CN114083336A - Mechanical resonance elimination method, device and system of drive controller - Google Patents
Mechanical resonance elimination method, device and system of drive controller Download PDFInfo
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- 230000008030 elimination Effects 0.000 title claims abstract description 24
- 238000003379 elimination reaction Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000012546 transfer Methods 0.000 claims abstract description 13
- 230000009466 transformation Effects 0.000 claims 2
- 238000012545 processing Methods 0.000 abstract description 10
- 238000005299 abrasion Methods 0.000 abstract description 7
- 238000004088 simulation Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 12
- 238000012360 testing method Methods 0.000 description 12
- 238000001914 filtration Methods 0.000 description 6
- 238000001228 spectrum Methods 0.000 description 6
- 230000003595 spectral effect Effects 0.000 description 3
- 230000000295 complement effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000002243 precursor Substances 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0032—Arrangements for preventing or isolating vibrations in parts of the machine
- B23Q11/0039—Arrangements for preventing or isolating vibrations in parts of the machine by changing the natural frequency of the system or by continuously changing the frequency of the force which causes the vibration
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Abstract
The invention discloses a mechanical resonance elimination method, a device and a system of a drive controller. The mechanical resonance elimination method of the driving controller comprises the following steps: obtaining a mechanical resonance frequency omega of a machine tool0(ii) a Designing a notch filter y (n) according to the mechanical resonance frequency; the notch filter y (n) is:
in the formula aiAnd biIs the filter coefficient; z-transforming the two sides of the formula (1) to obtain a transfer function of the notch filter y (n) as follows:
adding the notch filter of formula (2) to the drive controller; and the drive controller outputs the received drive command to the drive controller servo motor after the drive command is subjected to notch. The method, the device and the system for eliminating the mechanical resonance of the driving controller improve the processing quality of the processed workpiece and ensure the processing quality of the processed workpieceThe surface of the processed workpiece is smooth; meanwhile, the noise is avoided, the abrasion speed of the cutter is reduced, the service life of the cutter is ensured, and the looseness of a connecting part of the machine tool is avoided.
Description
Technical Field
The invention relates to the technical field of driving controllers, in particular to a method, a device and a system for eliminating mechanical resonance of a driving controller.
Background
Machine tool resonance is easily caused when the machine tool machines a workpiece, especially when the machine tool performs 3MM edge turning. Mechanical resonance of the machine tool can cause the surface quality of the workpiece being machined to deteriorate, such as the roughness of the workpiece surface. In addition, mechanical resonance of the machine tool also generates noise, so that problems such as accelerated wear of the tool and loosening of a connecting part of the machine tool are easily caused.
The prior art only increases the control frequency of the speed loop to enhance the rigidity of the control system and avoid the generation of mechanical resonance as much as possible. However, the existing processing method cannot well eliminate the problems caused by mechanical resonance.
Therefore, how to eliminate the mechanical resonance of the machine tool, thereby improving the processing quality of the processed workpiece and ensuring the smooth surface of the processed workpiece; meanwhile, the noise is avoided, the abrasion speed of the cutter is reduced, the service life of the cutter is ensured, and the looseness of a connecting part of the machine tool is avoided.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a method, a device and a system for eliminating mechanical resonance of a drive controller, which improve the processing quality of a processed workpiece and ensure the smooth surface of the processed workpiece; meanwhile, the noise is avoided, the abrasion speed of the cutter is reduced, the service life of the cutter is ensured, and the looseness of a connecting part of the machine tool is avoided.
The purpose of the invention is realized by the following technical scheme:
a method of mechanical resonance cancellation for a drive controller, comprising the steps of:
obtaining a mechanical resonance frequency omega of a machine tool0；
Designing a notch filter y (n) according to the mechanical resonance frequency; the notch filter y (n) is:
in the formula aiAnd biIs the filter coefficient; z-transforming the two sides of the formula (1) to obtain a transfer function of the notch filter y (n) as follows:
adding the notch filter of formula (2) to the drive controller;
and the drive controller outputs the received drive command to the servo motor after the drive command is subjected to notch.
