CN103869748B - Non-round surface XY directly drives processing profile error cross-coupling control system and method - Google Patents

Abstract

The present invention relates to digital control processing and control technical field, propose a kind of non-round surface XY and directly drive processing profile error cross-coupling control system and method, including: X-axis instruction reception unit, X-axis positioner, X-axis electric-motor drive unit and the X-axis sensor sequentially coupled, Y-axis instruction reception unit, Y-axis positioner, y-axis motor driver element and the Y-axis sensor sequentially coupled, and feedforward cross-coupling controller；Wherein, feedforward cross-coupling controller is according to obtaining profile error after the coupled calculating of tracking error of each axle, drawn compensation controlled quentity controlled variable by feedforward PID regulation, then by each axle coupling gain, compensation dosage is respectively allocated to each spindle motor driver element to produce real-time ancillary relief effect.The present invention can significantly reduce non-round surface XY and directly drive flat profile error according to the profile error of the tracking error of X, Y-axis accurate calculating complex unevenness track and carry out feedback control, is the effective ways improving machining of non-circular curved surface precision.

Description

Non-round surface XY directly drives processing profile error cross-coupling control system and method

Technical field

The present invention relates to digital control processing and control technical field, directly drive processing profile error particularly to a kind of non-round surface XY Cross-coupling control system and method.

Background technology

The raising day by day required part processing precision along with manufacturing industry, direct driving technologies is more and more applied to height On shelves Digit Control Machine Tool, Digit Control Machine Tool performance indications are greatly improved.XY directly drives processing platform, by 2 permanent synchronous linear electricity Machine driving axial orthogonal XY two axle carries out precisive plane motion.There is the XY two dimension straight line department of electrical engineering of vertical milling feature System, is widely used in automatically processing device field with its quick dynamic response, accurately location and reliability.Due to straight line Motor eliminates intermediate transmission link, and without driving error, therefore, tracking error is that XY directly drives the formation of processing platform profile error Main cause.Machining locus change, mechanical delay, machine vibration, load change and two axle drive system parameters not couplings etc. Factor causes X, Y-axis tracking error, has been largely fixed contour machining precision.Existing research uses cross-couplings profile by mistake Difference compensates the method controlled, and can effectively compensate profile error.Research shows, the single-axis servo emulated the advanced mutually controls device, base In the time etc. the cross-couplings (Cross-Couple Controller, CCC) of state be that raising system contour accuracy is more effective Approach.

It is basic skills of the prior art that XY platform routine profile error cross-couplings calculates.On this basis, one The method for designing that a little documents directly drive platform profile error cross-coupling controller for XY is studied, it is proposed that equivalent error The control methods such as control, repeat track control, Differential evolution, the control of zero phase self adaptation Shandong nation.But cross-coupling control should It is used in not rounded profile XY directly to drive processing aspect and yet suffer from some problems: first, X, Y machining coordinate is central track of cutter, and Not being real point of contact, the machining coordinate error that X-axis, Y-axis tracking error cause can not directly be equal to profile error, and The two profile error caused there is also coupling；Secondly, for identical profile track, non-round accessory XY processing can be divided into appearance Facial contour and surface of internal cavity contour machining, profile error cross-couplings calculates and certainly exists different therebetween, and by mistake The positive and negative concavity and convexity to contour curve of difference has relevant, and the positive negative direction of error is difficult to judge.

Summary of the invention

(1) the technical problem to be solved:

For the drawbacks described above of prior art, the technical problem to be solved is the most effectively to non-round surface XY The profile error directly driving processing is controlled.

