WO2021027915A1 - 一种连杆转台及其解耦控制方法 - Google Patents

一种连杆转台及其解耦控制方法 Download PDF

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WO2021027915A1
WO2021027915A1 PCT/CN2020/109114 CN2020109114W WO2021027915A1 WO 2021027915 A1 WO2021027915 A1 WO 2021027915A1 CN 2020109114 W CN2020109114 W CN 2020109114W WO 2021027915 A1 WO2021027915 A1 WO 2021027915A1
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Prior art keywords
axis
turntable
connecting rod
ram
angle
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PCT/CN2020/109114
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English (en)
French (fr)
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陈虎
刘慧杰
刘静文
蒋文彬
黄玉彤
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科德数控股份有限公司
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Priority to US17/635,473 priority Critical patent/US20220288731A1/en
Priority to JP2022507711A priority patent/JP7316743B2/ja
Priority to EP20852664.0A priority patent/EP4015139A4/en
Priority to KR1020227006238A priority patent/KR102641552B1/ko
Publication of WO2021027915A1 publication Critical patent/WO2021027915A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/46—Movable or adjustable work or tool supports using particular mechanisms with screw pairs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
    • B23Q3/06—Work-clamping means

Definitions

  • the invention belongs to the technical field of associated motion control mechanisms, and in particular relates to a connecting rod turntable and a decoupling control method thereof.
  • the main application case of the control method of connecting rod decoupling is that the application number is CN201810806333.1, and the applicant is Kede CNC Co., Ltd., which is a Chinese patent application for a cradle turntable driven by a ball screw. Simplified movement of this structure The process is shown in Figure 2.
  • the axis movement in two directions is controlled separately, assuming that the vertical direction is the Z0 axis, the horizontal direction is the X axis, the horizontal sliding mechanism of the turntable is X′, the swing mechanism of the turntable is the A axis, and the grating of the Z0 axis
  • the ruler is installed on the base of the turntable, the direction is parallel to the Z0 axis vertical guide rail, the Z0 axis reading head is installed on the Z axis screw nut, the X axis grating ruler is installed on the bed, the direction is parallel to the X axis guide rail, and the X axis reading head It is installed on the base of the turntable and moves horizontally with the turntable machine tool.
  • This traditional installation method has the following defects when controlling:
  • the calculated value of the horizontal instantaneous displacement of the turntable usually has a certain delay and error, which is superimposed on the X axis command, and the expression position is not accurate enough, which has a negative impact on the accuracy;
  • A-axis and X-axis have a mutual coupling relationship in the control algorithm.
  • the present invention proposes a connecting rod turntable and its decoupling control method, so that the dynamic performance requirements of the X axis are reduced, and there is no need to manually calculate the horizontal displacement ⁇ X′ of the turntable caused by the Z0 axis. , And improve the control accuracy.
  • a connecting rod turntable which is characterized by comprising: a turntable column, a connecting rod turntable, an X-axis grating ruler reading head, an X-axis grating ruler, a turntable base, a sliding mechanism A, a sliding mechanism B, and the turntable column is vertically installed On the turntable base, the connecting rod turntable is slidably connected to the turntable column through a sliding mechanism A, the connecting rod turntable is slidably connected to the turntable base through the sliding mechanism B, and the X-axis grating ruler
  • the reading head is installed on the sliding mechanism B, and the X-axis grating ruler is installed under the turntable base and arranged opposite to the X-axis grating ruler reading head.
  • the sliding mechanism A includes: a Z0-axis ball screw, a Z0-axis ram, a first rotation node of the linkage mechanism, a linkage of the linkage mechanism, and a Z0-axis guide rail, where the Z0-axis guide rail is provided on the turntable column
  • the Z0-axis ball screw is connected to the Z0-axis guide rail
  • the Z0-axis ram is slidably connected to the Z0-axis guide rail
  • one end of the connecting rod of the linkage mechanism is first rotated by the linkage mechanism
  • the node is rotatably connected with the Z0 axis ram, and the other end is connected with the connecting rod turntable.
  • the sliding mechanism B includes a horizontal guide rail, a second rotation node of the link mechanism, and a horizontal ram, the horizontal guide rail is provided on the turntable base, and the link turntable passes through the first link mechanism.
  • the two rotation nodes are rotatably connected with the horizontal ram, the horizontal ram is slidingly connected with the horizontal guide rail, and the X-axis grating scale reading head is installed on the horizontal ram.
  • it also includes a connecting rod turntable ram, a bed, a turntable guide rail, a turntable drag screw, and a turntable drag nut.
  • the bed is provided with the turntable guide rail, turntable drag screw, and connecting rod turntable ram.
  • the connecting rod turntable ram is slidably connected with the turntable guide rail, and the turntable drag screw is provided with the turntable drag nut.
