CN105676781B - Control System of NC Machine method for diagnosing faults based on Petri network - Google Patents
Control System of NC Machine method for diagnosing faults based on Petri network Download PDFInfo
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- CN105676781B CN105676781B CN201610129668.5A CN201610129668A CN105676781B CN 105676781 B CN105676781 B CN 105676781B CN 201610129668 A CN201610129668 A CN 201610129668A CN 105676781 B CN105676781 B CN 105676781B
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
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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
- G05B2219/30—Nc systems
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- G05B2219/31451—Petrinet for monitoring process
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Abstract
The invention discloses a kind of Control System of NC Machine method for diagnosing faults based on Petri network includes according to stopping, rotating and reverse the Petri net model that working condition establishes driving device；The Petri net model of limit relay protection module is established according to positive limit switch, reverse limit switch, positive limit alarm, reverse limit alarm and relay working condition；The Petri net model of epigyny device is established according to pulse signal and mark signal working condition；The Petri net model of driving device, limit relay protection module and epigyny device is subjected to union, establishes the Petri net model of Control System of NC Machine；Fault diagnosis is carried out to Control System of NC Machine using the Petri net model of Control System of NC Machine.The present invention can the whether faulty generation of accurate judgement operation time, and further judge it is which driving device or sensor break down in Control System of NC Machine.
Description
Technical field
The invention belongs to numerically-controlled machine tool technical field, more particularly to a kind of numerically-controlled machine tool control based on Petri network
Diagnosis method for system fault.
Background technology
Numeric Control Technology is also known as CNC technologies.With the rapid development of computer technology, CNC technologies are widely used to machine
Tool processing, the together various industries such as manufacture.Numerically-controlled machine tool is a kind of flexible, dynamical automated machine tool, represents the modern times
The developing direction of Machine-Tool Control technology is a kind of typical electromechanical integrated product.
However, being equally also faced with many failure problems in Control System of NC Machine.With Industry Control, manufacture
The scale of system increases rapidly with structural complexity, more and more high-performance, high efficiency, high-precision numerically-controlled machine tool occurs.
The number of axle of these numerically-controlled machine tools is continuously increased, and each axis is fitted with independent driving device to realize multi-shaft interlocked work(
Can, most of numerically-controlled machine tool is all selected using servo motor as driving device.Meanwhile the number of sensors on each axis
It is continuously increased, is accurately positioned with realization, limits the functions such as relay protection.Wherein, limit relay protection function more seems particularly heavy
It wants, any work must all carry out under conditions of ensuring safety.Thereby it is ensured that the limit sensors of each axis of numerically-controlled machine tool are just
Often work is top priority.
Invention content
It is an object of the invention to overcome the deficiencies in the prior art, propose a kind of numerically-controlled machine tool control based on Petri network
Diagnosis method for system fault, the driving device and limit sensors that this method is directed in Control System of NC Machine are occurred
Failure problems.This method initially sets up the ordinary Petri Net model using Control System of NC Machine as object, then basis
The actual working state at numerically-controlled machine tool a certain moment is compared with the state obtained by its Petri net model, judges the moment
Whether faulty generation, if faulty generation, can further judge be in Control System of NC Machine which driving device or
Sensor breaks down.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of Control System of NC Machine method for diagnosing faults based on Petri network, includes the following steps：
According to stopping, rotating and reverse the Petri net model that working condition establishes driving device；
According to positive limit switch, reverse limit switch, positive limit alarm, reverse limit alarm and relay work shape
State establishes the Petri net model of limit relay protection module；
The Petri net model of epigyny device is established according to pulse signal and mark signal working condition；
The Petri net model of driving device, limit relay protection module and epigyny device is subjected to union, establishes numerical control
The Petri net model of machine tool control system；
Fault diagnosis is carried out to Control System of NC Machine using the Petri net model of Control System of NC Machine.
