CN2703290Y - Full closed-loop AC servo motion control teaching experiment device - Google Patents
Full closed-loop AC servo motion control teaching experiment device Download PDFInfo
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- CN2703290Y CN2703290Y CN 200420027600 CN200420027600U CN2703290Y CN 2703290 Y CN2703290 Y CN 2703290Y CN 200420027600 CN200420027600 CN 200420027600 CN 200420027600 U CN200420027600 U CN 200420027600U CN 2703290 Y CN2703290 Y CN 2703290Y
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Abstract
The utility model discloses a full-closed loop AC servo motion control teaching experimental device suitable for teaching requirements, which comprises a computer, a servo control card, an AC servo driver, a servo motor, a horizontal longitudinal roller lead screw, a horizontal transverse roller lead screw, a vertical roller lead screw and a workbench, wherein the servo control card is respectively connected with the computer and the AC servo driver, and the AC servo driver is connected with the servo motor; the vertical roller lead screw is provided with a displacement sensor, and the vertical roller lead screw is characterized in that a sealed grating linear displacement sensor which has the same arrangement direction as the horizontal longitudinal roller lead screw and the horizontal transverse roller lead screw and is used for providing displacement signals for realizing horizontal transverse and horizontal longitudinal full-closed loop control is respectively arranged on the workbench and the bracket.
Description
Technical field
The utility model relates to a kind of experiment device for teaching, specifically a kind of full cut-off ring AC servo motion control experiment device for teaching.
Background technology
At present, every indexs such as the level of modern production, the quality of product and economic benefit depend on the advance and the electric automatization degree of production equipment to a great extent.Electromechanical integration technology is the continuous development along with science and technology, and production technology constantly proposes new requirement and develops rapidly.Mainly be from manually to automatically on control method; On control function, be from simple to complexity; In operation, be to light and handy by heaviness.Along with the appearance of new control theory and novel electrical equipment and electron device, opened up new approach for the development of Electrical Control Technology again.
The electrical control of traditional machining equipment is a relay contact control system, is made up of relay, contactor, button, travel switch etc., realize to plant equipment startup, stop, have control such as utmost point speed governing.The advantage of relay contact control system is simple in structure.Easy to maintenance, anti-interference strong, price is low, therefore be widely used in the plant equipment such as all kinds of lathes, equipments machining die, engraving equipment.At present, remain one of the most basic electrical control pattern of lathe and similar plant equipment in the control of China relay contact.
In actual production, because a large amount of simple programmed control processes that have some with switching value control, and actual production technology and flow process are often to change, thereby traditional relay contact control system Chang Buneng satisfies this requirement, therefore the control device that relay touch controls and electronic technology combine once occurs, be called sequence controller.It can change control program according to the needs of producing; And simple in structure, cheap more than robot calculator, it is pegged graft by combinational logic element or programming realizes the relay touch controls.But its device volume is big, and function also is subjected to certain limitation.Development and application along with large scale integrated circuit and microprocessor technology, the variation of essence has also taken place in above-mentioned control technology, memory technology with the computing machine sequence controller that induces one appearred in the seventies, produced the infant industry controller---programmable controller (PLC), it has had both the advantage of computer control and relay control system two aspects, so be widely used in Industry Control as a kind of standardised generic device in countries in the world at present.
For solution accounts for the single-piece of the total processing capacity about 80% of machinery and the robotization of small serial production, numerically-controlled machine has appearred the fifties.Its integrated application electronic technology, computing technique, detection technique, the state-of-the-art technology achievement of each technical field such as control and machine tool structure design automatically, it is typical electromechanical integrated product.Numerically-controlled machine is through the development over 40 years, and kind is increasing, and performance is constantly perfect, and wherein the numerically-controlled machine with profile control is more rapid with the numerical control machining center development that has automatic tool changer and worktable energy automatic displacement.Numerically-controlled machine partly is made up of control medium, numerical control device, servo-drive system and machine body etc., and wherein the performance of servo-drive system is one of principal element of decision numerically-controlled machine machining precision and throughput rate.
In automatic control system, can follow the variation of input quantity to output quantity and the system that changes calls servomechanism with certain accuracy, also claim servo-drive system.The servo-drive system of numerically-controlled machine is meant with the position of lathe moving-member and speed and is called servomechanism again as the automatic control system of controlled quentity controlled variable.
