CN111421880A - Method for detecting abnormity of pressure sensor loop of servo press - Google Patents
Method for detecting abnormity of pressure sensor loop of servo press Download PDFInfo
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- CN111421880A CN111421880A CN202010278597.1A CN202010278597A CN111421880A CN 111421880 A CN111421880 A CN 111421880A CN 202010278597 A CN202010278597 A CN 202010278597A CN 111421880 A CN111421880 A CN 111421880A
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- 230000008569 process Effects 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 230000002159 abnormal effect Effects 0.000 claims abstract description 6
- 230000005856 abnormality Effects 0.000 claims description 11
- 230000005484 gravity Effects 0.000 claims description 9
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/14—Control arrangements for mechanically-driven presses
- B30B15/148—Electrical control arrangements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
- G01L5/0066—Calibration arrangements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
- G01L5/0076—Force sensors associated with manufacturing machines
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Abstract
The invention discloses a method for detecting the abnormity of a pressure sensor loop of a servo press, which comprises the following steps: detecting a pressing state in the operation process, and determining a working mode corresponding to the servo driver; judging whether the current state is a position mode or not according to the pressing state detection result; when the non-position mode is judged, estimating the pressure loaded on the workpiece through software according to the information of the servo motor; and comparing the estimated pressure with the pressure fed back by the pressure sensor loop, and judging that the detection of the sensor loop is abnormal when the deviation is greater than a threshold value. The method realizes the abnormal detection of the pressure sensor loop by a software method, has low cost, is simple and reliable, is not limited by a hardware loop and the type of the sensor, and has strong adaptability.
Description
Technical Field
The invention belongs to the technical field of precision pressing and relates to a method for detecting the loop abnormality of a pressure sensor of a servo press.
Background
For electronic products such as mobile phones and tablet computers, processing technologies such as dispensing and assembling are generally required, pressure maintaining is required for workpieces at constant pressure after the products are glued, and then the next process is carried out. The traditional manual processing has low efficiency, is suitable for occasions with low precision requirements and can not meet the process occasions with high pressure precision requirements. In some pressure control devices, the force applied to a workpiece is directly obtained by a force sensor, and is used as a feedback signal to be compared with a reference force signal to obtain a force error, and then a feedback controller is designed to realize the output force control of a motion platform, so that the pressure control with higher precision can be realized.
However, in the process of pressure closed-loop control, pressure overshoot easily causes damage to the sensor, and in addition, conditions such as disconnection of the sensor and disconnection of the signal converter often occur, which may cause failure of the pressing process, crushing of the workpiece, and even damage to the equipment. Pressure sensor circuit anomalies are a variety of factors, often requiring specialized hardware circuits to detect, which makes the overall system costly, complex to implement, and less reliable.
Disclosure of Invention
The invention aims to: the method for detecting the abnormality of the pressure sensor loop of the servo press by using software is low in cost, simple and reliable.
The technical scheme of the invention is as follows: a method for detecting the abnormality of a pressure sensor loop of a servo press comprises the following steps: detecting a pressing state in the operation process, and determining a working mode corresponding to the servo driver;
judging whether the current state is a position mode or not according to the pressing state detection result;
when the non-position mode is judged, estimating the pressure loaded on the workpiece through software according to the information of the servo motor, wherein the information of the servo motor comprises at least one of current, speed and load;
and comparing the estimated pressure with the pressure fed back by the pressure sensor loop, and judging that the detection of the sensor loop is abnormal when the deviation is greater than a threshold value.
The further technical scheme is as follows: the whole pressing operation process sequentially comprises five states of pressure head descending, contact detection, pressure establishment, pressure maintaining and zero returning; in the descending or zero returning process, the servo driver works in a position mode, in the contact detection process, the servo driver works in a speed mode, and in the pressure establishing or pressure maintaining process, the servo driver works in a pressure control mode;
the detecting of the pressing state and the determining of the working mode corresponding to the servo driver in the operation process comprises the following steps:
when the pressure head descends to a preset distance above the workpiece, the servo driver is switched from a position mode to a speed mode;
controlling the pressure head to continuously run downwards at a preset speed, and detecting the pressure value returned by the pressure sensor;
when the pressure value is larger than the set value of the contact detection, the servo driver is switched from the speed mode to the pressure control mode.
The further technical scheme is as follows: the predicting of the pressure loaded on the workpiece through the software according to the information of the servo motor comprises the following steps:
the pressure actually acting on the workpiece is the sum of the axial thrust of the screw rod and the load gravity: fp = Fa + G, where Fp is the pressure actually acting on the workpiece, Fa is the axial thrust of the screw rod, and G is the load gravity;
the calculation formula of the axial thrust of the screw rod is Fa = 2 Pi Tr η/Ph, wherein Tr is the driving torque of the servo motor, η is the transmission efficiency of the screw rod, and Ph is the lead of the screw rod;
the expression for the load weight is: g = mg, where m is the mass of the load or workpiece, G = 9.8N/kg;
in the three-loop control of motor position, speed and torque, the driving torque and the motor current are in a linear relation: tr = KT × I, where KT is a motor torque constant and I is a motor current;
the final pressure acting on the workpiece is Fp = 2 Pi KTI η Ph + mg, other parameters except the motor current are constant, and the actual workpiece pressure is estimated in real time through the change of the motor current.
