CNC多轴联动的机床交叉耦合轮廓误差补偿技术
|
摘要
为了提高多轴联动CNC机床的加工精度,减小由机械传动及电气控制等因素造成的轮廓误差,针对多轴联动CNC机床伺服采用交叉耦合参数选择困难及稳定不强等问题,提出一种交叉耦合轮廓补偿的控制方法,建立交叉耦合轮廓误差补偿的模型,搭建了x轴、y轴及z轴仿真实验平台。仿真实验结果表明:轮廓误差补偿的算法使用交叉耦合误差补偿算法进行控制,可以大大降低轮廓误差。
In order to improve the machining precision of multi axis CNC machine tool,decrease contour error by mechanical transmission and electric control factors,aiming at the difficulties and instability of cross-coupled parameter selection in multi axis CNC machine tool servo,a kind of cross coupled contour error compensation control method was put forward,cross coupled contour error compensating model was established,and the x axis and y axis and z axis simulation experiment platform was set up. Simulation results show that the contour error compensation algorithm is controlled by cross coupled error compensation algorithm,which can greatly reduce the contour error.
In order to improve the machining precision of multi axis CNC machine tool,decrease contour error by mechanical transmission and electric control factors,aiming at the difficulties and instability of cross-coupled parameter selection in multi axis CNC machine tool servo,a kind of cross coupled contour error compensation control method was put forward,cross coupled contour error compensating model was established,and the x axis and y axis and z axis simulation experiment platform was set up. Simulation results show that the contour error compensation algorithm is controlled by cross coupled error compensation algorithm,which can greatly reduce the contour error.
引文
[1]赵国勇,徐志祥,赵福令.高速高精度数控加工中NURBS曲线插补的研究[J].中国机械工程,2006,17(3):291-294.ZHAO G Y,XU Z X,ZHAO F L. Study on NURBS Curve Interpolator in the High Speed and High Accuracy CNC Machining[J]. China Mechanical Engineering,2006,17(3):291-294.
[2]王允森,盖荣丽,孙一兰,等.面向高质量加工的NURBS曲线插补算法[J].计算机辅助设计与图形学学报,2013,25(10):1549-1555.WANG Y S,GAI R L,SUN Y L,et al. NURBS Interpolation Algorithm for High-Quality Machining[J]. Journal of Computer-Aided Design&Computer Graphics,2013,25(10):1549-1555.
[3]张万军,张峰,张万良,等. NURBS曲线定时/中断插补算法的研究[J].制造技术与机床,2015(4):183-187.ZHANG W J,ZHANG F,ZHANG W L,et al. Research on NURBS Curve of Timing/Interrupt Interpolation Algorithm for CNC System[J]. Manufacturing Technology&Machine Tool,2015(4):183-187.
[4]张万军,张峰,张万良,等.高档数控机床B样条曲线高速实时插补研究[J].制造技术与机床,2015(8):172-176.ZHANG W J,ZHANG F,ZHANG W L,et al. Research on High-grade CNC Machines Tools CNC System for B-spline Curve Method of High-speed real-time Interpolation Arithmetic[J]. Manufacturing Technology&Machine Tool,2015(8):172-176.
[5] ZHANG W J,ZHANG F,ZHANG G H. Research on a Algorithm of Adaptive Interpolation for NURBS Curve[J].Applied Mechanics and Materials,2014,687/688/689/690/691:1600-1603.
[6]ZHANG W J,ZHANG F,ZHANG G H. Research on Modification Algorithm of Cubic B-spline Curve Interpolation Technology[J]. Applied Mechanics and Materials,2014,687/688/689/690/691:1596-1599.
[7]张万军,胡赤兵,邬再新,等.三次B样条曲线插补技术修正算法[J].制造技术与机床,2013(2):140-143.ZHANG W J,HU C B,WU Z X,et al. Modification Algorithm of Three B Spline Curve Interpolation Technology[J]. Manufacturing Technology&Machine Tool,2013(2):140-143.
[8]张万军.复杂曲线曲面插补技术修正算法的研究[D].兰州:兰州理工大学,2011.
[9]ZHANG W J,ZHANG F,ZHANG J X,et al. Curved Measurement Theory of Honing Pneumatic Measurement System and Optimization of Measurement Parameters[J]. Journal of Physics,2018,1064:1-14.
[10]ZHANG W J,ZHANG F,ZHANG J X,et al. Optimization of Identification Structure Parameters Based on Recursive Maximum Likelihood Iteration[C]//Proceedings of the IEEE International Conference on Computers,Signals and Systems. Dalian,2018:119-124.
[11] ZHANG W J,ZHANG F,ZHANG J X,et al. Parameter Optimization and Model Identification of Identification Model Control Based on Improved Generalized Predictive Control[C]//Proceedings of the IEEE International Conference on Computers,Signals and Systems. Dalian,2018:125-129.