Servo-drive system is made up of servo drive and driving element (or claiming the executive component servomotor), and high performance servo-drive system also must be equipped with pick-up unit, the output state that feedback is actual.
The effect of Servo System of CNC Machine Tool is to accept the command signal from numerical control device, drive the lathe moving-member and follow the command pulse motion, and safety action fast and accurately, this just requires high-quality speed and position servo.What more than refer to mainly is feed servo control, also have the servocontrol to main motion in addition, but control requires the height not as the former.Technical indicators such as the precision of numerically-controlled machine and speed often depend primarily on servo-drive system.The basic demand of servo-drive system has:
(1) stability: stability is meant system under given input or external interference effect, can arrive new after of short duration adjustment process or is returned to original equilibrium state.
(2) precision: the precision of servo-drive system is meant that output quantity can follow the levels of precision of input quantity.As precision machined numerically-controlled machine, the bearing accuracy of requirement or contour machining precision are usually all than higher, and the deviation of permission is generally all between 0.01～0.001mm.
(3) response: response is one of sign of servo-drive system dynamic quality, promptly requires the response of trace command signal to want fast, require settling time short on the one hand, generally in 100ms, even less than a few tens of milliseconds; On the other hand, in order to satisfy the overshoot requirement, require the forward position of transient process steep, promptly escalating rate wants big.
The principal feature of servo-drive system has:
(1) accurate pick-up unit.With composition speed and position closed loop control.
(2) various feedback comparison principle and method are arranged.According to the principle difference of pick-up unit realization information feedback, servo-drive system feedback ratio method is also inequality.At present commonly used have ratio of pulse length to the total cycle length, relatively three kinds of phase bit comparison and amplitudes.
(3) high performance servomotor (abbreviation servomotor) is used for the numerically-controlled machine of efficient and Machining Complicated Profile, and servo-drive system will often be in the frequent startup and braking procedure.The output torque of requirement motor and the ratio of moment of inertia are big, to produce enough big acceleration or braking moment.Require servomotor when low speed, to have enough big output torque and running steady, so as with cut down the number of intermediate links during mechanical motion partly connects as far as possible.
(4) velocity-controlled system of wide speed regulating range, i.e. rate servo system.Control structure from system, the position closed loop system of numerically-controlled machine can be regarded as the double circle automatic control system that position adjustments is a ring in outer shroud, speed are adjusted to, its inner practical work process is after the position control input is converted to corresponding velocity setting signal, drive servomotor by governing system again, realize actual displacement.The main motion of numerically-controlled machine requires speed adjusting performance also than higher, and therefore requiring servo-drive system is high performance wide range speed control system.
The classification of servo-drive system:
Servo-drive system is divided by its driving element, and step-by-step movement servo-drive system, direct current motor (abbreviation direct current generator) servo-drive system, AC motor (abbreviation alternating current generator) servo-drive system are arranged ...Divide by control mode, open loop servo-drive system, closed loop servo system and semiclosed loop servo-drive system etc. are arranged, in fact digital control system also is divided into three types of open loop, closed loop and semiclosed loops, is exactly relevant with these three kinds of modes of servo-drive system.
Open cycle system:
Fig. 1 is open cycle system principle of compositionality figure, and it is mainly by driving circuit, and executive component and lathe three parts are formed.Executive component commonly used is a stepper motor, claims that usually be the step-by-step movement servo-drive system with stepper motor as the open cycle system of executive component, in this system, if during high-power driving, with electrohydraulicx pulse motor as executive component.The main task of driving circuit is command pulse to be converted into drive the required signal of executive component.
Closed-loop system:
Closed-loop system mainly is made up of executive component, detecting unit, comparing element, driving circuit and lathe five parts.Its theory diagram as shown in Figure 2.In closed-loop system, detecting element detects and converts to electric signal with the physical location of lathe moving-member and feeds back to comparing element.Common detecting element has rotary transformer, inductosyn, grating, magnetic grid and code-wheel etc.Usually the servo-drive system that the detecting element that is installed on the leading screw is formed calls semi-closed loop system; The servo-drive system that the detecting element that is installed on the worktable is formed calls closed-loop system.Because the existence of driving error between leading screw and the worktable, the precision of semiclosed loop servo-drive system is lower than the precision of closed loop servo system.