(2) technical scheme

For achieving the above object, on the one hand, the invention provides a kind of non-round surface XY and directly drive processing profile error intersection Coupling control system, including: X-axis instruction reception unit, X-axis positioner, X-axis electric-motor drive unit and the X sequentially coupled Axle sensor, the Y-axis instruction reception unit sequentially coupled, Y-axis positioner, y-axis motor driver element and Y-axis sensor, And feedforward cross-coupling controller；Wherein, each axle sensor is respectively coupled to each axle instruction reception unit, and it is each that feedback observes The position activation result of spindle motor driver element；Each axle instruction reception unit inputs with feedforward cross-coupling controller two the most respectively End couples, and the location of instruction is compared with position activation result, obtains the position tracking error of each axle；Feedforward cross-couplings control Two outfans of device processed are respectively coupled to the input of each spindle motor driver element；Feedforward cross-coupling controller according to each axle with Track error, obtains profile error after coupled calculating, feedforward PID regulation draw compensation controlled quentity controlled variable, subsequently by each axle compensation dosage It is respectively allocated to each spindle motor driver element by coupling gain, the most attached to produce for regulating the control signal of each axle Add compensating action.

Preferably, in described system: the positioner of each axle is PID controller, feedforward cross-coupling controller is Feedforward PID controller.

Preferably, in described system: each axle sensor uses linear grating be observed；Sensor is except feeding back each axle position Put outside activation result, also feed back the signal that motor speed is adjusted.

Preferably, in described system: the coupling gain providing each axle is further divided into the coupling of processing outer surface profile Gain and the coupling gain of processing inner surface profile.

Preferably, in described system: the processing X of outer surface profile, Y-axis coupling gain G_Xo、G_YoWith processing inner surface profile X, Y-axis coupling gain G_Xi、G_YiIt is respectively $\left\{\begin{array}{c}{G}_{\mathrm{Xo}}=\mathrm{sign}\left(y^{\&prime;}\right)\sin \left(\arctan \left(\right|\frac{y^{\&prime;}}{x^{\&prime;}}\left|\right)\right)\\ G_{\mathrm{Yo}}=\mathrm{sign}(-x^{\&prime;})\cos \left(\arctan \left(\right|\frac{y^{\&prime;}}{x^{\&prime;}}\left|\right)\right)\end{array}\right.;$ $\left\{\begin{array}{c}{G}_{\mathrm{Xi}}=\mathrm{sign}\left({-y}^{\&prime;}\right)\sin \left(\arctan \left(\right|\frac{y^{\&prime;}}{x^{\&prime;}}\left|\right)\right)\\ G_{\mathrm{Yi}}=\mathrm{sign}\left(x^{\&prime;}\right)\cos \left(\arctan \left(\right|\frac{y^{\&prime;}}{x^{\&prime;}}\left|\right)\right)\end{array}\right.;$ Wherein, (x ', y ') is cutter actual contact point coordinate, and sign () is sign function, has $\mathrm{sign}\left(x\right)=\left\{\begin{array}{cc}-1:& x<0\\ 1:& x>0\end{array}\right..$

Preferably, in described system: the profile error change in feedforward cross-coupling controller, coupling formed and error Rate of change carries out feed-forward regulation control, and feedforward output forms each axle profile error compensation dosage by each axle gain.

On the other hand, the present invention provides a kind of non-round surface XY directly to drive processing profile error cross-coupling control side the most simultaneously Method, including step:

Receiving X, Y-axis command signal respectively, each axis Position Control device generates control signal, motor according to command signal respectively Driver element carries out preliminary working according to each self-driven motor of control signal；

Each axle sensor observes the activation result of each spindle motor driver element, forms each axle and follow the tracks of after comparing with command signal Error, and feed back to feedforward cross-coupling controller respectively；

Feedforward compensation controller is according to the tracking error of each axle and coupling gain, and coupling obtains profile error, warp after calculating Feedforward PID becomes to compensate controlled quentity controlled variable after controlling；

Compensate controlled quentity controlled variable and be respectively allocated to each spindle motor driver element by each axle coupling gain, for regulating the control of each axle Signal is to produce corresponding ancillary relief effect in real time.

Preferably, in described method: add coupling gain man-hour each axle provided for processing outer surface carrying out outer surface The coupling gain of profile；Increase carrying out the coupling that coupling gain is processing inner surface profile that outer surface adds man-hour and provide each axle Benefit.

