CN109189003A - A kind of gantry synchronisation control means - Google Patents
A kind of gantry synchronisation control means Download PDFInfo
- Publication number
- CN109189003A CN109189003A CN201810878271.5A CN201810878271A CN109189003A CN 109189003 A CN109189003 A CN 109189003A CN 201810878271 A CN201810878271 A CN 201810878271A CN 109189003 A CN109189003 A CN 109189003A
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- servo motor
- driver
- gantry
- master
- frequency dividing
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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
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
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- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a kind of gantry synchronisation control means, one, two groups of power mechanisms are divided into active force mechanism first and from power mechanism；Then the frequency dividing output interface of master driver is connected with from the fully closed ring interface of driver, the fully closed ring interface of master driver is connected with the frequency dividing output interface from driver；Two, gantry master synchronization is set for master driver by gantry controller, the frequency dividing output source of master driver is set as position command output；It will be set as the synchronous slave in gantry from driver, be set as normally dividing output from the frequency dividing of driver output source, position command selection is arranged to second encoder input；Position deviation threshold value is set in the controller of gantry；Three, torque ring control is moved from servo motor, and master driver reads main servo motor and position signal and speed signal from servo motor in real time, obtains main servo motor and the Position And Velocity difference from servo motor, and then output speed and compensated torque instruct.
Description
Technical field
The invention belongs to gantry synchronous control technique field more particularly to a kind of gantry synchronisation control means.
Background technique
As domestic large-scale precision equipment is in the extensive use of intelligent equipment manufacture, various novel large equipments are needed at present
High precision is wanted to position, it is intelligent and move synchronously, referring to Fig. 1, existing large span (referring to general span all at 7 meters or more) is imperial
Door movement is driven using both ends ordinary motor+speed reducer mode, specific structure are as follows: fixed beam A1 and fixed beam B5 is mutually flat
Row is connected by moving beam 13 between the two；It is provided with ball screw A12 on fixed beam A1, is equipped on ball screw A12
Sliding block A14 and ball nut A17 are installed on sliding rail A15, sliding rail A15；One end of ball screw A12 is equipped with brake group
A11 and bearing block B18；The other end of ball screw A12 is equipped with active motor+accurate retarding machine 2 and bearing block A16, solid
Determine to be provided with ball screw B9 on beam B5, sliding rail B7 is installed on ball screw B9, slide block B is installed on sliding rail B7, in slide block B
Ball nut B20 is installed；One end of ball screw B9 is equipped with brake group B8 and bearing block C19；Ball screw B9's is another
One end is equipped with slave motor+accurate retarding machine 4 and bearing block D21；Above structure in the prior art, moving beam 13 along
Fixed beam A1 and fixed beam B5 does back and forth movement, specific motion-promotion force are as follows: the both ends of moving beam 13 have respectively one it is independent
Motor driven lead screw is moved, it is clear that and when two motor synchronization actions, then moving beam 13 can be realized smooth motion, but
Be when the driving of two motors is asynchronous, when one end speed of moving beam 13 is greater than the speed of the other end, the then pole of moving beam 13
It is easily stuck between two fixed beams, it easily breaks down at this time, while damaging gantry mechanism；Therefore, a kind of energy is designed and developed
Enough guarantee gantry synchronisation control means of gantry synchronism seems it is particularly important.
Summary of the invention
In view of the drawbacks of the prior art, the present invention provides a kind of synchronous control in gantry that can guarantee the synchronous even running in gantry
Method processed.
It is of the present invention the specific technical proposal is:
A kind of gantry synchronisation control means, includes the following steps:
Step 1: establishing hardware system: specifically:
Above-mentioned hardware system includes that moving beam is driven to realize the two groups of power mechanisms moved back and forth and control along fixed beam
Gantry controller of two groups of power mechanisms movement, every group of power mechanism include a servo motor and a driver；It established
Journey are as follows: two groups of power mechanisms are divided into active force mechanism first and from power mechanism；Above-mentioned active force mechanism includes main servo
Motor and master driver, it is above-mentioned from power mechanism include from servo motor and from driver；Then the frequency dividing of master driver is defeated
Outgoing interface is connected with from the fully closed ring interface of driver, by the fully closed ring interface of master driver and from the frequency dividing output interface of driver
Connection；
Step 2: establishing control system: specifically:
Gantry master synchronization, the frequency dividing output source setting of master driver are set by master driver by gantry controller
For position command output；It will be set as the synchronous slave in gantry from driver, be set as normal from the frequency dividing of driver output source
Frequency dividing output, position command selection are arranged to second encoder input；Main servo motor is set in the controller of gantry and from watching
Take the position deviation threshold value of motor；
Step 3: synchronously control process: specifically:
Torque ring control from servo motor move, during the motion, master driver read in real time main servo motor and from
Servo electricity
The position signal and speed signal of machine, to show that main servo motor and Position And Velocity from servo motor are poor
Value, then
Output speed and compensated torque instruct, to achieve the purpose that main servo motor and run simultaneously from servo motor.
