CN102049717A - Controlling computerized numerical control (CNC) high-quality aspheric surface forming control method and hardware system - Google Patents
Controlling computerized numerical control (CNC) high-quality aspheric surface forming control method and hardware system Download PDFInfo
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Abstract
The invention provides a digital control method for realizing tangent-process forming of high-quality aspheric surface by three-axis linkage based on a speed interpolation principle, and a hardware system. The hardware control system adopts a universal motion and automation controller (UMAC) with a multi-axis linkage function and an electronic cam algorithm to acquire accurate time interval to ensure the synchronization of three-axis linkage, and adopts a position-velocity-time (PVT) speed interpolation algorithm to eliminate inflection point smooth transition of actual machining curve at the positions of nodes and position overstrike and to make interpolation nodes constantly keep the continuous change in the feeding speed of grinding wheels and the moving direction and the tangent direction at a point consistent to form a high-precision continuous smooth aspheric surface, and thus, the machining efficiency of the aspheric surface is increased and the machining cost of the aspheric surface is lowered.
Description
Technical field
The present invention relates to a kind ofly realize tangential method shaping high order aspheric surface digital control method and hardware system with Speed interpolation principle three-shaft linkage.
Background technology
Numeric Control Technology has been widely used in various controls field at present, as Aero-Space, automobile, traffic, communication, electronics, locating and tracking system, robot, high-accuracy process equipment and assembly line etc.At the optical element manufacture field, process the high accuracy aspheric surface optical accessory with technology such as numerical control turning, numerical control grinding and numerical control polishings.The multiple digital control processing optical aspherical surface lathe of having developed is to be applied both at home and abroad, present digital control processing optical aspherical surface technology, its working (machining) efficiency is enhanced compared with traditional-handwork processing aspheric surface technology, but working (machining) efficiency is still very low, only suitable single-piece produced in small quantities, along with the optical aspherical surface optical element demand that develops rapidly of light industry constantly increases, press for the working (machining) efficiency height, can in batches and become the equipment of producing the optical aspherical surface part in batches.
No matter the inefficient main cause of numerical control formation optical aspherical surface machine tooling is that turning, grinding or the non-spherical surface that polishes after being shaped always produce small ripple error at present, take a long time and remove this ripple error, so working (machining) efficiency is low, the processing cost height.Cause the reason of this situation that the geometrical factor of numerical control formation principle, processing method and physical factor etc. are arranged.Wherein the error that causes of numerical control formation principle is the theoretical property error.The numerical control formation principle of current domestic and international existing processing aspheric surface lathe all is position interpolation numerical control principles of 2-axis linkage, and there is the theoretical property error that forms external waviness in this numerical control formation principle itself.Position interpolation numerical control principle has three kinds of interpolating methods, i.e. the interpolating method that pulse increment interpolation, digital sample interpolation and digital sample interpolation and pulse increment interpolation mix.The geometric locus that obtains according to above three kinds of interpolating methods all is a small broken line near the given aspherical trace curve of optical design.This broken line, its interpolation layout is obtained more little, can make near error more little, but broken line always in theory, and broken line always forms small ripple on whole surface.On the small ripple of this theoretical property basis, be superimposed with the ripple of geometrical factor and physical factor, will obtain the small ripple of more complicated different frequency bands.At above-mentioned present situation, a kind of new numerical control formation high order aspheric surface control method is proposed, eliminate the purpose that produces small ripple on the aspherical surface forming surface to reach.The concrete control method that proposes is to realize tangential method shaping high order aspheric surface digital control method with Speed interpolation principle three-shaft linkage.
Summary of the invention
The objective of the invention is in order to improve the working (machining) efficiency of aspheric surface optical accessory, the three-shaft linkage tangential method shaping numerical control method of Speed interpolation principle is proposed, the indication three-shaft linkage is that the interior emery wheel axle of section rotates with turning cylinder Z axle at one time, the emery wheel axle moves the numerical control linkage of moving along y-axis shift with the emery wheel axle along X-axis, the indication Speed interpolation is that the motion of each is carried out the rotation of different angles and moving of different distance by the single shaft equation of motion that decomposites in the given trajectory curve equation of optical design in three, and the indication tangential method is that the grinding points on the emery wheel moves along the tangential direction of each point on the curve all the time.
