CN105005265B - A kind of digital control processing feed rate planing method deformed based on line smoothing - Google Patents
A kind of digital control processing feed rate planing method deformed based on line smoothing Download PDFInfo
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Abstract
A kind of digital control processing feed rate planing method deformed based on line smoothing, belongs to Computerized Numerical Control processing technology field.Feed rate constraint is divided into neighborhood unrelated (NI) and constrains (ND) related to neighborhood constraint by the planing method.First, the maximum feed rate of technological requirement is set as after initial feed rate straight line, the feed rate curve of NI constraints is obtained by a line smoothing deformation.And then, with reference to proportion adjustment algorithm, the feed rate curve for obtaining ND constraints is deformed by multiple line smoothing.The feed rate planing method, adds fairing, thus obtained feed rate curve has more preferable fairness, the fluctuation of feed rate curve is eliminated to greatest extent, to ensure the steady of process on the basis of the curve deformation of simple geometry approximation error constraints.Machine tooling vibration is reduced, ensures that machine tooling is steady and improves the purpose of part processing precision, has significance for improving processing efficiency and crudy.
Description
Technical field
The present invention relates to a kind of digital control processing feed rate planing method deformed based on line smoothing, belong to digital control processing skill
Art field.
Background technology
Digit Control Machine Tool is widely used to the digital control processing of complex curved surface parts, and feed rate plans the pass as digital control processing
Key link, plays an important role to the digital control processing that high-quality, high efficiency and low cost complete complex part.Because Descartes is empty
Between and node space there is non-linear relation, at present suitable for five-shaft numerical control process feed rate planing method it is extremely limited.It is existing
There is document to pay close attention to inadequate to the fairness of feed rate curve, feed rate undue fluctuation problem is not controlled effectively.Therefore,
The fairness for ensureing feed rate curve while realizing that feed rate is adaptively customized is still the problem of having to be solved, and with weight
The meaning wanted.
Through the literature search discovery to prior art, the research of relevant five-shaft numerical control processing feed rate planing method has Wei
Fan etc. " Time-optimal interpolation for five-axis CNC machining along
parametric tool path based on linear programming".International Journal of
Advanced Manufacturing Technology,2013,69(5-8):1373-1388. paper is to obtain during most short processing
Between be object function, so that action is poor, lathe maximal rate, each axle peak acceleration of lathe and jerk are used as constraints, structure
Linear constrained optimization model is planned for feed rate.Sencer B etc. are in its paper " Feed optimization for five-
axis CNC machine tools with drive constraints”.International Journal of
Machine Tools&Manufacture,2008,48:To obtain most short process time as object function in 733-745., with machine
Each axle maximal rate of bed, acceleration and jerk are constraints, build nonlinear constrained optimization model and are planned for feed rate.On
State feed rate planing method and use Constraint Anchored Optimization, the present invention considers emphatically the form and fairness of feed rate curve,
On the basis of the curve deformation of conventional error control, the digital control processing feed rate planing method deformed based on line smoothing is formd.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of digital control processing feed rate planning deformed based on line smoothing
Method.Feed rate constraints is divided into two classes by this method first, i.e.,：1. neighborhood it is unrelated (Neighbor-independent,
NI) constrain, it is such constraint only it is relevant in itself with feed rate, the Differential Properties with feed rate curve are unrelated, such as action difference constraint and
Split axle constraint of velocity etc..For such constraint, initial feed rate curve need to be only directed to, calculates and constrains the feed rate of overproof point more
New value, is deformed by a line smoothing, just can obtain the feed rate curve under neighborhood unrelated (NI) constraint.2. neighborhood is related
(Neighbor-dependent, ND) is constrained, and the feed rate of such constraint meets condition calculating, is not only related to feed rate sheet
Body, and it is related to its Differential Properties.Neighborhood correlation (ND) constraint includes split axle acceleration and the constraint of split axle jerk etc..For this
Class is constrained, and need to combine the feed rate updated value that proportion adjustment algorithm calculates the overproof region of constraint, and by bent to target feed rate
The multiple smooth deformation of line, obtains the final feed rate curve under neighborhood related (ND) constraint.