[12]ZHANG W J,ZHANG F,ZHANG J X,et al. Cross Coupled Contour Error Compensation Technology[J]. Materials Science and Engineering,2018,394(8):31-35.
[13]赵希梅,郭庆鼎,孙宜标.基于数字前置滤波器优化的ZPETC在伺服跟踪控制中的应用[J].电工技术学报,2005,20(5):30-34.ZHAO X M,GUO Q D,SUN Y B. Application of ZPETC Based on Optimal Design of Digital Prefilter in Servo Tracking Control[J]. Tansactions of China Electrotechnical,2005,20(5):30-34.
[14] ZHANG W J,ZHANG F,Zhang J X,et al. Flow Field Analysis and Parameter Optimization of Main and Measured Nozzles of Differential Pressure Type Gas Momentum Instrument Based on CFD[J]. Journal of Physics,2018(8):290-299.
[15]YE X,CHEN X,LI X,et al. A Cross-Coupled Path Precompensation Algorithm for Rapid Prototyping and Manufacturing[J]. International Journal of Advanced Manufacturing Technology,2002,20(1):39-43.
[16]张万军.一种基于B样条曲线高速实时插补的数控系统:201520069002. 6[P]. 2015-02-01.
[17]张万军.一种基于ARM+FPGA双处理器的数控插补系统:2015209691630[P]. 2015-04-06.
[18]张万军,涂晶洁,张育斌,等.高档数控机床NURBS曲线Newton-Rapson迭代的插补算法[J].机床与液压,2017,45(9):126-130.ZHANG W J,TU J J,ZHANG Y B,et al. Interpolation Algorithm Based on Newton-Rapson Iteration Method of Machine Tool of High-grade Numerical Control of NURBS Curve[J]. Machine Tool&Hydraulics,2017,45(9):126-130.
[19]ZHANG W J,ZHANG F,Zhang J X,et al. Modeling and Identification of System Model Parameters Based on Information Granularity Method[C]//Proceedings of the IEEE International Conference on Computers,Signals and Systems. Dalian,2018:114-118.
[20]ZHANG W J,ZHANG F,ZHANG J X,et al. Study on System Recognition Method for Newton-Raphson Iterations[C]//Proceedings of the IEEE International Conference on Computers,Signals and Systems. Dalian,2018:130-135.
[21]ZHANG W J,ZHANG F,ZHANG J X,et al. Research on the Vector Control System Based on the Difference Frequency of Wind Turbine Generator[J]. Marerials Science and Engineering,2018,394(8):200-209.
[22]黄东兆,周会成,李斌,等.面向轮廓精度控制的误差补偿方法[J].华中科技大学学报(自然科学版),2008,36(2):13-16.HUANG D Z,ZHOU H C,LI B,et al. Error Compensation Method using Contour Accuracy Control[J]. Journal of Huazhong University of Science and Technology(Natural Science Edition),2008,36(2):13-16.
[23]孙建仁,胡赤兵,王保民. CNC多轴运动控制系统轮廓误差分析[J].兰州理工大学学报,2010,36(4):37-42.SUN J R,HU C B,WANG B M. Analysis of Contour Error in CNC Multi-axis Motion Control System[J]. Journal of Lanzhou University of Technology,2010,36(4):37-42.
[2]王允森,盖荣丽,孙一兰,等.面向高质量加工的NURBS曲线插补算法[J].计算机辅助设计与图形学学报,2013,25(10):1549-1555.WANG Y S,GAI R L,SUN Y L,et al. NURBS Interpolation Algorithm for High-Quality Machining[J]. Journal of Computer-Aided Design&Computer Graphics,2013,25(10):1549-1555.
[3]张万军,张峰,张万良,等. NURBS曲线定时/中断插补算法的研究[J].制造技术与机床,2015(4):183-187.ZHANG W J,ZHANG F,ZHANG W L,et al. Research on NURBS Curve of Timing/Interrupt Interpolation Algorithm for CNC System[J]. Manufacturing Technology&Machine Tool,2015(4):183-187.
[4]张万军,张峰,张万良,等.高档数控机床B样条曲线高速实时插补研究[J].制造技术与机床,2015(8):172-176.ZHANG W J,ZHANG F,ZHANG W L,et al. Research on High-grade CNC Machines Tools CNC System for B-spline Curve Method of High-speed real-time Interpolation Arithmetic[J]. Manufacturing Technology&Machine Tool,2015(8):172-176.
[5] ZHANG W J,ZHANG F,ZHANG G H. Research on a Algorithm of Adaptive Interpolation for NURBS Curve[J].Applied Mechanics and Materials,2014,687/688/689/690/691:1600-1603.
