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Speed feedforward over-quadrant compensation method and device based on field bus

A field bus and compensation method technology, applied in the field of quadrant compensation, can solve the problems of inability to obtain compensation information, complex physical model, difficult to implement, etc., and achieve the effect of reducing complexity, reducing errors, and making it easier to implement

Active Publication Date: 2020-12-15
智准云(苏州)技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, using the position loop for compensation requires the introduction of more variables, the physical model is complex, too indirect, not easy to implement, and more direct compensation information cannot be obtained

Method used

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  • Speed feedforward over-quadrant compensation method and device based on field bus
  • Speed feedforward over-quadrant compensation method and device based on field bus
  • Speed feedforward over-quadrant compensation method and device based on field bus

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0025] Reference manual attached Figure 1-3 , which shows a fieldbus-based speed feedforward cross-quadrant compensation method provided by an embodiment of the present application. The method sets a compensation period in the upper computer of the numerical control system, and includes the following steps in each compensation period,

[0026] S101: Obtain command position and command speed;

[0027] Specifically, the command position is calculated by the upper computer of the numerical control system. In an optional embodiment, the command position is obtained by the upper computer of the numerical control system according to the analysis and interpolation calculation of the NC file.

[0028] Specifically, the command speed can be obtained by subtracting the command positions of two adjacent compensation periods. For example, the command speed of the current compensation period is obtained by subtracting the command position of the current period from the command position ...

Embodiment 2

[0054] Reference manual attached Figure 5 , which shows a fieldbus-based speed feedforward cross-quadrant compensation device provided by an embodiment of the present application, which is used to implement the method in the above method embodiment, the device includes:

[0055] An acquisition unit 11, configured to acquire a command position and a command speed;

[0056] Judging unit 12, for judging whether to cross the quadrant according to the command speed;

[0057] The calculation unit 13 is used to preset the speed feed-forward compensation model, and calculate the speed feed-forward according to the speed feed-forward compensation model when a quadrant occurs;

[0058] The communication unit 14 is used to send the command position, speed feedforward and control word to the servo motor through the field bus.

[0059] In an optional embodiment, in the judging unit 12, judging whether to cross the quadrant according to the command speed includes,

[0060] Obtain the si...

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Abstract

The invention provides a speed feedforward over-quadrant compensation method and device based on a field bus. According to the method, a compensation period is set in an upper computer of a numericalcontrol system, and each compensation period includes the steps of: acquiring a command position and a command speed; judging whether a quadrant is passed according to the command speed; if the quadrant is passed, calculating speed feedforward according to a speed feedforward compensation model; if the quadrant is not passed, recording the speed feedforward as 0; and sending the command position,the speed feedforward and a control word to a servo motor through the field bus. The speed feedforward compensation model is set, the speed feedforward is calculated and acts on the servo motor for compensation, the speed feedforward compensation model is closer to an actual model of friction force, and the method can adapt to more machining scenes; track deformation caused by friction force is reduced, errors are reduced, and a more ideal machining effect is achieved; and meanwhile, the complexity of a physical model is reduced, and the method is easier to implement, further adapts to engineering application and adapts to various servos.

Description

technical field [0001] The present disclosure relates to the technical field of numerical control machining, in particular to a method and device for over-quadrant compensation based on fieldbus speed feedforward. Background technique [0002] During the working process of the numerical control system, the real-time position that the servo motor should reach from the upper computer of the numerical control system to the servo motor is called the command position, and the real-time position that the servo motor actually reaches by the servo motor to the upper computer of the numerical control system is called the feedback position. When crossing the quadrant, the trajectory will be distorted due to the friction force, and without compensation, the command position and the feedback position will deviate. Over-quadrant error compensation, also known as friction compensation. At the cross-quadrant, the CNC system adds additional compensation values ​​to ensure higher machining ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/404G05B19/416
CPCG05B19/404G05B19/416G05B2219/45136
Inventor 周俊华金东杨帆朱飞
Owner 智准云(苏州)技术有限公司