Further, in step 3, when main servo motor and from the position deviation setover deviation threshold of servo motor
When, main servo motor and it will stop from servo motor.
Advantages of the present invention and good effect are as follows:
By using above-mentioned technical proposal, the present invention is had the following technical effect that:
Two servo motors use master and slave mode, and main servo motor action is followed from servo motor, while main servo electricity
Machine and from the real-time phase mutual feedback in servo motor actual motion position, the position passed through between two servo motors of real-time detection is missed
Difference, and control error within limits, to guarantee two servo motor synchronization actions to realize gantry synchronously control.It should
Control method does not need additional controller, and hardware is simple, cost is more reasonable.
Detailed description of the invention
Fig. 1 is the structure chart at traditional gantry；
Fig. 2 is the circuit block diagram of the preferred embodiment of the present invention；
Fig. 3 is the flow chart of the preferred embodiment of the present invention；
Wherein: 1, fixed beam A；2, active motor+accurate retarding machine；3, articulated beam A；4, slave motor+accurate retarding machine；
5, fixed beam B；6, slide block B；7, sliding rail B；8, brake group B；9, ball screw B；10, articulated beam B；11, brake group A；12,
Ball screw A；13, moving beam；14, sliding block A；15, sliding rail A；16, bearing block A；17, ball nut A；18, bearing block B；19,
Bearing block C；20, ball nut B；21, bearing block D.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows.
Structure of the invention is explained in detail with reference to the accompanying drawing.
Please refer to Fig. 1: the structure at traditional gantry are as follows: traditional gantry movement mechanism includes fixed beam, moving beam, sliding rail, cunning
Block, ball screw, ball nut, brake group, servo motor+elaborate servo speed reducer.
Fixed beam includes fixed beam A1, fixed beam B5, articulated beam A3 and articulated beam B10.
Moving beam 13, ball nut 17, ball nut B20, sliding block A14 and 6 groups of slide block B are integral.
Ball screw A12 is fixed on fixed beam A1 by bearing block A16 and bearing block B18.
Ball screw B9 is fixed on fixed beam B5 by bearing block C19 and bearing block D21.
When ball screw B9, ball screw A12 rotation, linear reciprocating motion is can be realized in moving beam 13.
Active motor+accurate retarding machine 2 couples with ball screw A12.
Slave motor+accurate retarding machine 4 couples with ball screw B9.
In order to realize the steady synchronous operation at gantry, the technical solution that this preferred embodiment uses are as follows:
Fig. 2 and Fig. 3 are please referred to, a kind of gantry synchronisation control means includes the following steps:
Step 1: establishing hardware system: specifically:
Above-mentioned hardware system includes that moving beam is driven to realize the two groups of power mechanisms moved back and forth and control along fixed beam
Gantry controller of two groups of power mechanisms movement, every group of power mechanism include a servo motor and a driver；It established
Journey are as follows: two groups of power mechanisms are divided into active force mechanism first and from power mechanism；Above-mentioned active force mechanism includes main servo
Motor and master driver, it is above-mentioned from power mechanism include from servo motor and from driver；Then the frequency dividing of master driver is defeated
Outgoing interface is connected with from the fully closed ring interface of driver, by the fully closed ring interface of master driver and from the frequency dividing output interface of driver
Connection；Preferably, main servo motor and the servo motor from servo motor selection same model；
Step 2: establishing control system: specifically:
Gantry master synchronization, the frequency dividing output source setting of master driver are set by master driver by gantry controller
For position command output；It will be set as the synchronous slave in gantry from driver, be set as normal from the frequency dividing of driver output source
Frequency dividing output, position command selection are arranged to second encoder input；Main servo motor is set in the controller of gantry and from watching
Take the position deviation threshold value of motor；
Step 3: synchronously control process: specifically:
Torque ring control from servo motor move, during the motion, master driver read in real time main servo motor and from
The position signal and speed signal of servo motor, to obtain main servo motor and alternate position spike and speed difference from servo motor
Value, then output speed compensating instruction and compensated torque instruct；Specifically: when main servo motor physical location L1 is greater than from servo
When motor physical location L2, control main servo motor reduces certain speed, while control increases certain speed from servo motor
Degree, to reduce the alternate position spike of two servo motors.When main servo motor physical location L1 is less than from servo motor physical location L2
When, control main servo motor increases certain speed, while control reduces certain speed from servo motor, watches to reduce two
Take the alternate position spike of motor.To achieve the purpose that main servo motor and be run simultaneously from servo motor.
