数控系统参数曲线、曲面插补算法及加减速控制研究
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摘要
数控技术是支持现代装备制造业的关键性技术,决定着制造装备的功能和性能。其中,参数曲线、参数曲面插补是现代数控系统的标志性功能。作为数控技术的核心,插补技术尤其是参数曲线、参数曲面插补及加减速控制算法的运算精度和速度对现代数控系统性能优劣起着决定性作用。本文就这两方面问题进行深入的理论和应用研究。
以一、二阶泰勒展开式参数曲线插补算法和平面参数曲线插补算法研究为基础,提出引入误差补偿值的复杂空间参数曲线高精度插补算法以实现空间曲线的高精度插补。通过引入误差补偿值以提高参数曲线插补点的求解精度,在求解过程中对误差补偿值进行合理简化以降低插补计算量。Nurbs曲线仿真实例证明在满足实时性的前提下,该算法所计算的插补点参数值误差精度有明显提高。
在对参数线法加工曲面研究的基础上,提出引入误差补偿值的两类参数曲面高精度刀轨规划算法以实现对缓变参数曲面和平移扫描曲面的高精度插补。通过引入误差补偿值以提高参数曲面在走刀方向上插补点的计算精度,针对缓变参数曲面曲率缓变和平移扫描曲面扫描轮廓沿扫描线平行的特点在运算过程中对插补点参数值的计算结果进行合理简化。参数曲面仿真实例证明在满足实时性的前提下,由该算法所计算的插补点参数值误差明显降低。
以等残余高度刀具轨迹规划算法为基础,提出带有误差补偿值的复杂参数曲面高精度刀轨误差补偿算法以实现复杂参数曲面的高精度插补。通过引入误差补偿值以提高复杂参数曲面插补点求解精度,针对复杂参数曲面数控加工特点合理简化求解结果以降低插补运算量。复杂参数曲面仿真实例表明,该算法可在满足系统实时性的前提下,显著提高复杂参数曲面插补点参数值的计算精度。
在对三角函数加减速控制算法研究的基础上,提出改进的三角函数加减速控制算法。利用加减速位移曲线函数的表达式保证位移、速度、加速度、加加速度曲线的连续性。算法性能分析表明改进的三角函数加减速控制算法在保证三角函数算法优点的基础上,有效解决了三角函数加减速算法运算复杂的问题,使零件的加工精度、工效提高,机床加工运行的平稳性得到有效保证。
根据上述算法在八轴五联动数控系统开发中引入参数曲线、参数曲面插补算法及改进的三角函数加减速控制算法模块,可对数控系统的参数曲线、参数曲面的高速、高精加工形成有力支持。
Numerical control technology is the critical technology of modern equipment manufacturing industry, which determines the function and performance of manufacture equipment. Parameter curve and curved surface interpolation are the symbolic function of modern number control system. As the core of numerical technology, interpolation technology especially the precision and the speed of parameter curve, curved surface interpolation and acceleration deceleration control algorithm are playing a decisive role in the modern CNC system performance. The research of theory and application for these two aspects is done deeply in this paper.
The interpolation algorithm of introduced error compensation for complex parametric curve in space (IAIECCS) is proposed for the high precision interpolation of parametric curve on the basis of studying the first, second order taylor expression parametric curve interpolation algorithm and the plane parametric curves interpolation algorithm. The error compensation is introduced in the interpolation algorithm to increase the interpolation point’s solution precision of the parametric curve, and the reasonable simplification of the compensation expression is carried in the solution process to decrease the calculation load of interpolation. The simulation example of Nurbs curve proves that the calculative precision of the interpolation point’s parameter value can be increased greatly on the premise that the real time performance of the numerical control system is satisfied.
