CN102147600B - Numerical control interpolation system for real-time generation of curvature-continuous path - Google Patents
Numerical control interpolation system for real-time generation of curvature-continuous path Download PDFInfo
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Abstract
The invention discloses a numerical control interpolation system for real-time generation of a curvature-continuous path in the technical field of mechanical numerical control processing. The system comprises a man-machine interaction interface module, a decoding module, an interpolation module and a position control module, wherein the man-machine interaction interface module selects a file to be processed and transfers the name of the file to the decoding module; the decoding module extracts the position information of each axis of a machine bed, transmits the position information to the interpolation module and carries out transition on connection points of every two adjacent line segments by a curvature-continuous Bezier curve to generate a curvature-continuous tool path; a maximum deviation value between the generated curvature-continuous path and an original path is smaller than a set error value; speed planning and Bezier interpolation are then carried out; and an interpolation point is output to the position control module at last. The system is high in calculation efficiency of the whole process and simple in implementation of programming and can be applied to a high-speed and high-accuracy numerical control machine bed.
Description
Technical field
What the present invention relates to is the numerical control interpolation system in a kind of mechanical CNC processing technology field, specifically is a kind of numerical control interpolation system of real-time generation curvature continuous path.
Background technology
In the digital control processing; Common CAM (Computer Aided Manufacturing; Computer-aided manufacturing) post processor of software resolves into a series of small route segment by the requirement of machining precision with pahtfinder hard, by the interpolator in the digital control system each specific small route segment is carried out interpolation operation again.For the machining locus that constitutes by the small route segment of a large amount of bars, traditional digital control system when carrying out speed planning with each route segment as plan objects, certainly will cause that start-stop time is many, speed is slow, thereby reduce surface quality and working (machining) efficiency.Although foresight technology has reduced start-stop time, the uncontinuity in path can cause the fluctuation of speed and acceleration.
At first continuous small route segment is carried out match, and then the method for interpolation operation is proved to be a kind of very effective method with parametric line.In order to satisfy the processing request of high-speed, high precision, the ideal path that is regenerated by continuous small route segment should possess following characteristic: the constraint approximate error makes it satisfy accuracy requirement; Tangential and curvature are continuous; Suppress the cutter track vibration; Control contour curvature line.
Literature search through to prior art is found; A lot of methods have adopted Bezier (Hong-Tzong Yau.Fast Bezier interpolator with real-time lookahead function for high-accuracy machining.International Journal of Machine Tools and Manufacturing. (2007) 47:1518-1529), NURBS parametric lines such as (Jun-Bin Wang.Real-time NURBS interpolator:application to short linear segments.The International Journal of Advanced Manufacturing Technology. (2009) 41:1169-1185) that the linear path section is carried out match; First method does not have versatility; Be only applicable to the cutter path smooth; And only realized that the tangential is continuous; Second method need be after match verify error; Point on the parametric line and curvature are often about the complex expression of parameter; Cause error of fitting to be difficult to estimate, be difficult to be applied to the real-time operation environment.
Summary of the invention
The objective of the invention is to deficiency to prior art; A kind of numerical control interpolation system of real-time generation curvature continuous path is provided; This system-computed efficient is high, programming realizes simple; Can significantly improve working (machining) efficiency and underspeed and acceleration fluctuation, can be applied in the digital control processing of high speed and super precision.
The present invention realizes through following technical scheme:
The present invention includes: the human-computer interaction interface module, decipher horizontal piece, interpolation module, position control module; Wherein: the human-computer interaction interface module chooses processed file filename is passed to decoding module; Extract each positional information of lathe by decoding module again, and be transferred to interpolation module, then with the linking point of per two adjacent segments with the continuous Bezier curve transition of curvature; Generate the continuous cutter path of curvature; The curvature continuous path that generates and the maximum deflection difference value of original route carry out speed planning and Bezier interpolation again less than the error amount of setting, and at last interpolated point are outputed to position control module.
