仿形铣切飞锯的运动控制
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摘要
数控仿形铣切飞锯机的研制和开发,使得原来传统的焊管切割技术得到了极大的改变。其中运动控制技术是数控飞锯机的关键技术,决定了飞锯机切管的效率、精度和质量等。目前国内能同时实现对不同形状焊管的在线切割的数控飞锯机不多,并且很多飞锯机在对焊管切割时定尺精度不高,无法实现对于大口径、高强度焊管的在线锯切。因此对于飞锯机控制系统以及运动方式的研究极为重要。
本文介绍的仿形铣切飞锯机的控制系统以TRIO-MC206运动控制器为核心,工业PC机为系统支撑单元,软件上以Windows系统为平台,采用应用软件MotionPerfect2来实现对飞锯机运动轨迹的编程控制以及其他一些辅助控制程序。通过TRIO-PC ActiveX控件来实现TRIO运动控制器和上位机之间的通讯,该控制系统性能稳定,主机与TRIO控制器响应速度快,能够实现对于大口径圆、方矩形管的在线定尺切割并能对切割误差进行补偿,提高了切割精度。
本文通过分析仿形铣切飞锯机的工作原理,来拟定对于圆、方矩形焊管的切割方案以及对于运动程序的设计;首先分析仿形铣切飞锯机的拖动系统即飞锯车在不同运动阶段的速度、加速度以及位移的多种运动曲线,选择最优的运动轨迹,并且根据控制系统中出现的实际问题,对速度采集的滞后、非线性速比以及由于震动所引起的焊管测量长度误差的消除等多个问题进行研究;其次通过VC++来模拟分析飞锯车采用不同运动曲线的运动效果,同时采用PRO/E来模拟分析切割不同形状焊管的过程中锯片的运动状态;最后通过TRIO的软件编程实现对于飞锯机的运动控制。
The research and development of the CNC Flying Saw, making the original conventional technology of cutting pipe has greatly changed. The motion control technology which is the key technology of CNC flying saw, deciding the flying saw's cutting efficiency, accuracy and quality and so on. At present, there are few CNC Flying Saw can achieve the technology of continuous cutting on moving pipes with various shapes ,and a lot of cutting length accuracy is not high, what’s more, they can not achieve the technology of cutting on moving pipes which are large-diameter, high strength. Therefore, the research of the Flying Saw's control system and the way of movement is extremely important.
This article introduced the control system of the Profile Milling Flying Saw based on the motion controller TRIO-MC206, use the industrial PC as the system's supporting unit, use the Windows system as the software platform, use the application software MotionPerfect2 to achieve the programming control of the Flying Saw's trajectory and other auxiliary control procedures. By the TRIO-PC ActiveX to achieve the communication between the TRIO motion controller and the host computer. This control system is very stable, and the response between the TRIO controller and the host computer is very fast. It can achieve the technolo -gy of cutting the moving pipes which are large-diameter or rectangular into specified length and can compensate the cutting error, improving the cutting accuracy.
In this article, by analyzing the working principle of the Profile Milling Flying Saw, we can to prepare the cutting program of the round or rectangular pipe and to design the motion control program. First analysis the profile milling flying saw's drag system that is flying saw car's variety motion curve, including it's speed, acceleration and displacement at different stages, choose the best motion trajectory. And according to the practical problems in the control system, to research the speed of delay, non-linear ratio and to elimination the error of the length measurement which caused by the vibration. Followed by using VC + + to simulate and analysis the motion effect produced by the Flying Saw car's different motion curves, at the same time using PRO / E to simulate and analysis the saw's motion state when cutting different shapes pipe. Finally, achieve the Flying Saw's motion control by the TRIO software program.
本文介绍的仿形铣切飞锯机的控制系统以TRIO-MC206运动控制器为核心,工业PC机为系统支撑单元,软件上以Windows系统为平台,采用应用软件MotionPerfect2来实现对飞锯机运动轨迹的编程控制以及其他一些辅助控制程序。通过TRIO-PC ActiveX控件来实现TRIO运动控制器和上位机之间的通讯,该控制系统性能稳定,主机与TRIO控制器响应速度快,能够实现对于大口径圆、方矩形管的在线定尺切割并能对切割误差进行补偿,提高了切割精度。
本文通过分析仿形铣切飞锯机的工作原理,来拟定对于圆、方矩形焊管的切割方案以及对于运动程序的设计;首先分析仿形铣切飞锯机的拖动系统即飞锯车在不同运动阶段的速度、加速度以及位移的多种运动曲线,选择最优的运动轨迹,并且根据控制系统中出现的实际问题,对速度采集的滞后、非线性速比以及由于震动所引起的焊管测量长度误差的消除等多个问题进行研究;其次通过VC++来模拟分析飞锯车采用不同运动曲线的运动效果,同时采用PRO/E来模拟分析切割不同形状焊管的过程中锯片的运动状态;最后通过TRIO的软件编程实现对于飞锯机的运动控制。
The research and development of the CNC Flying Saw, making the original conventional technology of cutting pipe has greatly changed. The motion control technology which is the key technology of CNC flying saw, deciding the flying saw's cutting efficiency, accuracy and quality and so on. At present, there are few CNC Flying Saw can achieve the technology of continuous cutting on moving pipes with various shapes ,and a lot of cutting length accuracy is not high, what’s more, they can not achieve the technology of cutting on moving pipes which are large-diameter, high strength. Therefore, the research of the Flying Saw's control system and the way of movement is extremely important.