The three-shaft linkage of Speed interpolation principle is to adopt the UMAC controller hardware with multi-shaft interlocked function to realize, the Speed interpolation control of each is that the PVT Speed interpolation method that adopts the UMAC controller to carry realizes, the time of motion control accurately is to adopt the electric cam algorithm.
The parameter of concrete interlock, promptly machined parameters is that the equational workpiece bore of given part is carried out the N five equilibrium, calculates the emery wheel axle along x axle and the mobile Δ x of y axle by program
Mi, Δ y
MiThe rotate Δ θ of moving axis Z axle rotation of displacement of the lines amount and emery wheel axle
MiAngular displacement.By the given emery wheel axle of the requirement of processing technology rotational angular velocity ω
m, calculate the time Δ t that can obtain processing by program so
i, Δ t wherein
i=(Δ θ
Mi* 60)/(ω
m* 2 π); t
i=t
I-1+ Δ t
i, t
0=0.Calculate each segmented section spot speed v by program again
Mxi, v
MyiWith acceleration a
Mxi, wherein
v
Mxi=v
Mx (i-1)+ a
MxiΔ t
i,
If the z axle is with ω
mAt the uniform velocity rotation, its velocity variations rule is a constant speed straight line, and the x axle is segmented into uniformly accelerated motion, and speed time curve is dull to rise; The y axle is the segmentation uniform motion, and speed time curve is dull to descend.Calculate by above programming, finally obtain the monotone variation relation of position, speed, acceleration, time and each variable of each node on the curve.
The hardware system of technical scheme of the present invention is based on the tangential method processing high order aspheric surface three-shaft linkage speed servo control method of UMAC, it is characterized in that control system selects for use the PC+NC based on UMAC to pass hierarchic structure, adopt zero transmission actuation techniques and analog linearity driver to constitute automatic control frequency variable synchronous motor feed servo system, to realize three-shaft linkage control.The control system software design scheme is by last, slave computer two parts are formed, the upper computer software system adopts Microsoft Visual C++6.0 development environment to design, mainly finish the human-computer interaction function modular design, preliminary treatment is calculated, motor program establishment and upper and lower computer communication, the slave computer motion control adopts the PVT Speed interpolation control method of UMAC and electric cam algorithm to realize emery wheel feed speed between interpolator node is accurately controlled, promptly, emery wheel is satisfied in the process constantly be positioned on the tangential direction of requirement curve based on the PVT Speed interpolation three-shaft linkage method of servo-controlling of UMAC.
Pretreated kinematic parameter by above-mentioned host computer, PTV Speed interpolation and electric cam algorithm with UMAC carry out three-shaft linkage control, the PVT control mode is according to controlled track node location (P), speed (V), time slice between adjacent node parameters such as (T) realizes orbiting motion control, these parameters are the initial list files that generate according in host computer preliminary treatment result of calculation, after taking out one group of PVT parameter from this listing file, automatically walk out a location track curve according to motor program, and corresponding rate curve and accelerating curve correspondence are arranged, also can set the curve that acceleration time (TA) and run duration (T) value equate to obtain omnidistance acceleration in addition.In the motion control excessively between interpolator node, constantly keep the continuous variation of speed promptly consistent with tangential direction, simultaneously, adopt acceleration and deceleration prediction control in the motion control process, minimumly to import 4 nodes and shift to an earlier date computing, make actual processing medium velocity curve flex point not occur at the node place, the position curve smooth transition, speed increases gradually or reduces, and the position does not produce overshoot.Finally process by three-shaft linkage and require the continuous again smooth high accuracy aspheric surface of surface precision, the method is actually the smart interpolation rate method of servo-controlling based on the PVT of UMAC.
