CN103358174B - Motor control assembly, electric machine control system and cutting apparatus - Google Patents
Motor control assembly, electric machine control system and cutting apparatus Download PDFInfo
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- CN103358174B CN103358174B CN201210249427.6A CN201210249427A CN103358174B CN 103358174 B CN103358174 B CN 103358174B CN 201210249427 A CN201210249427 A CN 201210249427A CN 103358174 B CN103358174 B CN 103358174B
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Abstract
Motor control assembly, electric machine control system and cutting apparatus, even if throw is carried out to feeding with fast feed speed, also can improve the surface accuracy of cutting surface. Cutting apparatus possesses: the throw of cutting workpiece; Throw is rotated to the spindle motor of driving; Each feed shaft of the X-axis to throw, Y-axis and Z axis drives respectively X-axis motor, y-axis motor and Z axis motor; X-axis motor control assembly, y-axis motor control device and the Z axis motor control assembly respectively each spindle motor controlled; Position command is outputed to respectively to the host control device of each spindle motor control device. X-axis motor control assembly possesses sinusoidal wave generating unit, and sinusoidal wave generating unit adds that to the torque instruction calculating by internal control computing the sinusoidal wave torque correction instruction of cycle T carries out instruction correction. Sinusoidal wave generating unit adds the sinuous sinusoidal wave torque correction instruction of cycle T, width A and reference phase φ to torque instruction.
Description
Technical field
Disclosed embodiment relates to motor control assembly, electric machine control system and cutting apparatus.
Background technology
Patent documentation 1 has been recorded at the ratio that makes the rotary speed of main shaft and the feed speed of feed shaft and has been kept constant sameTime, the control device of the NC lathe of the change rotary speed of main shaft and the feed speed of feed shaft.
Patent documentation 1: Japanese kokai publication hei 11-129144 communique
In patent documentation 1, can reduce quivering that the intrinsic frequency that has because of mechanical system (cutting system) causesShake. But in machining, except this flutter, also there is such phenomenon: with more than certain speed enteringTo speed, throw is carried out in the situation of feeding, form the concavo-convex ripple of specified period at cutting surface. Passing through thisWhen the Surface Machining of machined object has been carried out in the cutting of sample, on whole surface, form the relief pattern of squamous, be unsuitable forThe Precision Machining of the surface accuracy of having relatively high expectations. Carry out, feeding, can keeping away in the feed speed with enough lowExempt to form the relief pattern of this squamous, but the activity time that Surface Machining consumes is elongated. Even if change throwRotary speed also cannot avoid this relief pattern, therefore, in above-mentioned prior art, cannot address this is that.
Summary of the invention
The present invention completes in view of such problem points just, and its object is, even if provide with feeding fasterSpeed is carried out throw in the situation of feeding, and the cutting that can be used for that also can improve the surface accuracy of cutting surface addsMotor control assembly, electric machine control system and the cutting apparatus of work.
In order to solve above-mentioned problem, according to a viewpoint of the present invention, apply a kind of Electric Machine Control dress of controlling motorPut, this motor control assembly possesses correction unit, and this correction unit is to the position command from epigyny device input with by regulationThe torque instruction that calculates of internal control computing at least one party add and the corrected value of specified period carry out instruction schoolJust.
According to the present invention, even if so that feed speed is carried out feeding to throw faster in the situation that, also can carryThe surface accuracy of high cutting surface.
Brief description of the drawings
Fig. 1 is that positive observation possesses the motor control assembly of an embodiment and the cutting of electric machine control system addsThe figure of the overall appearance that frock is put.
Fig. 2 is the block diagram that the system architecture of cutting apparatus is schematically shown.
Fig. 3 is the figure that the concavo-convex ripple forming on surface of the work is shown.
Fig. 4 is the frame line chart that the structure of the internal control computing of X-axis motor control assembly is shown.
Fig. 5 illustrates X-axis motor control assembly and y-axis motor control device sinusoidal wave torque correction instruction separatelySinusoidal wave state and sine wave parameter between the figure of relation.
Fig. 6 is the example that the flow chart of the performed Control the content of the CPU of host control device is shown.
Fig. 7 is the frame line chart that the structure of the internal control computing of Z axis motor control assembly is shown.
Fig. 8 is that the pulse condition that the rectangle ac position correction instruction in Z axis motor control assembly is shown exchanges with rectangleThe figure of the relation between parameter.
Label declaration
1: cutting apparatus
2: base station
3: the 1 heads
4: the 2 heads
5: work stage
6: throw
6A: ball end mill
11:X spindle motor (motor, electric machine control system)
12:Y spindle motor (motor, electric machine control system)
13:Z spindle motor (motor, electric machine control system)
14: spindle motor (instrument electric rotating machine)
21:X spindle motor control device (motor control assembly, electric machine control system)
22:Y spindle motor control device (motor control assembly, electric machine control system)
23:Z spindle motor control device (motor control assembly, electric machine control system)
24: spindle motor control device
25,26,27,28: encoder
31: position control section
32: speed controlling portion
33: velocity transformation portion
34: current control division
35: sinusoidal wave generating unit
36: rectangle exchanges generating unit
100: host control device (epigyny device, electric machine control system)
W: workpiece (machined object)
T: cycle (specified period)
A: amplitude (regulation amplitude)
φ: phase place
φX0、φY0、φZ0: reference phase (stipulated standard phase place)
φXY: between centers phase difference
Detailed description of the invention
Below, with reference to accompanying drawing, the first embodiment is described.