The further technical scheme is as follows: further comprising:
and determining corresponding current and setting safe current in a pressure state by setting a pressure command value according to a final pressure formula acted on the workpiece.
The further technical scheme is as follows: after the determination sensor circuit detects an abnormality, further comprising:
and controlling the servo press to perform corresponding shutdown and early warning display.
The invention has the advantages that:
1. the method realizes the abnormal detection of the pressure sensor loop by a software method, has low cost, is simple and reliable, is not limited by a hardware loop and the type of the sensor, and has strong adaptability; the abnormity of a feedback loop of the pressure sensor can be effectively detected, the workpiece is prevented from being crushed, and the processing precision and the safety are improved;
2. the corresponding relation between the current and the force can be established in the operation process by the method of predicting the pressure through the model, and the safety and the reliability of the system are ensured.
Drawings
The invention is further described with reference to the following figures and examples:
FIG. 1 is a schematic diagram of the components of a servo press system;
FIG. 2 is a flow chart of a method of pressure sensor circuit anomaly detection for a servo press provided herein;
fig. 3 is a schematic diagram of a servo press bonding process.
Detailed Description
Example (b): as shown in fig. 1, a servo press system generally includes an upper computer, a servo driver, a servo motor, a transmission mechanism (a screw rod module or an electric cylinder), and a pressure sensor. Servo driver drive servo motor is rotatory, and lead screw module or electric jar convert the rotary motion of motor into linear motion, realize that the pressure head moves down, and the pressure that acts on the work piece is converted into the signal of telecommunication via pressure sensor and feeds back to servo driver, then realizes pressure closed-loop control via the pressure control module of integration in servo driver inside.
The application provides a method for detecting the abnormality of a pressure sensor loop of a servo press, wherein the detection process is shown in figure 2, and the method comprises the following steps:
step 1, detecting a pressing state in the operation process, and determining a working mode corresponding to the servo driver.
With reference to fig. 3, the whole pressing operation process sequentially includes five states of pressure head descending, contact detection, pressure establishment, pressure maintaining and zero returning; during the down-stroke or return-to-zero process, the servo driver operates in a position mode, during the contact detection process, the servo driver operates in a velocity mode, and during the pressure build or hold process, the servo driver operates in a pressure control mode.
When the pressure head descends to a preset distance above the workpiece, the servo driver is switched from a position mode to a speed mode; controlling the pressure head to continuously run downwards at a preset speed (slower speed), and detecting the pressure value returned by the pressure sensor; when the pressure value is larger than the set value of the contact detection, the servo driver is switched from the speed mode to the pressure control mode.
And 2, judging whether the current state is the position mode or not according to the pressing state detection result.
Only in the position mode, the operation process is completely independent of the pressure control, and in the position mode, the acceleration torque and the like can influence the accuracy of pressure estimation.
And 3, when the non-position mode is judged, predicting the pressure loaded on the workpiece through software according to the information of the servo motor, wherein the information of the servo motor comprises at least one of current, speed and load.
And in the non-position mode, pressure is estimated, wherein the pressure estimation is to estimate the acting force loaded on the workpiece through the current, the speed, the load and other information of the servo motor in the software. Because the pressure process is generally vertical, the thrust generated by the screw rod also needs to consider the gravity influence of the workpiece and the like, so the actual pressure acting on the workpiece is the sum of the axial thrust of the screw rod and the load gravity:
Fp = Fa + G （1）
wherein Fp is the pressure actually acting on the workpiece, Fa is the axial thrust of the screw rod, and G is the load gravity.
The calculation formula of the axial thrust of the screw rod is as follows:
Fa = 2*Pi*Tr*η/Ph （2）
wherein Tr is the driving torque of the servo motor, η is the transmission efficiency of the lead screw, Ph is the lead of the lead screw, generally, the transmission efficiency is about 0.95, and the coefficient can be determined by a calibration method in the initial prototype debugging stage.
The expression for the load weight is:
G= mg （3）
where m is the mass of the load or workpiece, g = 9.8N/kg.
In the three-loop control of motor position, speed and torque, the driving torque and the motor current are in a linear relation:
Tr = KT* I （4）
where KT is the motor torque constant and I is the motor current.
From this, the final pressure acting on the workpiece is:
Fp = 2*Pi*KT*I*η/Ph + mg （5）
except for the motor current, other parameters are constants, and the actual workpiece pressure is predicted by real-time calculation through the change of the motor current. It should be noted that the motor current I is signed, and is defined as a positive current that generates a thrust in the same direction as the gravity, and a negative current that generates a thrust against the gravity.
And 4, comparing the estimated pressure with the pressure fed back by the pressure sensor loop, and judging that the sensor loop is abnormal when the deviation is greater than a threshold value.
