CN105137914B - A kind of 3 circule method parameter adaptive interpolation algorithms applied to Digit Control Machine Tool - Google Patents
A kind of 3 circule method parameter adaptive interpolation algorithms applied to Digit Control Machine Tool Download PDFInfo
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- CN105137914B CN105137914B CN201510401156.5A CN201510401156A CN105137914B CN 105137914 B CN105137914 B CN 105137914B CN 201510401156 A CN201510401156 A CN 201510401156A CN 105137914 B CN105137914 B CN 105137914B
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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
- G05B19/404—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 present invention relates to a kind of 3 circule method parameter adaptive interpolation algorithms applied to Digit Control Machine Tool, its step is：First the equation of non-circular curve is expressed with parameter type, it is ensured that often take the corresponding functional value of a parameter；Again by etc. take three points D, E, F successively on curve in the way of parameter；Calculate the radius R of the center of circle point coordinates and circular arc by 3 points of circular arc；Derive that circular arc along inverse discriminate, judges the suitable inverse of this circular interpolation again；The parameter intermediate point H of D points and E points is found out, and calculates H points to the distance in the center of circle, the parameter intermediate point I of E points and F points is similarly found out, and calculate I points to the distance in the center of circle；Calculate respectivelyWith, wherein,, and willWithAs error of interpolation；CompareWithWith interpolation allowable errorSize.It is simple with interpolation calculating, solution procedure is simplified, solve that difficulty is small, improves the features such as interpolation quality and efficiency.
Description
Technical field
The invention belongs to numerical control machine tool technique field, is related to a kind of 3 circule method parameter adaptives applied to Digit Control Machine Tool
Interpolation algorithm.
Background technology
Interpolation is the core in Numeric Control Technology, and it can be according to the overall size of part, with reference to precision and technique etc.
It is required that some intermediate points are determined according between known point of certain mathematical method on preferable track or profile, so as to force
Nearly preferable workpiece configurations profile, interpolation are also referred to as " densification of data point ".
Interpolation algorithm will solve two problems, first, node selection, i.e., carried out according to what rule and condition on curve
Take a little；Second, what kind of moving interpolation is carried out between the interpolation mode of adjacent node, i.e. adjacent node.Choosing for interpolator node
Take mode, it is general using etc. parameter, equal error, etc. three kinds of modes such as chord length carry out.Calculating Deng parameter interpolation simply takes a little
It is convenient, but take quantity a little can be a lot；Equal error method can control each local error of interpolation well, reduce interpolated point
Quantity, but this method is related to the solution of biquadratic equation, and its amount of calculation is very big, and solution procedure is complicated；It is this etc. chord length
Interpolation mode for the Curvature varying of interpolation curve it is larger when, larger error of interpolation can be produced.Above-mentioned three kinds of interpolating methods are each
There are advantage and disadvantage, if three kinds of interpolation point sampling methods can be combined, interpolation algorithm error can be met, and can, which is reduced, to be calculated
Amount, this is also our directions to be studied.
Common Digit Control Machine Tool possesses straight line and circular interpolation function, and for non-circular curve, traditional interpolation mode will select
Linear interpolation is used between the adjacent node taken, i.e., adjacent point-to-point transmission is connected using small straightway, when the quantity of node obtains
When enough, the profile and the actual profile of curve that some sections of broken lines are connected are very close, and this interpolating method calculates simply,
Interpolation is convenient, but with regard to interpolation quality and for the control of lathe, broken line connection is for interpolation quality and interpolation feed speed
Harmful.Compared with linear interpolation mode, circular interpolation has more advantages, is attached between adjacent node with circular arc,
The surface of processing can be smoothly transitted with circular arc, and the quality of processing is high, and the effect of processing is good.
The content of the invention
To overcome above-mentioned technical disadvantages, the present invention provides a kind of 3 circule method parameter adaptives applied to Digit Control Machine Tool
Interpolation algorithm, it, to the difference between the distance in the center of circle and center of circle radius as error of interpolation, passes through control using parameter intermediate point
Interpolation worst error value carrys out adjusting parameter, realizes parameter adaptive, and its calculating process is simpler than traditional equal error method, its interpolation
The traditional Isoparametric method of ratio of precision is high；2 traditional alignments are substituted with three-point circle, linear interpolation is substituted with circular interpolation, subtracted
Lack interpolator node, improve interpolation quality and Product Precision；By the technology law using macroprogram in HTC32100am turning centers
The upper turning and milling for realizing non-circular curve respectively, verifies solve the circular interpolation of non-circular curve to the interpolation technique
Problem.
Technical method is used by the present invention solves its technical problem：A kind of 3 circule methods applied to Digit Control Machine Tool are joined
Number adaptive interpolation algorithm, its step are as follows：
The first step, the equation of non-circular curve is expressed with parameter type, it is ensured that often takes the corresponding function of a parameter
Value；
Second step, by etc. take three points D, E, F successively on curve in the way of parameter, it is ensured that three points are in same curves
On；
3rd step, calculate the radius R of the center of circle point coordinates and circular arc by 3 points of circular arc；
4th step, derive that circular arc along inverse discriminate, judges the suitable inverse of this circular interpolation；
5th step, finds out the parameter intermediate point H of D points and E points, and calculates H points to the distance in the center of circle, similarly find out E points
With the parameter intermediate point I of F points, and I points are calculated to the distance in the center of circle；
6th step, is calculated respectivelyWith, wherein,, and willWithMissed as interpolation
Difference；
7th step, comparesWithWith interpolation allowable errorSize, share four kinds of possibility, ifWithRespectively less than etc.
