CN106141814A - Digit Control Machine Tool translation shaft geometric error based on LaserTRACER detection and discrimination method - Google Patents
Digit Control Machine Tool translation shaft geometric error based on LaserTRACER detection and discrimination method Download PDFInfo
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Abstract
The detection of a kind of Digit Control Machine Tool translation shaft geometric error based on LaserTRACER and discrimination method.It includes constituting the measurement system being made up of Digit Control Machine Tool and LaserTRACER, and utilizes this measurement systematic survey to obtain lathe end position and attitude error；Set up the mapping model between 21 geometric errors of Digit Control Machine Tool and above-mentioned lathe end position and attitude error；Set up the mapping model between lathe end position and attitude error and 21 geometric error system of polynomials number vectors；Set up the identification equation group of above-mentioned system of polynomials number vector；The identification equation group of system of polynomials number vector p is carried out identification analysis；Use Matlab that the measurement track in work space is carried out the steps such as simulation optimization.The present invention can reach preferable identification effect on the premise of measuring little data amount, and manufacturing capability appraising and error compensation for Digit Control Machine Tool provide data support.
Description
Technical field
The invention belongs to Geometric Error for Computerized Numerical Control Milling Machine accurate measurement and identification technique field, particularly relate to a kind of based on
The Digit Control Machine Tool translation shaft geometric error detection of LaserTRACER and discrimination method.
Background technology
Error compensation is to improve a kind of effective means of Digit Control Machine Tool geometric accuracy, and the mistake of three translation shaft of Digit Control Machine Tool
Difference detection and identification are the parts on error compensation basis the most.The NC Machine Error detection method being most widely used at present
Have two classes: a class is the individual error direct method of measurement based on laser interferometer, though the method measurement result is accurate, but need through
Test abundant engineers and technicians the most precisely to debug the position of interferometer mirror group and measure every error, automaticity respectively
Low, the longest.Another kind of is Indirect Error identification method, and the most most widely used is " 9 collimation method " and " ball bar method ", both of which
Whole geometric errors of lathe can be gone out by Fast Identification.But " 9 collimation method " have ignored vertical when measurement and positioning error and straightness error
The impact of the Abbe error that straight degree error causes；" ball bar method " is although achieving multi-shaft interlocked measurement, but measurement scope only limits
Semi circular surface with ballbar length as radius, can not represent the whole work space of lathe completely.
Within 2014, German Etalon AG develops a kind of entitled LaserTRACER-NG (hereinafter referred to as LaserTRACER)
Measuring instrument.This measuring instrument mainly includes laser head, target and ECU, and ECU is connected with laser head；Survey
Laser head automatic tracing target in amount, ECU records the target actual range to laser head automatically.But not yet find at present
LaserTRACER is used for multinomial and describes the Digit Control Machine Tool translation shaft geometric error error identification side with the change of position coordinates
The application in face.
Summary of the invention
In order to solve the problems referred to above, it is an object of the invention to provide a kind of Digit Control Machine Tool based on LaserTRACER and put down
The detection of moving axis geometric error and discrimination method.
In order to achieve the above object, Digit Control Machine Tool translation shaft geometric error based on LaserTRACER detection and identification side
Method includes the following step carried out in order:
1) constitute the measurement system being made up of Digit Control Machine Tool and LaserTRACER, and utilize this measurement systematic survey to obtain
Lathe end position and attitude error；
2) mapping model between 21 geometric errors of Digit Control Machine Tool and above-mentioned lathe end position and attitude error is set up；
3) mapping model between lathe end position and attitude error and 21 geometric error system of polynomials number vectors is set up；
4) the identification equation group of above-mentioned system of polynomials number vector is set up；
5) the identification equation group of above-mentioned system of polynomials number vector p is carried out identification analysis；
6) use Matlab that the measurement track in work space is carried out simulation optimization.
