CN102866665B - Multi-axial synchronous control system and method for all-electric bending machine - Google Patents
Multi-axial synchronous control system and method for all-electric bending machine Download PDFInfo
- Publication number
- CN102866665B CN102866665B CN201210368869.2A CN201210368869A CN102866665B CN 102866665 B CN102866665 B CN 102866665B CN 201210368869 A CN201210368869 A CN 201210368869A CN 102866665 B CN102866665 B CN 102866665B
- Authority
- CN
- China
- Prior art keywords
- permanent magnet
- speed
- servo
- magnet synchronous
- servo motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 192
- 238000005452 bending Methods 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 230000033001 locomotion Effects 0.000 claims abstract description 29
- 238000004891 communication Methods 0.000 claims description 19
- 238000012546 transfer Methods 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000010354 integration Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 239000013307 optical fiber Substances 0.000 claims description 3
- 238000007493 shaping process Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 2
- 238000009499 grossing Methods 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013329 compounding Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Landscapes
- Control Of Presses (AREA)
Abstract
The invention discloses a multi-axial synchronous control system and a multi-axial synchronous control method for an all-electric bending machine. The multi-axial synchronous control system comprises a motion control board clamp, a numerical control system and a plurality of groups of slide block driving mechanisms, wherein each group of the slide block driving mechanisms comprises a servo driver, a permanent magnet synchronous servo motor, a synchronous belt transmission mechanism, a ball screw and a grating scale; the permanent magnet synchronous servo motor is connected with the ball screw through the synchronous belt transmission mechanism; the bottom end of the ball screw is arranged on the top end of a bending machine slide block; the grating scale is arranged on the back of the bending machine slide block and is on the same vertical axis with the ball screw; the permanent magnet synchronous servo motor is connected with the servo driver; and the servo driver and the grating scale are respectively connected with the numerical control system through the motion control board clamp. According to the system, the synchronous operating performance and the bending positioning precision of multiple permanent magnet synchronous servo motors can be obviously improved.
Description
Technical field
The present invention relates to relate to industrial automatic control and bender fields of numeric control technique, particularly a kind of multi-shaft synchronous control system for all-electric bender and control method.
Background technology
Plate bending is one important in can manufacturing technique.The complete upper/lower die of this process using makes sheet metal generation plastic yield fold into the sheet metal component of predetermined angular by extruding under cold conditions.The versatility of this technique is good, technique simple, forming quality advantages of higher, has been widely used in the industry fields such as electrical equipment, shipbuilding, aviation, heavy-duty machinery manufacture.
For realizing bender numerical control, improve positioning precision and synchronization accuracy, overcome the inherent defect of conventional hydraulic formula bender, the all-electric bender that adopts servomotor directly to drive becomes main flow.The all-electric upper die of bending machine slide block of miniwatt only needs two servomotors synchronously to drive control, and high-power 1000KN and the above bending pressure will realized needs to use many servomotors synchronously to drive on a slide block (rigid body).
But, in the actual use of high-power all-electric bender, the position asynchrony phenomenon that exists each motor caused by force unbalance, thereby cause strong coupling mechanically, and strong coupling mechanically will cause the moving-member skews such as slide block, the transmission device wearing and tearing such as aggravation leading screw, reduce machining precision and lathe life-span, damage driving element and travel mechanism when serious.For preventing that above-mentioned situation from occurring, drive slide block to need the interlock of multi-axial Simultaneous velocity location.Therefore, research multi-axle motor position synchronous control system is requisite link in high-power all-electric bender development.
Summary of the invention
Goal of the invention of the present invention is the technical deficiency for existing industrial automatic control and bender numerical control, and a kind of multi-shaft synchronous control system for all-electric bender is provided.
Further, the invention provides a kind of control method of the multi-shaft synchronous control system for all-electric bender.
For achieving the above object, the technical solution used in the present invention is:
A kind of multi-shaft synchronous control system for all-electric bender is provided, comprises motion control board, digital control system and some groups of slider-actuated mechanisms; Mei Zu slider-actuated mechanism comprises servo-driver, permanent magnet synchronous servo motor, synchronous belt drive mechanism, ball-screw and grating scale; Described permanent magnet synchronous servo motor is connected with ball-screw by synchronous belt drive mechanism, and the bottom of ball-screw is installed on the top of slider of bender; Described grating scale be arranged on the back side of slider of bender and with ball-screw on same vertical axis; Described permanent magnet synchronous servo motor is also connected with servo-driver, and servo-driver and grating scale are connected with digital control system by motion control board respectively.
Preferably, the output of the three-phase of described servo-driver is connected with described servomotor power electric source; The X2 function port of described servo-driver is linked and is connect by cable and motion control board, and the scrambler input port of described servo-driver is connected with the rotary encoder output terminal of permanent magnet synchronous servo motor by cable.
Preferably, described digital control system comprises industrial computer and Embedded Touch Screen; Described Embedded Touch Screen is connected with industrial computer; Described motion control board comprises switching value Control card and speed Control card; Described servo-driver and grating scale are connected with speed Control card, and described switching value Control card connects the lead limit switch up and down of slider of bender by cable; Described switching value Control card and speed Control card are all connected to the PCI module of industrial computer inside by optical fiber.