Further, according to stopping, rotating and reverse the Petri net model that working condition establishes driving device, including：
The set of library for establishing driving device closes PD, including stop working state library instituteRotate forward working condition library institute
With reversion working condition library institute
Driving device is established from stopping to rotating forward and from the transition set for just going to stopping；And add corresponding directed arc collection
It closes；
Driving device is established from stopping to inverting and from the transition set for being inverted to stopping；And add corresponding directed arc collection
It closes.
Further, according to positive limit switch, reverse limit switch, positive limit alarm, reverse limit alarm, relay
Device working condition establishes the Petri net model of limit relay protection module, including：
The set of library for establishing limit relay protection module closes PL, including positive limit switch off state library institute pl1,off, just
To limit switch closed state library institute pl1,on, reverse limit switch off state library institute pl2,off, reverse limit switch closed condition
Library institute pl2,on, there is no positive limit alarm library institute pa1,off, there are positive limit alarm library institute pa1,on, be not present reverse limit
Alarm library institute pa2,off, there are reverse limit alarm library institute pa2,on, relay off-state library institute pr,offWith relay closed form
State library institute pr,on；
It establishes positive limit switch and is closed and from the transition set for being closed into disconnection from being disconnected to；And it adds corresponding oriented
Arc set；
Positive alarm is established from alarm free to having alarm and from there is transition set of the alarm to alarm free；And add correspondence
Oriented arc set；
It establishes reverse limit switch and is closed and from the transition set for being closed into disconnection from being disconnected to；And it adds corresponding oriented
Arc set；
Establish reversed alarm from alarm free to have alarm and from have alarm to alarm free transition set；And add correspondence
Oriented arc set；
It establishes relay and is closed and from the transition set for being closed into disconnection from being disconnected to；And add corresponding directed arc collection
It closes.
Further, the Petri net model of epigyny device is established according to pulse signal and mark signal working condition, is wrapped
It includes：
The set of library for establishing epigyny device closes PP, including indicate that epigyny device does not have the library institute p of output of pulse signalp,offWith
There is the library institute p of output of pulse signalp,on, indicate plus sign signal library institute p+With the library institute p of minus symbol signal-, indicate and driving
The corresponding servo-driver of device receives the library institute p for rotating forward operating instructionp,on,+With the library institute p of reversion operating instructionp,on,-；
Epigyny device never output of pulse signal is established to the transition set for having output of pulse signal；And it adds corresponding
Oriented arc set；
Epigyny device is established to be output to low level signal output from high level signal and be output to high electricity from low level signal
The transition set of ordinary mail number output；And add corresponding oriented arc set；
It establishes epigyny device output pulse signal and high level signal and receives the change for rotating forward operating instruction to servo-driver
Move set；And add corresponding oriented arc set；
Epigyny device is established from there is transition set of the output of pulse signal to not output of pulse signal；And it adds corresponding
Oriented arc set.
Further, by the Petri net model of driving device, limit the Petri net model of relay protection module and upper
The Petri net model of device carries out union, establishes the Petri net model of Control System of NC Machine, including：
Determine that the initial marking of Control System of NC Machine Petri net model, the initial marking indicate that Petri network is initial
Moment library in Tokken number；
The Petri net model of driving device, limit relay protection module and epigyny device is subjected to union, is digitally controlled
Machine tool control system ordinary Petri Net model N=(P, T, F), wherein P library representations are gathered, and T indicates that transition set, F indicate
To arc set.
Further, failure is carried out to Control System of NC Machine using the Petri net model of Control System of NC Machine
Diagnosis, including：
Step 1, the incidence matrix of Control System of NC Machine Petri net model is calculated；
Step 2, whether detecting system status signal changes, if changing, goes to step 3；Otherwise, step 2 is repeated；
Step 3, Control System of NC Machine current time state, comparison system current time state and previous moment are obtained
State, judge the system status signal to change；
Step 4, the mark at Control System of NC Machine Petri net model current time is obtained by system current time state
Know；
Step 5, numerically-controlled machine tool arriving after system status signal changes is calculated using the state equation of Petri network
Knowledge up to standard；
Step 6, judge identifying whether and arrival mark for Control System of NC Machine Petri net model current time
It is identical, if identical, return to step 2；Otherwise, 7 are gone to step；
Step 7, the original occurred according to the mark at Control System of NC Machine Petri net model current time, failure judgement
Cause.
