200848199 九、發明說明： 【發明所屬之技術領域】 本發明是有關於-種㈣控制系統 接比對輸入命令與沖頭位置以進行修正，進而：：種直 而提昇加工精度的自動伯、目丨& 進而此即時校正 顶度的自動偵测加工狀態 壓控制系統。 正加工速度之沖 【先前技術】 目前沖壓控制系統，按運動軌跡的不 位加工控制系統、直線加工 -刀為點 :類。點位……控制糸統和輪扉加工控制系統 點位加工控制系統-般只需控制加工點的準確定位 例！=加工點時則對運動執跡無特殊要求(不進行加工)， :冲床專。直線加工控制系統不僅控制加工點的 =坐標，且控製刀具或工作台沿直線方向的加工行程， 稱為直線插補，如簡易數控束 ㈣數控車床4。輪廓加W統能 控制加工點沿零件輪廓曲線連續運動，可加工出曲線、曲 面、凸輪和錐面等複雜形狀的零件，這種系統一般均具有 直線和圓弧兩種插補功能，且具有拋物線或其他高次曲線 插補能力。 沖麼加工是依據一運動曲線進行反覆規律的運動，立 分為三階段，一階段是沖頭至上死點開始運動直到接觸工 :為止—段疋接觸後開始沖壓加工直到完成加工及 三階段是自下死點上昇回到上死點以接續下—行程，因此 加工位置的精確性極為重要。 一般對於前述沖壓控制系統特性之評斷，是以加工精 200848199 度作為衡量標準’已知影響加工精度的因素包括：機械傳 動裝置微量進給的靈敏度、機械動態剛性及摩擦力的影響 、伺服I置的增益及穩定性及溫昇導致變形的影響等等， 因此，如何提昇加工精度與減少誤差是業界努力的方向。 目刖改善加工精度的技術，包括以回饋修正的方式改 進伺服控制、依據循跡誤差調整伺服參數，以及以估測哭 推算外界干擾以調整控制迴路修正等，又可區分為機械: 面及飼服控制，以下介紹現有的饲服回饋控制技術。 參閱圖1 ’現有的沖壓控制系統9包含一人機介面μ 、、-控制單元92、-馬達驅動器93、一伺服馬達料及一 沖床加工機構95，其控制技術原理是由使用者在人機介面 91下指令’再將指令傳輸至控制單a %，後透過控制單元 ^的運算，輸出—控制信號至馬達驅動_ %，而馬達驅動 器93再輸出—驅動信號至伺服馬達94,由驅動信號調節控 制飼服馬達94之運作，而馬達驅動器93會接收來自伺服 馬達94的感應器輸出之回授訊號，並與控制單元％輸入 之控制信號作比較’藉此以蚊是否要調整控制模式。⑴ 類似的控制技術’如本國公告第473428號「多功能變 轉速飼服控制式曲柄滑件沖床系統」亦是在飼服馬達設置 感應器，並依據感應器的感應信號回授至控制單元進行即 時控制，然而，伺服馬達設置的感應器回饋之值容易因為 累積如機制隙偏移量的誤差而得到不精確的結果。 【發明内容】 β 因此，本發明的一目的’即在提供_種_測加工 200848199 狀悲以修正加工速度之沖壓控制系統。 本毛明的另一目的，即在提供一種以控制器自動修正 加工速度以提昇加工精密度之沖壓控制系統。 本电明沖壓控制系統的第一較佳實施例是用於谓測沖 頭的位置，該沖壓控制系統包含一控制器、一動力產生單 元、-加工機構及一位置偵測單元；該控制器用以接收一 控制指令並將其轉換為一速度控制訊號；該動力產生單元 電性連接該控制器，包括—馬達驅動器及_馬達，該馬達 驅動器係依據該速度控制訊號驅動該馬達；該加卫機構包 括-由肖馬達帶動的傳動裝置及一與該傳動裝置連結的沖 頭；該位置债測單元用以積測該沖頭之高度，並轉換為一 位置偵測信號。 該控制器具有一轉換單元及一修正單元，該轉換單元 係接收該控制指令以轉換為該速度控制訊號，該修正單元 耦接該轉換單元、該位置偵測單元及該馬達驅動器，用以 依據該位置偵測訊號之誤差修正該速度控制訊號。 本發明沖壓控制系統的第二較佳實施例是用於偵測沖 頭的溫度，該沖壓控制系統包含一控制器、一動力產生單 兀、一加工機構及一溫度偵測單元；該控制器用以接收一 控制指令並將其轉換為一速度控制訊號；該動力產生單元 電性連接該控制器，包括一馬達驅動器及一馬達，該馬達 驅動裔係依據該速度控制訊號驅動該馬達；該加工機構包 括一由該馬達帶動的傳動裝置及一與該傳動裝置連結的沖 頭；該溫度偵測單元用以偵測該沖頭之溫度，並轉換為一 200848199 溫度彳貞測信號。 該控制器具有一轉換單元及一修正單元’該轉換單元 係接㈣㈣指令以轉換為該速度控制訊號，該修正= 輕接㈣換早凡、該溫度偵測單元及該馬達驅動器，用以 依據該溫度_訊號之誤差修正該速度控制訊號。 由於本發明自動_加工狀態以修正加工速度之沖壓 ㈣系統是以㈣器即時自動偵測及修正，免除了目前採 用感應器回饋技術容易因為累積如機械間隙偏移量的誤差 問題，因而能使沖壓加工更加精確。 【實施方式】 有關本發明之前述及其他技術内容、特點與功效，在 乂下配a參考圖式之較佳實施例的詳細說明中，將可清楚 的呈現。 參閲圖2, &方便說明起見，本發明自動價測加工狀態 乂仏正加工速度之冲壓控制系統1 〇〇的一較佳實施例，可 應用於點位加工、直線加工或其他類似的沖壓控制系統， 且冲壓控制系統1 00可以是一折彎系統、一沖孔系統或任 一種沖床系統。本發明沖壓控制系統1〇〇包含一控制器1、 一偵測模組2、一動力產生單元3、一加工機構4及一人機 介面5。 人機介面5可以是一工業級觸控螢幕、顯示器與其他 類型的人機介面，供使用者規劃預定加工的執跡與路徑。200848199 IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a type (four) control system that compares an input command with a punch position for correction, and further: an automatic automatic lifting of the machining accuracy丨 & and this instant correction of the top degree automatic detection processing state pressure control system. Punching of the processing speed [Prior Art] At present, the stamping control system, the machining control system according to the motion path, the linear processing - the knife is the point: class. Point...Control system and rim machining control system Point machining control system - just need to control the exact positioning of the machining point. = There is no special requirement for the movement of the machining point (no processing), : Punch special. The linear machining control system not only controls the = coordinate of the machining point, but also controls the machining stroke of the tool or table along the linear direction, called linear interpolation, such as the simple CNC beam (4) CNC lathe 4. The contour plus W system can control the continuous movement of the machining point along the contour curve of the part, and can process the complex shape parts such as curves, curved surfaces, cams and cones. Such systems generally have two interpolation functions of straight line and circular arc, and have Parabolic or other high-order curve