With the citing of linear compensation formula:
Δ V=K* (L1-L2)；
V1=L1- Δ V
V2=L2+ Δ V
V-Vc≤V1≤V+Vc
V-Vc≤V2≤V+Vc
Δ V: velocity compensation component
K: the speed compensation control factor
V1: main servo motor actual speed
V2: from servo motor actual speed
V: speed operating instruction
Vc: speed tolerance value
In order to improve safety, in step 3, when main servo motor and from the position deviation setover of servo motor
When deviation threshold, main servo motor and it will stop from servo motor.
That is above-mentioned steps three are as follows: the control of torque ring is moved from servo motor, and during the motion, gantry is same built in driver
Step function reads main servo motor and the position signal from servo motor in real time, thus obtain main servo motor with from servo motor
Position And Velocity difference, then output speed and compensated torque instruct, synchronous with from servo motor to reach main servo motor
The effect of operation.When gantry synchronizing function detects that master and slave motor position deviation is more than setting value, main servo motor, from servo
Motor will stop, and prevent structure stuck.
Working principle:
Moving beam among gantry structure is since span is big, using double driving mechanism, two sets of driving mechanisms it is synchronous by leading,
Guarantee from motor.Gantry synchronizes master and slave servo-driver wiring and sees Fig. 2, is connect with main servo motor in master driver, from drive
It is additional to increase two lines road cable on the basis of dynamic device connect with from servo motor, one by master driver divide output interface with
It is connected from the fully closed ring interface of driver, another is connected the fully closed ring interface of master driver with from driver frequency dividing output interface.
Gantry master synchronization is set by master driver on the controller of gantry, frequency dividing output source is set as position command output, will
It is set as the synchronous slave in gantry from driver, frequency dividing output source is set as normally dividing output, and position command selection is arranged to
Second encoder input.The synchronous master-slave servo driver wiring diagram in gantry is shown in Fig. 2.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (2)
1. a kind of gantry synchronisation control means, characterized by the following steps:
Step 1: establishing hardware system: specifically:
Above-mentioned hardware system includes that moving beam is driven to realize two groups of the two groups of power mechanisms moved back and forth and control along fixed beam
Gantry controller of power mechanism movement, every group of power mechanism include a servo motor and a driver；Establishment process are as follows:
Two groups of power mechanisms are divided into active force mechanism first and from power mechanism；Above-mentioned active force mechanism include main servo motor and
Master driver, it is above-mentioned from power mechanism include from servo motor and from driver；Then by the frequency dividing output interface of master driver
It is connected with from the fully closed ring interface of driver, the fully closed ring interface of master driver is connected with the frequency dividing output interface from driver；
Step 2: establishing control system: specifically:
Gantry master synchronization is set by master driver by gantry controller, the frequency dividing output source of master driver is set as position
Set instruction output；It will be set as the synchronous slave in gantry from driver, be set as normally dividing from the frequency dividing of driver output source
Output, position command selection are arranged to second encoder input；In the controller of gantry be arranged main servo motor and from servo electricity
The position deviation threshold value of machine；
Step 3: synchronously control process: specifically:
The control of torque ring is moved from servo motor, and during the motion, master driver reads main servo motor and in real time from servo
The position signal and speed signal of motor, to obtain main servo motor and the Position And Velocity difference from servo motor, then
Output speed and compensated torque instruct, to achieve the purpose that main servo motor and run simultaneously from servo motor.
