WO1996008075A1 - Control for mechanically coupled driving and driven spindles in machine tools or the like - Google Patents

Control for mechanically coupled driving and driven spindles in machine tools or the like Download PDF

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Publication number
WO1996008075A1
WO1996008075A1 PCT/DE1995/001147 DE9501147W WO9608075A1 WO 1996008075 A1 WO1996008075 A1 WO 1996008075A1 DE 9501147 W DE9501147 W DE 9501147W WO 9608075 A1 WO9608075 A1 WO 9608075A1
Authority
WO
WIPO (PCT)
Prior art keywords
speed
control
mechanically coupled
machine tools
controller
Prior art date
Application number
PCT/DE1995/001147
Other languages
German (de)
French (fr)
Inventor
Wolfgang Papiernik
Manfred Böhm
Gerhard Forster
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Priority to DE29520979U priority Critical patent/DE29520979U1/en
Publication of WO1996008075A1 publication Critical patent/WO1996008075A1/en

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds

Definitions

  • the invention relates to a control system for mechanically coupled master and slave axes in machine tools or the like.
  • a speed controller with several analog current controllers is used.
  • This known analog implementation has considerable shortcomings, such as the build-up of mechanical vibrations due to uneven acceleration distribution, mechanical rattling due to looseness and torsion, and safety hazards when the coupling is broken by open torque control loops.
  • the object of the present invention is to provide a simple control for leading and following axes in machine tools, with which vibration-free running is possible without any mechanical tension. These tasks are solved by the following features: a) a speed control loop for each axis and b) a compensation controller for two speed control loops, to which the output signals of the two speed controllers concerned are fed on the input side and which is corrected on the output side in the sense of torque compensation weight acts on the inputs of the speed controller.
  • a leading axis AI and following axes A2 to An are provided.
  • the total of converter, electric drive motor and inertia can be seen under axis.
  • springs K the individual axes are mechanically coupled to one another, for example via workpieces or the like.
  • a common position controller L (setpoint ⁇ w , actual value ⁇ ⁇ ) is provided, the output signal of which is supplied to the individual speed controllers Dl to Dn of the individual axes as speed setpoint n w . Furthermore, the speed actual value -n] _ -n n of the relevant axis is supplied to these speed controllers in a known manner.
  • a speed compensation controller for example here Gl, is now provided for two axes, for example for AI and A2. On the input side, this compensation regulator G1 is acted upon by the difference between the two output signals of the two speed regulators D1 and D2.

Abstract

The invention relates to a control for mechanically coupled driving and driven spindles in machine tools. A separate rotation speed control circuit (D1, D2) is used for each spindle and two rotation speed control circuits (D1, D2) are allocated to a compensator (G1).

Description

Beschreibung description
Regelung für mechanisch gekoppelte Leit- und Folgeachsen bei Werkzeugmaschinen oder dergleichenRegulation for mechanically coupled master and slave axes in machine tools or the like
Die Erfindung bezieht sich auf eine Regelung für mechanisch gekoppelte Leit- und Folgeachsen bei Werkzeugmaschinen oder dergleichen. Bei den bekannten Regelungen wird ein Drehzahl¬ regler mit mehreren analogen Stromreglern benutzt. Diese be- kannte analoge Realisierung weist erhebliche Mängel, wie An¬ fachung von mechanischen Schwingungen durch ungleiche Be¬ schleunigungsaufteilung, mechanisches Klappern durch Lose und Torsion und Sicherheitsgefahren beim Auftrennen der Kopplung durch offene Momentregelkreise, auf.The invention relates to a control system for mechanically coupled master and slave axes in machine tools or the like. In the known regulations, a speed controller with several analog current controllers is used. This known analog implementation has considerable shortcomings, such as the build-up of mechanical vibrations due to uneven acceleration distribution, mechanical rattling due to looseness and torsion, and safety hazards when the coupling is broken by open torque control loops.
Die Aufgabe der vorliegenden Erfindung besteht darin, für Leit- und Folgeachsen bei Werkzeugmaschinen eine einfache Re¬ gelung anzugeben, mit der ein schwingungsfreier Lauf ohne ir¬ gendwelche mechanischen Verspannungen möglich ist. Diese Auf- gäbe wird durch folgende Merkmale gelöst: a) einen Drehzahlregelkreis für jede Achse und b) einen Ausgleichsregler für jeweils zwei Drehzahlregel¬ kreise, dem eingangsseitig die AusgangsSignale der beiden betreffenden Drehzahlregler zugeführt sind und der aus- gangsseitig korrigierend im Sinne des Momentengleich¬ gewichtes auf die Eingänge der Drehzahlregler einwirkt.The object of the present invention is to provide a simple control for leading and following axes in machine tools, with which vibration-free running is possible without any mechanical tension. These tasks are solved by the following features: a) a speed control loop for each axis and b) a compensation controller for two speed control loops, to which the output signals of the two speed controllers concerned are fed on the input side and which is corrected on the output side in the sense of torque compensation weight acts on the inputs of the speed controller.
Auf diese Weise kann stationäres Momentengleichgewicht er¬ zwungen werden.In this way, steady-state torque equilibrium can be enforced.
Im Falle von nur zwei im Verbund arbeitenden Achsen ist ein Proportionalausgleichsregler ausreichend, andernfalls sind Proportional-Integralausgleichsregler zweckmäßig .If there are only two axes working together, a proportional compensation controller is sufficient, otherwise proportional integral compensation controllers are advisable.
Anhand eines in der Zeichnung dargestellten Ausführungsbei- spiels sei die Erfindung näher erläutert : Wie schematisch angedeutet, ist eine Leitachse AI und Folge- achsen A2 bis An vorgesehen. Unter Achse ist dabei jeweils die Gesamtheit von Umrichter, elektrischem Antriebsmotor und Trägheiten zu sehen. Die einzelnen Achsen sind, wie durch Fe- de n K angedeutet, z.B. über Werkstücke oder dergleichen me¬ chanisch miteinander gekoppelt.The invention is explained in more detail with reference to an exemplary embodiment shown in the drawing: As indicated schematically, a leading axis AI and following axes A2 to An are provided. The total of converter, electric drive motor and inertia can be seen under axis. As indicated by springs K, the individual axes are mechanically coupled to one another, for example via workpieces or the like.
Für alle Achsen AI bis An ist ein gemeinsamer Lageregler L (Sollwert φw, Istwert φ^) vorgesehen, dessen Ausgangssignal als Drehzahlsollwert nw den einzelnen Drehzahlreglern Dl bis Dn der einzelnen Achsen zugeführt wird. Ferner wird diesen Drehzahlreglern jeweils in bekannter Weise der Drehzahlist¬ wert -n]_ -nn der betreffenden Achse zugeführt. Für jeweils zwei Achsen, z.B. für AI und A2 ist nun ein Drehzahlaus- gleichsregler, z.B. hier Gl, vorgesehen. Dieser Ausgleichs¬ regler Gl wird eingangsseitig mit der Differenz der beiden Ausgangssignale der beiden Drehzahlregler Dl und D2 beauf¬ schlagt. Ausgangsseitig wirkt sein Signal gegensinnig korri¬ gierend auf die Sollwerteingänge der beiden Drehzahlregler Dl und D2. Sinngemäß das gleiche gilt für den Ausgleichsregler G2, der den Drehzahlregler D2 und D3 der Achsen A2 und A3 zu¬ geordnet ist. Dies setzt sich fort bis zu den Achsen An - 1 und An, denen der Ausgleichsregler Gn-]_ zugeordnet ist. For all axes AI to An, a common position controller L (setpoint φ w , actual value φ ^) is provided, the output signal of which is supplied to the individual speed controllers Dl to Dn of the individual axes as speed setpoint n w . Furthermore, the speed actual value -n] _ -n n of the relevant axis is supplied to these speed controllers in a known manner. A speed compensation controller, for example here Gl, is now provided for two axes, for example for AI and A2. On the input side, this compensation regulator G1 is acted upon by the difference between the two output signals of the two speed regulators D1 and D2. On the output side, its signal has a counter-correcting effect on the setpoint inputs of the two speed controllers D1 and D2. The same applies analogously to the compensating controller G2, which is assigned to the speed controllers D2 and D3 of the axes A2 and A3. This continues up to the axes A n - 1 and A n , to which the compensation regulator G n -] _ is assigned.