Described electric cam algorithm, the T value of promptly utilizing PVT to carry out can not directly using in the motion control process calculating, and need adopt the electric cam algorithm of UMAC motion controller.In the PVT motion control, use external timing to replace the T value of calculating.Swinging axle produces n pulse as the time standard shaft when it moves, x, y axle are followed n pulse time corresponding of standard shaft motion, base control is to make " time " proportional with the distance that standard shaft turns over when this, rather than reach the function of " time " by language table, thereby finish three shaft position coordinate synchronization, realize the high accuracy three-shaft linkage.
Beneficial effect of the present invention
The present invention is by the electric cam algorithm, guaranteed three-shaft linkage synchronously, the time base control both change servo period time, do not change the dynamic property of control system yet, just TRAJECTORY CONTROL is defined as the function of standard shaft position, so movement locus does not change.The PVT Speed interpolation algorithm that next adopts, make actual processing medium velocity curve flex point not occur at the node place, the position curve smooth transition, speed increases gradually or reduces, the position does not produce overshoot, in the motion control excessively between interpolator node, constantly keeps the continuous variation of emery wheel feed speed and consistent with tangential direction, the high accuracy that can be shaped is smooth aspheric surface continuously, and then improves aspherical mirror machining efficient.
Description of drawings
Describe preferred embodiment of the present invention in detail below in conjunction with accompanying drawing, wherein:
Accompanying drawing 1 is the curvilinear path that the pulse increment interpolation principle forms;
Accompanying drawing 2 is curvilinear paths that the data sampling interpolation principle forms;
Accompanying drawing 3 is to mix the curvilinear path that interpolation principle forms;
Accompanying drawing 4 is pulse increment interpolation track and emery wheel shaping track;
Accompanying drawing 5 is data sampling interpolation track and emery wheel shaping track;
Accompanying drawing 6 is signals of the three-shaft linkage control principle of Speed interpolation principle;
Accompanying drawing 7 is θ mi, an xmi and ymi displacement ti variation relation curve in time;
Accompanying drawing 8 is based on the general control system structured flowchart of UMAC;
Accompanying drawing 9 is a three-shaft linkage servo-drive system block diagram.
Accompanying drawing 1 is to use the unit length straightway or its synthetic line segment that are parallel to reference axis to approach by the interpolation curve, and 1 is to be the interpolation track by interpolation curve, 2 among the figure, is the pulse increment interpolation principle.
Accompanying drawing 2 is in each interpolation cycle, approach by the interpolation curve with straightway, among the figure 1 be by the interpolation curve, 2 for interpolation track, 3 for interpolated point, be the digital sample interpolation principle.
Accompanying drawing 3 is to adopt data sampling interpolation principle and pulse increment interpolation principle to mix the interpolation process, among the figure 1 be by the interpolation curve, 2 for rough interpolation straightway, 3 for rough interpolation point, 4 is smart interpolated point, be the mixing interpolation principle.
Accompanying drawing 4 is pulse increment interpolation track and emery wheel shaping track, and 1 is that emery wheel cylindrical, 2 is that shaping track, 3 is that interpolation track, 4 is workpiece among the figure.
Accompanying drawing 5 is curvilinear paths that the data sampling interpolation principle forms, and 1 is that emery wheel cylindrical, 2 is that shaping track, 3 is that interpolation track, 4 is workpiece among the figure.
Accompanying drawing 6 is signals of the three-shaft linkage control principle of Speed interpolation principle, in each time period, when the emery wheel axle turns an angle with the center, move along X-axis, along the moving certain distance of y-axis shift, can form the given aspheric surface signal of smooth high-precision optical design continuously.
The specific embodiment
As Fig. 1, Fig. 2 and current location interpolation numerical control principle shown in Figure 3 the principle of getable broken line near the optical design given curve, with position interpolation numerical control principle, can not obtain continuous smooth curvilinear path by the figure explanation in theory.
