CN106774257A - Open AC servo motion control pilot system - Google Patents
Open AC servo motion control pilot system Download PDFInfo
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- CN106774257A CN106774257A CN201611173888.4A CN201611173888A CN106774257A CN 106774257 A CN106774257 A CN 106774257A CN 201611173888 A CN201611173888 A CN 201611173888A CN 106774257 A CN106774257 A CN 106774257A
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a kind of movement control technology of numerical control device, the more particularly to open type movement-control system of AC synchronous sampling, including circuit control device and mechanical execution equipment, mechanical execution equipment includes the motion support body that the servomotor and servomotor of control tri- dimension displacements of X, Y, Z respectively are driven, the motion support body of wherein X-dimension is slidably connected on the motion support body of Y dimensions, and the motion support body of Z-dimension is elevating mechanism；The elevating mechanism is located at the side of the motion support body of X, Y dimension；The circuit control device includes the displacement transducer being separately mounted on the motion support body of the X, Y, Z-dimension.Instant invention overcomes the defect of Z axis easy fracture present in prior art, there is provided a kind of open AC servo motion control pilot system of reduction loading disturbing influence.
Description
Technical field
The present invention relates to the movement control technology of numerical control device, the more particularly to Open motion control of AC synchronous sampling
System.
Background technology
Existing motion control pilot system, including mechanical execution equipment and circuit control device, as long as in circuit control
Run in equipment corresponding motion control program just can directly control machinery perform equipment motion state.Operating personnel pass through
The implementation status of plant equipment is detected, observes to evaluate motion control program in itself.
In order to overcome electronic hardware platform for the limitation of program, the versatility of system, existing motion control program are improved
Open by design being used the pilot system of (application) more.Defined according to IEEE, an open system should provide such ability：
The application program run in different platform can be fully achieved in system, and can be with other systems application interoperation, and tool
There is the user interface of uniformity.For example the pilot system based on PC, kinds of platform just can be run using PC versatilities in itself
Motion control program.
By taking Chinese patent CN2573125 as an example, a kind of vertical high-speed NC milling machine, including circuit control are which disclose
Equipment and mechanical execution equipment, the mechanical execution equipment of the patent include X, Y dimension motion being slidably connected successively (respectively
Driven by servo, corresponding platform and sliding connector are constituted) and Z-dimension motion (driven by servo and phase
The telescopic supporting rod answered is constituted), wherein cutter (load) is on X-dimension motion.As long as adding on circuit control device
Motion control program is carried, circuit control device just can be finally realized to three-dimensional space by controlling the servo of each motion
The finishing of interior arbitrary shape product.
But above-mentioned patent still suffers from following technological deficiency：
X-dimension, Y dimension motions total quality it is larger, completely by Z-dimension motion telescopic supporting rod (with
Lower abbreviation Z axis) load-bearing is carried out, the dynamic loads that Z axis are born are larger, and long-term use is susceptible to fracture, either in experiment
System still can all occur security incident in factory application.Key is that load-bearing can cause Z-direction as a kind of load disturbance factor
Upper and lower kinematic parameter is asymmetric, and upper and lower motion dynamic response is inconsistent, finally causes position stable state accuracy error occur, to three
Axle linkage interpolation is totally unfavorable.
The content of the invention
The technical problems to be solved by the invention are to provide one kind and can reduce Z axis load, it is to avoid Z axis fracture, reduction lotus
The open AC servo motion control pilot system of weight disturbing influence.
In order to solve the above technical problems, the present invention provides following technical scheme：
Open AC servo motion control pilot system, including circuit control device and mechanical execution equipment, wherein machine
Tool performs equipment includes the movement frame that the servomotor and servomotor of control tri- dimension displacements of X, Y, Z respectively are driven
The motion support body of body, wherein X-dimension is slidably connected on the motion support body of Y dimensions, and the motion support body of Z-dimension is elevating mechanism；
The elevating mechanism is located at the side of the motion support body of X, Y dimension；The circuit control device include be separately mounted to the X,
Displacement transducer on Y, the motion support body of Z-dimension, the motor driver being connected with the servomotor of X, Y, Z-dimension respectively, with
Institute's displacement sensors and the motion controller (motion control board) and industrial computer of motor driver connection.