Preferably, in described method: the processing X of outer surface profile, Y-axis coupling gain G_Xo、G_YoWith processing inner surface profile X, Y-axis coupling gain G_Xi、G_YiIt is respectively $\left\{\begin{array}{c}{G}_{\mathrm{Xo}}=\mathrm{sign}\left(y^{\&prime;}\right)\sin \left(\arctan \left(\right|\frac{y^{\&prime;}}{x^{\&prime;}}\left|\right)\right)\\ G_{\mathrm{Yo}}=\mathrm{sign}(-x^{\&prime;})\cos \left(\arctan \left(\right|\frac{y^{\&prime;}}{x^{\&prime;}}\left|\right)\right)\end{array}\right.;$ $\left\{\begin{array}{c}{G}_{\mathrm{Xi}}=\mathrm{sign}\left({-y}^{\&prime;}\right)\sin \left(\arctan \left(\right|\frac{y^{\&prime;}}{x^{\&prime;}}\left|\right)\right)\\ G_{\mathrm{Yi}}=\mathrm{sign}\left(x^{\&prime;}\right)\cos \left(\arctan \left(\right|\frac{y^{\&prime;}}{x^{\&prime;}}\left|\right)\right)\end{array}\right.;$ Wherein, (x ', y ') is cutter actual contact point coordinate, and sign () is sign function, has $\mathrm{sign}\left(x\right)=\left\{\begin{array}{cc}-1:& x<0\\ 1:& x>0\end{array}\right..$

Preferably, described method further comprises the steps of: the profile error by forming coupling change and error rate Carrying out feed-forward regulation control, feedforward output forms each axle profile error compensation dosage by each axle gain.

(3) technique effect

Relative to prior art, the invention provides a kind of non-round surface XY and directly drive processing profile error cross-coupling control System and method, can be according to the profile error of the tracking error of X, Y-axis accurate calculating complex unevenness track and feedover Compensate and control.Compared with conventional control, the feedforward cross coupling compensation designed by the present invention controls to significantly reduce non-round surface XY directly drives flat profile error, is the effective ways improving machining of non-circular curved surface precision.The present invention proposes non-round accessory profile by mistake Difference XY directly drives machining cross coupling control method and has the features such as amount of calculation is little, realization is convenient, has potential construction value.

Accompanying drawing explanation

Fig. 1 is that in one embodiment of the present of invention, non-round surface XY directly drives processing profile error cross-coupling control system knot Structure schematic diagram；

Fig. 2 is the principle schematic that X in a typical scene, Y-axis tracking error cause profile error；

Fig. 3 is that in a preferred embodiment of the invention, feedforward PID controller realizes principle schematic；

Fig. 4 be the present invention an emulation experiment in profile track schematic diagram to be processed；

Fig. 5 be the present invention an emulation experiment in revise heart-shaped outer surface profile machining locus schematic diagram；

Fig. 6 be the present invention an emulation experiment in revise heart-shaped outer surface profile processing profile error cross-coupling control Gain curve schematic diagram；

Fig. 7 be the present invention an emulation experiment in revise profile before and after heart-shaped outer surface profile error cross-coupling control Curve of error contrast schematic diagram；

Fig. 8 be the present invention an emulation experiment in revise heart-shaped inner surface profile machining locus schematic diagram；

Fig. 9 be the present invention an emulation experiment in revise heart-shaped inner surface profile processing profile error cross-coupling control Gain curve schematic diagram；

Figure 10 be the present invention an emulation experiment in revise heart-shaped inner surface profile error cross-couplings profile error bent Line contrast schematic diagram；

Figure 11 is that the theoretical outer surface that verifies of the present invention adds the curve of error contrast schematic diagram of two kinds of models in man-hour；

Figure 12 be the present invention theoretical verification in inner surface add the curve of error contrast schematic diagram of two kinds of models in man-hour.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Whole description, it is clear that described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on this Embodiment in invention, it is every other that those of ordinary skill in the art are obtained on the premise of not making creative work Embodiment, broadly falls into the scope of protection of the invention.

X, Y tracking error, refers mainly to the difference of servo error motor command of the most a certain moment position and physical location；Profile is by mistake The difference profile normal error that mainly point of contact error causes.Directly drive platform due to XY and decrease intermediate link, essentially eliminate Driving error, X, the tracking error of Y-axis are then to cause the main cause of workpiece profile error.Therefore, control and compensation X, Y-axis are followed the tracks of Error, just can largely reduce final processing profile error.

