CNC kontrola petlje

Kao stvarna brzina i pozicija detektora senzora je pohranjena na Upravljakoj ploici,

servo motor koji koristi CNC stroj neprestano se kontrolira kako bi se smanjie greke
brzine ili greke pozicije (sl. 1.10).
Povratne informacije kontrolnog sistema sastoji se od tri nezavisne kontrolne petlje za
svaku osu alatnog stroja;
najudaljenija kontrolna petlja je petlja za kontrolu pozicije,
srednji petlja je za regulaciju brzine petlje i
Unutarnja petlja je za regulacijsku struje
. Openito, poloaj kontrole petlja nalazi se u NC, a ostalo se nalaz u servo upravljakom
ureaju. Meutim, ne postoji apsolutni standard o lokaciji kontrolne petlje i lokacije se
mogu mijenjati zavisno o namjeri dizajnera.

1.4 CNC Control Loop

As the actual velocity and position detected from a sensor are fed back to a control
circuit, the servo motor used in the CNC machine is continuously controlled to minimize
the velocity error or the position error (Fig. 1.10). The feedback control system
consists of three independent control loops for each axis of the machine tool; the outermost
control loop is a position-control loop, the middle loop is a velocity-control
loop, and the innermost loop is a current-control loop. In general, the position-control
loop is located in the NC and the others are located in a servo driving device. However,
there is no absolute standard about the location of control loops and the locations
can be varied based on the intention of the designer.

In the spindle system of machine tools, feedback control of velocity is applied

to maintain a regular rotation speed. The feedback signal is generally generated in
two ways; a tacho-generator,which generates an induction voltage (analog signal) as
a feedback signal, and an optical encoder, which generates pulses (digital signals).
In recent times it is typical that feedback control is performed based on an optical
encoder signal instead of a tachometer signal.
The detector can be attached to the shaft of a servo motor or the moving part and
the control system can be categorized into four types according to the location at
which the detector is attached.
U vretenu maine, povratna kontrola brzine se koristi za odravanje regularne brzine rotacije. Povratni signal
obino nastaje na dva naina:

taho-generator koji stvara indukcioni napon (analogni signal), kao

povratni signal, i optiki enkoder( senzor), koji generie impulse (digitalni signal).

U novije vrijeme povratne informacije se kontroliu na osnovu optikog

enkodera umjesto tahometar signala.

Detektor se moe privrstiti na osovinu servo motora ili pokretni dio i

sistem kontrole mogu se svrstati u etiri vrste prema mjestu na

kojem detektor privren.

Tahometar ureaj za mjerenje brzine, odnosno brzinomjer. Tahometri zapravo mjere brzinu okretaja neke
osovine.

1.4.1 Semi-closed Loop

The semi-closed loop is the most popular control mechanism and has the structure
shown in Fig. 1.11a. In this type, a position detector is attached to the shaft of a servo
motor and detects the rotation angle. The position accuracy of the axis has a great
influence on the accuracy of the ball screw. For this reason, ball screws with high
accuracy were developed and are widely used. Due to the precision ball screw, the
problem with accuracy has practically been overcome.
If necessary, pitch-error compensation and backlash compensation can be used
in NC in order to increase the positional accuracy. The pitch-error compensation
method is that, at the specific pitch, the instructions to the servo driver system
are modified in order to remove the accumulation of positional error. The backlash
compensation method is that, whenever the moving direction is changed, additional
pulses corresponding to the amount of backlash are sent to the servo driver system.
Recently, the usage of the Hi-Lead-type ball screw with large pitch for high-speed
machining has increased.

1.4.1 Polu-zatvorene petlje

Petlja polu-zatvorena je najpopularniji kontrolni mehanizam i ima strukturu

prikazanu na slici. 1.11a. U ovoj vrsti, detektor pozicije je privrena na osovinu servo

motora i detektuje ugao rotacije. Na preciznost poloaja osa velik

utiecajima preciznost lopta vijak. Iz tog razloga, lopta vijaka se proizvodi sa visokim

preciznou i ima veliku primjenu. Upotrbom lopta vijak,

problem sa tanou je praktino nepoznat.

Lopta vijak je mehaniki Linearni pogoni koji prevodi rotaciono kretanja u linearno kretanje uz malo trenje.

If necessary, pitch-error compensation and backlash compensation can be used

in NC in order to increase the positional accuracy. The pitch-error compensation
method is that, at the specific pitch, the instructions to the servo driver system
are modified in order to remove the accumulation of positional error. The backlash
compensation method is that, whenever the moving direction is changed, additional
pulses corresponding to the amount of backlash are sent to the servo driver system.
Recently, the usage of the Hi-Lead-type ball screw with large pitch for high-speed
machining has increased
'''?????'''

Closed Loop
The performance of the semi-closed loop depends on the accuracy of the ball screw
and it is possible to increase the positional accuracy via pitch compensation and
backlash compensation.However, generally speaking, the amount of backlash can be
varied according to the weight of the workpiece and location and accumulation pitch
error of the ball screw is varied according to the temperature. In addition, because
the length of the ball screw is limited for practical reasons, a rack and pinion driving
system is used in large-scale machine tools. However, the accuracy of the rack is
limited. In this case, the closed loop shown in Fig. 1.11b is applied.

Zatvorene petlje

Performanse polu-zatvorene petlje zavise od tanosti lopta vijka, a tanost je mogue poveati sa pitch
compensation and backlash compensation. Generalno gledano, koliina backlash varira u zavisnosti od teine
radnog komada, a lokacija pitch error zavisi od temperature vijak lopte. pored toga, poto je duina vijak lopte
ograniena iz pratinih razloga, zupasta letva je u velikoj upotrbi. ali zupanicima je tanost ograniena..