Further, the arrival mark calculation formula is as follows：
M ' [k]=m [k-1]+C δ, and m [k-1] >=C-(:,δ)
Wherein, m ' [k] indicates that the arrival mark, m [k-1] indicate that Control System of NC Machine Petri net model is previous
The mark at moment, C indicate that the incidence matrix, δ indicate the system status signal.
Further, in the step 6, if the mark at Control System of NC Machine Petri net model current time and institute
It is identical to state arrival mark, the mark at model current time is assigned to the mark of previous moment；And by system current time state
It is assigned to the state of previous moment.
A kind of method for diagnosing faults of Control System of NC Machine of the present invention, realizes through Petri net model to numerical control
Lathe carries out the diagnosis and analysis of failure, it is ensured that driving device and normal operation of sensor, and then ensure numerically-controlled machine tool control system
System safe operation.
Invention is further described in detail with reference to the accompanying drawings and embodiments, but one kind of the present invention being based on Petri
The Control System of NC Machine method for diagnosing faults of net is not limited to embodiment.
Description of the drawings
Fig. 1 is the flow diagram of the method for the present invention；
Fig. 2 is the Petri net model of Control System of NC Machine of the present invention；
Fig. 3 is stone processing machine tool control system schematic diagram in the embodiment of the present invention；
Fig. 4 is the Petri net model of stone processing machine tool control system in the embodiment of the present invention.
Specific implementation mode
A kind of Control System of NC Machine method for diagnosing faults based on Petri network, first have to meet is constructed
Petri net model has to comply with the normal working method of Control System of NC Machine.In the model of structure, simulated with library
The working condition of the devices such as driving device, sensor and epigyny device；With transition come equipment such as analog-driven device, sensors
The working rules inside condition and epigyny device that working condition changes.Finally utilize obtained Petri net model
Analysis on Fault Diagnosis is carried out to numerically-controlled machine tool.The state of Control System of NC Machine normal work is obtained by Petri net model
Data are capable of detecting when the failure of system compared with the virtual condition of system.Numerically-controlled machine tool possesses multiple axis simultaneously, however
The operation principle of each axis is all identical, and the driving device and limit sensors of each axis are also all mutual indepedent, therefore only need logarithm
The a certain axis of control lathe carries out Petri network modeling to illustrate the method for fault diagnosis.Referring to Fig. 1, specific implementation step is such as
Under：
Step 101, according to stopping, rotating and reverse the Petri network mould that working condition establishes driving device (servo motor)
Type；
Step 1011, the working condition of servo motor only stops, rotating and reverse three kinds, and motor can be from halted state
It is switched to the state of rotating and reverse, and the switching between forward and backward state, which is regarded as, wherein of short duration stopped process.Therefore will
The working condition of servo motor be modeled as library setWherein,Point
Not Biao Shi servo motor three kinds of working conditions：Stop, rotating and reverse.
Step 102, according to positive limit switch, reverse limit switch, positive limit alarm, reverse limit alarm and relay
Device working condition establishes the Petri net model of limit relay protection module；
Step 1022, for numerically-controlled machine tool during normal work, both ends limit switch is all in off-state.Work as servo
When motor operation is to a certain extreme position, limit switch work, and limit signal is exported, host computer receives the alarm signal at this
Number, relay is also changed into off-state by closed state, and motor is out of service.Only when motor is run toward opposite direction
When, limit switch disconnects, and limit signal disappears, and alarm is eliminated.
