Optimal control method of servo driver based on turntable control

Abstract

The invention relates to an optimization control method for a servo driver based on turntable control, and the method comprises the steps: enabling the turntable control servo driver to analyze an instruction transmitted by an upper device, and generating the shortest transposition displacement and movement direction needed for reaching a target transposition angle; calculating a position interpolation value of each position loop period through a speed curve planning algorithm, transmitting the position interpolation value of each position loop period to a position loop module of a turntable control servo driver, performing position closed-loop control, and controlling turntable transposition; and after the turntable is rotated to a target position, determining the positioning state of theturntable by adopting a rotation completion integral algorithm. On the premise of ensuring transposition execution efficiency, mechanical start-stop impact is reduced to the maximum extent, the phenomenon that a small-inertia motor drives a large-inertia load to generate overcurrent in the start-stop process is eliminated, and the service life of equipment is prolonged while the utilization rateof the equipment is ensured.

Description

technical field [0001] The invention relates to the technical field of turntable control, in particular to an optimal control method of a servo driver based on turntable control. Background technique [0002] CNC turntable belongs to the key functional components of CNC machine tools. It is mainly used in the direction of machining centers and CNC boring and milling machines to provide rotary coordinates for machine tools, so as to realize equal, unequal or continuous rotary processing, and make customers process complex surfaces. Possibly, the processing range of the machine tool has been expanded. However, due to the late start of the development of domestic CNC turntables, domestic CNC turntable products have a certain gap compared with foreign products, and there are few mature special-purpose products for turntable control in China. The current popular turntable control schemes are based on general-purpose The servo drive uses the numerical control system to calculate ...

AI Technical Summary

Problems solved by technology

[0003] The disadvantage of the above control scheme is that the motion control of the upper device on the rotary axis such as the turntable is consistent with the control method of the linear axis, and the shortest indexing path is not planned, which leads to the actual indexing displacement in some cases It is longer than the ideal indexing displacement (for example, the turntable needs to rotate 1 / 4 turn clockwise to reach the target angle, but according to the control method of the linear axis, it will become 3 / 4 turn counterclockwise), which virtually prolongs the rotation. The running time of the position reduces the processing efficiency and also causes a waste of power resources; the host device judges whether the turntable is completed or not based on whether the received positioning completion signal of the servo drive is valid, and the servo drive in some cases (For example, the parameter setting is unreasonable or the servo motor does not match the load inertia, etc.), vibration will occur during the positioning process, but the positioning completion signal will still be reported to the upper device. At this time, if the upper device determines that the indexing action is completed, start workpiece processing process, it will cause overcutting of the workpiece

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