Fig. 1 is that positive observation possesses the motor control assembly of an embodiment and the cutting of electric machine control system addsThe figure of the overall appearance that frock is put. In the example shown in this Fig. 1, roughly say cutting apparatus, i.e. cuttingProcessing unit (plant) 1 is the NC cutting apparatus of so-called door type structure, mainly (not special to the workpiece as machined objectNot Tu Shi) carry out Milling Process.
Roughly say, this cutting apparatus 1 has base station 2, the 1st head the 3, the 2nd head 4 and work stage5。
Base station 2 is made up of door type structure roughly, and this door type structure has left and right integratedly, and to erect side by side 2 of arranging verticalPost 2a and frame are at the crossbeam 2b of these 2 column upper ends. Crossbeam 2b is above it upper, is provided with X an endSpindle motor 11, the X-axis ball-screw 2c being arranged on the output shaft of X-axis motor 11 almost crosses over the complete of crossbeam 2bGrow and set up. In addition, be provided with 2 X-axis along the upper and lower side of the front surface of crossbeam 2b edge separatelyGuide rail 2d.
The 1st head 3 is parts of the longer essentially rectangular in top, is suspended in 2 of above-mentioned base station 2 by its rear sideBar X-axis guide rail 2d is upper, and screws with X-axis ball-screw 2c. Thus, the forward by X-axis motor 11/Reverse and drive, can make the 1st head 3 reciprocally move in X-direction (left and right directions in figure). This, be provided with Z axis motor 13 in the upper end of the 1st head 3 outward, be arranged on the output shaft of Z axis motor 13Z axis ball-screw (not illustrating especially) sets up along vertical direction. In addition, along the front table of the 1st head 3Edge separately, the left and right sides of face, is provided with 2 Z axis guide rail 3a.
The 2nd head 4 is parts of the almost identical essentially rectangular of transverse width and above-mentioned the 1st head 3, by its back of the bodyFace side is suspended on 2 articles of Z axis guide rail 3a of above-mentioned the 1st head 3, and screws with Z axis ball-screw. Thus,Forward/reverse by Z axis motor 13 drives, and can make the 2nd head 4 at the Z-direction (upper and lower in figureTo) on reciprocally move. In addition, in the lower side of the front surface of the 2nd head 4, by keeping bracket 4a to establishBe equipped with spindle motor 14, can make to be arranged on the axle 4b on the output shaft of spindle motor 14 and be fixed on this heartThrow 6 on axle 4b is around vertical axle, rotate around Z axis.
Work stage 5 is fixed between the bottom of 2 column 2a of above-mentioned base station 2, and has the base that is positioned at belowSeat 5a and the workbench 5b that is positioned at top. Be fixed on 2 pedestal 5a between column 2a, establishing in side nearbyBe equipped with y-axis motor 12, be arranged on Y-axis ball-screw on the output shaft of y-axis motor 12 (not especially diagram)Set up along fore-and-aft direction. In addition, along the left and right sides of the upper surface of pedestal 5a, edge is separately provided withArticle 2, Y-axis guide rail (not illustrating especially). Workbench 5b is the portion of the almost identical rectangle of transverse width and pedestal 5aPart, is placed on 2 Y-axis guide rails of said base 5a by side below it, and screws with Y-axis ball-screw.Thus, the forward/reverse by y-axis motor 12 drives, and can make this workbench 5b in Y direction (in figureFore-and-aft direction) on reciprocally move.
This cutting apparatus 1 can make the throw rotating under the effect of spindle motor 14 as constructed as above6 on this 3 direction of principal axis of XYZ axle, carries out relative moving back and forth with respect to the workpiece being fixed on workbench 5b.In addition, X-axis motor 11, y-axis motor 12 and Z axis motor 13 are equivalent to the motor of recording in each claim,Spindle motor 14 is equivalent to the instrument electric rotating machine of recording in each claim.
Fig. 2 is the block diagram that the system architecture of cutting apparatus 1 is schematically shown. In the example shown in this Fig. 2,Cutting apparatus 1 has host control device 100, X-axis motor control assembly 21, X-axis motor 11, Y-axisMotor control assembly 22, y-axis motor 12, Z axis motor control assembly 23, Z axis motor 13, spindle motor controlDevice 24, spindle motor 14 and 4 encoders 25 that arrange accordingly respectively with each motor, 26,27,28。
Host control device 100 is by general purpose personal computer, PLC(ProgramableLogicController: can compileProgram logic controller) or the computer such as motion controller form, have the entirety of this cutting apparatus 1 enteredThe function that row is controlled. Particularly this host control device 100 is to X-axis motor control assembly 21, y-axis motor controlDevice 22 and Z axis motor control assembly 23 outgoing position instruction respectively, control and each motor control assembly 21,22,23 position of rotation of corresponding X-axis motor 11, y-axis motor 12 and Z axis motor 13 respectively. In addition,In the example of present embodiment, host control device 100 also outputs to X in the lump by cycle correction instruction described laterSpindle motor control device 21 and y-axis motor control device 22. In addition, these host control device 100 bases are from establishingThe motor position information that is placed in the encoder 28 of spindle motor 14, outputs to spindle motor control device by speed command24, make to be rotated with the rotary speed of regulation with the direct-connected spindle motor 14 of above-mentioned throw 6. SeparatelyOutward, this host control device 100 is equivalent to the epigyny device of recording in each claim.
