CN109343476A - A kind of position gain combined debugging device and method based on rigid tapping - Google Patents
A kind of position gain combined debugging device and method based on rigid tapping Download PDFInfo
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- CN109343476A CN109343476A CN201811171389.0A CN201811171389A CN109343476A CN 109343476 A CN109343476 A CN 109343476A CN 201811171389 A CN201811171389 A CN 201811171389A CN 109343476 A CN109343476 A CN 109343476A
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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
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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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- G05B2219/34013—Servocontroller
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Abstract
The invention discloses a kind of position gain combined debugging device and method based on rigid tapping, device include CNC device, tapping axis servo drive, main axle servo driving device, feed drive gearing, spindle gearing, execute end equipment.The instruction of tapping axis feed speed, the spindle speed instruction of CNC device are emitted to tapping axis servo drive, main axle servo driving device respectively, tapping axis servo drive drives the screw tap for executing end to realize feed motion by feed drive gearing, and main axle servo driving device drives the screw tap for executing end to realize main shaft rotary motion by spindle gearing.The adjustment method is the relationship using main spindle's lag pulse signal, tapping shaft position lag pulse signal ratio and processing screw hole screw pitch, so that rapidly debugging main shaft and tapping shaft position proportional gain parameter by display device directly on CNC device, realize high-speed, high precision tapping, this method is convenient and practical, and debugging efficiency is high.
Description
Technical field
The present invention relates to the debugging apparatus of numerically-controlled machine tool and adjustment method, specially a kind of position based on rigid tapping increases
Beneficial combined debugging device and method.
Background technique
Existing numerically-controlled machine tool CNC system rigid tapping is based on following principle:
In rigid tapping, the amount of feeding of tapping axis corresponding to 1 turn of main shaft rotation must be equal with the screw pitch of tapping, i.e., must
Following condition must be met:
Wherein, P: the screw pitch (mm) of tapping；F: the amount of feeding (mm/min) of tapping axis；S: the speed (r/min) of main shaft.
It is as shown in Figure 1 CNC Threading Control System schematic diagram, by principles above it can be seen that machine tool numerical control system CNC is wanted
Realize that the tapping of high-speed, high precision needs to control main shaft and tapping axis moves synchronously and meets the condition of (1) formula.Wherein, setting master
Axis every revolution system sends 1000 pulses, and the every one pitch P system of feeding of tapping axis sends 1000 pulses, then main shaft is every
Turning the umber of pulse needed is σ are as follows:
σ=1000 × GS (2)
The command pulse number θ that tapping axis one pitch P of every feeding needs are as follows:
θ=1000 × P × GZ (3)
Wherein, GSFor main shaft electronic gear proportion, GZFor tapping axis electronic gear proportion.If every one pitch P of feeding of tapping axis needs
The command pulse number of the command pulse θ wanted and every turn of main shaft needs is the ratio between σ are as follows:
System issues main shaft command pulse signal CPOSWith the current PRF signal POS of position coder feedbackSMore afterwards
To position lag pulse signal EPOS, then pass through position proportional gain KVSPass through β again afterwardsS/GSBe converted to the corresponding speed of mainshaft
S sends an instruction to the servo-driver of driving spindle.Equally, system issues tapping axis command pulse signal CPOZWith position
The current PRF signal POS of encoder feedbackZAfter obtain position lag pulse signal EPOZ, then increase by position proportional
Beneficial link KVZPass through β again afterwardsZ/GZThe corresponding feed speed F of tapping axis is converted to, the servo of driving tapping axis is sent an instruction to
Driver.Following formula is set up as can be seen from Figure:
CPOZ=POSZ+EPOZ (5)
CPOS=POSS+EPOS (6)
Wherein, βSPulse computational constant, β are lagged for main spindle'sZPulse computational constant is lagged for tapping shaft position.Lathe
When tapping, since there are spindle drive deviation, tapping axis transmission deviation, screw tap, material, abrasion, drive location ratios to increase by CNC
Precision, β is arranged in beneficial coefficientSWith βZIt is completely same that the factor of measurement error etc. cannot achieve feed motion and motion of main shaft
Step movement, so that there is a certain error for the thread pitch processed.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, propose a kind of position gain connection based on rigid tapping
Debugging apparatus is closed, the debugging efficiency of the device is high and easy to operate.