In the present invention, it is divided into outer surface to process with inner surface profile non-round surface XY processing；Analyze non-circular profile XY Processing mechanism, causes profile error to study X-axis, Y-axis tracking error respectively, it is achieved the decoupling computing of profile error, carries Go out XY platform outer surface and couple computing formula with inner surface profile processing profile error.As it is shown in figure 1, the present invention a enforcement In example, non-round surface XY directly drives processing profile error cross-coupling control system and includes: the X-axis instruction reception unit that sequentially couples, X-axis positioner, X-axis electric-motor drive unit and X-axis sensor, the Y-axis instruction reception unit sequentially coupled, the control of Y-axis position Device processed, y-axis motor driver element and Y-axis sensor, and feedforward cross-coupling controller；Wherein, the observation of each axle sensor is each The position activation result of spindle motor driver element also feeds back to each axle instruction reception unit respectively；Each axle location of instruction passes with each axle Sensor is observed the position activation result of each spindle motor driver element and is compared, and obtains the position tracking error of each axle；Each axle Position tracking error feeds back to feedforward cross-coupling controller, two outfans of feedforward cross-coupling controller coupling respectively the most respectively Connect the input of each spindle motor driver element；Feedforward cross-coupling controller is according to the tracking error of each axle, after coupled calculating Obtain profile error, feedforward PID regulation draw compensation controlled quentity controlled variable, subsequently each axle compensation dosage is respectively allocated to by coupling gain Each spindle motor driver element, for regulating the control signal of each axle to produce corresponding ancillary relief effect in real time.

Preferably, each spindle motor drive unit drives linear electric motors；The sensor of each axle use linear grating see Surveying, sensor, in addition to feeding back each shaft position, also can feed back the signal being adjusted motor speed；The positioner of each axle is equal For PID controller, feedforward cross-coupling controller is feedforward PID controller.

Based on said system, present invention simultaneously provides a kind of non-round surface XY and directly drive processing profile error cross-coupling control Method, including step:

Receiving X, Y-axis command signal respectively, each axis Position Control device generates control signal, motor according to command signal respectively Driver element carries out preliminary working according to each self-driven motor of control signal；

Each axle sensor observes the activation result of each spindle motor driver element, forms each axle and follow the tracks of after comparing with command signal Error, and feed back to feedforward cross-coupling controller respectively；

Feedforward compensation controller is according to the tracking error of each axle and coupling gain, and coupling obtains profile error, warp after calculating Feedforward PID becomes to compensate controlled quentity controlled variable after controlling；

Compensate controlled quentity controlled variable and be respectively allocated to each spindle motor driver element by each axle coupling gain, for regulating the control of each axle Signal is to produce corresponding ancillary relief effect in real time.

Below technical solution of the present invention and principle are described further.XY platform not rounded Contour Machining error analysis such as figure Shown in 2, in xoy rectangular coordinate system, theoretical XY machining coordinate is substantially center cutter coordinate O₁(X₁,Y₁), point of contact is A₁ (x₁,y₁).When X-axis there is tracking error Δ X, Y-axis there is tracking error Δ Y time, center cutter becomes O₁′(X₁+ΔX,Y₁+Δ Y), actual point of contact is A₁′.Making theoretical point of contact is A₁The exterior normal at placeAnd tangent lineWith X-axis folded by acute angle be α.Make parallelogram O₁′A₁′A₁O₁, tangent lineWith O₁′A₁' give B₁Point.The process principle equidistant by non-circular profile normal direction can Know, ∠ O₁A₁B₁、∠O₁′B₁A₁It is right angle.Normal profile error ε can be considered theoretical point of contact A₁Tangent lineExcise with reality Point A₂Tangent lineBetween distance | A₁′B₁|.Wherein, the Normal profile error that X-axis tracking error Δ X causes is ε_x；Y-axis with The Normal profile error that track error delta Y causes is ε_y。ε_x、ε_yDirection of error and curve shape and X, the positive negative direction of Y-axis tracking error Relevant.ε_xWith ε_yVecter cotpling is formed | O₁′C₁|, by | O₁A₁|=|O₁′A₁′|=|C₁B₁| and triangle geometrical relationship, it can be deduced that | O₁′C₁|=ε, i.e. Normal profile error ε are equal to ε_xWith ε_yVector.