On the track of pulse increment interpolation principle with theoretical property ripple error and the formation of digital sample interpolation principle, the ripple that the geometrical factor of stack emery wheel causes will produce more complicated ripple as shown in Figure 4 and Figure 5.
The concrete method of implementing of the present invention as shown in Figure 6, in each time period, the emery wheel axle turns an angle simultaneously with the center, moves along X-axis, along the moving distance of y-axis shift, can form the given aspheric surface of smooth high-precision optical design continuously.Fig. 6 is for forming the aspheric signal of convex, and it is identical to form spill aspherical surface forming principle and convex aspheric surface, and just emery wheel rotational axis direction section opposite with convex, emery wheel is a circular arc.
As shown in Figure 7 with time t
iFor abscissa obtains x by the MATLAB analysis
MiChanging Pattern is approximate parabolic characteristic, y
MiChanging Pattern is near linear characteristic (cutting apart decision by y axle etc.), θ
MiChanging Pattern is the near linear characteristic.θ
Mi, x
Mi, y
MiBiosynthesis locus formed the movement locus at emery wheel center.Concrete computational process is earlier according to machined parameters, and the workpiece bore is carried out the N five equilibrium, calculates the emery wheel axle along x axle and the mobile Δ x of y axle by program
Mi, Δ y
MiDisplacement of the lines and emery wheel are around emery wheel center rotation Δ θ
MiAngular displacement is determined emery wheel axle rotational angular velocity ω by the requirement of processing technology
m, calculate according to programming so and can obtain Δ t process time
i, Δ t wherein
i=(Δ θ
Mi* 60)/(ω
m* 2 π); t
i=t
I-1+ Δ t
i, t
0=0.Each node speed v that asks by programming again
Mxi, v
Myi, acceleration a
Mxi, wherein
v
Mxi=v
Mx (i-1)+ a
MxiΔ t
i,
Analysis obtains the z axle with ω
mAt the uniform velocity rotation, its velocity variations rule is a constant speed straight line, and the x axle is done segmentation uniformly accelerated motion, and speed time curve is dull to rise; The y axle is done the segmentation uniform motion, and speed time curve is dull to descend.Calculate by above programming, finally obtain the monotone variation relation of position, speed, acceleration, time and each variable of each node on the curve.
Speed interpolation principle three-shaft linkage is realized the digital control hardware system of tangential method shaping high order aspheric surface as shown in Figure 8, the PC+NC that hardware system is based on UMAC passs hierarchic structure, adopt Microsoft Visual C++6.0 development environment to design in the upper computer software system, PC (host computer) mainly finishes human-computer interaction function modular design, preliminary treatment calculating, motor program establishment, upper and lower computer communication and dynamically shows etc., and the operation of whole system is coordinated and non real-time control such as management.NC (UMAC controller) mainly finishes controls in real time such as trajectory planning, track interpolation, switching value control (PLC), driving control, forms the required functional module of NC system (as the basic card of CPU, simulation axial interface card, I/O interface card).
Preprocessing process by host computer as shown in Figure 9, the PTV Speed interpolation of its less important UMAC of utilization and electric cam algorithm carry out three-shaft linkage control schematic diagram, the PVT control mode is according to controlled track node location (P), speed (V), the parameters such as (T) of time slice between adjacent node realizes orbiting motion control, these parameters are the initial list files that generate according in host computer preliminary treatment result of calculation, after taking out one group of PVT parameter from this listing file, automatically walk out a location track curve according to motor program, and corresponding rate curve and accelerating curve correspondence are arranged, and can set the curve (for the x axle) that acceleration time (TA) and run duration (T) value equate to obtain omnidistance acceleration.Usability of program fragments is exemplified below:
INC; Incremental mode is used apart from designated movement
PVT200; Enter the PVT motor pattern, run duration 200ms
X100:1500; 100 unit head of speed translation with 1500 single bps terminal points
PVT100; Enter the PVT motor pattern, run duration 100ms
X500:3000; 500 unit head of speed translation with 3000 single bps terminal points
In addition, in the motion control process, adopt acceleration and deceleration prediction control, minimumly will import 4 nodes and shift to an earlier date computing, make actual processing medium velocity curve flex point not occur at the node place, the position curve smooth transition, speed increases gradually or reduces, and the position does not produce overshoot.In the motion control excessively between interpolator node, constantly keep the continuous variation of speed and consistent with tangential direction, simultaneously, high-precision UMAC controller own also satisfies the error requirements of position, finally reaches to process to require the continuous again smooth high order aspheric surface optical element of surface precision.
