精密卧式加工中心伺服驱动优化技术研究
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摘要
伺服驱动系统是精密卧式加工中心的重要组成部分,其性能的好坏直接影响着机床的加工精度。目前许多机床厂都会遇到伺服驱动系统优化方面的种种问题和困难,笔者在结合国家“高档数控机床与基础制造装备”科技重大专项子课题“精密卧式加工中心伺服驱动优化”实际项目的情况下,以优化机床伺服轴参数为目的,展开了下面的研究和论述。
文中对FANUC数控系统、模糊PID控制技术、自学习控制算法进行了简要的介绍;根据FANUC数控系统具有的CNC/PMC数据窗口功能,搭建了以FANUC的二次开发包FOCAS作为底层交互的软件层,采用以太网络作为测控联络的物理通路的控制系统硬件平台;对FANUC数控系统的伺服优化软件Servo-Guide和球杆仪测试组件如何优化伺服参数进行了分析。笔者根据大量的实验测试和数据分析,总结出一套更佳的参数设定及优化的方案。在机床伺服参数优化中,笔者引入了模糊控制技术和带自学习环节的模糊PID控制方法,并且根据经验数据分析,建立了模糊控制规则,完成了单模糊输入控制的实验研究;并在自学习环节中尝试性的提出了通过改变论域的奖惩学习算法修改控制规则表的方法。
在实际的联机过程中,所建立的调校平台能够自动运行伺服优化软件,正确的读取、显示参数信息和修改CNC系统的伺服参数,同时,根据优化效果控制测量组件及软件自动运行。
Servo drive system is an important part of a precision horizontal machining center, the performance directly impact on machining accuracy. Many machine tool factories will encounter problems and difficulties of the servo drive system optimization Currently, In combination of the " servo drive optimization of precision horizontal machining center " which is the sub-topic of the National " high-end CNC machine tools and basic manufacturing equipment" major science and technology actual project, for the purpose of optimize the parameters of the machine tool servo axis , carried out the research and discussed below.
In this paper, we introduced the FANUC CNC system, fuzzy PID control, algorithm of self-learning control briefly, According to our research target machine having CNC/PMC data window function, we built a control system’s hardware platform, whose physical layer was based on TCP/IP and underlying software layer was based on FANUC secondary development package FOCAS. And analyzed how to optimize the servo parameters by using the optimization software servo Servo-Guide of FANUC CNC system and the Ball Bar test components. Author summed up a better optimization solutions of parameter settings, on the basis of a lot of experimental tests and data analysis. Meanwhile, the technology of fuzzy control and the method of self-learning fuzzy PID control is introduced to the program of the servo drive optimization, established the fuzzy control rules according to analyzing of the empirical data. And trial proposed modifying the control rule table through the incentives-learning algorithm by changing the field in the part of the self-learning.
The platform can adjust the server optimization software, properly read, display the information of parameters, and modify the servo parameters of CNC system automatically in the online process. Meanwhile, according to the optimal effect to control measure components and it’s software run automatically.
文中对FANUC数控系统、模糊PID控制技术、自学习控制算法进行了简要的介绍;根据FANUC数控系统具有的CNC/PMC数据窗口功能,搭建了以FANUC的二次开发包FOCAS作为底层交互的软件层,采用以太网络作为测控联络的物理通路的控制系统硬件平台;对FANUC数控系统的伺服优化软件Servo-Guide和球杆仪测试组件如何优化伺服参数进行了分析。笔者根据大量的实验测试和数据分析,总结出一套更佳的参数设定及优化的方案。在机床伺服参数优化中,笔者引入了模糊控制技术和带自学习环节的模糊PID控制方法,并且根据经验数据分析,建立了模糊控制规则,完成了单模糊输入控制的实验研究;并在自学习环节中尝试性的提出了通过改变论域的奖惩学习算法修改控制规则表的方法。
在实际的联机过程中,所建立的调校平台能够自动运行伺服优化软件,正确的读取、显示参数信息和修改CNC系统的伺服参数,同时,根据优化效果控制测量组件及软件自动运行。
Servo drive system is an important part of a precision horizontal machining center, the performance directly impact on machining accuracy. Many machine tool factories will encounter problems and difficulties of the servo drive system optimization Currently, In combination of the " servo drive optimization of precision horizontal machining center " which is the sub-topic of the National " high-end CNC machine tools and basic manufacturing equipment" major science and technology actual project, for the purpose of optimize the parameters of the machine tool servo axis , carried out the research and discussed below.