X-axis motor control assembly 21, y-axis motor control device 22 and Z axis motor control assembly 23 have asLower function: according to the position command of inputting from host control device 100 respectively and from each self-corresponding each electricityThe motor position information of the encoder 25,26,27 arranging in machine 11,12,13, exports and passes through inside separatelyControl algorithm and electric current corresponding to torque instruction that calculate, control with each self-corresponding each motor 11,12,13Rotarily actuate. Thus, each motor control assembly 21,22,23 is controlled and is, make each self-corresponding motor 11,12,13 position of rotation becomes the position of rotation corresponding with the position command of inputting from host control device 100. In addition,Each motor control assembly 21,22,23 was controlled position of rotation with the enough short time interval, thus, and can alsoEnough control the rotary speed of each motor 11,12,13. In addition, about in each motor control assembly 21,22,23Above-mentioned internal control computing, will be described in detail in the back. In addition these X-axis motor control assemblies 21, Y,Spindle motor control device 22 and Z axis motor control assembly 23 are equivalent to the Electric Machine Control of recording in each claimDevice.
Spindle motor control device 24 has following function: output refers to the speed of inputting from host control device 100Make corresponding alternating current, the rotary actuation of the spindle motor 14 being for example made up of induction machine is controlled.
In the cutting apparatus 1 of above structure, having used in the machining of throw 6, particularly existUsed in the Milling Process of ball end mill etc., under the state that throw 6 is rotated, according to XYZ this 3Individual axle is carried out feeding control, works the work piece into thus shape arbitrarily. By this Milling Process, example as shown in Figure 3,Keep making ball end mill 6A to cut the surperficial of workpiece W along its axial (Z-direction) with the approach specifyingState, in the horizontal direction vertical with rotating shaft (direction parallel with surface of the work: the X-direction in figure)With to a certain degree above feed speed, ball end mill 6A is carried out to feeding, now, by ball end mill 6AThe surperficial part of end cutting in formed the concavo-convex ripple of certain intervals (some cycles). This be because, although ballThe cutting edge of the circumferential lateral surface of slotting cutter 6A, with respect to direction of feed, is to cut with its side, but in its sideFace cutting edge be by phased manner (periodically) cut, thus, even in the cutting of the axial end of rotation,Also can be subject to the impact of this interruption.
The Surface Machining of carrying out workpiece W in the cutting by such, on whole surface, form squamousRelief pattern, the Precision Machining of the surface accuracy that is unsuitable for having relatively high expectations. Carry out feeding in the feed speed with enough lowSituation under, can avoid forming the relief pattern of this squamous, but the activity time that Surface Machining consumes is elongated.
On the other hand, in the present embodiment, to X-axis motor 11 and y-axis motor 12 position of rotation separatelyOr in rotary speed the X-axis motor control assembly 21 and y-axis motor control device 22 controlled, at itInternal control computing in the torque instruction that calculates, add and the corrected value of specified period carry out instruction correction. LogicalCross and carry out such instruction by X-axis motor control assembly 21 and y-axis motor control device 22 and proofread and correct, thus canSuppress neatly the impact of (periodically) interference of the discontinuity of the end of ball end mill 6A.
Fig. 4 is the frame line that the structure of the internal control computing of the X-axis motor control assembly 21 in present embodiment is shownFigure. In addition, the structure of the internal control computing of y-axis motor control device 22 is also identical, thereby omits diagram.In addition, in the example of present embodiment, each several part is made up of software, but also can be made up of hardware respectively.
In this Fig. 4, X-axis motor control assembly 21 has position control section 31, speed controlling portion 32, speed changeChange portion 33, current control division 34 and sinusoidal wave generating unit 35.
Position control section 31 is according to the position command of inputting from host control device 100 and the electricity being detected by encoderPosition deviation between machine positional information, to reduce the mode output speed instruction of this position deviation.
Speed controlling portion 32 according to the speed command of inputting from position control section 31 with from velocity transformation described later portion 33Velocity deviation between the motor speed information of input, exports torque instruction in the mode that reduces this velocity deviation.
Velocity transformation portion 33 is according to the variation of the motor position information being detected by encoder 25, and computing output are quiteIn the motor speed information of the rotary speed of X-axis motor. Particularly, can in this velocity transformation portion 33, useDifferentiator.
Current control division 34 is according to the torque instruction of inputting from speed controlling portion 32, by what for example control based on PWMDrive current outputs to X-axis motor 11.
According to above structure, roughly to say, the internal control computing of X-axis motor control assembly 21 has speed controlThis dual ring line structure of feedback control loop of the feedback control loop of system and Position Control system. In addition, although omit diagram,In the inside of current control division 34, also carry out the feedback loop control of Current Control system, therefore X-axis Electric Machine Control dressPut 21 internal control computing and there are in fact 3 heavy loop structures. In the present embodiment, except this commonBeyond the structure of the internal control computing of motor control assembly, also the torque instruction of exporting from speed controlling portion 32 is addedThe upper sinusoidal wave torque correction instruction being generated by sinusoidal wave generating unit 35, and output to current control division 34.
