CN104731019B - Numerical control cam grinding contour error compensation control method based on Cycle to Cycle feedback control - Google Patents
Numerical control cam grinding contour error compensation control method based on Cycle to Cycle feedback control Download PDFInfo
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- 238000000227 grinding Methods 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000008569 process Effects 0.000 claims abstract description 17
- 238000004458 analytical method Methods 0.000 claims abstract description 6
- 125000004122 cyclic group Chemical group 0.000 claims abstract description 3
- 238000004886 process control Methods 0.000 claims abstract description 3
- 238000005259 measurement Methods 0.000 claims description 8
- 238000011217 control strategy Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000013461 design Methods 0.000 claims description 5
- 238000012546 transfer Methods 0.000 claims description 5
- 230000006870 function Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 5
- 238000002474 experimental method Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012369 In process control Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000010965 in-process control Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
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- 238000013459 approach Methods 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006880 cross-coupling reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 229910001651 emery Inorganic materials 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05B19/404—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 control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45145—Milling
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45218—Making cams, cones
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Abstract
The invention relates to a Cycle to Cycle feedback control compensation method for controlled system tracking errors with repeating movement features, in particular to a numerical control cam grinding contour error compensation control method based on Cycle to Cycle feedback control. The problem that according to a traditional numerical control cam grinding control method, only the information of a current grinding cycle is used, and the previous grinding cycle information is ignored is solved, and the contour accuracy of numerical control cam grinding is improved. According to CtC feedback control, between successive cyclic process control, the grinding information of a last cycle, namely a contour error is used for guiding the grinding process of a current cycle. Through system dynamic-state and steady-state characteristic analysis, CtC feedback controller parameters are optimized, so that grinding contour errors are controlled in an allowed range, and satisfied grinding accuracy is obtained. The Cycle to Cycle theory is introduced, the contour accuracy compensation method and the computing steps during the cam grinding process are provided, so that compensation has a theoretical foundation, and the current situation that current compensation is carried out by experience is changed.
Description
Technical field
The present invention relates to a kind of profile errors compensating control method of numerical control field, and in particular to based on Cycle to
The Numerical Control Cam grinding profile errors compensating control method of Cycle (CtC) feedback control.
Background technology
With the lifting of mechanical precise processing precision index, higher wanting is proposed to the SERVO CONTROL of machine tool numerical control system
Ask, contour accuracy has become the important indicator of machine tool numerical control system, and directly affects part crudy.
In the processing of Numerical Control Cam grinding, the processing of cam bit belongs to batch production, also implies that same profile track
The course of processing would be repeated for.When a cam bit is processed, it is also desirable to walk repeatedly identical track, repeatedly process each time
Process is referred to as the time processing cycle, and each process-cycle cutter all tracks identical desired trajectory.But current CNC cam grinding
The technology only measurable information with regard to cam bit to after this end cycle is cut, it is during this cycle, correct to measure
It is often costly or complicated to hardly possible realization with control.And the dynamic control method of current these systems is also
Certain height is reached, thinks to improve also highly difficult again.Most Numerical Control Cam grindings relies on the experience of skilled industrial worker to adjust, difficult
Exempt to lose time and manpower.
For there is this repetition period control problem in numerical control grinding, iterative learning control (ILC) by Uchiyama in
Propose first within 1978, Xu Jianming proposes using iterative learning control to obtain preferable actual reference input value (Chinese patent：
CN 102323790B, " the cascade type iterative learning cross-couplings tracking error control method of two-axis numerical control system "), so as to carry
High contour accuracy, but the method cam ground complicated for profile unsuitable for；Deng Chaohui is in document " A methodology
Propose in for contour error intelligent precompensation in cam grinding " that one kind is based on
Case-based reasoning (CBR) and the profile errors intelligent compensating method of rule-based reasoning (RBR), but for different THE CAM PROFILE ERRORs,
Its compensation method is needed to its continuous matching until properly, relatively taking；The Tsz-Sin Siu of MIT were carried in calendar year 2001
Go out Cycle to Cycle (CtC) feedback control in process of production, be mainly used in plate bending and injection mold mistake
In process control, and preferable effect is obtained.Its thought is instructing the production of this process using the effect of upper a cycle.
