《IiNdlela zokuNcisa uKucinywa kweZixhobo zoomatshini be-CNC》
Izixhobo zoomatshini be-CNC zidlala indima ebalulekileyo kwimveliso yanamhlanje yamashishini. Nangona kunjalo, ingxaki ye-oscillation ihlala ibetha abaqhubi kunye nabavelisi. Izizathu ze-oscillation yezixhobo zoomatshini be-CNC zinzima. Ukongeza kwizinto ezininzi ezifana nezikhewu zothumelo olungenakushenxiswa, i-elastic deformation, kunye nokuchasana nokukhuhlana kwinkalo yomatshini, impembelelo yeeparitha ezifanelekileyo zenkqubo ye-servo nayo yinto ebalulekileyo. Ngoku, umenzi wesixhobo somatshini we-CNC uya kwazisa ngokweenkcukacha iindlela zokuphelisa i-oscillation yezixhobo zoomatshini be-CNC.
I. Ukunciphisa inzuzo yelophu yendawo
Isilawuli se-proportional-integral-derivative isilawuli esisebenzayo esidlala indima ebalulekileyo kwizixhobo zomatshini we-CNC. Ayinakwenza kuphela ngokufanelekileyo inzuzo ehambelanayo kwiimpawu zangoku kunye ne-voltage kodwa iphinde ihlengahlengise i-lagging okanye ingxaki ekhokelayo yesiginali yemveliso. Iimpazamo ze-Oscillation ngamanye amaxesha ziyenzeka ngenxa yokushiyeka okanye ukukhokelela kwimveliso yangoku kunye nombane. Ngeli xesha, i-PID ingasetyenziselwa ukulungelelanisa isigaba semveliso yangoku kunye ne-voltage.
Inzuzo ye-loop yesikhundla yiparameter ephambili kwinkqubo yokulawula izixhobo zomatshini we-CNC. Xa i-position loop gain iphezulu kakhulu, inkqubo inovakalelo olugqithisileyo kwiimpazamo zendawo kwaye ijwayele ukubangela i-oscillation. Ukunciphisa inzuzo ye-loop yesikhundla kunokunciphisa isantya sokuphendula kwenkqubo kwaye ngaloo ndlela kuncitshiswe ukuba nokwenzeka kwe-oscillation.
Xa ulungelelanisa inzuzo ye-loop yendawo, kufuneka imiselwe ngokufanelekileyo ngokwemodeli yesixhobo somatshini kunye neemfuno zokusetyenzwa. Ngokuqhelekileyo, inzuzo ye-loop yendawo ingancitshiswa ibe kumgangatho ophantsi kakhulu, kwaye emva koko yanda ngokuthe ngcembe ngelixa iqwalasela ukusebenza kwesixhobo somatshini kude kube nexabiso elifanelekileyo elinokuthi lihlangabezane neemfuno zokuchaneka kokusebenza kunye nokuphepha ukuchithwa kufunyenwe.
Isilawuli se-proportional-integral-derivative isilawuli esisebenzayo esidlala indima ebalulekileyo kwizixhobo zomatshini we-CNC. Ayinakwenza kuphela ngokufanelekileyo inzuzo ehambelanayo kwiimpawu zangoku kunye ne-voltage kodwa iphinde ihlengahlengise i-lagging okanye ingxaki ekhokelayo yesiginali yemveliso. Iimpazamo ze-Oscillation ngamanye amaxesha ziyenzeka ngenxa yokushiyeka okanye ukukhokelela kwimveliso yangoku kunye nombane. Ngeli xesha, i-PID ingasetyenziselwa ukulungelelanisa isigaba semveliso yangoku kunye ne-voltage.
Inzuzo ye-loop yesikhundla yiparameter ephambili kwinkqubo yokulawula izixhobo zomatshini we-CNC. Xa i-position loop gain iphezulu kakhulu, inkqubo inovakalelo olugqithisileyo kwiimpazamo zendawo kwaye ijwayele ukubangela i-oscillation. Ukunciphisa inzuzo ye-loop yesikhundla kunokunciphisa isantya sokuphendula kwenkqubo kwaye ngaloo ndlela kuncitshiswe ukuba nokwenzeka kwe-oscillation.