During as in figure 2 it is shown, XY directly drives platform processing non-round accessory, can not be directly obtained formed by X, Y-axis tracking error Profile error.There is coupling in the Normal profile error that X, Y tracking error causes, center cutter site error directly obtains profile Application condition difficulty.Therefore, the profile error caused the tracking error of X, Y-axis respectively is analyzed, and the two is carried out afterwards Normal vector superposition i.e. can get final profile error.

In Fig. 2, triangle geometrical relationship understand ∠ C₁O₁E₁=∠E₁O₁′D₁=α, if the complementary angle ∠ E of α₁O₁A₁=β.Utilize three Angle geometrical relationship can obtainProfile error has directivity, preferably uses the mode of vector to represent.During XY platform processing outer surface profile, The profile error ε that X-axis tracking error Δ X causes_xSubstantially vectorAt the outer normal axis of profileOn projection.Press The amount of being pointed into projection computational methods on axle, ε_xCalculating formula have:Wherein, β₁For vectorWithAngle, whenWithWhen angle is acute angle, β₁=β, whenWithβ when angle is obtuse angle₁=π-β.According to folder Angle beta₁Acute angle, obtuse angle situation, ε_xCalculating formula be expressed as:

VectorWithAngle whether be acute angle, it is available that both are multiplied The positive negative indication of scalar product.I.e. whenTime, vectorWithAngle is acute angle；WhenTime, vectorWithAngle is obtuse angle.And becauseAnd $\frac{1}{\sqrt{x^{{\&prime;}^2}+y^{{\&prime;}^2}}}>0,$ Therefore, the rewritable one-tenth of above formula:

$\left\{\begin{array}{cc}{\mathrm{\&epsiv;}}_x=\left|\mathrm{\&Delta;X}\right|\cos \mathrm{\&beta;};& \mathrm{\&Delta;X}{y}^{\&prime;}>0\\ {\mathrm{\&epsiv;}}_x=-\left|\mathrm{\&Delta;X}\right|\cos \mathrm{\&beta;};& \mathrm{\&Delta;X}{y}^{\&prime;}<0\end{array}\right..$

For ease of expressing and calculating, created symbol function sign function, $\mathrm{sign}\left(x\right)=\left\{\begin{array}{cc}-1:& x<0\\ 1:& x>0\end{array}\right.;$ Then following two The individual condition of equivalence is set up,

Two kinds of situations of ε x being merged, unification is write as ε again_x=sign(ΔXy′)|ΔX|cosβ。

Sign function sign has apportionment ratio, i.e. sign (Δ Xy ')=sign (Δ X) × sign (y ') sets up, then ε_xEnter one Step can be write as ε_x=sign(ΔX)×sign(y′)×|ΔX|cosβ。

Owing to sign (Δ X) × | Δ X |=Δ X sets up, after bringing into, obtain ε_x=sign(y′)ΔXcosβ。

WillBring into, obtain the profile error ε that X-axis tracking error Δ X causes_xMeter FormulaObviously as Δ X=0, ε_x=0, this formula is still set up.

In like manner, the profile error ε that Y-axis tracking error Δ Y causes can be drawn_yCalculating formula

${\mathrm{\&epsiv;}}_y={\mathrm{Prj}}_{N_1}\left(\stackrel{\&RightArrow;}{\mathrm{\&Delta;Y}}\right)=\mathrm{sign}(-x^{\&prime;})\cos \left(\arctan \left(\right|\frac{y^{\&prime;}}{x^{\&prime;}}\left|\right)\right)\mathrm{\&Delta;Y}.$

By ε_x、ε_ySimultaneous, deriving XY platform outer surface processing profile error is