This article introduced the control system of the Profile Milling Flying Saw based on the motion controller TRIO-MC206, use the industrial PC as the system's supporting unit, use the Windows system as the software platform, use the application software MotionPerfect2 to achieve the programming control of the Flying Saw's trajectory and other auxiliary control procedures. By the TRIO-PC ActiveX to achieve the communication between the TRIO motion controller and the host computer. This control system is very stable, and the response between the TRIO controller and the host computer is very fast. It can achieve the technolo -gy of cutting the moving pipes which are large-diameter or rectangular into specified length and can compensate the cutting error, improving the cutting accuracy.
In this article, by analyzing the working principle of the Profile Milling Flying Saw, we can to prepare the cutting program of the round or rectangular pipe and to design the motion control program. First analysis the profile milling flying saw's drag system that is flying saw car's variety motion curve, including it's speed, acceleration and displacement at different stages, choose the best motion trajectory. And according to the practical problems in the control system, to research the speed of delay, non-linear ratio and to elimination the error of the length measurement which caused by the vibration. Followed by using VC + + to simulate and analysis the motion effect produced by the Flying Saw car's different motion curves, at the same time using PRO / E to simulate and analysis the saw's motion state when cutting different shapes pipe. Finally, achieve the Flying Saw's motion control by the TRIO software program.
引文
[1]张玉华柴晓艳.φ325全自动数控飞锯机运动分析[J].重型机械,2003(1).
[2]郭继富郑红燕等.ERW钢管的数控仿形锯切技术概述[J].焊管,2006(3).
[3]阮诚中.仿形铣切锯优化切割控制的控制方法研究[D].上海:同济大学机械学院,2005.
[4]李勇李伟光.机械设备数控技术[M].北京:国防工业出版社,2003.
[5]张晓君徐泽宁.φ400数控飞锯机的设计[J].鞍山科技大学学报,2006(4).
[6]林健康.马鞍形切管机的研制[J].机电工程技术,2003(1).
[7] Yang Minyang. A PC-NC Milling Machine With new Simultaneous Axis Control Algorithm[J]. International of Manufacture,2001(3).
[8] S H,Yang M Y. A study on a generalized parametric interpolator with real-time jerk-limited acceler -ation. [J]Computer Aided Design.2004(1).
[9]易朝亮.新型数控仿形铣切锯的研究与开发[D].浙江:浙江大学机能学院,2008.
[10]矫庆春黄晓娟等.大规格数控仿形铣切飞锯机[J].焊管,2006(11).
[11]潘松峰.基于运动控制卡的高精度伺服系统研究[D].青岛:青岛大学机械学院,2009.
[12]罗学科谢富春.数控原理与数控机床[M].北京:化学工业出版社工业装备与信息工程出版中心,2004.
[13]王文彩李广才.直焊管飞锯切割微机控制系统[J].电测与仪表,1990(3).
[14]贺昱曜.运动控制系统[M].西安:西安电子科技大学出版社,2009(10).
[15] Frederick M proctor. Open-architecture controllers[J].IEEESpectrum,1997(6).
[16]张吉堂刘永姜等.现代数控原理及控制系统[M].北京:国防工业出版社,2009(5).
[17]王爱玲王俊元等.现代数控机床伺服及检测技术[M].北京:国防工业出版社,2009(5).
[18]丛爽李泽湘.实用运动控制技术[M].北京:电子工业出版社,2006(3).
[19]舒志兵.交流伺服运动控制系统[M].北京:清华大学出版社,2008(5).
[20] Y Altintas. Open Architecture Modular Tool Kit for Motion and Maching process Control[J].Annals of the CIRP,1997(1).
[21]张晓江黄云志.自动控制系统计算机仿真[M].北京:机械工业大学出版,2008(3).
[22]廖晓钟刘向东.控制系统分析与设计[M].北京:清华大学出版社,2009(6).
[23]李宁陈桂.运动控制系统[M].北京:高等教育出版社,2005(3).
[24]聂秋根陈光明.数控加工实用技术[M].北京:电子工业出版社,2004(9).
