CN102279584A - Overhead crossbeam three-dimensional small deformation calculation method based on triaxial acceleration transducer - Google Patents
Overhead crossbeam three-dimensional small deformation calculation method based on triaxial acceleration transducer Download PDFInfo
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- CN102279584A CN102279584A CN2011101246819A CN201110124681A CN102279584A CN 102279584 A CN102279584 A CN 102279584A CN 2011101246819 A CN2011101246819 A CN 2011101246819A CN 201110124681 A CN201110124681 A CN 201110124681A CN 102279584 A CN102279584 A CN 102279584A
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Abstract
The invention relates to an overhead crossbeam three-dimensional small deformation calculation method based on a triaxial acceleration transducer. The method is characterized in that: a plurality of triaxial acceleration sensing measure modules are installed on an overhead crossbeam, data acquired by each module is subjected to signal pretreatment and analog-to-digital conversion, the data is transmitted to a signal processing module through radio communication to carry out analysis, reconstruction and coupling calculation, an amount of deformation of the crossbeam in X, Y and Z directions are obtained. The signal processing module in the invention employs high a performance logic programmable chip FPGA as a core operation unit. The signal processing module can carry out parallel processing on multichannel data, complete multichannel sensing signal processing by utilizing a multinuclear cooperation calculation mode, and satisfy a real-time calculation requirement in a high speed processing process. The invention provides the overhead crossbeam three-dimensional small deformation calculation method based on a triaxial acceleration transducer, a calculation result can be used for processing compensation prediction further, thus a purpose of raising machining center processing precision is achieved.
Description
Technical field
The present invention relates to the 3 D deformation of large-scale component in the high-speed mobile process and calculate the field, described method is used for the calculating of the overhead crossbeam of numerical control gantry lathe in the three-dimensional microdeformation of High-speed machining process.
Background technology
Numerically-controlled machine is widely used in each department of national defence, Aero-Space and national economy, is the most basic equipment in the robotization processing, and can also be related to national commercial production develop healthily.The quality of its performance is to weigh the leading indicator of a national industrial technology (especially Large-Scale Equipment manufacturing industry) level.Because the influences such as retroaction of the gravity of saddle (containing ram), processing equipment hardness, cutting force, crossbeam is very easily run-off the straight and distortion (amount of deflection) in process, and this can have a strong impact on machining precision.Along with the raising of crossbeam movement velocity, this deflection also increases thereupon, and the difficulty of calculating deflection is also increasing.Therefore study the computing method of the three-dimensional microdeformation of high-speed mobile crossbeam, thereby can provide foundation for the dynamic machining compensation prediction, this development to the numerical control processing industry is significant.
The 3 D deformation of crossbeam is meant that mainly it is respectively at the deflection of X, Y, three directions of Z.In the High-speed machining process, crossbeam meeting run-off the straight and distortion (amount of deflection), its real-time attitude is exactly the coefficient results of various distortion reasons.The real-time attitude of crossbeam is carried out three-dimensional exploded calculate, compare with initial attitude again and just can draw its deflection, thereby can carry out the calculating of dynamic compensation value in X, Y, three directions of Z.
At present, mainly be to adopt Ansys software to carry out emulation to the Calculation and Study of beam deformation amount, when making crossbeam, improve its structure according to simulation result.The method all will be distinguished emulation testing for every class crossbeam, does not have versatility, also can only reduce the deflection of crossbeam to a certain extent, and simulated environment and work on the spot environment are incomplete same, do not consider some practical factors.Therefore this scheme accurate measurement that can not really solve the real-time deformation situation of crossbeam in the High-speed machining process.
Summary of the invention
The objective of the invention is to overcome the shortcoming and defect of above-mentioned prior art, provide a kind of accuracy of detection height, real-time is good, data-handling capacity is strong, the computing method of three-dimensional microdeformation that can the overhead crossbeam of remote-operated machining center.Main by equally distributed 3-axis acceleration sensing measurement module being installed at crossbeam upper rail (guide rail of saddle motion), each transducing signal is through Signal Pretreatment, digitizing, be transferred to the Zigbee telegon of host computer again with communication by the Zigbee module, the FPGA arithmetic element of signal processing module is according to the data that receive, adopt the attitude algorithm computation to go out the attitude parameter of crossbeam, and then the gained parameter is calculated the real-time three-dimensional deflection of crossbeam through many sensing data coupling calculating and curve fitting.
