Servo-motor acceleration-deceleration control method for servo pressure machine

Abstract

The invention discloses a servo-motor acceleration-deceleration control method for a servo pressure machine, comprising the following steps of: constructing an acceleration function of a servo motor at an acceleration stage; establishing a speed expression of the servo motor at the acceleration stage; establishing a rotary displacement expression of the servo motor at the acceleration stage; constructing an acceleration function of the servo motor at a deceleration stage; establishing a speed expression of the servo motor at the deceleration stage; establishing a rotary displacement expression of the servo motor at the deceleration stage; and determining total acceleration time and total deceleration time. According to the servo-motor acceleration-deceleration control method, two triangular functions with different periods are adopted as acceleration-deceleration constructed functions of the servo motor, so that the change of the speed, the acceleration and the accelerated acceleration is continuous, the soft shock of the acceleration-deceleration process on the machine body is avoided, the operation stability of the pressure machine is improved and the softness of acceleration-deceleration control of the pressure machine is higher; and by full utilization of the constant and maximum output torque of the server motor under the rated rotating speed, the operation period of the servo pressure machine can be shortened and the takt time of stamping production is improved.

Description

technical field [0001] The invention relates to the acceleration and deceleration processing technology of a servo motor, and belongs to the technical field of numerical control. The acceleration and deceleration control method of the servo motor is especially suitable as the driving source of the servo press, which can not only give full play to the performance of the servo motor, but also enable the servo press to have higher flexibility in acceleration and deceleration. Background technique [0002] The servo press adopts the servo motor as the driving source, which can change the motion characteristic curve of the slider arbitrarily, which can greatly improve the working performance and process adaptability of the press, and has been widely used in the stamping forming process. In order to reduce the drawing speed and ensure the stamping production cycle, the servo press generally works in the mode of "high-speed down-low-speed drawing-high-speed return". Reasonable con...

AI Technical Summary

Problems solved by technology

When the linear acceleration and deceleration algorithm is used as the control method of the servo motor, the maximum acceleration can only be designed according to the output torque at the maximum speed of the servo motor, and the performance of the servo motor cannot be fully utilized

In addition, when the two algorithms of linear acceleration and deceleration and exponential acceleration and deceleration are used, the acceleration of the servo motor is not continuous, which has a certain flexible impact on the equipment body.

The S-shaped curve acceleration and deceleration algorithm is currently a widely used acceleration and deceleration control method in high-end CNC systems. Continuous, with limited control flexibility

Trigonometric function acceleration and deceleration algorithm, its speed change curve, acceleration change curve and jerk curve all change continuously, and the acceleration and deceleration flexibility is relatively high, but it does not consider the characteristics of constant torque operation below the rated speed of the servo motor, and cannot effectively use the rated speed of the servo motor The constant and maximum output torque in the next section fails to give full play to the performance of the servo motor, which in turn affects the production cycle of the servo press

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