CN202058007U - Multiple closed-loop feedback control system of laser cutting machine - Google Patents
Multiple closed-loop feedback control system of laser cutting machine Download PDFInfo
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- CN202058007U CN202058007U CN 201020668407 CN201020668407U CN202058007U CN 202058007 U CN202058007 U CN 202058007U CN 201020668407 CN201020668407 CN 201020668407 CN 201020668407 U CN201020668407 U CN 201020668407U CN 202058007 U CN202058007 U CN 202058007U
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Abstract
The utility model relates to a multiple closed-loop feedback control system of a laser cutting machine, and belongs to the field of computer numerical control application. The multiple closed-loop feedback control system includes a position order controller, an X axis raster ruler encoder, a Y axis raster ruler encoder, an X axis raster ruler, a Y axis raster ruler, a position signal adder, a position controller, a speed signal adder, a Y axis servo motor encoder, an X axis servo motor encoder, an X axis servo driver, a Y axis servo driver, a current signal adder, a Hall current monitoring sensor, a current controller, an X axis servo motor, and the like. The above devices form a multiple closed-loop feedback system, like a current loop-speed loop-position loop feedback control system, a current loop-speed loop feedback control system, a speed loop-position loop feedback control system or a current loop-position loop feedback control system. The multiple closed-loop feedback control system of the laser cutting machine can enhance the stability, the rapidity and the accuracy of the servo motor, and can also improve the output characteristic of an open loop control system, a semi-closed loop control system, and a single closed loop control system.
Description
Technical field
The utility model relates to a kind of close-loop feedback control system, and particularly a kind of many close-loop feedback control of laser cutting machine system belongs to the computer numerical control (CNC) application.
Background technology
In the computer numerical control (CNC) field, overcome environmental interference, reduce systematic error and improve control accuracy with the close-loop feedback control technology usually.The typical closed-loop feedback system is by forming with lower member: 1) measuring sensor: be used to measure controlled physical quantity, as motor rotary encoder etc.; 2) point element: the control target that is used to provide expectation; 3) comparing element: be used to compare and measure the controlled volume actual value of element testing and the desired value that point element provides, obtain deviation; 4) executive component: directly promote controlled device, as motor, oil motor etc.Its mode of operation is: point element sends execution command and desired value to executive component, and executive component is made action in view of the above; Measuring sensor detects the result of the action of executive component, and gives comparing element with measurement feedback; Comparing element compares desired value and measured value and draws the execution deviation, and with deviate by way of compensation modified value offer system, finish additional move by the system drive executive component, with near desired value, carry out error thereby reduce.
Physical quantity characteristic with feedback signal is divided, and feedback control loop is divided into three kinds of electric current loop, speed ring and position rings, and these three kinds of feedback systems influence stability, rapidity and three indexs of accuracy of system respectively.
In the controlling schemes of existing laser cutting machine, according to measuring sensor residing position in total system, feedback controling mode is divided into two kinds on semiclosed loop and full cut-off ring.The semiclosed loop mode is meant that the rotary encoder as measuring sensor is positioned at the end of servomotor, measuring-signal is the rotation angle value of motor, promptly between controller, driver and motor, form closed loop, and therefore mechanical transmission component beyond the motor such as gear ﹠ rack structure feed screw nut etc. are called the semiclosed loop FEEDBACK CONTROL not within close-loop feedback; Full cut-off ring mode is meant that the grating chi scrambler as measuring sensor is positioned on the mechanical slide head, measuring-signal is the final movement position value of slide unit, except having comprised all parts of semiclosed loop mode, in also mechanical transmission component being also contained in, therefore being full cut-off ring FEEDBACK CONTROL, is a kind of position ring control mode.
The semiclosed loop feedback controling mode is simple in structure, cheap, but because measuring-signal does not comprise the mechanical drive error, so accuracy is lower; Though the full cut-off ring feedback controling mode of position-based ring can satisfy accuracy requirement, can only control positional precision, can not control speed and electric current (moment of torsion), therefore can't satisfy the requirement of rapidity and stability.
