CN103853098A - Servo position control method applied to engraving and milling machine - Google Patents
Servo position control method applied to engraving and milling machine Download PDFInfo
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Abstract
The invention discloses a servo position control method applied to an engraving and milling machine. In the method, speed feed-forward and current feed-forward are introduced, an output signal of a position controller is added to a feed-forward speed signal output by a feed-forward controller, a speed signal fed back by a servo motor is subtracted from the sum to get an input signal of a speed controller, a position pulse signal sent by an upper computer is subjected to differential treatment by a feed-forward controller to obtain a feed-forward speed signal, an output signal of the speed controller is added to a current feed-forward signal output by the feed-forward controller, and a current signal fed back by the servo motor is subtracted from the sum to get an input signal of a current controller, wherein the current feed-forward signal is got after an acceleration current signal is added to a friction current signal. Current feed-forward plays a role in improving servo speed response, and speed feed-forward plays a role in improving servo position response. By means of the method, phase change point position errors of the X-axis, Y-axis and Z-axis of the engraving and milling machine are reduced, and workpiece machining precision and efficiency are improved.
Description
Technical field
The present invention relates to a kind of servo position control method that is applied to carving milling machine, relate in particular to a kind of servo position control method that is applied to the tape speed feedforward of carving milling machine and current feed-forward, belong to servo control technique field.
Background technology
Carving milling machine is a kind of numerically-controlled machine that uses little cutter, high-power and high-speed main spindle motor, is characterized in both can carving, also can milling, and be widely used in precision die thickness and process one step completed occasion.
Based on Fig. 1 and Fig. 2, the basic composition of carving milling machine control system part is described: host computer 10 has been responsible for the trajectory planning that workpiece machining needs, the servo-driver of X-axis, Y-axis and Z axis is operated in mode position, be responsible for receiving the pulse command that host computer sends, drive the command pulse value that servomotor is stable, complete fast and accurately host computer expectation simultaneously.Rotatablely moving of servomotor 20 is converted to the rectilinear motion of load 22 by ball-screw 21, the machining precision of carving milling machine is subject to the impact of following many aspects: rigidity, the control performance of servo-driver etc. of geometric locus precision, leading screw and the guide rail of host computer planning.
The control performance of servo-driver is decided by the combination property of position control ring, speed control loop and current regulator.Positioner, speed control and current controller, generally based on feedback signal, adopt pid control algorithm to realize closed-loop control.Because feedback signal need to be processed through detection part, there is certain hysteresis quality, therefore servo-drive system cannot realize quick response.In addition, between ball-screw 21, load 22 and guide rail 23, exist friction force, this part friction force also needs to overcome by feedback closed loop control, also affects servo fast-response energy, and the location following error that is especially embodied in servo commutation point place is larger.In actual processing, we find to carve X-axis, Y-axis and the Z axis of milling machine in the site error maximum at commutation point place, cause the contour machining precision variation at commutation point place workpiece, and final Workpiece Machining Accuracy and working (machining) efficiency be corresponding being affected also.
Summary of the invention
The invention discloses a kind of servo position control method that is applied to carving milling machine, solved when existing control method is applied to carving milling machine and carved X-axis, Y-axis and the Z axis of milling machine in the larger problem of site error at commutation point place.
For achieving the above object, the technical scheme that the present invention takes is:
A position control method that is applied to carving milling machine, comprises the following steps:
The first step: the given position pulse signal that the host computer of carving milling machine is sent and the position pulse signal of servomotor feedback subtract each other the input signal of the rear positioner as servo-driver;
Second step: the rate signal that the position pulse signal of servomotor feedback is become to servomotor feedback through differentiator;
The 3rd step: the output signal of positioner is added to the feedforward rate signal of feedforward controller output, then deduct the rate signal of servomotor feedback as the input signal of speed control; Wherein, the position pulse signal that feedforward controller sends host computer is processed through differential and acquisition feedforward rate signal is processed in filtering;
The 4th step: the output signal of speed control is added to the current feed-forward signal of feedforward controller output, then deduct the current signal of servomotor feedback as the input signal of current controller; Wherein, feedforward controller will feedover, and rate signal is processed through differential and acquisition acceleration signal is processed in filtering, and acceleration signal is multiplied by setting coefficient A and obtains acceleration current signal; Friction force between ball-screw, load and guide rail is multiplied by setting coefficient B and obtains friction force current signal; Degree of will speed up current signal and friction force current signal are added and obtain current feed-forward signal;
The 5th step: the input signal using the output signal of current controller as power driving device, the operation of power driving device output three-phase alternating current electric drive servomotor.
The present invention is on the basis of traditional method of servo-controlling, and the Main Function that increases current feed-forward is to promote servo speed responsive, and tracking error underspeeds; Obtain on the basis promoting in servo speed tracking accuracy, the Main Function of the feedforward that gathers way is to promote servo position response, reduces servo position tracking error.When control method in the present invention is applied to carving milling machine, reduce X-axis, Y-axis and the Z axis of carving milling machine in the site error at commutation point place, improved machining precision and the working (machining) efficiency of workpiece.
