CN113359619B - Adaptive control method for rotary table inertia of vertical-horizontal switching five-axis machine tool - Google Patents
Adaptive control method for rotary table inertia of vertical-horizontal switching five-axis machine tool Download PDFInfo
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- CN113359619B CN113359619B CN202110645795.1A CN202110645795A CN113359619B CN 113359619 B CN113359619 B CN 113359619B CN 202110645795 A CN202110645795 A CN 202110645795A CN 113359619 B CN113359619 B CN 113359619B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
- G05B19/4163—Adaptive control of feed or cutting velocity
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36521—Select by combination of detected force, acceleration, speed, work rate
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Abstract
The invention discloses a self-adaptive control method for the inertia of a rotary table of a vertical-horizontal conversion five-axis machine tool, aiming at finding a more effective implementation scheme for the rotation control of a numerical control rotary table, and the method comprises the following steps: establishing a rotary table model in an equal proportion preset vertical-horizontal switching five-axis machine tool based on the preset vertical-horizontal switching five-axis machine tool, and guiding the rotary table model into a virtual debugging module; testing the turntable model based on the established turntable rotation testing module, the virtual debugging module, the turntable model and the load weight borne by the turntable model to obtain a turntable inertia-acceleration and deceleration data table; and comparing the turntable inertia-acceleration and deceleration data table with a preset turntable inertia-acceleration and deceleration theoretical database, judging whether the difference between the turntable inertia-acceleration and deceleration data table and the preset turntable inertia-acceleration and deceleration theoretical database is within an allowable range, and if so, importing the turntable inertia-acceleration and deceleration data table into a preset vertical-horizontal conversion five-axis machine tool to adaptively control the turntable inertia of the preset vertical-horizontal conversion five-axis machine tool.
Description
Technical Field
The invention relates to the field of numerical control machines, in particular to a self-adaptive control method for the inertia of a rotary table of a vertical-horizontal conversion five-axis machine tool.
Background
The numerical control rotary table is mainly used for a machine tool of a numerical control machine tool machining center, such as the numerical control rotary table in a vertical-horizontal conversion five-axis machine tool, and is a key component for realizing complex curved surface machining of the vertical-horizontal conversion five-axis machine tool. The operation stability and the rotating acceleration and deceleration of the numerical control turntable play a vital role in the processing precision and efficiency of the workpiece. On the existing vertical-horizontal conversion five-axis machine tool, the rotating speed of the numerical control rotary table is a fixed value, and the acceleration or deceleration of the numerical control rotary table cannot be automatically adjusted due to the change of the inertia of a workpiece, so that the machining efficiency and the machining precision are not ideal.
Disclosure of Invention
In order to find a more effective implementation scheme of rotation control of a numerical control turntable, the invention provides a turntable inertia self-adaptive control method of a vertical-horizontal switching five-axis machine tool, which comprises the following steps:
step S101: establishing an equal proportion of a turntable model in a preset vertical-horizontal switching five-axis machine tool based on the preset vertical-horizontal switching five-axis machine tool, and guiding the turntable model into a virtual debugging module;
step S103: testing the turntable model based on the established turntable rotation testing module, the virtual debugging module, the turntable model and the load weight borne by the turntable model to obtain a turntable inertia-acceleration and deceleration data table;
step S105: and comparing the turntable inertia-acceleration and deceleration data table with a preset turntable inertia-acceleration and deceleration theoretical database, judging whether the difference between the turntable inertia-acceleration and deceleration data table and the preset turntable inertia-acceleration and deceleration theoretical database is within an allowable range, and if so, importing the turntable inertia-acceleration and deceleration data table into the preset vertical-horizontal conversion five-axis machine tool to adaptively control the turntable inertia of the preset vertical-horizontal conversion five-axis machine tool.
Preferably, before the turntable model is tested based on the established turntable rotation testing module, the virtual debugging module, the turntable model and the load weight borne by the turntable model, the method includes the following steps:
and establishing a rotary testing module of the rotary table and configuring a preset testing strategy.
Preferably, the step of testing the turntable model based on the established turntable rotation testing module, the virtual debugging module, the turntable model and the load weight borne by the turntable model comprises the following steps:
acquiring the load weight borne by the turntable model;
judging the sequence grade of the load weight in a preset test strategy;
and testing the rotary table model based on the established rotary table rotation testing module, the virtual debugging module, the rotary table model, the load weight borne by the rotary table model and the sequence grade corresponding to the load weight.
Preferably, the sequence levels in the preset test strategy at least include a first sequence level, a second sequence level and a third sequence level, where the first sequence level is a load weight with a load weight above a preset first threshold, the third sequence level is a load weight below a preset second threshold, the second sequence level is a load weight with a load weight between the preset first threshold and the preset second threshold, and the preset first threshold is greater than the preset second threshold.
Preferably, the preset first threshold is four times greater than the preset second threshold.
Preferably, the preset first threshold is 200KG, and the preset second threshold is 50 KG.