  • the present invention also includes a decoupling control method of the connecting rod turntable, the steps are as follows:
  • Z0 represents the length of the Z0 axis nut position relative to the Z0 axis reference point, the reference point is located at the intersection of the extension lines of the two rotation nodes of the connecting rod structure, and ⁇ represents the turntable Angle, the angle between the normal of the turntable and the positive direction of the X'axis;
  • ⁇ Z0 L*(cos ⁇ 1 -cos ⁇ 2 )
  • ⁇ Z0 represents the displacement of the Z0 axis
  • ⁇ 1 represents the angle of the turntable before moving
  • ⁇ 2 represents the angle of the turntable after moving.
  • the connecting rod turntable is assembled, and the assembly steps are as follows:
  • step S2 is as follows:
  • the command A0 namely ⁇ , is sent to the Z0 controller;
  • the command X is sent to the X-axis controller;
  • the Z0 controller calculates the distance ⁇ that the A-axis needs to travel in the next cycle according to the command and the feedback of the A-axis rotation angle, and the issued command angle ⁇ includes the following error and speed feed forward;
  • the A0-axis controller calculates the distance ⁇ that the A-axis needs to travel in the next cycle according to the command and the feedback of the A-axis rotation angle.
  • the issued command angle ⁇ includes the following error and speed feedforward; the X-axis executes the same process.
  • the Z0 actuator drives the turntable linkage mechanism to produce the A-axis swing angle change ⁇ ′ and the X-axis direction horizontal displacement ⁇ X′, ⁇ ′ is used to participate in the closed-loop calculation of the next cycle;
  • the X-axis actuator also produces a displacement ⁇ X 0 , ⁇ X 0 is superimposed with the horizontal displacement ⁇ X′ produced by the turntable linkage mechanism to participate in the closed-loop calculation of the next cycle;
  • Step S2.1-Step S2.4 are executed periodically and cyclically.
  • the beneficial effects of the connecting rod turntable and its decoupling control method of the present invention are: in the traditional control method, the Z0 axis and the X axis closed-loop control are not related, and the displacement in the horizontal direction needs to be manually calculated, and then the horizontal direction is manually adjusted. The displacement on the upper side is added to the X-axis command, and there is a large delay in addition to the calculation error.
  • the horizontal displacement produced by the movement of the Z0 axis is directly integrated into the closed loop of the X axis through measurement and superposition.
  • the displacement directly calculated by the grating ruler has high accuracy and no delay. In this mechanical structure Can achieve a more effective level of control.
  • the optimized control algorithm during the rotation of the A-axis, makes the X-axis have the motion characteristics of RTCP, which reduces the requirements for the dynamic performance of the X-axis motor.
  • Figure 1 is a schematic diagram of the structure of the connecting rod turntable of the present invention.
  • Figure 2 is a schematic diagram of the simplified movement process of the scheme structure involved in the background art
  • Figure 3 is a diagram of the traditional control algorithm
  • Figure 4 is a schematic diagram of the decoupling control algorithm of the present invention.
  • Figure 5 is a control flow chart of the decoupling control algorithm of the present invention.
  • the reference signs in the figure are as follows: 1-Turntable column, 2, Z0 axis ball screw, 3-Z0 axis ram, 4-link mechanism first rotation node, 5, linkage mechanism link, 6-Z0 axis guide rail , 7-horizontal guide rail, 8-link turntable, 9-link mechanism second rotation node, 10-X axis grating scale reading head, 11-horizontal ram, 12-link turntable ram, 13, X-axis grating Ruler, 14-turntable base, 15-bed, 16-turntable guide rail, 17-turntable drag screw, 18-turntable drag nut.
  • a connecting rod turntable characterized in that it comprises: turntable column 1, connecting rod turntable 8, X-axis grating ruler reading head 10, X-axis grating ruler 13, turntable base 14, sliding mechanism A, sliding mechanism B, and
  • the turntable column 1 is vertically mounted on the turntable base 14.
  • the connecting rod turntable 8 is slidably connected to the turntable column 1 through a sliding mechanism A, and the connecting rod turntable 8 is connected to the turntable base through the sliding mechanism B.
  • the base 14 is slidably connected, the X-axis grating ruler reading head 10 is installed on the sliding mechanism B, and the X-axis grating ruler 13 is installed under the turntable base 14 and fixed to the bed and connected to the The X-axis grating scale reading head 10 is set relative to each other.
  • the sliding mechanism A includes: a Z0 axis ball screw 2, a Z0 axis ram 3, a first rotation node 4 of a link mechanism, a link mechanism link 5, and a Z0 axis guide 6, the Z0 axis guide 6 Set on the turntable column 1, the Z0-axis ball screw 2 is connected to the Z0-axis guide rail 6, the Z0-axis ram 3 is slidably connected to the Z0-axis guide rail 6, and the connecting rod mechanism One end of 5 is rotatably connected to the Z0 axis ram 3 through the first rotation node 4 of the link mechanism, and the other end is connected to the link turntable 8.
