Method, system, device, processor and storage medium for speed feedforward compensation processing based on bus servo control system

Abstract

The invention relates to a method for realizing speed feed-forward compensation processing based on a bus servo control system, wherein the method establishes a speed feed-forward ring buffer in the servo driver and periodically synchronizes speed feed-forward VFF compensation commands to support bus numerical control The system or the controller issues the position control command and the speed feedforward VFF compensation command, adds a cache operation in the speed feedforward ring buffer, and takes out the speed feedforward VFF compensation command and adds it to the speed command for compensation processing, and completes the fetching operate. The present invention also relates to a corresponding system, apparatus, processor and computer readable storage medium. The method, system, device, processor and computer-readable storage medium for speed feed-forward compensation processing based on the bus servo control system of the present invention are adopted, and the precise execution of the speed feed-forward VFF compensation command effectively overcomes the transmission component clearance and The constraint of static friction is conducive to more accurate capture of the driving reverse model during machining.

Description

technical field [0001] The present invention relates to the technical field of numerical control machining, in particular to the technical field of cutting and engraving and milling numerical control, and specifically refers to a method, system, device, processor and computer-readable storage medium for realizing speed feedforward compensation processing based on a bus servo control system. Background technique [0002] The problems that current technology usually has when performing CNC cutting and engraving and milling are as follows: [0003] 1. Over-quadrant problem. The feed shaft of the machine tool is affected by the gap and friction of the mechanical transmission parts during the transmission process, which leads to the over-quadrant problem caused by the reverse lag of the servo motor. If the compensation is performed through the position command, the purpose of immediate effect and compensation cannot be achieved. [0004] 2. Under the control of the bus, the exis...

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Problems solved by technology

[0003] 1. Over-quadrant problem. The feed shaft of the machine tool is affected by the gap and friction of the mechanical transmission parts during the transmission process, which leads to the lag of the servo motor reversal and causes the over-quadrant problem.

If the compensation is performed through the position command, the purpose of immediate effect and compensation cannot be achieved

[0004] 2. Under the control of the bus, the existing technology generally transmits the synchronous data packet of the speed feedforward VFF according to the state of the tool path, and handles the quadrant problem by controlling the amount of feedforward compensation, but the issued speed feedforward VFF command is in the drive The timing of execution in has a great influence on the final effect, and additional parameter debugging is often required

[0005] 3. When the general numerical control system or controller uses the bus speed feed-forward VFF compensation, it controls the sending timing by judging whether the current position command has changed direction. The speed feed-forward VFF is superimposed on the speed command of the speed loop inside the servo driver to compensate. Inside the servo drive, the position command and the feedback deviation need to be processed by the position loop module to obtain the speed command. In this way, the system will send the reverse position command and the speed feed-forward value to the driver when the position is reversed. At this time, the speed The speed of the ring command does not necessarily start to reverse; if the delay compensation of the speed feedforward VFF is performed in the CNC system, the delay cannot be accurately controlled for different servo drive parameters

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