In this paper, we introduced the FANUC CNC system, fuzzy PID control, algorithm of self-learning control briefly, According to our research target machine having CNC/PMC data window function, we built a control system’s hardware platform, whose physical layer was based on TCP/IP and underlying software layer was based on FANUC secondary development package FOCAS. And analyzed how to optimize the servo parameters by using the optimization software servo Servo-Guide of FANUC CNC system and the Ball Bar test components. Author summed up a better optimization solutions of parameter settings, on the basis of a lot of experimental tests and data analysis. Meanwhile, the technology of fuzzy control and the method of self-learning fuzzy PID control is introduced to the program of the servo drive optimization, established the fuzzy control rules according to analyzing of the empirical data. And trial proposed modifying the control rule table through the incentives-learning algorithm by changing the field in the part of the self-learning.
The platform can adjust the server optimization software, properly read, display the information of parameters, and modify the servo parameters of CNC system automatically in the online process. Meanwhile, according to the optimal effect to control measure components and it’s software run automatically.
引文
[1]方石银.高职高专数控加工与编程课程的教学探索.重庆文理学院学报, 2010, 29(3): 102-105
[2]李佳特. FANUC的伺服驱动装置.世界制造技术与装备市场, 2005, (2): 94-97
[3]尹霞.数控伺服系统模糊PID控制仿真研究.装备制造技术, 2008, (11): 103-104
[4]发展我国伺服驱动产业的探讨.深圳市长荣工控器材有限公司. http://www.sziai.com /news_18.html
[5]我国高精高速伺服驱动技术现状和发展趋势.中国自动化招聘网. http://www. autozhaopin.com/News/30201051233520. html
[6] Ziegler J G Nichols N B. Optimum settings for automatic controllers[J]. 1942 Trans. ASME, Vol. 64: 759-768
[7] Astrom K J, Hagglund T, Hang C C, et al. Automatic tuning and adaptation for PID Controllers A survey[J]. 1993 Control Eng. Practice, Vol.4: 699-714
[8]朱仕学.数控机床精度检测及提高的应用研究.制造技术与机床, 2010,(7): 133-136
[9] Fanuc Automation Group, Connection Manual(Function) of Series 30i-Model A, Nuernberg: Fanuc, 2003
[10] Fanuc Automation Group, Connection Manual(Hardware) of Series 30i-Model A, Nuernberg: Fanuc, 2003
[11] Fanuc Automation Group, Parameter Manual of Series 30i-Model A, Nuernberg: Fanuc, 2003
[12] Fanuc Automation Group, User’s Manual of Series 30i-Model A, Nuernberg: Fanuc, 2003
[13] Fanuc Automation Group, Operator’s Manual of Series 30i-Model A, Nuernberg: Fanuc, 2003
[14]杨国栋.数控机床伺服调整在机床调试中的重要性.制造技术与机床, 2010,(5): 132-134
[15]杨诚.西门子611D驱动优化的工程应用研究: [工程硕士学位论文].上海:同济大学, 2007
[16]杨诚.西门子611D驱动工程应用的优化研究.制造技术与机床, 2008, (3): 53-56
[17]钱逸秋.高速高精度数控加工中轨迹误差的抑制方法及其应用.组合机床与自动化加工技术, 2009, (12): 41-44