The effect of comparing element is that command signal and feedback signal are compared, and both differences are as the tracking error of servo-drive system, and through driving circuit, control actuating component drives worktable and continues to move, and is zero up to tracking error.According to form that enters the comparing element signal and detection feedback mode, closed loop (semiclosed loop) system can be divided into ratio of pulse length to the total cycle length and compare three kinds of servo-drive systems than servo-drive system, phase bit comparison servo-drive system and amplitude.
Because the signal of comparing element output is fainter, is not enough to drive executive component, so need it is amplified, driving circuit is provided with just for this reason.
The effect of executive component is according to control signal, promptly from the tracking error signal of comparing element, the electric signal of representing displacement is converted into mechanical shift.Executive component commonly used has direct current wide range speed control motor, AC motor etc.Executive component is a necessary part in the servo-drive system, and driving circuit is different with the difference of executive component.
In order to adapt to control technology, the needs of servo control technique development particularly, existing each colleges and universities have all offered the servocontrol course and have been equipped with corresponding experimental provision, but because the restriction of the objective law of imparting knowledge to students, for making student's complete understanding control theory, must at first control from open loop, cause existing related experiment device to be open loop type structure or semi-closure ring type structure, and the correlation theory and the technology of the control of full cut-off ring can only be carried out written explanation by teacher, be not fit to the device that the student carries out full cut-off ring control experiment, not only influenced teaching efficiency, and can not drop into relevant design of Closed Loop Control System immediately after making the student go on work position, make theoretical and actual the disconnection.
Summary of the invention
The purpose of this utility model provides a kind of full cut-off ring AC servo motion control experiment device for teaching that is suitable for imparting knowledge to students and requires.
The technical solution of the utility model is:
A kind of full cut-off ring AC servo motion control experiment device for teaching, comprise computing machine, servo controlling card, AC servo driver, servomotor, the vertical roller bearing leading screw of level, horizontal cross roller bearing screw mandrel, vertical roller bearing screw mandrel, worktable, servo controlling card links to each other with computing machine and AC servo driver respectively, and AC servo driver links to each other with servomotor; The vertical roller bearing leading screw of level, horizontal cross roller bearing screw mandrel and vertical roller bearing screw mandrel are installed on the worktable, horizontal cross roller bearing screw mandrel is installed in the support, support is across on two vertical roller bearing leading screws of parallel level, the vertical roller bearing leading screw of level drives support and does the front and back displacement, vertical roller bearing screw mandrel is vertically mounted on the support, execution unit links to each other with an end of vertical roller bearing screw mandrel, execution unit is done the displacement of vertical direction under the drive of vertical roller bearing screw mandrel, make left and right displacement under the drive of horizontal cross roller bearing screw mandrel; The vertical roller bearing leading screw of level, horizontal cross roller bearing screw mandrel and vertical roller bearing screw mandrel all link to each other with separately servomotor, on the vertical roller bearing screw mandrel displacement transducer is installed, it is characterized in that realizing that horizontal cross and the vertical full cut-off ring of level control the sealed type optical grid line displacement sensor that displacement signal is provided being separately installed with on the worktable and on the support with the vertical roller bearing leading screw of level, identical being used to of horizontal cross roller bearing screw mandrel arranged direction.
The beneficial effects of the utility model:
The utlity model has stable performance, precision height, can eliminate error effectively.And antijamming capability is strong, compact conformation, advantage that cost is low; it is not only applicable to institution of higher education's electromechanical integration; electronic apparatus; the experimental study of the practice of electrical automation professional production, Course Exercise; can be used as electric machinery undergraduate and postgraduate's open test platform; for its understanding with grasp modern ac drive and servo-drive system is established necessary base, and can directly apply to commercial production application scenarios such as digital engraving, package packing machine, mould production.It has constituted the servo-control system of a 3 D stereo, by computer programming, can carry out the coordination control of three degree of freedom, realizes servo characteristics such as high speed, high progress, low vibrations, also can be used for fields such as robot control, flexible manufacturing industry.