Chinese patent " a kind of numerical control laser cutter control method " (publication number CN1555956), digital control system control numerical control laser cutter, servoamplifier and servomotor by numerical control laser cutter, but the various switching values that only are aimed at laser cutting machine are controlled, comprise anxious stop state, open servo or close servo, program continue or stop, being provided with laser frequency, dutycycle, the time-to-climb etc., do not relate to the feedback control strategy of each kinematic axis; Chinese patent " a kind of laser cutting machine and method of work thereof " (publication number CN101862909A) provides a kind of laser cutting machine and method of work thereof, adopted principle of vector control that VX weak point, VX length and VY are synthesized the speed that adds man-hour is controlled, only solve the rapidity problem, do not solved accuracy and stability problem; United States Patent (USP) " Laser cutting machine with two Y-axis drives " (US6835912B2) is provided with two drive motor to improve rapidity on heavily loaded direction of motion, but do not relate to the Electric Machine Control mode, and the problem that whether can solve accuracy and stability.
The utility model content
The purpose of this utility model is to overcome above-mentioned technical disadvantages, and a kind of many close-loop feedback control system is provided.Native system carries out combining and configuring with the electric current loop in the feedback control technology, speed ring and position ring in laser cutting machine, guarantee that each motion has the advantage of stability, rapidity and accuracy.
To achieve these goals, the utility model has been taked following technical scheme:
As shown in Figure 1, each moving component hardware group of laser cutting machine becomes: laser cutting head 1 is fixed together with X-axis grating chi scrambler 2, X-axis grating chi 3 is fixed together with X-axis crossbeam 4, laser cutting head 1 movably is installed on the X-axis crossbeam 4, during moving linearly, X-axis grating chi scrambler 2 is synchronized with the movement on X-axis grating chi 3 laser cutting head 1 on X-axis crossbeam 4; The rectilinear motion of laser cutting head 1 is driven by X-axis servomotor 10 and realizes that the end of watching motor 10 in X-axis is equipped with X-axis servomotor scrambler 11; X-axis crossbeam 4 is fixed together with Y-axis grating chi scrambler 9, movably be connected on the Y-axis guide rail 5, Y-axis grating chi 8 is fixed on Y-axis guide rail 5, X-axis crossbeam 4 and all parts ( part 1,2,3,9,10,11) of go up installing thereof can be on Y-axis guide rail 5 moving linearly, this motion is driven by Y-axis servomotor 7 and realizes; The end of watching motor 7 in Y-axis is equipped with Y-axis servomotor scrambler 6.
As shown in Figure 2, among each control assembly of laser cutting machine and Fig. 1 each moving component hardware be connected and control mode is: the X-axis among Fig. 1 is watched motor 10 and Y-axis and is watched motor 7 and be connected to form motor-drive circuit by X-axis servo-driver 14 and Y-axis servo-driver 17 with multiaxis control card 13 respectively, and X-axis grating chi scrambler 2 and Y-axis grating chi scrambler 9 among Fig. 1 are connected to form grating chi testing circuit with the grating footage according to capture card 18 respectively; Multiaxis control card 13 is installed in according to capture card 18 in the pci expansion slot of industrial computer 12 with the grating footage, forms the hardware components of close-loop feedback control.Solid line represents that control signal flows among the figure, and dotted line represents that feedback signal flows to.Wherein the transmittance process of control signal stream is: sent control signal and passed to X-axis servo-driver 14 and Y-axis servo-driver 17 by multiaxis control card 13 by industrial computer 12, drive X-axis then and watch motor 10 and Y-axis and watch motor 7 and realize rotatablely moving, this rotatablely moves and (is X-axis crossbeam 4 and goes up all parts 1 of installation by will the rotatablely move rectilinear motion of the rectilinear motion (being the motion of laser cutting head 1 on X-axis crossbeam 4) that is converted into X-axis and Y-axis of X-axis mechanical drive train 15 and Y-axis mechanical drive train 16,2,3,9,10,11 motions on the Y-axis guide rail).The transmittance process of feedback signal stream is: be installed in the X-axis grating chi scrambler 2 on the laser cutting head 1 and be installed in Y-axis grating chi scrambler 9 on the X-axis crossbeam 4 as the end point detection parts of X-axis mechanical drive train 15 and Y-axis mechanical drive train 16, detect the movement position signal of X-axis mechanical drive train 15 and Y-axis mechanical drive train 16, and this signal passed to the grating footage according to capture card 18, form the position closed loop feedback circuits with industrial computer 12; X-axis servomotor scrambler 11 and Y-axis servomotor scrambler 6 are watched X-axis motor 10 and Y-axis respectively and are watched the rotating signal of motor 7 and pass to X-axis servo-driver 14 and Y-axis servo-driver 17, form the speed closed loop feedback circuit.