Xa ulungelelanisa inzuzo ye-loop yendawo, kufuneka imiselwe ngokufanelekileyo ngokwemodeli yesixhobo somatshini kunye neemfuno zokusetyenzwa. Ngokuqhelekileyo, inzuzo ye-loop yendawo ingancitshiswa ibe kumgangatho ophantsi kakhulu, kwaye emva koko yanda ngokuthe ngcembe ngelixa iqwalasela ukusebenza kwesixhobo somatshini kude kube nexabiso elifanelekileyo elinokuthi lihlangabezane neemfuno zokuchaneka kokusebenza kunye nokuphepha ukuchithwa kufunyenwe.
II. Uhlengahlengiso lweParameter yenkqubo ye-servo evaliweyo
Inkqubo ye-servo evaliweyo evaliweyo
Ezinye iinkqubo ze-servo ze-CNC zisebenzisa izixhobo ezivaliweyo-ezivaliweyo. Xa ulungelelanisa inkqubo ye-servo ye-semi-closed-loop, kuyimfuneko ukuqinisekisa ukuba inkqubo yendawo ye-semi-closed-loop ayigungqi. Ekubeni inkqubo ye-servo evaliweyo epheleleyo yenza uhlengahlengiso lweparameter kwisiseko sokuba isistim se-semi-closed-loop yasekhaya izinzile, ezi zimbini ziyafana kwiindlela zohlengahlengiso.
Inkqubo ye-servo ye-semi-closed-loop ngokungathanga ngqo ibuyisela ulwazi lwendawo yesixhobo somatshini ngokufumanisa i-angle yokujikeleza okanye isantya semoto. Xa uhlengahlengisa iiparamitha, le miba ilandelayo kufuneka inikwe ingqwalasela:
(1) Iiparamitha ze-speed loop: Izicwangciso zokufumana i-speed loop kunye nexesha elidibeneyo eliqhelekileyo linempembelelo enkulu kuzinzo kunye nesantya sokuphendula kwenkqubo. Ukuzuza kwesantya esiphezulu kakhulu kwe-loop kuya kukhokelela kwimpendulo yenkqubo ekhawulezayo kwaye ityekele ekuveliseni i-oscillation; ngelixa ixesha elide elidityanisiweyo liza kucothisa impendulo yenkqubo kwaye lichaphazele ukusebenza kakuhle.
(2) Iiparamitha ze-loop yesikhundla: Ukulungelelaniswa kwenzuzo ye-loop yesikhundla kunye neeparitha zokucoca kunokuphucula ukuchaneka kwendawo kunye nokuzinza kwenkqubo. Inzuzo yendawo ephezulu kakhulu iya kubangela i-oscillation, kwaye isihluzi sinokuhluza ingxolo ephezulu-frequency kwisignali yempendulo kwaye siphucule uzinzo lwenkqubo.
Inkqubo ye-servo evaliweyo ngokupheleleyo
Inkqubo ye-servo evaliweyo epheleleyo iqonda ulawulo oluchanekileyo lwesikhundla ngokufumanisa ngokuthe ngqo indawo yokwenene yesixhobo somatshini. Xa ulungelelanisa inkqubo ye-servo evaliweyo epheleleyo, iiparitha kufuneka zikhethwe ngokucophelela ukuze kuqinisekiswe ukuzinza kunye nokuchaneka kwenkqubo.
Uhlengahlengiso lwepharamitha yenkqubo ye-servo evaliweyo-egcweleyo ibandakanya ikakhulu le miba ilandelayo:
(1) Isikhundla se-loop inzuzo: Ngokufana nenkqubo ye-semi-closed-loop, inzuzo ephezulu kakhulu ye-loop iya kukhokelela kwi-oscillation. Nangona kunjalo, ekubeni inkqubo yokuvala i-loop epheleleyo ibona iimpazamo zendawo ngokuchanekileyo, inzuzo ye-loop yendawo inokusetwa ngokufanelekileyo ukuphucula ukuchaneka kwendawo yenkqubo.
(2) Iiparamitha ze-loop yesantya: Iisetingi zokufumana isantya sesantya kunye nexesha elidityanisiweyo rhoqo kufuneka lihlengahlengiswe ngokweempawu eziguquguqukayo kunye neemfuno zokusetyenzwa kwesixhobo somatshini. Ngokuqhelekileyo, inzuzo ye-loop yesantya inokusetwa phezulu kancinane kunenkqubo ye-semi-closed-loop ukuphucula isantya sokuphendula kwenkqubo.
(3) Iiparamitha zokucoca: Inkqubo ye-loop evaliweyo epheleleyo ivakalelwa ngakumbi kwingxolo kwisignali yempendulo, ngoko ke iiparamitha ezifanelekileyo zokucoca kufuneka zisetelwe ukucoca ingxolo. Uhlobo kunye nokhetho lwepharamitha yesihluzi kufuneka luhlengahlengiswe ngokwemeko yesicelo esithile.
