CN104597846B - Lull-closed-loop motion control method for interpolation of multi-shaft coupling pipeline - Google Patents
Lull-closed-loop motion control method for interpolation of multi-shaft coupling pipeline Download PDFInfo
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- CN104597846B CN104597846B CN201310534078.7A CN201310534078A CN104597846B CN 104597846 B CN104597846 B CN 104597846B CN 201310534078 A CN201310534078 A CN 201310534078A CN 104597846 B CN104597846 B CN 104597846B
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
- G05B19/4103—Digital interpolation
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Abstract
The invention relates to the field of control of numerical control machine tools, and specifically provides method for adding pipeline interpolation on the basis of dynamically correcting motion track interpolation position according to the feedback of a grating ruler and other external connecting position sensing devices as well as a servo motor encoder so as to dynamically plan the motion tracks. The method is suitable for two-shaft and three-shaft coupling linear interpolation, two-shaft coupling arc-shaped interpolation and hybrid configuration of full-closed-loop feedback, full-closed-hoop feedback and semi-closed-hoop feedback. With the adoption of the method, the multi-shaft coupling contour precision, positioning precision and repeated positioning precision can be met, a servo motor can run stably, the processing precision of a workpiece can be ensured, and the service life of a machine can be prolonged. The method is high in adaptability, high in processing route contour precision, high in speed smoothness, high in dynamic performance and high in motion safety.
Description
Technical field
The present invention relates to closed-loop Digit Control Machine Tool control field, specifically feeds back machine for two-position sensing device
The closed-loop motion control method of the multi-shaft interlocked pipe motion interpolation of bed axle.
Background technology
Current Digit Control Machine Tool is widely used, and high accuracy, at high speed processing and low cost are that advanced manufacturing industry adds all the time
The contradiction of work technique is present, and the multi-shaft interlocked contour accuracy of Digit Control Machine Tool, positioning precision, repetitive positioning accuracy are also increasingly improved,
Existing Numeric Control Technology perfect can not solve the multi-shaft interlocked motion control brought with distributing shaft complexity transmission structures variation
System is required.It is driven in driving error and the course of processing produced by the uncontrollable lathe shaft transmission of semi-closed loop control system
System wear and error for producing etc., it is impossible to meet the control requirement of processing technique.The external sensing device such as grating scale is to numerical control
The each coordinate axess of lathe carry out full closed loop control, although disclosure satisfy that axle positioning precision, repetitive positioning accuracy to a certain extent, but deposit
Servomotor rotating speed is unstable during motor control, easily cause machine spindle Vibration Condition, on the one hand causes machining accuracy to receive
To impact, the abrasion for accelerating transmission device of machine tool on the other hand can be also caused.
With developing rapidly for modern manufacturing industry, machine tool structure is also constantly changing, such as occur in that band distribution is passed
The frame for movement of many lathe coordinate axess of Serve Motor Control of dynamic device, traditional motion control method can not be fitted well
For such lathe.And such machine tool drive complex structure, mechanical clearance is larger, in axle stroke range transmission it is linear unstable
Deng needing also exist for extraneous position sensing device and realize positioning, while more needing suitable motion control method to realize closed-loop
Linkage.
The content of the invention
For the problem that the processing method of existing control of doing exercises is present, it is an object of the invention to provide one kind can basis
The external position sensing device such as grating scale and encoder for servo motor are fed back on the basis of dynamic corrections movement locus interpolation position
Increase pipeline interpolating method, realize dynamic programming movement locus.
The technical scheme that adopted for achieving the above object of the present invention is：A kind of multi-shaft interlocked pipeline interpolation closed-loop motion
Control method, recalculates the revised movement locus of acquisition and inserts to programming movement locus interpolation point by dynamic correcting method
Point is mended, new locus interpolation point is obtained by acceleration and deceleration method；It is with this interpolated point as the center of circle, with largest contours allowable error again
Pipe radius, with the direction of motion as law vector, pipeline bias internal planning is carried out to new locus interpolation point by double feedback deviations
And then obtain space tracking source location；Course of processing axis motion interpolated point, Jing PID control realities are realized by axle control section
Now to the smooth rotation of servomotor in shaft drive.
The dynamic corrections are the feedback coordinates positions as obtained by each machine spindle external position sensing device, are watched with each
Take motor encoder feedback and calculate gained feedback coordinates position, location point is constantly modified with corresponding relation therebetween,
Recalculate planned trajectory point.