As shown in Figure 3, laser cutting machine electric current loop FEEDBACK CONTROL is at X-axis servo-driver 14 and Y-axis servo-driver 17 inner realizations (among the figure shown in the frame of broken lines), its course of work is: voltage deviation input source 19 at first is input in the system as setting value, and begin to control X/Y axle servo- driver 14 or 17 for servomotor 15 or 16 provides electric current, make it generation and rotatablely move.Simultaneously, Hall current monitoring sensor 25 detects the driving current signal of motor, this signal through overcurrent signal totalizer 20 and the reverse totalizer 21 of current signal relatively after obtain deviate, drive current after this deviate obtains nursing one's health after the process PID computing in the electric current loop feedback control system, output in the electric-motor drive unit 14/17, guarantee that stable drive current is transported in the motor, form constant driving torque.
As shown in Figure 4, the laser cutting machine loop feedback is controlled at X-axis servo-driver 14 and Y-axis servo-driver 17 inner realizations (totalizer 26 is the element of realizing the feedback signal computing in X-axis servo-driver 14 and the Y-axis servo-driver 17 among the figure), its course of work is: the rate signal setting value is input to X/Y axle servo- driver 14 or 17 and provides driving force for servomotor 15 or 16, X/Y axle servomotor scrambler 6/11, detect the rotational speed value of servomotor 15/16 simultaneously, and this value fed back in the rate signal totalizer 26 compare, result relatively carries out the PID computing in X/Y axle servo-driver 14/17, its result affacts in the motor, form additional speed adjustment, guarantee that motor rotation speed is accurate.
As shown in Figure 5, laser cutting machine position ring FEEDBACK CONTROL realizes (position instruction control unit 27 among the figure in multiaxis control card 13, position signalling totalizer 28, positioner 29 is the element of realizing the position closed loop FEEDBACK CONTROL in the multiaxis control card 13), its course of work is: position command controller 27 sends the position signalling setting value and is input in the positioner 29 by position signalling totalizer 28, and provide driving force for X-axis mechanical drive train 15 and Y-axis mechanical drive train 16, with the X/Y axle grating chi scrambler 3/8 that X-axis mechanical drive train 15 links to each other with Y-axis mechanical drive train 16 detected X/Y axle movement position signal feedback is compared in position signal adder 28 respectively, result relatively carries out the PID computing in positioner 29, its result affacts in the motor, form the adjustment of additional position, guarantee that the position of whole driving-chain is accurate.
Aforesaid electric current loop close-loop feedback, speed ring close-loop feedback and position ring close-loop feedback can form many close-loop feedback control of laser cutting machine system according to different array modes.
A kind of many close-loop feedback control of laser cutting machine system comprises position command controller (27), X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9), X-axis grating chi (3), Y-axis grating chi (8), position signalling totalizer (28), positioner (29), rate signal totalizer (26), Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11), X-axis servo-driver (14), Y-axis servo-driver (17), current signal totalizer (20), Hall current monitoring sensor (25), current controller (30), X-axis servomotor (10), Y-axis servomotor (7), X-axis mechanical drive train (15), Y-axis mechanical drive train (16);
Each device connected mode is: position command controller (27) and X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9) links to each other with position signalling totalizer (28) as input, position signalling totalizer (28) links to each other with positioner (29) as input, positioner (29) and Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11) links to each other with rate signal totalizer (26) as input, rate signal totalizer (26) is as input and X-axis servo-driver (14), Y-axis servo-driver (17) links to each other, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other with current signal totalizer (20) as input with Hall current monitoring sensor (25), current signal totalizer (20) links to each other with current controller (30) as input, current controller (30) is as input and X-axis servo-driver (14), Y-axis servo-driver (17) links to each other, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other as controller and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other, X-axis grating chi (3), Y-axis grating chi (8) is installed in X-axis mechanical drive train (15), on the Y-axis mechanical drive train (16), and with X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9) links to each other and forms the position feedback loop, Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11) and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other and forms velocity feedback loop, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other with Hall current monitoring sensor (25) and forms current feedback loop.