The technical solution adopted by the present invention is：A kind of digital control processing feed rate planing method deformed based on line smoothing will
Feed rate constraint is divided into the unrelated constraint (NI constraints) of neighborhood and neighborhood related constraint (ND constraints), first, by technological requirement most
Roughing feed rate is set as after initial feed rate straight line that the feed rate for obtaining the unrelated constraint of neighborhood by a line smoothing deformation is bent
Line, and then, with reference to proportion adjustment algorithm, the feed rate curve for obtaining neighborhood related constraint is deformed by multiple line smoothing, should
Feed rate planing method, adds fairing, obtained feed rate on the basis of the curve deformation of simple geometry approximation error constraints
Curve has more preferable fairness, and planing method comprises the following steps：
Step 1: pretreatment：Parameter curve represents curved surface processing path, determines sampling point position and number, solves lathe
Each axle movement locus；
Step 2: initial feed rate straight line gernertion：It regard the maximum feed rate permissible value of the point of a knife point of setting as sample point
Initial feed rate value, construct initial feed rate straight line；
Step 3: the feed rate curve generation under the unrelated constraint of neighborhood, comprises the following steps：
(a) the maximum feed rate permissible value under each sample point action difference constraint and split axle constraint of velocity is calculated；
(b) the maximum feed rate permissible value of point of a knife point is combined, the overproof region of the unrelated constraint lower feeding rate curve of neighborhood is determined,
And calculate feed rate updated value at overproof point；
(c) deformed with line smoothing, feed rate curve is deformed to target location from home position is smooth, neighborhood is obtained
Feed rate curve under unrelated constraint；
Step 4: the feed rate curve generation under neighborhood related constraint, comprises the following steps：
(a) according to the feed rate curve being currently generated, the split axle acceleration magnitude and split axle jerk value of each sample point are calculated；
(b) the split axle the limit acceleration and split axle jerk limiting value of setting are combined, neighborhood related constraint lower feeding is determined
The overproof region of rate curve；
(c) the corresponding feed rate value of all overproof points is multiplied by an identical proportional control factor, obtains new at overproof point
Feed rate value, further obtain split axle acceleration magnitude new at overproof point and split axle jerk value；
(d) line smoothing deformation method is used, feed rate curve is deformed to target location from home position is smooth, obtained
New feed rate curve；
(e) step (a) in repeat step four, (b), (c) and (d), until feed rate curve meets neighborhood related constraint,
The feed rate curve under neighborhood related constraint is obtained, feed rate planning is completed.
The beneficial effects of the invention are as follows：Digital control processing feed rate planing method that this is deformed based on line smoothing is by feed rate
Constraint is divided into neighborhood unrelated (NI) and constrains (ND) related to neighborhood constraint.First, the maximum feed rate of technological requirement is set as
After initial feed rate straight line, the feed rate curve of NI constraints is obtained by a line smoothing deformation.And then, with reference to proportion adjustment
Algorithm, the feed rate curve for obtaining ND constraints is deformed by multiple line smoothing.The feed rate planing method, is forced in simple geometry
Fairing is added on the basis of the curve deformation of nearly error constraints, thus obtained feed rate curve has more preferable fairness, most
Limits eliminate the fluctuation of feed rate curve, to ensure the steady of process.Reduce machine tooling vibration, ensure lathe
Processing is steady and improves the purpose of part processing precision, has significance for improving processing efficiency and crudy.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the inventive method.
Fig. 2 is the curve deformation figure without fairing.
Fig. 3 is the less line smoothing deformation pattern of the fairing factor.
Fig. 4 is the larger line smoothing deformation pattern of the fairing factor.
Fig. 5 is the axle Flank machining path schematic diagram of embodiment five.
Fig. 6 is the feed rate curve map under NI is constrained.
Fig. 7 is the feed rate curve map under NI and ND constraints.In Fig. 7, X-axis represents parameter u values, and Y-axis represents feed rate value,
Unit is mm/s.
