CN103713572B - The control method for numerical control system that a kind of position-based is given - Google Patents
The control method for numerical control system that a kind of position-based is given Download PDFInfo
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Abstract
The control method for numerical control system that the present invention provides a kind of position-based given, it is carried out orthogonal coding by orthogonal signals encoder by position command pulse signal, transmission frequency is made to reduce by four times, through motor drive unit, orthogonal intersection code signal is decoded again, namely after carrying out quadruple process, orthogonal intersection code signal is reduced, the position command Signal transmissions after reduction is given and calculates module; The motor relevant information obtained according to bus absolute value encoder again, carries out various control and computing draws the control signal of motor; Motor is carried out accurate position and speed control. The present invention can make numerical control device realize the control accuracy of less than 1 micron under higher process velocity, and motor encoder feedback adopts bus formula absolute value encoder can significantly improve its accuracy of detection simultaneously, really realizes high-speed, high precision processing.
Description
Technical field
The present invention relates to the control method for numerical control system that a kind of position-based is given, particularly adopt the control method for numerical control system that orthogonal intersection code signal is given as numerical control device position command and adopts the absolute value encoder of total wire protocol to feed back as motor encoder.
Background technology
Along with social development is extensive all the more to advanced manufacturing industry demand, it is the advanced manufacturing technology acquirement fast development of representative especially taking digital control processing, digital control system increases with the speed of 20% every year, the production domesticization popularity rate of digital control system also improves all the more, but owing to the starting of domestic Numeric Control Technology and development are all more late, its reliability and working accuracy cannot compare favourably with external product, the processing of below medium accuracy can only be met, its major cause has control software design and control algorithm advanced not, it is limited by the restriction of the given scheme of digital control system position command simultaneously, the current given mainstream scheme of digital control system position command has three kinds, the first motor encoder adopting analog quantity to add various resolving power feeds back given as the position command of numerical control device, the shortcoming of this kind of scheme is that analog quantity is very easily interfered at scene, easily produce zero to waft, also long range propagation it is not suitable for, therefore most manufacturer no longer adopts this kind of scheme in a new design, 2nd kind adopts industrial field bus given as the position command of numerical control device, the absolute value encoder of 20bit or 17bit is adopted to feed back as motor encoder, this kind of scheme foreign vendor adopts more, but owing to its technical difficulty is big, production cost is high, Homemade Vinorelbine is not formed main flow, the third adopts high-speed pulse string given as the position command of numerical control device, 2500 to 8192 line pulse increment formula encoders are adopted to feed back as motor encoder, this kind of scheme application is simple, with low cost, adopted by a large amount of domestic digital control system manufacturer, this kind of scheme has two kinds of control modes usually:
Fig. 1,2 adds the typical application circuit of direction signal control and the P-pulse instructional waveform of transmission thereof for pulse signal, each pulse represents a position feeding equivalent of numerical control device, so the height of pulse-repetition determines the speed of its position speed of feed, the level height of direction signal determines its feeding direction.
Fig. 3,4,5 are the typical application circuit i.e. pulse position command waveform of its transmission of two pulse control mode, each pulse same represents a position feeding equivalent of numerical control device, the height of pulse-repetition determines the speed of its position speed of feed, and feeding direction is then determined by positive rotaring signal or reverse signal.
Above two kinds of implementations have common shortcoming: (1) is under this kind of scheme, want to realize the processing of high-speed, high precision, need the P-pulse of higher frequency, but restricted can not be too high with Long line transmission P-pulse frequency, mostly transmit below 500K frequency, therefore the very difficult realization of the control accuracy being realized less than 1 micron under higher process velocity (because its transmission frequency is inevitable much larger than 500K) is being met, as above circuit implementing scheme, more than more than 500K frequency especially 1000K frequency time easily cause transmission unstable, form multipulse or the phenomenon of few pulse, finish size is caused to be forbidden. (2) want to realize the processing of high-speed, high precision simultaneously, also need to meet more high-resolution encoder, the encoder resolution of pulse increment type is difficult to reach more than 8192 lines, and the transmission frequency of high-resolution pulse increment type encoder also can be very high, its reliability is transmitted not good, it is easy to be interfered under high frequency. (3) load imbalance, pulse adds in direction controlling mode, the signalling channel burden of transmission pulse signal is very heavy, the signalling channel burden of transmission direction signal is very light, in two pulse control mode, all the time only wherein a road signalling channel is effective, and another road signalling channel is idle, causes the uneven waste with resource of load.