According to above-mentioned operation principle, the modeling of positive limit relay protection module Petri network can be retouched with following language
It states：By library instituteBecome library instituteProcess simulation be transitionBy library instituteBecome library instituteMistake
Journey is modeled as changingAdd library instituteIt is directed toward transitionDirected arc, addition transitionIt is directed toward library instituteDirected arc；Add library instituteIt is directed toward transitionDirected arc, addition transitionIt is directed toward library institute's
Directed arc.Because of library instituteBecome library instituteDuring motor necessarily be in rotating forward state, so need add library instituteIt is directed toward transitionTwo-way arc；Library instituteBecome library instituteDuring motor necessarily be in inverted status,
So needing to add library instituteIt is directed toward transitionTwo-way arc.The transition collection of gained is combined into：
Oriented arc set is：
By library instituteBecome library instituteProcess simulation be transitionBy library instituteBecome library instituteProcess simulation be transitionAdd library instituteIt is directed toward transitionDirected arc, addition transitionIt is directed toward library instituteDirected arc；Add library instituteIt is directed toward transitionDirected arc, addition transitionIt is directed toward library instituteDirected arc.Library instituteBecome library instituteDuring motor reach direct limit position
It sets, therefore adds library instituteIt is directed toward transitionTwo-way arc；Library instituteBecome library instituteDuring motor
Direct limit position cannot be located at, therefore add library instituteIt is directed toward transitionTwo-way arc.The transition set of gained
For：Oriented arc set is：
Step 1023, similar to previous step, the mould about reverse limit relay protection module Petri network can be obtained
Type.Transition collection is combined into：Oriented arc set is：
Step 1024, by library institute pr,offBecome library institute pr,onProcess simulation be transition tr,off,on, will be because reaching positive limit
Position leads to library institute pr,onBecome library institute pr,offProcess simulation be transitionIt will lead to library institute p because reaching reverse limitr,on
Become library institute pr,offProcess simulation be transitionAdd library institute pr,offIt is directed toward transition tr,off,onDirected arc, addition become
Move tr,off,onIt is directed toward library institute pr,onDirected arc；Add library institute pr,onIt is directed toward transitionDirected arc, addition transition
It is directed toward library institute pr,offDirected arc；Add library institute pr,onIt is directed toward transitionDirected arc, addition transitionIt is directed toward library
Institute pr,offDirected arc.Library institute pr,offBecome library institute pr,onProcess also need to meet motor not in the condition of positive and negative spacing place, because
This addition library instituteWith library instituteIt is respectively directed to transition tr,off,onTwo-way arc.Library institute pr,onBecome library institute pr,offMistake
Journey, motor are located at spacing place forward or backwards, and limit switch sends out limit signal, and relay disconnects, therefore adds library institute
It is directed toward transitionTwo-way arc, add library instituteIt is directed toward transitionTwo-way arc.When servo motor reaches limit,
Relay disconnects, and causes motor not rerun, is restored to halted state, therefore also needs to addition library institute pr,offIt is respectively directed to changeWith transitionTwo-way arc.Acquired transition collection is combined into：Oriented arc set
For：Wherein,
Step 1025, limit relay protection module Petri net model set of library is combined into PL, transition collection is combined intoOriented arc set
Step 103, the Petri net model of epigyny device is established according to pulse signal and mark signal working condition；
Step 1031, according to the operation principle of servo motor, epigyny device need to input command pulse letter to servo-driver
Number, to control the operation of motor.Command pulse form is generally " pulse+symbol " sequence, if there are pulse signals to determine electricity
Whether machine can run, and mark signal then determines the traffic direction of motor.High level is that (+) mark signal is determining motor just
Turn, low level is that (-) mark signal determines motor reversal.Therefore, the working condition of epigyny device can be modeled as library
Set PP={ pp,off,pp,on,p+,p-,pp,on,+,pp,on,-}.Wherein, pp,offWith pp,onIndicate that epigyny device does not have pulse respectively
Signal exports and epigyny device has output of pulse signal, p+With p-(+) mark signal and (-) mark signal, p are indicated respectivelyp,on,+
With pp,on,-It indicates that servo-driver corresponding with motor receives respectively and rotates forward operating instruction and reversion operating instruction.
