前苏联专利SU831060A3 Spindle control system

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优先权

专利摘要:
A speed detector produces a spindle speed signal proportional to the revolving speed of a spindle. A specified position detector provides a specified position signal when the spindle assumes a specified rotational position. A spindle motor speed control unit controls the spindle motor so that the motor speed agrees with a speed command. When spindle orientation is requested, one integrator circuit responds to the specified position signal to integrate the spindle speed signal. The output from the integrator circuit is applied to the speed control unit in place of the speed command.
公开号:SU831060A3
申请号:SU782664496
申请日:1978-09-08
公开日:1981-05-15
发明作者:Кавада Сигеки；Фудзиока Есики；Хирота Мицухико
申请人:Фудзицу Фанук Лимитед (Фирма)；
IPC主号:

专利说明:

The invention relates to machine control devices and can be used for positioning the moving parts of a machine in a given position. A known control system for stopping the spindle in a predetermined position, comprising a tachogenerator, a control circuit with a sampler and an adder, which maintain the spindle speed within the specified limits during positioning and the spindle position sensor l. The disadvantage of this scheme is its complexity due to the use of a large number of relay elements that do not ensure the positioning of the spindles in a predetermined position during overrun beyond the positioning point. The purpose of the invention is to simplify the control scheme. The goal is achieved by the fact that the system is equipped with an integrator and three switches, one of which is installed between the output of the tachogenerator and the input of the integrator, the second between the output of the integrator and the input of the speed control unit, and the third between the converter and the speed control unit. FIG. 1 is a block diagram of the system; in fig. 2 - a series of pulse synchronization graphs of the corresponding parts of the control system. The block diagram of the control system contains a numerical controller 1, a control circuit 2 and a metal-cutting machine 3. The metal-cutting machine 3 includes a spindle head 4 equipped with a spindle 5 and a direct current motor 6 for driving the spindle through the transmission mechanism 7. The spindle 5 is equipped with a sensor 8 of a predetermined rotational speed. position consisting of a proximal switch. The proximal switch is designed to give a signal whenever the magnetic element 9 attached to the spindle 5 passes through the power switch 8 located opposite the spindle 5. Thus, one signal is generated in a predetermined rotational position of the spindle 5 with each of its turns. The numerical controller 1 includes a tape 10 of the numerical command control and the controller 11. On the tape 10 of the control, the usual
axes move command as additional functions, spindle speed command and spindle orientation command. Spindle speed command: provided in the form of a code command that takes the form of a numerical value that is converted using a DC-to-AC converter of the control circuit 2 (nor the spindle to a speed command signal corresponding to the numerical value, which is then fed to the first input terminal 13 of the speed control unit 14 consisting of a thyristor phase-control circuit. The motor 6 of the spindle 5 communicates with the speed sensor 15, which includes a tachogenerator and produces a voltage signal proportional to A rotational speed of the motor 6 spindles. The output voltage signal from the speed sensor 15 is supplied as a speed feedback voltage to the second input terminal 16 of the speed control unit 14. The latter controls the current supplied to the DC motor 6 spindle by adjusting the angle the thyristor operates, as a result of which the feedback voltage to terminal 16 can correspond to the command voltage applied to terminal 13. Thus, the speed of the spindle motor 6 can be adjusted so that Both of them corresponded to the command signal of the spindle speed coming from the 1-0 control belt.
In the proposed system, several chains of spindle 5 orientation achievement have been added to the spindle control circuit 2. Thus, the integrator circuit 17 is provided to integrate the diagonal deciding speed signal and turns on the operational amplifier 18. The integrator circuit input terminal 17 is connected via an analog switch 19 to the output terminal speed sensor 15, and its output terminal through an analog switch 20 with output terminal 13 of the unit ± 4 speed control. An analog switch 21 is built between the converter 12 and the input terminal 13 of the speed control unit 14. The switches 19, 20 and 21 are controlled in response to the output signal from the locking circuit 22. When the switch 19 is in the closed position, and the switches 20 and 21 in the open position, the speed of the motor b is set equal to the speed command signal using the speed control loop, including the speed control unit 14, the spindle motor 6 and the speed sensor 15.
When the switch 21 is opened (turned off) and the switches 20 and 19 are closed (turned on), the integrator 17 begins to integrate the voltage output from the speed sensor 15, resulting in the output signal of the speed control unit 14 instead of the speed command signal from the circuit of the integrator 17. The polarity of the output voltage from the circuit of the integrator 17 is selected opposite to the polarity of the output voltage received at this moment from the sensor 15 of the speed. The output voltage from the integrator circuit 17 is the amount of rotation of the output shaft of the spindle motor 5 after turning off the switch 19. This output voltage and the output voltage from the speed sensor 15 are respectively applied to the speed control unit 14 in the indicated relationship and, as a result, The output shaft of the motor B spindle 5 is adjusted so that it deviates by a certain angle from the position that it occupied at the moment when the switches 19 were turned on and