Preferably, after determining whether the difference between the two is within an allowable range, the method includes the following steps:
if not, the steps S103-S105 are executed again.
Preferably, the step of comparing the table of rotational inertia-acceleration/deceleration data with a preset table of rotational inertia-acceleration/deceleration theory database includes the following steps:
and establishing the preset turntable inertia-acceleration and deceleration theoretical database based on the turntable inertia.
Compared with the prior art, the self-adaptive control method for the inertia of the rotary table of the vertical-horizontal switching five-axis machine tool has the following beneficial effects:
according to the adaptive control method for the rotary table inertia of the vertical-horizontal conversion five-axis machine tool, the relationship between the rotary table inertia and the acceleration and deceleration is tested by combining a virtual debugging mode and theoretical calculation, the relationship is introduced into a real vertical-horizontal conversion five-axis machine tool for use, adaptive matching can be performed on the change of the rotary table inertia, the rotary table rotation speed suitable for the current inertia can be obtained, the workpiece machining efficiency can be obviously improved, and the workpiece precision is improved to a certain extent.
The scheme provided by the invention has the advantages that the change of the existing system is small, the compatibility of the system is not influenced, and the realization is simple and efficient.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a adaptive control method for the inertia of a rotary table of a vertical-horizontal switching five-axis machine tool according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
In some flows described in the present specification and claims and above figures, a number of operations are included that occur in a particular order, but it should be clearly understood that these operations may be performed out of order or in parallel as they occur herein, with the order of the operations being given as 101, 103, etc. merely to distinguish between various operations, and the order of the operations itself does not represent any order of performance. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a adaptive control method for the turntable inertia of a vertical-horizontal five-axis machine tool according to an embodiment of the present invention is mainly applied to the turntable inertia control of the vertical-horizontal five-axis machine tool, and as shown in fig. 1, the adaptive control method for the turntable inertia of the vertical-horizontal five-axis machine tool according to an embodiment of the present invention includes the following steps:
step S101: the method comprises the steps of establishing an equal proportion of a rotary table model in a preset vertical-horizontal switching five-axis machine tool based on the preset vertical-horizontal switching five-axis machine tool, and guiding the rotary table model into a virtual debugging module.
In some embodiments, the preset vertical-horizontal five-axis machine tool is a common vertical-horizontal five-axis machine tool to be optimized, and the specific structure of the preset vertical-horizontal five-axis machine tool is not limited by the embodiment of the invention.
Step S103: and testing the turntable model based on the established turntable rotation testing module, the virtual debugging module, the turntable model and the load weight borne by the turntable model to obtain a turntable inertia-acceleration and deceleration data table.
In some embodiments, before testing the turntable model based on the established turntable rotation testing module, the virtual debugging module, the turntable model and the load weight borne by the turntable model, the method comprises the following steps:
and establishing a rotary table rotation testing module and configuring a preset testing strategy.
Specifically, the method for testing the turntable model based on the established turntable rotation testing module, the virtual debugging module, the turntable model and the load weight borne by the turntable model comprises the following steps:
acquiring the load weight borne by the turntable model;
judging the sequence grade of the load weight in a preset test strategy;
and testing the turntable model based on the established turntable rotation testing module, the virtual debugging module, the turntable model, the load weight borne by the turntable model and the sequence grade corresponding to the load weight.
Preferably, the sequence levels in the preset test strategy at least include a first sequence level, a second sequence level and a third sequence level, where the first sequence level is a load weight with a load weight above a preset first threshold, the third sequence level is a load weight below a preset second threshold, the second sequence level is a load weight with a load weight between the preset first threshold and the preset second threshold, and the preset first threshold is greater than the preset second threshold.
Optionally, the preset first threshold is four times as large as the preset second threshold, wherein the preset first threshold is 200KG, and the preset second threshold is 50 KG.
In some embodiments, the first sequence level, the second sequence level, and the third sequence level may also be collectively referred to as a turntable large inertia, a turntable medium inertia, and a turntable small inertia, that is, the turntable rotation testing module needs to perform three part of content testing: the method comprises the steps of adaptive acceleration and deceleration regulation during large inertia of the turntable, adaptive acceleration and deceleration regulation during medium inertia of the turntable and adaptive acceleration and deceleration regulation during small inertia of the turntable, wherein the adaptive acceleration and deceleration regulation refers to the steps of accelerating the turntable model from a static state to a highest speed and then decelerating the turntable model from the highest speed to a stop.
Step S105: and comparing the turntable inertia-acceleration and deceleration data table with a preset turntable inertia-acceleration and deceleration theoretical database, judging whether the difference between the turntable inertia-acceleration and deceleration data table and the preset turntable inertia-acceleration and deceleration theoretical database is within an allowable range, and if so, importing the turntable inertia-acceleration and deceleration data table into the preset vertical and horizontal conversion five-axis machine tool to adaptively control the turntable inertia of the preset vertical and horizontal conversion five-axis machine tool.