[18]黄才胜. MAHO 600卧式加工中心数控系统改造: [工程硕士学位论文].成都:四川大学2005
[19]贾正春. PMSM伺服控制的数字电流环研究.华中理工大学学报, 1994,22(3): 117-121
[20]朱仕学. HRV控制对数控机床加工质量的作用及方法.制造业自动化, 2009,31(5): 32-33
[21]陈芳.数控机床伺服参数设定与调整.机床与液压, 2009,37(7): 53-55
[22]诸静.模糊控制理论与系统原理.北京:机械工业出版社,2005, 12-13
[23]吴建华.水泥回转窑模糊控制器骨架系统研究: [硕士学位论文].长沙:中南大学,2005
[24]马磊.基于模糊PI控制的推进电机调速研究: [硕士学位论文].武汉:华中科技大学,2006
[25]周鹏.基于模糊免疫PID控制器的温度控制系统.机电工程技术, 2010,39(4): 94-95
[26] Mishra M K, Kothari A G, Kothari D P, et al. Development of a fuzzy logic controller for servo systems. 1998 IEEE Region 10 International Conference on Global Connectivity in Energy, Computer, Communication and Control, Vol.1: 204-207
[27]赵炜.一种在线模糊控制的锅炉过热蒸汽温度调节方法.计算技术与自动化,2007,26(2): 27-30
[28] Pappis Cp. Mandani E.H.A Fuzzy Logical Controller for Traffic Junction[J]. 1997 IEEE Trans on SMC, Vol. 7(10): 707-717
[29] LiZhuo. A On-line Rule/Parameter Adaptive Fuzzy Controller[C]. 1994 Proc.3th IEEE International conference. On Fuzzy System
[30] Mohammad Ali Livani, Scheduling hard and soft real-time communication in a controller area network. 2000 Control Engineering Practice. Vol.7: 1515-1523
[31] Eduardo Tovar. Supporting real-time distributed computer-controlled systems with multi-hop P-NET networks. 2000 Control Engineering Practice. Vol.7: 1015-1025
[32] Zhihong Xiu, Guang Ren. Optimization Design of TS-PID Fuzzy Controller Based on Genetic Algorithms [C]. 2004 Intelligent Control and Automation,WCICA2004, 5th World Congress, Vol.3: 2476-2480
[33] Tao Wu, Yikang Yang, Yongxuan Huang, et al. PID Controller Parameters Tuning via Genetic Algorithms [C]. 2000 Intelligent Control and A utomation. Proceedings of the 3rd World Congress, Vol.1: 586-589
[34]袁凤莲. Fuzzy自整定PID控制器设计及其MATLAB仿真.沈阳航空工业学院学报,2006,23(1):71-73
[35]赵佑初.控制领域中的PID控制方法探讨.科技创新导报, 2008,16(19):28-29
[36] Kiyong Kim,Sehaefe,R.C. Tuning PID Controller for a Digital Excitation Control System[C]. 2004 Pulp and Paper Industry Technical Conference, Vol.1: 94-101
[37] Xie S.Q.,Duan Z.C., Shaw A., et al. A Fuzzy Integral Sliding Mode Control Algorithm for High-Speed Laser Beam Focus Tracking Control[J]. 2002 The International journal of Advanced Manufacturing Technology, Vol.20(4): 296-302
[38] Haber R.E., Alique J.R., Alique A., et al. Embedded Fuzzy Control System: Application to an Electromechanical System[J]. 2003 Lecture Notes in Computer Science, Vol.2658: 812-821
[39] Rodolof E Haber, Jose R. Alique, et al. Embedded Fuzzy Control System in an open Computerized Numerical Control: A technology Transfer Case-Study[J]. 2003 Lecture Notes in Computer Science, Vol.2715: 442-449
[40] Astron, K.J& Hagglund (1984). Automatic tuning of simple regulation. Proceeding of 9th IFAC World Congress,Budapest,1867-1872