Brief description of the drawings
Fig. 1 is the structural representation of carving milling machine.
Fig. 2 is internal controller and the signal relation schematic diagram of servo-driver.
Fig. 3 is the schematic diagram that the inventive method is applied to carving milling machine.
Fig. 4 is the actual position curve in commutation point place, position curve with feedforward control and the position curve graph of a relation with feedforward control not.
Fig. 5 is friction resistance curve.
Fig. 6 is the current data corresponding to friction force of actual measurement.
Fig. 7 is accelerating curve.
Fig. 8 is the current waveform corresponding to acceleration of actual measurement.
Fig. 9 is X-axis position deviation silk with feedforward control and the X-axis position deviation silk graph of a relation with feedforward control not.
Figure 10 is Y-axis position deviation silk with feedforward control and the X-axis position deviation silk graph of a relation with feedforward control not.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Fig. 1 is the structural representation of carving milling machine, and host computer 10 is exported 3 position signalling P-1, P-2 and P-3, issues X-axis, Y-axis and Z axis servo-driver respectively with impulse form, and X-axis, Y-axis and Z axis servo-driver drive respectively X-axis, Y-axis and Z axis servomotor.Y-axis driven by servomotor workpiece processing table top moves in Y direction; Z axis driven by servomotor spindle motor moves in Z-direction, and spindle motor band cutter High Rotation Speed is responsible for carving milling workpiece; Z axis servomotor and spindle motor do as a whole by X-axis driven by servomotor, move in X-direction.
Fig. 2 is internal controller and the signal relation schematic diagram of servo-driver, and wherein 20 is servomotor, and 21 is that ball-screw, 22 is load, and 23 is guide rail.Internal controller comprises positioner, speed control, current controller and feedforward controller.Feedforward controller, according to the rubbing characteristics of the ball-screw width of the given position signalling of host computer and X-axis, Y-axis and Z axis, calculates respectively the each self-corresponding velocity feed forward signal of X-axis, Y-axis and Z axis and current feed-forward signal.
Fig. 3 is the schematic diagram that the inventive method is applied to carving milling machine.The inventive method is applied to X-axis, Y-axis and the Z axis servo-driver in carving milling machine control system, and the internal controller of X-axis, Y-axis and Z axis servo-driver is all identical with signal relation.
The control principle of velocity feed forward and current feed-forward is: the P-pulse instruction that feedforward controller sends host computer is processed and obtained speed command signal through differential, but the rate signal obtaining by differential from discrete P-pulse instruction contains noise signal, effect is controlled in impact, so need to process after filtering, obtain smooth speed command signal.Use the same method, speed command signal is first passed through to differential processing, process after filtering and obtain acceleration demand signal again, due to system acceleration be multiplied by the value of system inertia gained and moment of accelerating that servomotor need to provide linear, and the moment of accelerating that servomotor provides and electric current are also linear, so accekeration just can obtain the electric current that acceleration is corresponding after being multiplied by a coefficient, the acceleration of taking advantage of corresponds to the scale-up factor of corresponding current feed-forward amount and can be set by user.Drive ball-screw to test by servomotor and determine the parameter that friction model is required, friction force just can obtain current feed-forward amount corresponding to friction force after being multiplied by a coefficient, and the friction force of taking advantage of corresponds to the scale-up factor of corresponding current feed-forward amount and can be set by user.The current feed-forward amount current feed-forward amount stack rear acquisition final current feed-forward amount corresponding with friction force that degree of will speed up is corresponding.
Illustrate friction force and correspond to the scale-up factor of corresponding current feed-forward amount and acceleration and correspond to the setting principle of the scale-up factor of corresponding current feed-forward amount below in conjunction with Fig. 5, Fig. 6, Fig. 7 and Fig. 8.Fig. 5 is friction resistance curve, wherein forward friction force and reverse friction power symmetry, and friction force maximal value is about 0.02.Fig. 6 is the current data corresponding to friction force of actual measurement, forward current and inverse current symmetry, and in friction force is the peaked time period, corresponding current value fluctuate, to the current value the fluctuating processing of averaging.In the time that friction force is maximal value 0.02, corresponding current average is about 0.2, is about 0.2 ÷ 0.02=10 so friction force corresponds to the scale-up factor of corresponding current feed-forward amount.Fig. 7 is accelerating curve, wherein positive acceleration and backward acceleration symmetry, and acceleration maximal value is about 2.2.Fig. 8 is the current waveform corresponding to acceleration of actual measurement, wherein forward current and inverse current symmetry, and in acceleration is the peaked time period, corresponding current value fluctuate, to the current value the fluctuating processing of averaging.In the time that acceleration is maximal value 2.2, corresponding current average is about 1.3, is about 1.3 ÷ 2.2=0.59 so acceleration corresponds to the scale-up factor of corresponding current feed-forward amount.