Had the following technical effect that using the present invention：
1st, first to be returned to zero using preceding, that is, when determining that X, Y, the motion support body of Z-dimension are in a certain position, whole pilot system
In (0,0,0) position, be designated as the positional information of this position (0,0,0) to the programmable logic cells by this needs.It is described
(0,0,0) position can arbitrarily select, without particular/special requirement；
2nd, the numerical control program of detection is needed to programmable logic cells input, the programmable logic cells are according to institute
The numerical control program of input respectively to displacement deviator corresponding with X, Y, the corresponding motor driver input of Z-dimension, then servo electricity
Machine drives motion support body to move in the presence of motor driver.
The lower section of support body is moved because the motion support body of Z-dimension is not disposed on X, Y dimension, and is provided in X, Y dimension
The side of support body is moved, so the load of the motion support body (i.e. elevating mechanism) of Z-dimension significantly reduces, Z axis is not susceptible to and is broken
The phenomenon split, the construction can as far as possible reduce the position dynamic error that gravity load disturbance causes, so as to be favorably improved system position
Put servo accuracy.
3rd, during the motion support body of X, Y, Z-dimension is moved, institute's displacement sensors can be actual what is detected
Displacement (x1, y1, z1) feeds back to motion control board, and motion control board realizes real-time motion planning with control to system
System, can be compared, according between the displacement of detection and the estimated displacement of numerical control program so as to realize to the numerical control journey
The evaluation of sequence.
Further, the Control card insertion industrial computer PCI slot, realizes communicating with industrial computer, and industry control function is to system
It is monitored and manages, shows each axle operation and multi-shaft interlocked interpolation track.
Because subprogram needs to provide provisional parameter by related personnel before operation, the CNC Panel turns into interim ginseng
Several input units；, it is necessary to carry out certain display or notice after due to evaluating numerical control program, so needing display
Or loudspeaker, carry out display or the notice of video or audio.
Further, also including teaching simulation cutter and simulation workpiece to be processed, in both cutter and workpiece to be processed one
It is individual on the elevating mechanism, another then located at the X-dimension motion support body on.
Increase cutter has two purposes with workpiece to be processed, described after the numerical control program is run first for imparting knowledge to students
Cutter also completes the processing to workpiece to be processed, can be by way of image taking or artificial observation, according to be processed
The predetermined machining shape of workpiece and the difference of reality processing shape, so as to evaluate data program.
Further, the Z-direction elevating mechanism is spiral lifting mechanism, its upper mounting plate placement magnetic powder brake, what is be combined
Tested motor can be installed on X, Y stand, after system operation, can be according to magnetic powder brake centre coordinate position, quickly will be tested
Motor is transported carries out automatic centering installation in place.Between the X, Y, the motion support body of Z-dimension and respective servo drive motor
Electromagnetic brake is provided with, power down brake sticking brake can be realized.
The purpose of so setting is to realize the automatic locking in lifting and sliding process, it is to avoid due to mechanical movement
During inertia, gravity or the offset deviation caused by other mechanical functions.
Further, the infrared aligner of position zeroing, institute are provided between the elevating mechanism and the motion support body of X-dimension
Infrared aligner is stated to be electrically connected with the programmable logic cells.
Infrared aligner is divided into transmitter module and receiver module, as long as one of module is arranged on elevating mechanism,
Another module is arranged on the motion support body of X-dimension, as long as the position of two modules is relative, you can to the programmable logic cells
Corresponding signal is sent, represents that position this moment is above-mentioned (0,0,0) position.So accurate zeroing mode, sends out this
It is bright to be more suitable for actual industrial production.
Brief description of the drawings
Fig. 1 is a kind of opening up for open circuit control device of embodiment of AC servo motion control pilot system of the invention
Flutter structural representation.
Fig. 2 is a kind of bowing for the mechanical execution equipment of open embodiment of AC servo motion control pilot system of the invention
Depending on schematic diagram.
Fig. 3 is the front view corresponding with Fig. 2.
Fig. 4 is the side view corresponding with Fig. 2.
Specific embodiment
Below by specific embodiment, the present invention is further detailed explanation：
As shown in figure 1, the open AC servo motion control pilot system of the present embodiment, including circuit control device and machine
Tool performs equipment, wherein mechanical execution equipment includes the servomotor and servo of control tri- dimension displacements of X, Y, Z respectively
The motion support body of the motion support body that motor is driven, wherein X-dimension is slidably connected on the motion support body of Y dimensions, the fortune of Z-dimension
Moving frame body is elevating mechanism；The elevating mechanism is located at the side of the motion support body of X, Y dimension.
