CN202041822U - Automatic parameter adjusting device for multi-axle linkage numerical-control machine servo feeding system on basis of genetic algorithm - Google Patents
Automatic parameter adjusting device for multi-axle linkage numerical-control machine servo feeding system on basis of genetic algorithm Download PDFInfo
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- CN202041822U CN202041822U CN2011200495186U CN201120049518U CN202041822U CN 202041822 U CN202041822 U CN 202041822U CN 2011200495186 U CN2011200495186 U CN 2011200495186U CN 201120049518 U CN201120049518 U CN 201120049518U CN 202041822 U CN202041822 U CN 202041822U
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Abstract
The utility model discloses an automatic parameter adjusting device for a multi-axle linkage numerical-control machine servo feeding system on the basis of genetic algorithm, which is characterized by comprising a computer, a data acquisition card, a numerical-control system serial interface or an Ethernet interface, a numerical-control device, a servo motor and a mechanical device. The data acquisition card is inserted in a slot of a mainboard of the computer and is connected with an input and output port of the numerical-control system via the serial interface or the Ethernet interface. The computer operates the genetic algorithm, synchronously obtains position information of two axles and sets servo parameters corresponding to a machine via the serial interface or the Ethernet interface. The genetic algorithm is used for automatically adjusting the parameters including position loop gain, speed loop gain and integration constant of the multi-axle linkage numerical-control machine servo feeding system, leads contour errors of circular motion of the machine not to be higher than a given contour error value, and accordingly realizes synchronous automatic adjustment of the parameters of the multi-axle linkage numerical-control machine servo feeding system.
Description
Technical field
The utility model belongs to the control field, relates to the Automatic Optimal adjustment of multi-axis linkage numerical control lathe servo feed system parameter, relates in particular to a kind of multi-axis linkage numerical control lathe servo feed system parameter automatic regulating apparatus based on genetic algorithm.
Background technology
The Servo feeding System of NC Machine Tools servo parameter has significant effects to system performance, the PID control method is adopted in control such as the position ring of servo feed system, speed ring, electric current loop mostly, the position control performance of gain of wherein position ring proportional gain, speed ring and storage gain decision systems also is based on the method that experience or examination are gathered at present mostly for the adjustment of these parameters.Usually adjust each corresponding parameter respectively according to electric current loop, speed ring and position ring respectively for each servo feed axle, but it is very time-consuming on the one hand to adjust its shortcoming of servo feed parameter according to this method, often fail to consider respectively to encircle influence between the servo parameter by this method on the other hand, for multi-shaft interlocked system, owing to be that each servo parameter is adjusted respectively, it is optimum that the system performance that obtains can not reach, and especially can not obtain desirable profile control accuracy.The utility model proposes a kind of multi-axis numerical control machine tool feed synchronous Automatic Optimal method of adjustment of system's servo parameter and device, can realize multi-shaft interlocked lathe smaller profile error by this method.
The utility model content
The purpose of this utility model is by based on genetic method the servo parameter of two axles being carried out synchronous Automatic Optimal setting, make the two-axle interlocking profile errors reach minimum, realizing contour machining precision control.
The technical solution of the utility model is:
A kind of multi-axis linkage numerical control lathe servo feed system parameter automatic regulating apparatus based on genetic algorithm is proposed, comprise computing machine 1, data collecting card 2, digital control system serial line interface or Ethernet interface 3, numerical control device 4, servomotor, mechanical hook-up, data collecting card 2 inserts in computing machine 1 host slot, and links to each other with the numerical control device input/output port by serial line interface or Ethernet.By the computer run genetic algorithm, obtain the diaxon positional information synchronously, the lathe servo parameter is set.Adopt genetic algorithm that multi-axis linkage numerical control lathe servo feed system parameter is comprised that position ring gain, speed ring gain and integration constant is carried out synchronous Automatic Optimal adjustment.
Multi-axis linkage numerical control lathe servo feed system parameter automatic regulating apparatus method of work based on genetic algorithm of the present utility model is:
At first, determine the servo parameter that system need adjust, as position ring gain Kpx (5), the Kpy (8) of the X-axis that need regulate for the two-axle interlocking numerically-controlled machine and Y-axis servo feed system, speed ring gain Kvx (6), Kvy (9) and integration constant Ivx (7), Ivy (10).
Secondly, each unlikely reasonable value scope that causes system vibration is determined in servo parameter (5)-(10) that respectively will adjust each kinematic axis respectively of method by experiment.
The 3rd, to each parameter (5)-(10) of required optimization, in determined parameter area, appoint and get a value, initial value as genetic algorithm, carry out real-valued coding, by serial port or Ethernet interface (3) initialization system corresponding parameters value, and the circle contour error amount of definite system permission.
The 4th, make system carry out circular motion with given speed of feed and radius.With data collecting card 2, the physical location of synchronous acquisition diaxon, calculate the circular motion error amount, relatively should value whether less than setting the circle contour error amount, if then the initial value of being got promptly can be used as the servo parameter of optimization.
The 5th, if actual circular motion profile errors greater than the value of setting, then with given crossover probability Pc, variation probability P m, generates new filial generation, and give the servo feed system relevant parameter with relevant parameters value assignment, make system carry out circular motion with given speed of feed and radius.With data collecting card (2), the physical location of synchronous acquisition diaxon, calculate corresponding circular motion error amount, relatively should value whether less than setting the circle contour error amount, if then Ci Shi parameter value promptly can be used as the servo parameter of optimization.