In one embodiment, the notch filter y (n) is designed using a bilinear transform.
In one embodiment, the notch filter y (n) is designed by using a pole-zero configuration.
In one embodiment, the notch filter pair ω ═ ω0When carrying out the trap, take the zero point
At the same time, to ensure when ω ≠ ω0When, | H (e)jω) If | is approximately equal to 1, then the pole is taken
The transfer function of the notch filter y (n) is obtained as:
the notch filter of equation (3) is added to the drive controller.
The present invention also discloses a mechanical resonance eliminating device of a driving controller, comprising:
the resonance frequency acquisition module is used for acquiring the mechanical resonance frequency of the machine tool;
the drive controller is provided with a notch filter and outputs the received drive instruction to the servo motor of the drive controller after the notch filter carries out notch;
the drive controller servo motor drives the machine tool to operate according to the drive instruction after the trap;
wherein, the notch filter y (n) of the driving controller is:
in the formula aiAnd biIs the filter coefficient; z-transforming the two sides of the formula (1) to obtain a transfer function of the notch filter y (n) as follows:
in one embodiment, the notch filter y (n) is designed using a bilinear transform.
In one embodiment, the notch filter y (n) is designed by using a pole-zero configuration.
In one embodiment, the notch filter pair ω ═ ω0When carrying out the trap, take the zero point
At the same time, to ensure when ω ≠ ω0When, | H (e)jω) If | is approximately equal to 1, then the pole is taken
The transfer function of the notch filter y (n) is obtained as:
the invention also discloses a mechanical resonance eliminating system of the driving controller, which comprises the mechanical resonance eliminating device of the driving controller.
In one embodiment, the mechanical resonance elimination system of the drive controller further comprises a machine tool.
The mechanical resonance eliminating method, the device and the system of the drive controller disclosed by the invention have the advantages that the processing quality of the processed workpiece is improved, and the smooth surface of the processed workpiece is ensured; meanwhile, the noise is avoided, the abrasion speed of the cutter is reduced, the service life of the cutter is ensured, and the looseness of a connecting part of the machine tool is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a plot of the spectral response of a notch filter of the present invention in MATLAB;
fig. 2 is a comparison simulation diagram before and after notching, which is obtained by performing notching simulation on a test signal T1 (an interference signal is f2 ═ 135 hz);
fig. 3 is a comparison simulation diagram before and after notching, which is obtained by performing notching simulation on a test signal T1 (interference signal is f1 ═ 100 hz);
FIG. 4 is a driving command received by the notch filter precursor controller;
FIG. 5 is a frequency spectrum of drive commands received by the notch filter precursor controller;
FIG. 6 is a drive command received by the drive controller after notch filtering;
FIG. 7 is a frequency spectrum of drive commands received by the drive controller after notch filtering;
FIG. 8 is a functional block diagram of the mechanical resonance elimination device of the drive controller of the present invention;
FIG. 9 is a hardware schematic block diagram of the drive controller of the present invention;
fig. 10 is a functional block diagram of a mechanical resonance elimination system of the drive controller of the present invention.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The invention discloses a mechanical resonance elimination method of a drive controller, which comprises the following steps:
obtaining a mechanical resonance frequency ω of the machine tool 2000；
Designing a notch filter y (n) according to the mechanical resonance frequency; the notch filter y (n) is:
in the formula aiAnd biIs the filter coefficient; z-transforming the two sides of the formula (1) to obtain a transfer function of the notch filter y (n) as follows:
as shown in fig. 8, a notch filter 121 of formula (2) is added to the drive controller 120;
the drive controller 120 outputs the received drive command to the servo motor 130 after being notched.
In a preferred embodiment, notch filter y (n) is designed using a bilinear transform.
In a preferred embodiment, the notch filter y (n) is designed by using a pole-zero arrangement.