Leading indicator on mechanical execution equipment
1st, X, Y guide rail formula slide unit bear a heavy burden and are not less than 20Kg；Anti- turning torque is not less than 500Nm；(it is tested motor to bear a heavy burden
Weight, without slide unit in itself and the weight of attachment)
2nd, slide unit repetitive positioning accuracy 0.025mm, positioning precision is 0.03mm；
3rd, slide unit highest movement speed 0.8m/s；
4th, under three-shaft linkage situation, by level ground, (stand installation base surface) is defined, X slide unit Z-directions extreme higher position：
1050mm is minimum：750mm；It is defined by stand axis, X slide unit longitudinal axis moves left and right position boundary：160mm；Y-direction displacement
400mm；
5th, X slide units size：* * thickness wide=380*260*40Y slide unit sizes long：* * thickness=690*320*30 wide long
4th, table top is installed and X tabletop of platform assembles rear depth of parallelism 0.015mm；
5th, the axle slide unit of X, Y, Z tri- motion supports manual, servomotor dragging both of which flexibly without catching phenomenon；
6th, reach any position in motion, three axles can mechanically quick locking, meet shake it is not loose；
7th, guide rail has enough rigidity and intensity；
8th, stand entirety antivibration, strong shock resistance；
9th, rack frame aluminium alloy and steel profile make, each several part connection fastening, ash paint coating.
As shown in Figure 2,3, 4, the circuit control device includes being separately mounted on the motion support body of the X, Y, Z-dimension
Displacement transducer, the motor driver being connected with the servomotor of X, Y, Z-dimension respectively, with institute's displacement sensors and motor
The motion control board and industrial computer of driver connection.
Institute's displacement sensors use grating scale, grating scale to be also referred to as grating rule displacement sensor (grating scale sensor),
It is the measurement feedback device worked using the optical principle of grating.Grating scale can be used as the detection of straight-line displacement or angular displacement.
The signal of its measurement output is digit pulse, and big with detection range, accuracy of detection is high, the characteristics of fast response time.
In the motion control board insertion industrial computer PCI slot dual processors master-slave control mode is constituted with industrial computer.Also wrap
Teaching simulation cutter and simulation workpiece to be processed are included, one in both cutter and workpiece to be processed is located at the elevating mechanism
On, another is then on the motion support body of the X-dimension.Disposed on the Z-dimension hoistable platform magnetic powder brake and rotating speed,
Torque sensor, disposes on X, Y compound motion support body and is tested electronic electric motor, is tested between motor and magnetic powder brake and installs
Sensor, sensor is connected to measurement of power, tests the speed, surveys the secondary digital displaying meter of square.
The Z-direction elevating mechanism is spiral lifting mechanism, the X, Y, the motion support body of Z-dimension and respective servo-drive
Electromagnetic brake is provided between motor, system power failure band-type brake can be realized.
Now to the present invention required for each element model carry out it is defined below：
Software composition of its inside of the programmable logic cells includes that teaching software bag, pilot system transport location control
Software two parts.
1st, pilot system transports location control software and can normally run on Chinese edition Windows2000, Windows XP rings
Under border,
Monoblock type interface is designed as, the use of LABVIEW or VB, VC software is analysis platform, be capable of achieving following functions：
1) systematic parameter monitoring and visual analyzing
2) setting of system control parameters and control, can press point position control pattern and realize fast transport on a large scale and accurately determine
Position；Can realize that target is searched for and is accurately positioned automatically by continuous path control model.
3) system virtualization control and emulation；
2nd, Motion Control Platform Experimental Teaching Software can normally run on Chinese edition Windows2000, Windows XP rings
Under border, its general functional requirement：
1) initial interface and software function module
2) parameter setting module, parameter setting example
Note：The teaching of system parameter setting experimental implementation and demonstration can be carried out；The main platform parameters of XYZ containing AC servo set
Put, four axis AC servo motion development platform parameter settings.