interpolation capabilities. The processing is based on a motion curve and repeats the regular motion. It is divided into three stages. The first stage is the movement from the punch to the top dead center until the contact worker: until the end of the contact, the stamping process is started until the processing is completed and the three stages are Since the bottom dead center rises back to the top dead center to continue the next stroke, the accuracy of the machining position is extremely important. Generally, the judgment of the characteristics of the above-mentioned stamping control system is based on the processing precision 200848199 degree. 'The factors that affect the machining accuracy are known: the sensitivity of the micro-feed of the mechanical transmission, the influence of the mechanical dynamic rigidity and the friction force, and the servo I The gain and stability and the effect of temperature rise on deformation, etc., therefore, how to improve the machining accuracy and reduce the error is the direction of the industry. Techniques for improving machining accuracy, including improving servo control in the manner of feedback correction, adjusting servo parameters based on tracking error, and adjusting the external disturbance to estimate the control loop correction, etc., can be divided into mechanical: surface and feeding Service control, the following describes the existing feeding feedback control technology. Referring to FIG. 1 'the existing stamping control system 9 includes a human machine interface μ, a control unit 92, a motor driver 93, a servo motor material and a punch processing mechanism 95. The control principle is controlled by the user in the human machine interface 91. The next instruction 'transfers the command to the control list a %, then through the operation of the control unit ^, outputs the control signal to the motor drive _ %, and the motor driver 93 re-outputs the drive signal to the servo motor 94, which is controlled by the drive signal The operation of the motor 94 is carried out, and the motor driver 93 receives the feedback signal from the sensor output of the servo motor 94 and compares it with the control signal input by the control unit % to thereby determine whether the mosquito is to adjust the control mode. (1) A similar control technology, such as the National Announcement No. 473428, "Multi-Function Variable Rotary Feed Control-Controlled Crank Slide Punch System", is also equipped with a sensor in the feeding motor, and is fed back to the control unit according to the sensing signal of the sensor. Instant control, however, the value of the sensor feedback provided by the servo motor is prone to inaccurate results due to accumulation of errors such as the offset of the mechanism gap. SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a stamping control system that corrects the processing speed by providing a kind of processing. Another object of the present invention is to provide a stamping control system that automatically corrects the processing speed by the controller to improve the machining precision. The first preferred embodiment of the present invention is for measuring the position of a punch, the stamping control system comprising a controller, a power generating unit, a processing mechanism and a position detecting unit; Receiving a control command and converting it into a speed control signal; the power generating unit is electrically connected to the controller, including a motor driver and a motor, and the motor driver drives the motor according to the speed control signal; The mechanism includes