On-line Cooperative Compensation Method for Follow-up and Contour Errors

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

Active Publication Date: 2018-07-13
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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  • On-line Cooperative Compensation Method for Follow-up and Contour Errors
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  • On-line Cooperative Compensation Method for Follow-up and Contour Errors

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Embodiment Construction

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

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

[0060] Attached figure 1 Schematic diagram of follow-up and contour error compensator, attached figure 2 It is the geometric model of the curve tool path, attached figure 2 The shown non-uniform rational B-spline curve tool path contour is taken as an example to describe the specific implementation process of the present invention in detail. The non-uniform rational B-spline parameter of the curve tool path contour is: order: 2; ...

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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 coordinated compensation method for follow-up and contour errors in a parametric curve interpolation processing process. Background technique [0002] Complicated curved surface parts with complex geometric features have a wide range of applications in aerospace, defense automotive and other fields. Its processing accuracy and processing efficiency directly affect the performance level and batch production process of high-end equipment in related fields. In view of this, improve the processing of complex curved surfaces Precision and efficiency are of great significance. Compared with the traditional straight line and circular arc interpolation, the parametric curve direct interpolation technology has significant advantages such as smoother motion, so it has been widely used. However, in the parametric curve inte...

Claims

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Application Information

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Patent Type & Authority Patents(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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