Preferably, described synchronous belt drive mechanism comprises the first band gear, synchronous belt and the second band gear; First is installed on the output shaft of permanent magnet synchronous servo motor with gear, and second is installed on the nut of ball-screw with gear, and the second band gear is connected with the first band gear by synchronous belt.
Preferably, the length of described slider of bender is greater than 3000mm.
Preferably, the quantity of described slider-actuated mechanism is four, is respectively the first slider-actuated mechanism, the second slider-actuated mechanism, the 3rd slider-actuated mechanism and Four-slider driving mechanism; The first slider-actuated mechanism comprises the first servo-driver, the first permanent magnet synchronous servo motor, the first synchronous belt drive mechanism, the first ball-screw and the first grating scale; The second slider-actuated mechanism comprises the second servo-driver, the second permanent magnet synchronous servo motor, the second synchronous belt drive mechanism, the second ball-screw and the second grating scale; The 3rd slider-actuated mechanism comprises the 3rd servo-driver, the 3rd permanent magnet synchronous servo motor, the 3rd synchronous belt drive mechanism, the 3rd ball-screw and the 3rd grating scale; Four-slider driving mechanism comprises the 4th servo-driver, the 4th permanent magnet synchronous servo motor, the 4th synchronous belt drive mechanism, the 4th ball-screw and the 4th grating scale.
Further, the invention provides a kind of multi-axial Simultaneous control method for all-electric bender, industrial computer comprises motion-control module, PID module, fuzzy control model, speed and moment output control module, PCI communication module and moment amplitude limit control module; Described motion controller module comprises Enable Pin control, trajectory planning is processed and feedback position processing; Described multi-axial Simultaneous control method comprises that high-speed synchronous drives stage and pressurization bending to drive the stage;
1) by Embedded Touch Screen, parameter is arranged;
2) input bending data by Embedded Touch Screen for specific workpiece, industrial computer will calculate bending stroke, angle and deflection compensation amount automatically, generate bending program;
3) when bending, will treat that bending plate is placed on the lower table of all-electric bender, digital control system drives the rear material stopping device location of all-electric bender; Now, multi-shaft synchronous control system is that high-speed synchronous drives the stage; Wherein, the first servo-driver and the 4th servo-driver are arranged to speed control mode; The second servo-driver and the 3rd servo-driver are arranged to Torque Control pattern, second servo driver drives second permanent magnet synchronous servo motor moment follow-up the first permanent magnet synchronous servo motor moment, the 3rd servo driver drives the 3rd permanent magnet synchronous servo motor moment follow-up the 4th permanent magnet synchronous servo motor moment; Meanwhile, the output torque of four permanent magnet synchronous servo motors is adjusted into set-point by moment amplitude limit control module, and moment variations curve is linear change;
4) slide block of all-electric bender drives its patrix to come downwards to rate conversion point with the speed of 10～100mm/s, then comes downwards to clamping point with the speed of 1～10mm/s; Now, multi-shaft synchronous control system switches to pressurization bending and drives the stage; Described four servo-drivers are all arranged to speed control mode, and the output torque linearity of four permanent magnet synchronous servo motors is adjusted into given pressurization moment by moment amplitude limit control module, and then pressurization bending is to stroke end and carry out pressurize;
5) after the dwell time arrives, moment amplitude limit control module is carried out release simultaneously automatically by reducing four servo-drivers of moment output valve control, multi-shaft synchronous control system switches to the slide block upwards backhaul at a high speed that high-speed synchronous drives the stage and controls all-electric bender, take shaping plate away, completion of processing.
Preferably, the described high-speed synchronous driving stage comprises the steps:
(1) motion-control module is cooked up each axle movement locus according to user instruction, and converts thereof into position command and be issued to PID module, PID module according to Auto-proportion, integration and differential parameter to input instruction process after the first output speed command value;
(2) speed command is directly sent to speed Control card through PCI communication module, speed Control card converts thereof into analog voltage and transfers to the first servo-driver and the 4th servo-driver through cable, first servo driver drives the first permanent magnet synchronous servo motor, the 4th servo driver drives the 4th permanent magnet synchronous servo motor turns round according to given speed, and makes upper and lower rectilinear motion by the band movable slider of the first ball-screw and the 4th ball-screw respectively;
(3) first grating scales, the second grating scale, the 3rd grating scale and the 4th grating scale detect respectively slider of bender mechanical location in real time, convert level signal to and transfer to speed Control card, speed Control card feeds back to PID module through PCI communication module after converting the electrical signal to the first digital quantity; PID module is made comparisons the first digital quantity and the first output speed command value to obtain position deviation, this position deviation produces new speed command after via ratio, integral adjustment, and controls the first permanent magnet synchronous servo motor and the 4th permanent magnet synchronous servo motor rotating speed by step (2);
(4) speed and moment output control module are set to moment output mode, speed Control card gathers the first permanent magnet synchronous servo motor and the 4th permanent magnet synchronous servo motor torque signals of output in real time, transfers to speed and moment output control module through PCI communication module; Through PCI communication module, torque signals is done after smoothing and filtration processing, be issued to speed Control card by PCI communication module again, deliver to respectively the second servo-driver and the 3rd servo-driver through cable, the second servo-driver drives second permanent magnet synchronous servo motor moment follow-up the first permanent magnet synchronous servo motor moment by the second ball-screw, and the 3rd servo-driver drives the 3rd permanent magnet synchronous servo motor moment follow-up the 4th permanent magnet synchronous servo motor moment by the 3rd ball-screw;
(5) fuzzy control model is poor respectively with the speed feedback of other three permanent magnet synchronous servo motors by the speed feedback of a permanent magnet synchronous servo motor wherein, then determines velocity compensation amount according to each permanent magnet synchronous servo motor moment of inertia ratio; And use location compensation rate and rate of change thereof are as a reference, adjust online the parameter of each axle PID controller;
(6) fortune merit control module is switched speed and moment output control module and fuzzy control model mode of operation by its switching controls port output logic low level, realizes the high-speed synchronous driving stage to switch to the bending driving stage of pressurizeing.