In a preferred embodiment, the notch filter pair ω ═ ω is a notch filter pair0When carrying out the trap, take the zero point
At the same time, to ensure when ω ≠ ω0When, | H (e)jω) If | is approximately equal to 1, then the pole is taken
The transfer function of the notch filter y (n) is obtained as:
the notch filter 121 of equation (3) is added to the drive controller 120.
The notch filter 121 is in the core code portion of MATLAB as follows:
f0＝135；
Ts＝0.001；
Fs＝1/Ts；
Len＝512；
L＝0:Len-1；
C1＝-2*cos(2*pi*f0*Ts)；
C2＝0.95；
b＝[1 C1 1]；
a＝[1 C1*C2 C2^2]；
figure(1)；
freqz(b,a,Len,Fs)；
X＝1.2*cos(2*pi*135*L*Ts)+cos(2*pi*100*L*Ts)；
y＝dlsim(b,a,x)；
y_fft＝fft(x,Len)；
y_fft＝y_fft.*conj(y_fft)/Len；
y1＝fft(y,Len)；
y2＝y1.*conj(y1)/Len；
the notch filter 121 was simulated in MATLAB to obtain the spectral response curve shown in fig. 1.
The notch simulation test is performed on the test signal T1, wherein the test signal T1 includes two signals, i.e., f1 ═ 100hz and f2 ═ 135 hz. If f2 is 135hz, which is an interference signal to be eliminated (i.e. a frequency point of 135hz needs to be filtered), a comparison simulation diagram before and after notching obtained by performing notching simulation on the test signal T1 is shown in fig. 2. If f1 is 100hz, which is an interference signal to be eliminated (i.e. a frequency point of 100hz needs to be filtered), a comparison simulation diagram before and after notching obtained by performing notching simulation on the test signal T1 is shown in fig. 3.
As can be seen from comparison of the simulation diagrams before and after notching in fig. 2 and 3, the notch filter 121 can accurately filter the interference signal, and the real signal is well restored.
Moreover, the notch filter 121 (as shown in fig. 8) of the present invention can correspondingly adjust the corresponding parameter ω according to the specific frequency point of the interference signal to be filtered0So as to meet the requirement of filtering interference signals of different frequency points.
Before the drive controller is added to the notch filter (i.e., the existing drive controller), the drive controller receives a drive command as shown in fig. 4. The driving command spectrum received by the driving controller is shown in fig. 5.
After the notch filter 121 is added to the drive controller 120, the drive controller 120 receives a drive command as shown in fig. 6. The driving instruction frequency spectrum received by the driving controller 120 is shown in fig. 7.
Therefore, the mechanical resonance elimination method of the drive controller 120 of the present invention filters the mechanical resonance signal of the machine tool well, thereby improving the processing quality of the processed workpiece and ensuring the smoothness of the surface of the processed workpiece; meanwhile, the noise is avoided, the abrasion speed of the cutter is reduced, the service life of the cutter is ensured, and the looseness of a connecting part of the machine tool is avoided.
Moreover, the notch filter 121 of the present invention can correspondingly adjust the corresponding parameter ω according to the specific frequency point of the interference signal to be filtered0The method and the device meet the requirement of filtering interference signals of different frequency points, and have good adaptability. In addition, the invention realizes the trap by software,the mechanical resonance signal is eliminated, the hardware configuration of the driving controller 120 does not need to be changed, and the realization cost is low and the flexibility is high.
As shown in fig. 8, the present invention also discloses a mechanical resonance elimination apparatus 100 of a driving controller, comprising:
a resonance frequency acquisition module 110 for acquiring a mechanical resonance frequency of the machine tool 200 (shown in fig. 9);
a drive controller 120 having a notch filter 121, for outputting the received drive command to the servo motor 130 after being notched by the notch filter 121;
the servo motor 130 drives the machine tool 200 to operate according to the drive instruction after the trap;
wherein, the notch filter y (n) of the driving controller 120 is:
in the formula aiAnd biIs the filter coefficient; z-transforming the two sides of the formula (1) to obtain a transfer function of the notch filter y (n) as follows:
in a preferred embodiment, notch filter y (n) is designed using a bilinear transform.