Description of drawings
Fig. 1 is an open loop control principle block diagram.
Fig. 2 is the loop control theory block diagram.
Fig. 3 is a structural representation of the present utility model.
Fig. 4 is the side view of Fig. 3.
Fig. 5 is a control principle block diagram of the present utility model.
Fig. 6 is the control major loop wiring schematic diagram of the utility model embodiment.601 is power supplys among the figure, the 602nd, and non-fuse breaker, the 603rd, noise filter, the 604th, electromagnetic contactor, the 605th, power lead, the 607th, external regeneration discharge resistance, the 608th, stube cable, the 609th, computing machine, the 610th, stube cable, the 611st, scrambler cable, the 612nd, motor cable
Fig. 7 is the position control wiring schematic diagram of the utility model embodiment.
Fig. 8 is the speed control wiring schematic diagram of the utility model embodiment.
Fig. 9 is the structural representation of the utility model specific embodiment.
Embodiment
Below in conjunction with drawings and Examples the utility model is further described.
As shown in Figure 3.
A kind of full cut-off ring AC servo motion control experiment device for teaching, comprise computing machine 609, servo controlling card, AC servo driver, servomotor, the vertical roller bearing leading screw 1 of level, horizontal cross roller bearing screw mandrel 2, vertical roller bearing screw mandrel 3, worktable 4, servo controlling card links to each other with computing machine 609 and AC servo driver respectively, and AC servo driver links to each other with servomotor; The vertical roller bearing leading screw 1 of level, horizontal cross roller bearing screw mandrel 2 and vertical roller bearing screw mandrel 3 are installed on the worktable 4, horizontal cross roller bearing screw mandrel 1 is installed in the support 5, support 5 is across on two vertical roller bearing leading screws 2 of parallel level, the vertical roller bearing leading screw 2 of level drives support 5 and does the front and back displacement, vertical roller bearing screw mandrel 3 is vertically mounted on the support 5, execution unit (cutter head) 6 links to each other with an end of vertical roller bearing screw mandrel 3, execution unit 6 is done the displacement of vertical direction under the drive of vertical roller bearing screw mandrel 3, make left and right displacement under the drive of horizontal cross roller bearing screw mandrel 1; The vertical roller bearing leading screw 2 of level, horizontal cross roller bearing screw mandrel 1 and vertical roller bearing screw mandrel 3 all link to each other with separately servomotor, on the vertical roller bearing screw mandrel 3 displacement transducer is installed, realizes that horizontal cross and the vertical full cut-off ring of level control the sealed type optical grid line displacement sensor 7,8 that displacement signal is provided being separately installed with on the worktable 4 and on the support 5 with the vertical roller bearing leading screw 2 of level, identical being used to of horizontal cross roller bearing screw mandrel 1 arranged direction.
Servo controlling card links to each other by input, the output unit of stube cable with the electric control loop that is installed in worktable 4 inside, three servomotors are worked under the control of separately servo controller, and link to each other with an end of the vertical roller bearing leading screw 1 of level, horizontal cross roller bearing screw mandrel 2, vertical roller bearing screw mandrel 3 respectively.
Concrete example:
With the be applied as example of full cut-off ring AC servo motion control experiment device for teaching of the present utility model on the full-automatic engraving machine of one of colleges and universities' electromechanical integration specialty servocontrol experimental facilities commonly used the utility model is further described (as shown in Figure 9) below:
1, structure is formed
A kind of full-automatic engraving machine, by base, crossbeam, column, ball screw assembly,, straight-line rolling guide set, engraving member 906, servomotor, electrical apparatus control system is formed.Adopt cast-in-block high-precision workbench face 904, the high-accuracy rolling guide rail ball screw of overstriking.Work top 904 is through precise finiss, do not need lubricatedly especially, and linear to move friction little, thereby adopt the accurate marble screw system that makes can stablize running at high speed, can not vibrate, and precision stability is good.
(1) X-axis 902 of this machine has adopted the auxiliary driving of FFB2005 ball-screw, and Y-axis 901 has adopted the auxiliary driving of FFZD2005 ball-screw, and Z axle 903 has adopted the auxiliary driving of FFZ1605 ball.Adopt the ball-screw auxiliary driving, have high-level efficiency, low energy consumption, the life-span is long, carrying is big, precision is good, be active in one's movements and staring torque little, excellent characteristics such as lubricated maintenance is convenient.