20 and then returns to this position and stops there. Spindle orientation command, Tuda-waema via controller 11 from lanta
10, is fed to one input of the locking circuit 22, which includes the circuits 23 and 24, and the predetermined position signal from the sensor 8 of the predetermined rotational position of the spindle is fed to another input of the locking circuit 22. The command of the spindle orientation is predetermined for a logical value 1, in the event that the spindle orientation and the logical value O are reached, in other cases, moreover, the setpoint signal is also predetermined to take the logical value O or 1 depending on whether the spindle was assigned its own raschatelnoe position. The output signal from the locking circuit 22 is supplied to the switches 19 and 20, as well as to the switch 21 through the circuit 25. The switches 19 to 21 are turned on by the control input of the logical O are turned off by the action of the control input of the logical 1 Therefore, when the orientation command the spindle is O, i.e. in the normal state, the output from the interrupt circuit 22 is 1 regardless of whether the preset position signal was applied, and therefore only the switch remains on
21, and switches 19 and 20 are off. When the orientation command of the spindle becomes 1, then the output from the locking circuit 22 is changed to O by the action obtained earlier
a predetermined position signal, whereby the switch 21 is opened, and the switches 19 to 20 are closed, providing a trip.
Chain 26 serves to signal the end of orientation (a signal that allows automatic removal of the tool), which indicates that the spindle orientation is complete. The first input circuit 26 receives the output signal from the sensor 27 error zero, which produces a logical-1, when the output signal from the circuit of the integrator 17 is zero or below a predetermined permissible value. The second input of the circuit 26 receives an output signal from the zero speed sensor 28 through a delay circuit 29 (200 ms), the zero speed sensor 28 supplies a zero speed signal (logical 1) with a delay of 200 ms when the spindle motor speed reference signal through the delay circuit 29 becomes zero or less than the specified allowable value. The third input of the circuit 26 is outputted from the circuit 25. Thus, when a spindle orientation command is given to transfer the spindle motor 6 from the speed control mode to the position control mode with subsequent stop of the spindle 5 in the given position (when the output from the integrator circuit 17 becomes zero, i.e. the engine speed becomes zero), then circuit 26 generates an end-of-orientation signal (logical O) indicating that automatic tool change can begin.
Consider the operation of the spindle control system.
FIG. 2 denotes: 30 — spindle orientation command, 31 — orientation speed command, 32 — determining signal, 33 — on / off switch 21, 34 — actuation of switches 19 and 20, 35 — voltage representing spindle motor speed, 36 — output signal from the integrator circuit 17, 37 is a zero speed signal, 38 is an orientation end signal and 39 is an automatic tool change trigger.
When a spindle orientation command is received, the controller 11 sends a low speed command to the converter 12, and the orientation speed command becomes a predetermined low voltage, causing the spindle motor 6 to rotate at an orientation speed (low speed). As shown in fig. 2 (plots 32, 33, 34) when the first signal arrives at the set position of the shpitel, the switch 21 from the On position changes to the Off position, and the switches 19 and 20
from the Off position to the On position at time tg. Consequently, the integrator circuit 17 begins to integrate the voltage-speed, which is an indicator of the actual speed of the spindle motor 6, and the output voltage from the integrator 17 butt circuit is applied to the speed control unit 14 in polarity opposite to that of the output voltage obtained
o at time tg at speed sensor 15. As a result of this, although I speed has decreased, however, the spindle motor 6 continues to rotate in the same direction as it is
5 has rotated so far, and finally stops at time t, and the output from the chain of integrator 17 reaches its maximum value. Consequently, the spindle motor 6 starts rotating in the opposite direction and the output value from the integrator circuit 17 gradually decreases and reaches zero by the time tj. Since the output value from the integrator circuit 17 gradually decreases, the rotational speed of the engine 6 in the reverse direction also gradually decreases and reaches zero by the time tj. Although engine 6 can repeat the movement in reverse
0 direction depending on the circuit's amplification and the magnitude of the load, however, it stops permanently in a position in which the output voltage of the integrator circuit 17 decreases
5 to zero. The spindle motor 6 and spindle 5 (see graph 35 in Fig. 2) deviate from the position of the first signal of the predetermined position, obtained as an angle corresponding to the area of the zone f, and then rotate in the opposite direction by an angle corresponding to the area of zone 3, equal to the zone F, and finally stops at the position in which the signal of the predetermined position is produced.
As shown in pos.37, the zero speed signal is generated some time (200 ms) after the moment when the rotation speed
0, the spindle becomes zero or less than the predetermined value, and in response to this, an orientation termination signal is received. After that, an automatic tool change took place
5, and under the action of the signal of the end of the automatic tool change, the spindle orientation command is removed. Although the proximal switch is used as a sensor for setting the rotational position in the proposed design, an optical or contact type switch may be used instead. In addition, the device can be used in cases where the spindle 5 and
five

