CN108681310A - A kind of controller accelerating start and stop towards mechanical main shaft height - Google Patents
A kind of controller accelerating start and stop towards mechanical main shaft height Download PDFInfo
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- CN108681310A CN108681310A CN201810457811.2A CN201810457811A CN108681310A CN 108681310 A CN108681310 A CN 108681310A CN 201810457811 A CN201810457811 A CN 201810457811A CN 108681310 A CN108681310 A CN 108681310A
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- G—PHYSICS
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- 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
- G05B19/416—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 control of velocity, acceleration or deceleration
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Abstract
The invention discloses a kind of controllers accelerating start and stop towards mechanical main shaft height, based on PI control frameworks, leading low frequency modal, high frequency mode for mechanical system, modal filter and twin-T network notch filter are added after speed PI controllers, the two combination can significantly improve the start and stop acceleration of mechanical main shaft, substantially reduce the start-stop time.
Description
Technical field
The invention belongs to numerically-controlled machine tool control technology field, more particularly to mechanical main shaft system height accelerates the controller of start and stop
And design method.
Background technology
Mechanical main shaft is widely used in the occasion of titanium alloy cutting processing, to meet the requirement of the big cutting moment of torque.Mechanical main shaft
Transmission system is complicated, is usually made of synchronous belt, transmission shaft, multi-stage gear, servo motor and its driver.It is main relative to electricity
Axis, mechanical main shaft is flexible apparent, and response speed is slow, and the start-stop time is long.In the occasion for needing frequent start-stop tool changing, production is limited
The raising of efficiency.To solve the problems, such as this, needs to use some control methods, improve system bandwidth, and then improve axis system and ring
The rapidity answered improves start and stop acceleration, reduces the start-stop time.
Application No. is the Chinese patent of CN201410007516.9, to propose a kind of AC servo controller parameter whole
Determine method, this method first recognizes the total inertia of the system that obtains, and is carried out to servo parameter further according to performance indicator and the parameter of model whole
It is fixed.The setting method is easy to operate, is suitable for the larger transmission system of rigidity.Application No. is the China of CN201510260421.2
Patent proposes that a kind of NC machine tool feed system Optimization about control parameter method recognized based on rigidity, this method are obtained by recognizing
Double inertia models of mechanical system, with worktable displacement, speed, acceleration steady-state error root mean square weighted sum be evaluation
Index optimizes the control parameter of servo-drive system.The patent considers the first-order modal of mechanical system, can be mechanical rigid
When degree variation, systematic parameter is instructed to adjust, so that its performance is optimal.However, mechanical main shaft transmission link is more, have strong soft
Property, multi-modal feature, controlled device is only considered as single inertia or double inertia, can not solved by the above patent or other existing literatures
The control problem of mechanical main shaft, also can not elevating mechanism main shaft performance well, shorten the start-stop time.
Invention content
The purpose of the present invention is to provide a kind of controllers accelerating start and stop towards mechanical main shaft height.
To achieve the goals above, present invention employs following technical schemes：
It is a kind of towards mechanical main shaft height accelerate start and stop controller, including speed PI controllers and with speed PI controllers
The connected filter that low frequency modal and leading high frequency mode are dominated for mechanical main shaft.
Preferably, the filter includes for the modal filter of leading low frequency modal and for leading high frequency mode
The combination of twin-T network notch filter, two filters is by concatenated modes at different levels, and sequencing does not influence filtering effect
Fruit.
Being formed by the module that mechanical main shaft servo-drive system includes has：Above-mentioned high controller, the flexible mechanical for accelerating start and stop
Structure and motor servo driver (driver includes electric current loop and feedback filter).
The design method of the above-mentioned controller towards the acceleration start and stop of mechanical main shaft height, includes the following steps：The controller with
Based on PI control frameworks, above-mentioned modal filter and twin-T network notch filter are added after speed PI controllers.
The above-mentioned high design for accelerating the controller of start and stop specifically includes following steps：1. mechanical system model obtains (machinery
System Discrimination)；2. leading high and low frequency modal separation；3. filter parameter calculates；4. controller's effect is evaluated.