Fig. 8 is the translation shaft acceleration diagram after the completion of feed rate is planned.In Fig. 8, X-axis represents parameter u values, and Y-axis represents flat
Moving axis acceleration magnitude, unit is mm/s2。
Fig. 9 is the rotary shaft acceleration diagram after the completion of feed rate is planned.In Fig. 9, X-axis represents parameter u values, and Y-axis represents rotation
Rotating shaft acceleration magnitude, unit is rad/s2。
Figure 10 is the translation shaft jerk figure after the completion of feed rate is planned.In Figure 10, X-axis represents parameter u values, and Y-axis represents flat
Moving axis jerk value, unit is mm/s3。
Figure 11 is the rotary shaft jerk figure after the completion of feed rate is planned.In Figure 11, X-axis represents parameter u values, and Y-axis represents rotation
Rotating shaft jerk value, unit is rad/s3。
Figure 12 is the linear axis hodograph after the completion of feed rate is planned.In Figure 12, X-axis represents the time, and unit is s；Y-axis table
Show translation shaft velocity amplitude, unit is mm/s.
Figure 13 is the rotary shaft hodograph after the completion of feed rate is planned.In Figure 13, X-axis represents the time, and unit is s；Y-axis table
Show rotary shaft velocity amplitude, unit is rad/s.
Figure 14 is the translation shaft hodograph of actual processing.In Figure 14, X-axis represents the time, and unit is s；Y-axis represents translation shaft
Velocity amplitude, unit is mm/s.
Figure 15 is the rotary shaft hodograph of actual processing.In Figure 15, X-axis represents the time, and unit is s；Y-axis represents rotary shaft
Velocity amplitude, unit is rad/s.
Embodiment
Technical scheme is described in further details with reference to the accompanying drawings and examples.
The flow of the digital control processing feed rate planing method proposed by the present invention deformed based on line smoothing is as shown in Figure 1.
Curved surface processing path is represented with parameter curve first；Determined along machining path according to the size distribution of curvature of curve
Sampling point position, and then determine sampled point number；To given parameter expression path, solved through Machine kinematics are counter, obtain lathe
Each axle movement locus；Using the maximum feed rate permissible value of the point of a knife point of setting as the initial feed rate value of sample point, construction is just
Beginning feed rate straight line；Feed rate value under NI constraints is determined according to the NI binding occurrences of setting, is deformed, obtained using a line smoothing
Feed rate curve under being constrained to NI；The split axle acceleration magnitude and split axle jerk value of each sample point of the curve are calculated, and with setting
Fixed ND binding occurrences compare, and judge overproof region；The feed rate value at overproof point is redefined with equal proportion regulation algorithm, is made
Acceleration and jerk value under each binding occurrence constraint reduce in the same direction, line smoothing deformation method are recycled, by feed rate curve light
Cunning is deformed to target location, it is ensured that new feed rate curve has good fairness；Repeat with equal proportion regulation algorithm and
Line smoothing deformation method, until acceleration and jerk value meet ND constraints, obtains the feed rate curve under ND constraints, complete into
Give rate planning.
Fig. 2 represents the curve deformation figure without fairing, and Fig. 3 represents the less line smoothing deformation pattern of the fairing factor, Fig. 4
Represent the larger line smoothing deformation pattern of the fairing factor.Compare and understand, the feed rate planing method that should be deformed based on line smoothing,
Fairing is added on the basis of the curve deformation of simple geometry approximation error constraints, can be forced by adjusting fairing factor-alpha and geometry
Nearly error factor β size, changes the fairing degree of curve.The fairing factor and approach the factor and meet relational expression alpha+beta=1.α is got over
Greatly, curve is more smooth, and data point deviates bigger；Conversely, data point deviates smaller, slickness is poorer.When line smoothing is deformed,
Rational choice α and β value are wanted, makes curve that there is good Approximation and fairness.
Embodiment is a five axle Flank machining paths, as shown in Figure 5.Added using Double swing head A-B type five-axis machine tools
Work is tested, main in feed rate planning process to consider geometric accuracy and the constraint of lathe drive characteristic, embodiment parameters and about
Beam value is shown in Table 1-1.
