A Comprehensive Control Method of Error Compensation for Trajectory Planning of NC Platform

Abstract

The invention discloses an error compensation comprehensive control method for trajectory planning of a numerical control platform. The method includes the following steps: (1) Establishing a feed rate regulator based on the chord height error constraint, and using the maximum feed rate allowed by the large curvature position Speed ​​is the constraint condition for quintic polynomial speed planning, so that the two axes move according to the prescribed speed law; (2) Combined with the real-time contour error estimation model of the free curve of the feed motion of the CNC platform, the cross-coupling controller is used to obtain the Axis contour error compensation amount, and use the improved position error compensator to calculate the position error compensation amount of each feed axis; (3) Input the contour error and position error compensation amount as the reference position command at the current moment to the two-axis servo In the system, the simultaneous compensation of contour error and tracking error is realized. The invention can significantly improve the tracking and contour control precision in the numerical control machining process while satisfying the string height error requirement.

Description

technical field [0001] The invention relates to an error compensation control method in the field of numerical control machining, in particular to an error compensation comprehensive control method for trajectory planning of a numerical control platform. Background technique [0002] The application of numerical control technology has brought about qualitative changes in the traditional manufacturing industry. Especially in recent years, the development of microelectronics technology and computer technology has brought new vitality to numerical control technology. Multi-axis computer numerical control (CNC) precision machining technology has become an industrial A hot and difficult issue in the field. With the improvement of product quality requirements, higher and higher requirements are put forward for the tracking and contour control accuracy of processed workpieces. [0003] In the process of CNC machining, due to the large difference in the motion characteristics of th...

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Problems solved by technology

However, although the above two methods can improve tracking and contour control accuracy at the same time, the controller structure is extremely complex, sensitive to modeling errors and external disturbances, and does not take into account the requirements of large curvature positions for string height errors

[0004] In summary, in most cases, the cross-coupling control method is effective in reducing the contour error, but the cross-coupling control method cannot significantly reduce the tracking error

Combining the cross-coupling control method with the tracking error compensation strategy can improve the tracking and contour control accuracy at the same time, but for the free curve with variable curvature, there is still a large contour error at the position of large curvature, and it often cannot meet the chord height error. Require

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