Sinusoidal wave generating unit 35 is according to the sine wave comprising the cycle correction instruction of inputting from host control device 100Parameter, generates and sine wave output torque correction instruction. In addition the cycle school of inputting from host control device 100,In positive order, also comprise switching command, this switching command offset of sinusoidal ripple generating unit 35 is indicated sinusoidal wave torque correction instructionOutput and the switching stopping. In the time that torque instruction is added to sinusoidal wave torque correction instruction, be input to current control division34 torque instruction is corrected as roughly arteries and veins stream shape (diagram is omitted). In addition, sinusoidal wave torque correction instruction is equivalent toThe corrected value of the specified period of recording in each claim, sinusoidal wave generating unit 35 is equivalent to record in each claimCorrection unit.
About above-mentioned sinusoidal wave torque correction instruction, its sinusoidal wave state is the parameters by above-mentioned sine wave parameterRegulation. Fig. 5 illustrates that X-axis motor control assembly 21 and y-axis motor control device 22 sine wave separately turnThe figure of the relation between sinusoidal wave state and the sine wave parameter of square correction instruction.
Here, conventionally, the key element of the state of regulation sine wave is these 3 key elements of cycle, amplitude and phase place. WithThis outputs to respectively the cycle of each motor control assembly 21,22 of XY axle accordingly at host control device 100In the sine wave parameter of correction instruction, comprise cycle T, amplitude A, these 3 parameters of phase. In present embodimentIn example, about cycle T and amplitude A in these 3 parameters, at X-axis motor control assembly 21, y-axis motorIn control device 22 both sides, be set as common identical value, about phase, the base in X-axis motor control assembly 21Accurate phaseX0With the reference phase φ in y-axis motor control device 22Y0Be set to different values.
Cycle T is to unify according to the structure of this cutting apparatus 1 side and Control the content the parameter of setting. Specifically, these 2 conditions of quantity of the cutting edge possessing according to the rotary speed of throw 6 and throw 6 are comeSet. Present inventor recognizes, as illustrated in above-mentioned Fig. 3, with ball end mill 6A etc.The spacing of the concavo-convex ripple forming when cut the surface of workpiece W the end of throw 6 is (for example, between concave vertexEvery) depend on the surperficial feed speed of throw 6, rotary speed and the throw 6 of throw 6These 3 conditions of the quantity of the cutting edge possessing.
For example, if the X-direction feed speed of throw 6 is fixed, the rotary speed of throw 6 moreThe spacing of the concavo-convex ripple forming greatly, is narrower. In addition, if rotary speed is fixed, feed speed is larger, institute's shapeThe spacing of the concavo-convex ripple becoming is larger. In addition, even if in the situation that feed speed is identical with rotary speed, throwThe quantity of 6 cutting edge is more, and the spacing of the concavo-convex ripple forming is narrower. This be because, as mentioned above, in levelThe side of the throw 6 of direction upper feeding, cutting edge by phased manner (periodically) cut, thus,Even in rotation axial end cutting, be also subject to the impact of its interruption.
Like this, in order to suppress the discontinuity impact of the formation reason of concavo-convex ripple, i.e. end cutting, as long as with this interruptionProperty affects that the identical cycle presses and mobile throw 6. And, be interrupted the sex cycle and move in feedingThe cycle that the each cutting edge in side of the throw 6 in moving cuts workpiece is identical, the revolving of it and throw 6Long-pending being inversely proportional to of quantity of the cutting edge that rotary speed and throw 6 possess. Thus, host control device 100With with the rotary speed of throw 6 and the long-pending mode being inversely proportional to of the quantity of cutting edge, set week of sine wave parameterPhase T.
Amplitude A is not only according to the shape of throw 6 and Control the content thereof, but also according to used workpieceThe combination of material and the kind of cooling agent etc. suitably adjust and the parameter set.
In addition, phase is also according to the kind of the material of the shape of throw 6, Control the content, workpiece, cooling agentThe combination of class etc. is suitably adjusted and the parameter set. In the example of present embodiment, repeatedly carry out X-axis sideTo feeding move back and forth with its time-out time the Rack feeding of Y direction, thus, though be to carry out workpieceThe Surface Machining of X-Y horizontal surface entirety, but correction based on above-mentioned sinusoidal wave torque correction instruction is only in X-axisDirection feeding is carried out during moving. , host control device 100 is to X-axis motor control assembly 21 carry-out bitsWhen putting instruction, X-axis motor control assembly 21 and y-axis motor control device 22 both sides are exported according to sineRipple torque correction instruction starts the above-mentioned switching command of the correction of torque instruction. The reference phase φ of each axle has specified inputWhen this switching command, the phase difference of sinusoidal wave torque correction instruction shows phase place with the time in illustrated example.In addition, the correction based on above-mentioned sinusoidal wave torque correction instruction also can be carried out all the time, instead of only in X-directionFeeding move during in carry out.