The high precision tool path planning algorithm of introduced error compensation (HPTPPAC) is proposed for the high precision interpolation of translational scanned curved surface and curved surface of which respective direction curvature changed slowly on the basis of studying parametric method tool-path generation for parametric surface. The error compensation is introduced in the interpolation algorithm to increase the interpolation point’s solution precision in the cutting direction of the parametric curved surface. The reasonable simplification of the computed result of the interpolation point’s parameter value is carried in the operation process by focusing on the character that curvature of slow-varying parametric curved surface changed slowly and the feature that the scanned profile of translational scanned curved surface is parallel along the scanned line. The simulation example of parametric curved surface proves that the calculative error of interpolation point’s parameter value can be decreased greatly under the condition that the real time performance of the numerical control system is satisfied.
The high precision tool path planning algorithm with error compensation for complex parametric surfaces—high precision tool path planning algorithm of error compensation (HPTPPACPS) is proposed for the interpolation of complex curved surface on the basis of studying the constant scallop-height tool path planning for parametric surface. The interpolation point’s solution precision of the complex parametric curved surface is improved through the introduction of the error compensation. Meanwhile, the computed result is simplified reasonably to decrease the calculation load of interpolation according to the feature in Numerical control processing of complex parametric curved surface. The simulation example of complex parametric curved surface prove that the calculative precision of the interpolation point’s parameter value of the complex parametric curved surface can be increased obviously on the premise that the real time performance of the numerical control system is fulfilled.
The modified acceleration deceleration control algorithm of trigonometric function (MADCATF) is proposed on the basis of studying the acceleration deceleration control algorithm of trigonometric function. The continuity of acceleration deceleration displacement、speed、acceleration and jerk function is satisfied by the form of the acceleration deceleration displacement function. The analysis of algorithm performance is shown that MADCATF can solve the problem of the acceleration deceleration control algorithm of trigonometric function and the merit of acceleration deceleration control algorithm of trigonometric function is kept. So the machining accuracy of the part and work efficiency are improved, and the stationarity of the movement of the machine tool in processing course is guaranteed effectively.
According to the algorithm above, the module of the parametric curve interpolation, the parametric curved surface interpolation and MADCATF is introduced during the development of the eight-five axis CNC system. The high speed, and high precision machining of the parametric curve, the parametric curved surface can be supported effectively to the CNC system.
以一、二阶泰勒展开式参数曲线插补算法和平面参数曲线插补算法研究为基础,提出引入误差补偿值的复杂空间参数曲线高精度插补算法以实现空间曲线的高精度插补。通过引入误差补偿值以提高参数曲线插补点的求解精度,在求解过程中对误差补偿值进行合理简化以降低插补计算量。Nurbs曲线仿真实例证明在满足实时性的前提下,该算法所计算的插补点参数值误差精度有明显提高。
在对参数线法加工曲面研究的基础上,提出引入误差补偿值的两类参数曲面高精度刀轨规划算法以实现对缓变参数曲面和平移扫描曲面的高精度插补。通过引入误差补偿值以提高参数曲面在走刀方向上插补点的计算精度,针对缓变参数曲面曲率缓变和平移扫描曲面扫描轮廓沿扫描线平行的特点在运算过程中对插补点参数值的计算结果进行合理简化。参数曲面仿真实例证明在满足实时性的前提下,由该算法所计算的插补点参数值误差明显降低。
以等残余高度刀具轨迹规划算法为基础,提出带有误差补偿值的复杂参数曲面高精度刀轨误差补偿算法以实现复杂参数曲面的高精度插补。通过引入误差补偿值以提高复杂参数曲面插补点求解精度,针对复杂参数曲面数控加工特点合理简化求解结果以降低插补运算量。复杂参数曲面仿真实例表明,该算法可在满足系统实时性的前提下,显著提高复杂参数曲面插补点参数值的计算精度。
在对三角函数加减速控制算法研究的基础上,提出改进的三角函数加减速控制算法。利用加减速位移曲线函数的表达式保证位移、速度、加速度、加加速度曲线的连续性。算法性能分析表明改进的三角函数加减速控制算法在保证三角函数算法优点的基础上,有效解决了三角函数加减速算法运算复杂的问题,使零件的加工精度、工效提高,机床加工运行的平稳性得到有效保证。
根据上述算法在八轴五联动数控系统开发中引入参数曲线、参数曲面插补算法及改进的三角函数加减速控制算法模块,可对数控系统的参数曲线、参数曲面的高速、高精加工形成有力支持。
Numerical control technology is the critical technology of modern equipment manufacturing industry, which determines the function and performance of manufacture equipment. Parameter curve and curved surface interpolation are the symbolic function of modern number control system. As the core of numerical technology, interpolation technology especially the precision and the speed of parameter curve, curved surface interpolation and acceleration deceleration control algorithm are playing a decisive role in the modern CNC system performance. The research of theory and application for these two aspects is done deeply in this paper.
