CN105116840B - A kind of gradual error compensating method of interpolation of space curve - Google Patents
A kind of gradual error compensating method of interpolation of space curve Download PDFInfo
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- CN105116840B CN105116840B CN201510555858.9A CN201510555858A CN105116840B CN 105116840 B CN105116840 B CN 105116840B CN 201510555858 A CN201510555858 A CN 201510555858A CN 105116840 B CN105116840 B CN 105116840B
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- 230000000875 corresponding effect Effects 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 230000002596 correlated effect Effects 0.000 claims description 3
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- 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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Abstract
The invention discloses a kind of method of the gradual error compensation of interpolation of space curve, this method comprises the following steps：Space curve is subjected to block sampling according to algorithm condition, block sampling point is Wuping Reservoir；By multiple spot on-line measurement, error compensation tables are established；A theoretical interpolation data is compensated；An original interpolation data is replaced with the interpolation data compensated.The present invention solves the problems, such as the problem of static compensation dynamic difference and real-Time Compensation cost are higher, technical difficulty is big, preferably to compensate the gradual error in space curve interpolation by online soft real-Time Compensation.
Description
Technical field
The present invention relates to Numerical Control Machine Tool Machining Error to compensate field, more particularly, to the processing that machining locus is space curve
During compensation method to gradual error.
Background technology
The principal element for influenceing Digit Control Machine Tool machining accuracy has：Thermal deformation, Machine Manufacture precision, load metamorphism and servo system
Error of uniting etc..The approach for improving digital control system machining accuracy mainly has two kinds：Hard technology and soft technique；Wherein hard technology is to miss
Poor prevention technique, refer to the element precision by improving lathe and assembly precision, the mechanical property of improvement material and thermal property, carry
The methods of precision and stability of high servo-drive system, fundamentally prevent the generation of error.Soft technique is Error Compensation Technology,
The margin of error is obtained by certain way, and the margin of error compensated in digital control system.In actual applications, hard technology is past
Toward the limitation for receiving cost and technology, soft technique can then obtain preferable effect in the case of lower-cost.
Error Compensation Technology has numerous embodiments, can be from precision, system complexity, technical difficulty, economy etc. no
Same aspect, select suitable compensation way.
Consider then have from the real-time of error compensation, the realization of compensation technique has following embodiment：1. static compensation side
Formula, i.e., errors table is stored in digital control system, no longer changes and update in process.2. real Time Compensation.By
Line detects and feedback, receives direct or indirect control information in real time, and adjust compensation rate in time.
Although wherein static compensation method technically is easier to realize, this method is all right, poor robustness, and can not be to slow
Become error to measure.And real Time Compensation is high to detection tool demands, error calculation difficulty is big, while to the real-time of compensation
It is required that very high, this makes real Time Compensation technically realize that difficulty is very big.
Therefore for the application demand based on gradual error, online soft real-time compensation method can be used.This method
Between static method and real time method, feedback error relevant information is come with a certain frequency set, after obtaining errors table, periodically
Update the control information of digital control system.This method has hysteresis quality, but has enough precision for gradual thermal deformation.
For compensation system structure, this compensation method is using an interpolation level stand alone type compensation, and this method is using only
Vertical compensating controller, temperature information and control information are collected, establish compensation table, and according to the spatial positional information of NC codes,
Export the compensation rate in each interpolation cycle.Interpolation level stand alone type is compensated typically after a theoretical interpolation data produces,
Before interpolation processing and implementation, therefore when can not accomplish strong, but gradual error compensation needs can be met.
The content of the invention
For the gradual error compensation problem of space curve, the invention provides a kind of gradual error of interpolation of space curve
Compensation method.
Error compensation tables on three axles of the present invention are that dynamic calculation obtains, due on error compensation tables
Block sampling point is all on the track of processing curve, therefore the calculating of error model is only implemented in block sampling point, compared to whole
Calculation error is distributed in individual lathe working space, and its amount of calculation greatly reduces.
An a kind of the step of interpolation of space curve gradual error compensating method is：
Step 1：To compensate update cycle TCMPSInterpolation data is read out for the cycle, and to an interpolation data
Block sampling is carried out, the requirement of block sampling is that component of the distance between each block sampling point on X, Y, Z three axes is not
More than L, block sampling point is that error compensation calculates point.
Step 2：By multi-point temp value on-line measurement, and according to, to the block sampling of an interpolation data, being built in step 1
Found forward and reverse compensation table of gradual error.