Another object of the present invention is to propose a kind of position gain combined debugging method based on rigid tapping with reality
Various deviations are now compensated, realize high precision screw tapping.
The first purpose of this invention is achieved through the following technical solutions: the position gain combined debugging based on rigid tapping
Device, including CNC device, tapping axis servo drive, main axle servo driving device, feed drive gearing, spindle drive dress
It sets, execute end equipment, the tapping axis servo drive drives the screw tap for executing end equipment by feed drive gearing
Realize feed motion, the main axle servo driving device drives the screw tap for executing end to realize that main shaft revolves by spindle gearing
Transhipment is dynamic；The position gain combined debugging device controllable adjustable tapping axis feed speed and axis feeding speed.
Further, the CNC device includes tapping axis scale gain controller, main shaft proportional gain controller, described to attack
Silk axis scale gain controller receives the tapping axis pulse command of CNC device and the position feedback of tapping axis servo drive
Signal gives tapping axis servo drive, the main shaft proportional gain by calculating output tapping axis feed speed instruction output
Controller receives the main shaft pulse command of CNC device and the position feed back signal of main axle servo driving device, defeated by calculating
Axis feeding speed command, which exports, out gives main axle servo driving device.
Further, the tapping axis servo drive includes the first servo-driver, first servo motor and first
Encoder is set, the feed speed that first servo-driver receives the tapping axis scale gain controller instructs concurrent power transmission
It flows signal and drives the first servo motor movement, the first servo motor executes end by feed drive gearing driving
The screw tap of end device realizes feed motion, P-pulse of the first position encoder to test the first servo motor
Signal simultaneously sends a signal to the tapping axis scale gain controller.
Further, the main axle servo driving device includes the second servo-driver, the second servo motor and the second position
Encoder, the feed speed that second servo-driver receives the main shaft proportional gain controller instruct concurrent power transmission stream letter
Number driving second servo motor movement, second servo motor execute end dress by spindle gearing driving
The screw tap set realizes main shaft rotary motion, P-pulse of the second position encoder to test second servo motor
Signal simultaneously sends a signal to the main shaft proportional gain controller.
Preferably, the CNC device further comprises display device, and the display device receives and shows the tapping axis
Proportional gain controller and the main shaft proportional gain controller output data.
Second object of the present invention is achieved through the following technical solutions: the position gain combined debugging based on rigid tapping
Method, which comprises the following steps:
Step 1, test run, preliminary debugging KVZ、KVSAnd record EPOZ、EPOS, judgment formulaWhether at
It is vertical,
If so, then parameter testing finishes；
If not, then continue to execute step 2；
Wherein, EPOZFor the position lag pulse signal of tapping axis；EPOSFor the position lag pulse signal of main shaft；
α is the command pulse θ of tapping axis one pitch P of every feeding and each revolution of command pulse number of main shaft is the ratio between σ
Step 2: work as EPOZWith EPOSRelationship meets relational expressionWhen, keep KVZIt is constant
Increase KVSOr keep KVSConstant reduction KVZ；
Work as EPOZWith EPOSRelationship meets relational expression formulaWhen, K will be keptVSConstant increase
KVZOr keep KVZConstant reduction KVS, in formula, βSPulse computational constant, β are lagged for main spindle'sZArteries and veins is lagged for tapping shaft position
Computational constant is rushed, F is the amount of feeding (mm/min) of tapping axis, and S is the speed of mainshaft, KVSFor main spindle's proportional gain, KVZTo attack
Silk shaft position proportional gain link；
Step 3: step 1 is repeated, and records EPOZWith EPOS, judgementIt is whether true:
If so, then parameter testing finishes；
If not, step 1 and step 2 are then continued to execute, until formulaThen parameter testing is set up to finish.
