A multi-axis linkage pipeline interpolation full-closed-loop motion control method

Abstract

The invention relates to the field of control of numerical control machine tools, and specifically provides method for adding pipeline interpolation on the basis of dynamically correcting motion track interpolation position according to the feedback of a grating ruler and other external connecting position sensing devices as well as a servo motor encoder so as to dynamically plan the motion tracks. The method is suitable for two-shaft and three-shaft coupling linear interpolation, two-shaft coupling arc-shaped interpolation and hybrid configuration of full-closed-loop feedback, full-closed-hoop feedback and semi-closed-hoop feedback. With the adoption of the method, the multi-shaft coupling contour precision, positioning precision and repeated positioning precision can be met, a servo motor can run stably, the processing precision of a workpiece can be ensured, and the service life of a machine can be prolonged. The method is high in adaptability, high in processing route contour precision, high in speed smoothness, high in dynamic performance and high in motion safety.

Description

technical field [0001] The invention relates to the field of full-closed-loop numerical control machine tool control, in particular to a full-closed-loop motion control method aimed at multi-axis linkage pipeline motion interpolation for dual-position sensing devices feeding back machine tool shafts. Background technique [0002] Nowadays, CNC machine tools have been widely used. High-precision, high-speed processing and low cost are always the contradictory existence of advanced manufacturing technology. The contour accuracy, positioning accuracy and repeat positioning accuracy of CNC machine tools are also increasing day by day. Existing CNC machine tools Technology cannot perfectly solve the multi-axis linkage motion control requirements brought about by the diversification of the structure of the complex transmission device with distribution shaft. The semi-closed-loop control system cannot control the transmission error generated by the machine shaft transmission mechan...

AI Technical Summary

Problems solved by technology

[0002] Nowadays, CNC machine tools have been widely used. High-precision, high-speed processing and low cost are always the contradictory existence of advanced manufacturing technology. The contour accuracy, positioning accuracy and repeat positioning accuracy of CNC machine tools are also increasing day by day. Existing CNC machine tools Technology cannot perfectly solve the multi-axis linkage motion control requirements brought about by the diversification of the structure of the complex transmission device with distribution shaft

The semi-closed-loop control system cannot control the transmission error generated by the machine shaft transmission mechanism and the error caused by the wear of the transmission system during the processing, and cannot meet the control requirements of the processing technology.

External sensing devices such as grating rulers perform full closed-loop control on each coordinate axis of the CNC machine tool. Although the axis positioning accuracy and repeat positioning accuracy can be satisfied to a certain extent, there is a situation in which the servo motor speed is not stable during the motion control process, which may easily cause vibration of the machine tool axis. , On the one hand, it will affect the machining accuracy, on the other hand, it will also accelerate the wear of the transmission device of the machine tool

[0003] With the rapid development of modern manufacturing industry, the structure of machine tools is also constantly changing. For example, the mechanical structure of servo motors with distribution transmission devices to control multiple machine tool coordinate axes has appeared. Traditional motion control methods are no longer suitable for this type of machine tool. machine tool

However, this kind of machine tool has complex transmission structure, large mechanical clearance, and unstable transmission linearity within the range of axis travel. It also requires an external position sensing device to achieve positioning, and at the same time requires a suitable motion control method to achieve full closed-loop linkage.

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