The interpolation algorithm of introduced error compensation for complex parametric curve in space (IAIECCS) is proposed for the high precision interpolation of parametric curve on the basis of studying the first, second order taylor expression parametric curve interpolation algorithm and the plane parametric curves interpolation algorithm. The error compensation is introduced in the interpolation algorithm to increase the interpolation point’s solution precision of the parametric curve, and the reasonable simplification of the compensation expression is carried in the solution process to decrease the calculation load of interpolation. The simulation example of Nurbs curve proves that the calculative precision of the interpolation point’s parameter value can be increased greatly on the premise that the real time performance of the numerical control system is satisfied.
The high precision tool path planning algorithm of introduced error compensation (HPTPPAC) is proposed for the high precision interpolation of translational scanned curved surface and curved surface of which respective direction curvature changed slowly on the basis of studying parametric method tool-path generation for parametric surface. The error compensation is introduced in the interpolation algorithm to increase the interpolation point’s solution precision in the cutting direction of the parametric curved surface. The reasonable simplification of the computed result of the interpolation point’s parameter value is carried in the operation process by focusing on the character that curvature of slow-varying parametric curved surface changed slowly and the feature that the scanned profile of translational scanned curved surface is parallel along the scanned line. The simulation example of parametric curved surface proves that the calculative error of interpolation point’s parameter value can be decreased greatly under the condition that the real time performance of the numerical control system is satisfied.
The high precision tool path planning algorithm with error compensation for complex parametric surfaces—high precision tool path planning algorithm of error compensation (HPTPPACPS) is proposed for the interpolation of complex curved surface on the basis of studying the constant scallop-height tool path planning for parametric surface. The interpolation point’s solution precision of the complex parametric curved surface is improved through the introduction of the error compensation. Meanwhile, the computed result is simplified reasonably to decrease the calculation load of interpolation according to the feature in Numerical control processing of complex parametric curved surface. The simulation example of complex parametric curved surface prove that the calculative precision of the interpolation point’s parameter value of the complex parametric curved surface can be increased obviously on the premise that the real time performance of the numerical control system is fulfilled.
The modified acceleration deceleration control algorithm of trigonometric function (MADCATF) is proposed on the basis of studying the acceleration deceleration control algorithm of trigonometric function. The continuity of acceleration deceleration displacement、speed、acceleration and jerk function is satisfied by the form of the acceleration deceleration displacement function. The analysis of algorithm performance is shown that MADCATF can solve the problem of the acceleration deceleration control algorithm of trigonometric function and the merit of acceleration deceleration control algorithm of trigonometric function is kept. So the machining accuracy of the part and work efficiency are improved, and the stationarity of the movement of the machine tool in processing course is guaranteed effectively.
According to the algorithm above, the module of the parametric curve interpolation, the parametric curved surface interpolation and MADCATF is introduced during the development of the eight-five axis CNC system. The high speed, and high precision machining of the parametric curve, the parametric curved surface can be supported effectively to the CNC system.
引文
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