The largest contours allowable error refers to the maximum for allowing exist between processing workpiece TP and theoretical profile
Error amount.
Described pair of feedback deviation refers to that each axle is electric with servo by the machine spindle physical location that external position sensing device is obtained
The difference of the semiclosed loop positional value that machine encoder feedback is counted to get.
It is described that the planning of pipeline bias internal is carried out to new locus interpolation point by double feedback deviations and then space tracking is obtained
Source location, specially：
If L<Emin, then Pn be Pn C, otherwise
Ln=L*Sc;
if(Ln>Er){Ln=Er;}
According to Pn, Ln and Po ' to Po " direction vector draw Pn C；
Wherein, L represents the source condition that pipeline interpolation radial offset is calculated, and by double feedback positions and course bearing institute is calculated
, Emin represents profile minimum threshold, and Pn represents trajectory planning gained coordinate position, P after dynamic correctionsn CAfter representing pipeline interpolation
Source location, Ln represents Pn CThe distance between with Pn, Sc represents that profile errors adjust ratio, and Er states maximum allowable profile
Error.
The present invention has advantages below and beneficial effect：
1. strong adaptability.It is every to adopt the lathe with closed-loop feedback device, possess execution terminal location feedback, either
Linear coordinate axle, or rotary shaft, either using grating scale, ball bar ruler, or external position coder, can be using this
The method of invention.
2. machining path contour accuracy can be ensured.During Motion trajectory, it is ensured that running orbit is accurate,
Profile errors are little, and traditional full closed loop control method needs whole full closed loop control, although also ensure that interpolation precision, but will
Ask lathe axis mechanical drive good, for gearing poor machine spindle easily causes vibrations, or even emotionally shape occur.
3. rate smoothing degree height, dynamic are good.The present invention increases on the dynamic corrections manufacturing basis for introducing movement locus point
Plus pipeline interpolating method, both avoided for ensure speed planning stationarity and bring real electrical machinery operating it is unstable,
Ensure the stationarity of axle movement velocity, while adopt more completely for full closed loop control, adjustable height servo loop speed proportional gain,
Reduce following error, improve machining accuracy.
4. sports safety is high.The present invention while rate smoothing is improved, can effectively be dropped by pipeline interpolating method
Low axle motion is overproof, overload probability；Simultaneously in the state of there is external sensing device abnormal signal, such as grating scale is read
The reasons such as number disorder, can avoid axle the motor disorder even situation of driving, report overproof early, and protection lathe is not damaged by.
Description of the drawings
Fig. 1 is the inventive method flow chart；
Fig. 2 is the applicable machine tool structure the general frame of the present invention；
Fig. 3 is two axle of the invention linear motion pipeline interpolation schematic diagram；
Fig. 4 is circular motion pipeline interpolation schematic diagram of the present invention；
Fig. 5 is inventive pipeline interpolation flow chart.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail.
A kind of multi-shaft interlocked pipeline interpolation closed-loop motion control method, to movement instruction each axle servo motor encoder is utilized
Device is fed back that programming movement tracing point is retrieved by dynamic correcting method with machine tool position sensing device and move after amendment
Tracing point, by acceleration and deceleration method new locus interpolation point is obtained, then with this interpolated point as the center of circle, with largest contours allowable error
For pipe radius, with the direction of motion as law vector, pipeline bias internal rule are carried out to new locus interpolation point by double feedback deviations
Draw and then obtain space tracking source location, course of processing axis motion interpolated point, Jing PID controls are realized by axle control section
Realize the smooth rotation to servomotor in shaft drive.
The point of planned trajectory is the command position that a upper servo period is formed during Motion trajectory.
The dynamic correcting method, the axle feedback bit as obtained by the external position sensing device of machine spindle final actuating station
Put, with encoder for servo motor feedback gained axle feedback position calculated, the countershaft motion planning location point of the difference between the two is modified,
Recalculate planned trajectory point.
Movement locus point after the amendment, is the fortune as obtained by dynamic correcting method is recalculated to the point of planned trajectory
Dynamic interpolation position.
The acceleration and deceleration method, is the conventional movement locus Acceleration-deceleration Control Method of Numeric Control Technology, such as linear acceleration and deceleration, S
Curve acceleration and deceleration, Exponential acceleration and deceleration etc., according to forms of motion（Linear interpolation, circular interpolation）And it is remaining to recalculate motion planning
Distance.
