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

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...

AI Technical Summary

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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