[41]潘耀.参数自调整模糊控制在空调系统中的应用.仪器仪表用户, 2009,16(01):79-80
[42]赵鑫.时滞系统模糊整定PID控制的仿真研究.计算机仿真, 2006,11:211-213
[43] Lee C.C. Fuzzy logic in control systems. fuzzy logic controller systems, 1990 Fuzzy logic controller-part1.IEEE.Trans on SMC. Vol. 2: 404-435
[44] Sugeno M.An introductory survey of fuzzy control. 1985 Information Science, Vol.36:59-83
[45] Kazuo Tanaka, Hua O.Wang.A Multiple Lyapunov Function Approach to Stablization of Fuzzy Control System.IEEE Trans on Fuzzy Systems. 2003(11)
[46]李士勇.模糊控制.神经控制和智能控制论.哈尔滨:哈尔滨工业大学出版社,1996, 506-507
[47]徐定成.基于自学习的模糊PID参数自整定技术及其应用研究: [硕士学位论文].重庆:重庆大学,2006
[48]石辛民.模糊控制及其MATLAB仿真.北京:清华大学出版社,2008, 150-180
[2]李佳特. FANUC的伺服驱动装置.世界制造技术与装备市场, 2005, (2): 94-97
[3]尹霞.数控伺服系统模糊PID控制仿真研究.装备制造技术, 2008, (11): 103-104
[4]发展我国伺服驱动产业的探讨.深圳市长荣工控器材有限公司. http://www.sziai.com /news_18.html
[5]我国高精高速伺服驱动技术现状和发展趋势.中国自动化招聘网. http://www. autozhaopin.com/News/30201051233520. html
[6] Ziegler J G Nichols N B. Optimum settings for automatic controllers[J]. 1942 Trans. ASME, Vol. 64: 759-768
[7] Astrom K J, Hagglund T, Hang C C, et al. Automatic tuning and adaptation for PID Controllers A survey[J]. 1993 Control Eng. Practice, Vol.4: 699-714
[8]朱仕学.数控机床精度检测及提高的应用研究.制造技术与机床, 2010,(7): 133-136
[9] Fanuc Automation Group, Connection Manual(Function) of Series 30i-Model A, Nuernberg: Fanuc, 2003
[10] Fanuc Automation Group, Connection Manual(Hardware) of Series 30i-Model A, Nuernberg: Fanuc, 2003
[11] Fanuc Automation Group, Parameter Manual of Series 30i-Model A, Nuernberg: Fanuc, 2003
[12] Fanuc Automation Group, User’s Manual of Series 30i-Model A, Nuernberg: Fanuc, 2003
[13] Fanuc Automation Group, Operator’s Manual of Series 30i-Model A, Nuernberg: Fanuc, 2003
[14]杨国栋.数控机床伺服调整在机床调试中的重要性.制造技术与机床, 2010,(5): 132-134
[15]杨诚.西门子611D驱动优化的工程应用研究: [工程硕士学位论文].上海:同济大学, 2007
[16]杨诚.西门子611D驱动工程应用的优化研究.制造技术与机床, 2008, (3): 53-56
[17]钱逸秋.高速高精度数控加工中轨迹误差的抑制方法及其应用.组合机床与自动化加工技术, 2009, (12): 41-44
[18]黄才胜. MAHO 600卧式加工中心数控系统改造: [工程硕士学位论文].成都:四川大学2005
[19]贾正春. PMSM伺服控制的数字电流环研究.华中理工大学学报, 1994,22(3): 117-121
[20]朱仕学. HRV控制对数控机床加工质量的作用及方法.制造业自动化, 2009,31(5): 32-33
[21]陈芳.数控机床伺服参数设定与调整.机床与液压, 2009,37(7): 53-55
[22]诸静.模糊控制理论与系统原理.北京:机械工业出版社,2005, 12-13
[23]吴建华.水泥回转窑模糊控制器骨架系统研究: [硕士学位论文].长沙:中南大学,2005
[24]马磊.基于模糊PI控制的推进电机调速研究: [硕士学位论文].武汉:华中科技大学,2006
[25]周鹏.基于模糊免疫PID控制器的温度控制系统.机电工程技术, 2010,39(4): 94-95
[26] Mishra M K, Kothari A G, Kothari D P, et al. Development of a fuzzy logic controller for servo systems. 1998 IEEE Region 10 International Conference on Global Connectivity in Energy, Computer, Communication and Control, Vol.1: 204-207
[27]赵炜.一种在线模糊控制的锅炉过热蒸汽温度调节方法.计算技术与自动化,2007,26(2): 27-30
