CN101989081B - Servo lag compensation method and device thereof - Google Patents
Servo lag compensation method and device thereof Download PDFInfo
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- CN101989081B CN101989081B CN 200910166020 CN200910166020A CN101989081B CN 101989081 B CN101989081 B CN 101989081B CN 200910166020 CN200910166020 CN 200910166020 CN 200910166020 A CN200910166020 A CN 200910166020A CN 101989081 B CN101989081 B CN 101989081B
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Abstract
The invention relates to a servo lag compensation method modified aiming at a servo lag phenomenon of mechanical equipment in rapid reciprocating motion for processing. The compensation method edits the travel distance condition in a prediction mode so that an actual motor can still move to an original preset position to substitute for servo lag even under the influence of existing servo lag after a travel plan of the method is amended. Moreover, the servo lag compensation mode does not influence the smoothness of a speed-time curve after compensation.
Description
Technical field
The invention relates to a kind of servo lag compensation method, particularly fall behind compensation about the process equipment that moves back and forth fast servo, servo servo servo fall behind compensation and grinding machine processing servo that falls behind compensation, Drilling operation that falls behind compensation, tapping processing that falls behind compensation, the processing of CNC milling machine such as: CNC lathe processing servo falls behind compensation etc.
Background technology
For the mechanical hook-up that need are processed fast back and forth, such as lathe, grinding machine, tooth machining unit and drilling machine etc., its Numerical Control one large problem comes from servo backwardness, and this phenomenon can cause the wretched insufficiency of machining path precision.Known a kind of servo backward compensation way is feedback control mode (Feedforward control) before utilizing, and provides a yield value to servo motor, makes servo motor can compensate the error that falls behind.Yet such compensation way has two shortcomings: 1) can cause board vibrations and affect serviceable life of board; 2) because board has unnecessary vibrations, cause processed goods to have unnecessary lines to produce.As shown in Figure 1, be in the boring action, the Velocity-time icon intention of feed-back compensation before using; As figure shows, feedback causes the irregularity of machining path easily before utilizing, and can make processed goods have unnecessary lines to produce.
And except above-mentioned front feed-back compensation, in grinding machine action, the another kind of compensation way of proposition is arranged also, and its step comprises: it is default to check 1) whether a upper single-unit machining precision exceeds, if exceed then enter following steps, if do not exceed, and then end; 2) this moving single-unit gathers way, if speed exceeds default value, then enters next step; 3) do not gather way, change the distance that increases walking, get back to step 1).But this compensation way also is that shortcoming is arranged, and it must just can make machining precision converge to the set goal through a plurality of mobile single-units, can cause prolong process time or the machining precision deficiency.
Summary of the invention
Cause easily the problem of board vibrations, prolongation process time and machining precision deficiency for solving known compensation way, fundamental purpose of the present invention is providing a kind of servo backward compensation way, be the length of stroke that obtains estimating with numerical method, and estimate the original travel condition of setting of stroke replacement with this and do stroke planning; Therefore, the order of sending at last can be offset the impact of servo backwardness, makes board can accurately arrive the originally position of expection.
Another fundamental purpose of the present invention is providing a kind of servo backward compensation way, and this compensation way is from source change length of stroke, and does stroke planning with this amended length of stroke condition, so can not cause the board shake as front feed-back compensation; And, because each action all is effectively and can reaches the requirement of precision, thus can not cause prolong process time and machining precision not enough.
According to above-mentioned purpose, the present invention at first provides a kind of servo backward compensation way, comprises that step is as follows:
A., one stroke planning is provided, and is to produce stroke planning according to an original travel condition;
B., one prediction stroke is provided, and is that the stroke planning result is inputed to a servo backward emulator, to produce the prediction stroke;
C. whether judge original travel condition and the prediction stroke difference of subtracting each other less than a default trueness error, when difference during less than default trueness error, flow process finishes, otherwise flow process skips to steps d;
D., one new travel condition is provided, and is that the original travel condition with step a adds that the difference of step c is as new travel condition;
E. carry out another stroke planning, be to carry out stroke planning according to new travel condition, and enter step b and step c, until produce a travel condition that meets expection.