At last, on the basis of PVT Speed interpolation algorithm, introduce the time base of electric cam algorithm as shown in Figure 9 as three-shaft linkage, it is a kind of and the complicated approach independent axes synchronous coordination that the time base of electric cam is controlled, in the design with the z axle as the time standard shaft, by known process condition enactment time radix, finish three synchronization actions according to the umber of pulse that the standard shaft motion produces, be that standard shaft rotatablely moves and produces n pulse, x, the y axle is followed n pulse time corresponding of standard shaft motion, because the pulse period of ultraprecise digital control system is the microsecond level, so can satisfy the setting of PVT when programming motion time slice.Base control is to make " time " proportional with the distance that standard shaft turns over when this, rather than reaches the function of " time " by language table, thereby finishes three shaft position coordinate synchronization.Time base control had not both changed the time of servo period, did not change the dynamic property of control system yet, just TRAJECTORY CONTROL was defined as the function of standard shaft position, so movement locus does not change.
Integrated use by said method finally processes and reaches requirement surface precision smooth high order aspheric surface optical element continuously again.The method that this process adopts is the three-shaft linkage tangential method control method based on the PVT Speed interpolation principle of UMAC.
The above is preferred embodiment of the present invention, is not to be used for limiting practical range of the present invention, and all equivalences of being done according to claim scope of the present invention change and modify, and all belong in protection scope of the present invention.
Claims (5)
1. realize tangential method shaping high order aspheric surface digital control method with Speed interpolation principle three-shaft linkage for one kind, the three-shaft linkage that it is characterized in that indication be at one time in the section emery wheel axle with turning cylinder Z axle rotate, the emery wheel axle along X-axis move with the emery wheel axle along the moving numerical control linkage of y-axis shift.The indication Speed interpolation is that the motion of each is carried out the rotation of different angles and moving of different distance by the single shaft equation of motion that decomposites in the given trajectory curve equation of optical design in three, and the indication tangential method is that the grinding points on the emery wheel moves along the tangential direction of each point on the curve all the time.The three-shaft linkage of Speed interpolation principle is to adopt the UMAC controller hardware with multi-shaft interlocked function to realize, the Speed interpolation control of each is that the PVT Speed interpolation method that adopts the UMAC controller to carry realizes, the time of motion control accurately is to adopt the electric cam algorithm.
2. the required parameter of Speed interpolation principle three-shaft linkage motion control according to claim 1 is that the equational workpiece bore of given part is carried out the N five equilibrium, calculates the emery wheel axle along x axle and the mobile Δ x of y axle by program
Mi, Δ y
MiThe rotate Δ θ of moving axis Z axle rotation of displacement of the lines amount and emery wheel axle
MiAngular displacement.Require given emery wheel axle rotational angular velocity ω by processing technology
m, calculate the time Δ t of processing by program so
i, Δ t wherein
i=(Δ θ
Mi* 60)/(ω
m* 2 π); t
i=t
I-1+ Δ t
i, t
0=0.Calculate each segmented section spot speed v by program again
Mxi, v
MyiWith acceleration a
Mxi, wherein
v
Mxi=v
Mx (i-1)+ a
MxiΔ t
i,
If the z axle is with ω
mAt the uniform velocity rotation, its velocity variations rule is a constant speed straight line, and the x axle is segmented into uniformly accelerated motion, and speed time curve is dull to rise; The y axle is the segmentation uniform motion, and speed time curve is dull to descend.Calculate by above programming, finally obtain the monotone variation relation of position, speed, acceleration, time and each variable of each node on the curve.