In some embodiments, comparing the table of the turntable inertia-acceleration/deceleration data with a preset database of the turntable inertia-acceleration/deceleration theory comprises the following steps:
and establishing a preset turntable inertia-acceleration and deceleration theoretical database based on the turntable inertia.
It should be understood that the theoretical database of inertia of the turntable-plus-minus speeds is constructed based on different inertia of the turntable, considering that the inertia of the turntable is different. In the subsequent comparison, a related data comparison method generally known to those skilled in the art is performed, and the embodiment of the present invention is not limited thereto.
Preferably, after determining whether the difference between the two is within the allowable range, the method comprises the following steps:
if not, the steps S103-S105 are executed again.
Therefore, the turntable rotation testing module can be executed again, the adaptive debugging of the turntable inertia is carried out, and the turntable inertia-acceleration and deceleration data table is obtained. Therefore, the self-adaptive control of the vertical-horizontal switching five-axis machine tool rotary table inertia is completed by using a virtual debugging technology.
Compared with the prior art, the self-adaptive control method for the rotary table inertia of the vertical-horizontal switching five-axis machine tool has the following beneficial effects that:
according to the adaptive control method for the rotary table inertia of the vertical-horizontal conversion five-axis machine tool, the relation between the rotary table inertia and the acceleration and deceleration is tested by combining a virtual debugging mode with a preset rotary table inertia-acceleration and deceleration theoretical database of theoretical calculation, the relation is led into a real vertical-horizontal conversion five-axis machine tool for use, adaptive matching can be achieved for the change of the rotary table inertia, the rotary table rotation speed suitable for the current inertia can be obtained, the workpiece processing efficiency can be obviously improved, and the workpiece precision is improved to a certain extent.
In the embodiments provided in the present application, it should be understood that the disclosed method can be implemented in other ways. For example, the division of the steps is only one logic function division, and there may be another division manner in actual implementation. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, or the like.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A self-adaptive control method for the rotary table inertia of a vertical-horizontal conversion five-axis machine tool is characterized by comprising the following steps of:
step S101: establishing an equal proportion of a turntable model in a preset vertical-horizontal switching five-axis machine tool based on the preset vertical-horizontal switching five-axis machine tool, and guiding the turntable model into a virtual debugging module;
step S102: establishing a rotary testing module of the rotary table and configuring a preset testing strategy;
step S103: the method comprises the following steps of testing a turntable model based on the established turntable rotation testing module, the virtual debugging module, the turntable model and the load weight borne by the turntable model to obtain a turntable inertia-acceleration and deceleration data table, wherein the testing of the turntable model based on the established turntable rotation testing module, the virtual debugging module, the turntable model and the load weight borne by the turntable model specifically comprises the following steps:
acquiring the load weight borne by the turntable model;
judging the sequence grade of the load weight in a preset test strategy;
testing the turntable model based on the established turntable rotation testing module, the virtual debugging module, the turntable model, the load weight borne by the turntable model and the sequence grade corresponding to the load weight;
step S105: and comparing the turntable inertia-acceleration and deceleration data table with a preset turntable inertia-acceleration and deceleration theoretical database, judging whether the difference between the turntable inertia-acceleration and deceleration data table and the preset turntable inertia-acceleration and deceleration theoretical database is within an allowable range, and if so, importing the turntable inertia-acceleration and deceleration data table into the preset vertical and horizontal conversion five-axis machine tool to adaptively control the turntable inertia of the preset vertical and horizontal conversion five-axis machine tool.
2. The adaptive control method for the turntable inertia of the vertical-horizontal five-axis machine tool according to claim 1, wherein the sequence levels in the preset test strategy at least include a first sequence level, a second sequence level and a third sequence level, wherein the first sequence level is a load weight with a load weight above a preset first threshold value, the third sequence level is a load weight with a load weight below a preset second threshold value, the second sequence level is a load weight with a load weight between the preset first threshold value and the preset second threshold value, and the preset first threshold value is larger than the preset second threshold value.
3. The adaptive control method for turret inertia of a vertical-horizontal five-axis machine tool according to claim 2, wherein the preset first threshold value is four times larger than the preset second threshold value.
4. The adaptive control method for the inertia of the rotary table of the vertical-horizontal five-axis machine tool according to claim 3, wherein the preset first threshold value is 200KG, and the preset second threshold value is 50 KG.
5. The adaptive control method for the table inertia of the vertical-horizontal five-axis machine tool according to claim 1, wherein the step of determining whether the difference between the two values is within an allowable range comprises the following steps:
if not, the steps S103-S105 are executed again.
6. The adaptive control method for the inertia of the rotary table of the vertical-horizontal conversion five-axis machine tool according to claim 1, wherein the step of comparing the table of the inertia of the rotary table with the acceleration-deceleration theoretical database comprises the following steps:
and establishing the preset turntable inertia-acceleration and deceleration theoretical database based on the turntable inertia.
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