A speed control method of automatic point drilling machine
A technology for speed control and drilling rigs, which is applied in the direction of electric speed/acceleration control, etc., can solve the problems of spot drilling rig material drill drop, material drilling position, equipment cost increase, spot drilling rig vibration, etc., to avoid material drill falling off and low cost , to meet the needs of the controller
Active Publication Date: 2022-03-01
ZHEJIANG UNIV OF TECH
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Problems solved by technology
The spot drilling stepping motor of the spot drilling machine needs to drive multiple dispensing heads and spot drilling bits to move at the same time during the working process, which is a relatively large load for the stepping motor, and the spot drilling stepping motor needs frequent acceleration and deceleration Movement, especially the acceleration and deceleration at high speed, often causes the point drill to vibrate
The use of servo motors can achieve better results, but servo motors are more expensive than stepping motors, and the cost of equipment increases; in addition, stepping motors for spot drilling need to speed up quickly to increase the working efficiency of the equipment, but the rapid speed up of stepping motors for spot drilling causes Sudden changes in speed will cause the material drill to fall off and the position of the material drill to shift in the spot drill
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[0015] Embodiments of the present invention will be further described below in conjunction with the accompanying drawings. refer to figure 1 and figure 2 , a kind of automatic point drilling machine speed control method, described method comprises the following steps:
[0016] 1)a max It is the maximum acceleration that can be tolerated according to the torque-frequency characteristics of the spot drill stepper motor and the mechanical structure of the spot drill; acceleration a s Through on-site testing, it can effectively prevent the material drill from falling off and the position of the material drill from shifting; the acceleration planning table (a 1 ,a 2 ,···,a n ), the subscripts 1 to n represent the planning sequence of the acceleration, and a represents the value of the acceleration;
[0017] 2) Point drill motor every acceleration cycle Δt n Perform a speed increase, Δt n is proportional to the current speed of the spot drill stepper motor, combined with st...
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An automatic point drilling machine speed control method, comprising the following steps: 1) draw the acceleration planning table (a 1 ,a 2 , , a n ); 2) Set the acceleration period of each acceleration as Δt n , Δt n Indicates that the current speed needs to be maintained before the nth acceleration to run Δt n time; Δt n is proportional to the current speed of the spot drill stepper motor, the minimum acceleration period is Δt, combined with step 1) to calculate the speed planning table of the motor (v 1 ,v 2 ,···,v n ) and the pulse planning table of the number of pulses required to reach the target speed (l 1 ,l 2 ,···,l n ); 3) Calculate the stroke L according to the target position and current position of the spot drilling motor, and the target speed is v p , combined with v p Compare with the values in the speed planning table and the pulse planning table of step 2) and L, and obtain the speed control curve conforming to the speed planning table and the pulse planning table. The invention proposes an automatic point drilling machine speed control method that can realize rapid speed increase of a point drilling stepping motor and improve the working stability and efficiency of the point drilling machine.
Description
technical field [0001] The invention belongs to the technical field of motion control, in particular to a method for controlling the speed of an automatic point drilling machine. Background technique [0002] In recent years, the item spot drilling industry has begun to use stepping motors to drive equipment for spot drilling instead of traditional manual methods, which has attracted more and more attention. The spot drilling stepping motor of the spot drilling machine needs to drive multiple dispensing heads and spot drilling bits to move at the same time during the working process, which is a relatively large load for the stepping motor, and the spot drilling stepping motor needs frequent acceleration and deceleration Movement, especially the acceleration and deceleration at high speed, often causes the point drill to vibrate. The use of servo motors can achieve better results, but servo motors are more expensive than stepping motors, and the cost of equipment increases; ...
Claims
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IPC IPC(8): G05D13/62
CPCG05D13/62
Inventor 董辉刘白龙周祥清季祥张宇
Owner ZHEJIANG UNIV OF TECH