Rapid flexible mechanical beam end positioning algorithm for point-to-point small displacement translation

Abstract

The invention discloses a rapid flexible mechanical beam end positioning algorithm for point-to-point small displacement translation. The algorithm comprises: S1, a vibration period T0 of mechanical beam is calculated; S2, time of one period for point-to-point motion is divided into n equal parts equally, wherein the value of the n is equal to T0; S3, a speed vi at each equal part point is calculated; S4, the number Wi of pulses sent by a servo motor is calculated; and S5, interpolation computation of the pulse number Wn at the last equal part point n is carried out. Therefore, the system controller becomes simple and the operation becomes easy and reliable; because no extra hardware structure needs to be added, the system cost is reduced correspondingly and the post maintenance becomes easy. The algorithm can be widely applied to system equivalent to the flexible beam structure; and rapid and accurate positioning control of the point-to-point displacement translation can be realized.

Description

technical field [0001] The invention belongs to the technical field of numerical control machine tool control, in particular to a fast positioning algorithm for the end of a flexible mechanical beam used for point-to-point small displacement translation. Background technique [0002] At present, in the feeding mechanism of high-speed CNC punching machine, high-speed placement machine and high-speed packaging equipment, the end of the flexible motion mechanism can be regarded as a translational flexible mechanical beam system, which can be treated as a mechanical beam when performing high-speed, high acceleration / deceleration motion Make fast and frequent point-to-point small displacement movements in the plane, and require the mass at the end of the beam to be positioned at the target point with high precision. The requirements for the high-speed translational flexible beam system are not only to achieve high-speed movement, but also to achieve high speed instantaneously and...

AI Technical Summary

Problems solved by technology

[0003] In the actual engineering of mechanical beam simulation, it is generally difficult to install detection devices in the system to accurately obtain the response of the end of the beam; in addition, the sensor for measuring the state of the end of the beam is added in the first scheme, while the cost increases, due to the feedback detection The addition of components will also cause corresponding interference to the precision positioning system, so the solution (1) cannot be implemented

If you want to use the traditional scheme to make the translational beam system reach a high speed instantaneously, and the end of the beam can stop at the target point instantaneously, you must use the second scheme. However, piezoelectric ceramics have a good effect on vibration compensation for components with similar bending stiffness. However, when the bending stiffness of the component is greater than that of the piezoelectric ceramic, the compensation effect is significantly weakened, and since the piezoelectric ceramic is a brittle material, its compensation range for the corresponding component is also limited, so it cannot meet the mechanical requirements of different materials. Rapid positioning control of the end of the beam during its motion

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