$\mathrm{\&epsiv;}={\mathrm{\&epsiv;}}_x+{\mathrm{\&epsiv;}}_y=\mathrm{sign}\left(y^{\&prime;}\right)\sin \left(\arctan \left(\right|\frac{y^{\&prime;}}{x^{\&prime;}}\left|\right)\right)\mathrm{\&Delta;X}+\mathrm{sign}(-x^{\&prime;})\cos \left(\arctan \left(\right|\frac{y^{\&prime;}}{x^{\&prime;}}\left|\right)\right)\mathrm{\&Delta;Y}.$

Based on same principle, when target profile Γ (t) is accessory inner surface profile, X-axis, Y-axis tracking error Δ X, The profile error ε that Δ Y causes_x、ε_yVector can be equal to equallyNormal direction line in profileOn projection, total profile error ε is ε_x、ε_yVector.Same reasoning can get in XY platform Surface Machining profile error is $\mathrm{\&epsiv;}={\mathrm{\&epsiv;}}_x+{\mathrm{\&epsiv;}}_y=\mathrm{sign}(-y^{\&prime;})\sin \left(\arctan \left(\right|\frac{y^{\&prime;}}{x^{\&prime;}}\left|\right)\right)\mathrm{\&Delta;X}+\mathrm{sign}\left(x^{\&prime;}\right)\cos \left(\arctan \left(\right|\frac{y^{\&prime;}}{x^{\&prime;}}\left|\right)\right)\mathrm{\&Delta;Y}.$

Therefore, in the preferred embodiments of the present invention, provide coupling gain to be further divided into processing outer surface profile on each axle X, Y-axis coupling gain G_Xo、G_YoWith the processing X of inner surface profile, Y-axis coupling gain G_Xi、G_Yi, it is respectively $\left\{\begin{array}{c}{G}_{\mathrm{Xo}}=\mathrm{sign}\left(y^{\&prime;}\right)\sin \left(\arctan \left(\right|\frac{y^{\&prime;}}{x^{\&prime;}}\left|\right)\right)\\ G_{\mathrm{Yo}}=\mathrm{sign}(-x^{\&prime;})\cos \left(\arctan \left(\right|\frac{y^{\&prime;}}{x^{\&prime;}}\left|\right)\right)\end{array}\right.;$ $\left\{\begin{array}{c}{G}_{\mathrm{Xi}}=\mathrm{sign}\left({-y}^{\&prime;}\right)\sin \left(\arctan \left(\right|\frac{y^{\&prime;}}{x^{\&prime;}}\left|\right)\right)\\ G_{\mathrm{Yi}}=\mathrm{sign}\left(x^{\&prime;}\right)\cos \left(\arctan \left(\right|\frac{y^{\&prime;}}{x^{\&prime;}}\left|\right)\right)\end{array}\right..$

When XY directly drives platform processing non-circular profile, profile error is mainly formed by X, the coupling of Y-axis tracking error, has certain Hysteresis quality, traditional PID is difficult to obtain satisfied control effect.The feedforward can improve the tracking performance of system, has Certain with compensate function.Feedforward design in classical feedforward theory is thought based on complex controll, when closing When loop systems is continuous system, making feedforward link is 1 with the amassing of transmission function of closed loop link, thus realization reappears defeated completely Enter.In the preferred embodiments of the present invention, according to the basic thought of the feedforward, devise profile error multistage feedforward cross-couplings Controller, as shown in Figure 3.Profile error after X, Y-axis cross-couplings is ε, with profile error expected value ε_cmdAfter comparing, Output obtains X, Y linear electric motors offset through feedforward PID arithmetic, makes ε the most in the same time be maintained at a rational scope In.Wherein, ratio, integration, the coefficient of differential are respectively K_p、K_i、K_d, velocity feed forward COEFFICIENT K_v, feed forward of acceleration COEFFICIENT K_aTo by mistake Difference change and error rate carry out Front feedback control；The intrinsic frictional damping of system can be by friction feed-forward coefficients K_fCarry out Feedforward compensation.

Such scheme is verified by Simulink emulation experiment by the present invention further, establishes XY and directly drive and add Work cross-coupling control phantom, as a example by the correction heart Machining of Curved Surface that plunger hydraulic motor is conventional, to profile error Cross-coupling control effect emulates, and verifies the accuracy of non-round surface XY profile error computation model.