Further, β described in step 1ZCalculation method are as follows: institute is attainable most when first calculating tapping axis tapping
High speed FH, medium speed FMWith minimum speed FL, give tapping axis servo-driver respectively under zero load then with these three perseverances
It is mobile to determine speed command, records EPOZH、EPOZM、EPOZL, β is calculated separately out according to the following formulaZH、βZM、βZL；Then its average value is taken
As final βZ；
Wherein, EPOZPulse signal, EPO are lagged for tapping shaft positionZH、EPOZM、EPOZLFor attacking under three kinds of constant speeds
Silk shaft position lags pulse signal, βZPulse computational constant, β are lagged for tapping shaft positionZH、βZM、βZLFor under three kinds of constant speeds
Tapping shaft position lag pulse computational constant；F is the amount of feeding (mm/min) of tapping axis, GZFor tapping axis electronic gear proportion,
KVZFor tapping shaft position proportional gain link.
Further, β described in step 1SCalculation method are as follows: under zero load respectively give main axle servo driver with most
High revolving speed SH, moderate rotation SM, minimum speed SLOperation, record record EPOSH、EPOSM、EPOSL, calculate separately out according to the following formula
βSH、βSM、βSL, then take its average value as final βS；
Wherein, EPOSPulse signal, EPO are lagged for main spindle'sSH、EPOSM、EPOSLIt is stagnant for main spindle's under three kinds of revolving speeds
Afterpulse signal, βSPulse computational constant, β are lagged for main spindle'sSH、βSM、βSLPulse is lagged for main spindle's under three kinds of revolving speeds
Computational constant S is the speed (r/min) of main shaft, GSFor main shaft electronic gear proportion, KVSFor main spindle's proportional gain link.
Preferably, preliminary debugging K described in step 1VZ、KVSIt is to carry out according to the following formula:
Wherein, KVZFor tapping shaft position proportional gain link, KVSFor main spindle's proportional gain link, βZFor tapping axle position
Set lag pulse computational constant, βSPulse computational constant is lagged for main spindle's.
Further, in step 1, judge KVZ、KVSThe matched formula of parameter testing is as follows:
Wherein, KVZFor tapping shaft position proportional gain link, KVSFor main spindle's proportional gain link, Δ POSZFor tapping
Axis current location pulse increment, Δ POSSFor main shaft current location pulse increment, EPOZPulse signal is lagged for tapping shaft position,
EPOSPulse signal is lagged for main spindle's, α is the command pulse θ and each revolution of finger of main shaft of tapping axis one pitch P of every feeding
Enabling umber of pulse is the ratio between σ.
Beneficial effects of the present invention:
(1) present invention be directed to machine tool tapping when due to lathe there are spindle drive deviation, tapping axis transmission deviation, screw tap,
Precision, β is arranged in material, abrasion, drive location proportional gain factorSWith βZThe factor of measurement error etc. to process
Thread pitch the problem of there is a certain error, utilize main spindle's lag pulse signal, tapping shaft position lag pulse letter
The relationship of number ratio and processing screw hole screw pitch, allows to rapidly debug main shaft and tapping shaft position proportional gain parameter, subtracts
The error of few tapping process, realizes the tapping of high-speed, high precision, reduces the use difficulty of user of service.
(2) present invention can only complete the debugging of parameter directly on CNC device by included display device, without repeatedly
The screw hole screw pitch of workpiece is measured, it is convenient and practical, it is easy to operate, substantially increase debugging efficiency.
Detailed description of the invention
Fig. 1 is CNC Threading Control System schematic diagram in background technique.
Fig. 2 is a kind of position gain combined debugging device block diagram based on rigid tapping in the present invention.
Fig. 3 is a kind of position gain combined debugging method flow diagram based on rigid tapping in the present invention.
