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Method for controlling cascade-stage iteration learning cross coupling contour errors of triaxial numerical control system

A technology of numerical control system and control method, applied in the direction of digital control, electrical program control, etc., can solve the problems of large contour error and poor control performance, and achieve the effects of improving control performance, smoothing contour error, and good dynamic compensation

Inactive Publication Date: 2012-03-28
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0004] In order to overcome the disadvantages of poor control performance, no dynamic compensation and relatively large contour error in the contour error control method of the existing three-axis numerical control system, the present invention provides a three-axis numerical control system with good control performance, dynamic compensation, and smooth contour error Cascaded Iterative Learning Cross-Coupling Contour Error Control Method

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  • Method for controlling cascade-stage iteration learning cross coupling contour errors of triaxial numerical control system
  • Method for controlling cascade-stage iteration learning cross coupling contour errors of triaxial numerical control system
  • Method for controlling cascade-stage iteration learning cross coupling contour errors of triaxial numerical control system

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Embodiment Construction

[0047] The present invention will be further described below in conjunction with the accompanying drawings.

[0048] refer to Figure 1 to Figure 7 , a cascaded iterative learning cross-coupling contour error control method of a three-axis numerical control system, the control method includes the following process:

[0049] The actual reference input of the three-axis CNC system can be written as:

[0050] Y dx，k+1 =Y dx +ΔY dx，k +Г x E. x，k +ε k CC x

[0051] Y dy，k+1 =Y dy +ΔY dy，k +Г y E. y，k +ε k CC y

[0052] Y dx，k+1 =Y dz +ΔY dz，k +Г z E. z，k +ε k CC z

[0053] The X-axis following error is:

[0054] E. x，k+1 =Y dx -Y x，k+1

[0055] =Y dx -G x Y dx，k+1

[0056] =Y dx -G x (Y dx +ΔY dx，k +Г x E. x，k +ε k CC x )

[0057] =(1-G x Г x -G x CC x 2 )E x，k -G x CC x C y E. y，k -G x CC x C z E. z，k

[0058] The Y-axis following error is:

[0059] E. y，k+1 =Y dy -Y y，k+1

[0060] =Y dy -G ...

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Abstract

A method for controlling cascade-stage iteration learning cross coupling contour errors of a triaxial numerical control system, comprises the procedures of confirming practical reference input quantity of the triaxial numerical control system, a following error formula of an X axle, a following error formula of a Y axle and a following error formula of Z axle, deducing the convergence conditions for cascade-stage iteration learning control (ILC), obtaining the necessary convergence condition as a formula (2) of the cascade-stage ILC according to a formula (1), and realizing the contour error control of the triaxial numerical control system by getting a iteration learning law and a contour error controller meeting the conditions of the formula (2). The method for controlling the cascade-stage iteration learning cross coupling contour errors of the triaxial numerical control system has excellent dynamic compensation and smooth contour errors and being capable of improving the control performance.

Description

technical field [0001] The invention relates to a numerical control machine tool control technology, in particular to a contour error control method of a three-axis numerical control system. Background technique [0002] At present, the control strategy of CNC machine tool feed servo system can usually be divided into two categories: tracking control and contour control. Various tracking control strategies focus on improving the position control performance of each feed axis and reducing the tracking error of each feed axis in the servo system, thereby indirectly reducing the machining contour error. However, the contour error is not a simple vector sum of the motion errors of each coordinate axis of the feed system; the defects of the machine tool components (such as the straightness of the table movement, the perpendicularity between the coordinate axes, etc.), the dynamic characteristics and parameters of each feed axis are different Phenomena such as matching, machine t...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/19
Inventor 徐建明周延松吴世名张健陆群
Owner ZHEJIANG UNIV OF TECH
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