[25] Yeh S S, Hsu P L .The speed - controlled interpolator for machining parametric curve [J]. Computer Aided Design,1999(6).
[26] Trio Motion Technology Ltd. Trio Motion Control cont[K].United Kingdom: Trio Motion Technolo- gy Ltd,2004.
[27] Yusuf Altintas.数控技术与制造自动化[M].北京:化学工业出版社,2003(6).
[28]戴文进.电机学[M].北京:清华大学出版社,2008(4).
[29]郑凤翼孟庆涛.电动机控制电路[M].北京:人民邮政出版社,2006(9).
[30]寇宝泉程树康.交流伺服电机及控制[M].北京:机械工业出版社,2002(8).
[31]辜承林熊永前等.电机学[M].北京:中国电力出版社,2001(9).
[32]杨耕罗应立等.电机与运动控制系统[M].北京:清华大学出版社,2009(6).
[33]邓星钟朱承高.机电传动控制(第三版)[M].武汉:华中科技大学出版社,2000(6).
[34]寇宝泉程树康.交流伺服电机及其控制[M].北京:机械工业出版社,2008(3).
[35]张玉华柴晓艳.伺服飞锯机的控制系统和运动分析[J].制造业自动化,2004(3).
[36]柴晓艳.飞锯机随动系统运动分析[J].重型机械,2008(1).
[37]沈嘉琪.火焰自动切管机割炬轨迹控制的研究[D].天津:天津大学机械学院,2002.
[38]徐微莉曹柱中等.自动控制理论与设计[M].上海:上海交通大学出版社,2001(3).
[39] Yesh SS,Hsu P L. The speed-controlled interpolator for machining parametric curves[J].Computer- Aided Design, 1999(6).
[40] Yuhua Zhang Zhinan Su. The s-curve motion analysis of servo flying saw’s chasing segment[J]. International Workshop on Mechanic Automation and Control Engineering (MACE 2010),2010(6).
[41] Yuhua Zhang Zhinan Su. Motion Control of Milling Flying Saw Based on the Controller MC206[J]. The 2nd International Conference on Information Science and Engineering (ICISE 2010),2010(12).
[42]孔鹏. Visual C++ 6.0完全自学手册[M].北京:机械工业出版社,2007(1).
[43]梁建武陈英. Visual C++程序设计教程[M].北京:中国水利水电出版社,2006(4).
[44]郭文平王跃存. Visual C++基础教程[M].西安:西安电子科技大学出版社,2006(9).
[45]张宏军.Visual C++ 6.0编程案例精解[M].北京:电子工业出版社.2003(7).
[46]康博创作室.Visual C++ 6.0开发使用教程[M].北京:人民邮电出版社.1998(1).
[47]孙江宏黄小龙. Pro/ENGINEER Wildfire(野火版)数控加工教程[M].北京:清华大学出版社,2003(9).
[48]张滢. Pro/E Wildfire数控加工及二次开发技术[M].北京:机械工业出版社,2006(2).
[49]白晶胡仁喜等.精通Pro/ENGINEER野火版3.0数控加工-典型实例、专业讲解[M].北京:电子工业出版社,2006(12).
[50]韩玉龙. Pro/ENGNEER wildfire组件设计与运动仿真专业教程[M].北京:清华大学出版社, 2005(12).
[51]李文龙.仿形数控飞锯机控制系统研究[D].天津理工大学机械工程学院,2009(3).
[52] www.triomotion.com
[53]运动控制器技术参考手册
[2]郭继富郑红燕等.ERW钢管的数控仿形锯切技术概述[J].焊管,2006(3).
[3]阮诚中.仿形铣切锯优化切割控制的控制方法研究[D].上海:同济大学机械学院,2005.
[4]李勇李伟光.机械设备数控技术[M].北京:国防工业出版社,2003.
[5]张晓君徐泽宁.φ400数控飞锯机的设计[J].鞍山科技大学学报,2006(4).
[6]林健康.马鞍形切管机的研制[J].机电工程技术,2003(1).
[7] Yang Minyang. A PC-NC Milling Machine With new Simultaneous Axis Control Algorithm[J]. International of Manufacture,2001(3).
[8] S H,Yang M Y. A study on a generalized parametric interpolator with real-time jerk-limited acceler -ation. [J]Computer Aided Design.2004(1).
[9]易朝亮.新型数控仿形铣切锯的研究与开发[D].浙江:浙江大学机能学院,2008.
[10]矫庆春黄晓娟等.大规格数控仿形铣切飞锯机[J].焊管,2006(11).
[11]潘松峰.基于运动控制卡的高精度伺服系统研究[D].青岛:青岛大学机械学院,2009.
[12]罗学科谢富春.数控原理与数控机床[M].北京:化学工业出版社工业装备与信息工程出版中心,2004.