In addition, the present invention also provides a kind of numerical control device with above-mentioned compensation way, comprising: a demoder is to receive a Numerical Control program and export an original travel condition; One servo backward compensating unit is to receive original travel condition and predict a servo trail with original travel condition, and exports a new trip condition that wherein, the new trip condition is original travel condition and servo trail sum; One interpolation-deceleration planning unit is to receive the new trip condition and export an instruction, to control a plant equipment.
Description of drawings
For being illustrated more clearly in the present invention, below enumerate preferred embodiment and cooperate accompanying drawing to be described in detail as follows, wherein:
Fig. 1 is in the boring action, uses the Velocity-time synoptic diagram of known compensation way;
Fig. 2 is the calcspar of a kind of numerical control device of the present invention;
Fig. 3 is a kind of servo process flow diagram that falls behind compensation of the present invention;
Fig. 4 is the equivalent model of the servo backward emulator of its use of compensation way of utilizing;
Fig. 5 is in the boring action, uses the Velocity-time synoptic diagram of compensation way of the present invention; And
Fig. 6 is the servo process flow diagram that falls behind compensation of another kind of the present invention.
Embodiment
At first, please refer to Fig. 2, is the calcspar of a kind of numerical control device 10 of the present invention.Numerical control device 10 is servo motors 30 of controlling a plant equipment, and plant equipment can be lathe, grinding machine, tooth machining unit and drilling machine etc.Numerical control device 10 comprises a demoder 102, servo backward compensating unit 104 and one an interpolation-deceleration planning unit 106.Demoder 102 is to receive a Numerical Control program 101, and with 101 deciphers of Numerical Control program to export an original travel condition 103.Servo backward compensating unit 104 is to receive above-mentioned original travel condition 103 and predict the servo trail of servo motor 30 under original travel condition 103, and further exports a new trip condition 105.This new trip condition 105 is summations of the servo trail of original travel condition 103 and prediction.Then, interpolation-deceleration planning unit 106 receives this new trip condition 105 and exports one stroke planning instruction 107 to motor controller 20.20 output of motor controller, one control signal 108 makes servo motor 30 its traveled distances can reach accurately set accuracy requirement to servo motor 30.
Then, please refer to Fig. 3, is the detail flowchart of above-mentioned servo backward compensating unit 104 runnings.At first, S1) servo backward compensating unit 104 is original travel conditions 103 that receive from demoder 102 outputs, and utilizes this original travel condition 103 to do one stroke planning; S2) result behind stroke planning further is input to a servo backward emulator with the possible stroke of prediction servo motor 30.Servo backward emulator is that emulation servo motor 30 is at the turning of machining path or the backward situation of a generation of turning back; Servo motor 30 often can't be able to do in time each input command is reacted at once at the turning of machining path; It is a similar low-pass filter.Therefore, emulator just designs as shown in Figure 4, above-mentioned ratio gain (Kp) and servo motor 30 own specific relevant, therefore, the user is when operating machine equipment, must input first the ratio gain (Kp) of servo motor, the situation that emulator energy emulation or expection servo motor may be fallen behind.Then, just enter step 3, i.e. S3) after emulator simulates outgoing position (Pos.out), just can obtain a servo trail, servo trail is that original travel condition 103 deducts the outgoing position that emulator simulates.If this servo trail is in acceptable trueness error, 104 of servo backward compensating units can finish to compensate flow process and directly export original travel condition 103 to interpolation-deceleration planning unit 106.On the contrary, if the servo trail of prediction is greater than acceptable trueness error, servo backward compensating unit 104 can enter step 4; Be S4) original travel condition 103 is added the servo trail of prediction and forms a new trip condition.Then, S5) do one stroke planning with this new trip condition, this trip program results is obviously different with utilizing original travel condition 103 formed stroke planning results among the S1.Then, just repeating step S2 and S3 are until produce a travel condition that meets expection.And after generation met the travel condition of expection, 104 of servo backward compensating units can finish to compensate flow process, and this travel condition that meets expection is used as a new trip condition 105 and is exported interpolation-deceleration planning unit 106 to.