  • the sliding mechanism B includes: a horizontal guide rail 7, a second rotation node 9 of the link mechanism, and a horizontal ram 11.
  • the horizontal guide rail 7 is provided on the turntable base 14, and the connecting rod turntable 8 passes
  • the second rotation node 9 of the linkage mechanism is rotatably connected with the horizontal ram 11
  • the horizontal ram 11 is slidably connected with the horizontal guide 7, and the X-axis grating ruler reading head 10 is installed on the horizontal On the ram 11.
  • a connecting rod turntable ram 12 a bed 15, a turntable guide rail 16, a turntable drag screw 17, a turntable drag nut 18, the bed 15 is provided with the turntable guide rail 16, the turntable drag wire
  • the bar 17 and the connecting rod turntable ram 12, the connecting rod turntable ram 12 is slidably connected with the turntable guide rail 16, the turntable drag screw 17 is provided with the turntable drag nut 18; the connecting rod The turntable ram 12 is fixed on the turntable base 14 and then slidably connected with the turntable guide rail 16 on the bed 15.
  • a decoupling control method for connecting rod turntable the steps are as follows:
  • Z0 represents the length of the Z0 axis nut position relative to the Z0 axis reference point
  • the reference point is located at the intersection of the extension lines of the two rotation nodes of the connecting rod structure
  • ⁇ represents the turntable Angle is the angle between the normal of the turntable and the positive direction of the X'axis.
  • ⁇ Z0 L*(cos ⁇ 1 -cos ⁇ 2 )
  • ⁇ Z0 represents the displacement of the Z0 axis
  • ⁇ 1 represents the angle of the turntable before moving
  • ⁇ 2 represents the angle of the turntable after moving.
  • the connecting rod turntable is assembled, and the assembly steps are as follows:
  • step S2 is as follows:
  • the command A0 namely ⁇ , is sent to the Z0 controller;
  • the command X is sent to the X-axis controller;
  • the Z0 controller calculates the distance ⁇ that the A-axis needs to travel in the next cycle according to the command and the feedback of the A-axis rotation angle, and the issued command angle ⁇ includes the following error and speed feed forward;
  • the A0-axis controller calculates the distance ⁇ that the A-axis needs to travel in the next cycle according to the command and the feedback of the A-axis rotation angle.
  • the issued command angle ⁇ includes the following error and speed feedforward; the X-axis executes the same process.
  • the Z0 actuator drives the turntable linkage mechanism to produce the A-axis swing angle change ⁇ ′ and the X-axis direction horizontal displacement ⁇ X′, ⁇ ′ is used to participate in the closed-loop calculation of the next cycle;
  • the X-axis actuator also produces a displacement ⁇ X 0 , ⁇ X 0 is superimposed with the horizontal displacement ⁇ X′ produced by the turntable linkage mechanism to participate in the closed-loop calculation of the next cycle;
  • Step S2.1-Step S2.4 are executed periodically and cyclically.
  • control method proposed in this application only needs to be modified in one place, and the modification is convenient and quick, with low cost and obvious effect.
  • the realization of the technical solution described in this application only needs to modify the X-axis reading head from the turntable base to the turntable support slider.
  • step 3 Install the rotary grating of the turntable directly to the A-axis rotation center, and install it coaxially. After repeated inspections, go to step 4;
  • step 4 Measure the length of the hypotenuse of the triangle structure. After measuring the length, move Z0 repeatedly, and verify whether the length of the hypotenuse, the angle of the A axis and the Z0 coordinates can be perfectly matched to form a triangle. After the measurement is completed, continue to step 6 if The triangles calculated at each position are quite different, and the assembly should be re-checked, and the execution should be restarted from step 1. If there is no accurate measuring device, go to step 5;
  • ⁇ Z0 L*(cos ⁇ 1 -cos ⁇ 2 )
  • the A0 controller calculates the distance ⁇ that the A-axis needs to travel in the next cycle according to the command and the feedback of the A-axis rotation angle.
  • the commanded angle ⁇ includes the following error and speed feedforward; the same is true for ⁇ X;
  • ⁇ is converted into the linear distance ⁇ Z0 to be traveled by Z0 according to the formula, and then the command is sent to the Z0 actuator, usually servo motors, frequency converters and other actuators; the same ⁇ X is sent to X-axis actuator;
  • the Z0 actuator drives the turntable linkage mechanism to produce the A-axis swing angle change ⁇ ′ and the X-axis direction horizontal displacement ⁇ X′.