a transmission driven by the Xiao motor and a punch coupled to the transmission; the position debt measuring unit is configured to measure the height of the punch and convert it into a position detection signal. The controller has a conversion unit and a correction unit, the conversion unit receives the control command to be converted into the speed control signal, and the correction unit is coupled to the conversion unit, the position detection unit and the motor driver for The error of the position detection signal corrects the speed control signal. A second preferred embodiment of the stamping control system of the present invention is for detecting the temperature of the punch, the stamping control system comprising a controller, a power generating unit, a processing mechanism and a temperature detecting unit; Receiving a control command and converting it into a speed control signal; the power generating unit is electrically connected to the controller, comprising a motor driver and a motor, and the motor driving system drives the motor according to the speed control signal; The mechanism includes a transmission driven by the motor and a punch coupled to the transmission; the temperature detecting unit is configured to detect the temperature of the punch and convert it into a 200848199 temperature measurement signal. The controller has a conversion unit and a correction unit. The conversion unit is connected to the (4) (4) command for conversion to the speed control signal, and the correction is replaced by a light connection (four), the temperature detection unit and the motor driver for The temperature_signal error corrects the speed control signal. Since the automatic _ machining state of the present invention is used to correct the processing speed, the stamping (four) system is automatically detected and corrected by the (four) device, which eliminates the current use of the sensor feedback technique and is easy to accumulate errors such as mechanical gap offset. Stamping processing is more precise. [Embodiment] The foregoing and other technical contents, features, and advantages of the present invention will be apparent from the detailed description of the preferred embodiments of the accompanying drawings. Referring to FIG. 2, for convenience of description, a preferred embodiment of the stamping control system 1 of the present invention for automatically measuring the processing state of the processing speed can be applied to point processing, linear processing or the like. The stamping control system, and the stamping control system 100 can be a bending system, a punching system, or any punching system. The stamping control system 1 of the present invention comprises a controller 1, a detecting module 2, a power generating unit 3, a processing mechanism 4 and a human machine interface 5. The human interface 5 can be an industrial-grade touch screen, display, and other types of human-machine interfaces for the user to plan the execution and path of the predetermined processing.
控制器1耦接人機介面5、偵測模組2及動力產生單元 3 ’可以是一可程式控制器、一工業電腦、一個人電腦（PC 200848199 BASED)控制斋與其他微電腦控制器，作用是將使用者於人 機；I面5規劃預定加工的執跡與路徑轉換為控制訊號給動 力產生單元3。 動力產生單疋3包括一馬達驅動器3丨、一受馬達驅動 裔31驅動的馬達32及一速度回授裝置33 ;本較佳實施例 之馬達驅動器31是-變頻器，馬達32是-感應馬達，而 速度回授裝置33可以是一編碼器（ENC〇DER)或一解角器 (RESOLVER),馬達驅動n 131是採用閉迴路電流通量之向 里控制法的變頻驅動器，該控制法的優點是轉矩電流可保 持恆定，符合高精度的速度控制要求。 。另外，馬達驅動器3!及馬達32也可以是一伺服驅動 器及-健馬達的組合，或可以是—直流驅動器及一直流 馬達的組合，其運作方式皆是由使用者在人機介面5下達 -控制指令’後透過控制器丨運算轉換為—速度控制訊號 並輸出至馬達驅動器31，而馬達驅動器31依據速度控制訊 號輸出電流至馬達32以達到控制速度之目的，馬達^本 身會輸出訊號給速度回授裝置33，由速度回授裝置％回授 給馬達驅動器3卜馬達驅動器31可以與輸入作比較以決定 要加速或減速，藉此達到閉迴路的控制，此為既有的技術 ，在此不再詳述。 