As mentioned above, this phase is parameter different between X-axis and Y-axis, the reference phase φ of X-axisX0WithThe reference phase φ of Y-axisY0Between difference be between centers phase differenceXY. In the example of present embodiment, by this between centersPhase differenceXYBe set as time of 1/4th of cycle T, that is, convert and be angled 90 degree. Thus, revolvingThe X-direction feeding of tool 6 of changing a job applies and makes its rotating shaft around this throw 6 with above-mentioned cycle T in movingCycle be the pressing force of round type rotation. Thus, can suppress the discontinuity impact of the end cutting of throw 6,Thereby reduce the formation of the concavo-convex ripple of cutting surface.
In addition, above-mentioned cycle T is equivalent to the specified period of recording in each claim, and above-mentioned amplitude A is equivalent to respectivelyThe regulation amplitude of recording in claim, said reference phaseX0、φY0Be equivalent to the rule of recording in each claimDetermine reference phase, between centers phase differenceXYBe equivalent to the prescribed phases recorded in each claim poor.
Fig. 6 illustrates cutting control in order to realize present embodiment described above and by host control device 100Not diagram especially of CPU() example of flow chart of the Control the content carried out. In addition, before this flow process of execution,Prerequisite is in advance the throw of regulation 6 to be fixed on to axle 4b above, makes the reference position (example of this throw 6As the position of central shaft front end) be positioned at the origin position of XYZ shaft space.
First,, in step S5, set according to conditions such as the materials of the diameter of throw 6, kind, workpieceThe rotary speed of throw 6.
Transfer to step S10, set approach (with reference to above-mentioned Fig. 3), the Y of Z-direction according to the shape of workpieceFeeding length and the feed speed of axial feeding width and X-direction. In addition, at above-mentioned steps S5 andIn the setting of the controlled quentity controlled variable of this step S10, can be based on host control device 100 according to the various conditions that provide in advanceThe value calculating is automatically set, or inputs arbitrarily via not illustrated especially operation inputting part based on userValue set. In addition, also sometimes the feeding width of Y direction and the feeding length of X-direction be byProcedure predetermines, and can not at random be set by user.
Transfer to step S15, according to the controlled quentity controlled variable of setting in above-mentioned steps S5, S10 and various condition, setEach sine wave parameter (cycle T, amplitude A, the reference phase φ of sinusoidal wave torque correction instructionX0、φY0). This itsIn, about cycle T, possess according to the throw 6 of the rotary speed of setting in above-mentioned steps S5 and useThe quantity of cutting edge automatically set, and about amplitude A and reference phase φX0、φY0, both can be automaticGround is set, and also can at random be set by user. And, will output to each self-corresponding sine wave parameterX-axis motor control assembly 21 and y-axis motor control device 22(switching command keep correction to stop instruction).
Transfer to step S20, the speed command corresponding with the rotary speed of setting in above-mentioned steps S5 outputed to masterSpindle motor control device 24, starts the rotation of throw 6. From then on afterwards till the phase of step S60 described laterBetween, according to the motor position information from being located at the encoder 28 in spindle motor 14, keep revolving of throw 6Rotary speed.
Transfer to step S25, make throw 6 in X-direction and Y direction is enterprising advances to movement, fixedPosition is to the initial cutting into position in X-Y plane.
Transfer to step S30, make throw 6 in Z-direction, carry out feeding and move to cut workpiece, until reachTo the Z-direction approach of setting in above-mentioned steps S10.
Transfer to step S35, by the position command corresponding with the X-direction feeding length of setting in above-mentioned steps S10Output to X-axis motor control assembly 21, the feeding that starts the X-direction of throw 6 is moved, and makes throw6 carry out feeding with the X-direction feed speed of setting in above-mentioned steps S10 moves. In addition, carrying out this X-axisIn the process that direction feeding is moved, continue all the time to X-axis motor control assembly 21 and y-axis motor control device 22The switching command of the correction of torque instruction is carried out in output instruction, apply make throw 6 with cycle of cycle T around revolvingRotating shaft is the pressing force of round type rotation.
Transfer to step S40, judge whether whole cuttings of workpiece are finished. In still unclosed situation of cuttingUnder, do not meet and judge, transfer to step S45.
In step S45, make throw 6 with the Y direction feeding width set in above-mentioned steps S10 at YDirection of principal axis is enterprising advances to movement. Then, return to above-mentioned steps S35, repeat same step. In addition, above-mentioned stepIt is repeatedly to move back and forth that the X-direction feeding of the throw 6 of rapid S35 is moved.
On the other hand, in the judgement of above-mentioned steps S40, in the case of whole cuttings of workpiece have been finished, fullFoot is judged, is transferred to step S50.
In step S50, make throw 6 carry out feeding towards the direction contrary with above-mentioned steps S30 and move, fromPart goes into operation.
Transfer to step S55, make throw 6 in X-direction and Y direction is enterprising advances to movement, straightTo the origin position arriving in X-Y plane.
Transfer to step S60, stop to the 24 output speed instructions of spindle motor control device, make throw 6Rotation stops. Then, finish this flow process.
In the above description, by X-axis motor control assembly 21, y-axis motor control device 22, Z axis Electric Machine ControlAfter device 23, X-axis motor 11, y-axis motor 12, Z axis motor 13 and host control device 100 mergeStructure is equivalent to the electric machine control system of recording in each claim. In addition, by throw 6, spindle motor 14,And above-mentioned electric machine control system merge after structure be equivalent to the cutting apparatus of recording in each claim.