  • ⁇ ′ is used to participate in the closed-loop calculation of the next cycle;
  • the X-axis actuator also produces a displacement ⁇ X 0 , ⁇ X 0 is superimposed with the horizontal displacement ⁇ X′ generated by the turntable linkage mechanism to participate in the closed-loop calculation of the next cycle;

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position Or Direction (AREA)
  • Numerical Control (AREA)
  • Feedback Control In General (AREA)
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Abstract

一种连杆转台的解耦控制方法，属于关联性运动控制机构技术领域。技术方案步骤如下：测量三角结构斜边的长度L；将系统输入的A轴坐标，按照Z0＝L*cosα换算成Z0轴的坐标，输入到Z0轴上；如果是速度控制方法，按照ΔZ0＝L*(cosα 1-cosα 2)换算成Z0的周期性位移，输入到Z0轴。有益效果是：由Z0轴移动产生的水平位移，直接通过测量叠加的方式融合到了X轴的闭环当中，由光栅尺直接计算出来的位移，精度高，无延迟，在这种机械结构上能够达到更有效的控制水平。另外优化后的控制算法，A轴在旋转的过程当中，使得X轴具有了RTCP的运动特性，降低了对X轴电机动态性能的要求。

Description

一种连杆转台及其解耦控制方法 技术领域
本发明属于关联性运动控制机构技术领域，尤其涉及一种连杆转台及其解耦控制方法。
背景技术
连杆解耦的控制方法，主要应用案例是申请号为CN201810806333.1，申请人为科德数控股份有限公司，名称为一种滚珠丝杠拖动的摇篮转台的中国专利申请，该结构的简化运动过程如图2所示。
按照传统的控制方法，单独的控制两个方向的轴运动，假设竖直方向为Z0轴，水平方向为X轴，转台的水平滑动机构为X′，转台摆动机构为A轴，Z0轴的光栅尺安装在转台基座，方向与Z0轴竖直方向导轨平行，Z0轴读数头安装在Z轴丝杠螺母上，X轴光栅尺安装在床身上，方向与X轴导轨平行，X轴读数头安装在转台基座上，随着转台机床进行水平位移。这种传统安装方法，在控制的时候有以下几处缺陷：
1.需要额外的计算Z0轴在拖动转台的时候引起的转台水平位移ΔX′；
2.转台水平瞬间位移计算出来的值通常会有一定的延迟及误差，叠加到X轴指令上,表达位置不够精准，对精度产生了不良影响；
3.相比普通直线轴的控制方法改动比较大，应用起来比较繁琐；
4.A轴与X轴在控制算法上存在相互的耦合关系。
发明内容
为了解决上述现有技术中存在的问题，本发明提出一种连杆转台及其解耦控制方法，使得对X轴的动态性能要求有所降低、无需手动计算Z0轴引起的转台水平位移ΔX′，并且提升了控制精度。
技术方案如下：
一种连杆转台，其特征在于，包括：转台立柱、连杆转台、X轴光栅尺读数头、X轴光栅尺、转台基座，滑动机构A、滑动机构B，所述转台立柱垂直安装 在所述转台基座上，所述连杆转台通过滑动机构A与所述转台立柱滑动连接，所述连杆转台通过所述滑动机构B与所述转台基座滑动连接，所述X轴光栅尺读数头安装在所述滑动机构B上，所述X轴光栅尺安装于所述转台基座下方、并与所述X轴光栅尺读数头相对设置。
进一步的，所述滑动机构A包括：Z0轴滚珠丝杠、Z0轴滑枕、连杆机构第一旋转节点、连杆机构连杆、Z0轴导轨，所述Z0轴导轨设于所述转台立柱上，所述Z0轴滚珠丝杠与所述Z0轴导轨连接，所述Z0轴滑枕与所述Z0轴导轨滑动连接，所述连杆机构连杆的一端通过所述连杆机构第一旋转节点与所述Z0轴滑枕可旋转连接、另一端与所述连杆转台连接。