Inkqubo ye-servo evaliweyo evaliweyo
Ezinye iinkqubo ze-servo ze-CNC zisebenzisa izixhobo ezivaliweyo-ezivaliweyo. Xa ulungelelanisa inkqubo ye-servo ye-semi-closed-loop, kuyimfuneko ukuqinisekisa ukuba inkqubo yendawo ye-semi-closed-loop ayigungqi. Ekubeni inkqubo ye-servo evaliweyo epheleleyo yenza uhlengahlengiso lweparameter kwisiseko sokuba isistim se-semi-closed-loop yasekhaya izinzile, ezi zimbini ziyafana kwiindlela zohlengahlengiso.
Inkqubo ye-servo ye-semi-closed-loop ngokungathanga ngqo ibuyisela ulwazi lwendawo yesixhobo somatshini ngokufumanisa i-angle yokujikeleza okanye isantya semoto. Xa uhlengahlengisa iiparamitha, le miba ilandelayo kufuneka inikwe ingqwalasela:
(1) Iiparamitha ze-speed loop: Izicwangciso zokufumana i-speed loop kunye nexesha elidibeneyo eliqhelekileyo linempembelelo enkulu kuzinzo kunye nesantya sokuphendula kwenkqubo. Ukuzuza kwesantya esiphezulu kakhulu kwe-loop kuya kukhokelela kwimpendulo yenkqubo ekhawulezayo kwaye ityekele ekuveliseni i-oscillation; ngelixa ixesha elide elidityanisiweyo liza kucothisa impendulo yenkqubo kwaye lichaphazele ukusebenza kakuhle.
(2) Iiparamitha ze-loop yesikhundla: Ukulungelelaniswa kwenzuzo ye-loop yesikhundla kunye neeparitha zokucoca kunokuphucula ukuchaneka kwendawo kunye nokuzinza kwenkqubo. Inzuzo yendawo ephezulu kakhulu iya kubangela i-oscillation, kwaye isihluzi sinokuhluza ingxolo ephezulu-frequency kwisignali yempendulo kwaye siphucule uzinzo lwenkqubo.
Inkqubo ye-servo evaliweyo ngokupheleleyo
Inkqubo ye-servo evaliweyo epheleleyo iqonda ulawulo oluchanekileyo lwesikhundla ngokufumanisa ngokuthe ngqo indawo yokwenene yesixhobo somatshini. Xa ulungelelanisa inkqubo ye-servo evaliweyo epheleleyo, iiparitha kufuneka zikhethwe ngokucophelela ukuze kuqinisekiswe ukuzinza kunye nokuchaneka kwenkqubo.
Uhlengahlengiso lwepharamitha yenkqubo ye-servo evaliweyo-egcweleyo ibandakanya ikakhulu le miba ilandelayo:
(1) Isikhundla se-loop inzuzo: Ngokufana nenkqubo ye-semi-closed-loop, inzuzo ephezulu kakhulu ye-loop iya kukhokelela kwi-oscillation. Nangona kunjalo, ekubeni inkqubo yokuvala i-loop epheleleyo ibona iimpazamo zendawo ngokuchanekileyo, inzuzo ye-loop yendawo inokusetwa ngokufanelekileyo ukuphucula ukuchaneka kwendawo yenkqubo.
(2) Iiparamitha ze-loop yesantya: Iisetingi zokufumana isantya sesantya kunye nexesha elidityanisiweyo rhoqo kufuneka lihlengahlengiswe ngokweempawu eziguquguqukayo kunye neemfuno zokusetyenzwa kwesixhobo somatshini. Ngokuqhelekileyo, inzuzo ye-loop yesantya inokusetwa phezulu kancinane kunenkqubo ye-semi-closed-loop ukuphucula isantya sokuphendula kwenkqubo.
(3) Iiparamitha zokucoca: Inkqubo ye-loop evaliweyo epheleleyo ivakalelwa ngakumbi kwingxolo kwisignali yempendulo, ngoko ke iiparamitha ezifanelekileyo zokucoca kufuneka zisetelwe ukucoca ingxolo. Uhlobo kunye nokhetho lwepharamitha yesihluzi kufuneka luhlengahlengiswe ngokwemeko yesicelo esithile.