Revise innermost being face be one simple, continuously, close and periodicity curved surface that high order can be micro-, it is possible to resolve negative camber motor Internal impact problem, be widely used in radial piston hydraulic motor.This curved surface is more complicated, every in xoy plane Individual quadrant is respectively provided with jog, representative.Its coordinate calculating formula is:

$\left\{\begin{array}{c}x=A(1+B\cos \mathrm{n\&theta;})\cos \mathrm{\&theta;}\\ y=A(1+B\cos \mathrm{n\&theta;})\sin \mathrm{\&theta;}\end{array}\right.;$

Wherein, A represents amplitude；B represents ripple amplitude；N represents the pulsation period；θ is parameter angle.Take A=100mm, B= 0.1, n=6, θ=0-2 π obtains profile track to be processed as shown in Figure 4.

Select outer surface cross-coupling control mode, be modified heart-shaped outer surface processing profile error cross-coupling control Emulation experiment.Take tool radius r=20mm, revise heart-shaped outer surface profile machining locus as shown in Figure 5.According to above-described embodiment, Revise heart-shaped outer surface profile processing profile error cross-coupling control gain curve as shown in Figure 6.By outer surface machining coordinate And coupling gain calculates and imports in phantom, carry out cross-coupling control emulation.Arranging circle process time is 18s, emulation The result sampling period is set to 0.05s；Feedforward cross coupling compensation controller parameter is respectively as follows: K_p=10,K_i=0.5,K_d=10, front Feedforward coefficient K_v=0.05, K_a=0.01, K_f=0.002；Obtain revising profile before and after heart-shaped outer surface profile error cross-coupling control Curve of error contrasts as shown in Figure 7.As seen from Figure 7, after feedforward cross-coupling control, revise heart-shaped outer surface X-Y Process profile error peak-fall 65.7%, and more steady, substantially increase machining accuracy.

Adjust switch, select inner surface cross-coupling control mode, be modified heart-shaped inner surface processing shape exterior feature error and hand over Fork coupling controls emulation experiment.Take tool radius r=20mm, revise heart-shaped inner surface profile machining locus as shown in Figure 8.Equally According to above-described embodiment, calculate correction heart-shaped inner surface profile processing profile error cross-coupling control gain curve such as Fig. 9 Show.Inner surface machining coordinate and coupling gain are calculated and imports in phantom, carry out cross-coupling control emulation.Simulated conditions And parameter is identical with outer surface cross-coupling control, obtain revising heart-shaped inner surface profile error cross-couplings profile error curve Contrast is as shown in Figure 10.As seen from Figure 10, after feedforward cross-coupling control, revise heart-shaped inner surface XY and process profile Error peak have dropped 66.8%, and error is the most steady, substantially increases machining accuracy.

The solution of the present invention also can be verified theoretically, and the such as computation model with cutter path method carries out curve pair Ratio, the algorithm of cutter path method does not repeats them here.Figure 11 and Figure 12 respectively illustrates outer surface processing and inner surface processing Curve of error contrasts, it can be seen that correction cardioid XY is directly driven the processing of platform outer surface and coupled profile error mould with inner surface processing The profile error closely (in figure, curve essentially coincides) that type calculates with cutter path method, and the direction of error complete Cause, illustrate that technical scheme can be according to the profile of the tracking error of X, Y-axis accurate calculating complex unevenness track Error.

Relative to prior art, the invention provides a kind of non-round surface XY and directly drive processing profile error cross-coupling control System and method, can be according to the profile error of the tracking error of X, Y-axis accurate calculating complex unevenness track and feed back Control.The profile error curve ratio drawn by cutter path method profile error and XY coupling error model relatively, illustrates the present invention The non-round surface XY proposed directly drives platform outer surface and has the highest accuracy with inner surface processing profile error control mode, Its decision method missing direction of error is correct.Compared with conventional control, designed feedforward cross coupling compensation controls big Width reduces non-round surface XY and directly drives flat profile error, is the effective ways improving machining of non-circular curved surface precision.The present invention carries Go out non-round accessory profile error XY directly to drive machining cross coupling control method and have that amount of calculation is little, realize the features such as convenient, have Potential construction value.