进一步的，所述滑动机构B包括：水平导轨、连杆机构第二旋转节点、水平滑枕，所述水平导轨设于所述转台基座上，所述连杆转台通过所述连杆机构第二旋转节点与所述水平滑枕可旋转连接，所述水平滑枕与所述水平导轨滑动连接，所述X轴光栅尺读数头安装在所述水平滑枕上。
进一步的，还包括连杆转台滑枕、床身、转台导轨、转台拖动丝杠、转台拖动螺母，所述床身设有所述转台导轨、转台拖动丝杠和连杆转台滑枕，所述连杆转台滑枕与所述转台导轨滑动连接，所述转台拖动丝杠上设有所述转台拖动螺母。
本发明还包括一种连杆转台的解耦控制方法，步骤如下：
S1、测量三角结构斜边的长度L；
S2、将系统输入的A轴坐标，按照
Z0＝L*cos α
换算成Z0轴的坐标，输入到Z0轴上，Z0代表Z0轴的螺母位置相对Z0轴参考点的长度，参考点位于连杆结构两个旋转节点位移轨迹的延长线相交处，α代表转台的角度，即转台法线与X′轴正方向的夹角；
如果是速度控制方法，按照
ΔZ0＝L*(cos α 1-cos α 2)
换算成Z0的周期性位移，输入到Z0轴，ΔZ0表示Z0轴的位移，α 1表示转台在移动之前的角度，α 2表示转台移动后的角度。
进一步的，测量三角结构斜边的长度L前对连杆转台进行装配，装配步骤如下：
S0.1、将X轴光栅尺平行于X轴安装于床身；
S0.2、将X轴光栅尺读数头对准X轴光栅尺，固定在水平滑枕上，反复水平移动连杆转台，检查读数；
S0.3、将连杆转台的圆光栅安装正对A轴旋转中心，同轴安装。
进一步的，通过以下步骤获取三角结构斜边的长度L：
移动Z0到第一个位置，记录Z0坐标Z0 1，A轴角度α 1；移动Z0到第二个位置，记录Z0坐标Z0 2，转台角度α 2，可以得到以下等式：
L*cos α 1-L*cos α 2＝Z0 1-Z0 2；
继而得出三角结构斜边的长度L：
L＝ΔZ0/(cos α 1-cos α 2)。
进一步的，步骤S2详细步骤如下：
S2.1、指令A0即Δα，发送到Z0控制器；指令X发送到X轴控制器；
S2.2、Z0控制器根据指令和反馈回来的A轴转角计算出下一周期A轴需要走的距离Δα，发出的指令角度Δα当中包含了跟随误差与速度前馈；
A0轴控制器根据指令和反馈回来的A轴转角计算出下一周期A轴需要走的距离Δα，发出的指令角度Δα当中包含了跟随误差与速度前馈；X轴执行同样的流程。
S2.3、在输入到Z0执行机构前，Δα根据公式ΔZ0＝L(cos α 1-cos(α 1+Δα))，换算成当前要Z0要走的直线距离ΔZ0，再将指令发送到Z0执行机构；ΔX发送到X轴执行机构；
S2.4、Z0执行机构带动转台联动机构产生了A轴摆角变化Δα′、以及X轴方向水平位移ΔX′，Δα′用来参与下一周期的闭环运算；X轴执行机构同样产生位移ΔX 0，ΔX 0与转台联动机构所产生的水平位移ΔX′叠加参与下一周期的闭环运算；
S2.5、周期性循环执行步骤S2.1-步骤S2.4。
本发明的有益效果是：
本发明所述的连杆转台及其解耦控制方法有益效果在于：在传统控制方法当 中，Z0轴与X轴闭环控制各不相干，需要手动计算水平方向上的位移，然后再手动将水平方向上的位移，加到X轴指令上，中间除了计算产生的误差外还存在较大的延时。但是在更改控制算法后，由Z0轴移动产生的水平位移，直接通过测量叠加的方式融合到了X轴的闭环当中，由光栅尺直接计算出来的位移，精度高，无延迟，在这种机械结构上能够达到更有效的控制水平。
另外优化后的控制算法，A轴在旋转的过程当中，使得X轴具有了RTCP的运动特性，降低了对X轴电机动态性能的要求。
附图说明
图1为本发明连杆转台结构示意图；
图2为背景技术所涉方案结构的简化运动过程示意图；
图3为传统控制算法图；
图4为本发明解耦控制算法原理图；
图5为本发明解耦控制算法控制流程图；
图中附图标记如下：1-转台立柱、2、Z0轴滚珠丝杠、3-Z0轴滑枕、4-连杆机构第一旋转节点、5、连杆机构连杆、6-Z0轴导轨、7-水平导轨、8-连杆转台、9-连杆机构第二旋转节点、10-X轴光栅尺读数头、11-水平滑枕、12-连杆转台滑枕、13、X轴光栅尺、14-转台基座、15-床身、16-转台导轨、17-转台拖动丝杠、18-转台拖动螺母。
具体实施方式
下面结合附图1-图5对连杆转台及其解耦控制方法做进一步说明。
实施例1
