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Servo and contour error online cooperative compensation method

A contour error and follow-up error technology, which is applied in the field of precise, efficient and intelligent CNC machining, can solve the problems that affect the contour control effect, it is difficult to guarantee the estimation accuracy, and the system stability is difficult to be effectively guaranteed.

Active Publication Date: 2016-12-07
DALIAN UNIV OF TECH
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Problems solved by technology

However, when the following error of each motion axis is large, the existing contour error estimation method is difficult to guarantee the estimation accuracy, which affects the contour control effect. In addition, due to the time-varying gain of the cross-coupling controller, the stability of the system is difficult to be effectively guaranteed.

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  • Servo and contour error online cooperative compensation method
  • Servo and contour error online cooperative compensation method
  • Servo and contour error online cooperative compensation method

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Embodiment Construction

[0058] The specific implementation manner of the present invention will be described in detail in conjunction with the technical scheme and the accompanying drawings.

[0059] In the direct interpolation process of the parameter curve, due to the hysteresis characteristics and dynamic performance mismatch of the servo control system of each feed axis, it will cause a large single-axis motion follow-up error and multi-axis linkage contour error. In order to improve the processing contour Accuracy, invented an online collaborative compensation method for follow-up and contour errors.

[0060] attached figure 1 Schematic diagram of follow-up and contour error compensator, attached figure 2 The geometric model diagram of the curved tool path is attached figure 2 The shown non-uniform rational B-spline curve tool path profile is an example, and the specific implementation process of the present invention is described in detail. The non-uniform rational B-spline parameters of th...

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Abstract

The invention provides a servo and contour error online cooperative compensation method, belongs to the technical field of precise high-effectiveness smart numerical control processing, and relates to a servo error compensation method and a contour error compensation method based on high-precision contour error vector estimation in the numerical control parameter curve interpolation processing process. The method comprises steps of firstly calculating a servo error compensation value which enables a system theoretical output value to be equal to an expected output value based on laplace's transformation and inverse transformation; then, bringing forward a reference point regeneration first order approximation algorithm, which is used for precisely estimating a contour error vector; and finally according to the contour error vector estimation value and based on introduction of compensation gains, achieving contour error real-time compensation. The invention improves single shaft tracking precision and multi-shaft linkage contour precision of a numerical control feeding system at the same time, achieves effective inhibition of single shaft movement servo errors, and ensures synchronous improvement of the single shaft tracking precision and the multi-shaft linkage contour precision of a numerical control system.

Description

technical field [0001] The invention belongs to the technical field of precision, high-efficiency and intelligent numerical control processing, and relates to an online collaborative compensation method for follow-up and contour errors in the process of parameter curve interpolation processing. Background technique [0002] Complex surface parts with complex geometric features are widely used in aerospace, defense vehicles and other fields, and their machining accuracy and efficiency directly affect the performance level and batch production process of high-end equipment in related fields. Precision and efficiency are of great importance. Compared with the traditional linear and circular interpolation, the parametric curve direct interpolation technology has obvious advantages such as smoother motion, so it has been widely used. However, in the parametric curve interpolation CNC machining of complex curved surface parts, due to reasons such as servo lag and dynamic mismatch...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/404
CPCG05B19/404G05B2219/36065
Inventor 贾振元宋得宁马建伟高媛媛张鑫
Owner DALIAN UNIV OF TECH
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