加工機構4包含一床台411、一模具412、—結構體件( 圖未示制動裝置421、一變速機構422、—執跡機構 423、一沖頭424及一調整機構425。 床台411是用以支撐模具412並進行加工，須符合加工 9 200848199 成形所需之剛性，結構體件是用以支撐並連結整體 架構，並提供成形件加工所需之剛性與強度。 、驅動 制動裝置421彳以是-電磁式碟盤煞車器、_油 碟盤煞車器或其他可制動之裝置，主要是在停恭日士 發生、馬達跳脫、緊急停止等危險裝況下讓沖頭二4、；常 快速制動停止，並牽制整個沖頭424無法做任何 从 以保護使用者之安全，異常排除後才會恢復正常狀態。， 變速機構422可以是齒輪機構、皮帶與皮帶輪 可以t 一曲柄滑塊機構、-連桿滑塊機構(瓦特： I連#)、-導螺桿滑塊機構、一肘節滑塊機構 义 ΙΠ型六連桿）或其他可傳動之機構。 为 冲頭424的機構可以是一單點直驅式機構、 :減速齒驅動機構、-雙點直驅式機構、-雙點多段減： 機構。 ·‘，㉟式機構或—四點多段減速齒驅動 調整機構425可以是一手動哨黎駐 于動凋整裝置（如··渦流馬達+齿 輪機構+蝸桿+蝸輪）或一自動 "此 勳5周整裝置(如··伺服驅動系統或 、交v員驅動系統+齒輪機構+蝸桿+蝸輪）。 ^ 參閲圖3，偵測模組2具有一 度偵測單元22;位置偵測單元21 尺、一電阻尺、一紅外線測距儀、 或一非接觸式量測裝置。 位置彳貞測早元21及一溫 可以是一光學尺、一磁性 一直線式位置量測裝置 位置偵測單元21 的目剷位置供控制器 輸出之位置訊號是用來偵測沖頭424 判斷是否到達原規劃的一預定位置 10 200848199 ’如有决差’控制器1便會調整該速度控制訊號予該馬達 驅動器31 ’如··加大輪出電流來使誤差縮小，以便達到精 準定位與速度控制。 控制器1具有一轉換單元11〇及一修正單元12()，轉換 單元110麵接人機介面5，係接收控制指令1 〇 1以轉換為適 用的控f j碼’修正單元i 2Q _接轉換單元i i Q、位置债測單 凡21、溫度摘測單元22及馬達驅動器3，用以依據位置偵 測單το 21的一位置偵測訊號2〇1或溫度偵測單元22的一 溫度偵測訊號202之誤差資料，來調整修正原有資料以輸 出確的速度控制訊號203，並將修正後之速度控制訊號 2〇3輸出給馬達驅動器3，令馬達驅動器3依據正確之速度 控制訊號203運作。 轉換單元110具有一解碼器（Dec〇der)u、一暫存模組 (F〇)i2、一加工速度規劃單元131、一加工執跡規劃單元 差補/座標轉換單元14。 解碼器11是用來對輸入的控制指令1 〇 1解譯成可供内 崢執仃的控制碼；暫存模組12是將控制碼以先進先出的方 式分別送出給加工速度規劃單元131或加工執跡規劃單元 132 · 士 、 、ϋ工速度規劃單元13 1負責控制碼關於加工速度的部 ,何規劃，加工軌跡規劃單元丨32負責控制碼關於加工 '、的邻份如何規劃；最後由差補/座標轉換單元丨4負責對 各點作差補及線性化、將角度轉換為公制單位（mm)等資料 轉換處理工作。 、 修正單元120具有一幾何補償單元15、一第一加算單 11 200848199 元150、一運動控制程序單元16、一溫度補償單元17及一 加工程序量測單元18 ;運動控制程序單元μ包括一第二加 算單元160、一前饋補償器161及一運動控制器162。 差補/座標轉換單元14輸出之資料，經過第一加算單元 150及第二加算單元160傳送給運動控制器162，由運動控 制器162依據預料劃表產生加工軌跡所需的速度控制訊 號203 ’速度控制訊號2〇3是包括直線或轉折所需的速度及 加減速值給動力產生單元3,令其執行定速和加減速動作。 前述第一加算單元150更接收幾何補償單元15之前饋 訊號以構成一前饋迴路，及接收溫度補償單元17之回授訊 號以構成一回授迴路；前述第二加算單元16〇並接收前饋 補償器161之前饋訊號以構成一前饋迴路，及接收加工程 序量測單元18之回授訊號以構成一回授迴路。 在溫度控制方面，係由加工程序量測單元18自溫度偵 測單元21取得溫度資料給溫度補償單元17，當其中有偏差 時即調整該速度控制訊號，亦即由溫度補償單元17加以補 償速度命令給第一加算單元15〇。 在位置控制方面’係由加卫程序量測單元18自位置偵 測單元22取得位置資料給給第二加算單元⑽，如^貞測 沖頭424在z軸的位置訊1，第二加算單元⑽冑各值加算 後，就可對偏差處加以修正後傳給運動控制器M2，運動控 制器162即調整速度命令，使得實際加工軌跡得以修正以 減少誤差。 當實際加工作業時 參閱圖2及圖3，本較佳實施例中 12 200848199 ，位置偵測單元21可持續偵測沖頭114之位置，並將測得 的位置偵測訊號201輸出予控制器丨令其及時地修正其逮 度私令（如·沖孔呀所需的z軸速度），而馬達驅動器13 1依 據修正後之速度控制訊號203動態調整對馬達132之輪出< 電流，進而修正沖頭114之加工模式使其更為精確。 除了修正的功能，控制器i也可設計為產生一監測信 號（圖未示）並在人機介面5上顯示出來，讓使用者可藉此以 影像監視等方式來監測沖頭丨14的運動位置。 歸納上述，相較於現有技術，由於本發明自動偵測加 工狀態以修正加工速度之沖壓控制系統1〇〇是使用控制器^ 直接偵測並即時修正輸出的速度控制訊號，精確度較高而 月b k升沖壓控制系統1 〇〇的加工品質。 惟以上所述者，僅為本發明之較佳實施例而已，當不 能以此限定本發明實施之範圍，即大凡依本發明申請專利 範圍及發明說明内容所作之簡單的等效變化與修飾，皆仍 屬本發明專利涵蓋之範圍内。 【圖式簡單說明】 圖1是一系統方塊圖，說明現有的沖壓系統的伺服回 饋控制方式； 圖2是一系統方塊圖，說明本發明沖壓控制系統的一 較佳實施例；及 抑圖3疋一電路方塊圖，說明該較佳實施例具有的控制 裔如何偵測及修正。 13 200848199 1…… 100 .. ••…沖壓控制系統 101 ·. ……控制指令 110 ·. ••…轉換單元 11 ·.·· …··解碼器 12···· .....暫存模組 131 ·· ••加工速度規劃單元 132 ·· …加工執跡規劃單元 14···· ••差補/座標轉換單元 120 ·· ••…修正單元 15···· •…·幾何補償單元 150 ·· •…·第一加算單元 16.··· ••運動控制程序單元 160 ·· ••…第二加算單元 【主要元件符號說明】 〔習知〕 9 ..........沖壓控制系統 91 .........人機介面 92 .........控制器 93 .........馬達驅動器 94 .........伺服馬達 95 .........沖床加工機構 〔本創作〕 161……前饋補償器 162……運動控制器 17 .........溫度補償單元 18 ••…加工程序量測單元 2 ..........偵測模組 21 .........位置偵測單元 22 .........溫度偵測單元 203 .......速度控制訊號 3 ..........動力產生單元 31 .........馬達驅動器 32 .........馬達 33 .........速度回授裝置 4 ..........加工機構 411 .......床台 412……模具 421……制動裝置 422……變速機構 423 .......軌跡機構 424 .......沖頭 425 .......調整機構 5 ..........