一种连杆转台，其特征在于，包括：转台立柱1、连杆转台8、X轴光栅尺读数头10、X轴光栅尺13、转台基座14，滑动机构A、滑动机构B，所述转台立柱1垂直安装在所述转台基座14上，所述连杆转台8通过滑动机构A与所述转台立柱1滑动连接，所述连杆转台8通过所述滑动机构B与所述转台基座14滑动连接，所述X轴光栅尺读数头10安装在所述滑动机构B上，所述X轴光栅尺13安装于所述转台基座14下方、并固定于床身、并与所述X轴光栅尺读数头10相对设置。
进一步的，所述滑动机构A包括：Z0轴滚珠丝杠2、Z0轴滑枕3、连杆机构第一旋转节点4、连杆机构连杆5、Z0轴导轨6，所述Z0轴导轨6设于所述转台立柱1上，所述Z0轴滚珠丝杠2与所述Z0轴导轨6连接，所述Z0轴滑枕3与所述Z0轴导轨6滑动连接，所述连杆机构连杆5的一端通过所述连杆机构第一旋转节点4与所述Z0轴滑枕3可旋转连接、另一端与所述连杆转台8连接。
进一步的，所述滑动机构B包括：水平导轨7、连杆机构第二旋转节点9、水平滑枕11，所述水平导轨7设于所述转台基座14上，所述连杆转台8通过所述连杆机构第二旋转节点9与所述水平滑枕11可旋转连接，所述水平滑枕11与所述水平导轨7滑动连接，所述X轴光栅尺读数头10安装在所述水平滑枕11上。
进一步的，还包括连杆转台滑枕12、床身15、转台导轨16、转台拖动丝杠17、转台拖动螺母18，所述床身15设有所述转台导轨16、转台拖动丝杠17和连杆转台滑枕12，所述连杆转台滑枕12与所述转台导轨16滑动连接，所述转台拖动丝杠17上设有所述转台拖动螺母18；所述连杆转台滑枕12固定在转台基座14上面，再与床身15上的转台导轨16滑动连接。
一种连杆转台的解耦控制方法，步骤如下：
S1、测量三角结构斜边的长度L；
S2、将系统输入的A轴坐标，按照
Z0＝L*cos α
换算成Z0轴的坐标，输入到Z0轴上，Z0代表Z0轴的螺母位置相对Z0轴参考点的长度，参考点位于连杆结构两个旋转节点位移轨迹的延长线相交处，α代表转台的角度，即转台法线与X′轴正方向的夹角。
如果是速度控制方法，按照
ΔZ0＝L*(cos α 1-cos α 2)
换算成Z0的周期性位移，输入到Z0轴，ΔZ0表示Z0轴的位移，α 1表示转台在移动之前的角度，α 2表示转台移动后的角度。
进一步的，测量三角结构斜边的长度L前对连杆转台进行装配，装配步骤如下：
S0.1、将X轴光栅尺平行于X轴安装于床身；
S0.2、将X轴光栅尺读数头对准X轴光栅尺，固定在水平滑枕上，反复水平移动连杆转台，检查读数；
S0.3、将连杆转台的圆光栅安装正对A轴旋转中心，同轴安装。
进一步的，通过以下步骤获取三角结构斜边的长度L：
移动Z0到第一个位置，记录Z0坐标Z0 1，A轴角度α 1；移动Z0到第二个位置，记录Z0坐标Z0 2，转台角度α 2，可以得到以下等式：
L*cos α 1-L*cos α 2＝Z0 1-Z0 2；
继而得出三角结构斜边的长度L：
L＝ΔZ0/(cos α 1-cos α 2)。
进一步的，步骤S2详细步骤如下：
S2.1、指令A0即Δα，发送到Z0控制器；指令X发送到X轴控制器；
S2.2、Z0控制器根据指令和反馈回来的A轴转角计算出下一周期A轴需要走的距离Δα，发出的指令角度Δα当中包含了跟随误差与速度前馈；
A0轴控制器根据指令和反馈回来的A轴转角计算出下一周期A轴需要走的距离Δα，发出的指令角度Δα当中包含了跟随误差与速度前馈；X轴执行同样的流程。
S2.3、在输入到Z0执行机构前，Δα根据公式ΔZ0＝L(cos α 1-cos(α 1+Δα))，换算成当前要Z0要走的直线距离ΔZ0，再将指令发送到Z0执行机构；ΔX发送到X轴执行机构；
S2.4、Z0执行机构带动转台联动机构产生了A轴摆角变化Δα′、以及X轴方向水平位移ΔX′，Δα′用来参与下一周期的闭环运算；X轴执行机构同样产生位移ΔX 0，ΔX 0与转台联动机构所产生的水平位移ΔX′叠加参与下一周期的闭环运算；
S2.5、周期性循环执行步骤S2.1-步骤S2.4。
实施例2
本申请所提出的控制方法，相对于传统控制方案来说只需要改动一个地方即可，改造方便快捷，成本低，效果明显。本申请所述技术方案的实现只需要将X轴的读数头从转台基座改装到转台支撑滑块上即可。
传统的控制方法在算法原理图上表现如图3所示；
本申请所提及的控制方案的原理图如图4所示；