In step 1) described in measurement system in, Digit Control Machine Tool mainly includes that lathe bed, column, X guide rail, Y guide rail, Y are sliding
Platform, Z guide rail, Z slide unit and main shaft；The upper surface of its medial bed is workbench, X guide rails assembling in the X-direction of lathe bed two sides,
The lower end inside of door shape column forms moving sets with X guide rail along X-direction；Y guide rail is arranged on the Y-axis side on column on end floor beam
To, Y slide unit and Y guide rail form moving sets along Y direction；Z guide rails assembling is in the Z-direction of Y slide unit, and Z slide unit and Z guide rail are along Z
Direction of principal axis forms moving sets；Main shaft is arranged on the lower surface of Z slide unit；LaserTRACER mainly includes laser head, target and automatically controlled
Unit；Target is arranged on the lower surface of main shaft；It is on four positions of square shape that laser head is placed sequentially in the surface of workbench,
And it is connected with ECU, thus forms the measurement system of Digit Control Machine Tool and LaserTRACER.
In step 2) in, described sets up between 21 geometric errors of Digit Control Machine Tool and above-mentioned lathe end position and attitude error
The method of mapping model is: first Digit Control Machine Tool is regarded as the multi-body system being in series by multiple rigid bodies；Secondly many bodies are used
Topological relation between each moving component on theoretical description Digit Control Machine Tool；Reuse homogeneous coordinate transformation matrix multiple represent with
The pose transformational relation that Digit Control Machine Tool adjacent component is connected between reference frame；Finally set up 21 geometry of Digit Control Machine Tool by mistake
Mapping model between difference and lathe end position and attitude error.
In step 3) in, described sets up between lathe end position and attitude error and 21 geometric error system of polynomials number vectors
The method of mapping model be: first use multinomial model to describe geometric error relevant for position in 21 geometric errors,
Position independence geometric error, the i.e. error of perpendicularity do not deal with as a constant, obtain 21 geometric errors and 21 geometry
Mapping relations between error polynomial coefficient vector；Secondly integrating step 2) in 21 geometric errors of Digit Control Machine Tool and lathe end
Mapping model between end position and attitude error, sets up between lathe end position and attitude error and 21 geometric error system of polynomials number vectors
Mapping model.
In step 4) in, the method for the described identification equation group setting up above-mentioned system of polynomials number vector is: first counting
The work space of control lathe measures point for selected m, utilizes step 3) in mapping model each measurement is obtained containing 3
The equation group of error identification equation；Secondly, m the equation group containing 3 error identification equations obtained is utilized to be combined into a bag
Containing the equation group of 3m error identification equation, i.e. obtain the identification equation group of above-mentioned system of polynomials number vector.
In step 5) in, the described identification equation group to above-mentioned system of polynomials number vector p carries out identification analysis
Method is: first, do not bias at target, horizontally and vertically biasing three kinds in the case of, observational error mapping matrix
In column vector, determine wherein linear correlation and potentially relevant column vector；Secondly, by linear correlation in error map matrix
Column vector and corresponding system of polynomials number vector p in system of polynomials number vector remove, and the column vector of potential linear correlation is led to
Crossing the setting of measurement parameter makes it separate；Finally, the system of polynomials number vector p of Line independent does not has by solving simultaneous target
The identification equation group under biasing, horizontally and vertically bias conditions is had to obtain.
In step 6) in, the method that described use Matlab carries out simulation optimization to the measurement track in work space
For: the most initially give one group of 21 geometric error；Next utilizes step 2) in machine tool error model be calculated measure point
Ideal position error；Again on above-mentioned ideal position error basis one Gaussian noise of linear superposition in order to simulate actual measurement
The random error of result；Calculate actual error value and the relative error of initial error finally by method of least square, be repeated several times
Above procedure, makes identification relative error sufficiently small until finding one group to measure track, so far, completes to use Matlab to work
Track of measuring in space 10 carries out the process of simulation optimization.
Compared with existing discrimination method, the Digit Control Machine Tool translation shaft based on LaserTRACER that first present invention provides
Geometric error detection is 4 diverse locations that laser head is placed on numerically controlled machine with discrimination method, respectively to installation
The position of the target on main shaft of numerical control machine tool is demarcated, with the polygon positioning principle being similar to " GPS location ", it is possible to realize
The Fast Calibration of machine tool error, accurate measurement, and Digit Control Machine Tool is measured range expansion to the whole work space of Digit Control Machine Tool.Separately
Outward, preferable identification effect can be reached on the premise of measuring little data amount.Secondly identification result is used polynomial module
Be correlated with the geometric error change with machine tool position in type matching position, it is possible to use obtain 21 of the error model of foundation and identification
The error amount of any point in geometric error backwards calculation Digit Control Machine Tool processing space, for Digit Control Machine Tool manufacturing capability appraising with
And error compensation provides data support.