A kind of many close-loop feedback control of laser cutting machine system comprises rate signal totalizer (26), Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11), X-axis servo-driver (14), Y-axis servo-driver (17), current signal totalizer (20), Hall current monitoring sensor (25), current controller (30), X-axis servomotor (10), Y-axis servomotor (7), X-axis mechanical drive train (15), Y-axis mechanical drive train (16);
Each device connected mode is: rate signal totalizer (26) is as input and X-axis servo-driver (14), Y-axis servo-driver (17) links to each other, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other with current signal totalizer (20) as input with Hall current monitoring sensor (25), current signal totalizer (20) links to each other with current controller (30) as input, current controller (30) is as input and X-axis servo-driver (14), Y-axis servo-driver (17) links to each other, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other as controller and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other, Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11) and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other and forms velocity feedback loop, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other with Hall current monitoring sensor (25) and forms current feedback loop;
A kind of many close-loop feedback control of laser cutting machine system comprises position command controller (27), X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9), position signalling totalizer (28), positioner (29), X-axis servo-driver (14), Y-axis servo-driver (17), current signal totalizer (20), Hall current monitoring sensor (25), current controller (30), servomotor (7,10), X-axis mechanical drive train (15), Y-axis mechanical drive train (16), X-axis grating chi (3), Y-axis grating chi (8);
Each device connected mode is: position command controller (27) and X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9) links to each other with position signalling totalizer (28) as input, position signalling totalizer (28) links to each other with positioner (29) as input, positioner (29) links to each other with current signal totalizer (20) as input with Hall current monitoring sensor (25), current signal totalizer (20) links to each other with current controller (30) as input, current controller (30) is as input and X-axis servo-driver (14), Y-axis servo-driver (17) links to each other, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other as controller and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other, X-axis grating chi (3), Y-axis grating chi (8) is installed in X-axis mechanical drive train (15), on the Y-axis mechanical drive train (16), and with X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9) links to each other and forms position feedback loop, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other with Hall current monitoring sensor (25) and forms current feedback loop.
A kind of many close-loop feedback control of laser cutting machine system comprises position command controller (27), X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9), position signalling totalizer (28), positioner (29), rate signal totalizer (26), Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11), X-axis servo-driver (14), Y-axis servo-driver (17), servomotor (7) and (10) and X-axis mechanical drive train (15), Y-axis mechanical drive train (16), X-axis grating chi (3), Y-axis grating chi (8);
Each device connected mode is: position command controller (27) and X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9) links to each other with position signalling totalizer (28) as input, position signalling totalizer (28) links to each other with positioner (29) as input, positioner (29) and Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11) links to each other with rate signal totalizer (26) as input, rate signal totalizer (26) is as input and X-axis servo-driver (14), Y-axis servo-driver (17) links to each other, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other as controller and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other, X-axis grating chi (3), Y-axis grating chi (8) is installed in X-axis mechanical drive train (15), on the Y-axis mechanical drive train (16), and with X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9) links to each other and forms position feedback loop, Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11) and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other and forms velocity feedback loop.
Description of drawings
Each moving component hardware of Fig. 1 laser cutting machine is formed synoptic diagram;
Each motion control synoptic diagram of Fig. 2 laser cutting machine;
Fig. 3 laser cutting machine electric current loop FEEDBACK CONTROL synoptic diagram;
Fig. 4 laser cutting machine loop feedback control synoptic diagram;
Fig. 5 laser cutting machine position ring FEEDBACK CONTROL synoptic diagram;
Fig. 6 electric current loop, speed ring and position ring feedback combination control synoptic diagram;
Fig. 7 electric current loop and loop feedback combination control synoptic diagram;
Fig. 8 electric current loop and position ring feedback combination control synoptic diagram;
Fig. 9 speed ring and position ring feedback combination control synoptic diagram;
Among the figure: 1, laser cutting head, 2, X-axis grating chi scrambler, 3, X-axis grating chi, 4, the X-axis crossbeam, 5, the Y-axis guide rail, 6, Y-axis servomotor scrambler, 7, the Y-axis servomotor, 8, Y-axis grating chi, 9, Y-axis grating chi scrambler, 10, the X-axis servomotor, 11, X-axis servomotor scrambler, 12, industrial computer, 13, the multiaxis control card, 14, the X-axis servo-driver, 15, the X-axis mechanical drive train, 16, the Y-axis mechanical drive train, 17, the Y-axis servo-driver, 18, the grating footage is according to capture card, 19, the voltage deviation input source, 20, the current signal totalizer, 21, the reverse totalizer of current signal, 22, the PID regulator, 23, TL494,24, the setting voltage source, 25, the Hall current monitoring sensor, 26, the rate signal totalizer, 27, the position command controller, 28, the position signalling totalizer, 29, positioner, 30, current controller.