Described human-computer interaction interface module comprises: numerical control code file operation unit, parameter management unit and coordinate display unit, wherein: numerical control code file operation unit chooses processed file the numerical control code file that filename passes to decoding module is read in the unit.Man-machine interface in user's attitude is the dialog interface between controller and the user, and it is carried out as a backdrop procedure.Comprise on the one hand process data is sent to the real-time task in the kernel that the information that from kernel, obtains kinematic axis on the other hand dynamically shows.The mutual intermittent scanning process of passing through between man-machine interface and the kernel is accomplished, and the intermittent scanning process scans the related data of interface and kernel respectively, and in the cycle, data is upgraded, and realizes the exchange of data.
Described decoding module comprises: the numerical control code file reads in unit, coordinate information and technique information extraction unit; Wherein: the numerical control code file reads in the unit and reads numerical control code and export coordinate information to and the technique information extraction unit, by coordinate information and technique information extraction unit obtain lathe each the position and be transferred to the curvature continuous path generation unit of interpolation module.Main task has numerical control code explanation, cutter compensation, and the processing of some macro instructions and fixed cycles program.Decoding module moves with interpretive mode, operates in real-time territory.Before operation was processed automatically, interpolation module was called the decoding module function, decoding and cutter compensation function when realizing numerical control code, and generate required intermediate data in the process, and write the data-interface of this module and interpolation module, supply the interpolation module use.After the data pre-service finished, this module can be called according to the end of message that the interpolation module transmission comes.
Described interpolation module comprises: curvature continuous path generation unit, Machine Tool Dynamics property calculation unit, speed planning unit, interpolation unit; The program segment information of coming according to the decoding transmission generates the continuous cutter path of curvature; And the geometrical property of calculating path, comprise that path, maximum curvature, minimum profile curvature radius, Bezier curve terminus unit cut arrow, the Machine Tool Dynamics characteristic is set; Comprise each auxilliary maximal rate, acceleration and jerk that allows of lathe; Then newly-generated cutter path is carried out speed planning,, generate each shaft position increment and export to position control module according to the speed and the interpolation of the every interpolation cycle of velocity profile line computation.
Described curvature continuous path generation unit comprises: calculate the length of adjacent segments in the numerical control code, two unit direction vectors and angle thereof; The Bezier curve transition is used in the junction of these two line segments; The Bezier curve with line segment junction curvature be zero; Tangential direction is consistent with the direction of line segment, and the maximum deflection difference value of curvature continuous path and original route that comprises transition Bezier curve is less than the error amount of appointment.
Described position control module: the positional increment value of each kinematic axis that calculates according to interpolation module, according to the servo-drive system feedack, utilize auxilliary track, speed and the acceleration of each motion of pid algorithm control, be the highest real-time task of priority.
Described speed planning is meant that the every interpolation cycle cutter of planning is along the speed of continuous path operation under the comprehensive constraint condition.Comprise: maximal rate, acceleration and the jerk of obtaining each permission; Speed planning is carried out in path to curvature is continuous; Curvature continuous curve along generating carries out interpolation, and interpolated point is outputed to position control module.
Described Bezier interpolation is meant that the velocity profile line according to generation obtains the planning speed of current period, and calculates arc length, thereby the parameter of curve of obtaining is obtained the point coordinate on the curve by parameter of curve, i.e. the position of each.Interpolation precision is meant the deviation that exists between linear transition between the adjacent interpolated point of curved path and the given curve cutter track; For satisfying the interpolation precision requirement cutter speed of feed is constrained to maximum feasible speed of feed constraint.
The present invention extracts the coordinate information and the technique information of linear path from the numerically-controlled machine numerical control code; Generate the continuous path of curvature by continuous linear cutter path; Length when calculating in the numerical control code adjacent segments, two unit direction vectors and angle thereof use the Bezier curve transition with the junction of these two line segments, and the Bezier curve is being located connecting with line segment; Curvature is zero; Tangential direction is consistent with the direction of line segment, and the maximum deflection difference value of curvature continuous path and original route that comprises transition Bezier curve further utilizes speed planning and Bezier interpolation to realize task of the present invention less than the error amount of appointment.