In kinetic control system, we can equally borrow its CtC thought to compensate the profile errors of numerical control cam ground.
The present invention is directed to foregoing problems, proposes a kind of Numerical Control Cam grinding wheel based on Cycle to Cycle feedback control
Wide error compensation control method.New CtC feedback control algorithms are proposed using the CtC control thoughts in process control；Logarithm
Control cam ground system sets up CtC feedback control models, by the stability to Controlling model, steady-state error and dynamic property
Analysis being controlled the design and optimization of device.The invention solves the traditional control method of Numerical Control Cam grinding to be only present
Using the current kinetic cycle information and the information of the period of motion is not utilized before problem, hence it is evident that improve cam contour essence
Degree.
Technology contents
The present invention is directed to deficiencies of the prior art, proposes a kind of based on Cycle to Cycle feedback control
Numerical Control Cam is ground profile errors compensating control method, and its goal of the invention is convex to numerical control using CtC feedback control of the present invention
Wheel grinding control system is controlled, and realizes the error compensation to this cycle using the information (deviation) of a upper process-cycle,
It is final to realize improving desired tracking accuracy.
In order to reach this purpose, the present invention establishes Numerical Control Cam in the CtC feedback control ideas of Kernel-based methods control
The CtC Controlling models of Grinding Control System, and devise corresponding controller.For the cam lift for giving, fed back using CtC
The actual reference input of control amendment, makes output signal gradually approach desired cam face, and makes profile errors be intended to zero,
Improve the precision of profile errors control.
The particular content of the present invention is described with reference to the drawings as follows：
1) based on CtC feedback control, i.e., the grinding information that a cycle is utilized between gradually cyclic process control is
Profile errors instructing the grinding process in this cycle, are that Numerical Control Cam grinding process is set up CtC feedback compensation control strategies and (referred to
Fig. 1).
CtC feedback compensation control strategies are as follows：
After the grinding process of a cycle terminates, its profile errors is measured, angle is measured at intervals of 0.5 °, 720 altogether
Point, profile errors compensation formula are as follows：
ck=K εk-1 (1)
Wherein, ckThe profile errors value for compensating is needed for k-th cycle；εk-1In measurement error for -1 cycle of kth
Maximum；K is the proportionality coefficient of compensation.
2) the two axle dynamic process models for describing Numerical Control Cam grinding system are as follows：
Wherein, xi,kThe set-point of (t) for feed shaft (X-axis)；xo,kThe actual reference input value of (t) for feed shaft (X-axis)；
ci,kThe set-point of (t) for rotary shaft (C axles)；co,kThe actual reference input value of (t) for rotary shaft (C axles)；GxFor the closed loop of X-axis
Transmission function；GcFor the closed loop transfer function of C axles；K=1,2,3 ... n are repetition period numbers；When t ∈ [1,2,3 ... n] are the cycles
Between length.
3) two input systems that Numerical Control Cam is ground system are deformed into into single input problem.I.e. when given a certain kind cam bit
During lift, the relation between the input value of two axles is fixed：
ci,k(t)=f (xi,k(t)) (3)
xi,k(t)=f-1(ci,k(t)) (4)
Then, in Z domains：C=F (X), X=F-1(C).Then the Numerical Control Cam of single input is ground the control structure of control system
Figure is refering to Fig. 3.
4) new profile errors are defined, also as molded line error：
εk=xo,k(t)-f-1(co,k(t)) (5)
5) according to control strategy, set up compensation control law：
xo,k(t)=Gx(xi,k-1(t)-Kεk-1(t))
(6)
=Gx(xi,k-1(t)-K(xo,k-1(t)-f-1(co,k-1(t))))
The wherein value of K is as follows：
Wherein, εoIt is given allowable error.
6) analyze in Z domains：
Xo=Z-TGx(Xi-K(Xo-f-1(Co))) (8)
The CtC feedback control models of numerical control cam ground system can be obtained by formula (8), control block diagram refers to Fig. 4.
7) controller K is designed for CTC feedback control models, by system dynamics and Analysis of Steady-State Performance, optimize CTC feedbacks
Controller parameter so that grinding contour error control within the range of permission, obtains satisfied grinding accuracy.