Table 1-1 embodiments parameter and binding occurrence
The feed rate planing method detailed step deformed based on line smoothing is as follows：
1) pre-process：Parameter curve represents five axle Flank machining paths, along machining path according to the size of curvature of curve point
Cloth determines sampling point positionAnd then determine sampled point number n1=1001, to given parameter expression path, transported through lathe
It is dynamic to learn anti-solution, obtain each axle movement locus M (u) of lathe={ X (u), Y (u), Z (u), α (u), β (u) }；
2) initial feed rate straight line gernertion：By the maximum feed rate permissible value f of the point of a knife point of settingcIt is used as the first of sample point
Beginning feed rate value, sets control point number m=103, initial feed rate straight line is constructed with NURBS expression-forms；
3) the feed rate curve generation under NI constraints, comprises the following steps：
A) the maximum feed rate permissible value under each sample point action difference constraint is calculated
B) the maximum feed rate permissible value under each sample point split axle constraint of velocity is calculated
C) the maximum feed rate permissible value f of point of a knife point is combinedc, determine that NI constrains the overproof area of lower feeding rate curve by formula (8)
Domain u={ uj, j=0,1 ..., q；
Or
D) the feed rate updated value at overproof point is calculated；
E) deformed with line smoothing, feed rate curve is deformed to target location from home position is smooth, NI is obtained about
Feed rate curve under beam；
4) the feed rate curve generation under ND constraints, comprises the following steps：
A) according to the feed rate curve being currently generated, the split axle acceleration magnitude A of each sample point is calculated∧(u) jumped with split axle
Angle value J∧(u)；
B) the split axle the limit acceleration of setting is combinedWith split axle jerk limiting valueDetermine that ND is constrained by formula (2)
The overproof region u={ u of lower feeding rate curvej, j=0,1 ..., q；
Or
C) the corresponding feed rate value f (u of all overproof pointsj) identical proportional control factor τ=0.8 is multiplied by, obtain
New feed rate value f at overproof pointd(uj), it further can obtain split axle acceleration magnitude new at overproof point and split axle jerk value；
D) smooth deformation method is used, feed rate curve is deformed to target location from home position is smooth, obtains new
Feed rate curve；
E) repeat step a), b), c), d), until feed rate curve meets ND constraints, obtains the lower feed rate song of ND constraints
Line, completes feed rate planning.
What line smoothing was deformed comprises the following steps that：
1) the feed rate variation delta f (u at overproof point are calculatedj), (j=0,1 ..., q)：
(Δf(u0),...,Δf(uq)) T=(fd(u0)-f(u0),...,fd(uq)-f(uq))T (4)
2) according to feed rate variable quantity reverse control point offset at overproof point:
R* Δ D=Δs C (5)
R is coefficient matrix, R=(ri,j)m+3,m+3Element be：
Wherein α is the fairing factor, and β the fairing factor and approaches the factor and meet relational expression alpha+beta=1 to approach the factor.If β is got over
Greatly, the deviation of data point is just smaller before and after fairing, but the fairness of curve may be poor；If α is bigger, curve is more smooth, but
Be data point before and after fairing deviation it is bigger.When line smoothing is deformed, Rational choice α and β value, there is curve good
Approximation and fairness.Δ D is control point offset, wherein Δ D=(Δ d0,…,Δdm+2), Δ C is right hand side vector, its
Middle Δ C=(Δ C0,…,ΔCm+2), its element is：
3) design factor group inverse matrices matrix R+, the control point offset Δ of feeding curve is obtained using formula (5)
D, substitutes into feed rate parameter of curve expression formula, obtains feed rate curve new after smooth deformation.