Restricted model is set up by path geometry characteristic and each servo ability of numerically-controlled machine in described path; Described path geometry characteristic comprises that path, maximum curvature, minimum profile curvature radius, Bezier curve terminus unit cut arrow.
Compared with prior art; The present invention is in the control of digital control processing feed rate; Earlier linear path is carried out transition with three bezier curve, generate the continuous path of curvature, considered error constraint and kinematics Performance Constraints simultaneously; Satisfying under the condition of precision, making that speed and acceleration are more level and smooth.The all processes counting yield is high, and programming realizes simple, can be applicable to the numerically-controlled machine of high speed and super precision.
Description of drawings
Fig. 1 principle of work synoptic diagram of the present invention.
Fig. 2 structural representation of the present invention.
Fig. 3 transition Bezier is to the synoptic diagram of definition.
The synoptic diagram of Fig. 4 Bezier transient error model.
The synoptic diagram of Fig. 5 transition Bezier maximum curvature.
The synoptic diagram of Fig. 6 cutter path Bezier transition length.
The three-dimensional linear cutter track G of Fig. 7
2The synoptic diagram of continuous transition.
Fig. 8 G
2The synoptic diagram of the curvature in continuous transition path.
The synoptic diagram of Fig. 9 S curve acceleration and deceleration.
Figure 10 (a) has even accelerator boost phase synoptic diagram; (b) there is not the synoptic diagram of sparing the accelerator boost phase.
Figure 11 adopts the synoptic diagram of the inventive method feed rate.
Figure 12 adopts the synoptic diagram of the inventive method acceleration.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: following examples provided detailed embodiment and process, but protection scope of the present invention are not limited to following embodiment being to implement under the prerequisite with technical scheme of the present invention.
As shown in Figure 1, the hardware elementary diagram of present embodiment.Show digital control system information through LCDs 1, comprise coordinate information, technique information, numerical control code etc.; Through 2 pairs of digital control system control operations of guidance panel; The man-machine interaction panel carries out communication through RS485 bus 3 and embedded controller 4; Embedded controller 4 is inner integrated embedded main board, motion control card, IO interface card mainly carries out coordinating control between interpolation operation, motion control, each module, is the brain of digital control system; Servo-driver 5 has constituted the motion execution module with servomotor 6.
As shown in Figure 2; Present embodiment comprises: human-computer interaction interface module, decoding module, interpolation module, position control module; Wherein: the human-computer interaction interface module is connected with interpolation module and shows lathe information and transmit parameter to control system; Decoding module is connected with interpolation module and transmission of coordinate information and process data; Interpolation module is connected with position control module and transmits interpolated point, and interpolation module is made up of curvature continuous path generation unit, Machine Tool Dynamics property calculation unit, speed planning unit, interpolation unit.
Present embodiment is implemented as follows:
1, from numerical control code, extracts the coordinate information and the technique information of linear path
Said coordinate information refers to the terminal point coordinate value of every linear cutter track.
Said technique information mainly comprises feed rate F, speed of mainshaft S, cutter T, cutter number picked up D and auxiliary M instruction etc.
2, generate the continuous new route of curvature by continuous linear cutter path
As shown in Figure 3, calculate the length of adjacent segments in the numerical control code, two unit direction vectors and angle thereof, the Bezier curve transition is used in the junction of these two line segments; The Bezier curve is connecting the place with line segment; Curvature is zero, and tangential direction is consistent with the direction of line segment, and the maximum deflection difference value of curvature continuous path and original route that comprises transition Bezier curve is less than the error amount of appointment; As shown in Figure 4, ‖ B
13P
2‖≤ε
2
The error of described setting is meant that the user passes through the permissible error value of human-computer interaction interface module or numerical control code definition.