人機介面 14The controller 1 is coupled to the human interface 5, the detection module 2, and the power generation unit 3', which can be a programmable controller, an industrial computer, a personal computer (PC 200848199 BASED), and other microcomputer controllers. The user is on the man-machine; the I-side 5 plans the planned processing and the path to be converted into a control signal to the power generating unit 3. The power generating unit 3 includes a motor driver 3, a motor driven motor 31 driven by the motor 31, and a speed feedback device 33. The motor driver 31 of the preferred embodiment is a frequency converter, and the motor 32 is an induction motor. The speed feedback device 33 can be an encoder (ENC〇DER) or a resolver (RESOLVER), and the motor driver n 131 is a variable frequency drive using an inward control method of closed loop current flux, the control method The advantage is that the torque current can be kept constant, in line with high-precision speed control requirements. . In addition, the motor driver 3! and the motor 32 may also be a combination of a servo driver and a motor, or may be a combination of a DC driver and a DC motor, all of which are operated by the user at the human machine interface 5 - The control command is converted into a speed control signal by the controller and output to the motor driver 31, and the motor driver 31 outputs a current to the motor 32 according to the speed control signal to achieve the control speed. The motor itself outputs a signal to the speed. The feedback device 33 is fed back to the motor driver 3 by the speed feedback device %. The motor driver 31 can be compared with the input to determine whether to accelerate or decelerate, thereby achieving closed loop control, which is an existing technology. No longer detailed. The processing mechanism 4 includes a bed 411, a mold 412, a structural member (not shown as the brake device 421, a shifting mechanism 422, a tracking mechanism 423, a punch 424, and an adjustment mechanism 425. The bed 411 is To support the mold 412 and process it, it must meet the rigidity required for forming 9 200848199. The structural parts are used to support and join the overall structure, and provide the rigidity and strength required for the processing of the formed parts. Therefore - electromagnetic disc brakes, _ oil disc brakes or other brakes, mainly in the dangerous conditions of the stop, such as the occurrence of the Jigashi, the motor trip, emergency stop, etc., the punch 2, 4; The rapid braking stops, and the entire punch 424 is not able to do anything to protect the user's safety, and the abnormal state will be restored after the abnormality is removed. The shifting mechanism 422 can be a gear mechanism, a belt and a pulley can be a crank slider mechanism. , - Link slider mechanism (Watt: I connected #), - Lead screw slider mechanism, a toggle joint mechanism, six-link type) or other driveable mechanism. The mechanism for the punch 424 can be a single-point direct drive mechanism, a reduction gear drive mechanism, a two-point direct drive mechanism, and a two-point multi-stage reduction mechanism. · ', 35-type mechanism or - four-point multi-stage reduction gear drive adjustment mechanism 425 can be a manual whistle station in the moving device (such as · eddy current motor + gear mechanism + worm + worm gear) or an automatic "this honour 5 weeks complete device (such as · servo drive system or, V-driver drive system + gear mechanism + worm + worm gear). Referring to FIG. 3, the detection module 2 has a one-degree detecting unit 22, a position detecting unit 21 feet, a resistance ruler, an infrared range finder, or a non-contact measuring device. The position detecting time 21 and the temperature may be an optical ruler, and the position of the position of the magnetic line type position measuring device position detecting unit 21 for the controller to output is used to detect the punch 424 to determine whether Reaching a predetermined position of the original plan 10 200848199 'If there is a decision', the controller 1 will adjust the speed control signal to