Please refer to Fig. 5, is the Velocity-time synoptic diagram that a drilling machine utilizes above-mentioned compensation way.Numerical control device 10 are control servo motors 30 in the starting point in same path with turn back a little between reciprocating, and starting point and the distance of turning back a little are the length in to-and-fro movement path.Clearly, the phenomenon of board vibrations or irregularity does not occur in Fig. 5 as Fig. 1.In the process of above-mentioned servo motor 30 motions, can be planned to zero and its acceleration can be planned non-vanishing through speed and the momentum of turning back a little.
Then, please refer to shown in Figure 6ly, is another servo compensation process flow diagram that falls behind of the present invention.Whether at first, such as step 1, i.e. S11) servo backward compensating unit 104 receives processing conditionss and judges under such processing conditions, existing correlative compensation data; This processing conditions comprises the requirement of travel condition, precision etc., namely goes to seek from database and whether once accepts same processing conditions and once ran the over-compensation flow process.If existing correlative compensation data enters S12) provide one to compensate or corrected travel condition and end compensation flow process, otherwise flow process is jumped S13) travel condition in this processing conditions is taken out, this trip condition is so-called original travel condition.Follow S14) do stroke planning with above-mentioned original travel condition.S15) the stroke planning result is passed to a servo backward emulator, servo backward emulator is a low-pass filter as mentioned before, and exports a prediction stroke.S16) original stroke is deducted the stroke that emulator dopes, to obtain the servo trail of a prediction.S17) judge that the servo trail of this prediction is whether in acceptable trueness error; If can accept, then with original stroke, soon the travel condition in the processing conditions is directly exported and is finished and compensates.If servo backwardness is greater than acceptable error amount, then representative needs compensation, needs to revise travel condition.Enter S18) to be former travel condition with servo trail be added to original travel condition to obtain a travel condition new or that revise with the difference of prediction stroke.S19) do stroke planning with new travel condition, and repeat S15), S16) and S17) until produce a travel condition that meets expection.And after generation met the travel condition of expection, 104 of servo backward compensating units can finish to compensate flow process, and this travel condition that meets expection is used as a new trip condition 105 and is exported interpolation-deceleration planning unit 106 to.
Clearly, the present invention can overcome servo backwardness for the impact of control, so that traveled distance can reach set accuracy requirement accurately; And owing to be under the travel condition in source, to do correction, do not have the board jitter problem that the front feed-back compensation of tradition causes, and do not need repeatedly carry out opportunity yet, precision is converged in the preset range, cause the prolongation of process time.
More than be purpose for illustrating for the explanation of preferred embodiment of the present invention, and be not intended to limit accurate application form of the present invention, by above instruction or to be done to revise to a certain degree by embodiments of the invention study be possible.Therefore, technological thought of the present invention will be decided by claim scope and equalization thereof.
Claims (8)
1. numerical control device, in order to control a plant equipment, this numerical control device comprises:
One demoder is to receive a Numerical Control program and export an original travel condition;
One servo backward compensating unit, to receive this original travel condition and predict a servo trail with this original travel condition, and export a new trip condition, wherein, after this servo backward compensating unit receives this original travel condition, produce the stroke planning of a speed and time with this original travel condition, and the trip program results is inputed to a servo backward emulator, to export a prediction stroke, this servo trail is the difference of this original travel condition and this prediction stroke, and this new trip condition is this original travel condition and this servo trail sum;
One interpolation-deceleration planning unit is to receive this new trip condition and export an instruction, to control this plant equipment.
2. numerical control device as claimed in claim 1, the backward situation of this servo backward emulator emulation servo motor.
3. numerical control device as claimed in claim 2, this servo backward emulator is a low-pass filter.
4. numerical control device as claimed in claim 1, wherein this plant equipment is a servo motor.
5. numerical control method, in order to compensate the backward situation of a plant equipment, this numerical control method comprises that step is as follows:
A., one stroke planning is provided, and is to produce the trip planning according to an original travel condition;
B., one prediction stroke is provided, and is that the trip program results is inputed to a servo backward emulator, to produce this prediction stroke;
C. whether judge difference that this original travel condition and this prediction stroke subtract each other less than a default trueness error, when this difference during less than this default trueness error, flow process finishes, otherwise flow process skips to step D;
D., one new travel condition is provided, and is that this original travel condition with steps A adds that this difference of step C is as this new travel condition;
E. carry out another stroke planning, be to plan according to should new travel condition carrying out the trip, and enter step B and step C, until produce a travel condition that meets expection.