Embodiment
Describe present embodiment in detail below in conjunction with accompanying drawing.
Embodiment 1:
First embodiment is electric current loop, speed ring and position ring feedback combination control, as shown in Figure 6.
Comprise position command controller (27), X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9), X-axis grating chi (3), Y-axis grating chi (8), position signalling totalizer (28), positioner (29), rate signal totalizer (26), Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11), X-axis servo-driver (14), Y-axis servo-driver (17), current signal totalizer (20), Hall current monitoring sensor (25), current controller (30), X-axis servomotor (10), Y-axis servomotor (7), X-axis mechanical drive train (15), Y-axis mechanical drive train (16);
Each device connected mode is: position command controller (27) and X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9) links to each other with position signalling totalizer (28) as input, position signalling totalizer (28) links to each other with positioner (29) as input, positioner (29) and Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11) links to each other with rate signal totalizer (26) as input, rate signal totalizer (26) is as input and X-axis servo-driver (14), Y-axis servo-driver (17) links to each other, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other with current signal totalizer (20) as input with Hall current monitoring sensor (25), current signal totalizer (20) links to each other with current controller (30) as input, current controller (30) is as input and X-axis servo-driver (14), Y-axis servo-driver (17) links to each other, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other as controller and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other, X-axis grating chi (3), Y-axis grating chi (8) is installed in X-axis mechanical drive train (15), on the Y-axis mechanical drive train (16), and with X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9) links to each other and forms the position feedback loop, Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11) and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other and forms velocity feedback loop, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other with Hall current monitoring sensor (25) and forms current feedback loop;
The working method of each backfeed loop is:
Position command controller (27) provides the input of external pulse as position ring; Position signalling totalizer (28) receives the position feed back signal from X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9), and the input signal of this signal and position command controller (27) compared, its difference is done the proportional gain that PID regulates and is regulated back output in the positioner (29) of position ring, with the input as speed ring of the synthetic back of feed-forward signal of the given X-axis of position command controller (27), Y-axis target location.
The X-axis that output after aforesaid position ring PID regulated and position command controller (27) are given, the feed-forward signal of Y-axis target location are as the input of speed ring, in rate signal totalizer (26) with compare from the speed feedback value of Y-axis servomotor scrambler (6) and X-axis servomotor scrambler (11) after difference in the X-axis servo-driver (14) of speed ring and Y-axis servo-driver (17), do proportional gain, integration and differential processing in the PID adjusting, export as speed ring;
Speed ring is carried out output valve after ratio, integration and differential that PID regulates are regulated as the input of electric current loop, difference after comparing with the detected value of feedback of Hall current monitoring sensor (25) of electric current loop in current signal totalizer (20) is PID and is regulated in the current controller (30) of electric current loop, export to motor then.
Embodiment 2:
Second the combination control that embodiment is electric current loop and speed ring, as shown in Figure 7.
Comprise rate signal totalizer (26), Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11), X-axis servo-driver (14), Y-axis servo-driver (17), current signal totalizer (20), Hall current monitoring sensor (25), current controller (30), X-axis servomotor (10), Y-axis servomotor (7), X-axis mechanical drive train (15), Y-axis mechanical drive train (16).