Preferably, the described pressurization bending driving stage comprises the steps:
(1) motion-control module is cooked up each axle movement locus according to user instruction, and converts thereof into position command and be issued to PID module, PID module according to Auto-proportion, integration and differential parameter to input instruction process after the second output speed command value;
(2) speed command is directly sent to speed Control card through PCI communication module, and speed Control card converts thereof into analog voltage and transfers to the first servo-driver and the 4th servo-driver through cable; First servo driver drives the first permanent magnet synchronous servo motor, the 4th servo driver drives the 4th permanent magnet synchronous servo motor turn round according to given speed, and make upper and lower rectilinear motion by the band movable slider of the first ball-screw and the 4th ball-screw respectively;
(3) first grating scales, the second grating scale, the 3rd grating scale and the 4th grating scale detect respectively the slide block mechanical location of full-automatic bending machine in real time, convert level signal to and transfer to speed Control card; Speed Control card converts the electrical signal to the second digital quantity, feed back to PID module through PCI communication module again, PID module regulates the second digital quantity, PID module is made comparisons the second digital quantity and the second output speed command value to obtain position deviation, this position deviation produces new speed command after via ratio, integral adjustment, and controls the first permanent magnet synchronous servo motor and the 4th permanent magnet synchronous servo motor rotating speed by step (2);
(4) speed and moment output control module are arranged on to speed output mode, the output speed instruction of the second servo-driver and the 3rd servo-driver is relayed to speed and moment output control module, second servo driver drives the second permanent magnet synchronous servo motor, the 3rd servo driver drives the 3rd permanent magnet synchronous servo motor turn round according to given speed, and make upper and lower rectilinear motion by the band movable slider of the second ball-screw and the 3rd ball-screw respectively;
(5) the fixing parameter of exporting preset PID module of fuzzy control model;
(6) fortune merit control module is switched speed and moment output control module and fuzzy control model mode of operation by its switching controls port output logic high level, realizes the bending driving stage of pressurizeing to switch to the high-speed synchronous driving stage.
Preferably, described Embedded Touch Screen gathers the bending correlation parameter information of user's input, and the parameter information of its collection comprises: the deformation-compensated and depth of parallelism of target bending angle, bending speed, die information, workpiece material parameter, ram bending; After user's setup parameter, ram bending is deformation-compensated realizes the control to the first ball-screw, the second ball-screw, the 3rd ball-screw and the 4th ball-screw position with the depth of parallelism by motion-control module; Described servo synchronous control system can also be realized dynamically arranging of slide block bending pressure by user's input pressure parameter on Embedded Touch Screen;
Described multi-shaft synchronous control system also comprises positive and negative lead limit switch, positive and negative two the lead limit switch states of switching value Control card Real-Time Monitoring slide block; When slide block is touched positive and negative lead limit switch, switching value Control card sends trigger pip by PCI communication module to motion-control module, and motion-control module stops the motion of the first permanent magnet synchronous servo motor, the second permanent magnet synchronous servo motor, the 3rd permanent magnet synchronous servo motor, the 4th permanent magnet synchronous servo motor.
The present invention, with respect to prior art, has following beneficial effect:
(1) the present invention's, clear and rational ingenious for the multi-shaft synchronous control system novel structure of all-electric bender and easy care; Adopt this system can significantly improve net synchronization capability and the bending positioning precision of many permanent magnet synchronous servo motor operations, and significantly reduced the wearing and tearing because of the asynchronous ball-screw causing and line slideway between permanent magnet synchronous servo motor, effectively increase the serviceable life of bender gear train;
(2) the present invention adopts the bender of this control system in the situation that not moving for the multi-shaft synchronous control system of all-electric slider of bender, and permanent magnet synchronous servo motor all remains static, and can farthest save the energy;
(3) in general,, when backfin is curved, the frame of full-automatic bending machine is stressed can produce deformation; Because native system adopts at pressurization bending section, each ball-screw is independent comes accurate control position according to control law separately, calculate required upper frame deformation compensation rate according to different moulding pressures, in the middle of being added to, in two ball-screw position command, can compensate upper frame deformation, thereby can conveniently realize, ram bending be carried out to intelligent auto-compensation;
(4) native system adjustment is simple, and operator only need just can complete a series of lathe adjustment work the enterprising line parameter editor of touch-screen, thereby greatly reduces the requirement to operating personnel's skills involved in the labour.
Brief description of the drawings
Fig. 1 is control system general illustration of the present invention;
Fig. 2 is multi-shaft synchronous control system high-level schematic functional block diagram of the present invention;
Fig. 3 is single shaft control subsystem structure schematic diagram of the present invention;
Fig. 4 is multi-shaft synchronous control system structured flowchart of the present invention;
Fig. 5 is multi-shaft synchronous control system hardware abstraction layer block diagram of the present invention;
Fig. 6 is multi-shaft synchronous control system workflow diagram of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, goal of the invention of the present invention is described in further detail, embodiment can not repeat one by one at this, but therefore embodiments of the present invention are not defined in following examples.Unless stated otherwise, the present invention adopts material and job operation are the art conventional material and job operation.