As shown in Figure 5, because the Bezier curve B
1(t), B
2(t) curved transition is dull, and B
10With B
20The curvature at place is zero, therefore, and the Bezier curve B
1(t), B
2(t) maximum curvature appears at a B
13Or B
23The place.Owing to be G
2Continuously, so some B
13Or B
23The curvature at place equates, is said maximum curvature.Thereby the acquisition minimum profile curvature radius is used for the speed planning unit cutter speed of feed is retrained.
As shown in Figure 6, said optimal transition length d
iCan be by error, the adjacent path length l set
I-1With l
iCommon constraint gained.
As shown in Figure 7, original path is connected and composed by three-dimensional 5 points, and maximum approximate error is made as 0.05mm, by the optimal transition length d in every section path
iAnd the direction vector T of unit
iCan generate G
2Continuous new route has three pairs of cubic Bezier transient curves in new cutter path.Shown in Figure 8, the curved transition trend of new route, hence one can see that, and new route satisfied accuracy requirement and curvature is continuous.
3, set up restricted model by path geometry characteristic and each servo ability of lathe
Said path geometry characteristic comprises that path, maximum curvature, minimum profile curvature radius, Bezier curve terminus unit cut arrow.
Said maximum feasible transition speed constraint refers to for satisfying the constraint of interpolation precision requirement to the cutter speed of feed, i section transition Bezier curve maximum feasible transition speed v
iBe expressed as:
Wherein, T is an interpolation cycle, r
i=1/ κ
ImaxBe minimum profile curvature radius, δ is the action error of allowing, A
MaxIt is the lathe peak acceleration.
1) single shaft maximal rate V
Λ maxTo this axle phase speed V weekly
Λ iRestriction, promptly the speed of feed of each is lower than this maximal rate: V
Λ i≤V
Λ max
2) single shaft peak acceleration A
Λ maxTo this axle phase acceleration a weekly
Λ iRestriction, promptly each the time feeding acceleration be lower than this peak acceleration: a
Λ i≤A
Λ max
3) the maximum jerk J of single shaft
Λ maxTo this axle phase jerk J weekly
Λ iRestriction, promptly the feeding acceleration of each is lower than this maximum acceleration: J
Λ i≤J
Λ max
4, speed planning
Said speed planning is the speed that the every interpolation cycle cutter of planning moves along continuous path under the comprehensive constraint condition.
Present embodiment is that example is introduced speed planning with S curve acceleration and deceleration method, and it does not constitute qualification of the present invention.
As shown in Figure 9; The title method of said S curve acceleration and deceleration is S-shaped and get in the rate curve shape in acceleration and deceleration stage by system, and operational process can be divided into 7 sections: add accelerating sections, even accelerating sections, subtract accelerating sections, at the uniform velocity section, accelerating and decelerating part, spare braking section, subtract braking section.
If the route segment commencing speed is V
s, end speed is V
e, peak acceleration is A, and maximum acceleration is J, and this path segment length is l.Seek out maximum terminal velocity, promptly will accelerate to peak acceleration A with maximum jerk J, quicken so that A is even, then subtract with-J again and accelerate to terminal point, Figure 10 (a) (b) has represented to have even the acceleration and even situation about quickening respectively.
5, Bezier interpolation
Said Bezier interpolation is that finger obtains the planning speed of current period according to the velocity profile line that generates, and calculates arc length, thereby the parameter of curve of obtaining is obtained the point coordinate on the curve by parameter of curve, i.e. the position of each.
Figure 11, shown in 12, present embodiment carries out generating after the above-mentioned steps feed rate curve, accelerating curve.
Present embodiment is an example with the linear cutter path of three-dimensional; The method of real-time generation curvature continuous path has been described; And utilize the acceleration and deceleration of S curve newly-generated path to be carried out the method for interpolation in precision and the servo ability integration constraint condition of lathe; Can shorten process time, improve surface quality, be adapted to the digital control processing of high speed and super precision.