III. Ukwamkela umsebenzi woxinzelelo oluphezulu
Le ngxoxo ingentla imalunga neparameter optimization method for low-frequency oscillation. Ngamanye amaxesha, inkqubo ye-CNC yezixhobo zoomatshini be-CNC iya kuvelisa imiqondiso yempendulo equlethe i-harmonics ye-high-frequency ngenxa yezizathu ezithile ze-oscillation kwindawo yomatshini, eyenza i-torque yokuphuma ingatshintshi kwaye ngaloo ndlela ivelise ukungcangcazela. Kule meko ye-oscillation ye-high-frequency oscillation, ikhonkco yokuqala yokucoca i-low-pass filtering inokuthi ifakwe kwi-loop yesantya, isihluzo se-torque.
Isihluzi se-torque sinokuhluza ngokufanelekileyo i-harmonics ye-high-frequency kwisignali yempendulo, isenza i-torque ephumayo izinze ngakumbi kwaye ngaloo ndlela inciphisa ukungcangcazela. Xa ukhetha iiparameters ze-torque filter, ezi zinto zilandelayo kufuneka ziqwalaselwe:
(1) I-cutoff frequency: I-cutoff frequency inquma iqondo lokunciphisa isihluzi kwiimpawu eziphezulu ze-frequency. I-cutoff frequency ephantsi kakhulu iya kuchaphazela isantya sokuphendula senkqubo, ngelixa i-cutoff frequency ephezulu kakhulu ayinakukwazi ukuhluza ngokufanelekileyo ii-harmonics ze-high-frequency.
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(3) Umyalelo wokucoca: Ukuphakama komyalelo wokucoca, ngcono umphumo wokunciphisa kwiimpawu eziphezulu ze-frequency, kodwa kwangaxeshanye, kuya kwandisa umthwalo wokubala kwenkqubo. Xa ukhetha umyalelo wokucoca, ukusebenza kunye nezixhobo zokubala zenkqubo kufuneka ziqwalaselwe ngokubanzi.
Le ngxoxo ingentla imalunga neparameter optimization method for low-frequency oscillation. Ngamanye amaxesha, inkqubo ye-CNC yezixhobo zoomatshini be-CNC iya kuvelisa imiqondiso yempendulo equlethe i-harmonics ye-high-frequency ngenxa yezizathu ezithile ze-oscillation kwindawo yomatshini, eyenza i-torque yokuphuma ingatshintshi kwaye ngaloo ndlela ivelise ukungcangcazela. Kule meko ye-oscillation ye-high-frequency oscillation, ikhonkco yokuqala yokucoca i-low-pass filtering inokuthi ifakwe kwi-loop yesantya, isihluzo se-torque.
Isihluzi se-torque sinokuhluza ngokufanelekileyo i-harmonics ye-high-frequency kwisignali yempendulo, isenza i-torque ephumayo izinze ngakumbi kwaye ngaloo ndlela inciphisa ukungcangcazela. Xa ukhetha iiparameters ze-torque filter, ezi zinto zilandelayo kufuneka ziqwalaselwe:
(1) I-cutoff frequency: I-cutoff frequency inquma iqondo lokunciphisa isihluzi kwiimpawu eziphezulu ze-frequency. I-cutoff frequency ephantsi kakhulu iya kuchaphazela isantya sokuphendula senkqubo, ngelixa i-cutoff frequency ephezulu kakhulu ayinakukwazi ukuhluza ngokufanelekileyo ii-harmonics ze-high-frequency.
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(3) Umyalelo wokucoca: Ukuphakama komyalelo wokucoca, ngcono umphumo wokunciphisa kwiimpawu eziphezulu ze-frequency, kodwa kwangaxeshanye, kuya kwandisa umthwalo wokubala kwenkqubo. Xa ukhetha umyalelo wokucoca, ukusebenza kunye nezixhobo zokubala zenkqubo kufuneka ziqwalaselwe ngokubanzi.
Ukongeza, ukuze kupheliswe ngakumbi i-oscillation yezixhobo zoomatshini be-CNC, la manyathelo alandelayo nawo anokuthathwa:
Lungiselela ubume bomatshini
Hlola iindawo zomatshini wesixhobo somatshini, njengeentsimbi zesikhokelo, izikhonkwane ezikhokelayo, iibheringi, njl., Ukuqinisekisa ukuba ukuchaneka kofakelo kunye nokukhutshwa okufanelekileyo kuyahlangabezana neemfuno. Kwiindawo ezigugile kakhulu, zitshintshe okanye zilungise kwangethuba. Kwangaxeshanye, lungisa ngokufanelekileyo i-counterweight kunye nebhalansi yesixhobo somatshini ukunciphisa isizukulwana sokungcangcazela koomatshini.