As shown in Figure 1, the present invention, for the multi-shaft synchronous control system of all-electric bender, comprises motion control board 1, digital control system 2 and four groups of slider-actuated mechanisms (3,4,5 and 6).Mei Zu slider-actuated mechanism comprises servo-driver, permanent magnet synchronous servo motor, synchronous belt drive mechanism, ball-screw and grating scale.
Wherein, four groups of slider-actuated mechanisms are respectively the first slider-actuated mechanism, the second slider-actuated mechanism, the 3rd slider-actuated mechanism and Four-slider driving mechanism.
The first slider-actuated mechanism comprises the first servo-driver 31, the first permanent magnet synchronous servo motor 32, the first synchronous belt drive mechanism 33, the first ball-screw 34 and the first grating scale 35.The first permanent magnet synchronous servo motor 32 is connected with the first ball-screw 34 by the first synchronous belt drive mechanism 33, and the bottom of the first ball-screw 34 is installed on the top of slider of bender.The first grating scale 35 be arranged on the back side of slider of bender and with the first ball-screw 34 on same vertical axis.The first permanent magnet synchronous servo motor 32 is also connected with the first servo-driver 31, and the first servo-driver 31 and the first grating scale 35 are connected with digital control system 2 by motion control board 1 respectively.The first servo-driver 31, the first permanent magnet synchronous servo motor 32, the first synchronous belt drive mechanism 33 and the first ball-screw 34 form the first servo-drive system 30.
The second slider-actuated mechanism comprises the second servo-driver 41, the second permanent magnet synchronous servo motor 42, the second synchronous belt drive mechanism 43, the second ball-screw 44 and the second grating scale 45.The second permanent magnet synchronous servo motor 41 is connected with the second ball-screw 44 by 43 second synchronous belt drive mechanisms, and the bottom of the second ball-screw 44 is installed on the top of slider of bender.The second grating scale 45 be arranged on the back side of slider of bender and with the second ball-screw 44 on same vertical axis.The second permanent magnet synchronous servo motor 42 is also connected with the second servo-driver 41, and the second servo-driver 41 and the second grating scale 45 are connected with digital control system 2 by motion control board 1 respectively.The second servo-driver 41, the second permanent magnet synchronous servo motor 42, the second synchronous belt drive mechanism 43 and the second ball-screw 44 form the second servo-drive system 40.
The 3rd slider-actuated mechanism comprises the 3rd servo-driver 51, the 3rd permanent magnet synchronous servo motor 52, the 3rd synchronous belt drive mechanism 53, the 3rd ball-screw 54 and the 3rd grating scale 55.The 3rd permanent magnet synchronous servo motor 52 is connected with the 3rd ball-screw 54 by the 3rd synchronous belt drive mechanism 53, and the bottom of the 3rd ball-screw 54 is installed on the top of slider of bender 8.The 3rd grating scale 55 be arranged on the back side of slider of bender 8 and with the 3rd ball-screw 54 on same vertical axis.The 3rd permanent magnet synchronous servo motor 52 is also connected with the 3rd servo-driver 51, and the 3rd servo-driver 51 and the 3rd grating scale 55 are connected with digital control system 2 by motion control board 1 respectively.The 3rd servo-driver 51, the 3rd permanent magnet synchronous servo motor 52, the 3rd synchronous belt drive mechanism 53 and the 3rd ball-screw 54 form the 3rd servo-drive system 50.
Four-slider driving mechanism comprises the 4th servo-driver 61, the 4th permanent magnet synchronous servo motor 62, the 4th synchronous belt drive mechanism 63, the 4th ball-screw 64 and the 4th grating scale 65.The 4th permanent magnet synchronous servo motor 62 is connected with the 4th ball-screw 64 by the 4th synchronous belt drive mechanism 63, and the bottom of the 4th ball-screw 64 is installed on the top of slider of bender.The 4th grating scale 65 be arranged on the back side of slider of bender and with the 4th ball-screw 64 on same vertical axis.The 4th permanent magnet synchronous servo motor 62 is also connected with the 4th servo-driver 61, and the 4th servo-driver 61 and the 4th grating scale 65 are connected with digital control system 2 by motion control board 1 respectively.The 4th servo-driver 61, the 4th permanent magnet synchronous servo motor 62, the 4th synchronous belt drive mechanism 63 and the 4th ball-screw 64 form the 4th servo-drive system 60.
As shown in Figure 2, motion control board 1 comprises switching value Control card 11 and speed Control card 12.The optic module Rx port of speed Control card 11 is connected to the Tx port of the inner PCI module of industrial computer 21 by optical fiber 7.This x port is also connected with the optic module Rx end of switching value Control card 11, and the optic module Tx port of switching value Control card 11 is connected with the Rx port of the inner PCI module card of industrial computer.
