阅读说明：本技术 一种智慧主轴加减速的方法 (Method for accelerating and decelerating intelligent spindle ) 是由 阚建辉 李宝玉 倪迎晖 陈朋 王孟沅 周俊伟 陈波 冯常州 邱子轩 陆鑫 王彬彬 于 2021-07-21 设计创作，主要内容包括：本发明公开了一种智慧主轴加减速的方法。该方法包括以下步骤：1)将系统和驱动使用通讯线连接；2)系统发出调试指令,命令驱动器进入等待调试阶段；3)驱动器重新生成惯量大小资料,生成系统主轴参数；4)控制器将生成的主轴参数写入系统中,进入二次校验动作,针对主轴进行共振抑制,并得到新的共振写入驱动器中；5)将主轴在不同模式下重新进行校验动作；6)系统结束加减速调试动作,驱动器结束调试动作。本发明中的一种智慧主轴加减速的方法能够节省人工调试时间,使抓取数据更精确,自动写入加减速参数和转速命令,实现智能优化主轴调试,自动拮取负载惯量大小,重新抑制共振点,有效解决主轴共振问题以及主轴高转速下超调问题。(The invention discloses a method for accelerating and decelerating an intelligent spindle. The method comprises the following steps: 1) connecting the system and the driver by using a communication line; 2) the system sends out a debugging instruction to command the driver to enter a debugging waiting stage; 3) the driver regenerates the inertia data to generate the system spindle parameters; 4) the controller writes the generated spindle parameters into a system, enters a secondary verification action, performs resonance suppression on the spindle, and obtains new resonance to be written into a driver; 5) carrying out the verification action again on the main shaft in different modes; 6) the system finishes the acceleration and deceleration debugging action, and the driver finishes the debugging action. According to the intelligent spindle acceleration and deceleration method, manual debugging time can be saved, captured data are more accurate, acceleration and deceleration parameters and rotating speed commands are automatically written in, intelligent optimization of spindle debugging is achieved, the size of load inertia is automatically acquired, resonance points are restrained again, and the spindle resonance problem and the spindle overshoot problem under high rotating speed are effectively solved.)

1. A method for accelerating and decelerating a smart spindle is characterized in that: comprises the following steps

1) Setting a main shaft driving servo station number, and connecting a system and a driver by using a communication line;

2) the system sends out a debugging instruction, prepares a flag corresponding to the target spindle and commands the driver to enter a waiting debugging stage;

3) the driver captures the inertia of the main shaft and regenerates inertia data, and the system reads the driver parameters to convert to generate system main shaft parameters;

4) the controller writes the generated spindle parameters into a system, enters a secondary verification action, performs resonance suppression on the spindle, and obtains new resonance to be written into a driver;

5) the main shaft is subjected to verification action again in different modes, and whether the main shaft action is normal or not is observed;

6) the controller sends out a termination instruction, the system finishes the acceleration and deceleration debugging action, and the driver finishes the debugging action.

2. The method of claim 1, wherein the spindle comprises: in step 1), the communication line is connected to the M3 port on the back of the system and the drive communication port.

3. The method of claim 1, wherein the spindle comprises: in step 2), the main shaft enters a debugging mode according to the large carried load, and the main shaft is switched to be disabled.

4. The method of claim 1, wherein the spindle comprises: in step 2), the tuning command includes inertia tuning, resonance suppression and acquisition driving information.

5. The method of claim 1, wherein the spindle comprises: in step 3), the system reads the drive parameters of the field weakening control speed and the maximum acceleration of the drive.

6. The method of claim 1, wherein the spindle comprises: in step 3), the generated system spindle parameters are the acceleration and deceleration time and the rated rotating speed of the spindle.

7. The method of claim 1, wherein the spindle comprises: in step 4), the controller sends out the assignment again according to the system spindle, and the spindle rotating speed can be assigned to be constant.

8. The method of claim 1, wherein the spindle comprises: in step 4), after the controller starts resonance suppression, the controller recaptures the resonance point again to generate a new suppression frequency.

9. The method of claim 1, wherein the spindle comprises: in step 5), the different modes of the spindle include an attack mode, a synchronization mode, a positioning mode and a position mode.

10. The method of claim 1, wherein the spindle comprises: in step 5), if a malfunction of the spindle is observed, it is adjusted.

Technical Field

The invention relates to the field of machine tool machining, in particular to an intelligent spindle acceleration and deceleration method.

Background

In order to maximize the benefit, the machine tool often needs to produce different batches of products, so that the jigs, chucks or workpieces need to be frequently replaced, and the main shaft may be changed more or less due to unstable load, deviation of a resonance point and the like, so that the main shaft cannot meet the existing requirements in the acceleration and deceleration stage. For example, when the spindle is increased from zero speed to a preset speed for a long time, the system needs to consume more efficiency, and the driver is matched to drive current for a longer time, so that overshoot phenomenon is easily caused, and even a workpiece is damaged in a serious case, thereby causing unnecessary property loss.

In order to reduce the influence of the above situations, the workpiece or the jig needs to be replaced in time, and after the workpiece or the jig is replaced, manual spindle debugging (including but not limited to inertia, gain, time constant, etc.) is often needed to achieve the machining effect. The manual adjustment needs higher requirements on the debugging personnel, is not universal, and needs to continuously adjust parameters to achieve the optimal effect. Different workpieces need different parameters to correspond, the process is time-consuming and labor-consuming, and the processing efficiency is influenced.

The method is called as an intelligent spindle acceleration and deceleration method, and comprises the steps of automatically detecting spindle load, adjusting spindle inertia ratio, intelligently modifying spindle acceleration and deceleration time through a command fed back by a driver, cooperating with resonance point suppression and solving the problem of abnormal spindle acceleration and deceleration caused by a spindle end adjusting mechanism.