Although above in association with preferred embodiment, invention has been described, but it should be appreciated by those skilled in the art, Method and system of the present invention is not limited to the embodiment described in detailed description of the invention, is wanting without departing substantially from by appended right In the case of seeking the spirit and scope of the invention that book limits, can to the present invention various modification can be adapted, increase and replace.

Claims (6)

1. a non-round surface XY directly drives processing profile error cross-coupling control system, it is characterised in that described system includes: X-axis instruction reception unit, X-axis positioner, X-axis electric-motor drive unit and the X-axis sensor sequentially coupled, sequentially couples Y-axis instruction reception unit, Y-axis positioner, y-axis motor driver element and Y-axis sensor, and feedforward cross-coupling control Device；Wherein,

Each axle sensor is respectively coupled to each axle instruction reception unit, and the position of each spindle motor driver element that feedback observes drives Result；

Each axle instruction reception unit couples with feedforward cross-coupling controller two input the most respectively, the location of instruction is driven with position Dynamic result compares, and obtains the position tracking error of each axle；

Two outfans of feedforward cross-coupling controller are respectively coupled to the input of each spindle motor driver element；

Feedforward cross-coupling controller, according to the tracking error of each axle, obtains profile error after coupled calculating, feedforward PID adjust Joint draws compensation controlled quentity controlled variable, subsequently by coupling gain, each axle compensation dosage is respectively allocated to each spindle motor driver element, is used for adjusting Save the control signal of each axle to produce corresponding ancillary relief effect in real time；

The coupling gain providing each axle is further divided into the coupling gain of processing outer surface profile and processes inner surface profile Coupling gain；

The processing X of outer surface profile, Y-axis coupling gain G_Xo、G_YoWith the processing X of inner surface profile, Y-axis coupling gain G_Xi、G_YiPoint It is not Wherein, (x ', y ') is Cutter actual contact point coordinate, sign () is sign function, has

2. the system as claimed in claim 1, it is characterised in that in described system: the positioner of each axle is PID control Device, feedforward cross-coupling controller is feedforward PID controller.

3. the system as claimed in claim 1, it is characterised in that in described system: use linear grating to enter in each axle sensor Row observation；Sensor, in addition to feeding back each shaft position activation result, also feeds back the signal being adjusted motor speed.

4. the system as claimed in claim 1, it is characterised in that in described system: to coupling in feedforward cross-coupling controller The profile error change formed and error rate carry out feed-forward regulation control, and feedforward output forms each axle by each axle gain Profile error compensation dosage.

5. a non-round surface XY directly drives processing profile error cross-coupling control method, it is characterised in that described method includes Step:

Receiving X, Y-axis position command signal respectively, each axis Position Control device generates control signal, motor according to command signal respectively Driver element carries out preliminary working according to each self-driven motor of control signal；

Each axle sensor observes the activation result of each spindle motor driver element, forms each axle and follow the tracks of by mistake after comparing with command signal Difference, and feed back to feedforward cross-coupling controller respectively；

Feedforward compensation controller is according to the tracking error of each axle and coupling gain, and coupling obtains profile error after calculating, through feedforward Become to compensate controlled quentity controlled variable after PID regulation；

Compensate controlled quentity controlled variable and be respectively allocated to each spindle motor driver element by each axle coupling gain, for regulating the control signal of each axle To produce corresponding ancillary relief effect in real time；

Carrying out the coupling gain that coupling gain is processing outer surface profile that outer surface adds man-hour and provides each axle；Carry out outside Coupling gain during Surface Machining provided each axle is the coupling gain of processing inner surface profile；

The processing X of outer surface profile, Y-axis coupling gain G_Xo、G_YoWith the processing X of inner surface profile, Y-axis coupling gain G_Xi、G_YiPoint It is not Wherein, (x ', y ') is Cutter actual contact point coordinate, sign () is sign function, has

6. method as claimed in claim 5, it is characterised in that further comprise the steps of: in described method by coupling formation Profile error change and error rate carry out feed-forward regulation control, and feedforward output forms each axle by each axle gain and compensates Amount.