权利要求:
Claims (1)
[1]
Claim
A spindle control system comprising a tachogenerator and a speed converter connected to a speed control unit and a spindle position sensor, characterized in that, in order to simplify the system, it is equipped with three switches that are triggered by a signal from the spindle position sensor, one of which is installed between the output of the tachogenerator and the input of the integrator, the second between the output of the integrator and the input of the speed control unit, and the third between the converter and the speed control unit.

类似技术:

公开号 | 公开日 | 专利标题

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同族专利:

公开号 | 公开日

JPS5916292B2|1984-04-14|

GB2006474B|1982-03-03|

FR2402514A1|1979-04-06|

JPS5442091A|1979-04-03|

GB2006474A|1979-05-02|

DE2838671A1|1979-03-22|

US4207504A|1980-06-10|

FR2402514B1|1983-11-25|

DE2838671C2|1982-12-23|

引用文献:

公开号 | 申请日 | 公开日 | 申请人 | 专利标题

DD80605A|

GB1027607A|1963-11-18|1966-04-27|Ass Elect Ind|Arrangements for controlling angular displacement|

US3412300A|1965-06-01|1968-11-19|Ibm|Optimum switching of a bangbang servo|

US3579070A|1968-04-15|1971-05-18|Pneumo Dynamics Corp|Machine tool servo system including feed-rate control|

US3668496A|1970-12-04|1972-06-06|Honeywell Inf Systems|Single revolution crank system|

CH539880A|1971-07-30|1973-07-31|Delmoran Ag|Control device on a positioning drive and its use|

CA997413A|1972-12-05|1976-09-21|Fujitsu Limited|Control method of a dc motor|

FR2239317B2|1973-08-03|1978-10-27|Renault|

US4099112A|1976-10-26|1978-07-04|Xerox Corporation|Method and means for seeking magnetic tracks|JPS6148350B2|1979-07-19|1986-10-23|Toshiba Machine Co Ltd|

JPH0245202B2|1979-10-09|1990-10-08|Fanuc Ltd|

US4315198A|1979-11-07|1982-02-09|Qume Corporation|Digital servo system|

JPH03644B2|1979-12-31|1991-01-08|Fanuc Ltd|

US4350939A|1980-10-03|1982-09-21|The Bendix Corporation|Spindle orient device|

JPS6222743B2|1980-10-30|1987-05-19|Fanuc Ltd|

JPS6043261B2|1980-10-30|1985-09-27|Fanuc Ltd|

JPH0230522B2|1982-04-16|1990-07-06|Fanuc Ltd|

DE3404497C2|1984-02-09|1990-01-04|Kelch Gmbh + Co Werkzeugmaschinenfabrik, 7060 Schorndorf, De|

US4982156A|1988-09-02|1991-01-01|Allied-Signal Inc.|Position transducer apparatus and associated circuitry including pulse energized primary winding and pair of waveform sampled secondary windings|

US5093610A|1990-02-12|1992-03-03|Abb Robotics Inc.|Apparatus for absolute position measurement|

DE10346600A1|2003-10-07|2005-05-12|Twinhead Internat Corp Taipei|Fan motor speed detecting device for use between motor and portable computer, has speed output module making speed output terminal to output speed signal to computer in response to speed of fan motor|

DE102017125316A1|2017-10-27|2019-05-02|Moroff & Baierl Gmbh|Device for exchanging a part of a tool and a hollow milling tool|

法律状态:

优先权:

申请号 | 申请日 | 专利标题

JP52108665A|JPS5916292B2|1977-09-08|1977-09-08|

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