[6]ZHANG W J,ZHANG F,ZHANG G H. Research on Modification Algorithm of Cubic B-spline Curve Interpolation Technology[J]. Applied Mechanics and Materials,2014,687/688/689/690/691:1596-1599.
[7]张万军,胡赤兵,邬再新,等.三次B样条曲线插补技术修正算法[J].制造技术与机床,2013(2):140-143.ZHANG W J,HU C B,WU Z X,et al. Modification Algorithm of Three B Spline Curve Interpolation Technology[J]. Manufacturing Technology&Machine Tool,2013(2):140-143.
[8]张万军.复杂曲线曲面插补技术修正算法的研究[D].兰州:兰州理工大学,2011.
[9]ZHANG W J,ZHANG F,ZHANG J X,et al. Curved Measurement Theory of Honing Pneumatic Measurement System and Optimization of Measurement Parameters[J]. Journal of Physics,2018,1064:1-14.
[10]ZHANG W J,ZHANG F,ZHANG J X,et al. Optimization of Identification Structure Parameters Based on Recursive Maximum Likelihood Iteration[C]//Proceedings of the IEEE International Conference on Computers,Signals and Systems. Dalian,2018:119-124.
[11] ZHANG W J,ZHANG F,ZHANG J X,et al. Parameter Optimization and Model Identification of Identification Model Control Based on Improved Generalized Predictive Control[C]//Proceedings of the IEEE International Conference on Computers,Signals and Systems. Dalian,2018:125-129.
[12]ZHANG W J,ZHANG F,ZHANG J X,et al. Cross Coupled Contour Error Compensation Technology[J]. Materials Science and Engineering,2018,394(8):31-35.
[13]赵希梅,郭庆鼎,孙宜标.基于数字前置滤波器优化的ZPETC在伺服跟踪控制中的应用[J].电工技术学报,2005,20(5):30-34.ZHAO X M,GUO Q D,SUN Y B. Application of ZPETC Based on Optimal Design of Digital Prefilter in Servo Tracking Control[J]. Tansactions of China Electrotechnical,2005,20(5):30-34.
[14] ZHANG W J,ZHANG F,Zhang J X,et al. Flow Field Analysis and Parameter Optimization of Main and Measured Nozzles of Differential Pressure Type Gas Momentum Instrument Based on CFD[J]. Journal of Physics,2018(8):290-299.
[15]YE X,CHEN X,LI X,et al. A Cross-Coupled Path Precompensation Algorithm for Rapid Prototyping and Manufacturing[J]. International Journal of Advanced Manufacturing Technology,2002,20(1):39-43.
[16]张万军.一种基于B样条曲线高速实时插补的数控系统:201520069002. 6[P]. 2015-02-01.
[17]张万军.一种基于ARM+FPGA双处理器的数控插补系统:2015209691630[P]. 2015-04-06.
[18]张万军,涂晶洁,张育斌,等.高档数控机床NURBS曲线Newton-Rapson迭代的插补算法[J].机床与液压,2017,45(9):126-130.ZHANG W J,TU J J,ZHANG Y B,et al. Interpolation Algorithm Based on Newton-Rapson Iteration Method of Machine Tool of High-grade Numerical Control of NURBS Curve[J]. Machine Tool&Hydraulics,2017,45(9):126-130.
[19]ZHANG W J,ZHANG F,Zhang J X,et al. Modeling and Identification of System Model Parameters Based on Information Granularity Method[C]//Proceedings of the IEEE International Conference on Computers,Signals and Systems. Dalian,2018:114-118.
[20]ZHANG W J,ZHANG F,ZHANG J X,et al. Study on System Recognition Method for Newton-Raphson Iterations[C]//Proceedings of the IEEE International Conference on Computers,Signals and Systems. Dalian,2018:130-135.
[21]ZHANG W J,ZHANG F,ZHANG J X,et al. Research on the Vector Control System Based on the Difference Frequency of Wind Turbine Generator[J]. Marerials Science and Engineering,2018,394(8):200-209.
[22]黄东兆,周会成,李斌,等.面向轮廓精度控制的误差补偿方法[J].华中科技大学学报(自然科学版),2008,36(2):13-16.HUANG D Z,ZHOU H C,LI B,et al. Error Compensation Method using Contour Accuracy Control[J]. Journal of Huazhong University of Science and Technology(Natural Science Edition),2008,36(2):13-16.
[23]孙建仁,胡赤兵,王保民. CNC多轴运动控制系统轮廓误差分析[J].兰州理工大学学报,2010,36(4):37-42.SUN J R,HU C B,WANG B M. Analysis of Contour Error in CNC Multi-axis Motion Control System[J]. Journal of Lanzhou University of Technology,2010,36(4):37-42.