As mentioned above, possess according to the cutting apparatus 1 of present embodiment, this cutting apparatus 13XYZ spindle motor control device 21,22,23 and by 3 XYZ spindle motor control device 21,22,23 andThe system that 3 XYZ spindle motors 11,12,13 and host control device 100 form, sinusoidal wave generating unit 35 is rightThe torque instruction calculating by the internal control computing in motor control assembly adds the corrected value of specified period, justString ripple torque correction instruction, carries out instruction correction. This motor control assembly is proofreaied and correct by carrying out such instruction, canSuppress neatly the impact of (periodically) interference of discontinuity. By this motor control assembly is applied to above-mentionedCarry out this cutting apparatus 1 of Milling Process, can set rightly the sine wave ginseng of sinusoidal wave torque correction instructionNumber (cycle T, amplitude A and reference phase φ), can remove the cutting edge because of throw 6 sides thus(periodically) cutting of discontinuity and the discontinuity impact of the rotation that causes axial end cutting. Its result,Even if so that feed speed is carried out feeding to throw 6 faster in the situation that, also can improve the table of cutting surfaceSurface accuracy.
In addition, in the present embodiment, host control device 100 successively output packet containing the cycle school of sine wave parameterPositive order, can control the sinusoidal wave state that makes the sinusoidal wave torque instruction that sinusoidal wave generating unit 35 exports in real time,But the invention is not restricted to this. For example also can in sinusoidal wave generating unit 35, set regularly in advance the sine wave of regulationParameter, host control device 100 is based on cycle correction instruction, and only offset of sinusoidal ripple generating unit 35 is indicated sinusoidal wave torqueThe output of correction instruction and the switching stopping.
In addition,, according to present embodiment, sinusoidal wave generating unit 35 adds that to torque instruction sinuous sine wave turnsSquare correction instruction. XY spindle motor control device 21,22, by carrying out this instruction correction, can suppress neatlyThe impact that (periodically) of discontinuity disturbs.
In addition, according to present embodiment, sinusoidal wave generating unit 35 to torque instruction add cycle T, amplitude A, withAnd the sinusoidal wave torque correction instruction of reference phase φ. By this XY spindle motor control device 21,22 is appliedIn the above-mentioned cutting apparatus 1 that carries out Milling Process, can make throw 6 remain constant downwards (withThe direction that surface of the work is vertical) approach, can with higher precision remove rotation axial end cutting betweenDisconnected property impact.
In addition,, according to present embodiment, use the quantity of cutting edge and amassing into instead of rotary speed with throw 6The value of ratio is set the cycle T of sine wave parameter. Because of the discontinuity of the cutting edge of throw 6 sides (periodically) cutting and the discontinuity impact of the rotation that causes axial end cutting and the number of the cutting edge of this throw 6Long-pending being inversely proportional to of amount and rotary speed and synchronously. Therefore, sinusoidal wave generating unit 35 according to the sword number of throw 6Carry out instruction correction with the cycle T of the long-pending value being inversely proportional to of rotary speed, thus, can in function, remove above-mentionedDisconnected property impact.
In addition,, according to present embodiment, X-axis motor control assembly 21 or y-axis motor control device 22 are justString ripple generating unit 35 adds in X-axis and Y-axis to have each other between centers phase difference to torque instructionXYAnd there is phaseThe sinusoidal wave torque correction instruction of same cycle T, carries out instruction correction. Like this, by for XY direction of principal axis withThe parallel direction in surface of workpiece, utilizes the sinusoidal wave torque correction instruction of cycle T to carry out torque correction, can removeBecause (periodically) of the discontinuity of the cutting edge of throw 6 sides cuts the axial end of rotation causingThe discontinuity impact of cutting, can indirectly remove and form in the surperficial part of end cutting that is rotated instrument 6Concavo-convex ripple. In addition, the each sinusoidal wave torque correction instruction of X-axis and Y-axis between centers phase difference is each otherφXYAnd there is the relation of identical cycle T, thus, can coordinate the feeding of the each axle of XY, so that throw 6Position on X-Y plane is the mode of ellipticity rotation and carries out feeding correction, can in function, remove rotating shaftThe discontinuity impact of the end cutting of direction.
In addition,, according to present embodiment, sinusoidal wave generating unit 35 is with the between centers phase difference of 90 degreeXYCarry out instructionProofread and correct. Thus, can coordinate the feeding of the each axle of XY, so that the mode that throw 6 is round type to be rotated is carried outFeeding is proofreaied and correct, and can in function, remove the discontinuity impact of the end cutting of rotating shaft direction.
In addition, except as mentioned above, can be by the XY axle cycle of sinusoidal wave torque correction instruction separately each otherT, amplitude A are made as identical, by between centers phase differenceXYBe set as outside 90 degree, also can be according on surface of the workThe shape of the concavo-convex ripple forming and suitably make cycle T, amplitude A difference, or suitably by between centers phase differenceXYBe adjusted into beyond 90 degree. The adjustment of such sine wave parameter can be user's artificial adjustment, or, also canConcavo-convex with what detect according to contact or the camera reflection etc. of the detector contact possessing by cutting apparatus 1The shape of ripple is automatically adjusted.