Claims (6)
1. numerical control interpolation system that generates in real time the curvature continuous path; It is characterized in that; Comprise: human-computer interaction interface module, decoding module, interpolation module, position control module, wherein: the human-computer interaction interface module chooses processed file filename is passed to decoding module, extracts each positional information of lathe by decoding module again; And be transferred to interpolation module; Then with the linking point of per two adjacent segments with the continuous Bezier curve transition of curvature, generate the continuous cutter path of curvature, the curvature continuous path of generation and the maximum deflection difference value of original route are less than the error amount of setting; Carry out speed planning and Bezier interpolation again, at last interpolated point is outputed to position control module;
Described interpolation module comprises: curvature continuous path generation unit, Machine Tool Dynamics property calculation unit, speed planning unit, interpolation unit; The program segment information of coming according to the decoding transmission generates the continuous cutter path of curvature; And the geometrical property of calculating path, comprise that path, maximum curvature, minimum profile curvature radius, Bezier curve terminus unit cut arrow, the Machine Tool Dynamics characteristic is set; The maximal rate, acceleration and the jerk that comprise each permission of lathe; Then newly-generated cutter path is carried out speed planning,, generate each shaft position increment and export to position control module according to the speed and the interpolation of the every interpolation cycle of velocity profile line computation;
Described curvature continuous path generation unit comprises: calculate the length of adjacent segments in the numerical control code, two unit direction vectors and angle thereof; The Bezier curve transition is used in the junction of these two line segments; The Bezier curve with line segment junction curvature be zero; Tangential direction is consistent with the direction of line segment, and the maximum deflection difference value of curvature continuous path and original route that comprises transition Bezier curve is less than the error amount of appointment.
2. the numerical control interpolation system of real-time generation curvature continuous path according to claim 1; It is characterized in that; Described human-computer interaction interface module comprises: numerical control code file operation unit, parameter management unit and coordinate display unit, wherein: numerical control code file operation unit chooses processed file the numerical control code file that filename passes to decoding module is read in the unit.
3. the numerical control interpolation system of real-time generation curvature continuous path according to claim 1; It is characterized in that; Described decoding module comprises: the numerical control code file reads in unit, coordinate information and technique information extraction unit; Wherein: the numerical control code file reads in the unit and reads numerical control code and export coordinate information to and the technique information extraction unit, by coordinate information and technique information extraction unit obtain lathe each the position and be transferred to the curvature continuous path generation unit of interpolation module; Before operation was processed automatically, interpolation module was called the decoding module function, realized the decoding and the cutter compensation function of numerical control code, and generated required intermediate data in the process, write the data-interface of this module and interpolation module, supplied interpolation module to use.
4. the numerical control interpolation system of real-time generation curvature continuous path according to claim 1; It is characterized in that; Described position control module: the positional increment value of each kinematic axis that calculates according to interpolation module; According to the servo-drive system feedack, utilize track, speed and the acceleration of each kinematic axis of pid algorithm control, be the highest real-time task of priority.
5. the numerical control interpolation system of real-time generation curvature continuous path according to claim 1; It is characterized in that; Described speed planning is meant that the every interpolation cycle cutter of planning comprises: maximal rate, acceleration and the jerk of obtaining each permission along the speed of continuous path operation under the comprehensive constraint condition; Speed planning is carried out in path to curvature is continuous; Curvature continuous curve along generating carries out interpolation, and interpolated point is outputed to position control module.
6. the numerical control interpolation system of real-time generation curvature continuous path according to claim 1; It is characterized in that described Bezier interpolation is meant according to the velocity profile line that generates and obtains the planning speed of current period, and calculates arc length; Thereby the parameter of curve of obtaining; Obtain the point coordinate on the curve by parameter of curve, i.e. the position of each, interpolation precision is meant the deviation that exists between linear transition between the adjacent interpolated point of curved path and the given curve cutter track; For satisfying the interpolation precision requirement cutter speed of feed is constrained to maximum feasible speed of feed constraint.
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