Because ball screw assembly, is implemented preload, eliminated the gap, improved rigidity and bearing accuracy, make stable drive.Can realize synchronized movement, reversible, accurate microfeed, the instantaneous conversion of high low speed.
(2) X of this machine, the guide rail of Y-axis have adopted GGB20BA type straight-line rolling guide set, and the guide rail of Z axle has adopted GGB16BA type straight-line rolling guide set, and they are load structures such as four direction.The anti-ability of overturning of three directions is big.The difference of straight-line rolling guide set sound friction force is little, and servo-actuated is fabulous, and drive signal is shorter in the time that mechanical action lags behind.The response speed of digital control system and highly sensitive.Can realize the motion of no gap, improve the motion rigidity of mechanical system.
2, kinematic train
This machine motion is by three driven by servomotor.Servomotor is connected with the ball screw assembly, termination by connecing cover, and the nut seat of ball screw assembly, and straight-line rolling guide set slide web joint are fixed, and move thereby drive its parts.
The needed mechanical output of engraving cutter is supplied with by the engraving member motor, drives the cutter rotation by collet.Carving motor can pass through the variable-frequence governor speed governing.
3, control section
(1) servo controller is differentiated the capacity of servomotor automatically, can be connected with the FA network, be more convenient for using RS-232, RS-485 communicates by letter with COMPOBUS/D, the operator can carry out operation parameter by computer and set (speed/torque/position), (16,17bit), the scrambler pulse number can be divided week arbitrarily to adopt high resolution encoder, the rotational angle of each pulse can be provided with according to instruction, brake chain, analog quantity, digital quantity input and output.Adopt the conversion of d-q axle, improve the torque control accuracy, realize shortening slow-speed of revolution easy running and positioning time, harmonic wave suppresses and overshoot reduces.Can carry out distributed control, can connect PLC control, have surge current prevention loop, with protection system better.By software record trouble phenomenon automatically is set, can shows motor speed, monitor torque waveform and I/O state, load braking situation, overload alarm.
(2) servomotor can adopt 10W～55KW, but the crawl operation, rotating control, dynamically brake, regenerative braking is handled, and buffer starting adopts the low inertia servomotor of microminiature, and size is various.
(3) electric part; Major loop separates fully with the power supply of control loop, and maintenance easily.
(4) computer system: adopt P4 series CPU; greatly improved the dynamic response performance of system; be highly suitable for the occasion of location at a high speed; by software programming, can carry out optimal tuning control, can realize dynamically showing in the three-dimensional artificial of three-dimensional workpiece figure and the process; has soft spacing and hard spacing duplicate protection; only need connect servo-drive system and just can add shake to servomotor automatically, and can analyze the frequency of mechanical system, The whole analytical process only needed for 30 seconds.The result that the sizing device obtains, read in analog modem, thereby but the response of analog subscriber mechanical system before operation of equipment, can show the speed after the instruction mode change, electric current, delay pulsed quantity and be confirmed in the mode of analog waveform.PC can be when automatically changing gain, finds out suitable numerical value with the shortest stipulated time.
4, the realization of control function
Bottom motion control part software tells motion controller to carry out needed all parameters of straight line and circular interpolation motion, and the I/O mouth is operated, and accepts the motion state returned on the motion controller and the state parameter of input port simultaneously.Motion controller is controlled motor voluntarily according to the instruction of receiving and is carried out moving interpolation and the I/O mouth is operated.User interface couples together operator and bottom motion control software, and the controlled motion process also reflects motion state.But because system is the semiclosed loop structure, incremental encoder is installed on the servo motor shaft, because the driving error between leading screw and the worktable has limited the precision of system and the raising of servo performance.
Utilize this engraving machine can carry out all experiments (as: control mode, components and parts and wiring thereof, location, crawl, search initial point etc.) of the relevant AC servo motion control of teaching material regulation, thereby make principle such as student's divided ring, semiclosed loop, full cut-off ring, servocontrol, scrambler, grating chi, servomotor and components and parts that a perceptual knowledge be arranged.