The present invention relates to based on the three-dimensional microdeformation computing method of the overhead crossbeam of 3-axis acceleration sensor, its detailed step comprises:
(1) the equally distributed upper rail (guide rail of saddle motion) that is installed in crossbeam of 3-axis acceleration sensing measurement module is used to measure the component of gravity acceleration g in overhead crossbeam X, Y, three directions of Z: the yaw acceleration a of directions X
x, the Y direction roll acceleration a
y, the Z direction pitch acceleration a
z
(2) the Signal Pretreatment unit carries out filtering, pressure regulation processing to the 3-axis acceleration value of each measurement module output in the previous step;
(3) the multi-channel A modular converter carries out digitizing to the output signal of previous step;
(4) the Zigbee wireless module gained data wireless of will sampling is transferred to the Zigbee telegon of host computer;
(5) the FPGA arithmetic element of signal processing module data that the Zigbee telegon is received are carried out temperature compensation, attitude algorithm computation, obtain the real-time attitude parameter of the mounting points of each measurement module, calculate the three-dimension deformation-quantity of crossbeam at last by calculating of many sensing datas coupling algorithm and curve fitting.
The three-dimensional microdeformation computing method of overhead crossbeam based on 3-axis acceleration sensor disclosed by the invention, adopt novel miniature acceleration sensor, being generally used for aircraft, guided missile, no gyroscopic inertia measuring element on the spaceship is introduced the measurement of crossbeam attitude, adopt high performance logic programmable chip FPGA as its main operational unit, it is little to have power consumption, restructural, the precision height, react advantage such as fast, be particularly suitable for being applied to the 3 D deformation of large-scale component in the high-speed mobile process and calculate the field, the application in the three-dimensional microdeformation of the overhead crossbeam of gantry machining center is calculated in real time of this method and related system, research to the dynamic machining compensation is significant, and has boundless application prospect.
The relative prior art of the present invention has following advantage and beneficial effect:
(1) calculates the real-time attitude angle of overhead crossbeam by the computing method of using the microdeformation of 3-axis acceleration sensor strapdown, can promote the calculating of realization the attitude angle of all kinds of dynamic beams;
(2) can calculate the three-dimension deformation-quantity of horizontal amount by many sensing datas coupling algorithm and curve fitting algorithm;
(3) in the distortion situation of line computation crossbeam, need not worry the interference of site environment;
(4) wireless transmission measurement data can realize the remote collecting and distributing control to lathe.
Description of drawings
Fig. 1 is the integral layout figure of the three-dimensional microdeformation computing method of overhead crossbeam based on 3-axis acceleration sensor of the present invention;
Fig. 2 is a 3-axis acceleration sensing measurement module scheme of installation;
Fig. 3 is a Zigbee wireless module scheme of installation;
Fig. 4 is the theory diagram of the three-dimensional microdeformation computing method of the overhead crossbeam corresponding system based on 3-axis acceleration sensor of the present invention;
Fig. 5 is the hardware configuration synoptic diagram of the three-dimensional microdeformation computing method of the overhead crossbeam corresponding system based on 3-axis acceleration sensor of the present invention;
Fig. 6, Fig. 7, Fig. 8 and Fig. 9 are the correlograms that 3-axis acceleration sensing measurement module is measured beam deformation;
Figure 10 is a Zigbee wireless module Processing Algorithm process flow diagram;
Figure 11 is many sensing datas coupling algorithm calculation flow chart;
Embodiment
Below in conjunction with example and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Consult Fig. 1: the integral layout figure of the 3 D deformation computing method corresponding system of overhead crossbeam comprises guide rail 4, objective table 5, saddle 6, ram 7, main shaft 8,3-axis acceleration sensing measurement module 9, multi-channel A modular converter 10, Zigbee wireless module 11, host computer 12, Zigbee telegon 13, signal processing module 14 that crossbeam 1, crossbeam upper rail (guide rail of saddle motion) 2, crossbeam lower guideway (guide rail of saddle motion) 3, crossbeam move.
Consult Fig. 2: the 3-axis acceleration sensing measurement module 9 equally distributed upper rails (guide rail of saddle motion) that are installed in crossbeam 1, the installation requirement of each 3-axis acceleration sensing measurement module 9: three sensitive axes X-axis of acceleration transducer, Y-axis, Z axle point to the direction of crossbeam tracks direction, crossbeam horizontal direction, gravity acceleration g respectively; Coordinate system Oxyz is the right-handed coordinate system of quadrature.
Consult Fig. 3: Zigbee wireless module 11 of each 3-axis acceleration sensing measurement module 9 collocation, the installation requirement of Zigbee wireless module 11: Zigbee wireless module 11 is installed in the crossbeam outside, and carries out anti-tampering protection.