As shown in Figure 3, the output of the three-phase of four servo-drivers U, V, W, PE are connected with the power electric source of four permanent magnet synchronous servo motors respectively.The X2 function port of four servo-drivers connects in the DB9 of speed Control card 12 joint by 9 core cables respectively.Wherein, analog input port ISA00 is connected with the speed command output terminal of speed Control card 12; Analog input port ISA01 is connected with the Torque Control instruction output end of speed Control card 12.In addition, the servo start signal of four servo-drivers, servo alerting signal and servo removing alerting signal are connected with SRV_ON, ALM, the SRV_CLR of speed control card 12 respectively.
In addition, the scrambler input port of four servo-drivers is connected with the scrambler output terminal of corresponding permanent magnet synchronous servo motor respectively by cable.The band-type brake control port of four servo-drivers connects respectively at relay coil two ends.The band-type brake input port of four permanent magnet synchronous servo motors is connected with relay normally open switch.
Multi-shaft synchronous control system of the present invention is divided into the slider-actuated mechanism that comprises the control of four groups of single shaft closed-loop synchronization subsystems.It adopts velocity equivalent, acceleration compounding feedforward controller to realize the two-dimentional Fuzzy PID of quick and precisely following the tracks of, adopt of given position signal is improved to the synchronization accuracy of four permanent magnet synchronous servo motors.Corresponding control method all realizes in industrial computer inside programming.
As shown in Figure 4, the first servo-driver and the 4th servo-driver are set to speed output mode, realize location fast under the effect of position ring PID module.The second servo-driver and the 3rd servo-driver are set to moment output mode.The second servo-driver drives second permanent magnet synchronous servo motor moment follow-up the first permanent magnet synchronous servo motor moment by the second ball-screw, and the 3rd servo-driver drives the 3rd permanent magnet synchronous servo motor moment follow-up the 4th permanent magnet synchronous servo motor moment by the 3rd ball-screw.Control method realizes in industrial computer inside programming.
As shown in Figure 5, digital control system 2 comprises industrial computer 21 and Embedded Touch Screen 22.Industrial computer 21 inside comprise motion-control module, PID module, fuzzy control model, speed and moment output control module, PCI communication module and moment amplitude limit control module.Motion-control module, PID module, fuzzy control model are realized the control of fortune merit trajectory planning.Speed and moment output control module are realized system high-speed and are synchronizeed the switching controls of drives structure and pressurization bending structure.Moment amplitude limit control module realizes the control of moment output.Speed Control card 12 is realized the information interaction of four groups of servo-drive systems (30,40,50 and 60) and industrial computer 21.All modules realize in the inner C of use of industrial computer Programming with Pascal Language.
As shown in Figure 6, bending flow process operates by shown in figure, completes each bending node processing.Sheet material bending angle is mainly to control the displacement of patrix in counterdie groove by four groups of servo-drive systems (30,40,50 and 60) to realize.In practical operation, user completes the setting of all parameters, and for specific workpiece input bending data, bending stroke, angle and deflection compensation amount are calculated in industry control by digital control system, generate bending program.
When bending, will treat that bending plate is placed on the lower table of all-electric bender, digital control system drives the rear material stopping device location of all-electric bender; Now, multi-shaft synchronous control system is that high-speed synchronous drives the stage; Wherein, the first servo-driver and the 4th servo-driver are arranged to speed control mode; The second servo-driver and the 3rd servo-driver are arranged to Torque Control pattern, second servo driver drives second permanent magnet synchronous servo motor moment follow-up the first permanent magnet synchronous servo motor moment, the 3rd servo driver drives the 3rd permanent magnet synchronous servo motor moment follow-up the 4th permanent magnet synchronous servo motor moment; Meanwhile, the output torque of four permanent magnet synchronous servo motors is adjusted into set-point by moment amplitude limit control module, and moment variations curve is linear change;
The slide block of all-electric bender drive its patrix from upper dead center high-speed downstream to rate conversion point, then to descend slowly speed to come downwards to clamping point; Now, multi-shaft synchronous control system switches to pressurization bending and drives the stage; Described four servo-drivers are all arranged to speed control mode, and the output torque linearity of four permanent magnet synchronous servo motors is adjusted into given pressurization moment by moment amplitude limit control module, and then pressurization bending is to stroke end and carry out pressurize;
After dwell time arrives, automatically carry out release, multi-shaft synchronous control system switches to the slide block upwards backhaul at a high speed that high-speed synchronous drives the stage and controls all-electric bender, takes shaping plate away, completion of processing.
At present, China gains ground in the research and development of each tonnage hydraulic bending machine, but still lags behind foreign vendor in higher level digital control system comprehensively, and shortage can be practical and the bender digital control system of putting on market.American-European wait developed country, in Grand Equipments gordian technique, China is carried out to barrier with blockade policy with Japan in the situation that a few days ago, for breaking the monopoly position in this technology abroad, ensure growth of the national economic and sustainable development, there is the advanced manufacturing technology of China's independent intellectual property right in the urgent need to exploitation.The all-electric bender of the present invention, as the representative of advanced can manufacturing equipment, carries out research and development to it and has very high technical meaning and social and economic significance.
Above-described embodiment is only preferred embodiment of the present invention, is not used for limiting practical range of the present invention.Be that all equalizations of doing according to content of the present invention change and modify, all by the claims in the present invention scope required for protection is contained.
