An Optimal Control Method of Servo Driver Based on Turntable Control

Abstract

The invention relates to an optimized control method of a servo driver based on turntable control. The turntable controls the servo driver to analyze the instructions sent by the upper device to generate the shortest indexing displacement and motion direction required to reach the target indexing angle; through the speed curve planning algorithm , calculate the position interpolation value of each position loop cycle, and transmit the position interpolation value of each position loop cycle to the position loop module of the turntable control servo driver, and perform position closed-loop control to control the turntable indexing; the turntable indexing After arriving at the target position, the integral algorithm is used to complete the indexing to determine the positioning state of the turntable. On the premise of ensuring the efficiency of transposition execution, the present invention minimizes the impact of mechanical start-stop, eliminates the phenomenon of overcurrent caused by small inertia motors driving large inertia loads during the start-stop process, and ensures the utilization rate of equipment at the same time The service life of the equipment is extended.

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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