Full closed-loop control method for multi-shaft linked dynamic correction of interpolation positions
A dynamic correction, multi-axis linkage technology, applied in the general control system, program control, computer control and other directions, can solve the problems of reducing the service life of the machine tool, affecting the machining accuracy of the workpiece, and the machining speed is not stable, so as to improve the machining accuracy, dynamic Good stability and stable effect
Active Publication Date: 2014-05-21
中国科学院沈阳计算技术研究所有限公司
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[0004] In view of the existing processing methods of motion control, there are problems such as unstable processing speed and easy vibration of machine tools, which seriously affect the machining accuracy of workpieces and reduce the service life of machine tools
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[0049] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0050] The full-closed-loop motion control of multi-axis linkage dynamic correction includes: 1) Adjust the command position of each axis according to the deviation between the collected actual position of each axis and the actual position of the motor; 2) Map the adjusted command position of each axis into a trajectory command position on the .
[0051]Among them, the data acquisition and deviation calculation are realized based on the double feedback method of motor and machine tool position. Breaking the concept of traditional motion trajectory planning, the axis feedback position obtained by the external position sensing device such as the grating scale at the final execution end of the machine tool axis, and the axis feedback position calculated by the feedback of the servo motor encoder, the difference between the two is the axis motion ...
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The invention relates to a full closed-loop control method for multi-shaft linked dynamic correction of interpolation positions. The full closed-loop control method for multi-shaft linked dynamic correction of the interpolation positions comprises adjusting command positions of shafts on a first command position coordinate according to collected deviation between actual positions of the shafts and a motor; performing projection of adjusted command position vectors of the shafts on a machined track, obtaining a projection length and confirming corrected command positions; stopping adjusting when a full closed-loop condition is satisfied; performing speed connection processing on a movement segment and a next movement segment when a program segment is in parallel connection and provided with follow-up movement segments; not adjusting the interpolation positions until interpolation of the current movement segment is not achieved if the full closed-loop control condition is not satisfied and enabling the actual positions of the shafts to be moved to the command positions through a PID (Proportion Integration Differentiation) control algorithm within the positioning duration which is provided through a system. The full closed-loop control method for multi-shaft linked dynamic correction of the interpolation positions has the advantages of satisfying the multi-shaft linked profile accuracy, the positioning accuracy and the repositioning accuracy, meanwhile guaranteeing stabile operation of a servo motor, guaranteeing workpiece machining accuracy and prolonging the service life of machine tools.
Description
technical field [0001] The invention relates to the field of numerical control machine tool control, in particular to a full-closed-loop motion control method for multi-axis linkage dynamic correction motion interpolation with an external position sensor device feeding back machine tool axes. Background technique [0002] Today's CNC machine tools have been widely used. At the same time, the contour accuracy, positioning accuracy, and repeat positioning accuracy of CNC machine tools are also increasing day by day. The original semi-closed-loop control system of the screw plus encoder type can no longer fully meet the requirements of complex shaft linkage devices with various structures. The motion control requirements brought about by globalization. The semi-closed-loop control system cannot control the transmission error generated by the shaft transmission mechanism of the machine tool, the thermal deformation error generated by the transmission mechanism during high-speed ...
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IPC IPC(8): G05B19/41
Inventor 刘荫忠孙维堂鲍玉凤
Owner 中国科学院沈阳计算技术研究所有限公司
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