Accompanying drawing explanation
The Digit Control Machine Tool translation shaft geometric error based on LaserTRACER that Fig. 1 provides for the present invention detects and identification side
Method flow chart；
Fig. 2 is the measurement system structure schematic diagram that the inventive method uses.
Fig. 3 is the position of structure of numerically controlled machine-tool sketch and coordinate system；
Fig. 4 is for measuring track emulation flow chart；
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment, the present invention is described in further detail.
As it is shown in figure 1, the Digit Control Machine Tool translation shaft geometric error based on LaserTRACER that the present invention provides detects and distinguishes
Knowledge method includes the following step carried out in order:
1) constitute the measurement system being made up of Digit Control Machine Tool and LaserTRACER, and utilize this measurement systematic survey to obtain
Lathe end position and attitude error；
As in figure 2 it is shown, in described measurement system, Digit Control Machine Tool mainly includes that lathe bed 1, column 3, X guide rail 4, Y lead
Rail, Y slide unit 5, Z guide rail, Z slide unit 6 and main shaft 7；The upper surface of its medial bed 1 is workbench 2, and X guide rail 4 is arranged on lathe bed 1 liang
X-axis (front and back) direction of side, the lower end inside of door shape column 3 forms moving sets with X guide rail 4 along X-direction；Not shown in figure
Y-axis (left and right) direction that is arranged on column 3 on end floor beam of Y guide rail, Y slide unit 5 and Y guide rail form moving sets along Y direction；
Z guide rails assembling not shown in figure is in Z axis (up and down) direction of Y slide unit 5, and Z slide unit 6 and Z guide rail form movement along Z-direction
Secondary；Main shaft 7 is arranged on the lower surface of Z slide unit 6；LaserTRACER mainly includes the electricity not shown in laser head 9, target 8 and figure
Control unit；Target 8 is arranged on the lower surface of main shaft 7；It is four of square shape that laser head 9 is placed sequentially in the surface of workbench 2
On position, and it is connected with ECU；Target 8 can be surrounded at the maximum magnitude that X, Y, Z axis direction is moved with main shaft 7
Space is referred to as work space 10；During measuring, four laser head 9 automatic tracing clampings target 8 in main shaft 7 lower surface,
When main shaft 7 moves to a certain position in work space 10, ECU automatically records target 8 and arrives the reality between corresponding laser head 9
Border distance, and point is measured as one in this position, then deduct target 8 and arrive the ideal position between corresponding laser head 9, i.e. obtain
Cutting tool for CNC machine and workpiece relative pose error (hereinafter referred to as lathe end position and attitude error).LaserTRACER needs to measure
In lathe work space 10 several some positions just can with the geometric error of accurate calibration Digit Control Machine Tool, and these measure some positions successively
Connect and compose the error measure track of Digit Control Machine Tool.
2) mapping model between 21 geometric errors of Digit Control Machine Tool and above-mentioned lathe end position and attitude error is set up；
The geometric error of Digit Control Machine Tool, according to whether relevant with today's numerical control machine tool motion position, position can be divided into be correlated with
Geometric error (PDGEs) and position independence geometric error (PIGEs).As it is shown on figure 3, the present invention is with in a precision horizontal processing
As a example by the heart, being illustrated the discrimination method of the present invention, above-mentioned machining center is in the case of only considering translation shaft geometric error
Have 21 geometric errors: 9 site errors relevant to three axis coordinate positions and 9 angular errors, and position is only
Vertical 3 error of perpendicularitys between three axis, 18 PDGEs, 3 PIGEs altogether, as shown in table 1.