Step 1032, according to the operation principle inside epigyny device, by library institute pp,offBecome library institute pp,onProcess simulation
To change tp,off,on, by library institute p+Become library institute p-Process simulation be transition t+,-, by library institute p-Become library institute p+Process mould
It is intended to be transition t-,+.Motor carries out forward or reverse movement after obtaining " pulse+symbol " sequence signal, therefore by library institute pp,on
With library institute p+Become library institute pp,on,+Process simulation be transition tp,on,+, by library institute pp,onWith library institute p-Become library institute pp,on,-Mistake
Journey is modeled as transition tp,on,-.And library institute pp,onBecome library institute pp,offProcess be divided into two kinds of situations：First, instruction operation finishes,
There is no output of pulse signal；Second is that motor operation is to extreme position, epigyny device, which receives limit signal, makes it no longer send out
Go out pulse signal.Therefore by library institute pp,onWith library institute pp,on,+Become library institute pp,offThe process simulation of the first situation is transitionThe process simulation of the second situation is transitionSimilarly, by library institute pp,onWith library institute pp,on,-Become library institute
pp,offThe process simulation of the first situation is transitionThe process simulation of the second situation is transition
Step 1034, library institute p is added+It is directed toward transition t+,-Directed arc, addition transition t+,-It is directed toward library institute p-Directed arc；
Add library institute p-It is directed toward transition t-,+Directed arc, addition transition t-,+It is directed toward library institute p+Directed arc.The transition collection of gained is combined into：Oriented arc set：
Step 1036, after servo-driver receives " pulse+symbol " sequence signal, motor brings into operation, therefore adds
Library institute pp,on,+It is directed toward transitionTwo-way arc, add library institute pp,on,-It is directed toward transitionTwo-way arc.The oriented arc set of gained
For：
Step 104, the Petri net model of driving device, limit relay protection module and epigyny device is subjected to union,
Establish the Petri net model of Control System of NC Machine；
Through the above steps it is found that the set of library of the Petri net model of Control System of NC Machine is combined into P=PD∪PL∪
PP, transition collection is combined into T=TD∪TL∪TP, oriented arc set is F=FD∪FL∪FP.Therefore, a common Petri network is obtained
N=(P, T, F) and initial marking m0, the Petri net model of Control System of NC Machine is referring to Fig. 2.
Step 105, failure is carried out to Control System of NC Machine using the Petri net model of Control System of NC Machine to examine
It is disconnected；
According to the Petri net model of system, m is identified0Become identifying miProcess can remember intoIf current mark
Know miIt is to reach mark, then must satisfy equation mi=m0+ C δ, wherein δ indicate that an excitation sequence, each component are equal to phase
The number that the transition answered occur in δ, and in Control System of NC Machine, a part of component of δ be by sensor signal with
The instruction of host computer is constituted.
In Petri net model, it can indicate each state of system with different marks, identify the process of variation i.e.
For the process of system state change.m(pi) that indicate is library institute piInterior contained Tokken (token) number.And in numerically-controlled machine tool control
In system processed, the mark of different moments can be obtained by the state of sensor and the control instruction of epigyny device etc..Therefore,
The failure problems of digital control system can be detected using the mark of different moments.
For the failure problems occurred in Control System of NC Machine, its numerical control based on Petri net model is given below
Machine tool control system fault diagnosis algorithm：
Input：Petri network system (N, m0), electric machine operation state d0、d1And d2, limit sensors signal l1And l2, relay
Device state r, alarm signal a1And a2, pulse signal p, mark signal (+) and (-).
Output：The reason of breaking down.
It is as follows：
Step 1051, the incidence matrix C of Petri network system N is found out；
Step 1052, the original state S [0] of numerically-controlled machine tool system is obtained；
Specifically, system mode S includes the working condition of driving device, relay working condition, with the presence or absence of positive limit
Level sensor signal whether there is reverse limit sensor signal, whether there is positive alarm signal, whether there is reversed alarm
Signal whether there is pulse signal, with the presence or absence of high level signal and with the presence or absence of low level signal.