Step 3：A theoretical interpolation data is compensated on each axle, according to corresponding to different machine direction uses
Compensate table.
Step 4：The theoretical interpolation data in buffering area is replaced with the interpolation data compensated.
Step 5：Return to step 2, update errors table.
Further, this method step 2, which establishes the process of forward and reverse compensation table of gradual error, includes step：
Step 2.1：It is related using laser interferometer measurement geometry and heat on the block sampling point calculated in step 1
Error, while measure the temperature.
Described geometry and hot correlated error include 21 geometric errors, including 6 straightness errors, 3 linear displacements
Error, 9 angular errors and 3 error of perpendicularitys；14 hot correlated errors, include the inclination around X, Y, X, Y, Z of main shaft
Three axle slide carriages 3 directions thermal drift and main shaft tri- directions of X, Y, Z thermal drift.
Step 2.2：35 geometry are included with the foundation of workpiece connecting chain vector using the theoretical cutter that combines of homogeneous coordinate transformation
And the error synthesis compensation model that heat is related, obtain corresponding compensation rate e in X, Y, Z axisx, ey, ez。
Step 2.3：With reference to the compensation rate on all block samplings, you can establish compensation table.
Step 2.4：Because some lathe driving parts have reverse dead band, each machine driving is secondary to have reverse error, number
Backlass must be compensated in control processing.Therefore, forward and reverse direction is established to different machine direction Independent modelings
Table is compensated, bidirectional compensating is carried out using forward and reverse independent compensation table during compensation.
Further, the process that step 3 compensates to a theoretical interpolation data on each axle includes step：
Step 3.1：J-th of interpolation point data is read, obtains its X, Y, Z-direction coordinate value.
Step 3.2：According to current interpolation point data and (j-1) point data, judge to use compensation table forward or backwards, specifically
Judgment mode is：
χtarget(j) displacement in j points is represented, it is no using reverse errors table when current point displacement is more than subsequent point displacement
Then use positive error table；
Step 3.3：Section position of the current point in compensation table is determined, i.e., two continuous compensation points are found from table,
Make the interpolated point between two compensation points：
βi≤χtarget＜ βi+1 (2)
βi、βi+1Refer to the compensation point in compensation table；
Step 3.4：According to theoretical position and the corresponding relation of physical location, instruction point is obtained by the way of linear interpolation
χtarget(j) output valve χ corresponding toCMPS.(j).Each axle compensation calculation is expressed as：
The present invention solves the problems, such as static compensation dynamic difference and real-Time Compensation cost by online soft real-Time Compensation
Higher, the problem of technical difficulty is big, preferably the gradual error in space curve interpolation is compensated.
Brief description of the drawings
Fig. 1 is the space curve for checking；
Fig. 2 is X-axis rate curve compensation effect；
Fig. 3 is X-axis step value compensation rate；
Fig. 4 is Y-axis rate curve compensation effect；
Fig. 5 is Y-axis step value compensation rate；
Fig. 6 is Z axis rate curve compensation effect；
Fig. 7 is Z axis step value compensation rate；
Fig. 8 is effect of the curve overall profile after an interpolation data compensates.
Embodiment
The present invention is verified using space curve as shown in Figure 1 as object to its validity.
Consider for simulation study convenience, directly default X, Y, Z axis unifies error compensation tables, and X-axis unifies error compensation
Table is shown in Table 1.
Table 1X axles unify error compensation tables
| X | 0.0000 | 10.0000 | 20.0000 | 30.0000 | 40.0000 | ··· | 590.0000 | 600.0000 |
| XF | 0.0053 | 9.9948 | 19.9948 | 29.9932 | 39.9930 | ··· | 589.9278 | 599.9267 |
| XR | 0.0060 | 9.9951 | 19.9954 | 29.9933 | 39.9934 | ··· | 589.9280 | 599.9275 |
Interpolation points are 3178, unified errors table segments n=61.Fig. 2, Fig. 4 and Fig. 6 are the compensation of X, Y, Z axis
Front and rear velocity variations, Fig. 3, Fig. 5 and Fig. 7 are each nose balance amount in signal period.
It can see from step value compensation spirogram, maximum compensation rate is generally present at machine direction conversion, i.e., due to mending
Opposite clearance error is repaid to cause.It was found from rate curve, there is 1 counter motion in X-axis, therefore, carries out once reverse error and mends
Repay；Z axis carries out reverse error compensation three times；Y-axis speed is on the occasion of in the absence of reverse processing, therefore compensation rate is relatively equal always
It is even, its maximum compensation rate 6.3 × 10-5mm。
The effect such as Fig. 8 of curve overall profile after interpolation data compensates shows, due to compensation rate order of magnitude very little,
Tens microns, it can be seen that coincide very much with Fig. 1 curves for checking.