Specific embodiment
Further detailed description is done to the present invention below with reference to specific implementation and attached drawing, but embodiments of the present invention are not
It is limited to this.
Referring to Fig. 2, present embodiment discloses a kind of position gain combined debugging device based on rigid tapping, the device
Including CNC device 1, tapping axis servo drive 6, main axle servo driving device 5, feed drive gearing 13, spindle drive dress
It sets 14, execute end equipment 15.The instruction of tapping axis feed speed, the spindle speed instruction of CNC device 1 are emitted to tapping axis respectively
Servo drive 6, main axle servo driving device 5, tapping axis servo drive 6 are executed by the driving of feed drive gearing 13
The screw tap of end 15 realizes feed motion, and main axle servo driving device 5 executes end 15 by the driving of spindle gearing 14
Screw tap realizes main shaft rotary motion.
Referring to Fig. 2, the CNC device 1 include tapping axis scale gain controller 3, main shaft proportional gain controller 4 and
Display device 2.Wherein, tapping axis scale gain controller 3 receives the tapping axis pulse command of CNC device 1 and tapping axis is watched
The position feed back signal for taking driving device 6 gives tapping axis servo-drive by calculating output tapping axis feed speed instruction output
Device 6.Equally, main shaft proportional gain controller 4 receives the main shaft pulse command and main axle servo driving device 5 of CNC device 1
Position feed back signal, by calculate output axis feeding speed command export to main axle servo driving device 5.Tapping axis scale
Gain controller 3 and 4 outputting data signals of main shaft proportional gain controller to display device 2 carry out real-time display.
Referring to Fig. 2, the tapping axis servo drive 6 includes servo-driver 7, servo motor 8 and position encoded
Device 9.Servo-driver 7 sends current signal driving servo motor 8 and moves.Servo motor 8 is driven by feed drive gearing 13
The screw tap for executing end 15 realizes feed motion.Position coder 9 is to detect the position pulse signal of servo motor 8 and will survey
The position pulse signal obtained is sent to the tapping axis scale gain controller 3 in CNC device 1.
Referring to Fig. 2, the main axle servo driving device 5 includes servo-driver 10, servo motor 11 and position encoded
Device 12.Servo-driver 10 receives the pulse signal of main shaft proportional gain controller 4 and sends current signal driving servo motor
11 movements, the servo motor 11 realize main shaft rotary motion by the screw tap that the driving of spindle gearing 14 executes end 15.
Position coder 12 is to detect the position pulse signal of servo motor 11 and the signal measured is sent in CNC device 1
Main shaft proportional gain controller 4.
Referring to Fig. 3, present embodiment discloses a kind of, the position gain combined debugging method based on rigid tapping includes with
Lower step:
1. institute attainable maximum speed F when calculating tapping axis tappingH, medium speed FMWith minimum speed FL, in zero load
The lower tapping axis servo-driver that gives respectively is mobile with these three constant speeds, records EPOZH、EPOZM、EPOZL, according to formulaCalculate separately out βZH、βZM、βZL, then take its average value as final βZ；
2. giving main axle servo driver respectively under zero load according to same principle with maximum speed SH, moderate rotation SM、
Minimum speed SLOperation, record record EPOSH、EPOSM、EPOSL, according to formulaCalculate separately out βSH、
βSM、βSL, then take its average value as final βS；
3. according to formula relationship:Preliminary debugging position proportional gain KVZ、KVS；
4. preliminary test is run, and records EPOZ、EPOS, judgment formulaIt is whether true；
If so, then parameter testing finishes；
If not, then continue to execute step 5；
5. working as EPOZWith EPOSRelationship meets formulaWhen, then the screw hole screw pitch that processes
Increase tendency will be presented, when being screwed into screw hole inspection with go-no go gauge or standard screws, the trend that screw hole fluffs can be presented, answer at this time
Holding KVZConstant increase KVSOr keep KVSConstant reduction KVZ, i.e. KVSChange into KVS+ΔKVS(ΔKVS> 0) when or KVZ
Change into KVZ-ΔKVZ(ΔKVZ> 0)；
6. working as EPOZWith EPOSRelationship meets formulaWhen, then the screw hole screw pitch that processes
Reduction trend will be presented, when being screwed into screw hole inspection with go-no go gauge or standard screws, the trend that screw hole becomes tight can be presented, answer at this time
Holding KVSConstant increase KVZOr keep KVZConstant reduction KVS, i.e. KVZChange into KVZ+ΔKVZ(ΔKVZ> 0) when or KVS
Change into KVS-ΔKVS(ΔKVS> 0)；
7. repeating step 4, and record EPOZWith EPOS.Judgment formulaIt is whether true:
If so, then parameter testing finishes；
If not, step 5,6,7 are then continued to execute, until formulaThen parameter testing is set up to finish.