Consult Fig. 5: the hardware system synoptic diagram based on the three-dimensional microdeformation computing method of overhead crossbeam of 3-axis acceleration sensor that the present invention relates to comprises a plurality of slave computer terminals 1, host computer 2; (1) each slave computer terminal 1 comprises 3-axis acceleration sensing measurement module 3, Signal Pretreatment unit 4, multi-channel A modular converter 5, Zigbee wireless module 6 and first power supply 8; Wherein, Zigbee wireless module 6 carries wireless singlechip 7 and corresponding transmission circuit; Each 3-axis acceleration sensing measurement module 3 is measured the 3-axis acceleration value of mounting points, and it exports analog voltage signal, is electrically connected with Signal Pretreatment unit 4; Each axle acceleration value of Signal Pretreatment unit 4 pairs of 3-axis acceleration sensing measurements module 3 outputs is carried out filtering and pressure regulation, and this Signal Pretreatment unit 4 interconnects with multi-channel A modular converter 5; The output signal of 5 pairs of Signal Pretreatment unit 4 of multi-channel A modular converter is carried out digitizing, and the multi-channel A modular converter links to each other with wireless singlechip 7; Wireless singlechip 7 control multi-channel A modular converters are sampled, and utilize the transmission circuit of Zigbee wireless module 6 and host computer 2 to communicate, and sampled data are sent to the Zigbee telegon 9 of host computer 2; First power supply 8 is to provide direct supply for 3-axis acceleration sensing measurement module 3, Signal Pretreatment unit 4, multi-channel A modular converter 5 and Zigbee wireless module 6; Wherein, each 3-axis acceleration sensor all adopts the MMA7361 chip, and Zigbee wireless module 6 adopts the CC2430 module, and it carries wireless singlechip and wireless transceiver circuit; (2) host computer 2 comprises Zigbee telegon 9, signal processing module 10, second source 12; Wherein, signal processing module 10 comprises FPGA arithmetic element 11; Zigbee telegon 9 is formed star network with the Zigbee wireless module 6 of each slave computer, communicates according to the CSMA/CD agreement, and Zigbee telegon 9 receives the data that each Zigbee wireless module 6 is uploaded, and Zigbee telegon 9 links to each other with the FPGA arithmetic element; The FPGA arithmetic element to the valid data that Zigbee telegon 9 receives analyze, the temperature compensation processing, coupling algorithm is handled and curve fitting is calculated, and finally draws the three-dimension deformation-quantity of crossbeam; Second source 13 provides required power supply for Zigbee telegon 9, signal processing module 10; Wherein Zigbee telegon 9 adopts the CC2430 module, and FPGA arithmetic element 10 adopts the Virtex2P-XC2VP30 chip.
Consult Fig. 6, Fig. 7, Fig. 8 and Fig. 9: when Fig. 6 represents deflection deformation, the oscillogram of X-axis and Z axle, wherein, the waveform of X-axis is last, and the waveform of Z axle is following; When Fig. 7 crossbeam is subjected to gravity deformation, the oscillogram of Y-axis and Z axle, wherein, the waveform of Y-axis is last, and the waveform of Z axle is following; When Fig. 8 crossbeam is subjected to the reacting force of rapidoprint to be bent upwards distortion, the oscillogram of Y-axis and Z axle, wherein, the waveform of Y-axis is last, and the waveform of Z axle is following; When Fig. 9 crossbeam is subjected to the reacting force distortion of Y direction, the oscillogram of X-axis and Y-axis, wherein, the waveform of X-axis is last, and the waveform of Y-axis is following.
The hardware system that the present invention relates to based on the three-dimensional microdeformation computing method of overhead crossbeam of 3-axis acceleration sensor, adopt the program of Verilog HDL language compilation FPGA arithmetic element 11, its workflow comprises: (1) is read in data and is preserved the angle theta of calculating X, Y, three axles of Z and g (acceleration of gravity) direction from the Zigbee telegon
Xg, θ
Yg, θ
Zg(2) calculate Y, Z after the distortion, X-axis projection and initial Y, Z, angle β, γ, the α between the X-axis successively, be the attitude angle of 3-axis acceleration sensing measurement module mounting points in original YOZ plane, XOZ plane, XOY plane; (3) utilize the attitude angle of each 3-axis acceleration sensing measurement module mounting points and the distance between each 3-axis acceleration sensing measurement module mounting points, can calculate each 3-axis acceleration sensing measurement module mounting points at the deflection of X, Y direction and tentatively obtain the deflection of each 3-axis acceleration sensing measurement module mounting points through many sensings coupling algorithm at the Z axle, again Z shaft distortion amount is carried out error compensation, finally obtain the deflection of each 3-axis acceleration sensing measurement module mounting points in X, Y, Z direction; (4) according to each 3-axis acceleration sensing measurement module mounting points in the calculating that carries out curve fitting of the deflection of X, Y, Z direction, obtain the distortion situation of crossbeam at last.