[13]王文彩李广才.直焊管飞锯切割微机控制系统[J].电测与仪表,1990(3).
[14]贺昱曜.运动控制系统[M].西安:西安电子科技大学出版社,2009(10).
[15] Frederick M proctor. Open-architecture controllers[J].IEEESpectrum,1997(6).
[16]张吉堂刘永姜等.现代数控原理及控制系统[M].北京:国防工业出版社,2009(5).
[17]王爱玲王俊元等.现代数控机床伺服及检测技术[M].北京:国防工业出版社,2009(5).
[18]丛爽李泽湘.实用运动控制技术[M].北京:电子工业出版社,2006(3).
[19]舒志兵.交流伺服运动控制系统[M].北京:清华大学出版社,2008(5).
[20] Y Altintas. Open Architecture Modular Tool Kit for Motion and Maching process Control[J].Annals of the CIRP,1997(1).
[21]张晓江黄云志.自动控制系统计算机仿真[M].北京:机械工业大学出版,2008(3).
[22]廖晓钟刘向东.控制系统分析与设计[M].北京:清华大学出版社,2009(6).
[23]李宁陈桂.运动控制系统[M].北京:高等教育出版社,2005(3).
[24]聂秋根陈光明.数控加工实用技术[M].北京:电子工业出版社,2004(9).
[25] Yeh S S, Hsu P L .The speed - controlled interpolator for machining parametric curve [J]. Computer Aided Design,1999(6).
[26] Trio Motion Technology Ltd. Trio Motion Control cont[K].United Kingdom: Trio Motion Technolo- gy Ltd,2004.
[27] Yusuf Altintas.数控技术与制造自动化[M].北京:化学工业出版社,2003(6).
[28]戴文进.电机学[M].北京:清华大学出版社,2008(4).
[29]郑凤翼孟庆涛.电动机控制电路[M].北京:人民邮政出版社,2006(9).
[30]寇宝泉程树康.交流伺服电机及控制[M].北京:机械工业出版社,2002(8).
[31]辜承林熊永前等.电机学[M].北京:中国电力出版社,2001(9).
[32]杨耕罗应立等.电机与运动控制系统[M].北京:清华大学出版社,2009(6).
[33]邓星钟朱承高.机电传动控制(第三版)[M].武汉:华中科技大学出版社,2000(6).
[34]寇宝泉程树康.交流伺服电机及其控制[M].北京:机械工业出版社,2008(3).
[35]张玉华柴晓艳.伺服飞锯机的控制系统和运动分析[J].制造业自动化,2004(3).
[36]柴晓艳.飞锯机随动系统运动分析[J].重型机械,2008(1).
[37]沈嘉琪.火焰自动切管机割炬轨迹控制的研究[D].天津:天津大学机械学院,2002.
[38]徐微莉曹柱中等.自动控制理论与设计[M].上海:上海交通大学出版社,2001(3).
[39] Yesh SS,Hsu P L. The speed-controlled interpolator for machining parametric curves[J].Computer- Aided Design, 1999(6).
[40] Yuhua Zhang Zhinan Su. The s-curve motion analysis of servo flying saw’s chasing segment[J]. International Workshop on Mechanic Automation and Control Engineering (MACE 2010),2010(6).
[41] Yuhua Zhang Zhinan Su. Motion Control of Milling Flying Saw Based on the Controller MC206[J]. The 2nd International Conference on Information Science and Engineering (ICISE 2010),2010(12).
[42]孔鹏. Visual C++ 6.0完全自学手册[M].北京:机械工业出版社,2007(1).
[43]梁建武陈英. Visual C++程序设计教程[M].北京:中国水利水电出版社,2006(4).
[44]郭文平王跃存. Visual C++基础教程[M].西安:西安电子科技大学出版社,2006(9).
[45]张宏军.Visual C++ 6.0编程案例精解[M].北京:电子工业出版社.2003(7).
[46]康博创作室.Visual C++ 6.0开发使用教程[M].北京:人民邮电出版社.1998(1).
[47]孙江宏黄小龙. Pro/ENGINEER Wildfire(野火版)数控加工教程[M].北京:清华大学出版社,2003(9).
[48]张滢. Pro/E Wildfire数控加工及二次开发技术[M].北京:机械工业出版社,2006(2).
[49]白晶胡仁喜等.精通Pro/ENGINEER野火版3.0数控加工-典型实例、专业讲解[M].北京:电子工业出版社,2006(12).
[50]韩玉龙. Pro/ENGNEER wildfire组件设计与运动仿真专业教程[M].北京:清华大学出版社, 2005(12).
[51]李文龙.仿形数控飞锯机控制系统研究[D].天津理工大学机械工程学院,2009(3).
[52] www.triomotion.com
[53]运动控制器技术参考手册