Step 1053, S [k-1]=S [0], k is enabled to indicate the integer more than 1；
Step 1054, whether detecting system status signal δ changes, if changing, thens follow the steps 1055；It is no
Then, step 1054 is repeated；
Specifically, system status signal δ is made of the instruction of sensor signal, alarm signal and host computer.With the presence or absence of biography
Sensor signal can be obtained by limit switch, and alarm signal and host computer instruction can be obtained by host computer.
Step 1055, Control System of NC Machine current time state S [k] is obtained, and compares S [k] and previous moment system
The state S [k-1] of system judges which signal δ changes；
Step 1056, the mark m [k] of the Petri net model of lathe is obtained by S [k].When servo motor stopsWhen servo motor rotates forwardWhen servo motor invertsThere is no when limit signal There are when positive limit signalThere are when reverse limit signalM (p when relay disconnectsr,off)=1, m (p when closurer,on)=1；There is no when alarm signal There are when positive alarm signalThere are when reversed alarm signalM (p when epigyny device does not send pulsep,off)=1, m (p when sending pulsep,on)=1 sends (+) symbol
M (p when signal+)=1, m (p when sending (-) mark signal-)=1, servo-driver receive m when rotating forward operating instruction
(pp,on,+)=1, m (p when receiving reversion operating instructionp,on,-)=1；
Step 1057, numerically-controlled machine tool arriving after signal δ changes can be calculated using the state equation of Petri network
Knowledge m ' [k] up to standard, wherein m ' [k]=m [k-1]+C δ, and m [k-1] >=C-(:,δ)；
Specifically, m [k-1] >=C- (:, δ) and indicate that m [k-1] must be greater than being equal to forward conjunction Matrix C-Middle signal δ institutes
Corresponding column vector.
Step 1058, judge whether m [k]=m ' [k] is true, if so, illustrate that current time digital control system fault-free is sent out
It is raw, m [k-1]=m [k], S [k-1]=S [k] are enabled, turns 1054；Otherwise, illustrating system, there are failures, go to step 1059；
Step 1059, the actual cause occurred according to the mark m [k] of digital control system current state, failure judgement.
Specifically, the judgement for failure cause, because the state of system previous moment is normal, only in certain letters
Number δ just will appear failure after occurring, so according to the system status signal δ of generation, and can by the Petri net model of system
The reason of to judge to be out of order.
It is further detailed by taking stone processing machine tool control system as an example below.
Driving device uses Delta B2 series of servo driver and ECMA series of servo in stone processing machine tool control system
Motor, epigyny device use DMC-B140-M motion controllers.
DMC-B140-M motion controllers are at best able to realize four-axle linked, and four driver interfaces of controller, are
The D type joints of four DB15.Wherein, No. 14, No. 15 pins be respectively pulse signal inverse output terminal (STEP -) and pulse
The positive output end (STEP+) of signal；No. 7, No. 8 pins be respectively that inverse output terminal (DIR -) and the direction of direction signal is believed
Number positive output end (DIR+).Both signals are output to the ports servo-driver CN1.Wherein, No. 41 (/PULSE), No. 43
(PULSE) pin return pulse signal；No. 37 (/SIGN), No. 39 (SIGN) pins receive symbol (direction) signal.Wiring just
Under the premise of really, set the operating mode of servo-driver to position (PT) pattern, and relevant parameter is set, makes servo motor
It can work normally.
Fig. 3 is the schematic diagram of a certain axis of stone processing machine tool control system.Servo motor band cutter realizes side-to-side movement, just
Be located at the both ends of movable part 31 to limit switch 32 or reverse limit switch 33, and the both ends of lathe respectively have one piece it is raised
Sheet metal 34.When movable part runs to extreme position, sheet metal is close enough at a distance from limit switch, so that limit
Work is switched, limit signal is exported to relay, relay is caused to disconnect, motor is out of service, and host computer also receives alarm signal
Number, no longer send the pulse to servo-driver.There are two hard limit 35 at edges at two ends, effect is when limit switch is sent out
When raw failure, so that motor is no more than extreme position, but should power off in time.