The 6th, if actual circular motion profile errors is greater than the value of setting, then with given crossover probability Pc, variation probability P m, generate new filial generation, and repeated for the 5th step, less than setting value, the parameter value of this moment is the servo parameter of optimization up to actual circular motion profile errors.
Description of drawings
Fig. 1 is theory of constitution figure of the present utility model.
Fig. 2 is the multiple-axis servo parameter adjustment process flow diagram based on genetic algorithm of the present utility model.
Embodiment
At first, determine the servo parameter that system need adjust, as position ring gain Kpx (5), the Kpy (8) of the X-axis that need regulate for the two-axle interlocking numerically-controlled machine and Y-axis servo feed system, speed ring gain Kvx (6), Kvy (9) and integration constant Ivx (7), Ivy (10).
Secondly, method is determined the scope of parameter (5)-(10) that will adjust, the promptly unlikely machine vibration Reasonable Parameters scope that causes by experiment.
The 3rd, to each parameter (5)-(10) of required optimization, in determined parameter area, appoint and get a value, as the initial value of genetic algorithm, carry out real-valued coding, and the circle contour error amount F of definite system permission.By serial port or corresponding parameter value (5)-(10) of Ethernet interface (3) initialization system.
The 4th, make system carry out circular motion with given speed of feed and radius R.With data collecting card 2, the physical location of synchronous acquisition diaxon (Xi, Yi), according to obtain actual circular motion each point coordinate figure (Xi, Yi) and given central coordinate of circle value (Xc, Yc), according to
N is the number of sampled point, calculates the circular motion error amount, relatively should value whether less than setting circle contour error amount F, if then the initial value of being got promptly can be used as the servo parameter of optimization.
The 5th, if actual circular motion profile errors is greater than the value F that sets, then, generate new filial generation, and give servo feed system relevant parameters (5)-(10) with relevant parameters value assignment by serial port or Ethernet interface (3) with given crossover probability Pc, variation probability P m.Make system carry out circular motion with given speed of feed and radius.With data collecting card (2), the physical location of synchronous acquisition diaxon (Xi, Yi), according to obtain actual circular motion each point coordinate figure (Xi, Yi) and given central coordinate of circle value (Xc, Yc), according to
N is the number of sampled point, calculates the circular motion error amount, relatively should value whether less than setting circle contour error amount F, if then the parameter value that adopted of lathe operation at this moment promptly can be used as the servo parameter of optimization.
The 6th, if actual circular motion profile errors is greater than the value F that sets, then with given crossover probability Pc, variation probability P m, generate new filial generation, and repeated for the 5th step, less than setting value, the parameter value of this moment is the servo parameter of optimization up to actual circular motion profile errors.
Above content is to further describing that the utility model is done in conjunction with concrete preferred implementation; can not assert that embodiment of the present utility model only limits to this; for the utility model person of an ordinary skill in the technical field; under the prerequisite that does not break away from the utility model design; can also make some simple deduction or replace, all should be considered as belonging to the utility model and determine scope of patent protection by claims of being submitted to.
Claims (1)
1. multi-axis linkage numerical control lathe servo feed system parameter automatic regulating apparatus based on genetic algorithm, it is characterized in that: comprise computing machine (1), data collecting card (2), digital control system serial line interface or Ethernet interface (3), numerical control device (4), servomotor and mechanical hook-up, data collecting card (2) inserts in computing machine (1) host slot, also links to each other with the numerical control device input/output port by serial line interface or Ethernet; By the computer run genetic algorithm, obtain the diaxon positional information synchronously, the lathe servo parameter is set; Adopt genetic algorithm that multi-axis linkage numerical control lathe servo feed system parameter is comprised that position ring gain, speed ring gain and integration constant is carried out synchronous Automatic Optimal adjustment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200495186U CN202041822U (en) | 2011-02-28 | 2011-02-28 | Automatic parameter adjusting device for multi-axle linkage numerical-control machine servo feeding system on basis of genetic algorithm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011200495186U CN202041822U (en) | 2011-02-28 | 2011-02-28 | Automatic parameter adjusting device for multi-axle linkage numerical-control machine servo feeding system on basis of genetic algorithm |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102929207A (en) * | 2012-11-09 | 2013-02-13 | 西安交通大学 | Optimization method of control parameters of servo system of numerical controlled machine tool |
| CN108628166A (en) * | 2018-05-08 | 2018-10-09 | 苏州科技大学 | Ball-screw feed drive system speed ring gain and time of integration optimization method |
| CN112994530A (en) * | 2019-12-18 | 2021-06-18 | 施耐德电器工业公司 | Two-axis synchronous adjustment method of servo drive system |
-
2011
- 2011-02-28 CN CN2011200495186U patent/CN202041822U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102929207A (en) * | 2012-11-09 | 2013-02-13 | 西安交通大学 | Optimization method of control parameters of servo system of numerical controlled machine tool |
| CN102929207B (en) * | 2012-11-09 | 2015-01-21 | 西安交通大学 | Optimization method of control parameters of servo system of numerical controlled machine tool |
| CN108628166A (en) * | 2018-05-08 | 2018-10-09 | 苏州科技大学 | Ball-screw feed drive system speed ring gain and time of integration optimization method |
| CN108628166B (en) * | 2018-05-08 | 2020-12-29 | 苏州科技大学 | Speed loop gain and integration time optimization method for ball screw feeding driving system |
| CN112994530A (en) * | 2019-12-18 | 2021-06-18 | 施耐德电器工业公司 | Two-axis synchronous adjustment method of servo drive system |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111116 Termination date: 20130228 |