The control method of the present invention compared with prior art, has following some advantage：
1) the CTC feedback control models that the present invention sets up are more complete and readily understood, not only contain the current kinetic cycle
Information, is also fully utilized by the information of the previous period of motion；
2) close coupling control system is converted in the present invention control system of single input, analysis and controller is more beneficial for
Design；
3) " measurement error " of new definition simplifies algorithm, and can effectively reduce real measurement error；
4) CTC feedback control of the invention is applied widely, it is adaptable to all controlled systems with cycle repeatable motion
System, even more improves the accuracy of the controlled system with cycle repeatable motion close coupling.
Sum it up, the present invention is not on the premise of any hardware is increased, Numerical Control Cam grinding precision is effectively raised.
Description of the drawings
The present invention will be by example, with reference to following accompanying drawings further illustrating：
Fig. 1 is error pre-compensation policy map；
Fig. 2 is the flow chart that the Numerical Control Cam based on CtC feedback control is ground profile errors compensating control method；
Control structure figures of the Fig. 3 for the Numerical Control Cam grinding control system of single input；
Fig. 4 is the Controlling model that the Numerical Control Cam of CtC feedbacks is ground control system；
Fig. 5 is cam profile；
Front and rear profile error comparison diagrams of the Fig. 6 for addition CtC feedback control.
Specific embodiment
The particular content and embodiments thereof of the present invention further explained below：
Numerical Control Cam grinding profile errors compensation control based on Cycle to Cycle feedback control proposed by the present invention
Method, its compensation policy are Fig. 1, and flow chart is refering to Fig. 2.Specific implementation step is as follows：
1) the two axle dynamic process models for describing Numerical Control Cam grinding system are as follows：
Wherein, xi,kThe set-point of (t) for feed shaft (X-axis)；xo,kThe actual reference input value of (t) for feed shaft (X-axis)；
ci,kThe set-point of (t) for rotary shaft (C axles)；co,kThe actual reference input value of (t) for rotary shaft (C axles)；GxFor the closed loop of X-axis
Transmission function；GcFor the closed loop transfer function of C axles；K=1,2,3 ... n are repetition period numbers；When t ∈ [1,2,3 ... n] are the cycles
Between length.
This experiment is built upon on Simens 840D digital control system platforms.The mechanical transmission mechanism of X-axis is Numerical Control Cam
DIK6310-8 series of balls leading screw of the travelling wheelhead roll grinder feed system using Japanese THK companies, its medium plain emery wheel feeding motor are employed
The natural air cooled servomotor of 1FT6105-8AC7 types；MHM95-6 type shaft coupling of the C axles using the production of Flender companies of Germany, C
Axle rotary shaft employs the natural air cooled servomotor of 1FT6102-8AB7 types.Through multiple inspection information, each transmission can be obtained
Mechanism and the accurate parameters of motor.Three close-loop control is adopted to the control of two axles, be followed successively by from inside to outside electric current loop, speed ring and
Position ring.The control system model of two axles is built respectively using Simulink and LTI Viewer workboxes and line parameter is entered to which
Adjust.
For CtC feedback control control system design controllers when, it will usually high-order model is replaced using lower-order model
Method carrys out the design of simplify control device.Based on the requirement of error control, adopted by the method choice of theoretical derivation and simulating, verifying
Two rank system modeies come replace Numerical Control Cam grinding two axles dynamic process model.Through specifically joining to above-mentioned testing equipment
Several access and each axle pass the calculating of letter, and the closed loop transfer function that can simplify the whole dynamic process of two axles is：
In Z frequency domains：
CtC feedback control constantly corrects actual reference input mainly by the error of upper a cycle, makes output
Contour shape can be further to set-point.
2) two input systems that Numerical Control Cam is ground system are deformed into into single input problem.I.e. when given a certain kind cam bit
Lift (is shown in Table 1), and during contour shape (referring to Fig. 5), the relation between the input value of two axles is fixed：
ci,k(t)=f (xi,k(t)) (4)
xi,k(t)=f-1(ci,k(t)) (5)
Then, in Z domains：C=F (X), X=F-1(C).Then the Numerical Control Cam of single input is ground the control structure of control system
Figure is refering to Fig. 3.