A kind of Fig. 3 method of the position gain combined debugging device based on rigid tapping disclosed by the invention is please referred to pass through
Following technical principle is realized:
When lathe and cutter reach under ideal conditions, during rigid tapping in any certain unlimited short time, if
Tapping axis command pulse position CPOZIncrement is Δ CPOZ, main shaft command pulse position CPOSIncrement is Δ CPOS, tapping axis is current
Position POSZIncrement is Δ POSZ, main shaft current location POSSIncrement is Δ POSS.In rigid tapping, the speed of mainshaft and feeding
Speed is almost constant, so EPOZAnd EPOSIt is almost constant.Therefore certain any section is infinitely short during rigid tapping
Time in, according to formula CPOZ=POSZ+EPOZ、CPOS=POSS+EPOSKnown to
ΔPOSZ=Δ CPOZ-EPOZ (9)
ΔPOSS=Δ CPOS-EPOS (10)
Two formulas are divided by
In order to ensure the screw hole screw pitch processed is consistent with pre- constant pitch (lathe condition is ideally), then must make
?Otherwise, the screw hole screw pitch processed then has then with pre- constant pitch there are biggish error
Both members are simultaneously multiplied by Δ CPOS-EPOSFollowing formula is obtained,
ΔCPOZ-EPOZ=α × (Δ CPOS-EPOS) (13)
Both members are simultaneously divided by Δ CPOSFollowing formula,
And from (4) formulaAbove formula abbreviation is obtained into following formula:
Above formula abbreviation is obtained into following formula:
Conclude that when guaranteeing the processing of predetermined thread pitch, i.e., the ratio between current location pulse increment is α by formula (16),
The ratio between position lag pulse is also α, and the two is of equal value.
By σ=1000 × GS, θ=1000 × P × GZ、
Above formula can be indicated are as follows:
(1) formula of substitutionIt can be able to formula:
According to above formula it is found that the position proportional gain of tapping axis and the position proportional gain of main shaft are that a constant ratio is closed
System, it is meant that, as long as tapping axis and main shaft are rigidly enough, according to the proportionate relationship of formula (18), as long as determining tapping shaft position ratio
Example gain or main spindle's proportional gain, that is, can determine the position proportional gain or tapping shaft position proportional gain of main shaft.When attacking
After the proportionate relationship of silk shaft position proportional gain and main spindle's proportional gain determines, as long as lathe shaft transmission system, cutter
In the normal situation of system, qualified screw hole can be processed.
Since there are spindle drive deviation, tapping axis to be driven deviation, screw tap, material, abrasion, drive location ratio for lathe
Precision, β is arranged in gain coefficientZWith βSThe presence of the factor of measurement error etc., so that even if according to formula (18) relationship configuration bit
It sets proportional gain still and cannot achieve feed motion and the fully synchronized movement of motion of main shaft, so that the thread pitch processed
There is a certain error.
ByRelation of equal quantity may know that, pass through observation tapping axis EPOZWith the EPO of main shaftS's
Relationship judges Δ POSZWith Δ POSSRelationship, to be finely adjusted KVZ、KVS, to reach scheduled rigid tapping effect.