Each device connected mode is: rate signal totalizer (26) is as input and X-axis servo-driver (14), Y-axis servo-driver (17) links to each other, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other with current signal totalizer (20) as input with Hall current monitoring sensor (25), current signal totalizer (20) links to each other with current controller (30) as input, current controller (30) is as input and X-axis servo-driver (14), Y-axis servo-driver (17) links to each other, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other as controller and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other, Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11) and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other and forms velocity feedback loop, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other with Hall current monitoring sensor (25) and forms current feedback loop;
The working method of each backfeed loop is:
The speed setting value that system is given is as the input of speed ring, in rate signal totalizer (26) with compare from the speed feedback value of Y-axis servomotor scrambler (6) and X-axis servomotor scrambler (11) after difference in the X-axis servo-driver (14) of speed ring and Y-axis servo-driver (17), do proportional gain and the integration and the differential processing of PID adjusting, export as speed ring;
Speed ring is carried out output valve after ratio, integration and the differential of PID in regulating regulated as the input of electric current loop, difference after comparing with the detected value of feedback of Hall current monitoring sensor (25) of electric current loop in current signal totalizer (20) is PID and is regulated in the current controller 30 of electric current loop, export to servomotor (7) and (10) then.
Embodiment 3:
The 3rd the feedback combination control that embodiment is electric current loop and position ring, as shown in Figure 8.
Comprise position command controller (27), X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9), position signalling totalizer (28), positioner (29), X-axis servo-driver (14), Y-axis servo-driver (17), current signal totalizer (20), Hall current monitoring sensor (25), current controller (30), servomotor (7) and (10), X-axis mechanical drive train (15), Y-axis mechanical drive train (16), X-axis grating chi (3), Y-axis grating chi (8).
Each device connected mode is: position command controller (27) and X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9) links to each other with position signalling totalizer (28) as input, position signalling totalizer (28) links to each other with positioner (29) as input, positioner (29) links to each other with current signal totalizer (20) as input with Hall current monitoring sensor (25), current signal totalizer (20) links to each other with current controller (30) as input, current controller (30) is as input and X-axis servo-driver (14), Y-axis servo-driver (17) links to each other, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other as controller and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other, X-axis grating chi (3), Y-axis grating chi (8) is installed in X-axis mechanical drive train (15), on the Y-axis mechanical drive train (16), and with X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9) links to each other and forms position feedback loop, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other with Hall current monitoring sensor (25) and forms current feedback loop;
The working method of each backfeed loop is:
The external pulse that position command controller (27) provides is as the input of position ring, compare in position signal adder (28) with position feedback from X-axis grating chi scrambler (2) and Y-axis grating chi scrambler (9), its difference is done the proportional gain adjusting back output that PID regulates in the positioner (29) of position ring, the feed-forward signal given with the position synthesizes the input of back as electric current loop;
The X-axis that output after position ring PID regulated and position command controller (27) are given, the feed-forward signal of Y-axis target location are as the input of electric current loop, difference after comparing with the detected value of feedback of Hall current monitoring sensor (25) of electric current loop in current signal totalizer (20) is PID and is regulated in the current controller (30) of electric current loop, export to motor then.
Embodiment 4:
The 4th the feedback combination control that embodiment is speed ring and position ring, as shown in Figure 9.
Comprise position command controller (27), X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9), position signalling totalizer (28), positioner (29), rate signal totalizer (26), Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11), X-axis servo-driver (14), Y-axis servo-driver (17), servomotor (7) and (10) and X-axis mechanical drive train (15), Y-axis mechanical drive train (16), X-axis grating chi (3), Y-axis grating chi (8).
Each device connected mode is: position command controller (27) and X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9) links to each other with position signalling totalizer (28) as input, position signalling totalizer (28) links to each other with positioner (29) as input, positioner (29) and Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11) links to each other with rate signal totalizer (26) as input, rate signal totalizer (26) is as input and X-axis servo-driver (14), Y-axis servo-driver (17) links to each other, X-axis servo-driver (14), Y-axis servo-driver (17), X-axis servo-driver (14), Y-axis servo-driver (17) links to each other as controller and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other, X-axis grating chi (3), Y-axis grating chi (8) is installed in X-axis mechanical drive train (15), on the Y-axis mechanical drive train (16), and with X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9) links to each other and forms position feedback loop, Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11) and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other and forms velocity feedback loop;
The working method of each backfeed loop is:
The external pulse that position command controller (27) provides is as the input of position ring, compare in position signal adder (28) with position feedback from X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9), its difference is PID and is regulated back output in the positioner (29) of position ring, the feed-forward signal given with the position synthesizes the input of back as speed ring;
The X-axis that output after position ring PID regulated and position command controller (27) are given, the feed-forward signal of Y-axis target location are as the input of speed ring, in rate signal totalizer (26) with compare from the speed feedback value of Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11) after difference in the servo-driver 14/17 of speed ring, be PID and regulate, export direct drive motor as speed ring.