Summary of the invention
In order to solve the problem, it is an object of the invention to provide a kind of control method for numerical control system adopting orthogonal intersection code signal absolute value encoder that is given as digital control system position command and the total wire protocol of employing to feed back as motor encoder, the present invention applies simply, with low cost.
The control method for numerical control system that position-based provided by the present invention is given, comprises the following steps:
(1) position received and speed signal interpolation are gone out to represent the high-speed pulse string of digital control system position and speed by interpolation device;
(2) the high-speed pulse string received is carried out orthogonal coding by orthogonal signals encoder, forms orthogonal intersection code signal, and described orthogonal intersection code signal exports differential received device to through differential transmitter part;
(3) orthogonal intersection code signal is sent to orthogonal signals demoder by differential received device, and orthogonal intersection code signal is decoded by described orthogonal signals demoder, and sends decoded signal to calculating module; Obtain the current position of motor and speed information by bus absolute value encoder, send is given and is calculated module;
(4) signal that exports according to orthogonal signals demoder of module is calculated, and the current position of motor and speed information carry out PID adjustment, draw drive and control of electric machine signal;
(5) motor drive unit is according to drive and control of electric machine signal drive motor.
Further, described bus absolute value encoder is based on the total wire protocol of BISS. Resolving power can significantly bring up to 17bit to 24bit, and reliability and data throughput amount are also significantly improved.
Further, described differential transmitter part, differential received device is by RS422 chip difference circuit realiration.
The control method for numerical control system that position-based provided by the present invention is given, signal transmission passage free time and load imbalance is there is not with orthogonal coding mode transfer P-pulse, coding is not only simple but also adopts the rear immunity from interference of coding not easily to make mistakes by force, current Homemade Vinorelbine mainstream scheme is compared) with the third mainstream scheme above-mentioned, can realize when equal hardware circuit expense, namely can when the third scheme existing change system hardware yet, by the logical design that upgrading software or upgrade location instruction are given, easily realize orthogonal coding mode transfer position command pulse, under same signal transmission frequencies, position command pulse can be made to improve four times, namely the control accuracy of system improves four times, motor encoder feedback have employed bus formula absolute value encoder simultaneously, can significantly improve accuracy of detection and the reliability of its feedback detection, such that it is able to make digital control system realize the control accuracy of less than 1 micron more easily, realize high-speed, high precision processing, greatly improve the suface processing quality of workpiece.
Accompanying drawing explanation
Fig. 1 is that pulse signal adds direction signal as the given digital control system schematic circuit of position command;
Fig. 2 is the P-pulse instructional waveform figure of circuit transmission described in Fig. 1;
Fig. 3 is two pulse as the given digital control system schematic circuit of position command;
Fig. 4 is forward position feeding pulse position command oscillogram;
Fig. 5 is reverse position feeding pulse position command oscillogram;
Fig. 6 is orthogonal intersection code signal as the given digital control system schematic circuit of position command;
Fig. 7 is position command signal in orthogonal coding waveforms figure;
Fig. 8 is position command signal in orthogonal coding forward position feeding oscillogram;
Fig. 9 is position command signal in orthogonal coding reverse position feeding oscillogram;
Figure 10 is oscillogram after signal quadruple shown in Fig. 8;
Figure 11 is BISS bus code device feedback oscillogram;
Figure 12 is that PID regulates logical diagram;
Figure 13 is the method for the invention schema.
