七轴五联动螺旋桨加工机床控制系统关键技术

为解决大型螺旋桨加工车铣复合机床的控制问题,提出了基于运动控制器和以太网的开放式数控系统体系结构,其上位机采用通用的工业计算机,下位机采用高性能运动控制器.进而提出了基于坐标映射的插补算法,通过将真实的3旋转2直线坐标系和虚拟的3直线2旋转的标准坐标系的双向映射和通用的插补算法的集成,完成了4旋转2直线的特殊机床结构的插补算法;采用双电机同步耦合驱动技术,消除大型回转工作台传动间隙,确保工作台精确跟踪插补结果,控制两台电机分别驱动工作台的两个方向运动,同时通过其产生的反向张力使得两台电机的传动链按照规定方向绷紧,可以有效地消除机械间隙.

Study on key technology of control system for propeller processing machines

The architecture of open control system,in which industrial personal computer is used for human-machine interface and other no real time tasks and motion controller is used for interpolation,servo control and logic control etc,is proposed by using motion controller and Ethernet to control large-scale complicated machine-tool for propeller processing.The mapping function-based interpolation algorithm was discussed.The mapping function between three-rotating-two-line real coordinate system and two-rotating-three-line reference coordinate system and general interpolation algorithm were integrated to this interpolation algorithm to solve the interpolation algorithm of three-rotating-two-line real coordinate system.Dual motor drive technology was used to eliminate the transmission clearance of large-scale turntable and to make large-scale turntable follow interpolation results,and two motors were used to drive large-scale turntable rotate in difference direction.The transmission clearance could be eliminated by the tensions produced by two motors effectively.The proposed methods are used to control large-scale complicating machine-tool for propeller processing successfully.