WhenWhen, by (11) Shi Ke get:
ΔCPOZ-EPOZ=(α+Δ α) Δ CPOS-(α+Δα)EPOS (19)
Both sides are the same as divided by Δ CPOSAnd abbreviation obtains
EPOZ=(α+Δ α) EPOS-ΔαΔCPOS (20)
Both sides are the same as divided by EPOSAnd abbreviation obtains
Because of Δ POSS> 0, the Δ CPO known to (10) formulaS> EPOS。
The trend of increase will be presented in the screw hole screw pitch processed as Δ α > 0, be screwed into go-no go gauge or standard screws
When screw hole is examined, the trend that screw hole fluffs can be presented, have at this time:
Therefore it should increase KVS, reduce KVZ；
The trend of reduction will be presented in the screw hole screw pitch processed as Δ α > 0, be screwed into go-no go gauge or standard screws
When screw hole is examined, the trend that screw hole becomes tight can be presented, have at this time:
Therefore it should increase KVZ, reduce KVS。
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (10)
1. the position gain combined debugging device based on rigid tapping, including CNC device, tapping axis servo drive, main shaft
Servo drive, spindle gearing, executes end equipment at feed drive gearing, and the tapping axis servo drive is logical
The screw tap realization feed motion that feed drive gearing driving executes end equipment is crossed, the main axle servo driving device passes through main shaft
The screw tap that transmission device driving executes end realizes main shaft rotary motion；The position gain combined debugging device controllable adjustable
Tapping axis feed speed and axis feeding speed.
2. the position gain combined debugging device based on rigid tapping according to claim 1, it is characterised in that: the CNC
Device includes tapping axis scale gain controller, main shaft proportional gain controller, and the tapping axis scale gain controller receives
The tapping axis pulse command of CNC device and the position feed back signal of tapping axis servo drive export tapping by calculating
Tapping axis servo drive is given in the instruction output of axis feed speed, and the main shaft proportional gain controller receives the master of CNC device
The position feed back signal of axis pulse command and main axle servo driving device, by calculating output axis feeding speed command output
Give main axle servo driving device.
3. the position gain combined debugging device based on rigid tapping according to claim 2, it is characterised in that: the tapping
Axis servo drive includes the first servo-driver, first servo motor and first position encoder, and first servo is driven
The feed speed that dynamic device receives the tapping axis scale gain controller, which instructs and sends current signal, drives first servo
Motor movement, the first servo motor realize feeding fortune by the screw tap that feed drive gearing driving executes end equipment
Dynamic, the first position encoder is to test the position pulse signal of the first servo motor and send a signal to described
Tapping axis scale gain controller.
4. the position gain combined debugging device based on rigid tapping according to claim 3, it is characterised in that: the main shaft
Servo drive includes the second servo-driver, the second servo motor and second position encoder, second servo-drive
The feed speed that device receives the main shaft proportional gain controller, which instructs and sends current signal, drives second servo motor
Movement, second servo motor realize main shaft rotation fortune by the screw tap that spindle gearing driving executes end equipment
Dynamic, the second position encoder is to test the position pulse signal of second servo motor and send a signal to described
Main shaft proportional gain controller.
5. the position gain combined debugging device based on rigid tapping according to claim 2, it is characterised in that: the CNC
Device further comprises display device, and the display device receives and shows the tapping axis scale gain controller and the master
Axis scale gain controller output data.