Claims (4)
1. many close-loop feedback control of laser cutting machine system is characterized in that:
Comprise position command controller (27), X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9), X-axis grating chi (3), Y-axis grating chi (8), position signalling totalizer (28), positioner (29), rate signal totalizer (26), Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11), X-axis servo-driver (14), Y-axis servo-driver (17), current signal totalizer (20), Hall current monitoring sensor (25), current controller (30), X-axis servomotor (10), Y-axis servomotor (7), X-axis mechanical drive train (15), Y-axis mechanical drive train (16);
Each device connected mode is: position command controller (27) and X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9) links to each other with position signalling totalizer (28) as input, position signalling totalizer (28) links to each other with positioner (29) as input, positioner (29) and Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11) links to each other with rate signal totalizer (26) as input, rate signal totalizer (26) is as input and X-axis servo-driver (14), Y-axis servo-driver (17) links to each other, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other with current signal totalizer (20) as input with Hall current monitoring sensor (25), current signal totalizer (20) links to each other with current controller (30) as input, current controller (30) is as input and X-axis servo-driver (14), Y-axis servo-driver (17) links to each other, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other as controller and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other, X-axis grating chi (3), Y-axis grating chi (8) is installed in X-axis mechanical drive train (15), on the Y-axis mechanical drive train (16), and with X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9) links to each other and forms the position feedback loop, Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11) and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other and forms velocity feedback loop, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other with Hall current monitoring sensor (25) and forms current feedback loop.
2. many close-loop feedback control of laser cutting machine system is characterized in that:
Comprise rate signal totalizer (26), Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11), X-axis servo-driver (14), Y-axis servo-driver (17), current signal totalizer (20), Hall current monitoring sensor (25), current controller (30), X-axis servomotor (10), Y-axis servomotor (7), X-axis mechanical drive train (15), Y-axis mechanical drive train (16);
Each device connected mode is: rate signal totalizer (26) is as input and X-axis servo-driver (14), Y-axis servo-driver (17) links to each other, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other with current signal totalizer (20) as input with Hall current monitoring sensor (25), current signal totalizer (20) links to each other with current controller (30) as input, current controller (30) is as input and X-axis servo-driver (14), Y-axis servo-driver (17) links to each other, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other as controller and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other, Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11) and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other and forms velocity feedback loop, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other with Hall current monitoring sensor (25) and forms current feedback loop.
3. many close-loop feedback control of laser cutting machine system is characterized in that:
Comprise position command controller (27), X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9), position signalling totalizer (28), positioner (29), X-axis servo-driver (14), Y-axis servo-driver (17), current signal totalizer (20), Hall current monitoring sensor (25), current controller (30), servomotor (7,10), X-axis mechanical drive train (15), Y-axis mechanical drive train (16), X-axis grating chi (3), Y-axis grating chi (8);
Each device connected mode is: position command controller (27) and X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9) links to each other with position signalling totalizer (28) as input, position signalling totalizer (28) links to each other with positioner (29) as input, positioner (29) links to each other with current signal totalizer (20) as input with Hall current monitoring sensor (25), current signal totalizer (20) links to each other with current controller (30) as input, current controller (30) is as input and X-axis servo-driver (14), Y-axis servo-driver (17) links to each other, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other as controller and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other, X-axis grating chi (3), Y-axis grating chi (8) is installed in X-axis mechanical drive train (15), on the Y-axis mechanical drive train (16), and with X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9) links to each other and forms position feedback loop, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other with Hall current monitoring sensor (25) and forms current feedback loop.