需要说明的是图中虚线部分不需要额外的去实现，只需要更改X轴读数头的安装位置即可，X轴控制算法不需要做出任何改动。
在传统控制算法当中需要根据Z0计算出来水平方向上的位移并加到指令X当中，但是在这里，由于读数头被安装在了转台支撑滑块上，因此对于Z0轴移动引起的转台水平位移，可以实时的通过光栅尺(或其他测量装置)实时的反馈的位移反馈到X轴的闭环当中。
假设X轴的指令X不变的情况下，可以自动的实现Z0轴在拖动转台的过程当中转台的水平中心保持不变，即在图2当中A轴旋转中心的X左边始终是X1。
此控制结构的所独有的优势总结如下：
1.由于转台水平位移是由光栅尺测量出来的，因此省去了计算水平位移的部分，节省了人力。
2.由于转台水平位移是由光栅尺测量出来的，所以可以保证数值的实时性与精准度，保证了控制应有的精度。
3.在实际应用当中，由于读数头安装在转台支撑滑块上，因此有转台水平产生的位移会自动的加到X轴的水平位移反馈当中，完全不用对X轴的控制算法作出任何更改，同样节省了人力。
实施步骤：
装配方面：
1.将光栅尺平行于X轴安装于床身，检查无误后进行步骤2；
2.将X轴光栅尺读数头对准光栅尺，固定在水平转台的支撑滑块上，反复水平移动转台检查读数正常后进行步骤3；
3.将转台的圆光栅安装正对A轴旋转中心，同轴安装，反复检查无误后进行步骤4；
测量方面：
4.测量三角结构的斜边的长度，测量出长度后反复移动Z0，等差距离验证斜边长度、A轴角度以及Z0坐标是否能够完美的匹配成三角形，完成测量后继续执行步骤6，如果各位置计算出来的三角形相差较大应当重新检查装配，并从步骤1重新开始执行。如果没有精确的测量装置则执行步骤5；
5.移动Z0到第一个位置，记录Z0坐标Z0 1，A轴角度α 1，移动Z0到第二个位置，记录Z0坐标Z0 2，转台角度α 2，由于转台机械结构是直角安装，可以按照以下公式计算出斜边长度，假设斜边长度为L：
L*cos α 1-L*cos α 2＝Z0 1-Z0 2
L＝ΔZ0/(cos α 1-cos α 2)
计算结果时应当多找几个位置验证计算的L是否正确，如果反复计算的L值相差较大，说明机械装配的结果并不是直角，应该好好检查一下机械装配，并从步骤1重新开始执行，如果认为计算得出的斜边长度已经足够精确，执行步骤6。
算法方面：
6.更改系统A轴控制方法，将系统输入的A轴坐标，按照以下Z0＝L*sin α换算成Z0轴的坐标，输入到Z0轴上，如果是速度控制方法，就按照
ΔZ0＝L*(cos α 1-cos α 2)
换算成Z0的周期性位移(即速度)，输入到Z0轴，其他轴均无需有任何改动。
连杆解耦控制的流程图如图5所示；
步骤如下：
1.指令A0即Δα,发送到Z0控制器；指令X发送到X轴控制器；
2.A0控制器根据指令和反馈回来的A轴转角计算出下一周期A轴需要走的距离Δα，发出的指令角度Δα当中包含了跟随误差与速度前馈；ΔX同样如此；
3.在输入到Z0执行机构前，Δα根据公式，换算成当前要Z0要走的直线距离ΔZ0，再将指令发送到Z0执行机构，一般是伺服电机，变频器等执行机构；同样ΔX发送到X轴执行机构；
4.Z0执行机构带动转台联动机构产生了A轴摆角变化Δα′、以及X轴方向 水平位移ΔX′，Δα′用来参与下一周期的闭环运算；X轴执行机构同样产生位移ΔX 0，ΔX 0与转台联动机构所产生的水平位移ΔX′叠加参与下一周期的闭环运算；
5.如此周期性循环执行。
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明披露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。

Claims (8)

  1. 一种连杆转台，其特征在于，包括：转台立柱(1)、连杆转台(8)、X轴光栅尺读数头(10)、X轴光栅尺(13)、转台基座(14)，滑动机构A、滑动机构B，所述转台立柱(1)垂直安装在所述转台基座(14)上，所述连杆转台(8)通过滑动机构A与所述转台立柱(1)滑动连接，所述连杆转台(8)通过所述滑动机构B与所述转台基座(14)滑动连接，所述X轴光栅尺读数头(10)安装在所述滑动机构B上，所述X轴光栅尺(13)安装于所述转台基座(14)下方、并与所述X轴光栅尺读数头(10)相对设置。