Fig. 7 is with the feed rate curve map obtained after inventive method completion embodiment feed rate planning.As illustrated,
There are six feed rates and decline region in feed rate curve, the sensitizing range that six significantly swing on tool sharpening path is corresponded to respectively
Domain.Deformed by line smoothing, minimum feed rate value has been reduced to 13.23mm/s by 50mm/s, shows line smoothing deformation side
Method has superpower local deformation ability.Fig. 8,9,10,11 are respectively translation shaft acceleration diagram, rotary shaft acceleration diagram, translation
Axle jerk figure, rotary shaft jerk figure.From above-mentioned each it can be seen from the figure that, the split axle acceleration and split axle jerk of lathe are strictly limited
System is in restriction range.For the correctness and reliability of further verification algorithm, reality has been carried out to five axle Flank machining paths
Processing checking, Figure 12,13,14,15 are respectively theoretical translation shaft hodograph, theoretical rotary shaft hodograph, actual processing translation shaft
Hodograph, actual processing rotary shaft hodograph.Compare above-mentioned each figure, it can be seen that theoretical split axle rate curve and actual processing point
Axle speed curve all maintains good uniformity in terms of curve shape and amplitude.Illustrate to cook up to come with the present invention
Feed rate curve can not only meet the constraints of setting, it is ensured that the fairness of feed rate curve, moreover it is possible to improve machining accuracy
And processing stability.
Claims (1)
1. a kind of digital control processing feed rate planing method deformed based on line smoothing, it is characterised in that by feed rate constraint point
For the unrelated constraint of neighborhood and neighborhood related constraint, planing method comprises the following steps：
Step 1: pretreatment：Parameter curve represents curved surface processing path, determines sampling point position and number, solves each axle of lathe
Movement locus；
Step 2: initial feed rate straight line gernertion：It regard the maximum feed rate permissible value of the point of a knife point of setting as the first of sample point
Beginning feed rate value, constructs initial feed rate straight line；
Step 3: the feed rate curve generation under the unrelated constraint of neighborhood, comprises the following steps：
（a）Calculate the maximum feed rate under each sample point action difference constraint and split axle constraint of velocity
Permissible value；
（b）With reference to the maximum feed rate permissible value of point of a knife point, the unrelated constraint lower feeding rate curve of neighborhood is determined
Overproof region, and calculate feed rate updated value at overproof point；
（c）Deformed with line smoothing, feed rate curve is deformed to target location from home position is smooth, neighborhood is obtained unrelated
Feed rate curve under constraint；
Step 4: the feed rate curve generation under neighborhood related constraint, comprises the following steps：
（a）According to the feed rate curve being currently generated, the split axle acceleration of each sample point is calculated
Value and split axle jerk value；
（b）With reference to the split axle the limit acceleration and split axle jerk limiting value of setting, determine that neighborhood related constraint lower feeding rate is bent
The overproof region of line；
（c）The corresponding feed rate value of all overproof points is multiplied by an identical proportional control factor, obtains at overproof point entering newly
Rate value is given, split axle acceleration magnitude new at overproof point and split axle jerk value is further obtained；
（d）With line smoothing deformation method, feed rate curve is deformed to target location from home position is smooth, obtains new
Feed rate curve；
（e）Step in repeat step four（a）、（b）、（c）With（d）, until feed rate curve meets neighborhood related constraint, obtain
Feed rate curve under neighborhood related constraint, completes feed rate planning.
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| CN105700466A (en) * | 2015-11-23 | 2016-06-22 | 上海交通大学 | Curvature fairing method for high-speed numerical control processing track |
| CN105676786B (en) * | 2016-01-27 | 2018-06-22 | 大连理工大学 | The tool orientation interpolation method of each rotation axis angular rate smoothness properties is considered in a kind of five-shaft numerical control processing |
| CN106649926B (en) * | 2016-09-21 | 2019-12-03 | 中国科学院上海光学精密机械研究所 | The planing method in the fairing region of fairing processing |
| CN106826829B (en) * | 2017-02-22 | 2019-05-03 | 武汉工程大学 | A kind of industrial robot fairing motion profile generation method of Controllable Error |
| CN106843146B (en) * | 2017-03-09 | 2018-12-21 | 大连理工大学 | A kind of adaptive variable-gain profile errors compensation method |
| CN108827331B (en) * | 2018-06-27 | 2021-05-18 | 西南交通大学 | Intelligent vehicle track planning method based on neighborhood system |
| CN110618659B (en) * | 2019-10-11 | 2022-09-16 | 天津工业大学 | Five-axis linear interpolation-oriented translation axis and rotation axis coordinated motion planning control method |
| CN111240275B (en) * | 2020-01-16 | 2021-01-22 | 北京航空航天大学 | Feed rate planning method based on logarithmic probability function under motion and error limitation |
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