According to the operation principle of stone processing machine tool control system, it is modeled by Petri network modeling method, can be obtained
Its Petri net model is as shown in figure 4, and can be obtained initial marking m0=[1,0,0,1,0,1,0,0,1,1,0,1,0,1,0,0,
1,0,0]T.According to the model, the incidence matrix C of stone processing machine tool control system can be obtained, it is as follows：
Since servo motor rotates and reverse, working method is similar, is illustrated with the working method of rotating forward.
Motion controller sends pulse and (+) mark signal to servo-driver, and servo-driver is according to received
Signal drives the servo motor to carry out rotating forward work.Servo motor is during rotating forward operation, when motor reaches direct limit
At position, relay receives limit signal, goes off state by closed state, and host computer receives alarm signal, control
Device does not retransmit pulse.
Assuming that servo motor is in rotating forward state when initial time, it is denoted as S [0], and enables S [k-1]=S [0]；Detect lathe
Whether system signal changes, if changing, can obtain the current state S [k] of lathe.Assuming that through comparison S [k] with
S [k-1] has found that the signal that system status signal changes, and detects is the life for making motor rotate forward of host computer input afterwards
It enables, i.e. δ=t16t18t19t1.Current time by state S [k] obtain lathe Petri net model be identified as m [k]=[0,
1,0,1,0,1,0,0,1,1,0,1,0,0,1,1,0,1,0]T.It recycles the state equation of Petri network that can calculate stone material to add
Arrival mark m ' [k]=m of work machine tool control system0+ C δ=[0,1,0,1,0,1,0,0,1,1,0,1,0,0,1,1,0,1,
0]T.It is found by comparison, m [k]=m ' [k], illustrates that failure is not present in system.Enable m [k-1]=m [k], S [k-1]=S [k] after
Whether continuous detecting system status signal changes.
The false signal detected is upper positive alarm signal, i.e. δ=t again7.Current time obtains lathe by state S [k]
Petri net model be identified as m [k]=[0,1,0,1,0,1,0,0,1,1,0,1,0,0,1,1,0,1,0]T.But the letter
Number it is unsatisfactory for m [k-1] >=C-(:, δ), therefore the state equation of Petri network can not be used by calculating, illustrate that system has event
Barrier.By analysis it is found that it is that positive alarm breaks down the reason of such case occur.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (3)
1. a kind of Control System of NC Machine method for diagnosing faults based on Petri network, which is characterized in that including：
According to stopping, rotating and reverse the Petri net model that working condition establishes driving device；
It is built according to positive limit switch, reverse limit switch, positive limit alarm, reverse limit alarm and relay working condition
The Petri net model of vertical limit relay protection module；
The Petri net model of epigyny device is established according to pulse signal and mark signal working condition；
The Petri net model of driving device, limit relay protection module and epigyny device is subjected to union, establishes numerically-controlled machine tool
The Petri net model of control system；
Fault diagnosis is carried out to Control System of NC Machine using the Petri net model of Control System of NC Machine；
According to stopping, rotating and reverse the Petri net model that working condition establishes driving device, including：
The set of library for establishing driving device closes PD, including stop working state library instituteRotate forward working condition library instituteWith it is anti-
It changes a job and makees state repository institute
Driving device is established from stopping to rotating forward and from the transition set for just going to stopping；And add corresponding oriented arc set；
Driving device is established from stopping to inverting and from the transition set for being inverted to stopping；And add corresponding oriented arc set；
It is built according to positive limit switch, reverse limit switch, positive limit alarm, reverse limit alarm, relay working condition
The Petri net model of vertical limit relay protection module, including：
The set of library for establishing limit relay protection module closes PL, including positive limit switch off state library institute pl1,off, positive limit
Bit switch closed state library institute pl1,on, reverse limit switch off state library institute pl2,off, reverse limit switch closed condition library institute
pl2,on, there is no positive limit alarm library institute pa1,off, there are positive limit alarm library institute pa1,on, there is no reverse limit alarm
Library institute pa2,off, there are reverse limit alarm library institute pa2,on, relay off-state library institute pr,offWith relay closed state library
Institute pr,on；