21 geometric errors of table 1 Digit Control Machine Tool
δ in tablex、δy、δzRepresenting site error, footmark represents the direction of error；εx、εy、εzRepresent angular errors, footmark table
Showing the direction of angular errors rotation axis, the x, y, z in bracket represents the movement position coordinate of X, Y, Z axis；Such as δi(j), its
Middle i, j=x, y, z represent when coordinate axes j movement position coordinate is j, along the site error in coordinate axes i direction, εi(j), wherein
I, j=x, y, z represent when coordinate axes j movement position coordinate is j, the angular errors rotated around coordinate axes i；εxy、εyz、εxzPoint
Other denotation coordination axle X and Y, the error of perpendicularity between Y and Z, X and Z.
Digit Control Machine Tool is a kind of multi-body system being in series by multiple rigid bodies, and many-body theory can be used to describe Digit Control Machine Tool
Topological relation between upper each moving component, represents to be connected with Digit Control Machine Tool adjacent component with homogeneous coordinate transformation matrix multiple and joins
Examine the pose transformational relation between coordinate system, thus set up 21 geometric errors of Digit Control Machine Tool and lathe end position and attitude error it
Between mapping model (hereinafter referred to as machine tool error model):
Wherein,It is vectorial for lathe end position and attitude error,For the vector being made up of 21 geometric errors of Digit Control Machine Tool, Ar
For the mapping matrix between lathe end position and attitude error and 21 geometric errors.
In order to write conveniently, formula (1) is split into following form:
The geometric error vector that in formula (2), position is relevant is:
The geometric error vector of position independence is:
A in formula (2)rx、Ary、ArzIt is respectively the error map matrix of the every error relevant to x, y, z axle, ArsFor with vertical
The error map matrix that straight degree error is relevant；Vectorial for the geometric error relevant to x, y, z shaft position,It is vertical
Directly spending error vector, it is constant.
3) mapping model between lathe end position and attitude error and 21 geometric error system of polynomials number vectors is set up；
By geometric error vector relevant for above-mentioned positionDescribe by multinomial model；Position independence geometry is by mistake
Difference, i.e. the error of perpendicularity is a constant, therefore does not deals with.
The metering system of LaserTRACER is that relative error is measured, thus the reference of the workbench 2 of definition Digit Control Machine Tool is sat
At the zero of mark system, every position geometric error numerical value of being correlated with is zero, i.e. polynomial constant item is zero.
Site error (including position error and straightness error) is:
Angular errors (including the angle of pitch, deflection angle, roll angle error) is:
δ in formula (5), (6)ij,kRepresent site error δiKth multinomial coefficient in the multinomial model of (j)；εij,kRepresent
Angular errors εiKth multinomial coefficient in the multinomial model of (j)；K is the k power item in n-order polynomial.
In formula (5), (6):
In formulaIt is respectively and describes site error δi(j), angular errors εiThe coefficient vector of (j),For corresponding coordinate position matrix；J is X-axis or Y-axis or the present co-ordinate position of Z axis.When the position of target 8 is sat
Mark (x, y, time z) known, coordinate position matrixFor known quantity.
Formula (5), (6) are substituted into the geometric error vector relevant to X-axis positionIn have:
In like manner can obtain:
With
Formula (8) is substituted into formula (2) pass between 21 corresponding system of polynomials number vectors of geometric error can be obtained
System:
Formula (9) is substituted into formula (1) obtain between lathe end position and attitude error and 21 geometric error system of polynomials number vectors
Relation:
In formula (10),For lathe end position and attitude error vector at certain point in work space 10, p is that 21 geometry miss
Difference system of polynomials number vector (hereinafter referred to as system of polynomials number vector).
4) the identification equation group of above-mentioned system of polynomials number vector is set up；
In above-mentioned formula (10), LaserTRACER measurement is used to obtain in work space 10 lathe end pose at certain point
Error vectorIn containing 3 error components, can form the equation group containing 3 error identification equations, and multinomial coefficient
Total 18n+3 unknowm coefficient in vector p, equation group cannot solve, and that measures in increase work space 10 counts so that equation
Quantity can solve more than or equal to the quantity of unknowm coefficient.Assume that measuring altogether m in work space 10 measures point, for
Ith measurement point, (i=1,2 ..., m),Point, the then identification of system of polynomials number vector p is measured in view of there being m
Equation group is:
In formula (11), n is to describe the polynomial exponent number of geometric error that position is relevant；M is for using
The measurement point sum that LaserTRACER measures in work space 10；For the lathe end pose recorded at ith measurement point
Error vector；P is system of polynomials number vector, only including the be correlated with 18n item multinomial coefficient vector sum position of geometric error, position
3 vertical perpendicularity system of polynomials number vectors；MiFor the error map matrix that i-th space networks lattice point is corresponding, comprise accurate machine
Bed structure parameter, machine tool motion positional information.