The linear interpolation refers to that the straightway movement instruction to two axles and three-shaft linkage carries out trajectory planning, forms motion
Locus interpolation point.
The circular interpolation refers to that the circular motion instruction to X/Y plane, YZ planes, ZX planes carries out trajectory planning, is formed
Movement locus interpolated point.
The largest contours allowable error refers to the maximum for allowing exist between processing workpiece TP and theoretical profile
Error amount.
The pipe radius are the important evidences of pipeline interpolating method, and the track envelope that interpolated point is formed is with theory locus
Centered on so that in the pipeline of this pipe radius, the method is with largest contours allowable error as pipe radius.
Described pair of feedback deviation refers to that each axle is electric with servo by the machine spindle physical location that external position sensing device is obtained
The difference of the semiclosed loop positional value that machine encoder feedback is counted to get.
The external position sensing device can be grating scale, ball bar ruler, or the external encoder of rotary shaft.
The pipeline bias internal planning, is the key technology of this inventive method, is referred to by trajectory planning point through each axle
Vertical dimension between location point that double feedback deviations are obtained and theory locus, then obtain target location through pipeline interpolating method
Point, this location point is the location of instruction of current interpolation cycle.
The present invention includes double feedback position calculating, order interpolation position correction, trajectory planning, pipeline interpolation, PID control five
Part.
Referring to Fig. 1, overview flow chart of the present invention, including axle data acquisition, position correction, trajectory planning, pipeline are described
Interpolation, PID and driving output par, c.
Described pair of feedback position is calculated, including two kinds of machine coordinates positions, and one is filled by each machine spindle position sensing
The position readings for putting such as grating scale feedback calculate the actual machine tool position of gained, and one is counted by each axle encoder for servo motor feedback
Number calculates gained motor feedback position.Wherein for the machine spindle for not configuring external position sensing device can be calculated by motor feedback
Gained.Computing formula is as follows：
Pgf[axis]=(posCount[axis]-inputOffset[axis])/inputScale[axis];
Pm[axis]=(motorFbCount[axis]-motorInputOffset[axis])/motorInputScale
[axis];
Wherein axis represents machine spindle sequence number；PosCount represents machine spindle position sensing device feedback readings,
MotorFbCount represents that motor encoder is counted, shown in Figure 2；InputOffset represents that machine spindle reference zero is located
The reading of place's position sensing device；MotorInputOffset represents motor encoder offset count；InputScale represents position
Put the conversion proportion coefficient of sensing device readout units and shaft position unit；MotorInputScale represents motor encoder meter
The conversion proportion coefficient of number unit and shaft position unit.
Referring to Fig. 5, the flow process of inventive pipeline interpolating method realization is described.
Position correction described here, is a kind of dynamic corrections to trajectory planning gained command position.
Referring to Fig. 3 and Fig. 4, being believed for linear interpolation and the various coordinate position points of circular interpolation process is respectively described
Breath.According to Pgf, Pm coordinate position, command position Po can be modified, obtain Po ', Po " coordinate position, while can calculate
Draw L, D.Wherein Pn represents the command position that previous servo period has been planned, and Po ' is represented and calculated institute by the double feedback deviations of each axle
Obtain coordinate position, Po " Po ' coordinate positions obtained by projection in planned trajectory are represented, L represents what pipeline interpolation radial offset was calculated
Source condition, D represents locus interpolation point dynamic corrections shift value.
By the acquisition of D, motion planning Distance Remaining is recalculated, but do not affect axle motion planning speed, in motion rule
New interpolation position Pn is calculated in the cycle of drawing.The acquisition of Pn, is realized by trajectory planning.
Pipeline interpolation described here, is that Pn is corrected again, and the method for amendment is with Pn as the center of circle, with track fortune
Dynamic direction（Circular motion is the tangential direction of Pn points）For normal vector, with maximum allowable profile errors Er as radius, according to L and
Po ' is relative to Po " offset direction, obtain new target instruction target word coordinate position Pn C.P in figureo CFor the target instruction target word in a upper cycle
Coordinate position.Pipeline interpolation is realized as follows：
1）It is known：
● Po ', Po " the distance between L；
● Po ' to Po " direction vector；
● largest contours allowable error Er, value is bigger, and planned trajectory point turns more motor further away from theory locus
It is fast steady；
● profile minimum threshold Emin, value is bigger, and planned trajectory point can be then motor closer to theory locus
Rotate more steady；
● profile errors adjust ratio Sc, scope 0%～99%, for calculate between new pipeline interpolated point and theory locus away from
From, when value be " 0 " when, pipeline interpolation is invalid, i.e. interpolated point is all the time on track, and value is bigger, planned trajectory point further away from
Theory locus, but can more make motor speed steady；
● by trajectory planning gained Pn.