The acquisition methods of mechanical system model described in step 1 are peak picking method.The mathematical form of mechanical system model
For modal expanding formula, as shown in formula (1-1)：
In formula：J is the equivalent moment of inertia of mechanical system；hiFor the i-th rank modal stiffness；ωiFor the i-th intrinsic frequency of rank mode
Rate；ξiFor the i-th rank modal damping, s is Laplace transformation operator, and n is the total exponent number of mechanical resonance mode.
Leading high and low frequency mode described in step 2 refers to：Exciting force inputs and the mechanical system of motor rotor speed output
The maximum mode of difference of Bode figures low frequency region antiresonance peak and resonance peak amplitude is leading low frequency modal；In the Bode figures
High-frequency region amplitude is leading high frequency mode near the mode of 0dB lines.Wherein, low frequency refers to≤200Hz, and high frequency refers to ＞ 200Hz.
Shown in one of filter described in step 3, the i.e. expression formula of modal filter such as formula (1-2)：
In formula：RezkIndicate the real part of kth rank mode zero；ImzkIndicate the imaginary part of kth rank mode zero；RepkIndicate the
The real part of k rank mode poles；ImpkIndicate that the imaginary part of kth rank mode pole, i indicate imaginary unit, n1For the rank of low frequency modal
Number.
Shown in one of filter described in step 3, the i.e. expression formula of twin-T network notch filter such as formula (1-3)：
In formula：n2For the exponent number of high frequency mode, n=n1+n2；
Wherein, coefficient al、bl、clIt is according to frequency filtering ω0l, filter width k1lWith filtering depth k2lDetermining, specifically
As shown in formula (1-4)；k1lAnd k2lIt is determined according to selected l rank mode notch bandwidths and notch depth, ω0lEqual to selected
L rank Modal frequencies ωl。
Controller's effect evaluation described in step 4 includes the following steps：By the filter parameter being calculated setting (filtering
Device parameter is set in motor servo driver, or is set by mechanical main shaft digital control system) after, it is carried by speed PI controllers
High speed ring proportional gain, until speed closed loop bandwidth is maximum (rise time of speed unit step response is most short), it is then right
Controller median filter parameter setting correctness is verified.
If amplitude frequency curve of the speed frequency response curve before corner frequency is overlapped with 0dB lines, and high-frequency resonance peak is decayed, and is said
Bright parameter setting is correct.Conversely, needing to redefine each rank modal parameter (ωi、hiAnd ξi, adjusting range is ± 5%) and fall into
Depth of convolution degree (generally being chosen in 20~40dB) and notch bandwidth (generally being chosen in 0.1~0.5), and calculate filter ginseng
Number, then repeatedly step 4.
Beneficial effects of the present invention are embodied in：
The present invention, for the leading low frequency modal of mechanical system, designs modal filter based on PI control frameworks；Needle
To the leading high frequency mode of mechanical system, twin-T network notch filter is designed, the two is combined can improve system band well
Width shortens Acceleration and deceleration time.
Description of the drawings
Fig. 1 is the speed ring control structure block diagram added after controller；
The design flow diagram of Fig. 2 devices in order to control；
Fig. 3 is the mechanical system high and low frequency mode schematic diagram based on identification；
Fig. 4 is the Contrast on effect Bode figures of correct addition controller；
Fig. 5 is the Contrast on effect time-domain diagram of correct addition controller；
In figure：1 device in order to control, 2 be feedback filter, and 3 be flexible mechanical structure, and 4 be electric current loop.
Specific implementation mode
The present invention is described in further details with reference to the accompanying drawings and examples.