In theory, as 3m >=18n+3, i.e. equation number is more than or equal to unknown number number, can pick out system of polynomials
Number vector p.
5) the identification equation group of above-mentioned system of polynomials number vector p is carried out identification analysis；
By above-mentioned error map matrix MiSplit into following form:
Mi=[Mxi Myi Mzi Msi] (12)
M in formulaxi、Myi、Mzi、MsiIt is respectively the error relevant to three coordinate axes x, y, z of Digit Control Machine Tool and the error of perpendicularity
Mapping matrix, system of polynomials number vector p cognizable core condition is error map matrix MiIn column vector independent mutually；
(1) observational error mapping matrix Mxi、Myi、Mzi、Msi, when the position of target 8 does not bias, i.e. target 8 coordinate to
Amount(Represent geometric center O of the target 8 being arranged on main shaft 7TPosition in main shaft coordinate system T-xyz
Put vector), error map matrix MiIn have five pairs of column vectors, i.e. angular errors εy(x)、εx(y)、εy(y)、εzY () misses with position
Difference δy(x)、δx(y)、δy(y)、δz(y) and site error δyFirst order in (y) and error of perpendicularity εxyLinear phase respectively
Closing, the multinomial coefficient in system of polynomials number vector p corresponding with them cannot identification.
(2) angular errors εzY error map matrix M that () is correspondingyMiddle column vector has three kinds of situations:
A. target 8 is null vector when not biasing, relevant with all column vectors in error map matrix.
B. when target 8 biases in x direction, and site error δyY error map matrix column vector correlation that () is corresponding.
C. when target 8 biases in y direction, and site error δxY error map matrix column vector correlation that () is corresponding.
(3) in addition to 5 pairs of column vectors above-mentioned, also 3 pairs of column vectors it is important to note that they respectively:
Error map matrix Mxi、Myi、MziIn first three columns, the i.e. the 1st column position error deltax(x)、δx(y) and δx(z) possible linear correlation,
2nd column position error deltay(x)、δy(y) and δy(z) possible linear correlation, the 3rd column position error deltaz(x)、δz(y) and δzZ () may
Linear correlation.In order to make above-mentioned 3 pairs of column vectors separate, order launches the initial of measurement in the work space 10 of Digit Control Machine Tool
Three coordinate figures of point are not mutually equal, i.e. x ≠ y ≠ z.
Error map matrix MiThe column vector of middle linear correlation so that the system of polynomials number vector p of above-mentioned linear correlation without
Method identification, therefore these 5 pairs of system of polynomials number vectors and error map square corresponding thereto in system of polynomials number vector p should be removed
Battle array MiIn corresponding column vector, now can by the 14n+3 item system of polynomials number vector p identification of Line independent out.And to residue
The system of polynomials number vector p of 4n item linear correlation, after being biased by the horizontal and vertical of target 8, repeated measure and above-mentioned phase
The end position and attitude error of m same measurement point, does not has identification equation group and the above-mentioned target 8 of the system of polynomials number vector p obtained
Obtaining the identification equation group simultaneous of system of polynomials number vector p when having biasing, solving the identification equation group after above-mentioned simultaneous can distinguish
Know.
6) use Matlab that the measurement track in work space is carried out simulation optimization；
14n+3 item multinomial coefficient is contained altogether, as long as thus measuring in above-mentioned process, system of polynomials number vector p
Uniformly choose 3m >=14n+3 on track and measure some position so that error map matrix M full rank, multinomial coefficient can be picked out
All multinomial coefficients in vector p.And so that error identification precision is higher, then need m measurement in work space 10
The locus distribution of point, namely measure track and use Matlab to carry out simulation optimization so that measure track and meet following 3 simultaneously
Individual condition:
(1) the measurement track traversal all controllable degrees of freedom of Digit Control Machine Tool that m measurement point selected by is formed by connecting, and all
In the even whole work space 10 being distributed in Digit Control Machine Tool.