Ukuphucula ukukwazi ukulwa nokuphazamiseka kwenkqubo yokulawula
Inkqubo yolawulo yezixhobo zomshini we-CNC ichaphazeleka ngokulula kukuphazamiseka kwangaphandle, njengokuphazamiseka kwe-electromagnetic, ukuguquguquka kwamandla, njl njl. Ukuze kuphuculwe amandla okuchasana nokuphazamiseka kwenkqubo yokulawula, la manyathelo alandelayo anokuthathwa:
(1) Yamkela iintambo ezikhuselekileyo kunye nemilinganiselo yokumisa ukunciphisa impembelelo yokuphazamiseka kombane.
(2) Fakela izihluzi zamandla ukuzinzisa umbane wobonelelo lwamandla.
(3) Ukwandisa i-algorithm yesofthiwe yenkqubo yokulawula ukuphucula ukusebenza kokuphazamiseka kwenkqubo.
Ukugcinwa rhoqo kunye nokugcinwa
Yenza rhoqo ukugcinwa kunye nokugcinwa kwezixhobo zoomatshini be-CNC, ucoce iindawo ezahlukeneyo zesixhobo somatshini, khangela iimeko zokusebenza zenkqubo yokuthambisa kunye nenkqubo yokupholisa, kwaye utshintshe iindawo ezigugileyo kunye neoli yokuthambisa ngexesha. Oku kunokuqinisekisa ukusebenza okuzinzile kwesixhobo somatshini kunye nokunciphisa ukuvela kwe-oscillation.
Lungiselela ubume bomatshini
Hlola iindawo zomatshini wesixhobo somatshini, njengeentsimbi zesikhokelo, izikhonkwane ezikhokelayo, iibheringi, njl., Ukuqinisekisa ukuba ukuchaneka kofakelo kunye nokukhutshwa okufanelekileyo kuyahlangabezana neemfuno. Kwiindawo ezigugile kakhulu, zitshintshe okanye zilungise kwangethuba. Kwangaxeshanye, lungisa ngokufanelekileyo i-counterweight kunye nebhalansi yesixhobo somatshini ukunciphisa isizukulwana sokungcangcazela koomatshini.
Ukuphucula ukukwazi ukulwa nokuphazamiseka kwenkqubo yokulawula
Inkqubo yolawulo yezixhobo zomshini we-CNC ichaphazeleka ngokulula kukuphazamiseka kwangaphandle, njengokuphazamiseka kwe-electromagnetic, ukuguquguquka kwamandla, njl njl. Ukuze kuphuculwe amandla okuchasana nokuphazamiseka kwenkqubo yokulawula, la manyathelo alandelayo anokuthathwa:
(1) Yamkela iintambo ezikhuselekileyo kunye nemilinganiselo yokumisa ukunciphisa impembelelo yokuphazamiseka kombane.
(2) Fakela izihluzi zamandla ukuzinzisa umbane wobonelelo lwamandla.
(3) Ukwandisa i-algorithm yesofthiwe yenkqubo yokulawula ukuphucula ukusebenza kokuphazamiseka kwenkqubo.
Ukugcinwa rhoqo kunye nokugcinwa
Yenza rhoqo ukugcinwa kunye nokugcinwa kwezixhobo zoomatshini be-CNC, ucoce iindawo ezahlukeneyo zesixhobo somatshini, khangela iimeko zokusebenza zenkqubo yokuthambisa kunye nenkqubo yokupholisa, kwaye utshintshe iindawo ezigugileyo kunye neoli yokuthambisa ngexesha. Oku kunokuqinisekisa ukusebenza okuzinzile kwesixhobo somatshini kunye nokunciphisa ukuvela kwe-oscillation.
Ukuqukumbela, ukuphelisa i-oscillation yezixhobo zoomatshini be-CNC kufuna uqwalaselo olubanzi lwezinto zoomatshini kunye nombane. Ngokuhlengahlengisa ngokufanelekileyo iiparitha zenkqubo ye-servo, ukwamkela umsebenzi wokucinezelwa kwe-high-frequency, ukulungelelanisa isakhiwo somatshini, ukuphucula amandla okuthintela ukuphazamiseka kwenkqubo yokulawula, kunye nokwenza ukugcinwa rhoqo kunye nokugcinwa, ukwenzeka kwe-oscillation kunokunciphisa ngokufanelekileyo kwaye ukuchaneka komatshini kunye nokuzinza kwesixhobo somatshini kunokuphuculwa.