Compensation method and device for quadrant protrusion of machine tool, storage medium and electronic equipment

Abstract

The invention discloses a compensation method and device for quadrant protrusions of a machine tool, a storage medium and electronic equipment, and the compensation method comprises the steps: calculating the center distance of a machining point based on the coordinates of the machining point of arc machining; judging whether the absolute value of the difference between the center distance of the target processing point and the arc planning radius is greater than a threshold value; if yes, acquiring acceleration data of the current axis, and judging a movement direction change sequence of the current axis; based on the acceleration data and a preset compensation coefficient, calculating to obtain a compensation parameter of the current axis in the current motion direction change sequence; and calculating to obtain a speed feed-forward compensation value based on the compensation parameter. According to the method, the compensation parameter is calculated based on the compensation coefficient and the movement direction conversion sequence when the quadrant bulge exists, the speed feed-forward compensation value is calculated based on the compensation model of the compensation parameter, the speed feed-forward compensation value is superposed to the speed feed-forward, the quadrant bulge can be effectively compensated, the quadrant bulge is weakened or eliminated, and the stability of the speed feed-forward compensation is improved. And the machining precision is obviously improved.

Description

Technical Field

[0001] The present application belongs to the technical field of numerical control machining, and specifically relates to a method, device, storage medium and electronic equipment for compensating quadrant protrusion of a machine tool. Background Art

[0002] When a CNC machine tool performs circular motion, a quadrant bulge will occur at the quadrant. The main reason is that when an axis accelerates from a negative speed to a positive speed, when the speed passes through 0, the interpolation axis will stagnate for a very short time due to the change in the friction state, resulting in a contour error.

[0003] The quadrant bulge phenomenon seriously affects the tracking accuracy of the arc trajectory, but the current machining compensation method cannot effectively compensate for the quadrant bulge, which seriously affects the arc machining quality of the workpiece. Summary of the invention

[0004] The purpose of the present application is to provide a compensation method, device, storage medium and electronic device for machine tool quadrant protrusions, so as to solve the technical problem that the processing compensation method existing in the prior art cannot effectively realize the compensation of quadrant protrusions, which seriously affects the arc processing quality of the workpiece.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a method for compensating a quadrant protrusion of a machine tool, comprising:

[0006] Based on the coordinates of the processing point of the arc processing, the center distance of the processing point is calculated, and the center distance is the distance between the processing point and the center of the arc;

[0007] Determine whether the absolute value of the difference between the center distance of the target processing point and the arc planning radius is greater than a threshold, and the target processing point is the center point with the largest center distance; if so,

[0008] Get the acceleration data of the current axis and determine the order of the movement direction change of the current axis;

[0009] Based on the acceleration data and the preset compensation coefficient, the compensation parameters of the current axis in the current motion direction change sequence are calculated, and the compensation parameters include compensation delay time, maximum compensation value, compensation rise time, compensation hold time and compensation fall time;

[0010] Based on the compensation parameters, a speed feedforward compensation value is calculated.

[0011] In one or more embodiments, the compensation coefficient includes an exponential coefficient and a weight coefficient of each compensation parameter in different motion direction change sequences, and the motion direction change sequence includes positive motion to negative motion and negative motion to positive motion.

[0012] In one or more embodiments, the step of calculating the compensation parameter of the current axis in the current motion direction transformation sequence based on the acceleration data and the preset compensation coefficient is specifically as follows:

[0013] Selecting a compensation coefficient based on the current motion direction change sequence;

[0014] The target power value is calculated by taking the acceleration data as a base and the exponential coefficient of the target compensation parameter in the compensation coefficient as an exponent;

[0015] The target compensation parameter is calculated by taking the weight coefficient of the target compensation parameter as the weight of the target power value.

[0016] In one or more embodiments, the step of calculating the speed feedforward compensation value based on the compensation parameter includes:

[0017] Determine whether the compensation rise time is greater than the compensation delay time, and whether the compensation delay time is greater than 0;

[0018] If so, based on the preset compensation rise type and the compensation parameter, the speed feedforward compensation value is calculated, and the compensation rise type includes uniform rise, accelerated rise, decelerated rise, and first accelerated and then decelerated rise.