6. numerical control method as claimed in claim 5, this servo backward emulator is a low-pass filter.
7. numerical control method, in order to compensate the backward situation of a plant equipment, this numerical control method comprises that step is as follows:
A., one processing conditions is provided, and this processing conditions comprises an original travel condition;
B. judge under this processing conditions, whether to have the correlative compensation data, if existing correlative compensation data one travel condition that has compensated then is provided and finishes the compensation flow process, otherwise flow process skips to step C;
C., one stroke planning is provided, and is to produce the trip planning according to this original travel condition;
D., one prediction stroke is provided, and is that the trip program results is inputed to a servo backward emulator, to produce this prediction stroke;
E. provide one to fall behind difference, this backwardness difference is that this original travel condition deducts this prediction stroke;
F. judge this backwardness difference whether less than a default trueness error, when this difference during less than this default trueness error, flow process finishes, otherwise flow process skips to step G;
G., one new travel condition is provided, and is that this backwardness difference is added to this original travel condition with as this new travel condition;
H. carry out another stroke planning, be to plan according to should new travel condition carrying out the trip, and enter step D, step e and step F, until produce a travel condition that meets expection.
8. numerical control method as claimed in claim 7, this servo backward emulator is a low-pass filter.
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| CN 200910166020 CN101989081B (en) | 2009-08-07 | 2009-08-07 | Servo lag compensation method and device thereof |
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| JP6011353B2 (en) * | 2013-01-17 | 2016-10-19 | 日立金属株式会社 | Machining condition prediction apparatus and machining condition prediction method |
| CN104597844B (en) * | 2015-01-07 | 2017-08-25 | 苏州新代数控设备有限公司 | The control method and control system of drive device |
| CN108673239A (en) * | 2018-04-23 | 2018-10-19 | 中国航发哈尔滨东安发动机有限公司 | The zero-point positioning precision correcting method of Five-axis NC Machining Center |
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| US5105137A (en) * | 1989-08-30 | 1992-04-14 | Seiko Seiki Kabushiki Kaisha | Numerical control device for a grinding machine |
| US5742144A (en) * | 1995-02-02 | 1998-04-21 | Fanuc Ltd. | Backlash compensation method for semi-closed-loop type servo control |
| CN1680893A (en) * | 2004-04-08 | 2005-10-12 | 发那科株式会社 | Vibration control device |
| CN1700124A (en) * | 2004-05-17 | 2005-11-23 | 发那科株式会社 | Learning servo controller |
| CN101013309A (en) * | 2006-01-31 | 2007-08-08 | 发那科株式会社 | Controller for electric motor |
| CN101122791A (en) * | 2007-09-13 | 2008-02-13 | 上海交通大学 | Digital control machine tool positioning error real-time compensation device |
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2009
- 2009-08-07 CN CN 200910166020 patent/CN101989081B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5105137A (en) * | 1989-08-30 | 1992-04-14 | Seiko Seiki Kabushiki Kaisha | Numerical control device for a grinding machine |
| US5742144A (en) * | 1995-02-02 | 1998-04-21 | Fanuc Ltd. | Backlash compensation method for semi-closed-loop type servo control |
| CN1680893A (en) * | 2004-04-08 | 2005-10-12 | 发那科株式会社 | Vibration control device |
| CN1700124A (en) * | 2004-05-17 | 2005-11-23 | 发那科株式会社 | Learning servo controller |
| CN101013309A (en) * | 2006-01-31 | 2007-08-08 | 发那科株式会社 | Controller for electric motor |
| CN101122791A (en) * | 2007-09-13 | 2008-02-13 | 上海交通大学 | Digital control machine tool positioning error real-time compensation device |
Non-Patent Citations (2)
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| JP特开2005-94964A 2005.04.07 |
| JP特开2007-34659A 2007.02.08 |
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Address after: 215000 Chunhui Road, Suzhou Industrial Park, Jiangsu Province Patentee after: New Generation Science and Technology (Suzhou) Co., Ltd. Address before: 215021 Tengfei Xinsu Industrial Workshop, No. 5 Xinghan Street, Suzhou Industrial Park, Jiangsu Province Patentee before: Suzhou Xindai Numerical Control Equipment Co., Ltd. |