It establishes positive limit switch and is closed and from the transition set for being closed into disconnection from being disconnected to；And add corresponding directed arc collection
It closes；
Positive alarm is established from alarm free to having alarm and from there is transition set of the alarm to alarm free；And it adds and corresponding has
To arc set；
It establishes reverse limit switch and is closed and from the transition set for being closed into disconnection from being disconnected to；And add corresponding directed arc collection
It closes；
Establish reversed alarm from alarm free to have alarm and from have alarm to alarm free transition set；And it adds and corresponding has
To arc set；
It establishes relay and is closed and from the transition set for being closed into disconnection from being disconnected to；And add corresponding oriented arc set；
The Petri net model of epigyny device is established according to pulse signal and mark signal working condition, including：
The set of library for establishing epigyny device closes PP, including indicate that epigyny device does not have the library institute p of output of pulse signalp,offAnd have arteries and veins
Rush the library institute p of signal outputp,on, indicate plus sign signal library institute p+With the library institute p of minus symbol signal-, indicate and driving device
Corresponding servo-driver receives the library institute p for rotating forward operating instructionp,on,+With the library institute p of reversion operating instructionp,on,-；
Epigyny device never output of pulse signal is established to the transition set for having output of pulse signal；And it adds corresponding oriented
Arc set；
Epigyny device is established to be output to low level signal output from high level signal and be output to high level letter from low level signal
Number output transition set；And add corresponding oriented arc set；
It establishes epigyny device output pulse signal and high level signal and receives the transition collection for rotating forward operating instruction to servo-driver
It closes；And add corresponding oriented arc set；
Epigyny device is established from there is transition set of the output of pulse signal to not output of pulse signal；And it adds corresponding oriented
Arc set；
By the Petri net model of driving device, the Petri network of the Petri net model and epigyny device that limit relay protection module
Model carries out union, establishes the Petri net model of Control System of NC Machine, including：
Determine that the initial marking of Control System of NC Machine Petri net model, the initial marking indicate Petri network initial time
Library in Tokken number；
The Petri net model of driving device, limit relay protection module and epigyny device is subjected to union, is digitally controlled lathe
The Petri net model of control system；
Fault diagnosis is carried out to Control System of NC Machine using the Petri net model of Control System of NC Machine, including：
Step 1, the incidence matrix of Control System of NC Machine Petri net model is calculated；
Step 2, whether detecting system status signal changes, if changing, goes to step 3；Otherwise, step 2 is repeated；
Step 3, Control System of NC Machine current time state, the shape of comparison system current time state and previous moment are obtained
State judges the system status signal to change；
Step 4, the mark at Control System of NC Machine Petri net model current time is obtained by system current time state；
Step 5, using the state equation of Petri network calculate numerically-controlled machine tool after system status signal changes to up to standard
Know；
Step 6, judge identifying whether and arrival mark phase for Control System of NC Machine Petri net model current time
Together, if it is identical, return to step 2；Otherwise, 7 are gone to step；
Step 7, according to the mark at Control System of NC Machine Petri net model current time, the reason of failure judgement occurs.
2. the Control System of NC Machine method for diagnosing faults according to claim 1 based on Petri network, feature exist
In：
The arrival mark calculation formula is as follows：
M ' [k]=m [k-1]+C δ, and m [k-1] >=C-(:,δ)
Wherein, m ' [k] indicates that the arrival mark, m [k-1] indicate Control System of NC Machine Petri net model previous moment
Mark, C indicates that the incidence matrix, δ indicate the system status signal.
3. the Control System of NC Machine method for diagnosing faults according to claim 1 based on Petri network, feature exist
In：In the step 6, if the mark at Control System of NC Machine Petri net model current time is identical as the arrival mark,
The mark at model current time is assigned to the mark of previous moment；And by system current time state assignment to previous moment
State.
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