In a preferred embodiment, the notch filter y (n) is designed by using a pole-zero arrangement.
In a preferred embodiment, the notch filter pair ω ═ ω is a notch filter pair0When carrying out the trap, take the zero point
At the same time, to ensure when ω ≠ ω0When, | H (e)jω) If | is approximately equal to 1, then the pole is taken
Obtaining notch filters y (n)The transfer function is:
the notch filter 121 of equation (3) is added to the drive controller 120.
The notch filter 121 is in the core code portion of MATLAB as follows:
f0＝135；
Ts＝0.001；
Fs＝1/Ts；
Len＝512；
L＝0:Len-1；
C1＝-2*cos(2*pi*f0*Ts)；
C2＝0.95；
b＝[1 C1 1]；
a＝[1 C1*C2 C2^2]；
figure(1)；
freqz(b,a,Len,Fs)；
X＝1.2*cos(2*pi*135*L*Ts)+cos(2*pi*100*L*Ts)；
y＝dlsim(b,a,x)；
y_fft＝fft(x,Len)；
y_fft＝y_fft.*conj(y_fft)/Len；
y1＝fft(y,Len)；
y2＝y1.*conj(y1)/Len；
the notch filter 121 was simulated in MATLAB to obtain the spectral response curve shown in fig. 1.
The notch simulation test is performed on the test signal T1, wherein the test signal T1 includes two signals, i.e., f1 ═ 100hz and f2 ═ 135 hz. If f2 is 135hz, which is an interference signal to be eliminated (i.e. a frequency point of 135hz needs to be filtered), a comparison simulation diagram before and after notching obtained by performing notching simulation on the test signal T1 is shown in fig. 2. If f1 is 100hz, which is an interference signal to be eliminated (i.e. a frequency point of 100hz needs to be filtered), a comparison simulation diagram before and after notching obtained by performing notching simulation on the test signal T1 is shown in fig. 3.
As can be seen from comparison of the simulation diagrams before and after notching in fig. 2 and 3, the notch filter can accurately filter the interference signal, and the real signal is well restored.
Moreover, the mechanical resonance elimination apparatus 100 of the present invention can correspondingly adjust the corresponding parameter ω according to the specific frequency point of the interference signal to be filtered0So as to meet the requirement of filtering interference signals of different frequency points.
Before the drive controller is added to the notch filter (i.e., the existing drive controller), the drive controller receives a drive command as shown in fig. 4. The driving command spectrum received by the driving controller is shown in fig. 5.
After the notch filter 121 is added to the drive controller 120, the drive controller 120 receives a drive command as shown in fig. 6. The driving instruction frequency spectrum received by the driving controller 120 is shown in fig. 7.
Therefore, the mechanical resonance elimination apparatus 100 of the drive controller of the present invention filters the mechanical resonance signal of the machine tool 200 well, thereby improving the processing quality of the processed workpiece and ensuring the smoothness of the surface of the processed workpiece; meanwhile, the noise is avoided, the abrasion speed of the cutter is reduced, the service life of the cutter is ensured, and the looseness of a connecting part of the machine tool is avoided.
Moreover, the mechanical resonance preventing and eliminating device 100 of the driving controller of the present invention can correspondingly adjust the corresponding parameter ω according to the specific frequency point of the interference signal to be filtered0The method and the device meet the requirement of filtering interference signals of different frequency points, and have good adaptability. In addition, the trap is realized through software, mechanical resonance signals are eliminated, the hardware configuration of the driving controller 120 does not need to be changed, and the trap is low in realization cost and high in flexibility.