Claims (4)
1. a control method for the multi-shaft synchronous control system of all-electric bender, described control system comprises motion control board, digital control system and some groups of slider-actuated mechanisms; Mei Zu slider-actuated mechanism comprises servo-driver, permanent magnet synchronous servo motor, synchronous belt drive mechanism, ball-screw and grating scale; Described permanent magnet synchronous servo motor is connected with ball-screw by synchronous belt drive mechanism, and the bottom of ball-screw is installed on the top of slider of bender; Described grating scale be arranged on the back side of slider of bender and with ball-screw on same vertical axis; Described permanent magnet synchronous servo motor is also connected with servo-driver, and servo-driver and grating scale are connected with digital control system by motion control board respectively;
Described digital control system comprises industrial computer and Embedded Touch Screen; Described Embedded Touch Screen is connected with industrial computer; Described motion control board comprises switching value Control card and speed Control card; Described servo-driver and grating scale are connected with speed Control card, and described switching value Control card connects the positive and negative lead limit switch of slider of bender by cable; Described switching value Control card and speed Control card are all connected to the PCI module of industrial computer inside by optical fiber;
The quantity of described slider-actuated mechanism is four groups, is respectively the first slider-actuated mechanism, the second slider-actuated mechanism, the 3rd slider-actuated mechanism and Four-slider driving mechanism; The first slider-actuated mechanism comprises the first servo-driver, the first permanent magnet synchronous servo motor, the first synchronous belt drive mechanism, the first ball-screw and the first grating scale; The second slider-actuated mechanism comprises the second servo-driver, the second permanent magnet synchronous servo motor, the second synchronous belt drive mechanism, the second ball-screw and the second grating scale; The 3rd slider-actuated mechanism comprises the 3rd servo-driver, the 3rd permanent magnet synchronous servo motor, the 3rd synchronous belt drive mechanism, the 3rd ball-screw and the 3rd grating scale; Four-slider driving mechanism comprises the 4th servo-driver, the 4th permanent magnet synchronous servo motor, the 4th synchronous belt drive mechanism, the 4th ball-screw and the 4th grating scale;
It is characterized in that: industrial computer comprises motion-control module, PID module, fuzzy control model, speed and moment output control module, PCI communication module and moment amplitude limit control module; Described motion controller module comprises Enable Pin control, trajectory planning is processed and feedback position processing; Described multi-axial Simultaneous control method comprises that high-speed synchronous drives stage and pressurization bending to drive the stage;
1) by Embedded Touch Screen, parameter is arranged;
2) input bending data by Embedded Touch Screen for specific workpiece, industrial computer will calculate bending stroke, angle and deflection compensation amount automatically, generate bending program;
3) when bending, will treat that bending plate is placed on the lower table of all-electric bender, digital control system drives the rear material stopping device location of all-electric bender; Now, multi-shaft synchronous control system is that high-speed synchronous drives the stage; Wherein, the first servo-driver and the 4th servo-driver are arranged to speed control mode; The second servo-driver and the 3rd servo-driver are arranged to Torque Control pattern, second servo driver drives second permanent magnet synchronous servo motor moment follow-up the first permanent magnet synchronous servo motor moment, the 3rd servo driver drives the 3rd permanent magnet synchronous servo motor moment follow-up the 4th permanent magnet synchronous servo motor moment; Meanwhile, the output torque of four permanent magnet synchronous servo motors is adjusted into set-point by moment amplitude limit control module, and moment variations curve is linear change;
4) slide block of all-electric bender drives its patrix to come downwards to rate conversion point with the speed of 10～100mm/s, then comes downwards to clamping point with the speed of 1～10mm/s; Now, multi-shaft synchronous control system switches to pressurization bending and drives the stage; Described four servo-drivers are all arranged to speed control mode, and the output torque linearity of four permanent magnet synchronous servo motors is adjusted into given pressurization moment by moment amplitude limit control module, and then pressurization bending is to stroke end and carry out pressurize;
5) after the dwell time arrives, moment amplitude limit control module is carried out release simultaneously automatically by reducing four servo-drivers of moment output valve control, multi-shaft synchronous control system switches to the slide block upwards backhaul at a high speed that high-speed synchronous drives the stage and controls all-electric bender, take shaping plate away, completion of processing.
2. the control method of the multi-shaft synchronous control system of all-electric bender according to claim 1, is characterized in that: the described high-speed synchronous driving stage comprises the steps:
(1) motion-control module is cooked up each axle movement locus according to user instruction, and converts thereof into position command and be issued to PID module, PID module according to Auto-proportion, integration and differential parameter to input instruction process after the first output speed command value;
(2) speed command is directly sent to speed Control card through PCI communication module, speed Control card converts thereof into analog voltage and transfers to the first servo-driver and the 4th servo-driver through cable, first servo driver drives the first permanent magnet synchronous servo motor, the 4th servo driver drives the 4th permanent magnet synchronous servo motor turns round according to given speed, and makes upper and lower rectilinear motion by the band movable slider of the first ball-screw and the 4th ball-screw respectively;
(3) first grating scales, the second grating scale, the 3rd grating scale and the 4th grating scale detect respectively slider of bender mechanical location in real time, convert level signal to and transfer to speed Control card, speed Control card feeds back to PID module through PCI communication module after converting the electrical signal to the first digital quantity; PID module is made comparisons the first digital quantity and the first output speed command value to obtain position deviation, this position deviation produces new speed command after via ratio, integral adjustment, and controls the first permanent magnet synchronous servo motor and the 4th permanent magnet synchronous servo motor rotating speed by step (2);
(4) speed and moment output control module are set to moment output mode, speed Control card gathers the first permanent magnet synchronous servo motor and the 4th permanent magnet synchronous servo motor torque signals of output in real time, transfers to speed and moment output control module through PCI communication module; Through PCI communication module, torque signals is done after smoothing and filtration processing, be issued to speed Control card by PCI communication module again, deliver to respectively the second servo-driver and the 3rd servo-driver through cable, the second servo-driver drives second permanent magnet synchronous servo motor moment follow-up the first permanent magnet synchronous servo motor moment by the second ball-screw, and the 3rd servo-driver drives the 3rd permanent magnet synchronous servo motor moment follow-up the 4th permanent magnet synchronous servo motor moment by the 3rd ball-screw;
(5) fuzzy control model is poor respectively with the speed feedback of other three permanent magnet synchronous servo motors by the speed feedback of a permanent magnet synchronous servo motor wherein, then determines velocity compensation amount according to each permanent magnet synchronous servo motor moment of inertia ratio; And use location compensation rate and rate of change thereof are as a reference, adjust online the parameter of each axle PID controller;
(6) fortune merit control module is switched speed and moment output control module and fuzzy control model mode of operation by its switching controls port output logic low level, realizes the high-speed synchronous driving stage to switch to the bending driving stage of pressurizeing.