the motor driver 31 '. · Increase the wheel current to reduce the error to achieve accurate positioning and speed control. . The controller 1 has a conversion unit 11A and a correction unit 12(). The conversion unit 110 is connected to the human interface 5 and receives the control command 1 〇1 for conversion to the applicable control fj code 'correction unit i 2Q _ connection The unit ii Q, the location debt test unit 21, the temperature extracting unit 22 and the motor driver 3 are used for detecting a temperature of the position detecting signal 2〇1 or the temperature detecting unit 22 of the position detecting unit το 21 The error data of the signal 202 is used to adjust and correct the original data to output the accurate speed control signal 203, and output the corrected speed control signal 2〇3 to the motor driver 3, so that the motor driver 3 operates according to the correct speed control signal 203. . The conversion unit 110 has a decoder (Dec), a temporary storage module (F〇) i2, a machining speed planning unit 131, and a machining execution planning unit differential/coordinate conversion unit 14. The decoder 11 is configured to interpret the input control command 1 〇 1 into a control code for internal execution; the temporary storage module 12 sends the control code to the processing speed planning unit 131 in a first-in, first-out manner. Or the processing of the tracking planning unit 132, the speed, the speed planning unit 13 1 is responsible for the control code about the processing speed, the planning, the processing trajectory planning unit 负责 32 is responsible for the control code about the processing ', the neighbors how to plan; The difference compensation/coordinate conversion unit 丨4 is responsible for data conversion processing such as performing differential compensation and linearization for each point, and converting the angle into a metric unit (mm). The correction unit 120 has a geometric compensation unit 15, a first addition list 11 200848199 element 150, a motion control program unit 16, a temperature compensation unit 17 and a machining program measuring unit 18; the motion control program unit μ includes a first The second adding unit 160, a feedforward compensator 161 and a motion controller 162. The data outputted by the difference/coordinate conversion unit 14 is transmitted to the motion controller 162 via the first addition unit 150 and the second addition unit 160, and the motion controller 162 generates a speed control signal 203 for processing the track according to the expected stroke table. The speed control signal 2〇3 is a speed and an acceleration/deceleration value required for a straight line or a turning to the power generating unit 3 to perform a constant speed and an acceleration/deceleration operation. The first adding unit 150 further receives the feed signal of the geometric compensation unit 15 to form a feedforward loop, and receives the feedback signal of the temperature compensation unit 17 to form a feedback loop; the second adding unit 16〇 receives the feedforward The compensator 161 feeds the signal to form a feedforward loop and receives the feedback signal from the machining program measuring unit 18 to form a feedback loop. In the temperature control, the processing program measuring unit 18 obtains the temperature data from the temperature detecting unit 21 to the temperature compensating unit 17, and adjusts the speed control signal when there is a deviation, that is, the temperature compensating unit 17 compensates the speed. The command is given to the first adding unit 15〇. In the position control