3) single shaft AC servo motor experiment module
Note：The interface of motor experiment containing single shaft and operation example
4) two-dimentional (straight line, circular arc) interpolation experiment module
Note：Containing interface, two-dimentional interpolation experimental implementation example
5) backlass experiment module
Note：Containing backlass experiment interface, backlass experimental implementation example
6) G code experiment module
Note：Containing G code experiment interface, code operation operation example
7) system test modules
8) Development of CNC console module.
In Fig. 2~4, the meaning of each label is as shown in the table：
Above-described is only embodiments of the invention, and the general knowledge such as known concrete structure and characteristic is not made herein in scheme
Excessive description.It should be pointed out that for a person skilled in the art, on the premise of structure of the present invention is not departed from, can be with
Some deformations and improvement are made, these should also be considered as protection scope of the present invention, these are implemented all without the influence present invention
Effect and practical applicability.This application claims protection domain should be defined by the content of its claim, in specification
Specific embodiment etc. records the content that can be used for explaining claim.
Claims (5)
1. open AC servo motion control pilot system, including circuit control device exists with mechanical execution equipment, its feature
In：Mechanical execution equipment includes what the servomotor and servomotor of control tri- dimension displacements of X, Y, Z respectively were driven
Motion support body, the motion support body of wherein X-dimension is slidably connected on the motion support body of Y dimensions, and the motion support body of Z-dimension is lifting
Mechanism；The elevating mechanism is located at the side of the motion support body of X, Y dimension；The circuit control device includes being separately mounted to institute
The displacement transducer on the motion support body of X, Y, Z-dimension is stated, the motor being connected with the servomotor of X, Y, Z-dimension respectively drives
Device, the motion controller being connected with institute's displacement sensors and motor driver, motion control board or industrial computer.
2. open AC servo motion control pilot system as claimed in claim 1, it is characterised in that:The control panel
Card insertion industrial computer PCI slot, realizes communicating with industrial computer, and industry control function is monitored and manages to system, shows each axle fortune
Capable and multi-shaft interlocked interpolation track.
3. open AC servo motion control pilot system as claimed in claim 1, it is characterised in that:Also include teaching
Simulation cutter and simulation workpiece to be processed, one in both cutter and workpiece to be processed is located on the elevating mechanism, another
It is individual to be then located on the motion support body of the X-dimension.
4. open AC servo motion control pilot system as claimed in claim 1, it is characterised in that:The Z-direction lifting
Mechanism is spiral lifting mechanism, its upper mounting plate placement magnetic powder brake, and tested motor is provided with compound X, Y stand.
5. open AC servo motion control pilot system as claimed in claim 1, it is characterised in that:The elevating mechanism
The infrared aligner of position zeroing is provided with and the motion support body of X-dimension between, the infrared aligner is patrolled with described may be programmed
Unit is collected to be electrically connected with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611173888.4A CN106774257A (en) | 2016-12-16 | 2016-12-16 | Open AC servo motion control pilot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611173888.4A CN106774257A (en) | 2016-12-16 | 2016-12-16 | Open AC servo motion control pilot system |
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| Publication Number | Publication Date |
|---|---|
| CN106774257A true CN106774257A (en) | 2017-05-31 |
Family
ID=58889745
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611173888.4A Pending CN106774257A (en) | 2016-12-16 | 2016-12-16 | Open AC servo motion control pilot system |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2573125Y (en) * | 2002-10-25 | 2003-09-17 | 沈阳工业学院 | Vertical high-speed NC milling machine |
| CN101502889A (en) * | 2009-03-11 | 2009-08-12 | 河北工业大学 | Numerical control machining equipment |
| CN103056428A (en) * | 2013-01-15 | 2013-04-24 | 北京理工大学 | Combined numerical control milling machine |
-
2016
- 2016-12-16 CN CN201611173888.4A patent/CN106774257A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2573125Y (en) * | 2002-10-25 | 2003-09-17 | 沈阳工业学院 | Vertical high-speed NC milling machine |
| CN101502889A (en) * | 2009-03-11 | 2009-08-12 | 河北工业大学 | Numerical control machining equipment |
| CN103056428A (en) * | 2013-01-15 | 2013-04-24 | 北京理工大学 | Combined numerical control milling machine |
Non-Patent Citations (1)
| Title |
|---|
| 吴牮等: "《一种三轴自动定位安装系统的动态特性研究》", 《西南大学学报（自然科学版）》 * |
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Application publication date: 20170531 |