Fig. 9 is a hardware schematic block diagram of the drive controller 120 of the present invention. Wherein the content of the first and second substances,
main chip (GD32F 103): various mathematical calculations and logic processing are realized;
programmable logic chip (FPGA): the logic processing of various input and output digital signals is realized, and real-time data is exchanged with the main chip in an SPI communication mode;
a feedback pulse interface: receiving feedback pulses of the encoder, and sending the feedback pulses to the FPGA to realize the description of actual displacement by using the number of the pulses;
a position pulse interface: receiving a position pulse instruction, and sending the position pulse instruction to the FPGA to realize the description of corresponding displacement and speed values by using the number and the frequency;
PWM interface: outputting six paths of complementary pulses, and staggering the level change of the complementary pulses by a dead zone;
and (3) AD interface: and acquiring corresponding phase current of the motor, and indirectly describing the real-time torque of the motor by using analog voltage.
As shown in fig. 10, the present invention also discloses a mechanical resonance elimination system 10 of a driving controller, which includes a mechanical resonance elimination apparatus 100 of a driving controller and a machine tool 200.
Therefore, the mechanical resonance elimination system 10 of the drive controller of the present invention filters the mechanical resonance signal of the machine tool 200 well, thereby improving the processing quality of the processed workpiece and ensuring the smoothness of the surface of the processed workpiece; meanwhile, the noise is avoided, the abrasion speed of the cutter is reduced, the service life of the cutter is ensured, and the looseness of a connecting part of the machine tool is avoided.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of eliminating mechanical resonance in a drive controller, comprising the steps of:
obtaining a mechanical resonance frequency omega of a machine tool0；
Designing a notch filter y (n) according to the mechanical resonance frequency; the notch filter y (n) is:
in the formula aiAnd biIs the filter coefficient; z-transforming the two sides of the formula (1) to obtain a transfer function of the notch filter y (n) as follows:
adding the notch filter of formula (2) to the drive controller;
and the drive controller outputs the received drive command to the drive controller servo motor after the drive command is subjected to notch.
2. The mechanical resonance elimination method of a drive controller according to claim 1, wherein the notch filter y (n) is designed using a bilinear transformation.
3. The method of eliminating mechanical resonance of a drive controller according to claim 1, wherein the notch filter y (n) is designed by a zero pole arrangement method.
4. The mechanical resonance elimination method of a drive controller according to claim 3, wherein the notch filter pair ω - ω ═ ω0When carrying out the trap, take the zero point
At the same time, to ensure when ω ≠ ω0When, | H (e)jω) If | is approximately equal to 1, then the pole is taken
The transfer function of the notch filter y (n) is obtained as:
the notch filter of equation (3) is added to the drive controller.
5. A mechanical resonance elimination apparatus of a drive controller, comprising:
the resonance frequency acquisition module is used for acquiring the mechanical resonance frequency of the machine tool;
the drive controller is provided with a notch filter and outputs the received drive instruction to the servo motor of the drive controller after the notch filter carries out notch;
the drive controller servo motor drives the machine tool to operate according to the drive instruction after the trap;
wherein, the notch filter y (n) of the driving controller is:
in the formula aiAnd biIs the filter coefficient; z-transforming the two sides of the formula (1) to obtain a transfer function of the notch filter y (n) as follows:
6. the mechanical resonance elimination apparatus of a drive controller according to claim 5, wherein the notch filter y (n) is designed using a bilinear transformation.
7. The mechanical resonance elimination apparatus of a drive controller according to claim 5, wherein the notch filter y (n) is designed by a method of pole-zero arrangement.
8. The mechanical resonance elimination apparatus of a drive controller according to claim 7, wherein the notch filter pair ω - ω0When carrying out the trap, take the zero point
At the same time, to ensure when ω ≠ ω0When, | H (e)jω) If | is approximately equal to 1, then the pole is taken
The transfer function of the notch filter y (n) is obtained as:
9. a mechanical resonance elimination system of a drive controller, characterized by comprising the mechanical resonance elimination apparatus of the drive controller according to any one of claims 5 to 8.
10. The mechanical resonance elimination system of a drive controller of claim 9, further comprising a machine tool.
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