Embodiment
As shown in Figure 12,13, the control method for numerical control system that position-based provided by the present invention is given, comprises the following steps:
(1) position received and speed signal interpolation are gone out to represent the high-speed pulse string of digital control system position and speed by interpolation device;
(2) the high-speed pulse string received is carried out orthogonal coding by orthogonal signals encoder, forms orthogonal intersection code signal, and described orthogonal intersection code signal exports differential received device to through differential transmitter part;
(3) orthogonal intersection code signal is sent to orthogonal signals demoder by differential received device, is decoded by orthogonal intersection code signal by orthogonal signals demoder, and sends decoded signal to calculating module; Obtain the current position of motor and speed information by bus absolute value encoder, send is given and is calculated module;
(4) signal that exports according to orthogonal signals demoder of module is calculated, and the current position of motor and speed information carry out PID adjustment, draw drive and control of electric machine signal;
(5) motor drive unit is according to drive and control of electric machine signal drive motor.
Calculate module to be realized by PID controller, carry out position adjustments, speed setting and current setting etc. by PID controller according to orthogonal signals decoder output signal and the information such as motor current position and speed.
Differential transmitter part and differential received device can by RS422 chip difference circuit realiration; Bus absolute value encoder is the encoder based on the total wire protocol of BISS.
Interpolation device can adopt software/hardware interpolation, namely first realizes rough interpolation by software algorithm, then by hardware implementing Fine interpolation, position and speed signal are converted to high-speed pulse string and transmit, and this high-speed pulse string comprises position and speed signal. The orthogonal intersection code signal received is changed by differential transmitter part, forms difference pair, to reduce interference; Correspondingly, the difference received to the orthogonal intersection code signal being converted to common level, so that this signal is decoded by orthogonal signals demoder, is reduced into high-speed pulse string by differential received device after decoding, for calculating module.
The circuit realizing the given control method for numerical control system of the described position-based of the present invention is as shown in Figure 6, CPU, FPGA or CPLD of digital control system exports position instruction signal, this signal comprises position and speed signal, position command signal is after software and hardware interpolator rough interpolation and Fine interpolation, form high-speed pulse string send to orthogonal signals encoder, forming orthogonal intersection code signal after coding, interpolation device and orthogonal signals encoder can be integrated in CPU, FPGA or CPLD;Orthogonal intersection code signal processes through RS422 chip, export difference to the differential received device in motor drive unit, differential received device can by RS422 chip difference circuit realiration, the signal received is converted to the orthogonal intersection code signal of common level by differential received device, send decodes to orthogonal signals demoder, and decoded signal is sent to calculating module. Bus absolute value encoder is connected with motor, and for obtaining motor current position and speed information, this information sends calculating module to; Bus absolute value encoder can based on the total wire protocol of BISS, and its waveform is as shown in figure 11. Calculate module and according to motor current position and speed information and calculate drive and control of electric machine signal through the decoded signal of orthogonal signals demoder, drive and control of electric machine information position signal, speed signal etc., motor drive unit operates according to drive and control of electric machine signal drive motor. The orthogonal coding of P-pulse as shown in Figure 7, makes its signal transmission frequencies reduce by 4 times after coding, be the advanced or delayed direction determining position feeding by a road of two-way orthogonal pulses relative to another road. Forward position feeding, reverse position feeding pulse waveform are respectively as shown in Figure 8,9. Orthogonal signals demoder carries out decoding process after receiving, and realizes 4 frequencys multiplication by detecting the hopping edge of two-way transmission signal, thus reduces P-pulse, and the waveform after quadruple processes is as shown in Figure 10.