(2) when using LaserTRACER to measure lathe terminal position position and attitude error, the measurement trajectory that main shaft 7 is passed by
The fewest, to reduce the measurement time of error.
(3) make step 4), 5) in the error identification precision of the identification equation group of system of polynomials number vector p that obtains be less than
2 microns.
Using Matlab to carry out simulation optimization to measuring track, simulation flow sees Fig. 4.The most initially give one group 21
Geometric error, utilizes machine tool error model to be calculated the ideal position error measuring point, at above-mentioned ideal position error basis
One Gaussian noise of upper linear superposition, in order to simulate the random error of actual measured results, then calculates real by method of least square
Border error amount and the relative error of initial error.
1st step: measure two of measurement space of track composition in setting work space 10 to angle point at lathe coordinate system
In coordinate figure, measure trajectory assembled scheme, the installation site coordinate vector of target 8, geometry of being correlated with for matching position by mistake
Equally distributed measurement point number m on the polynomial exponent number n of difference and every measurement trajectory；
2nd step: initial given one group of system of polynomials number vector is used for emulating and (is designated as)；
3rd step: use error model namely the formula (10) of Digit Control Machine Tool, is calculated measuring point in measurement trajectory corresponding
Initial lathe end position and attitude error vector
4th step: at initial lathe end position and attitude error vectorUpper superposition average is zero, and standard deviation is σ normal distribution N
The agitation error of (0, σ), with analogue measurement noise and other uncertain factor, obtains actual lathe end position and attitude error vector
5th step: calculate conditional number and the order of error map matrix M, uses method of least square to be calculated actual multinomial
CoefficientWith relative error ε；
6th step: evaluating and measure track, when error map matrix M full rank and conditional number are less, and relative error is sufficiently small
Time, measure track emulation optimization and terminate.
Above procedure being repeated several times, making identification relative error sufficiently small until finding one group of optimization to measure track.Extremely
This, Digit Control Machine Tool translation shaft geometric error based on LaserTRACER detection is introduced complete with identification algorithm, it is possible to use this calculates
Method is measured and identification obtains 21 geometric errors, and manufacturing capability appraising and error compensation for Digit Control Machine Tool provide data to prop up
Hold.
Although the preferred embodiments of the present invention being described above in conjunction with accompanying drawing, but the invention is not limited in
The detailed description of the invention stated, above-mentioned detailed description of the invention is only schematically, is not restrictive, this area common
Technical staff, under the enlightenment of the present invention, in the case of without departing from present inventive concept and scope of the claimed protection, also may be used
To make a lot of form, within these belong to protection scope of the present invention.
Claims (7)
1. Digit Control Machine Tool translation shaft geometric error based on a LaserTRACER detection and discrimination method, it is characterised in that: its
The following step including carrying out in order:
1) constitute the measurement system being made up of Digit Control Machine Tool and LaserTRACER, and utilize this measurement systematic survey to obtain lathe
End position and attitude error；
2) mapping model between 21 geometric errors of Digit Control Machine Tool and above-mentioned lathe end position and attitude error is set up；
3) mapping model between lathe end position and attitude error and 21 geometric error system of polynomials number vectors is set up；
4) the identification equation group of above-mentioned system of polynomials number vector is set up；
5) the identification equation group of above-mentioned system of polynomials number vector p is carried out identification analysis；
6) use Matlab that the measurement track in work space is carried out simulation optimization.
Digit Control Machine Tool translation shaft geometric error based on LaserTRACER the most according to claim 1 detection and identification side
Method, it is characterised in that: in step 1) described in measurement system in, Digit Control Machine Tool mainly includes that lathe bed (1), column (3), X lead
Rail (4), Y guide rail, Y slide unit (5), Z guide rail, Z slide unit (6) and main shaft (7)；The upper surface of its medial bed (1) is workbench (2), X
Guide rail (4) is arranged on the X-direction of lathe bed (1) two sides, and the lower end inside of door shape column (3) and X guide rail (4) are along X-direction
Form moving sets；Y guide rail is arranged on the Y direction on the upper end floor beam of column (3), and Y slide unit (5) is formed along Y direction with Y guide rail
Moving sets；Z guide rails assembling forms moving sets at the Z-direction of Y slide unit (5), Z slide unit (6) and Z guide rail along Z-direction；Main shaft
(7) lower surface of Z slide unit (6) it is arranged on；LaserTRACER mainly includes laser head (9), target (8) and ECU；Target
(8) lower surface of main shaft (7) it is arranged on；Laser head (9) is placed sequentially in four positions that the surface of workbench (2) is square shape
On, and be connected with ECU, thus form the measurement system of Digit Control Machine Tool and LaserTRACER.