Claims (2)
1. a kind of gradual error compensating method of interpolation of space curve, it is characterised in that comprise the steps of：
Step 1：To compensate update cycle TCMPSInterpolation data is read out for the cycle, and an interpolation data is carried out
Block sampling, the requirement of block sampling are that component of the distance between each block sampling point on X, Y, Z three axes is no more than
Definite value L, block sampling point are that error compensation calculates point；
Step 2：According to the segmentation in step 1 to an interpolation data, pass through the on-line measurement of multi-point temp value and error evaluation mould
Type obtains the error amount at sample segment point, and then establishes forward and reverse compensation table of gradual error respectively on three axles；
Step 3：An interpolation data inside lathe is compensated on each axle, used according to different machine directions corresponding
Compensation table；
Step 4：The interpolation data in buffering area is replaced with the interpolation data compensated；
Step 5：Return to step 2, update errors table；
Methods described step 2, which establishes the step of forward and reverse compensation table of gradual error, is：
Step 2.1：On the block sampling point calculated in step 1, using laser interferometer measurement geometry and hot correlated error,
The temperature is measured simultaneously,
Step 2.2：It is theoretical related comprising geometry and heat to the foundation of workpiece connecting chain vector with reference to cutter using homogeneous coordinate transformation
Error synthesis compensation model, obtain corresponding compensation rate e in X, Y, Z axisx, ey, ez；
Step 2.3：With reference to the compensation rate on all block samplings, you can establish compensation table；
Step 2.4：Because some lathe driving parts have reverse dead band, each machine driving is secondary to have reverse error, and numerical control adds
Backlass must be compensated in work, therefore, to different machine direction Independent modelings, establish the compensation of forward and reverse direction
Table, bidirectional compensating is carried out using forward and reverse independent compensation table during compensation；
The step 3 is compensated on each axle the step of to the interpolation data of lathe inside one time：
Step 3.1：J-th of interpolation point data is read, obtains its X, Y, Z-direction coordinate value；
Step 3.2：According to current interpolation point data and (j-1) point data, judge using compensation table forward or backwards, it is specific to judge
Mode is：
χtarget(j) displacement in j points is represented, when current point displacement is more than subsequent point displacement, using reverse errors table, is otherwise made
With positive error table；
Step 3.3：Section position of the current point in compensation table is determined, i.e., two continuous compensation points are found from table, make this
Interpolated point is between two compensation points：
βi≤χtarget＜ βi+1 (2)
βi、βi+1Refer to the compensation point in compensation table；
Step 3.4：According to theoretical position and the corresponding relation of physical location, the position for instructing point is obtained by the way of linear interpolation
Move χtarget(j) output valve χ corresponding toCMPS.(j), each axle compensation calculation is expressed as：
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2. gradual error compensating method of interpolation of space curve according to claim 1, it is characterised in that using once
The method of interpolation data point block sampling-synthesis is compensated to gradual error, and space curve is entered according to the requirement in step 1
Row block sampling, the measurement of gradual error and compensation calculation are carried out according to block sampling, establish forward and reverse compensation table.
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| CN106774369A (en) * | 2016-12-31 | 2017-05-31 | 重庆大学 | Six degree of freedom decoupling mechanism end position and attitude error penalty method in time varying temperature |
| CN106802225B (en) * | 2016-12-31 | 2020-10-30 | 中国工程物理研究院激光聚变研究中心 | Six-degree-of-freedom non-decoupling mechanism end pose error compensation method in time-varying temperature field |
| CN111687838B (en) * | 2020-05-29 | 2023-10-13 | 深圳科瑞技术股份有限公司 | Online compensation method, system and storage medium for track following error of manipulator |
| CN116466650A (en) * | 2023-04-11 | 2023-07-21 | 上海铼钠克数控科技有限公司 | Precision compensation method and application of numerical control machine tool |
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| DE10155430B4 (en) * | 2001-11-12 | 2006-12-14 | Siemens Ag | Adaptation of compensation data to reduce positional errors in machine tools and robots |
| CN1623729A (en) * | 2004-12-16 | 2005-06-08 | 广州市诺信数字测控设备有限公司 | Apparatus for section linear compensating of machine tool measuring and its method |
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