Claims (3)
1. based on the three-dimensional microdeformation computing method of the overhead crossbeam of 3-axis acceleration sensor, it is characterized in that:
(1) 3-axis acceleration sensing measurement module is used to measure the component of gravity acceleration g in crossbeam X, Y, three directions of Z: the yaw acceleration a of directions X
x, the Y direction roll acceleration a
y, the Z direction pitch acceleration a
z
(2) above-mentioned three acceleration: yaw acceleration a about the crossbeam attitude
x, roll acceleration a
yWith pitch acceleration a
z, utilize wherein at least two kinds of parameters, calculate the real-time attitude angle of crossbeam: yaw angle α, side rake angle β, angle of pitch γ (cos
2α+cos
2β+cos
2γ=1);
(3) distance between above-mentioned yaw angle α, side rake angle β, angle of pitch γ and each the 3-axis acceleration sensing measurement module is utilized these parameter values, calculates the three-dimension deformation-quantity that can obtain crossbeam through data coupling, curve fitting;
(4) form the slave computer terminal by 3-axis acceleration sensing measurement module, Signal Pretreatment unit, multi-channel A modular converter, Zigbee wireless module, wherein the Zigbee wireless module carries wireless singlechip, the slave computer terminal is finished the measurement and the digitizing of three components of acceleration, and sampled data is radioed to the Zigbee telegon of host computer.The Zigbee wireless module of a plurality of slave computer terminals and the Zigbee telegon of host computer are formed star network, and channel adopts the CSMA/CD agreement; In a single day sampled data changes, and slave computer will be reported to host computer.The data that receive are carried out the processing of data coupling algorithm to the FPGA arithmetic element of host computer signal processing module and curve fitting is calculated, thereby draw the deflection of crossbeam in X, Y, three directions of Z.
2. the method for claim 1 can calculate the many sensing data coupling algorithm of crossbeam at the deflection of X, Y, three directions of Z.
3. the method for claim 1, the equally distributed crossbeam upper rail (guide rail of saddle motion) that is installed in of 3-axis acceleration sensing measurement module.
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| CN103267965A (en) * | 2013-05-20 | 2013-08-28 | 中国路桥工程有限责任公司 | Multi-target micro-variation measurement data processing system and method |
| CN103273378A (en) * | 2013-03-10 | 2013-09-04 | 北京工业大学 | Heavy type gantry machine tool super-span transverse beam load error identification method |
| CN105526974A (en) * | 2016-01-29 | 2016-04-27 | 成都市新筑路桥机械股份有限公司 | Monitoring device for big displacement telescoping device for bridge usage |
| CN109143942A (en) * | 2018-10-23 | 2019-01-04 | 重庆天箭惯性科技股份有限公司 | A kind of attitude transducer control system |
| CN113074807A (en) * | 2021-03-18 | 2021-07-06 | 中国水产科学研究院黄海水产研究所 | Real-time monitoring system for vibration and deformation of cultivation fence facility structure |
| CN113899915A (en) * | 2021-09-28 | 2022-01-07 | 湖南三一智能控制设备有限公司 | Method and device for acquiring linear velocity of boom and engineering vehicle |
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Cited By (10)
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| CN103273378A (en) * | 2013-03-10 | 2013-09-04 | 北京工业大学 | Heavy type gantry machine tool super-span transverse beam load error identification method |
| CN103273378B (en) * | 2013-03-10 | 2015-12-23 | 北京工业大学 | A kind of Heavy type gantry machine tool super-span transverse beam load error identification method |
| CN103267965A (en) * | 2013-05-20 | 2013-08-28 | 中国路桥工程有限责任公司 | Multi-target micro-variation measurement data processing system and method |
| CN103267965B (en) * | 2013-05-20 | 2015-01-28 | 中国路桥工程有限责任公司 | Multi-target micro-variation measurement data processing system and method |
| CN105526974A (en) * | 2016-01-29 | 2016-04-27 | 成都市新筑路桥机械股份有限公司 | Monitoring device for big displacement telescoping device for bridge usage |
| CN109143942A (en) * | 2018-10-23 | 2019-01-04 | 重庆天箭惯性科技股份有限公司 | A kind of attitude transducer control system |
| CN109143942B (en) * | 2018-10-23 | 2024-05-14 | 重庆天箭惯性科技股份有限公司 | Attitude sensor control system |
| CN113074807A (en) * | 2021-03-18 | 2021-07-06 | 中国水产科学研究院黄海水产研究所 | Real-time monitoring system for vibration and deformation of cultivation fence facility structure |
| CN113899915A (en) * | 2021-09-28 | 2022-01-07 | 湖南三一智能控制设备有限公司 | Method and device for acquiring linear velocity of boom and engineering vehicle |
| CN113899915B (en) * | 2021-09-28 | 2024-06-04 | 湖南三一智能控制设备有限公司 | Cantilever crane linear velocity obtaining method and device and engineering vehicle |
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Application publication date: 20111214 |