3) the grinding dynamical system of the Numerical Control Cam with close coupling is directed to, the improvement of controller can reduce tracking and miss
Difference, but can not possibly be completely eliminated, measurement error can be present all the time, so we are reducing measurement error target lock-on.Definition
New measurement error, also as molded line error：
εk=xo,k(t)-f-1(co,k(t)) (6)
4) according to control strategy, set up compensation control law：
xo,k(t)=Gx(xi,k-1(t)-Kεk-1(t))
(7)
=Gx(xi,k-1(t)-K(xo,k-1(t)-f-1(co,k-1(t))))
The wherein value of k is as follows：
Wherein, εoIt is given allowable error, εo=0.01mm.
5) analyze in Z frequency domains：
Xo=Z-TGx(Xi-K(Xo-f-1(Co))) (9)
The Controlling model (refering to Fig. 4) of the Numerical Control Cam grinding control system of CtC feedbacks can be obtained by formula (9).
6) stability analyses：
By closed loop transfer function
Closed loop transform function can be drawn：
z2+(81KTe-9T-2e-9T)z+(e-9T)2=0 (12)
The necessary and sufficient condition of Linear Time Invariant Stability of Linear Discrete Time Systems：The mould of characteristic root is respectively less than 1.Cycle T=3.6, can draw again：
K≤1 (13)
It is variate in view of penalty coefficient K, therefore controller K is designed by experiment simulation, until profile errors is in permission
Within the scope of, emulation experiment debugging and its dynamic response effect are eventually passed through, K=0.6 is selected.
7) through the given of controller, actual reference input value can be obtained.Experiment simulation contrast is carried out, can be drawn complete
Itself and the profile errors without CtC feedback control loops are contrasted (refering to Fig. 6), the emulation of Fig. 6 by the profile errors figure of journey
Curve shows that profile maximum error is reduced to 0.015mm by 0.023mm, control accuracy is largely increased, and profile errors decline
Deceleration is more stable.
Table 1：The cam lift table data that certain model numerically control grinder is provided
| Angle (°) | Lift (mm) | Angle (°) | Lift (mm) | Angle (°) | Lift (mm) | Angle (°) | Lift (mm) |
| 1 | 0.0000 | 63 | 17.0000 | 125 | 12.4640 | 187 | 3.6545 |
| 2 | 0.0069 | 64 | 17.0000 | 126 | 12.3230 | 188 | 3.5397 |
| 3 | 0.0276 | 65 | 17.0000 | 127 | 12.1820 | 189 | 3.4265 |
| 4 | 0.0622 | 66 | 17.0000 | 128 | 12.0400 | 190 | 3.3149 |
| 5 | 0.1108 | 67 | 17.0000 | 129 | 11.8960 | 191 | 3.2048 |
| 6 | 0.1735 | 68 | 17.0000 | 130 | 11.7520 | 192 | 3.0965 |
| 7 | 0.2501 | 69 | 16.9980 | 131 | 11.6070 | 193 | 2.9898 |
| 8 | 0.3422 | 70 | 16.9940 | 132 | 11.4610 | 194 | 2.8847 |
| 9 | 0.4487 | 71 | 16.9860 | 133 | 11.3140 | 195 | 2.7814 |
| 10 | 0.5705 | 72 | 16.9740 | 134 | 11.1660 | 196 | 2.6798 |
| 11 | 0.7080 | 73 | 16.9610 | 135 | 11.0180 | 197 | 2.5798 |
| 12 | 0.8616 | 74 | 16.9430 | 136 | 10.8690 | 198 | 2.4817 |
| 13 | 1.0320 | 75 | 16.9230 | 137 | 10.7190 | 199 | 2.3853 |
| 14 | 1.2196 | 76 | 16.8990 | 138 | 10.5700 | 200 | 2.2907 |
| 15 | 1.4253 | 77 | 16.8720 | 139 | 10.4190 | 201 | 2.1978 |