4. many close-loop feedback control of laser cutting machine system is characterized in that:
Comprise position command controller (27), X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9), position signalling totalizer (28), positioner (29), rate signal totalizer (26), Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11), X-axis servo-driver (14), Y-axis servo-driver (17), servomotor (7,10) and X-axis mechanical drive train (15), Y-axis mechanical drive train (16), X-axis grating chi (3), Y-axis grating chi (8);
Each device connected mode is: position command controller (27) and X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9) links to each other with position signalling totalizer (28) as input, position signalling totalizer (28) links to each other with positioner (29) as input, positioner (29) and Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11) links to each other with rate signal totalizer (26) as input, rate signal totalizer (26) is as input and X-axis servo-driver (14), Y-axis servo-driver (17) links to each other, X-axis servo-driver (14), Y-axis servo-driver (17) links to each other as controller and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other, X-axis grating chi (3), Y-axis grating chi (8) is installed in X-axis mechanical drive train (15), on the Y-axis mechanical drive train (16), and with X-axis grating chi scrambler (2), Y-axis grating chi scrambler (9) links to each other and forms position feedback loop, Y-axis servomotor scrambler (6), X-axis servomotor scrambler (11) and X-axis mechanical drive train (15), Y-axis mechanical drive train (16) links to each other and forms velocity feedback loop.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102156436A (en) * | 2011-05-18 | 2011-08-17 | 山西飞虹激光科技有限公司 | Multi-closed-loop feedback control system for laser cutter |
| CN102554479A (en) * | 2012-01-06 | 2012-07-11 | 昆山海大数控技术有限公司 | High-power CO2 (carbon dioxide) laser multistage punch control system device |
| CN104608006A (en) * | 2015-01-08 | 2015-05-13 | 候艾明 | Automatic-control precise moving system and control method thereof |
| CN106527354A (en) * | 2016-12-21 | 2017-03-22 | 华南理工大学 | Double-shaft simultaneous movement control device based on pull pressure sensor feedback and method thereof |
| CN110834145A (en) * | 2019-11-29 | 2020-02-25 | 苏州迅镭激光科技有限公司 | Control system for realizing full closed-loop focusing of high-power laser cutting head |
| CN112638603A (en) * | 2018-08-27 | 2021-04-09 | 西门子股份公司 | Cutting head guide relative to cut material |
| CN115185231A (en) * | 2022-07-14 | 2022-10-14 | 哈硕永业精密机械(苏州)有限公司 | Automatic control system of double-spindle double-Z-axis vertical machining center |
| CN115284072A (en) * | 2022-08-25 | 2022-11-04 | 恩纳基智能科技无锡有限公司 | High-speed high-precision gantry double-drive cross synchronous control system and control method thereof |
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| CN102156436A (en) * | 2011-05-18 | 2011-08-17 | 山西飞虹激光科技有限公司 | Multi-closed-loop feedback control system for laser cutter |
| CN102156436B (en) * | 2011-05-18 | 2013-07-31 | 山西飞虹激光科技有限公司 | Multi-closed-loop feedback control system for laser cutter |
| CN102554479A (en) * | 2012-01-06 | 2012-07-11 | 昆山海大数控技术有限公司 | High-power CO2 (carbon dioxide) laser multistage punch control system device |
| CN104608006A (en) * | 2015-01-08 | 2015-05-13 | 候艾明 | Automatic-control precise moving system and control method thereof |
| CN106527354A (en) * | 2016-12-21 | 2017-03-22 | 华南理工大学 | Double-shaft simultaneous movement control device based on pull pressure sensor feedback and method thereof |
| CN106527354B (en) * | 2016-12-21 | 2023-03-21 | 华南理工大学 | Double-shaft synchronous motion control device and method based on feedback of tension and pressure sensor |
| CN112638603A (en) * | 2018-08-27 | 2021-04-09 | 西门子股份公司 | Cutting head guide relative to cut material |
| CN112638603B (en) * | 2018-08-27 | 2022-02-01 | 西门子股份公司 | Cutting head guide relative to cut material |
| US11267073B2 (en) | 2018-08-27 | 2022-03-08 | Siemens Aktiengesellschaft | Guidance of a cutting head in relation to a material by using sensor delay time |
| CN110834145A (en) * | 2019-11-29 | 2020-02-25 | 苏州迅镭激光科技有限公司 | Control system for realizing full closed-loop focusing of high-power laser cutting head |
| CN110834145B (en) * | 2019-11-29 | 2024-04-26 | 苏州迅镭激光科技有限公司 | Control system for realizing full-closed-loop focusing of high-power laser cutting head |
| CN115185231A (en) * | 2022-07-14 | 2022-10-14 | 哈硕永业精密机械(苏州)有限公司 | Automatic control system of double-spindle double-Z-axis vertical machining center |
| CN115284072A (en) * | 2022-08-25 | 2022-11-04 | 恩纳基智能科技无锡有限公司 | High-speed high-precision gantry double-drive cross synchronous control system and control method thereof |
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