3. the control method of the multi-shaft synchronous control system of all-electric bender according to claim 1, is characterized in that: the described pressurization bending driving stage comprises the steps:
(1) motion-control module is cooked up each axle movement locus according to user instruction, and converts thereof into position command and be issued to PID module, PID module according to Auto-proportion, integration and differential parameter to input instruction process after the second output speed command value;
(2) speed command is directly sent to speed Control card through PCI communication module, and speed Control card converts thereof into analog voltage and transfers to the first servo-driver and the 4th servo-driver through cable; First servo driver drives the first permanent magnet synchronous servo motor, the 4th servo driver drives the 4th permanent magnet synchronous servo motor turn round according to given speed, and make upper and lower rectilinear motion by the band movable slider of the first ball-screw and the 4th ball-screw respectively;
(3) first grating scales, the second grating scale, the 3rd grating scale and the 4th grating scale detect respectively the slide block mechanical location of full-automatic bending machine in real time, convert level signal to and transfer to speed Control card; Speed Control card converts the electrical signal to the second digital quantity, feed back to PID module through PCI communication module again, PID module regulates the second digital quantity, PID module is made comparisons the second digital quantity and the second output speed command value to obtain position deviation, this position deviation produces new speed command after via ratio, integral adjustment, and controls the first permanent magnet synchronous servo motor and the 4th permanent magnet synchronous servo motor rotating speed by step (2);
(4) speed and moment output control module are arranged on to speed output mode, the output speed instruction of the second servo-driver and the 3rd servo-driver is relayed to speed and moment output control module, second servo driver drives the second permanent magnet synchronous servo motor, the 3rd servo driver drives the 3rd permanent magnet synchronous servo motor turn round according to given speed, and make upper and lower rectilinear motion by the band movable slider of the second ball-screw and the 3rd ball-screw respectively;
(5) the fixing parameter of exporting preset PID module of fuzzy control model;
(6) fortune merit control module is switched speed and moment output control module and fuzzy control model mode of operation by its switching controls port output logic high level, realizes the bending driving stage of pressurizeing to switch to the high-speed synchronous driving stage.
4. the control method of the multi-shaft synchronous control system of all-electric bender according to claim 1, it is characterized in that: described Embedded Touch Screen gathers the bending correlation parameter information of user's input, and the parameter information of its collection comprises: the deformation-compensated and depth of parallelism of target bending angle, bending speed, die information, workpiece material parameter, ram bending; After user's setup parameter, ram bending is deformation-compensated realizes the control to the first ball-screw, the second ball-screw, the 3rd ball-screw and the 4th ball-screw position with the depth of parallelism by motion-control module; Described servo synchronous control system can also be realized dynamically arranging of slide block bending pressure by user's input pressure parameter on Embedded Touch Screen;
Described multi-shaft synchronous control system also comprises positive and negative lead limit switch, positive and negative two the lead limit switch states of switching value Control card Real-Time Monitoring slide block; When slide block is touched positive and negative lead limit switch, switching value Control card sends trigger pip by PCI communication module to motion-control module, and motion-control module stops the motion of the first permanent magnet synchronous servo motor, the second permanent magnet synchronous servo motor, the 3rd permanent magnet synchronous servo motor, the 4th permanent magnet synchronous servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210368869.2A CN102866665B (en) | 2012-09-27 | 2012-09-27 | Multi-axial synchronous control system and method for all-electric bending machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210368869.2A CN102866665B (en) | 2012-09-27 | 2012-09-27 | Multi-axial synchronous control system and method for all-electric bending machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102866665A CN102866665A (en) | 2013-01-09 |
| CN102866665B true CN102866665B (en) | 2014-07-16 |
Family
ID=47445594
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210368869.2A Expired - Fee Related CN102866665B (en) | 2012-09-27 | 2012-09-27 | Multi-axial synchronous control system and method for all-electric bending machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102866665B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103135500A (en) * | 2013-01-25 | 2013-06-05 | 马鞍山市中亚机床制造有限公司 | Machining controlling system of bending machine |