Referring to Fig. 1 and Fig. 2, the present invention proposes a kind of controller design accelerating start and stop towards mechanical main shaft height, including
Following steps：
1) test function of motor servo driver, the code-disc of the torque signals and motor output of acquisition input motor are used
Position signal obtains the mechanical identification result of system, i.e. the mechanical system Bode of exciting force input and motor rotor speed output
Figure；
2) schemed according to the Bode of identification gained, (equivalent moment of inertia, mode are rigid for the corresponding modal parameter of extraction dominant mode
Degree, modal damping and intrinsic frequency), complete the acquisition of mechanical system mathematical model；
3) it detaches and dominates low frequency modal and high frequency mode；
4) be directed to low frequency modal, adjustment intrinsic frequency, modal stiffness and modal damping, calculate modal filter zero, pole
Point parameter；
5) it is directed to high frequency mode, intrinsic frequency is adjusted and selected notch bandwidth and notch depth, calculating twin-T network trap is filtered
Parameter (the ω of wave device0l、k1lAnd k2l)；
6) it adds in filter parameter to servo-drive system, input speed instructs v, and to controller 1, (controller is controlled with PI
Based on frame, above-mentioned modal filter and twin-T network notch filter are added after speed PI controllers) in, by controller 1
Generate current control instruction to electric current loop 4 (parameter alpha is electric current loop bandwidth, can be known by drive parameter list), in turn
It generates torque T and acts on mechanical system (flexible mechanical structure 3), and fed back by velocity feedback link (feedback filter 2)
Speed forms control closed loop.Generation system Bode figures and time domain response figure, evaluate controller's effect, until parameter setting
Verification is correct.
Design example
By taking the mechanical frequency response of a certain mechanical main shaft as an example, leading high and low frequency mode is isolated, as shown in Figure 3.For leading
Low frequency modal designs modal filter：
In formula：RezkIndicate the real part of kth rank mode zero；ImzkIndicate the imaginary part of kth rank mode zero；RepkIndicate the
The real part of k rank mode poles；ImpkIndicate the imaginary part of kth rank mode pole；I indicates imaginary unit.
For leading high frequency mode, twin-T network notch filter is designed：
Notch bandwidth BwlWith notch depth DPlWith coefficient k1lAnd k2lBetween relationship such as formula (1-7) shown in：
After the filter parameter being calculated is set every time, velocity loop proportional gain is improved, until amplitude-frequency in Bode figures
Curve surmounts 0dB lines.If amplitude frequency curve of the speed frequency response curve before corner frequency is overlapped with 0dB lines, and high-frequency resonance peak
Decaying, illustrates that parameter setting is correct；Conversely, needing to recalculate filter parameter.
It is formed by newly after adding modal filter and twin-T network notch filter on the basis of original speed PI controllers
Shown in Contrast on effect such as Fig. 4 (Bode figures), the Fig. 5 (time domain) of controller with former speed PI controllers.The present invention is main in certain machinery
Main shaft acceleration is realized on axis by 10r/s2Promote 40r/s2, the main shaft acceleration time drops to 1.76s by 7.05s.
In short, 4 times or so of mechanical main shaft start and stop acceleration promotion and main shaft acceleration time may be implemented substantially in the present invention
The effect of shortening, to meet requirement of the occasions such as titanic alloy machining to the big cutting moment of torque.
Claims (10)
1. a kind of controller accelerating start and stop towards mechanical main shaft height, it is characterised in that：The controller includes speed PI controllers
And the filter that low frequency modal and leading high frequency mode are dominated for mechanical main shaft being connected with speed PI controllers.
2. a kind of controller accelerating start and stop towards mechanical main shaft height according to claim 1, it is characterised in that：For machinery
The filter that main shaft dominates low frequency modal is modal filter, and expression formula is：
In formula：RezkIndicate the real part of kth rank mode zero；ImzkIndicate the imaginary part of kth rank mode zero；RepkIndicate kth rank
The real part of mode pole；ImpkIndicate the imaginary part of kth rank mode pole；I indicates imaginary unit；n1For the exponent number of low frequency modal；s
For Laplace transformation operator.
3. a kind of controller accelerating start and stop towards mechanical main shaft height according to claim 1, it is characterised in that：For machinery
The filter that main shaft dominates high frequency mode is twin-T network notch filter, and expression formula is：
In formula：ω0l、k1lAnd k2lRespectively l ranks frequency filtering, filtering bandwidth and filtering depth；n2For the exponent number of high frequency mode；
S is Laplace transformation operator.
4. a kind of controller accelerating start and stop towards mechanical main shaft height according to claim 1, it is characterised in that：For machinery
Main shaft dominates low frequency modal and the filter of leading high frequency mode is combined by concatenated modes at different levels.
5. a kind of servo-drive system accelerating start and stop towards mechanical main shaft height, it is characterised in that：Including by height accelerate on off controller,
The control closed loop that flexible mechanical system and motor servo driver are constituted, the high acceleration on off controller include speed PI controls
Device processed and the filter that low frequency modal and leading high frequency mode are dominated for mechanical main shaft being connected with speed PI controllers.
6. a kind of design method of the controller towards the acceleration start and stop of mechanical main shaft height, it is characterised in that：Include the following steps：
1) the mechanical system Bode figures that exciting force input exports servo motor rotor speed are obtained；
2) the corresponding modal parameter of extraction dominant mode is schemed according to the Bode；
3) it detaches and dominates low frequency modal and high frequency mode；
4) according to modal parameter, the modal filter for the low frequency modal added after speed PI controllers is calculated
Parameter；And calculate the ginseng of the twin-T network notch filter for the high frequency mode added after speed PI controllers
Number；
5) rear in the filter parameter to servo-drive system that addition is calculated to carry out velocity close-loop control；
6) by repeating step 4) to step 5), the control effect under being set to different filter parameters is evaluated, and is determined
Correct filter parameter setting.
7. a kind of design method of the controller towards the acceleration start and stop of mechanical main shaft height, feature exist according to claim 6
In：In the step 2), the acquisition methods of modal parameter are peak picking method.
8. a kind of design method of the controller towards the acceleration start and stop of mechanical main shaft height, feature exist according to claim 6
In：In the step 3), the maximum mode of difference of Bode figures low frequency region antiresonance peak and resonance peak amplitude is leading
Low frequency modal；The Bode figures medium-high frequency region amplitude is leading high frequency mode near the mode of 0dB lines.
9. a kind of design method of the controller towards the acceleration start and stop of mechanical main shaft height, feature exist according to claim 6
In：In the step 6), after the filter parameter being calculated is set, velocity loop proportional is improved by speed PI controllers and is increased
Benefit, until speed closed loop bandwidth is maximum；If amplitude frequency curve of the speed frequency response curve before corner frequency is overlapped with 0dB lines, and
High-frequency resonance peak is decayed, then filter parameter setting is correct, conversely, continuing to evaluate after recalculating filter parameter.
10. a kind of design method of the controller towards the acceleration start and stop of mechanical main shaft height, feature exist according to claim 6
In：The expression formula of the modal filter is：
In formula：RezkIndicate the real part of kth rank mode zero；ImzkIndicate the imaginary part of kth rank mode zero；RepkIndicate kth rank
The real part of mode pole；ImpkIndicate the imaginary part of kth rank mode pole；I indicates imaginary unit；n1For the exponent number of low frequency modal；s
For Laplace transformation operator；The parameter of modal filter corresponds to rank modal stiffness, Modal frequency and mode according to mechanical main shaft
Damping calculating obtains；
The expression formula of the twin-T network notch filter is：
In formula：ω0l、k1lAnd k2lRespectively l ranks frequency filtering, filtering bandwidth and filtering depth；n2For the exponent number of high frequency mode；
S is Laplace transformation operator；The parameter of twin-T network notch filter corresponds to rank Modal frequency according to mechanical main shaft and trap is deep
Degree and notch bandwidth are calculated；
The adjusting range of the modal stiffness, Modal frequency and modal damping is ± 5%, and notch depth is in 20~40dB
It chooses, notch bandwidth is chosen in 0.1~0.5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810457811.2A CN108681310B (en) | 2018-05-14 | 2018-05-14 | Controller for high-acceleration starting and stopping of mechanical spindle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810457811.2A CN108681310B (en) | 2018-05-14 | 2018-05-14 | Controller for high-acceleration starting and stopping of mechanical spindle |
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| CN108681310A true CN108681310A (en) | 2018-10-19 |
| CN108681310B CN108681310B (en) | 2020-10-27 |
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2018
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