And after the abnormity is judged, controlling the servo press to perform corresponding shutdown and early warning display.
According to the formula (5), the corresponding current is determined by setting a pressure command value, and then the safe current Imax in a pressure state is set, so that the current is in a limited range under any condition, and the safety of the system is ensured.
In summary, the anomaly detection method for the pressure sensor loop of the servo press, which is provided by the application, realizes anomaly detection of the pressure sensor loop by a software method, is low in cost, simple and reliable, is not limited by hardware loops and sensor types, and is strong in adaptability; the abnormity of the feedback loop of the pressure sensor can be effectively detected, the workpiece is prevented from being crushed, and the processing precision and the safety are improved.
In addition, the corresponding relation between the current and the force can be established in the operation process through the method of predicting the pressure through the model, and the safety and the reliability of the system are ensured.
The terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying a number of the indicated technical features. Thus, a defined feature of "first", "second", may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disk, or the like.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (5)
1. A method for detecting the abnormality of a pressure sensor loop of a servo press is characterized by comprising the following steps:
detecting a pressing state in the operation process, and determining a working mode corresponding to the servo driver;
judging whether the current state is a position mode or not according to the pressing state detection result;
when the non-position mode is judged, estimating the pressure loaded on the workpiece through software according to the information of the servo motor, wherein the information of the servo motor comprises at least one of current, speed and load;
and comparing the estimated pressure with the pressure fed back by the pressure sensor loop, and judging that the detection of the sensor loop is abnormal when the deviation is greater than a threshold value.
2. The method for detecting the abnormality of the pressure sensor circuit of the servo press as recited in claim 1, wherein the whole pressing operation process comprises five states of a downward movement of a pressing head, a contact detection, a pressure establishment, a pressure maintaining and a zero returning in sequence; in the descending or zero returning process, the servo driver works in a position mode, in the contact detection process, the servo driver works in a speed mode, and in the pressure establishing or pressure maintaining process, the servo driver works in a pressure control mode;
the detecting of the pressing state and the determining of the working mode corresponding to the servo driver in the operation process comprises the following steps:
when the pressure head descends to a preset distance above the workpiece, the servo driver is switched from a position mode to a speed mode;
controlling the pressure head to continuously run downwards at a preset speed, and detecting the pressure value returned by the pressure sensor;
when the pressure value is larger than the set value of the contact detection, the servo driver is switched from the speed mode to the pressure control mode.
3. The method for detecting an abnormality in a pressure sensor circuit of a servo press as set forth in claim 2, wherein the estimating, by software, the pressure applied to the workpiece based on the information of the servo motor includes:
the pressure actually acting on the workpiece is the sum of the axial thrust of the screw rod and the load gravity: fp = Fa + G, where Fp is the pressure actually acting on the workpiece, Fa is the axial thrust of the screw rod, and G is the load gravity;
the calculation formula of the axial thrust of the screw rod is Fa = 2 Pi Tr η/Ph, wherein Tr is the driving torque of the servo motor, η is the transmission efficiency of the screw rod, and Ph is the lead of the screw rod;
the expression for the load weight is: g = mg, where m is the mass of the load or workpiece, G = 9.8N/kg;
in the three-loop control of motor position, speed and torque, the driving torque and the motor current are in a linear relation: tr = KT × I, where KT is a motor torque constant and I is a motor current;
the final pressure acting on the workpiece is Fp = 2 Pi KTI η Ph + mg, other parameters except the motor current are constant, and the actual workpiece pressure is estimated in real time through the change of the motor current.
4. The method for detecting an abnormality in a pressure sensor circuit of a servo press as set forth in claim 3, further comprising:
and determining corresponding current and setting safe current in a pressure state by setting a pressure command value according to a final pressure formula acted on the workpiece.
5. The method for detecting an abnormality in a pressure sensor circuit of a servo press as set forth in any one of claims 1 to 4, further comprising, after the determination that the sensor circuit detects an abnormality:
and controlling the servo press to perform corresponding shutdown and early warning display.
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| CN202010278597.1A CN111421880A (en) | 2020-04-10 | 2020-04-10 | Method for detecting abnormity of pressure sensor loop of servo press |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113608118A (en) * | 2021-07-06 | 2021-11-05 | 深圳市研控自动化科技有限公司 | Method and device for detecting abnormality of servo terminal machine and computer readable storage medium |
| CN114046978A (en) * | 2021-11-16 | 2022-02-15 | 上海迪璞电子科技股份有限公司 | Pressure detection control method and pressure detection device |
| CN115290367A (en) * | 2022-08-18 | 2022-11-04 | 大连奥托股份有限公司 | An online detection method for the pressure state of a motor-driven press |
| CN115328027A (en) * | 2022-07-04 | 2022-11-11 | 武汉神动汽车电子电器股份有限公司 | System and method for controlling servo press-fitting and acquiring data at high speed by utilizing PLC (programmable logic controller) |
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Application publication date: 20200717 |