[28] Pappis Cp. Mandani E.H.A Fuzzy Logical Controller for Traffic Junction[J]. 1997 IEEE Trans on SMC, Vol. 7(10): 707-717
[29] LiZhuo. A On-line Rule/Parameter Adaptive Fuzzy Controller[C]. 1994 Proc.3th IEEE International conference. On Fuzzy System
[30] Mohammad Ali Livani, Scheduling hard and soft real-time communication in a controller area network. 2000 Control Engineering Practice. Vol.7: 1515-1523
[31] Eduardo Tovar. Supporting real-time distributed computer-controlled systems with multi-hop P-NET networks. 2000 Control Engineering Practice. Vol.7: 1015-1025
[32] Zhihong Xiu, Guang Ren. Optimization Design of TS-PID Fuzzy Controller Based on Genetic Algorithms [C]. 2004 Intelligent Control and Automation,WCICA2004, 5th World Congress, Vol.3: 2476-2480
[33] Tao Wu, Yikang Yang, Yongxuan Huang, et al. PID Controller Parameters Tuning via Genetic Algorithms [C]. 2000 Intelligent Control and A utomation. Proceedings of the 3rd World Congress, Vol.1: 586-589
[34]袁凤莲. Fuzzy自整定PID控制器设计及其MATLAB仿真.沈阳航空工业学院学报,2006,23(1):71-73
[35]赵佑初.控制领域中的PID控制方法探讨.科技创新导报, 2008,16(19):28-29
[36] Kiyong Kim,Sehaefe,R.C. Tuning PID Controller for a Digital Excitation Control System[C]. 2004 Pulp and Paper Industry Technical Conference, Vol.1: 94-101
[37] Xie S.Q.,Duan Z.C., Shaw A., et al. A Fuzzy Integral Sliding Mode Control Algorithm for High-Speed Laser Beam Focus Tracking Control[J]. 2002 The International journal of Advanced Manufacturing Technology, Vol.20(4): 296-302
[38] Haber R.E., Alique J.R., Alique A., et al. Embedded Fuzzy Control System: Application to an Electromechanical System[J]. 2003 Lecture Notes in Computer Science, Vol.2658: 812-821
[39] Rodolof E Haber, Jose R. Alique, et al. Embedded Fuzzy Control System in an open Computerized Numerical Control: A technology Transfer Case-Study[J]. 2003 Lecture Notes in Computer Science, Vol.2715: 442-449
[40] Astron, K.J& Hagglund (1984). Automatic tuning of simple regulation. Proceeding of 9th IFAC World Congress,Budapest,1867-1872
[41]潘耀.参数自调整模糊控制在空调系统中的应用.仪器仪表用户, 2009,16(01):79-80
[42]赵鑫.时滞系统模糊整定PID控制的仿真研究.计算机仿真, 2006,11:211-213
[43] Lee C.C. Fuzzy logic in control systems. fuzzy logic controller systems, 1990 Fuzzy logic controller-part1.IEEE.Trans on SMC. Vol. 2: 404-435
[44] Sugeno M.An introductory survey of fuzzy control. 1985 Information Science, Vol.36:59-83
[45] Kazuo Tanaka, Hua O.Wang.A Multiple Lyapunov Function Approach to Stablization of Fuzzy Control System.IEEE Trans on Fuzzy Systems. 2003(11)
[46]李士勇.模糊控制.神经控制和智能控制论.哈尔滨:哈尔滨工业大学出版社,1996, 506-507
[47]徐定成.基于自学习的模糊PID参数自整定技术及其应用研究: [硕士学位论文].重庆:重庆大学,2006
[48]石辛民.模糊控制及其MATLAB仿真.北京:清华大学出版社,2008, 150-180