse de rotation est, ou n'est pas, au sein d'une plage d'erreur autorisée prédéfinie ; si elle dépasse la plage d'erreur autorisée, alors le réglage d'une valeur de commande de vitesse de rotation sur la base de l'erreur de vitesse de rotation ; et l'utilisation de la valeur de commande de vitesse de rotation réglée pour régler la tension d'entraînement d'un élément d'entraînement de broche (13) envoyée au moteur de broche (11) afin de mettre en œuvre un réglage de la vitesse de rotation du moteur de broche (11). Le facteur de précision élevée du procédé de réglage de la présente solution rend la vitesse du moteur de broche (11) plus stable, et améliore ainsi la qualité d'usinage ; le procédé de réglage est simple, économise le temps de débogage, et présente une large portée d'application.
PCT/CN2016/112956 2016-12-29 2016-12-29 Machine-outil à commande numérique et procédé de réglage de vitesse de rotation pour moteur à broche de celle-ci WO2018119844A1 (fr)

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Application Number Priority Date Filing Date Title
CN201680027109.1A CN107690603A (zh) 2016-12-29 2016-12-29 一种数控机床及主轴电机的转速调整方法
PCT/CN2016/112956 WO2018119844A1 (fr) 2016-12-29 2016-12-29 Machine-outil à commande numérique et procédé de réglage de vitesse de rotation pour moteur à broche de celle-ci

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PCT/CN2016/112956 WO2018119844A1 (fr) 2016-12-29 2016-12-29 Machine-outil à commande numérique et procédé de réglage de vitesse de rotation pour moteur à broche de celle-ci

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CN109483321B (zh) * 2018-12-11 2021-04-06 广东原点智能技术有限公司 一种主轴电机转速的调整方法、存储介质及智能终端
CN109617975A (zh) * 2018-12-24 2019-04-12 武汉大音科技有限责任公司 一种基于窄带物联网天线技术的云加工平台技术及方法
CN115488991A (zh) * 2022-11-02 2022-12-20 广州极东机械有限公司 一种封边机的闭环控制系统及其控制方法

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JP2000288851A (ja) * 1999-04-07 2000-10-17 Takeda Machinery Co Ltd 穿孔・切断加工機および穿孔・切断加工方法
CN201423532Y (zh) * 2009-04-28 2010-03-17 泉州市麦格士液压技术有限公司 一种数控机床
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