6. the position gain combined debugging method based on rigid tapping based on 1 described device of claims, which is characterized in that
The following steps are included:
Step 1, test run, preliminary debugging KVZ、KVSAnd record EPOZ、EPOS, judgment formulaIt is whether true,
If so, then parameter testing finishes；
If not, then continue to execute step 2；
Wherein, EPOZFor the position lag pulse signal of tapping axis；EPOSFor the position lag pulse signal of main shaft；
α is the command pulse θ of tapping axis one pitch P of every feeding and each revolution of command pulse number of main shaft is the ratio between σ
Step 2: work as EPOZWith EPOSRelationship meets relational expressionWhen, keep KVZConstant increase
KVSOr keep KVSConstant reduction KVZ；
Work as EPOZWith EPOSRelationship meets relational expression formulaWhen, K will be keptVSConstant increase KVZOr
Person keeps KVZConstant reduction KVS, in formula, βSPulse computational constant, β are lagged for main spindle'sZPulsimeter is lagged for tapping shaft position
Constant is calculated, F is the amount of feeding (mm/min) of tapping axis, and S is the speed of mainshaft, KVSFor main spindle's proportional gain, KVZFor tapping axis
Position proportional gain link；
Step 3: step 1 is repeated, and records EPOZWith EPOS, judgementIt is whether true:
If so, then parameter testing finishes；
If not, step 1 and step 2 are then continued to execute, until formulaThen parameter testing is set up to finish.
7. the position gain combined debugging method according to claims 6 based on rigid tapping, it is characterised in that: step 1
Described in βZCalculation method are as follows: institute attainable maximum speed F when first calculating tapping axis tappingH, medium speed FMMost
Low velocity FL, then give tapping axis servo-driver respectively under zero load and instruct movement, record with these three constant speeds
EPOZH、EPOZM、EPOZL, β is calculated separately out according to the following formulaZH、βZM、βZL；Then take its average value as final βZ；
Wherein, EPOZPulse signal, EPO are lagged for tapping shaft positionZH、EPOZM、EPOZLFor the tapping axis under three kinds of constant speeds
Position lag pulse signal, βZPulse computational constant, β are lagged for tapping shaft positionZH、βZM、βZLFor attacking under three kinds of constant speeds
Silk shaft position lags pulse computational constant；F is the amount of feeding (mm/min) of tapping axis, GZFor tapping axis electronic gear proportion, KVZFor
Tapping shaft position proportional gain link.
8. the position gain combined debugging method according to claims 6 based on rigid tapping, it is characterised in that: step 1
Described in βSCalculation method are as follows: under zero load respectively give main axle servo driver with maximum speed SH, moderate rotation SM, most
Slow-speed of revolution SLOperation, record record EPOSH、EPOSM、EPOSL, β is calculated separately out according to the following formulaSH、βSM、βSL, then take it average
Value is as final βS；
Wherein, EPOSPulse signal, EPO are lagged for main spindle'sSH、EPOSM、EPOSLArteries and veins is lagged for main spindle's under three kinds of revolving speeds
Rush signal, βSPulse computational constant, β are lagged for main spindle'sSH、βSM、βSLPulse is lagged for main spindle's under three kinds of revolving speeds to calculate
Constant S is the speed (r/min) of main shaft, GSFor main shaft electronic gear proportion, KVSFor main spindle's proportional gain link.
9. the position gain combined debugging method according to claims 6 based on rigid tapping, it is characterised in that: step 1
Described in preliminary debugging KVZ、KVSIt is to carry out according to the following formula:
Wherein, KVZFor tapping shaft position proportional gain link, KVSFor main spindle's proportional gain link, βZIt is stagnant for tapping shaft position
Afterpulse computational constant, βSPulse computational constant is lagged for main spindle's.
10. the position gain combined debugging method according to claims 6 based on rigid tapping, it is characterised in that: step
In one, K is judgedVZ、KVSThe matched formula of parameter testing is as follows:
Wherein, KVZFor tapping shaft position proportional gain link, KVSFor main spindle's proportional gain link, Δ POSZWork as tapping axis
Front position pulse increment, Δ POSSFor main shaft current location pulse increment, EPOZPulse signal, EPO are lagged for tapping shaft positionS
Pulse signal is lagged for main spindle's, α is the command pulse θ and each revolution of instruction arteries and veins of main shaft of tapping axis one pitch P of every feeding
Rushing number is the ratio between σ.
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Citations (7)
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| CN109343476B (en) | 2023-10-13 |
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