Taking the X-axis servo-driver 1 in Fig. 3 as example, the control signal relation of servo-driver and the computing method of velocity feed forward and current feed-forward are described.The position pulse signal 1-3 of the given position pulse signal P-1 that host computer sends and servomotor feedback subtracts each other the rear input signal as positioner.Extraction rate feedforward amount 1-4 and feed forward of acceleration amount from given position pulse signal P-1, analyze by experiment the proportionate relationship between feed forward of acceleration amount and current feed-forward amount, find out scale-up factor between feed forward of acceleration amount and current feed-forward amount, user, by this scale-up factor input servo parameter table, obtains current feed-forward amount corresponding to feed forward of acceleration amount thus.The position pulse signal 1-3 of servomotor feedback obtains the rate signal 1-2 of servomotor feedback after differentiator; The output signal of positioner first adds the feedforward rate signal 1-4 of feedforward controller output, then deducts the rate signal 1-2 of servomotor feedback as the input signal of speed control.Obtain by experiment the required parameter of friction model, the scale-up factor of friction force and current feed-forward amount is set by user, obtain thus current feed-forward amount corresponding to friction force, the current feed-forward amount of feedforward controller degree of will speed up feedforward amount correspondence adds that current feed-forward amount corresponding to friction force is as final current feed-forward signal 1-5.The output signal of speed control first adds the current feed-forward signal 1-5 of feedforward controller output, then deducts the current signal 1-1 of servomotor feedback as the input signal of current controller.The output signal of current controller is as the input signal of power driving device, and last power driving device output three-phase alternating current electric drive servomotor rotates, and rotatablely moving of servomotor is converted to the rectilinear motion of load by ball-screw.The control principle of Y-axis servo-driver 2 and Z axis servo-driver 3 is with X-axis servo-driver 1, wherein 2-1 and 3-1 are the current signal of servomotor feedback, 2-2 and 3-2 are the rate signal of servomotor feedback, 2-3 and 3-3 are the position pulse signal of servomotor feedback, 2-4 and 3-4 are the feedforward rate signal of feedforward controller output, and 2-5 and 3-5 are the current feed-forward signal of feedforward controller output.
For the actual techniques effect that illustrates that the technology of the present invention produces, on carving milling machine, carry out the experiment of picture circle, observe and whether improve in the curve precision of commutation point place circular arc.Host computer by circle trajectory signal send to X-axis and Y-axis servo, first carry out the experiment of not tape speed feedforward and current feed-forward, then carry out the experiment of tape speed feedforward and current feed-forward, the physical location curve that judges which time experiment in twice experiment in commutation point place approaches given position curve more, and the workpiece processing effect that more approaches given position curve shows reality is better.Experimental data from Fig. 4: use the position control mode of tape speed feedforward and current feed-forward on carving milling machine after, actual position curve approaches given position curve more at commutation point place.Difference between given position and physical location is position deviation amount, position deviation amount is less means that position tracking effect is better, experimental data from Fig. 9 and Figure 10: after using the position control mode of tape speed feedforward and current feed-forward, X-axis and Y-axis position deviation amount have reduced.
Claims (1)
1. a position control method that is applied to carving milling machine, is characterized in that comprising the following steps:
(1) the given position pulse signal host computer of carving milling machine being sent and the position pulse signal of servomotor feedback subtract each other the input signal of the rear positioner as servo-driver;
(2) position pulse signal of servomotor feedback is become to the rate signal that servomotor feeds back through differentiator;
(3) output signal of positioner is added to the feedforward rate signal that feedforward controller is exported, then deduct the rate signal of servomotor feedback as the input signal of speed control; Wherein, the position pulse signal that feedforward controller sends host computer is processed through differential and acquisition feedforward rate signal is processed in filtering;
(4) output signal of speed control is added to the current feed-forward signal that feedforward controller is exported, then deduct the current signal of servomotor feedback as the input signal of current controller; Wherein, feedforward controller will feedover, and rate signal is processed through differential and acquisition acceleration signal is processed in filtering, and acceleration signal is multiplied by setting coefficient A and obtains acceleration current signal; Friction force between ball-screw, load and guide rail is multiplied by setting coefficient B and obtains friction force current signal; Degree of will speed up current signal and friction force current signal are added and obtain current feed-forward signal;
(5) input signal using the output signal of current controller as power driving device, the operation of power driving device output three-phase alternating current electric drive servomotor.
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Cited By (1)
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| JP2020046965A (en) * | 2018-09-19 | 2020-03-26 | ファナック株式会社 | Feedforward controller derivation device of motor control device, motor control device, control device, and feedforward controller derivation method |
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Effective date of registration: 20190319 Address after: 211100 No. 155 General South Road, Jiangning Economic and Technological Development Zone, Nanjing City, Jiangsu Province Patentee after: Nanjing Estun Automation Co., Ltd. Address before: 211100 No. 155 General Avenue, Jiangning Economic Development Zone, Nanjing City, Jiangsu Province Co-patentee before: Nanjing Estun Automation Co., Ltd. Patentee before: Nanjing Estun Automatic Control Technology Co., Ltd. |
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