[0019] In one or more embodiments, the step of calculating the speed feedforward compensation value based on the preset compensation rise type and the compensation parameter includes:

[0020] When the compensation rise type is uniform rise, the speed feedforward compensation value is calculated based on the following formula: KVFF = P comp *TP delay / TP r and / or,

[0021] When the compensation rise type is accelerated rise, the speed feedforward compensation value is calculated based on the following formula: KVFF = and / or,

[0022] When the compensation rise type is deceleration rise, the speed feedforward compensation value is calculated based on the following formula: KVFF = and / or,

[0023] When the compensation rise type is acceleration first and then deceleration rise, the speed feedforward compensation value is calculated based on the following formula:

[0024] In the above formulas, KVFF is the speed feedforward compensation value, P comp is the maximum compensation value, TP delay To compensate for the delay time, TP rTo compensate for the rise time.

[0025] In one or more embodiments, if the compensation rise time is less than or equal to the compensation delay time, and / or the compensation delay time is less than or equal to 0, the step of calculating the speed feedforward compensation value based on the compensation parameter further includes:

[0026] Compare the sum of the compensation rise time and the compensation hold time with the compensation delay time;

[0027] If the sum of the compensation rise time and the compensation hold time is greater than the compensation delay time, the maximum compensation value is used as the speed feedforward compensation value.

[0028] In one or more embodiments, it further includes:

[0029] If the sum of the compensation rise time and the compensation hold time is less than the compensation delay time, the speed feedforward compensation value is calculated based on the following formula:

[0030] Where KVFF is the speed feedforward compensation value, P comp is the maximum compensation value, TP delay To compensate for the delay time, TP r To compensate for the rise time, TP h To compensate for the hold time, TP d To compensate for the fall time.

[0031] In order to achieve the above-mentioned object, the second aspect of the present application provides a compensating device for quadrant protrusion of a machine tool, comprising:

[0032] A distance calculation module, used to calculate the center distance of the processing point based on the coordinates of the processing point of the arc processing, wherein the center distance is the distance between the processing point and the center of the arc;

[0033] The bulge judgment module is used to judge whether the absolute value of the difference between the center distance of the target processing point and the arc planning radius is greater than a threshold value, and the target processing point is the center point with the largest center distance; if so,

[0034] The acceleration acquisition module is used to obtain the acceleration data of the current axis and determine the order of the movement direction change of the current axis when the absolute value of the difference between the center distance of the target processing point and the arc planning radius is greater than a threshold value;

[0035] A parameter calculation module, used to calculate the compensation parameters of the current axis in the current motion direction change sequence based on the acceleration data and a preset compensation coefficient, wherein the compensation parameters include compensation delay time, maximum compensation value, compensation rise time, compensation hold time and compensation fall time;

[0036] The compensation value calculation module is used to calculate the speed feedforward compensation value based on the compensation parameter.

[0037] In order to achieve the above-mentioned object, the third aspect of the present application provides an electronic device, including:

[0038] at least one processor; and

[0039] A memory storing instructions, which, when executed by the at least one processor, enables the at least one processor to execute the method for compensating a quadrant protrusion of a machine tool as described in any one of the above embodiments.

[0040] In order to achieve the above-mentioned purpose, the fourth aspect of the present application provides a machine-readable storage medium, which stores executable instructions, and when the instructions are executed, the machine executes the compensation method for the quadrant protrusion of the machine tool as described in any of the above-mentioned embodiments.

[0041] Different from the prior art, the beneficial effects of this application are:

[0042] The compensation method of the present application determines whether there is a quadrant protrusion based on the center distance of the processing point, and when a quadrant protrusion exists, the compensation parameters are calculated based on the compensation coefficient and the order of movement direction change. The speed feedforward compensation value is calculated based on the compensation model of the compensation parameters. Superimposing the speed feedforward compensation value on the speed feedforward can effectively realize the compensation of the quadrant protrusion, reduce or eliminate the quadrant protrusion, and significantly improve the processing accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 It is a schematic diagram of the compensation principle of quadrant bulge in this application;

[0045] Figure 2 It is a flow chart of an implementation method of a method for compensating a quadrant protrusion of a machine tool of the present application;

[0046] Figure 3 It is a schematic diagram of an implementation method of a compensation model of the present application;

[0047] Figure 4 yes Figure 2 A schematic diagram of a flow chart of an implementation method corresponding to S400;

[0048] Figure 5 yes Figure 2 A schematic flow chart of an implementation method corresponding to S500;

[0049] Figure 6 It is a structural schematic diagram of an implementation method of a compensating device for quadrant protrusion of a machine tool of the present application;

[0050] Figure 7 It is a schematic structural diagram of an embodiment of an electronic device of the present application. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0052] The main reason for the quadrant bulge is that when an axis accelerates from a negative speed to a positive speed, when the speed passes through 0, the interpolation axis will have a short stagnation due to the change of friction state, thus generating contour error. This phenomenon is particularly prominent when machining circular contour workpieces. At the point of the quadrant transition, one axis has reached its maximum speed while the speed of the other axis is 0.

[0053] In order to weaken or eliminate the quadrant bulge phenomenon and improve machining accuracy, the present application has developed a compensation method, which compensates a speed feedforward value in the system in advance. When the speed of the quadrant point is reversed, the compensation value is superimposed on the speed feedforward, so that the actual position does not overshoot or reduces the overshoot relative to the original position instruction, thereby improving the machining effect.

[0054] Specifically, see Figure 1 , Figure 1 It is a schematic diagram of the compensation principle of quadrant bulge in this application, such as Figure 1 As shown in the figure, line a is the actual processing contour, line b is the superimposed compensation value, and line c is the desired motion trajectory. By superimposing the compensation value on the velocity feedforward, the quadrant protrusion that occurs in the actual processing can be offset, so that the processing trajectory is adjusted to the desired motion trajectory, reducing or eliminating the quadrant protrusion.

[0055] The following is a detailed description of the method of this application. Figure 2 , Figure 2 It is a flow chart of an implementation method of a machine tool quadrant protrusion compensation method according to the present application.

[0056] like Figure 2As shown, the compensation methods include:

[0057] S100, calculating the center distance of the processing point based on the coordinates of the processing point of the arc processing.

[0058] The center distance is the distance between the processing point and the center of the arc.

[0059] S200: Determine whether the absolute value of the difference between the center distance of the target processing point and the planned arc radius is greater than a threshold.

[0060] The target processing point is the center point with the largest center distance, and the presence of quadrant bulge is determined by setting a threshold of the deviation amount of the processing point.

[0061] like Figure 1 As shown in , when the absolute value of the difference R between the center distance d of the target processing point and the planned arc radius |dR| is greater than the threshold, it can be determined that there is a quadrant bulge at the target processing point, and compensation is required at this time.

[0062] It can be understood that if there is no processing point where the absolute value of the difference between the center distance and the arc planning radius is greater than the threshold, it means that there is no quadrant bulge in the trajectory at this time, and no compensation is required.

[0063] Among them, the threshold value can be adjusted based on actual working conditions and accuracy requirements, and the effect of this implementation can be achieved.

[0064] The following describes the compensation methods when the absolute value of the difference between the center distance of the target processing point and the arc planning radius is greater than the threshold:

[0065] S300, obtaining acceleration data of the current axis, and determining the order of changing the movement direction of the current axis.

[0066] Since the quadrant bulge is generated during the commutation process of the machining axis, when quadrant bulge compensation is required, the movement direction of the machining axis must be changed. The movement direction change sequence of the current axis can be obtained by obtaining the acceleration data of the current axis.

[0067] Specifically, the movement direction change sequence may include two types: positive movement to negative movement and negative movement to positive movement.

[0068] S400: Based on the acceleration data and the preset compensation coefficient, the compensation parameters of the current axis in the current movement direction transformation sequence are calculated.

[0069] The compensation parameters include compensation delay time, maximum compensation value, compensation rise time, compensation hold time and compensation fall time.

[0070] like Figure 1As shown, in the compensation process, since the quadrant protrusion has the steps of rising, holding and falling, in order to compensate the quadrant protrusion, the speed feedforward compensation value is calculated based on the compensation model in this embodiment. The compensation model can be as follows Figure 3 As shown, Figure 3 It is a schematic diagram of an implementation method of a compensation model of the present application.

[0071] like Figure 3 The compensation parameters associated with the compensation model include compensation delay time, maximum compensation value, compensation rise time, compensation hold time and compensation fall time. These compensation parameters are associated with acceleration data and can be calculated using preset compensation coefficients and acceleration data.

[0072] Since the compensation models are different in different motion direction change orders, different motion direction change orders correspond to different compensation coefficients, thereby calculating different compensation parameters. Specifically, the compensation coefficients may include exponential coefficients and weight coefficients of each compensation parameter in different motion direction change orders.

[0073] The compensation coefficient of this embodiment is obtained by preset, and its value is obtained based on training adjustment during actual operation, or it can be obtained based on deep learning network model training, and the compensation coefficient can be adjusted accordingly in different working conditions to ensure the accuracy and effect of the compensation method.

[0074] The calculation of compensation parameters is described in detail below. Figure 4 , Figure 4 yes Figure 2 A flow chart of an implementation method corresponding to S400 in FIG.

[0075] like Figure 4 As shown, the calculation method of the compensation parameters includes:

[0076] S401. Select a compensation coefficient based on the current motion direction change sequence.

[0077] First, the compensation coefficient is selected based on the current motion direction change order. Exemplarily, the compensation coefficient may include:

[0078] Delay time weight coefficient TP when negative motion turns into positive motion delay_A and the delay time exponential coefficient TP delay_B , maximum compensation value weight coefficient P comp_A and the maximum compensation exponential coefficient P comp_B , rise time weight coefficient and Rise time exponential coefficient, fall time weight coefficient and Fall time exponential coefficient;

[0079] When positive motion turns to negative motion, the delay time weight coefficient TN delay_A and the delay time exponential coefficient TN delay_B , maximum compensation value weight coefficient N comp_A and the maximum compensation value exponential coefficient N comp_B , rise time weight coefficient and Rise time exponential coefficient, fall time weight coefficient and Exponential coefficient of fall time.

[0080] After confirming the current movement direction change sequence, a corresponding set of compensation coefficients is selected from the above two sets.

[0081] S402, using the acceleration data as a base and the exponential coefficient of the target compensation parameter in the compensation coefficient as an exponent to calculate a target power value.

[0082] S403: Using the weight coefficient of the target compensation parameter as the weight of the target power value, and calculating to obtain the target compensation parameter.

[0083] Specifically, taking the compensation coefficient in S401 as an example, when the current motion direction is transformed from negative motion to positive motion, the calculation formula of the corresponding compensation parameter is as follows:

[0084]

[0085] Among them, Acc is the acceleration data, P comp is the maximum compensation value, TP delay To compensate for the delay time, TP r To compensate for the rise time, TP h To compensate for the hold time, TP d To compensate for the fall time;

[0086] When the current motion direction is changed from positive motion to negative motion, the calculation formula of the corresponding compensation parameter is as follows:

[0087]

[0088] Among them, Acc is acceleration data, TN delay To compensate for the delay time, N comp is the maximum compensation value, TN r To compensate for the rise time, TN h To compensate for the hold time, TN d To compensate for the fall time.

[0089] S500: Calculate and obtain a speed feedforward compensation value based on the compensation parameter.

[0090] Based on the compensation parameters calculated in S400 above, a compensation model can be obtained, and based on the compensation model, a speed feedforward compensation value can be calculated.

[0091] Specifically, see Figure 5 , Figure 5 yes Figure 2 A flow chart of an implementation method corresponding to S500 in FIG.

[0092] like Figure 5 As shown in the figure, the calculation method of the speed feedforward compensation value includes:

[0093] S501: Determine whether the compensation rise time is greater than the compensation delay time, and whether the compensation delay time is greater than zero.

[0094] Taking the case of negative motion to positive motion, first determine whether the compensation parameters meet TP r >TP delay >0.

[0095] If satisfied, including:

[0096] S502a, based on the preset compensation rise type and compensation parameters, calculate and obtain the speed feedforward compensation value.

[0097] At this time, when TP r >TP delay When >0, the speed feedforward compensation value is associated with the compensation rise type. The calculation formula of the speed feedforward compensation value needs to be adjusted based on the compensation rise type.

[0098] Specifically, the preset compensation ascent types include uniform ascent, accelerated ascent, decelerated ascent, and ascent with acceleration followed by deceleration.

[0099] Taking the case of negative motion to positive motion as an example, when the compensation rise type is uniform rise, the velocity feedforward compensation value is calculated based on the following formula: KVFF = P comp *TP delay / TP r ;

[0100] When the compensation rise type is accelerated rise, the speed feedforward compensation value is calculated based on the following formula:

[0101] When the compensation rise type is deceleration rise, the speed feedforward compensation value is calculated based on the following formula:

[0102] When the compensation rise type is acceleration first and then deceleration rise, the speed feedforward compensation value is calculated based on the following formula:

[0103] In the above formulas, KVFF is the speed feedforward compensation value, P comp is the maximum compensation value, TP delay To compensate for the delay time, TP r To compensate for the rise time.

[0104] If TP is not met r >TP delay >0, also includes:

[0105] S502b: Compare the sum of the compensation rise time and the compensation hold time with the compensation delay time.

[0106] S503b: If the sum of the compensation rise time and the compensation hold time is greater than the compensation delay time, the maximum compensation value is used as the speed feedforward compensation value.

[0107] Taking negative motion to positive motion as an example, when TP r +TP h >TP delay And does not meet TP r >TP delay >0, the compensation value KVFF is P comp .

[0108] Synchronous with S503b, if the sum of the compensation rise time and the compensation hold time is less than the compensation delay time, the speed feedforward compensation value is calculated based on the following formula:

[0109] Where KVFF is the speed feedforward compensation value, P comp is the maximum compensation value, TP delay To compensate for the delay time, TP r To compensate for the rise time, TP h To compensate for the hold time, TP d To compensate for the fall time.

[0110] It should be noted that the examples of the above steps are all based on the conversion from negative motion to positive motion. When the current motion transformation sequence is from positive motion to negative motion, the corresponding compensation parameters can be used to replace the compensation parameters in the above calculation formula.

[0111] Based on the above steps, a velocity feedforward compensation value is calculated and obtained. The velocity feedforward compensation value is associated with the acceleration data. The quadrant bulge can be compensated by superimposing the velocity feedforward compensation value on the velocity feedforward.

[0112] This application also provides a compensating device for the protrusion of the quadrant of a machine tool, see Figure 6 , Figure 6 It is a structural schematic diagram of an implementation method of a compensating device for quadrant protrusion of a machine tool of the present application.

[0113] like Figure 6 As shown, the compensation device includes a distance calculation module 21, a protrusion judgment module 22, an acceleration acquisition module 23, a parameter calculation module 24, and a compensation value calculation module 25.

[0114] The distance calculation module 21 is used to calculate the center distance of the processing point based on the coordinates of the processing point of the arc processing, and the center distance is the distance between the processing point and the center of the arc;

[0115] The bulge judging module 22 is used to judge whether the absolute value of the difference between the center distance of the target processing point and the arc planning radius is greater than a threshold value, and the target processing point is the center point with the largest center distance; if so,

[0116] The acceleration acquisition module 23 is used to acquire the acceleration data of the current axis and determine the order of changing the motion direction of the current axis when the absolute value of the difference between the center distance of the target processing point and the arc planning radius is greater than a threshold value;

[0117] The parameter calculation module 24 is used to calculate the compensation parameters of the current axis in the current motion direction change sequence based on the acceleration data and the preset compensation coefficient, and the compensation parameters include compensation delay time, maximum compensation value, compensation rise time, compensation hold time and compensation fall time;

[0118] The compensation value calculation module 25 is used to calculate the speed feedforward compensation value based on the compensation parameters.

[0119] As above Figures 1 to 5 , a method for compensating a machine tool quadrant protrusion according to an embodiment of the present specification is described. The details mentioned in the above description of the method embodiment are also applicable to the compensating device for a machine tool quadrant protrusion according to an embodiment of the present specification. The above compensating device for a machine tool quadrant protrusion can be implemented by hardware, or by software, or by a combination of hardware and software.

[0120] This application also provides an electronic device, see Figure 7 , Figure 7 Schematic diagram of the structure of an electronic device of the present application. Figure 7 As shown, the electronic device 30 may include at least one processor 31, a memory 32 (e.g., a non-volatile memory), a memory 33, and a communication interface 34, and the at least one processor 31, the memory 32, the memory 33, and the communication interface 34 are connected together via a bus 35. At least one processor 31 executes at least one computer-readable instruction stored or encoded in the memory 32.

[0121] It should be understood that the computer executable instructions stored in the memory 32, when executed, cause at least one processor 31 to perform the above combined operations in various embodiments of the present specification. Figure 1-Figure 5 Describes the various operations and functions.

[0122] In the embodiments of the present specification, the electronic device 30 may include, but is not limited to, personal computers, server computers, workstations, desktop computers, laptop computers, notebook computers, mobile electronic devices, smart phones, tablet computers, cellular phones, personal digital assistants (PDAs), handheld devices, messaging devices, wearable electronic devices, consumer electronic devices, and the like.

[0123] According to one embodiment, a program product such as a machine-readable medium is provided. The machine-readable medium may have instructions (i.e., the above-mentioned elements implemented in the form of software), which, when executed by a machine, causes the machine to perform the above-mentioned combination of various embodiments of this specification. Figure 1 to Figure 5 Specifically, a system or device equipped with a readable storage medium may be provided, on which a software program code implementing the functions of any of the above-mentioned embodiments is stored, and a computer or processor of the system or device reads and executes the instructions stored in the readable storage medium.

[0124] In this case, the program code itself read from the machine-readable medium can realize the function of any one of the above embodiments, and thus the machine-readable code and the machine-readable storage medium storing the machine-readable code constitute part of this specification.

[0125] Examples of readable storage media include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD-RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer or a cloud via a communication network.

[0126] Those skilled in the art should understand that the various embodiments disclosed above can be modified and altered in various ways without departing from the essence of the invention. Therefore, the protection scope of this specification should be defined by the appended claims.

[0127] It should be noted that not all steps and units in the above-mentioned processes and system structure diagrams are necessary, and some steps or units can be ignored according to actual needs. The execution order of each step is not fixed and can be determined as needed. The device structure described in the above-mentioned embodiments can be a physical structure or a logical structure, that is, some units may be implemented by the same physical client, or some units may be implemented by multiple physical clients, or some components in multiple independent devices may be implemented together.

[0128] In the above embodiments, the hardware unit or module can be realized by mechanical or electrical means. For example, a hardware unit, module or processor can include permanent dedicated circuit or logic (such as special processor, FPGA or ASIC) to complete the corresponding operation. The hardware unit or processor can also include programmable logic or circuit (such as general-purpose processor or other programmable processor), which can be temporarily set by software to complete the corresponding operation. Specific implementation (mechanical method or dedicated permanent circuit or temporary circuit) can be determined based on cost and time consideration.

[0129] The specific embodiments described above in conjunction with the accompanying drawings describe exemplary embodiments, but do not represent all embodiments that can be implemented or fall within the scope of protection of the claims. The term "exemplary" used throughout this specification means "used as an example, instance or illustration" and does not mean "preferred" or "having advantages" over other embodiments. For the purpose of providing an understanding of the described technology, the specific embodiments include specific details. However, these technologies can be implemented without these specific details. In some instances, in order to avoid making the concepts of the described embodiments difficult to understand, well-known structures and devices are shown in block diagram form.

[0130] The above description of the present disclosure is provided to enable any person of ordinary skill in the art to implement or use the present disclosure. Various modifications to the present disclosure will be apparent to those of ordinary skill in the art, and the general principles corresponding to the present disclosure may be applied to other variations without departing from the scope of protection of the present disclosure. Therefore, the present disclosure is not limited to the examples and designs described herein, but is consistent with the widest range of principles and novel features disclosed herein.

Claims

1. A method for compensating a quadrant bulge of a machine tool, characterized in that: include: Based on the coordinates of the processing point of the arc processing, the center distance of the processing point is calculated, and the center distance is the distance between the processing point and the center of the arc; Determine whether the absolute value of the difference between the center distance of the target processing point and the arc planning radius is greater than a threshold, wherein the target processing point is the center point with the largest center distance; if, Get the acceleration data of the current axis and determine the order of the movement direction change of the current axis; Based on the acceleration data and the preset compensation coefficient, the compensation parameters of the current axis in the current motion direction change sequence are calculated, and the compensation parameters include compensation delay time, maximum compensation value, compensation rise time, compensation hold time and compensation fall time; Based on the compensation parameters, a speed feedforward compensation value is calculated.