| 16 | 1.6499 | 78 | 16.8430 | 140 | 10.2680 | 202 | 2.1068 |
| 17 | 1.8942 | 79 | 16.8090 | 141 | 10.1170 | 203 | 2.0175 |
| 18 | 2.1592 | 80 | 16.7740 | 142 | 9.9659 | 204 | 1.9301 |
| 19 | 2.4462 | 81 | 16.7350 | 143 | 9.8143 | 205 | 1.8446 |
| 20 | 2.7564 | 82 | 16.6930 | 144 | 9.6626 | 206 | 1.7608 |
| 21 | 3.0914 | 83 | 16.6470 | 145 | 9.5107 | 207 | 1.6790 |
| 22 | 3.4527 | 84 | 16.5990 | 146 | 9.3588 | 208 | 1.5990 |
| 23 | 3.8424 | 85 | 16.5480 | 147 | 9.2069 | 209 | 1.5208 |
| 24 | 4.2626 | 86 | 16.4940 | 148 | 9.0550 | 210 | 1.4446 |
| 25 | 4.7052 | 87 | 16.4370 | 149 | 8.9032 | 211 | 1.3703 |
| 26 | 5.1508 | 88 | 16.3770 | 150 | 8.7516 | 212 | 1.2978 |
| 27 | 5.5986 | 89 | 16.3150 | 151 | 8.6000 | 213 | 1.2273 |
| 28 | 6.0484 | 90 | 16.2490 | 152 | 8.4490 | 214 | 1.1587 |
| 29 | 6.5000 | 91 | 16.1810 | 153 | 8.2981 | 215 | 1.0920 |
| 30 | 6.9532 | 92 | 16.1100 | 154 | 8.1476 | 216 | 1.0271 |
| 31 | 7.4077 | 93 | 16.0360 | 155 | 7.9975 | 217 | 0.9644 |
| 32 | 7.8632 | 94 | 15.9590 | 156 | 7.8478 | 218 | 0.9035 |
| 33 | 8.3194 | 95 | 15.8800 | 157 | 7.6986 | 219 | 0.8446 |
| 34 | 8.7761 | 96 | 15.7980 | 158 | 7.5499 | 220 | 0.7876 |
| 35 | 9.2331 | 97 | 15.7130 | 159 | 7.4019 | 221 | 0.7326 |
| 36 | 9.6900 | 98 | 15.6260 | 160 | 7.2545 | 222 | 0.6795 |
| 37 | 10.1470 | 99 | 15.5360 | 161 | 7.1078 | 223 | 0.6284 |
| 38 | 10.6030 | 100 | 15.4440 | 162 | 6.9617 | 224 | 0.5793 |
| 39 | 11.0580 | 101 | 15.3490 | 163 | 6.8165 | 225 | 0.5322 |
| 40 | 11.5120 | 102 | 15.2520 | 164 | 6.6720 | 226 | 0.4870 |
| 41 | 11.9650 | 103 | 15.1530 | 165 | 6.5284 | 227 | 0.4439 |
| 42 | 12.4160 | 104 | 15.0510 | 166 | 6.3856 | 228 | 0.4027 |
| 43 | 12.8650 | 105 | 14.9470 | 167 | 6.2438 | 229 | 0.3635 |
| 44 | 13.3120 | 106 | 14.8410 | 168 | 6.1030 | 230 | 0.3263 |
| 45 | 13.7470 | 107 | 14.7320 | 169 | 5.9631 | 231 | 0.2911 |
| 46 | 14.1530 | 108 | 14.6220 | 170 | 5.8243 | 232 | 0.2579 |
| 47 | 14.5290 | 109 | 14.5090 | 171 | 5.6865 | 233 | 0.2267 |
| 48 | 14.8790 | 110 | 14.3940 | 172 | 5.5499 | 234 | 0.1975 |
| 49 | 15.1990 | 111 | 14.2780 | 173 | 5.4144 | 235 | 0.1703 |
| 50 | 15.4930 | 112 | 14.1590 | 174 | 5.2801 | 236 | 0.1452 |
| 51 | 15.7600 | 113 | 14.0380 | 175 | 5.1470 | 237 | 0.1220 |
| 52 | 16.0000 | 114 | 13.9160 | 176 | 5.0151 | 238 | 0.1008 |
| 53 | 16.2140 | 115 | 13.7920 | 177 | 4.8845 | 239 | 0.0817 |
| 54 | 16.4020 | 116 | 13.6660 | 178 | 4.7552 | 240 | 0.0645 |
| 55 | 16.5640 | 117 | 13.5380 | 179 | 4.6272 | 241 | 0.0494 |
| 56 | 16.7000 | 118 | 13.4090 | 180 | 4.5006 | 242 | 0.0363 |
| 57 | 16.8110 | 119 | 13.2780 | 181 | 4.3753 | 243 | 0.0252 |
| 58 | 16.8960 | 120 | 13.1460 | 182 | 4.2515 | 244 | 0.0161 |
| 59 | 16.9560 | 121 | 13.0120 | 183 | 4.1292 | 245 | 0.0091 |
| 60 | 16.9900 | 122 | 12.8770 | 184 | 4.0082 | 246 | 0.0040 |
| 61 | 17.0000 | 123 | 12.7410 | 185 | 3.8888 | 247 | 0.0010 |
| 62 | 17.0000 | 124 | 12.6030 | 186 | 3.7709 | 248 | 0.0000 |
Note：As the cam anglec of rotation is between 249-360 degree, lift is 0mm, therefore does not list in table.