  2. 如权利要求1所述的连杆转台，其特征在于，所述滑动机构A包括：Z0轴滚珠丝杠(2)、Z0轴滑枕(3)、连杆机构第一旋转节点(4)、连杆机构连杆(5)、Z0轴导轨(6)，所述Z0轴导轨(6)设于所述转台立柱(1)上，所述Z0轴滚珠丝杠(2)与所述Z0轴导轨(6)连接，所述Z0轴滑枕(3)与所述Z0轴导轨(6)滑动连接，所述连杆机构连杆(5)的一端通过所述连杆机构第一旋转节点(4)与所述Z0轴滑枕(3)可旋转连接、另一端与所述连杆转台(8)连接。
  3. 如权利要求1所述的连杆转台，其特征在于，所述滑动机构B包括：水平导轨(7)、连杆机构第二旋转节点(9)、水平滑枕(11)，所述水平导轨(7)设于所述转台基座(14)上，所述连杆转台(8)通过所述连杆机构第二旋转节点(9)与所述水平滑枕(11)可旋转连接，所述水平滑枕(11)与所述水平导轨(7)滑动连接，所述X轴光栅尺读数头(10)安装在所述水平滑枕(11)上。
  4. 如权利要求1所述的连杆转台，其特征在于，还包括连杆转台滑枕(12)、床身(15)、转台导轨(16)、转台拖动丝杠(17)、转台拖动螺母(18)，所述床身(15)设有所述转台导轨(16)、转台拖动丝杠(17)和连杆转台滑枕(12)，所述连杆转台滑枕(12)与所述转台导轨(16)滑动连接，所述转台拖动丝杠(17)上设有所述转台拖动螺母(18)。
  5. 一种连杆转台的解耦控制方法，其特征在于，步骤如下：
    S1、测量三角结构斜边的长度L；
    S2、将系统输入的A轴坐标，按照
    Z0＝L*cosα
    换算成Z0轴的坐标，输入到Z0轴上，Z0代表Z0轴的螺母位置相对Z0轴参考点的长度，参考点位于连杆结构两个旋转节点位移轨迹的延长线相交处，α 代表转台的角度，即转台法线与X′轴正方向的夹角；
    如果是速度控制方法，按照
    ΔZ0＝L*(cosα 1-cosα 2)
    换算成Z0的周期性位移，输入到Z0轴，ΔZ0表示Z0轴的位移，α 1表示转台在移动之前的角度，α 2表示转台移动后的角度。
  6. 如权利要求5所述的连杆转台的解耦控制方法，其特征在于，测量三角结构斜边的长度L前对连杆转台进行装配，装配步骤如下：
    S0.1、将X轴光栅尺平行于X轴安装于床身；
    S0.2、将X轴光栅尺读数头对准X轴光栅尺，固定在水平滑枕上，反复水平移动连杆转台，检查读数；
    S0.3、将连杆转台的圆光栅安装正对A轴旋转中心，同轴安装。
  7. 如权利要求5所述的连杆转台的解耦控制方法，其特征在于，通过以下步骤获取三角结构斜边的长度L：
    移动Z0到第一个位置，记录Z0坐标Z0 1，A轴角度α 1；移动Z0到第二个位置，记录Z0坐标Z0 2，转台角度α 2，可以得到以下等式：
    L*cosα 1-L*cosα 2＝Z0 1-Z0 2；
    继而得出三角结构斜边的长度L：
    L＝ΔZ0/(cosα 1-cosα 2)。
  8. 如权利要求5所述的连杆转台的解耦控制方法，其特征在于，步骤S2详细步骤如下：
    S2.1、指令A0即Δα，发送到Z0控制器；指令X发送到X轴控制器；
    S2.2、Z0控制器根据指令和反馈回来的A轴转角计算出下一周期A轴需要走的距离Δα，发出的指令角度Δα当中包含了跟随误差与速度前馈；
    A0轴控制器根据指令和反馈回来的A轴转角计算出下一周期A轴需要走的距离Δα，发出的指令角度Δα当中包含了跟随误差与速度前馈；X轴执行同样的流程；
    S2.3、在输入到Z0执行机构前，Δα根据公式ΔZ0＝L(cosα 1- cos(α 1+Δα))，换算成当前要Z0要走的直线距离ΔZ0，再将指令发送到Z0执行机构；ΔX发送到X轴执行机构；
    S2.4、Z0执行机构带动转台联动机构产生了A轴摆角变化Δα′、以及X轴方向水平位移ΔX′，Δα′用来参与下一周期的闭环运算；X轴执行机构同样产生位移ΔX 0，ΔX 0与转台联动机构所产生的水平位移ΔX′叠加参与下一周期的闭环运算；
    S2.5、周期性循环执行步骤S2.1-步骤S2.4。
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