| CN103454967B (en) * | 2013-09-13 | 2015-08-12 | 绍兴市安雅信自动化技术有限公司 | A kind of adding shaft device and adding axle method for torque shaft bending machine |
| CN104898576A (en) * | 2015-06-17 | 2015-09-09 | 江苏大金激光科技有限公司 | Torsion synchronous intelligent numerical control bender numerical control system |
| CN106886215B (en) * | 2015-12-15 | 2023-08-04 | 北京智行者科技股份有限公司 | Tracking system based on multi-axis trolley bus and trolley bus with tracking system |
| CN105573245B (en) * | 2015-12-24 | 2019-01-11 | 马鞍山市中亚机床制造有限公司 | A kind of numerical control bender precision debugging method |
| CN105897068B (en) * | 2016-04-07 | 2019-04-26 | 武汉菲仕运动控制系统有限公司 | A kind of hard brittle material multi-wire butting machine bi-motor torque synchronous control system |
| CN106424231A (en) * | 2016-08-17 | 2017-02-22 | 南通惠宇机床有限公司 | Full-automatic online bending machine control system |
| CN106216451A (en) * | 2016-08-17 | 2016-12-14 | 南通惠宇机床有限公司 | Full-automatic online bender control system |
| CN107831734A (en) * | 2017-11-17 | 2018-03-23 | 广船国际有限公司 | The controller and control method of numerical control bender, device, equipment and storage medium |
| CN108255209B (en) * | 2017-12-14 | 2020-12-25 | 武汉菲仕运动控制系统有限公司 | Bending machine control method and system |
| CN109772945B (en) * | 2019-01-15 | 2021-07-23 | 武汉菲仕运动控制系统有限公司 | Full-closed-loop electro-hydraulic servo driving method and system for bending machine |
| CN112305995A (en) * | 2019-07-30 | 2021-02-02 | 摩梁(上海)智能科技有限公司 | Servo system and control method thereof |
| CN110899395B (en) * | 2019-12-24 | 2021-02-05 | 株洲特装智能装备有限公司 | Pure electric servo numerical control bending machine |
| CN112916669A (en) * | 2021-01-20 | 2021-06-08 | 无锡市华德尔自动化控制技术有限公司 | Full-electric servo bending machine numerical control system |
| CN113877994B (en) * | 2021-09-22 | 2024-01-16 | 深圳市合信自动化技术有限公司 | All-electric-drive bending machine |
| CN115107533A (en) * | 2022-06-24 | 2022-09-27 | 北京长征天民高科技有限公司 | Long-stroke height precision positioning system, method and device |
| CN116107268B (en) * | 2023-04-04 | 2023-07-11 | 瑞铁机床（苏州）股份有限公司 | Control system of pure electric servo numerical control bending machine |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201040297Y (en) * | 2007-03-23 | 2008-03-26 | 济南建达超越数控技术有限公司 | Servo electromotor drive digital control bending brake |
| CN201493357U (en) * | 2009-07-28 | 2010-06-02 | 江苏金方圆数控机床有限公司 | Multi-axle electrical-servo synchronous bender |
| CN202803847U (en) * | 2012-09-27 | 2013-03-20 | 华南理工大学 | Multi-shaft synchronous control system for all-electric bending machine |
-
2012
- 2012-09-27 CN CN201210368869.2A patent/CN102866665B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN102866665A (en) | 2013-01-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102866665B (en) | Multi-axial synchronous control system and method for all-electric bending machine | |
| CN202803847U (en) | Multi-shaft synchronous control system for all-electric bending machine | |
| CN100513004C (en) | Numerically-controlled forging hydraulic press capable of realizing workpiece automatic centering | |
| CN202399558U (en) | Servo drive hydraulic control system | |
| CN201604032U (en) | Servo-positioning feed control system of milling machine | |
| CN107971415B (en) | A kind of bending machine plate bending method of automatic positioning | |
| CN203184475U (en) | Back material-stop system of automatic lifting numerical control bending machine | |
| CN203956921U (en) | Four axle stamping machine manipulators | |
| CN206605487U (en) | A kind of XYZ three axle roberts mechanism | |
| CN204503909U (en) | Digitally controlled multifunctional metal stretching machine | |
| CN102358019B (en) | Double-servo control system and energy-saving injection molding machine comprising same | |
| CN107678387A (en) | A kind of high-precision adagio type face control system | |
| CN102862094B (en) | Hydraulic servo system controlled by numerical control system | |
| CN208245477U (en) | A kind of cold extrusion shaped compound servo hydraulic press | |
| CN201408932Y (en) | Bus processing machine | |
| CN203003600U (en) | Slotting machine automatic control system | |
| CN206773511U (en) | A kind of single shaft alignment system based on AC servo | |
| CN201023279Y (en) | Ceramic sanitary equipment gypsum testing die digital control processing machine | |
| CN102430635A (en) | Flexible incremental forming method and device for high-pressure water jet of plate | |
| CN105302031A (en) | Control device and control method for piling carrying robot | |
| CN204338889U (en) | Lathe pressing tailstock automatic adjusting mechanism | |
| CN103071723B (en) | Main transmission device of mechanical servo numerical-control turret punching machine | |
| CN202779582U (en) | Spline-milling machine | |
| CN202702533U (en) | Full-automatic water gap shearing machine | |
| CN205184263U (en) | Ring combination machine is worn towards tooth to numerical control key |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140716 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |