A double-drive feeding system error compensation method, device, equipment and medium

Abstract

This invention relates to a method, apparatus, device, and medium for error compensation in a dual-drive feed system, belonging to the field of CNC equipment error measurement and compensation technology. The method includes: establishing a low-order volume array of the equipment to be modeled, equipped with a dual-drive feed system; obtaining an error transmission chain from the workpiece to the tool based on the low-order volume array; establishing a mathematical model of tool error and dual-axis error when the dual axes of the dual-drive feed system drive the tool; determining the homogeneous coordinate transformation matrix between any two volumes in the low-order volume array; establishing an error transmission matrix from the workpiece coordinate system to the tool coordinate system based on the error transmission chain, mathematical model, and homogeneous coordinate transformation matrix; establishing a comprehensive error model of the dual-drive feed system based on the error transmission matrix and the transmission matrix under ideal conditions; and performing error compensation on the dual-drive feed system based on the comprehensive error model, thereby improving the error compensation accuracy of the dual-drive feed system.

Description

Technical Field

[0001] This invention relates to the field of error measurement and compensation technology for CNC equipment, and in particular to an error compensation method, device, equipment and medium for a dual-drive feed system. Background Technology

[0002] As a key transmission component affecting the machining accuracy of CNC equipment, the feed system faces increasingly higher requirements for performance and precision. Compared with traditional single-motor and single-screw driven feed systems, dual-drive feed systems have advantages such as strong anti-torsional sway and fast response. They are widely used in various advanced CNC equipment. Dual-drive feed refers to a feed method in which two motors are symmetrically arranged in the feed direction of the moving parts, working together with two ball screws to drive the load. The symmetrical arrangement of the two screws can, to some extent, offset the additional bending moment generated by the unbalanced load, making the force on the feed system more reasonable. This significantly improves the speed, acceleration, stiffness, and load capacity of the feed system, and also increases the service life of the screws and the machining accuracy of the CNC equipment.

[0003] The dual-drive feed system consists of a servo system and a mechanical system. The core components of the mechanical system are linear and rotary parts such as ball screw nuts, guide rails, sliders, and worktables. The total error of the dual-drive feed system during motion is accumulated by these components in the servo system and the mechanical system. Error propagation modeling of the dual-drive feed system is the key to realizing error compensation and accuracy improvement of the dual-drive feed system.

[0004] In existing technologies, error propagation modeling of dual-drive feed systems mostly assumes that the two axes have the same equivalent error, that is, it ignores the inconsistency of the two-axis errors. Similar to the single-axis error propagation modeling method, when modeling the error propagation of CNC machine tools equipped with dual-drive feed systems, the influence of different two-axis errors on the center position error of the combined weight of the dual-drive feed system is not considered, which results in low error modeling accuracy and low error compensation accuracy of the dual-drive feed system. Summary of the Invention

[0005] In view of this, it is necessary to provide a method, device, equipment and medium for error compensation of a dual-drive feed system, so as to solve the technical problem of low error compensation accuracy caused by not considering the difference in the errors of the two axes.

[0006] To address the aforementioned problems, in a first aspect, the present invention provides an error compensation method for a dual-drive feed system, comprising: A low-order volume array of the device to be modeled, equipped with a dual-drive feed system, is established, and the error transmission chain from the workpiece to the tool of the device to be modeled is obtained based on the low-order volume array. A mathematical model of tool error and dual-axis error is established when the dual-axis feed system moves the tool with dual axes. Determine the homogeneous coordinate transformation matrix between any two bodies in the low-order volume array, and establish the error transmission matrix from the workpiece coordinate system to the tool coordinate system based on the error transmission chain, mathematical model and homogeneous coordinate transformation matrix. A comprehensive error model of the dual-drive feed system is established based on the error transfer matrix and the transfer matrix under ideal conditions. Error compensation is then performed on the dual-drive feed system based on the comprehensive error model.

[0007] In one possible implementation, establishing the low-order volume array of the engraving and milling machine equipped with a dual-drive feed system includes: Using multibody system theory, each body of the device to be modeled, equipped with a dual-drive feed system, is numbered to obtain a low-order body array, which includes the engraving and milling machine bed, workpiece, crossbeam movement, slide, spindle box, spindle, and cutting tool.

[0008] In one possible implementation, the error propagation chain from the workpiece to the tool is an error propagation chain from the workpiece coordinate system, the machine tool reference coordinate system, the X-axis feed component coordinate system, the Y-axis feed component coordinate system, the Z-axis feed component coordinate system, the spindle coordinate system to the tool coordinate system.

[0009] In one possible implementation, the mathematical model for the tool error and the dual-axis error is as follows: , in, and These are the coefficients of the first drive shaft error and the tool error, and the coefficients of the second drive shaft error and the tool error, respectively. This is due to the error of the cutting tool. , These are the actual displacements along the X1 and X2 axes, respectively. The distance between the first drive shaft and the second drive shaft in the Y direction is [missing information]. This represents the current coordinate position of the tool in the Y direction.

[0010] In one possible implementation, the homogeneous coordinate transformation matrix is: , in, and These represent the relative orders of two typical volumes in the low-order volume array and the reference system, respectively. Let be the homogeneous coordinate transformation matrix of adjacent typical objects during the motion. and These are two typical volumes in the low-order volume array.

[0011] In one possible implementation, the error transfer matrix is: , , , , in, This is the error transfer matrix from the workpiece coordinate system to the tool coordinate system. Let be the error transfer matrix from the workpiece coordinate system to the bed reference coordinate system. This is the error propagation matrix from the bed reference coordinate system to the X-axis coordinate system. This is the error propagation matrix from the X-axis coordinate system to the Y-axis coordinate system. Let be the error propagation matrix from the Y-axis coordinate system to the Z-axis coordinate system. Let be the error propagation matrix from the Z-axis coordinate system to the principal axis coordinate system. The error propagation matrix from the spindle coordinate system to the tool coordinate system. This represents the angular error of the first drive shaft movement when the tool moves in the Z direction. This represents the angular error of the second drive shaft when the tool moves in the Z direction. This represents the angular error of the first drive shaft when the tool moves in the Y direction. This represents the angular error of the second drive shaft when the tool moves in the Y direction. This represents the angular error of the first drive shaft when the tool moves in the X direction. This represents the angular error of the second drive shaft when the tool moves in the X direction. This represents the linear error of the first drive axis when the tool moves in the Y direction. This represents the linear error of the second drive shaft when the tool moves in the Y direction. This represents the angular error of the Y-axis movement when the tool moves in the Y direction. This represents the angular error of the Z-axis movement when the tool moves in the Y direction. This represents the linear error of the Y-axis movement when the tool moves in the Y direction. This represents the linear error of the Z-axis movement when the tool moves in the Y direction. This represents the linear error of the first drive axis when the tool moves in the X direction. This represents the linear error of the second drive shaft when the tool moves in the X direction. This represents the linear error of the Y-axis movement when the tool moves in the X direction. This represents the linear error of the Z-axis movement when the tool moves in the X direction. This represents the angular error of the Y-axis movement when the tool moves in the X direction. This represents the angular error of the Z-axis movement when the tool moves in the X direction.

[0012] In one possible implementation, the comprehensive error model of the dual-drive feed system is: , in, , and These are the X-direction error, Y-direction error, and Z-direction error of the gantry mobile engraving and milling machine.

[0013] In a second aspect, the present invention also provides a dual-drive feed system error compensation device, comprising: The error propagation chain determination module is used to establish a low-order volume array of the device to be modeled with a dual-drive feed system, and to determine the error propagation chain from the workpiece to the tool based on the low-order volume array. The mathematical model building module is used to build a mathematical model of tool error and dual-axis error when the dual-axis drives the tool to move in a dual-drive feed system. The error propagation matrix establishment module is used to determine the homogeneous coordinate transformation matrix between any two bodies in the low-order volume array, and to establish the error propagation matrix from the workpiece coordinate system to the tool coordinate system based on the error propagation chain, mathematical model and homogeneous coordinate transformation matrix. The error model establishment module is used to establish a comprehensive error model of the dual-drive feed system based on the error transfer matrix and the transfer matrix under ideal conditions, and to perform error compensation on the dual-drive feed system based on the comprehensive error model.

[0014] Thirdly, the present invention also provides an electronic device, comprising: a processor and a memory; The memory stores a computer-readable program that can be executed by the processor; When the processor executes the computer-readable program, it implements the steps in the dual-drive feed system error compensation method described above.

[0015] Fourthly, the present invention also provides a computer-readable storage medium for storing a computer-readable program or instructions, which, when executed by a processor, can implement the steps in the dual-drive feed system error compensation method described in any one of the above-mentioned method items.

[0016] The beneficial effects of this invention are as follows: A low-order volume array of the device to be modeled, equipped with a dual-drive feed system, is established; based on the low-order volume array, the error transmission chain from the workpiece to the tool is obtained; a mathematical model of the tool error and dual-axis error is established when the dual axes of the dual-drive feed system drive the tool to move; the homogeneous coordinate transformation matrix between any two bodies in the low-order volume array is determined; based on the error transmission chain, mathematical model, and homogeneous coordinate transformation matrix, an error transmission matrix from the workpiece coordinate system to the tool coordinate system is established; a comprehensive error model of the dual-drive feed system is established based on the error transmission matrix and the transmission matrix under ideal conditions; error compensation is performed on the dual-drive feed system based on the comprehensive error model; the error transmission chain of the dual axes in the dual-drive feed system is analyzed separately; the tool center error transmission matrix is ​​established, improving the accuracy of error modeling of the dual-drive feed system and thus improving the error compensation accuracy of the dual-drive feed system. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of an embodiment of the error compensation method for the dual-drive feed system provided by the present invention; Figure 2 A schematic diagram of the structure of a milling machine for the dual-drive feed system error compensation method provided by the present invention; Figure 3 A schematic diagram of the error propagation chain of the dual-drive feed system error compensation method provided by the present invention; Figure 4 A schematic diagram of the dual-axis error in the dual-drive feed system error compensation method provided by the present invention; Figure 5 This is a schematic diagram of the pose motion between any two bodies in the dual-drive feed system error compensation method provided by the present invention. Figure 6 This is a schematic diagram of an embodiment of the error compensation device for the dual-drive feed system provided by the present invention. Figure 7 A schematic diagram of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0019] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0020] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0021] This invention discloses a method, apparatus, device, and medium for error compensation in a dual-drive feed system, which can be used in a computer. The method, apparatus, or computer-readable storage medium involved in this invention can be integrated with the aforementioned apparatus or can be relatively independent.

[0022] One specific embodiment of the present invention discloses an error compensation method for a dual-drive feed system, which can be executed by a computer, specifically by one or more processors of the computer. For example... Figure 1 As shown, the error compensation method for a dual-drive feed system includes: S101. Establish a low-order volume array of the equipment to be modeled with a dual-drive feed system, and obtain the error transmission chain from the workpiece to the tool based on the low-order volume array. It should be noted that the device to be modeled is a CNC engraving and milling machine. By using the low-order volume array of the device to be modeled, the connection relationships between the various components within the device can be determined, thereby establishing the error propagation chain from the workpiece to the cutting tool.

[0023] S102. Establish a mathematical model of tool error and dual-axis error when the dual-axis feed system drives the tool to move.

[0024] S103. Determine the homogeneous coordinate transformation matrix between any two bodies in the low-order volume array, and establish the error transmission matrix from the workpiece coordinate system to the tool coordinate system based on the error transmission chain, mathematical model and homogeneous coordinate transformation matrix. It should be noted that the errors in adjacent coordinate systems from the workpiece coordinate system, machine tool reference coordinate system, X-axis feed component coordinate system, Y-axis feed component coordinate system, Z-axis feed component coordinate system, spindle coordinate system to tool coordinate system are determined by the error propagation chain, mathematical model and homogeneous coordinate transformation matrix, and then the error propagation matrix from workpiece coordinate system to tool coordinate system is established.

[0025] S104. Establish a comprehensive error model for the dual-drive feed system based on the error transfer matrix and the transfer matrix under ideal conditions, and perform error compensation for the dual-drive feed system based on the comprehensive error model.

[0026] In some embodiments, in step S101, a low-order volume array of the device to be modeled, equipped with a dual-drive feed system, is established. Based on the low-order volume array, an error propagation chain from the workpiece to the tool is obtained for the device to be modeled. The device to be modeled is a CNC engraving and milling machine. A schematic diagram of the structure of a CNC engraving and milling machine equipped with a dual-drive feed system can be found here. Figure 2 ,like Figure 2 As shown, the CNC engraving machine includes a gantry beam, two servo motors (X1-axis motor and X2-axis motor) and two ball screws (X1-axis ball screw and X2-axis ball screw) arranged parallel and symmetrically on both sides of the gantry beam. Using multi-body system theory, the various bodies of the CNC engraving machine equipped with the dual-drive feed system are numbered to obtain a low-order body array. This low-order body array includes the CNC engraving machine bed, workpiece, gantry beam movement, slide, spindle box, spindle, and cutting tool. The Earth is set as the inertial reference coordinate system. The engraving and milling machine bed is set to Body, then according to away In the direction of the body distance, the workpiece is set sequentially as follows: The body sets the movement of the crossbeam driven by both axes as... The body, the slide is set as Body, spindle box set Body, spindle set Body, tool set The low-order volume array of the gantry-type mobile engraving and milling machine is then obtained. Please refer to Table 1 for the low-order volume array table of the gantry-type mobile engraving and milling machine. Table 1

[0027] As shown in Table 1, For body encoding, For the first Low-order units, , indicating body Tracing upwards in the topology tree The ancestral body number obtained after generation, in order to For example, its low-order body chain is The path is 7-6-5-4-3-1-0, corresponding to the CNC engraving machine bed, workpiece, crossbeam movement, slide, spindle box, spindle, and tool. Based on the established low-order volume array table, the error propagation chain from the workpiece to the tool in the gantry-type CNC engraving machine can be obtained. For a schematic diagram of the error propagation chain, please refer to [link / reference needed]. Figure 3 ,like Figure 3 As shown, the gantry-type mobile engraving and milling machine uses a dual-drive feed system in the X direction, and a single-drive feed system in the Y and Z directions to move the tool along the Y and Z directions. The error transmission chain from the workpiece to the tool in the gantry-type mobile engraving and milling machine is as follows: In the figure, the dashed lines represent the ideal motion chain from the workpiece to the tool, and the solid lines represent the actual motion chain from the workpiece to the tool including errors. Among them, W is the workpiece coordinate system, R is the machine tool reference coordinate system, X is the X-axis feed component coordinate system, Y is the Y-axis feed component coordinate system, Z is the Z-axis feed component coordinate system, S is the spindle coordinate system, and T is the tool coordinate system. Its X-axis feed component is the crossbeam movement, the Y-axis feed component is the slide, and the Z-axis feed component is the spindle box.

[0028] Because the dual-drive feed system experiences different loads on the two axes (first drive axis X1, second drive axis X2) during operation, even lead screws and nuts of the same model cannot guarantee identical error characteristics. Furthermore, the output characteristics and servo characteristics of the dual-axis motors differ, resulting in varying dual-axis errors. This affects the system's tool error. For a schematic diagram of dual-axis error, please refer to [link / reference needed]. Figure 4 ,like Figure 4 As shown, there are four possible scenarios for biaxial error, which can be categorized as follows: and There are two main categories: those where the minimum actual displacement of the X1 and X2 axes is less than the position command, and those where the minimum actual displacement of the X1 and X2 axes is greater than the position command. , When the displacement command is At that time, the actual displacement of the X1 and X2 axes, and When the position command is At that time, the error between the X1 axis and the X2 axis, For the error of the tool in the dual-drive feed system, such as Figure 4 (a) and Figure 4 As shown in (b), when the position command is That is, the ideal position of the dual-drive feed system is The actual minimum displacement of the X1 and X2 axes is less than the position command, such as... Figure 4 As shown in (a), the actual displacement of the X1 axis is greater than the ideal position of the dual-drive feed system, while the actual displacement of the X2 axis is less than the ideal position of the dual-drive feed system. Figure 4 As shown in (b), the actual displacement of the X1 axis is less than the ideal position of the dual-drive feed system, while the actual displacement of the X2 axis is greater than the ideal position of the dual-drive feed system. Taking the minimum value of the actual displacements of the X1 and X2 axes, as shown... Figure 4 As shown in (c) and (d), when the position command is The actual minimum displacement of the X1 and X2 axes is greater than the position command.

[0029] In some embodiments, in step S102, a mathematical model of the tool error and the dual-axis error is established when the dual-axis of the dual-drive feed system drives the tool to move. When the dual-drive feed system drives the tool to move, the mathematical model of the tool error and the dual-axis error of the dual-drive feed system can be obtained as follows: , in, and These are the coefficients of the first drive shaft error and the tool error, and the coefficients of the second drive shaft error and the tool error, respectively. This is due to the error of the cutting tool. , These are the actual displacements along the X1 and X2 axes, respectively. The distance between the first drive shaft and the second drive shaft in the Y direction is [missing information]. This represents the current coordinate position of the tool in the Y direction.

[0030] In some embodiments, in step S103, the homogeneous coordinate transformation matrix between any two bodies in the low-order body array is determined. Based on multi-body system theory, this can describe the pose motion between any two bodies in the dual-drive feed system. For a schematic diagram of the pose motion between any two bodies in the low-order body array, please refer to [link / reference]. Figure 5 The homogeneous coordinate transformation matrix between any two bodies is: , in, and These represent the relative orders of two typical volumes in the low-order volume array and the reference system, respectively. Let be the homogeneous coordinate transformation matrix of adjacent typical objects during the motion. and These are two typical volumes in a low-order volume array; An error propagation matrix from the workpiece coordinate system to the tool coordinate system is established based on the error propagation chain, mathematical model, and homogeneous coordinate transformation matrix. This matrix is ​​used when the tool moves a distance along the X, Y, and Z axes. , and At that time, under conditions with errors, the workpiece coordinate system To the tool coordinate system The error propagation matrix is: , in, This is the error transfer matrix from the workpiece coordinate system to the tool coordinate system. Let be the error transfer matrix from the workpiece coordinate system to the bed reference coordinate system. This is the error propagation matrix from the bed reference coordinate system to the X-axis coordinate system. This is the error propagation matrix from the X-axis coordinate system to the Y-axis coordinate system. Let be the error propagation matrix from the Y-axis coordinate system to the Z-axis coordinate system. Let be the error propagation matrix from the Z-axis coordinate system to the principal axis coordinate system. It is the error transfer matrix from the spindle coordinate system to the tool coordinate system; According to the error propagation matrix, , and for: , , , in, and These are the coefficients of the first drive shaft error and the tool error, and the coefficients of the second drive shaft error and the tool error, respectively. This represents the angular error of the first drive shaft movement when the tool moves in the Z direction. This represents the angular error of the second drive shaft when the tool moves in the Z direction. This represents the angular error of the first drive shaft when the tool moves in the Y direction. This represents the angular error of the second drive shaft when the tool moves in the Y direction. This represents the angular error of the first drive shaft when the tool moves in the X direction. This represents the angular error of the second drive shaft when the tool moves in the X direction. This represents the linear error of the first drive axis when the tool moves in the Y direction. This represents the linear error of the second drive shaft when the tool moves in the Y direction. This represents the angular error of the Y-axis movement when the tool moves in the Y direction. This represents the angular error of the Z-axis movement when the tool moves in the Y direction. This represents the linear error of the Y-axis movement when the tool moves in the Y direction. This represents the linear error of the Z-axis movement when the tool moves in the Y direction. This represents the linear error of the first drive axis when the tool moves in the X direction. This represents the linear error of the second drive shaft when the tool moves in the X direction. This represents the linear error of the Y-axis movement when the tool moves in the X direction. This represents the linear error of the Z-axis movement when the tool moves in the X direction. This represents the angular error of the Y-axis movement when the tool moves in the X direction. This represents the angular error of the Z-axis movement when the tool moves in the X direction; When the tool moves a distance along the X, Y, and Z axes, , and At that time, the error transfer matrix from the workpiece coordinate system to the tool coordinate system of the gantry-type moving engraving and milling machine is converted to: , In the formula: , , , , The comprehensive error model of a gantry-type mobile CNC engraving and milling machine is the difference between the actual coordinate transformation from the workpiece coordinate system to the tool coordinate system and the ideal coordinate transformation without error. Therefore, the comprehensive error model is as follows: , in, , and These are the X-direction error, Y-direction error, and Z-direction error of the gantry mobile engraving and milling machine.

[0031] In some embodiments, in step S104, a comprehensive error model of the dual-drive feed system is established based on the error transfer matrix and the transfer matrix under ideal conditions. Since the order of magnitude of the error is small, the second-order and higher-order infinitesimal quantities of mutual influence of errors are ignored in the calculation results. The comprehensive error model of the gantry moving engraving and milling machine is as follows: , in, , and The errors in the X, Y, and Z directions of the gantry-type mobile engraving and milling machine are respectively identified, and error compensation for the dual-drive feed system is performed based on a comprehensive error model.

[0032] In summary, the dual-drive feed system error compensation method provided by this invention establishes a low-order volume array of the device to be modeled, equipped with a dual-drive feed system, and obtains the error transmission chain from the workpiece to the tool based on the low-order volume array; establishes a mathematical model of the tool error and dual-axis error when the dual axes of the dual-drive feed system drive the tool to move; determines the homogeneous coordinate transformation matrix between any two volumes in the low-order volume array, and establishes the error transmission matrix from the workpiece coordinate system to the tool coordinate system based on the error transmission chain, mathematical model, and homogeneous coordinate transformation matrix; establishes a comprehensive error model of the dual-drive feed system based on the error transmission matrix and the transmission matrix under ideal conditions; and performs error compensation on the dual-drive feed system based on the comprehensive error model, thereby improving the error compensation accuracy of the dual-drive feed system.

[0033] To better implement the dual-drive feed system error compensation method in this embodiment of the invention, based on the dual-drive feed system error compensation method, correspondingly, as follows: Figure 6 As shown, this embodiment of the invention also provides a dual-drive feed system error compensation device. The dual-drive feed system error compensation device 600 includes: Error propagation chain determination module 601 is used to establish a low-order volume array of the device to be modeled with a dual-drive feed system, and to determine the error propagation chain from the workpiece to the tool of the device to be modeled based on the low-order volume array. The mathematical model building module 602 is used to build a mathematical model of the tool error and the dual-axis error when the dual-axis drives the tool to move in the dual-drive feed system. The error propagation matrix establishment module 603 is used to determine the homogeneous coordinate transformation matrix between any two bodies in the low-order volume array, and to establish the error propagation matrix from the workpiece coordinate system to the tool coordinate system based on the error propagation chain, mathematical model and homogeneous coordinate transformation matrix. The error model establishment module 604 is used to establish a comprehensive error model of the dual-drive feed system based on the error transfer matrix and the transfer matrix under ideal conditions, and to perform error compensation on the dual-drive feed system based on the comprehensive error model.

[0034] like Figure 7 As shown, the present invention also provides an electronic device 700, which can be a mobile terminal, desktop computer, laptop, handheld computer, server, or other computing device. The electronic device 700 includes a processor 701, a memory 702, and a display 703. Figure 7 Only some components of the electronic device 700 are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0035] In some embodiments, memory 702 may be an internal storage unit of the electronic device 700, such as a hard disk or memory of the electronic device 700. In other embodiments, memory 702 may be an external storage device of the electronic device 700, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device 700. Furthermore, memory 702 may include both internal and external storage units of the electronic device 700. Memory 702 is used to store application software and various types of data installed on the electronic device 700, such as program code installed on the electronic device 700. Memory 702 may also be used to temporarily store data that has been output or will be output. In one embodiment, memory 702 stores a dual-drive feed system error compensation program, which can be executed by processor 701 to implement the dual-drive feed system error compensation method of the various embodiments of the present invention.

[0036] In some embodiments, processor 701 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 702 or process data, such as a dual-drive feed system error compensation method.

[0037] In some embodiments, display 703 may be an LED display, a liquid crystal display, a touch-screen liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 703 is used to display identification information of the dual-drive feed system error compensation program and to display a visual user interface. Components 701-703 of electronic device 700 communicate with each other via a system bus.

[0038] In some embodiments, when the processor 701 executes the dual-drive feed system error compensation program in the memory 702, it implements each step of the dual-drive feed system error compensation method as described in the above embodiments. Since the dual-drive feed system error compensation method has been described in detail above, it will not be repeated here.

[0039] Accordingly, the present invention also provides a computer-readable storage medium for storing a computer-readable program or instruction, which, when executed by a processor, can implement the steps or functions of the dual-drive feed system error compensation method provided in the above-described method embodiments.

[0040] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0041] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for error compensation in a dual-drive feed system, characterized in that, include: A low-order volume array of the device to be modeled, equipped with a dual-drive feed system, is established, and the error transmission chain from the workpiece to the tool of the device to be modeled is obtained based on the low-order volume array. A mathematical model of tool error and dual-axis error is established when the dual-axis feed system moves the tool with dual axes. Determine the homogeneous coordinate transformation matrix between any two bodies in the low-order volume array, and establish the error transmission matrix from the workpiece coordinate system to the tool coordinate system based on the error transmission chain, mathematical model and homogeneous coordinate transformation matrix. A comprehensive error model of the dual-drive feed system is established based on the error transfer matrix and the transfer matrix under ideal conditions. Error compensation is then performed on the dual-drive feed system based on the comprehensive error model.

2. The error compensation method for a dual-drive feed system according to claim 1, characterized in that, The establishment of a low-order volume array for a milling and engraving machine equipped with a dual-drive feed system includes: Using multibody system theory, each body of the device to be modeled, equipped with a dual-drive feed system, is numbered to obtain a low-order body array, which includes the engraving and milling machine bed, workpiece, crossbeam movement, slide, spindle box, spindle, and cutting tool.

3. The error compensation method for a dual-drive feed system according to claim 1, characterized in that, The error propagation chain from workpiece to tool is the error propagation chain from workpiece coordinate system, machine tool reference coordinate system, X-axis feed component coordinate system, Y-axis feed component coordinate system, Z-axis feed component coordinate system, spindle coordinate system to tool coordinate system.

4. The error compensation method for a dual-drive feed system according to claim 1, characterized in that, The mathematical model for the tool error and the dual-axis error is as follows: ， in, and These are the coefficients of the first drive shaft error and the tool error, and the coefficients of the second drive shaft error and the tool error, respectively. This is due to the error of the cutting tool. , These are the actual displacements along the X1 and X2 axes, respectively. The distance between the first drive shaft and the second drive shaft in the Y direction is [missing information]. This represents the current coordinate position of the tool in the Y direction.

5. The error compensation method for a dual-drive feed system according to claim 4, characterized in that, The homogeneous coordinate transformation matrix is: ， in, and These represent the relative orders of two typical volumes in the low-order volume array and the reference system, respectively. Let be the homogeneous coordinate transformation matrix of adjacent typical objects during the motion. and These are two typical volumes in the low-order volume array.

6. The error compensation method for a dual-drive feed system according to claim 5, characterized in that, The error propagation matrix is: ， ， ， ， in, This is the error transfer matrix from the workpiece coordinate system to the tool coordinate system. Let be the error transfer matrix from the workpiece coordinate system to the bed reference coordinate system. This is the error propagation matrix from the bed reference coordinate system to the X-axis coordinate system. This is the error propagation matrix from the X-axis coordinate system to the Y-axis coordinate system. Let be the error propagation matrix from the Y-axis coordinate system to the Z-axis coordinate system. Let be the error propagation matrix from the Z-axis coordinate system to the principal axis coordinate system. The error propagation matrix from the spindle coordinate system to the tool coordinate system. This represents the angular error of the first drive shaft movement when the tool moves in the Z direction. This represents the angular error of the second drive shaft when the tool moves in the Z direction. This represents the angular error of the first drive shaft when the tool moves in the Y direction. This represents the angular error of the second drive shaft when the tool moves in the Y direction. This represents the angular error of the first drive shaft when the tool moves in the X direction. This represents the angular error of the second drive shaft when the tool moves in the X direction. This represents the linear error of the first drive axis when the tool moves in the Y direction. This represents the linear error of the second drive shaft when the tool moves in the Y direction. This represents the angular error of the Y-axis movement when the tool moves in the Y direction. This represents the angular error of the Z-axis movement when the tool moves in the Y direction. This represents the linear error of the Y-axis movement when the tool moves in the Y direction. This represents the linear error of the Z-axis movement when the tool moves in the Y direction. This represents the linear error of the first drive axis when the tool moves in the X direction. This represents the linear error of the second drive shaft when the tool moves in the X direction. This represents the linear error of the Y-axis movement when the tool moves in the X direction. This represents the linear error of the Z-axis movement when the tool moves in the X direction. This represents the angular error of the Y-axis movement when the tool moves in the X direction. This represents the angular error of the Z-axis movement when the tool moves in the X direction.

7. The error compensation method for a dual-drive feed system according to claim 6, characterized in that, The comprehensive error model of the dual-drive feed system is as follows: ， in, , and These are the X-direction error, Y-direction error, and Z-direction error of the gantry mobile engraving and milling machine.

8. An error compensation device for a dual-drive feed system, characterized in that, include: The error propagation chain determination module is used to establish a low-order volume array of the device to be modeled with a dual-drive feed system, and to determine the error propagation chain from the workpiece to the tool based on the low-order volume array. The mathematical model building module is used to build a mathematical model of tool error and dual-axis error when the dual-axis drives the tool to move in a dual-drive feed system. The error propagation matrix establishment module is used to determine the homogeneous coordinate transformation matrix between any two bodies in the low-order volume array, and to establish the error propagation matrix from the workpiece coordinate system to the tool coordinate system based on the error propagation chain, mathematical model and homogeneous coordinate transformation matrix. The error model establishment module is used to establish a comprehensive error model of the dual-drive feed system based on the error transfer matrix and the transfer matrix under ideal conditions, and to perform error compensation on the dual-drive feed system based on the comprehensive error model.

9. An electronic device, characterized in that, Including memory and processor; The memory stores a computer-readable program that can be executed by the processor; When the processor executes the computer-readable program, it implements the steps in the dual-drive feed system error compensation method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps in the dual-drive feed system error compensation method according to any one of claims 1-7.

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