Digit Control Machine Tool translation shaft geometric error based on LaserTRACER the most according to claim 1 detection and identification side
Method, it is characterised in that: in step 2) in, described sets up 21 geometric errors of Digit Control Machine Tool and above-mentioned lathe end position and attitude error
Between the method for mapping model be: first Digit Control Machine Tool is regarded as the multi-body system being in series by multiple rigid bodies；Next makes
By many-body theory, the topological relation between each moving component is described on Digit Control Machine Tool；Reuse homogeneous coordinate transformation matrix multiple
The pose transformational relation that expression and Digit Control Machine Tool adjacent component are connected between reference frame；Finally set up Digit Control Machine Tool 21
Mapping model between geometric error and lathe end position and attitude error.
Digit Control Machine Tool translation shaft geometric error based on LaserTRACER the most according to claim 1 detection and identification side
Method, it is characterised in that: in step 3) in, described set up lathe end position and attitude error and 21 geometric error multinomial coefficients to
The method of the mapping model between amount is: first geometric error relevant for position in 21 geometric errors is used multinomial model
Describing, position independence geometric error, the i.e. error of perpendicularity do not deal with as a constant, obtains 21 geometric errors and 21
Mapping relations between geometric error system of polynomials number vector；Secondly integrating step 2) in 21 geometric errors of Digit Control Machine Tool and machine
Mapping model between bed end position and attitude error, sets up lathe end position and attitude error and 21 geometric error system of polynomials number vectors
Between mapping model.
Digit Control Machine Tool translation shaft geometric error based on LaserTRACER the most according to claim 1 detection and identification side
Method, it is characterised in that: in step 4) in, the method for the described identification equation group setting up above-mentioned system of polynomials number vector is: first
First selected m measurement point in the work space (10) of Digit Control Machine Tool, utilizes step 3) in mapping model for each measurement
Point obtains the equation group containing 3 error identification equations；Secondly, m the equation group group containing 3 error identification equations obtained is utilized
Synthesize an equation group comprising 3m error identification equation, i.e. obtain the identification equation group of above-mentioned system of polynomials number vector.
Digit Control Machine Tool translation shaft geometric error based on LaserTRACER the most according to claim 1 detection and identification side
Method, it is characterised in that: in step 5) in, the described identification equation group to above-mentioned system of polynomials number vector p carries out identifiability
The method analyzed is: first, in the case of target (8) not biasing, horizontally and vertically biasing three kinds, and observational error
Column vector in mapping matrix, determines wherein linear correlation and potentially relevant column vector；Secondly, by error map matrix
In the column vector of linear correlation and corresponding system of polynomials number vector p, system of polynomials number vector removes, and potential linear correlation
Column vector makes it separate by measuring parameter setting；Finally, the system of polynomials number vector p of Line independent is by solving connection
Vertical target (8) does not has the identification equation group under biasing, horizontally and vertically bias conditions to obtain.
Digit Control Machine Tool translation shaft geometric error based on LaserTRACER the most according to claim 1 detection and identification side
Method, it is characterised in that: in step 6) in, described use Matlab carries out simulation optimization to the track of measuring in work space
Method is: the most initially give one group of 21 geometric error；Next utilizes step 2) in machine tool error model be calculated measurement
The ideal position error of point；Again on above-mentioned ideal position error basis one Gaussian noise of linear superposition in order to simulate reality
The random error of measurement result；Actual error value and the relative error of initial error is calculated, repeatedly finally by method of least square
Repeating above procedure, making identification relative error sufficiently small until finding one group to measure track, so far, complete to use Matlab pair
Track of measuring in work space (10) carries out the process of simulation optimization.
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