Claims

Patentansprüche claims
1. Regelung für mechanisch koppelbare Leit- und Folgeachsen bei Werkzeugmaschinen oder dergleichen, mit a) einem Drehzahlregelkreis für jede Antriebsachse (AI bis1. Control for mechanically coupled master and slave axes in machine tools or the like, with a) a speed control loop for each drive axis (AI to
An) b) einem Ausgleichsregler (Gl) für jeweils zwei Drehzahlre¬ gelkreise (Dl, D2) , dem eingangsseitig die Ausgangssig¬ nale der beiden betreffenden Drehzahlregler (Dl und D2) zugeführt sind und der ausgangsseitig korrigierend im Sinne des Momentengleichgewichtes auf die Eingänge der beiden Drehzahlregler (Dl, D2) einwirkt.On) b) a compensating controller (Gl) for two speed control circuits (Dl, D2), to which the output signals of the two speed controllers (Dl and D2) in question are fed on the input side and which is corrected on the output side in the sense of the torque balance to the inputs of the both speed controller (Dl, D2) acts.
2. Regelung nach Anspruch 1 mit einem als PI-Regler wirkenden Ausgleichsregler. 2. Control according to claim 1 with a compensation controller acting as a PI controller.
PCT/DE1995/001147 1994-09-09 1995-08-28 Control for mechanically coupled driving and driven spindles in machine tools or the like WO1996008075A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE29520979U DE29520979U1 (en) 1994-09-09 1995-08-28 Regulation for mechanically coupled master and slave axes in machine tools or the like.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DEP4432144.9 1994-09-09
DE4432144 1994-09-09

Publications (1)

Publication Number Publication Date
WO1996008075A1 true WO1996008075A1 (en) 1996-03-14

Family

ID=6527812

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1995/001147 WO1996008075A1 (en) 1994-09-09 1995-08-28 Control for mechanically coupled driving and driven spindles in machine tools or the like

Country Status (2)

Country Link
DE (1) DE29520979U1 (en)
WO (1) WO1996008075A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19704702B4 (en) * 1997-02-07 2006-04-13 Siemens Ag Elimination of loose effects in printing presses

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4617498A (en) * 1984-03-29 1986-10-14 Bso Steuerungstechnik Gmbh Control device for synchronizing a plurality of driving units
EP0309824A1 (en) * 1987-09-28 1989-04-05 Siemens Aktiengesellschaft Method for the digitally controlled positioning of electric motor-driven axes

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4617498A (en) * 1984-03-29 1986-10-14 Bso Steuerungstechnik Gmbh Control device for synchronizing a plurality of driving units
EP0309824A1 (en) * 1987-09-28 1989-04-05 Siemens Aktiengesellschaft Method for the digitally controlled positioning of electric motor-driven axes

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
C.-M. BOCKWOLDT: "Digitale Gleichlaufregelung für Drehstrom-Getriebemotoren", ANTRIEBSTECHNIK, vol. 32, no. 11, MAINZ DE, pages 22 - 25, XP000409591 *

Also Published As

Publication number Publication date
DE29520979U1 (en) 1996-08-01

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