Disclosure of Invention

In order to solve the above problems, the present invention provides a method for accelerating and decelerating a smart spindle.

According to one aspect of the invention, a method for accelerating and decelerating a smart spindle is provided, which comprises the following steps:

1) setting a main shaft driving servo station number, and connecting a system and a driver by using a communication line;

2) the system sends out a debugging instruction, prepares a flag corresponding to the target spindle and commands the driver to enter a waiting debugging stage;

3) the driver captures the inertia of the main shaft and regenerates inertia data, and the system reads the driver parameters to convert to generate system main shaft parameters;

4) the controller writes the generated spindle parameters into a system, enters a secondary verification action, performs resonance suppression on the spindle, and obtains new resonance to be written into a driver;

5) the main shaft is subjected to verification action again in different modes, and whether the main shaft action is normal or not is observed;

6) the controller sends out a termination instruction, the system finishes the acceleration and deceleration debugging action, and the driver finishes the debugging action.

According to the intelligent spindle acceleration and deceleration method, manual debugging time can be saved, captured data are more accurate, acceleration and deceleration parameters and rotating speed commands are automatically written in, intelligent optimization of spindle debugging is achieved, the size of load inertia is automatically acquired, resonance points are restrained again, and the spindle resonance problem and the spindle overshoot problem under high rotating speed are effectively solved.

In some embodiments, in step 1), the communication line is connected to the system back M3 port and the drive communication port. Therefore, when the system and the drive are connected, the communication line is connected to the specific position on the system.

In some embodiments, in step 2), the spindle enters a commissioning mode according to the load carried is large, and the spindle is switched to be disabled. Thus, the conditions and situations under which the spindle will go into debug mode are described.

In some embodiments, in step 2), the tuning instructions include inertia tuning, resonance suppression, and acquisition driving information. Thus, some specific items of debugging instructions are described, and other suitable items may be added as appropriate.

In some embodiments, in step 3), the drive parameters read by the system are the field weakening control speed and the maximum acceleration of the drive. Thus, the specific drive parameters that the system reads are described.

In some embodiments, in step 3), the generated system spindle parameters are the acceleration and deceleration time and the rated rotation speed of the spindle. Thus, the system is described as scaling the particular spindle parameters generated after reading the drive parameters.

In some embodiments, in step 4), the controller re-issues a designation according to the system spindle, which may designate the spindle speed to be constant. Thus, the effect of the controller reissuing the designation to the spindle when performing the second verification action is described.

In some embodiments, in step 4), after the controller turns on resonance suppression, the controller re-grabs the resonance point and generates a new suppression frequency. Thus, the effect and action of the controller after turning on resonance suppression are described.

In some embodiments, in step 5), the different modes of the spindle include a tapping mode, a contemporaneous mode, a positioning mode and a position mode. Thus, the specific type of mode in which the spindle is caused to perform the verifying operation again is described.

In some embodiments, in step 5), if a malfunction of the spindle is observed, it is adjusted. Therefore, the main shaft can normally operate by timely adjusting, so that the main shaft can normally finish the operation.

Detailed Description

The present invention is described in further detail below.

The intelligent spindle acceleration and deceleration method is used for adjusting the spindle in real time according to the change of an external mechanism when a machine tool is machined, and mainly comprises a plurality of operation steps which are respectively described as follows.

The first step, the equipment is preset and connected before operation, which mainly comprises setting a main shaft drive servo station number and connecting the system and the drive by using a communication line.

Wherein, the communication line is mainly connected with the M3 port on the back of the system and the drive communication port.

And secondly, the system sends out a debugging instruction and prepares a flag corresponding to the target spindle, so that the driver can be instructed to enter a waiting debugging stage.

The main shaft enters a debugging mode mainly according to the load, so that the system sends out a debugging instruction, and the main shaft is switched to be disabled.

In addition, the tuning commands issued by the system include, but are not limited to, inertia tuning, resonance suppression, and acquisition driving information.

Thirdly, the driver captures the inertia of the main shaft and regenerates inertia data according to a corresponding algorithm, and a system reads some parameters of the driver to convert and generate some system main shaft parameters according to the inertia data.

The system mainly reads the drive parameters such as the field weakening control speed and the maximum acceleration of the drive, and the generated system spindle parameters mainly comprise the acceleration and deceleration time and the rated rotating speed of the spindle.

Fourthly, the controller writes the generated spindle parameters into the system and enters a secondary verification action, and simultaneously the controller also performs resonance suppression on the spindle to obtain new resonance data and writes the new resonance data into the driver. The main method for the controller to obtain new resonance data after starting resonance suppression is to recapture the resonance point and generate a new suppression frequency accordingly.

And fifthly, carrying out the verification action on the main shaft again in different modes, and observing whether the main shaft is normal or not. The different modes of the spindle include, but are not limited to, a tapping mode, a synchronization mode, a positioning mode, a position mode, and the like.

In addition, if the spindle is observed to be malfunctioning, it can be timely adjusted by an appropriate means according to the situation.

Finally, after the adjustment is completed, the controller sends out a termination instruction, the system finishes the acceleration and deceleration debugging action, and the driver also finishes the debugging action.

According to the intelligent spindle acceleration and deceleration method, manual debugging time can be saved, captured data are more accurate, acceleration and deceleration parameters and rotating speed commands are automatically written in, intelligent optimization of spindle debugging is achieved, the size of load inertia is automatically acquired, resonance points are restrained again, and the spindle resonance problem and the spindle overshoot problem under high rotating speed are effectively solved.

What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.