Claims (1)
1, a kind of full cut-off ring AC servo motion control experiment device for teaching, comprise computing machine, servo controlling card, AC servo driver, servomotor, the vertical roller bearing leading screw of level, horizontal cross roller bearing screw mandrel, vertical roller bearing screw mandrel, worktable, servo controlling card links to each other with computing machine and AC servo driver respectively, and AC servo driver links to each other with servomotor; The vertical roller bearing leading screw of level, horizontal cross roller bearing screw mandrel and vertical roller bearing screw mandrel are installed on the worktable, horizontal cross roller bearing screw mandrel is installed in the support, support is across on two vertical roller bearing leading screws of parallel level, the vertical roller bearing leading screw of level drives support and does the front and back displacement, vertical roller bearing screw mandrel is vertically mounted on the support, execution unit links to each other with an end of vertical roller bearing screw mandrel, execution unit is done the displacement of vertical direction under the drive of vertical roller bearing screw mandrel, make left and right displacement under the drive of horizontal cross roller bearing screw mandrel; The vertical roller bearing leading screw of level, horizontal cross roller bearing screw mandrel and vertical roller bearing screw mandrel all link to each other with separately servomotor, on the vertical roller bearing screw mandrel displacement transducer is installed, it is characterized in that realizing that horizontal cross and the vertical full cut-off ring of level control the sealed type optical grid line displacement sensor that displacement signal is provided being separately installed with on the worktable and on the support with the vertical roller bearing leading screw of level, identical being used to of horizontal cross roller bearing screw mandrel arranged direction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200420027600 CN2703290Y (en) | 2004-06-04 | 2004-06-04 | Full closed-loop AC servo motion control teaching experiment device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200420027600 CN2703290Y (en) | 2004-06-04 | 2004-06-04 | Full closed-loop AC servo motion control teaching experiment device |
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| CN2703290Y true CN2703290Y (en) | 2005-06-01 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101739865B (en) * | 2009-12-03 | 2011-08-24 | 三江学院 | PLC-based two-dimensional motion demonstration platform for teaching and implementation method thereof |
| CN102346978A (en) * | 2011-05-24 | 2012-02-08 | 力姆泰克（北京）传动设备有限公司 | Six-DOF (degree of freedom) carrier dynamic simulator |
| CN101727768B (en) * | 2008-10-24 | 2012-08-29 | 亚龙科技集团有限公司 | Servomotor testing platform for teaching |
| CN102806495A (en) * | 2012-08-09 | 2012-12-05 | 深圳市捷甬达实业有限公司 | Method for measuring dynamic rigidity of numerically-controlled machine tool |
| CN106297509A (en) * | 2016-10-21 | 2017-01-04 | 成都乐创自动化技术股份有限公司 | A kind of AC servo performance demonstration system |
| CN107272569A (en) * | 2017-08-11 | 2017-10-20 | 重庆邮电大学 | A kind of long-range motion control experimental facility |
-
2004
- 2004-06-04 CN CN 200420027600 patent/CN2703290Y/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101727768B (en) * | 2008-10-24 | 2012-08-29 | 亚龙科技集团有限公司 | Servomotor testing platform for teaching |
| CN101739865B (en) * | 2009-12-03 | 2011-08-24 | 三江学院 | PLC-based two-dimensional motion demonstration platform for teaching and implementation method thereof |
| CN102346978A (en) * | 2011-05-24 | 2012-02-08 | 力姆泰克（北京）传动设备有限公司 | Six-DOF (degree of freedom) carrier dynamic simulator |
| CN102806495A (en) * | 2012-08-09 | 2012-12-05 | 深圳市捷甬达实业有限公司 | Method for measuring dynamic rigidity of numerically-controlled machine tool |
| CN106297509A (en) * | 2016-10-21 | 2017-01-04 | 成都乐创自动化技术股份有限公司 | A kind of AC servo performance demonstration system |
| CN106297509B (en) * | 2016-10-21 | 2023-01-24 | 成都乐创自动化技术股份有限公司 | Performance demonstration system of alternating current servo system |
| CN107272569A (en) * | 2017-08-11 | 2017-10-20 | 重庆邮电大学 | A kind of long-range motion control experimental facility |
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