In addition, the invention is not restricted to above-mentioned embodiment, can be not departing from the scope of its aim and technological thoughtCarry out various distortion. Below, successively such variation is described.
(1) move in surperficial feeding the corrected value that middle use rectangle exchanges shape the position command of Z-direction is carried out to schoolPositive situation
In the above-described embodiment, in the X-direction feeding of throw 6 is moved, use sinuous schoolOn the occasion of the torque instruction of XY axle is proofreaied and correct, but the invention is not restricted to this. For example,, at the X of throw 6During direction of principal axis feeding is moved, the corrected value that uses rectangle to exchange shape is proofreaied and correct the position command of Z-direction, also canEnough suppress the formation of the concavo-convex ripple of surface of the work.
Fig. 7 corresponding with above-mentioned Fig. 4 is the internal control fortune that the Z axis motor control assembly 23 in this variation is shownThe frame line chart of the structure of calculating. In addition, the in the situation that of this variation, in the system architecture shown in above-mentioned Fig. 2, fromHost control device 100 is to the 23 input position instructions of Z axis motor control assembly, and the correction of input cycle refers in the lumpMake (not illustrating especially).
In this Fig. 7, the internal control computing of Z axis motor control assembly 23 is also to have common dual loop knotStructure (3 heavy loop structure). And, in this variation, except the inside control of this common motor control assemblyOutside the structure of computing processed, also the position command of inputting from host control device 100 is added by rectangle and exchanges generating unitThe 36 rectangle ac position correction instructions that generate, and be input to position control section 31.
Rectangle exchanges generating unit 36 according to the rectangle comprising the cycle correction instruction of inputting from host control device 100Alternating-current parameter, generates and exports the rectangle ac position correction instruction of pulse type. In addition, from host control deviceIn the cycle correction instruction of 100 inputs, also include switching command, this switching command exchanges generating unit 36 to rectangleThe output of instruction rectangle ac position correction instruction and the switching stopping. Hand at the rectangle that position command is added to pulse typeWhen stream position correction instruction, the position command that is input to position control section 31 is corrected as essentially rectangular arteries and veins stream shape (figureShow omission). In addition, rectangle ac position correction instruction is equivalent to the correction of the specified period of recording in each claimValue, rectangle exchanges generating unit 36 and is equivalent to the correction unit of recording in each claim.
Exchange correction instruction about above-mentioned rectangle, its pulse condition is to be specified by each parameter of above-mentioned rectangle alternating-current parameter. Fig. 8 is pulse condition and the rectangle that the rectangle ac position correction instruction in Z axis motor control assembly 23 is shownThe figure of the relation between alternating-current parameter.
Herein, so-called rectangle exchanges, and refers to that per half period in cycle is just alternately producing same absolute according to the rulesThe discrete type AC wave shape of the pulse of value and negative value. Correspondingly, output to Z axis electricity at host control device 100In the rectangle alternating-current parameter of the cycle correction instruction of machine control device 23, include cycle T, amplitude A, benchmark phasePosition φZ0These 3 parameters. Can set equally these cycle T, amplitude A, base with the situation of above-mentioned embodimentAccurate phaseZ0. By position command being added to this rectangle ac position correction instruction carries out instruction correction, thus,In the X-direction feeding of throw 6 is moved, the approach of this throw 6 periodically changes. Thus,Can suppress throw 6 end cutting discontinuity impact and reduce the formation of the concavo-convex ripple of cutting surface. SeparatelyOutward, above-mentioned reference phase φZ0Be equivalent to the stipulated standard phase place of recording in each claim.
As mentioned above, according to this variation, rectangle interchange generating unit 36 adds the corrected value of pulse type to position command.Z axis motor control assembly 23, by carrying out this instruction correction, can suppress (periodically) of discontinuity neatlyThe impact of disturbing. In addition, about corrected value, for example, the structure that is pulse train in position command, orThe in the situation that of encoder 27 output pulse sequence, can be correspondingly, enter with the corrected value of pulse trainRow is proofreaied and correct.
In addition,, according to this variation, rectangle exchanges generating unit 36 according to per half period of cycle T, to position commandAlternately add same absolute on the occasion of with the corrected value of the pulse type of negative value, thus, square that can life cycle TThe rectangle ac position correction instruction that shape exchanges shape carries out instruction correction. By by this Z axis motor control assembly23 are applied to the above-mentioned cutting apparatus 1 that carries out Milling Process, can make throw 6 remain constant toUnder the approach of (direction vertical with surface of the work), can in function, remove the end cutting of rotating shaft directionDiscontinuity impact.
In addition, for any one party in XYZ axle, the instruction of carrying out instruction correction is not limited to torque instructionCarry out instruction correction with position command, also can carry out instruction correction to speed command, at random setting shaft withThe combination of instruction. In addition, sinuous corrected value is not limited to the corrected value corresponding with torque instruction, also can be made asThe corrected value corresponding with other instructions is applied, and in addition, about the corrected value of pulse type, also can be applied to positionPut instruction instruction in addition. In addition also can proofread and correct multiple instructions, simultaneously. In addition, also can use XYZAny combination of axle is coordinated to proofread and correct.
In addition, except the content of above narration, in all right appropriately combined above-mentioned embodiment and each variationGimmick is used.
In addition,, although do not illustrate one by one, not departing from the scope of its aim, can add various changes and enterRow is implemented.
Claims (8)
1. a motor control assembly, it controls respectively the entering of X-axis, Y-axis and Z axis that drives respectively throw3 motors giving axle, is characterized in that,
This motor control assembly possesses correction unit, in the time using described throw to carry out Milling Process, in described X-axisIn the feed motion of at least one party in described Y-axis, this correction unit is to the position command from epigyny device input and logicalCross the corrected value that at least one party in the torque instruction that calculates of internal control computing of regulation adds specified period, refer toOrder is proofreaied and correct,
Wherein, use with sword number and the long-pending value being inversely proportional to of rotary speed of described throw and set described regulation weekPhase.
2. motor control assembly according to claim 1, is characterized in that,
Described correction unit adds the described corrected value of pulse type to described position command, described torque instruction is added to sineWavy described corrected value.
3. motor control assembly according to claim 2, is characterized in that,
Described correction unit, according to per half period of described specified period, alternately adds identical absolute to described position commandValue on the occasion of with the corrected value of the described pulse type of negative value.
4. according to the motor control assembly described in claim 2 or 3, it is characterized in that,
Described correction unit adds the institute of the above specified period, regulation amplitude and stipulated standard phase place to described torque instructionState sinuous corrected value.
5. an electric machine control system, is characterized in that, this electric machine control system possesses:
Drive respectively 3 motors of each feed shaft of X-axis, Y-axis and the Z axis of throw;
Control respectively the motor control assembly described in any one in 3 claims 1 to 4 of described motor; And
Respectively described position command is outputed to the described epigyny device of described motor control assembly.
6. electric machine control system according to claim 5, is characterized in that,
The motor control assembly that the motor of the feed shaft at least one party in described X-axis and described Y-axis is controlledDescribed correction unit, add in described X-axis and described Y-axis to there is each other regulation phase for described torque instructionPotential difference and have the sinusoidal wave corrected value of identical described specified period, carries out instruction correction.
7. electric machine control system according to claim 6, is characterized in that,
Described correction unit is carried out instruction correction so that the described prescribed phases of 90 degree is poor.
8. a cutting apparatus, is characterized in that, this cutting apparatus possesses:
The throw that machined object is cut;
Described throw is rotated to the instrument electric rotating machine of driving; And
Electric machine control system in claim 5 to 7 described in any one.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012084651A JP5252102B1 (en) | 2012-04-03 | 2012-04-03 | Motor control device, motor control system, and cutting device |
| JPJP2012-084651 | 2012-04-03 | ||
| JP2012-084651 | 2012-04-03 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103358174A CN103358174A (en) | 2013-10-23 |
| CN103358174B true CN103358174B (en) | 2016-05-04 |
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| CN201210249427.6A Active CN103358174B (en) | 2012-04-03 | 2012-07-18 | Motor control assembly, electric machine control system and cutting apparatus |
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| JP (1) | JP5252102B1 (en) |
| CN (1) | CN103358174B (en) |
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| CN105074406B (en) * | 2012-12-21 | 2017-04-12 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Method for detecting a torque applied to a shaft |
| JP5738490B1 (en) * | 2013-12-05 | 2015-06-24 | 三菱電機株式会社 | Trajectory measuring device, numerical control device, and trajectory measuring method |
| CN108563185A (en) * | 2018-03-13 | 2018-09-21 | 深圳市腾浩科技有限公司 | PCB digital control processings control system and its torque knife-breaking detecting method |
| JPWO2022249272A1 (en) * | 2021-05-25 | 2022-12-01 | ||
| CN114888629B (en) * | 2022-03-31 | 2023-05-09 | 通裕重工股份有限公司 | Milling cutter control device and milling machine for ring surface machining |
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| JPS5918511B2 (en) * | 1981-04-13 | 1984-04-27 | 三井不動産建設株式会社 | Cutting method using resonance |
| JPH07237022A (en) * | 1994-02-25 | 1995-09-12 | Nippon Steel Corp | Cutting method using cutting robot |
| JP2000234564A (en) * | 1999-02-10 | 2000-08-29 | Unisia Jecs Corp | Control device for egr valve |
| CN1169652C (en) * | 2002-12-12 | 2004-10-06 | 上海交通大学 | Method for controlling concavo-convex appearance on the working surface when processing round head by milling cutter |
| JP3805309B2 (en) * | 2003-01-30 | 2006-08-02 | ファナック株式会社 | Servo motor drive control device |
| JP2008126322A (en) * | 2006-11-17 | 2008-06-05 | Toshiba Mach Co Ltd | Cutting tool working method and cutting tool working device |
| JP5309288B2 (en) * | 2009-03-30 | 2013-10-09 | 広島県 | Computer program for machining error prediction, machining error prediction device, and device for correcting tool path based on the prediction result |
| JP4620159B2 (en) * | 2009-05-21 | 2011-01-26 | ファナック株式会社 | Servo motor control device that controls periodic reciprocating motion |
| JP2011140098A (en) * | 2010-01-08 | 2011-07-21 | Mitsubishi Heavy Ind Ltd | Machine displacement correction system for machine tool |
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| CN103358174A (en) | 2013-10-23 |
| JP2013214231A (en) | 2013-10-17 |
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