Claims (2)
1. the Numerical Control Cam based on Cycle to Cycle feedback control is ground profile errors compensating control method, and its feature exists
In comprising the steps：
Step one, based on CtC feedback control, i.e., the grinding information that a cycle is utilized between gradually cyclic process control is
Profile errors instructing the grinding process in this cycle, are that Numerical Control Cam grinding process sets up CtC feedback compensation control strategies：
After the grinding process of a cycle terminates, by its profile errors of certain angle interval measurement, angle interval can choose 0.5 °,
1.0°、2.0°；Its selection principle is that cam is bigger, then angle interval is less, to ensure the density of the measuring point on cam contour, tool
Body numerical value refers to the angle interval in cam lift table, is missed at intervals of 0.5 °, altogether 720 point explanation profile with measuring angle
Difference compensation formula is as follows：
ck=K εk-1 (1)
Wherein, ckThe profile errors value for compensating is needed for k-th cycle；εk-1For the maximum in the measurement error in -1 cycle of kth
Value；K is the proportionality coefficient of compensation, wherein, the value rule of compensating proportion COEFFICIENT K is as follows：
Wherein, εoIt is given allowable error；
Step 2, is that the grinding of the Numerical Control Cam with coupling system sets up CtC feedback control models；
Step 3, is CTC feedback control models design controller, by system dynamics and Analysis of Steady-State Performance, optimizes CTC feedbacks
Controller parameter so that grinding contour error control within the range of permission, obtains satisfied grinding accuracy.
2. the Numerical Control Cam grinding profile errors compensation based on Cycle to Cycle feedback control according to claim 1
Control method, it is characterised in that described in step 2 is that the grinding of the Numerical Control Cam with coupling system sets up CtC feedback control moulds
Type is specifically included：
(1) the two axle dynamic process models for describing Numerical Control Cam grinding system are as follows：
Wherein, xi,kThe set-point of (t) for feed shaft (X-axis)；xo,kThe actual reference input value of (t) for feed shaft (X-axis)；ci,k
The set-point of (t) for rotary shaft (C axles)；co,kThe actual reference input value of (t) for rotary shaft (C axles)；GxClosed loop for X-axis is passed
Delivery function；GcFor the closed loop transfer function of C axles；K=1,2,3 ... n are repetition period numbers；T ∈ [1,2,3 ... n] are cycle time
Length；
(2) two input systems that Numerical Control Cam is ground system are deformed into into single input problem, i.e., when given a certain kind cam bit liter
Cheng Shi, the relation between the input value of two axles are fixed：
ci,k(t)=f (xi,k(t)) (4)
xi,k(t)=f-1(ci,k(t)) (5)
Then, in Z frequency domains：C=F (X), X=F-1(C)；
(3) new profile errors are defined, also as molded line error：
εk=xo,k(t)-f-1(co,k(t)) (6)
(4) according to control strategy, set up compensation control law：
(5) in numerical control grinding control system, the input value of two axles is discrete sequential value, therefore is analyzed in Z domains：
Xo=Z-TGx(Xi-K(Xo-f-1(Co))) (8)。
Priority Applications (1)
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