Position command signal is transmitted by two-way orthogonal intersection code signal simultaneously, the position command signal feeding that relatively traditional scheme is equal, its signal transmission frequencies can reduce by 4 times, owing to having difference between two-way transmission signal under orthogonal coding pattern, motor drive unit can realize 4 frequencys multiplication by detecting the hopping edge of two-way transmission signal, thus reduce P-pulse, so just can improve the position feeding pulse of four times on original equivalent signals channel frequence, namely two paths of signals is equally in 500K pulse-repetition transmission situation, the numerical control device P-pulse frequency of its equivalence is 2000K, like this can when not changing the hardware circuit of original scheme, do not increase hardware circuit cost thus improve P-pulse frequency, motor drive unit is advanced or delayed determine position command direction by the wherein road in detection two paths of signals passage relative to the phase place on another road, motor encoder adopts bus absolute value encoder simultaneously, its resolving power can significantly bring up to 17bit to 24bit, the transmission of the signal of motor encoder detection simultaneously adopts bus code pattern, its reliability and data throughput amount are also significantly improved, the absolute value encoder based on the total wire protocol of BISS can be adopted.
From the above, P-pulse its transmission frequency after orthogonal coding can reduce by 4 times, then through the laggard row P-pulse reduction of motor driver 4 frequency multiplication. Reduce the requirement to signal transmission passage, under the equivalent signals transmission frequency of traditional scheme, its position command pulse can improve four times, such that it is able to make numerical control device realize the control accuracy of less than 1 micron under higher process velocity, the feedback of motor encoder adopts bus formula absolute value encoder can significantly improve its accuracy of detection simultaneously, these two good basic indexs have been had just can really to realize high-speed, high precision processing, the market competitiveness of hoisting device equipment energetically.
Claims (3)
1. the control method for numerical control system that a position-based is given, it is characterised in that, comprise the following steps:
(1) position received and speed signal interpolation are gone out to represent the high-speed pulse string of digital control system position and speed by interpolation device, and described position and speed signal are exported by digital control system;
(2) the high-speed pulse string received is carried out orthogonal coding by orthogonal signals encoder, forms orthogonal intersection code signal, and described orthogonal intersection code signal exports differential received device to through differential transmitter part;
(3) orthogonal intersection code signal is sent to orthogonal signals demoder by differential received device, and orthogonal intersection code signal is decoded by described orthogonal signals demoder, and sends decoded signal to calculating module; Obtain the current position of motor and speed information by bus absolute value encoder, send is given and is calculated module;
(4) signal that exports according to orthogonal signals demoder of module is calculated, and the current position of motor and speed information carry out PID adjustment, draw drive and control of electric machine signal;
(5) motor drive unit is according to drive and control of electric machine signal drive motor.
2. the control method for numerical control system that position-based according to claim 1 is given, it is characterised in that: described bus absolute value encoder is based on the total wire protocol of BISS.
3. the control method for numerical control system that position-based according to claim 1 and 2 is given, it is characterised in that: described differential transmitter part, differential received device are by RS422 chip difference circuit realiration.
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| CN106849520A (en) * | 2016-11-29 | 2017-06-13 | 广东德康威尔科技有限公司 | A kind of linear electric motors track encoder, linear electric motors and its method for detecting position |
| CN107992109B (en) * | 2017-12-06 | 2021-03-09 | 深圳易能电气技术股份有限公司 | Full closed-loop positioning control system and method |
| CN108856307A (en) * | 2018-05-23 | 2018-11-23 | 山信软件股份有限公司 | A kind of mechanical equipment position detecting device and detection method |
| CN109586626A (en) * | 2018-12-13 | 2019-04-05 | 张茂青 | The encoderless driving method and device of servo motor in the integrated joint assembly of robot |
| JP6607423B1 (en) * | 2019-03-01 | 2019-11-20 | 株式会社安川電機 | Encoder, servo motor, servo system |
| CN110831299A (en) * | 2019-12-13 | 2020-02-21 | 安徽合力股份有限公司 | Lighting control system for forklift |
| CN113156839B (en) * | 2020-01-22 | 2024-08-30 | 科德数控股份有限公司 | Servo system electronic gear |
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| JP2005080378A (en) * | 2003-08-29 | 2005-03-24 | Konica Minolta Business Technologies Inc | Driving unit, image forming apparatus |
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| CN103001553A (en) * | 2011-09-15 | 2013-03-27 | 无锡市幅瑞自动化科技有限公司 | Permanent-magnet synchronous motor full-digital alternating-current servo system based on DSP (digital signal processor) |
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