3. digital control method according to claim 1, in order to realize Speed interpolation principle three-shaft linkage tangential method processing high order aspheric surface, the PC+NC that the hardware system of technical scheme of the present invention is based on UMAC passs hierarchic structure, adopt zero transmission actuation techniques and analog linearity driver to constitute automatic control frequency variable synchronous motor feed servo system, to realize three-shaft linkage control.The control system software design scheme is by last, slave computer two parts are formed, the upper computer software system adopts Microsoft Visual C++6.0 development environment to design, mainly finish the human-computer interaction function modular design, preliminary treatment is calculated, motor program establishment and upper and lower computer communication, the slave computer motion control adopts the PVT Speed interpolation control method of UMAC and electric cam algorithm to realize emery wheel feed speed between interpolator node is accurately controlled, promptly, emery wheel is satisfied in the process constantly be positioned on the tangential direction of requirement curve based on the PVT Speed interpolation three-shaft linkage method of servo-controlling of UMAC.
4. PVT Speed interpolation control mode as claimed in claim 1 is according to controlled track node location (P), speed (V), the parameters such as (T) of time slice between adjacent node realizes orbiting motion control, these parameters are the initial list files that generate according in host computer preliminary treatment result of calculation, after taking out one group of PVT parameter from this listing file, automatically walk out a location track curve according to motor program, and corresponding rate curve and accelerating curve correspondence are arranged, also can set the curve that acceleration time (TA) and run duration (T) value equate to obtain omnidistance acceleration in addition.In the motion control excessively between interpolator node, constantly keep the continuous variation of speed promptly consistent with tangential direction, simultaneously, adopt acceleration and deceleration prediction control in the motion control process, minimumly to import 4 nodes and shift to an earlier date computing, make actual processing medium velocity curve flex point not occur at the node place, the position curve smooth transition, speed increases gradually or reduces, and the position does not produce overshoot.Finally process and require the continuous again smooth high accuracy aspheric surface of surface precision by three-shaft linkage
5. electric cam algorithm as claimed in claim 1, the T value of promptly utilizing PVT to carry out can not directly using in the motion control process calculating, and need adopt the electric cam algorithm of UMAC motion controller.In the PVT motion control, use external timing to replace the T value of calculating.Swinging axle produces n pulse as the time standard shaft when it moves, x, y axle are followed n pulse time corresponding of standard shaft motion, base control is to make " time " proportional with the distance that standard shaft turns over when this, rather than reach the function of " time " by language table, thereby finish three shaft position coordinate synchronization, realize the high accuracy three-shaft linkage.
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| CN106914796A (en) * | 2017-04-14 | 2017-07-04 | 中国科学院长春光学精密机械与物理研究所 | Main shaft compound motion control method and main shaft control system of composite motion |
| CN106914796B (en) * | 2017-04-14 | 2019-01-08 | 中国科学院长春光学精密机械与物理研究所 | Main shaft compound motion control method and main shaft control system of composite motion |
| CN106944308A (en) * | 2017-04-28 | 2017-07-14 | 东莞职业技术学院 | The method and rubber-coated mechanism of a kind of dual trace gluing path drives based on interpolation principle |
| CN113156890A (en) * | 2020-01-22 | 2021-07-23 | 科德数控股份有限公司 | Multiplying power control method of non-real-time interpolation numerical control system |
| CN113156890B (en) * | 2020-01-22 | 2023-07-18 | 科德数控股份有限公司 | Multiplying power control method of non-real-time interpolation numerical control system |
| CN112122666A (en) * | 2020-08-27 | 2020-12-25 | 北京北一机床股份有限公司 | Slide carriage guide rail curve processing method |
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