aspect, the position data is obtained from the position detecting unit 22 by the aid program measuring unit 18 and sent to the second adding unit (10), such as the position of the measuring head 424 in the z-axis, and the second adding unit (10) After the values are added, the deviation can be corrected and transmitted to the motion controller M2. The motion controller 162 adjusts the speed command so that the actual machining trajectory can be corrected to reduce the error. Referring to FIG. 2 and FIG. 3 in the actual processing operation, in the preferred embodiment 12 200848199, the position detecting unit 21 can continuously detect the position of the punch 114 and output the measured position detecting signal 201 to the controller.丨 ordered to correct its catching order (such as the z-axis speed required for punching) in time, and the motor driver 13 1 dynamically adjusts the rotation of the motor 132 according to the modified speed control signal 203. The processing mode of the punch 114 is then corrected to make it more accurate. In addition to the modified function, the controller i can also be designed to generate a monitoring signal (not shown) and display it on the human-machine interface 5, so that the user can monitor the movement of the punch 14 by image monitoring or the like. position. In summary, compared with the prior art, the stamping control system 1 which automatically detects the processing state to correct the processing speed of the present invention uses the controller to directly detect and instantly correct the output speed control signal, and the accuracy is high. The processing quality of the monthly bk-up stamping control system 1 〇〇. The above is only the preferred embodiment of the present invention, and the scope of the invention is not limited thereto, that is, the simple equivalent changes and modifications made by the scope of the invention and the description of the invention are All remain within the scope of the invention patent. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a system block diagram illustrating a servo feedback control mode of a conventional stamping system; FIG. 2 is a system block diagram illustrating a preferred embodiment of the stamping control system of the present invention; A circuit block diagram illustrating how the control family of the preferred embodiment detects and corrects. 13 200848199 1...100 .. ••...Press Control System 101 ·.......Control Command 110 ·. ••...Conversion Unit 11 ·······Decoder 12······. Storage module 131 ····Processing speed planning unit 132 ··Processing and guiding planning unit 14····••Differing/coordinate conversion unit 120··••...Correction unit 15···· •...· Geometric compensation unit 150 ······················································································· ..... stamping control system 91 ......... man-machine interface 92 ... ... controller 93 ... ... motor driver 94 .... .....Servo motor 95 .........punch processing mechanism [this creation] 161...feedforward compensator 162...motion controller 17 .........temperature compensation unit 18 ••...Processing program measurement unit 2 ..........detection module 21 .........position detection unit 22 .........temperature detection Measuring unit 203 ....... speed control signal 3 .......... power generating unit 31 ......... motor driving 32 .........motor 33 ......... speed feedback device 4 ..... processing mechanism 411 .... bed 412... ...mould 421...brake 422...shift mechanism 423.......trajectory mechanism 424.......punch 425.......adjustment mechanism 5...... ...Human Machine Interface 14