2）If L<Emin, then Pn be Pn C, otherwise continue 3）.
3）Calculate Ln：
Ln=L*Sc;
if(Ln>Er){Ln=Er;}
4）According to Pn, Ln and Po ' to Po " direction vector can get by oneself out Pn C。
PID control is to calculate countershaft output speed by axle command position and feedback position, is that control servo is defeated
Go out to prepare.
Drive, feedback device part is basis that the present invention is realized, including servo unit and external position sensing device.Its
In external position sensing device be arranged on axle Motor execution terminal, can be grating scale, ball bar ruler, it is also possible to rotary shaft
External encoder.Load characteristic of resolution, installation site and machine spindle of the external position sensing device such as grating scale etc. is certainly
The quality of axle positioning precision is determined；For linear axes, the linearity error of sensing device can improve axle by linear compensation
Positioning precision.
Claims (4)
1. a kind of multi-shaft interlocked pipeline interpolation closed-loop motion control method, it is characterised in that to programming movement locus interpolation
Point recalculates the revised movement locus interpolated point of acquisition by dynamic correcting method, and by acceleration and deceleration method new rail is obtained
Mark interpolated point；Again with this interpolated point as the center of circle, with largest contours allowable error as pipe radius, with the direction of motion as law vector,
The planning of pipeline bias internal is carried out to new locus interpolation point by double feedback deviations and then space tracking source location is obtained；By
Course of processing axis motion interpolated point is realized in axle control section, and Jing PID controls are realized putting down servomotor in shaft drive
It is steady to rotate；
It is described that the planning of pipeline bias internal is carried out to new locus interpolation point by double feedback deviations and then space tracking target is obtained
Location point, specially：
If L<Emin, then Pn be Pn C, otherwise
Ln=L*Sc；
if(Ln>Er) { Ln=Er；}
According to Pn, Ln and Po ' to Po " direction vector draw Pn C；
Wherein, L represents the source condition that pipeline interpolation radial offset is calculated, and by double feedback positions and course bearing gained is calculated,
Emin represents profile minimum threshold, and Pn represents trajectory planning gained coordinate position, P after dynamic correctionsn CAfter representing pipeline interpolation
Source location, Ln represents Pn CThe distance between with Pn, Sc represents that profile errors adjust ratio, and Er states maximum allowable profile and misses
Difference.
2. a kind of multi-shaft interlocked pipeline interpolation closed-loop motion control method according to claim 1, it is characterised in that institute
It is the feedback coordinates position as obtained by each machine spindle external position sensing device to state dynamic corrections, with each servo motor encoder
Device feedback calculates gained feedback coordinates position, and location point is constantly modified with corresponding relation therebetween, recalculates
Planned trajectory point.
3. a kind of multi-shaft interlocked pipeline interpolation closed-loop motion control method according to claim 1, it is characterised in that institute
State largest contours allowable error and refer to the maximum error value for allowing exist between processing workpiece TP and theoretical profile.
4. a kind of multi-shaft interlocked pipeline interpolation closed-loop motion control method according to claim 1, it is characterised in that institute
State double feedback deviations and refer to that each axle is anti-with encoder for servo motor by the machine spindle physical location that external position sensing device is obtained
The difference of the semiclosed loop positional value that feedback is counted to get.
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| 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 |
| CN108919735B (en) * | 2018-07-02 | 2019-10-25 | 北京无线电测量研究所 | Servo-system method for security protection |
| CN108942408A (en) * | 2018-09-27 | 2018-12-07 | 上海气焊机厂有限公司 | Part cutting deviation analytical equipment |
| CN117565045B (en) * | 2023-11-30 | 2024-08-20 | 长广溪智能制造(无锡)有限公司 | Method and device for determining positioning accuracy of robot, electronic equipment and storage medium |
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