2. The compensation method according to claim 1, characterized in that: The compensation coefficients include exponential coefficients and weight coefficients of the compensation parameters when the motion direction is changed in different sequences, and the motion direction change sequence includes positive motion to negative motion and negative motion to positive motion.

3. The compensation method according to claim 2, characterized in that: The step of calculating the compensation parameters of the current axis in the current motion direction transformation sequence based on the acceleration data and the preset compensation coefficient is specifically as follows: Selecting a compensation coefficient based on the current motion direction change sequence; The target power value is calculated by taking the acceleration data as a base and the exponential coefficient of the target compensation parameter in the compensation coefficient as an exponent; The target compensation parameter is calculated by taking the weight coefficient of the target compensation parameter as the weight of the target power value.

4. The compensation method according to claim 1, characterized in that: The step of calculating the speed feedforward compensation value based on the compensation parameter comprises: Determine whether the compensation rise time is greater than the compensation delay time, and whether the compensation delay time is greater than 0; If so, based on the preset compensation rise type and the compensation parameter, the speed feedforward compensation value is calculated, and the compensation rise type includes uniform rise, accelerated rise, decelerated rise, and first accelerated and then decelerated rise.

5. The compensation method according to claim 4, characterized in that: The step of calculating the speed feedforward compensation value based on the preset compensation rise type and the compensation parameter comprises: When the compensation rise type is uniform rise, the speed feedforward compensation value is calculated based on the following formula: KVFF = P comp *TP delay / TP r and / or, When the compensation rise type is accelerated rise, the speed feedforward compensation value is calculated based on the following formula: KVFF = and / or, When the compensation rise type is deceleration rise, the speed feedforward compensation value is calculated based on the following formula: KVFF = and / or, When the compensation rise type is acceleration first and then deceleration rise, the speed feedforward compensation value is calculated based on the following formula: In the above formulas, KVFF is the speed feedforward compensation value, P comp is the maximum compensation value, TP delay To compensate for the delay time, TP r To compensate for the rise time.

6. The compensation method according to claim 4, characterized in that: If the compensation rise time is less than or equal to the compensation delay time, and / or the compensation delay time is less than or equal to 0, the step of calculating the speed feedforward compensation value based on the compensation parameter further includes: Compare the sum of the compensation rise time and the compensation hold time with the compensation delay time; If the sum of the compensation rise time and the compensation hold time is greater than the compensation delay time, the maximum compensation value is used as the speed feedforward compensation value.

7. The compensation method according to claim 6, characterized in that: Also includes: If the sum of the compensation rise time and the compensation hold time is less than the compensation delay time, the speed feedforward compensation value is calculated based on the following formula: Where KVFF is the speed feedforward compensation value, P comp is the maximum compensation value, TP delay To compensate for the delay time, TP r To compensate for the rise time, TP h To compensate for the hold time, TP d To compensate for the fall time.

8. A compensating device for quadrant bulge of a machine tool, characterized in that: include: A distance calculation module, used to calculate the center distance of the processing point based on the coordinates of the processing point of the arc processing, wherein the center distance is the distance between the processing point and the center of the arc; A bulge judgment module, used to judge whether the absolute value of the difference between the center distance of the target processing point and the arc planning radius is greater than a threshold value, wherein the target processing point is the center point with the largest center distance; if, The acceleration acquisition module is used to obtain the acceleration data of the current axis and determine the order of the movement direction change of the current axis when the absolute value of the difference between the center distance of the target processing point and the arc planning radius is greater than a threshold value; A parameter calculation module, used to calculate the compensation parameters of the current axis in the current motion direction change sequence based on the acceleration data and a preset compensation coefficient, wherein the compensation parameters include compensation delay time, maximum compensation value, compensation rise time, compensation hold time and compensation fall time; The compensation value calculation module is used to calculate the speed feedforward compensation value based on the compensation parameter.

9. An electronic device, comprising: at least one processor; as well as A memory storing instructions, which, when executed by the at least one processor, enable the at least one processor to execute the machine tool quadrant protrusion compensation method according to any one of claims 1 to 7. 10 . A machine-readable storage medium storing executable instructions, wherein when the instructions are executed, the machine executes the method for compensating quadrant protrusion of a machine tool according to claim 1 .

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