2. gantry synchronisation control means according to claim 1, which is characterized in that in step 3, when main servo motor
When with position deviation setover deviation threshold from servo motor, main servo motor and it will stop from servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810878271.5A CN109189003A (en) | 2018-08-03 | 2018-08-03 | A kind of gantry synchronisation control means |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810878271.5A CN109189003A (en) | 2018-08-03 | 2018-08-03 | A kind of gantry synchronisation control means |
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| CN109189003A true CN109189003A (en) | 2019-01-11 |
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| CN201810878271.5A Pending CN109189003A (en) | 2018-08-03 | 2018-08-03 | A kind of gantry synchronisation control means |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110980425A (en) * | 2019-12-06 | 2020-04-10 | 广东科达洁能股份有限公司 | Spinning cake automatic doffing system and multi-servo driver synchronous control method thereof |
| CN111824960A (en) * | 2019-04-19 | 2020-10-27 | 深圳市雷赛智能控制股份有限公司 | Gantry synchronous control method, control equipment and motor control system |
| CN111835235A (en) * | 2019-04-19 | 2020-10-27 | 深圳市雷赛智能控制股份有限公司 | Gantry synchronous control method, motor driver and motor control system |
| CN112587351A (en) * | 2020-11-27 | 2021-04-02 | 上海力申科学仪器有限公司 | Operating table double-column synchronous following operation control circuit suitable for heavy load and detection method thereof |
| CN112821810A (en) * | 2021-01-27 | 2021-05-18 | 苏州伟创电气科技股份有限公司 | Control method and control system for servo motor |
| CN113233374A (en) * | 2021-03-25 | 2021-08-10 | 意欧斯物流科技(上海)有限公司 | Synchronous control device and method for load lifting platform |
| CN114995260A (en) * | 2022-06-30 | 2022-09-02 | 上海交通大学 | Double-drive synchronous control method and system based on event-driven mechanism |
| CN115118542A (en) * | 2022-04-28 | 2022-09-27 | 广东美的智能科技有限公司 | Gantry system and control device thereof |
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| CN103676653A (en) * | 2013-12-16 | 2014-03-26 | 成都乐创自动化技术股份有限公司 | Servo synchronous control method and system applied to gantry mechanism |
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| EP1026562A2 (en) * | 1999-01-11 | 2000-08-09 | Fanuc Ltd. | Servo controller |
| EP1353251A2 (en) * | 2002-04-09 | 2003-10-15 | Fanuc Ltd | Numerical controller |
| CN101349910A (en) * | 2008-08-29 | 2009-01-21 | 华中科技大学 | Numerical control machine tool double-shaft synchronization controller |
| CN102059573A (en) * | 2010-11-10 | 2011-05-18 | 西安交通大学 | Modeling method for dual-driving synchronous electromechanical coupling characteristic of walking beam type gantry machine tool |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111824960A (en) * | 2019-04-19 | 2020-10-27 | 深圳市雷赛智能控制股份有限公司 | Gantry synchronous control method, control equipment and motor control system |
| CN111835235A (en) * | 2019-04-19 | 2020-10-27 | 深圳市雷赛智能控制股份有限公司 | Gantry synchronous control method, motor driver and motor control system |
| CN110980425A (en) * | 2019-12-06 | 2020-04-10 | 广东科达洁能股份有限公司 | Spinning cake automatic doffing system and multi-servo driver synchronous control method thereof |
| CN110980425B (en) * | 2019-12-06 | 2021-08-27 | 广东科达洁能股份有限公司 | Spinning cake automatic doffing system and multi-servo driver synchronous control method thereof |
| CN112587351A (en) * | 2020-11-27 | 2021-04-02 | 上海力申科学仪器有限公司 | Operating table double-column synchronous following operation control circuit suitable for heavy load and detection method thereof |
| CN112821810A (en) * | 2021-01-27 | 2021-05-18 | 苏州伟创电气科技股份有限公司 | Control method and control system for servo motor |
| CN113233374A (en) * | 2021-03-25 | 2021-08-10 | 意欧斯物流科技(上海)有限公司 | Synchronous control device and method for load lifting platform |
| CN115118542A (en) * | 2022-04-28 | 2022-09-27 | 广东美的智能科技有限公司 | Gantry system and control device thereof |
| CN115118542B (en) * | 2022-04-28 | 2023-12-19 | 广东美的智能科技有限公司 | Control device of gantry system and gantry system |
| CN114995260A (en) * | 2022-06-30 | 2022-09-02 | 上海交通大学 | Double-drive synchronous control method and system based on event-driven mechanism |
| CN114995260B (en) * | 2022-06-30 | 2023-03-24 | 上海交通大学 | Double-drive synchronous control method and system based on event-driven mechanism |
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