InMeet error of interpolation condition, can directly carry out circular interpolation；IfWithIt is all higher than, then 3 points of works of D, H, E are taken
Calculating is re-started for new interpolated point, meets to carry out circular interpolation during error of interpolation condition, then takes parameter when being unsatisfactory for again
Intermediate point calculates；IfIt is more thanAndIt is less than or equal to, then 3 points of D, H, I, which is taken, as new interpolated point re-starts calculating,
Meet to carry out circular interpolation during error of interpolation condition, otherwise take parameter intermediate point again；IfIt is less than or equal toAndIt is more than, then 3 points of D, E, I is taken as new interpolated point and re-starts calculating, meets to carry out circular interpolation during error of interpolation condition, it is no
Parameter intermediate point is then taken again；
8th step, the starting point using the terminal of a upper interpolation as next interpolation, by etc. select again again successively in the way of parameter
Take at 2 points, this three is pressed by above step carries out interpolation calculating, circulates according to this, until interpolation terminates.
The beneficial effects of the invention are as follows：First, solving non-circular curve carries out interpolator node choosing method during interpolation, it is not rounded
The circular interpolation of curve optimizes the calculating of error with parameter intermediate point, by controlling maximum error of interpolation come adjustment parameter, reality
Now parameter is adaptive；Second, solving the correlation computations of circular interpolation, by adjacent 3 points, the center of circle and radius are obtained, and
Circular arc is derived along inverse discriminate by 3 points on the center of circle and circular arc of position relationship, the circular arc of judgement is along inverse, so as to carry out
Circular interpolation；Third, solving the conversion that interpolation calculates thinking and macroprogram, the thinking that interpolation calculates is entered with algorithm flow chart
Row expression, and the macroprogram language that borrows lathe and can understand is write, the circular interpolation for making to carry out non-circular curve on lathe obtains
To realize；Fourth, solves the concrete application of technology, with reference to the product of real enterprise's non-circular curve（LED lamp reflector is thrown
Thing line curve and elliptic curve）, on the horizontal turning centers of specific HTC32100am, carry out numerical control turning and numerical control milling
Checking, the correctness of this technology is verified with real effect, have that to simplify interpolation calculating, solution procedure simple, solved
Difficulty is small, improves the features such as interpolation quality and efficiency.
Brief description of the drawings
Fig. 1 is present invention process flow chart.
Embodiment
With reference to embodiment, the present invention is further described.
Referring to Fig. 1, a kind of 3 circule method parameter adaptive interpolation algorithms applied to Digit Control Machine Tool, its step is as follows：
The first step, the equation of non-circular curve is expressed with parameter type, it is ensured that often takes the corresponding function of a parameter
Value；
Second step, by etc. take three points D, E, F successively on curve in the way of parameter, it is ensured that three points are in same curves
On；
3rd step, calculate the radius R of the center of circle point coordinates and circular arc by 3 points of circular arc；
4th step, derive that circular arc along inverse discriminate, judges the suitable inverse of this circular interpolation；
5th step, finds out the parameter intermediate point H of D points and E points, and calculates H points to the distance in the center of circle, similarly find out E points
With the parameter intermediate point I of F points, and I points are calculated to the distance in the center of circle；
6th step, is calculated respectivelyWith, wherein,, and willWithAs error of interpolation；
7th step, comparesWithWith interpolation allowable errorSize, share four kinds of possibility, ifWithRespectively less than
It is equal toMeet error of interpolation condition, can directly carry out circular interpolation；IfWithIt is all higher than, then 3 points of D, H, E is taken
Calculating is re-started as new interpolated point, meets to carry out circular interpolation during error of interpolation condition, then takes ginseng when being unsatisfactory for again
Number intermediate point calculates；IfIt is more thanAndIt is less than or equal to, then 3 points of D, H, I, which is taken, as new interpolated point re-starts meter
Calculate, meet to carry out circular interpolation during error of interpolation condition, otherwise take parameter intermediate point again；IfIt is less than or equal toAndIt is more than, then 3 points of D, E, I is taken as new interpolated point and re-starts calculating, meets to carry out circular interpolation during error of interpolation condition, it is no
Parameter intermediate point is then taken again；
8th step, the starting point using the terminal of a upper interpolation as next interpolation, by etc. select again again successively in the way of parameter
Take at 2 points, this three is pressed by above step carries out interpolation calculating, circulates according to this, until interpolation terminates.
Embodiment 1：
When by etc. parameterMode takes three points D, E, F on curve,, then 3 points of coordinate
For, it is known that respectively D（,）、E（,）、F（,）, then the centre point C of three null circles coordinate is passed through（,）
For that can ask, round radius R also for that can ask, takes 2 points of D, E parameter intermediate point H, takes E, F parameter intermediate point I, then H points are to just
Parameter be, I points are to parameter just, the coordinate of its H, I point is respectively H（,）、I（
,）, it is, it is known that can then obtain H points to center of circle C distance, the distance of I points to center of circle C；CalculateWith arc radius
R difference,With arc radius R difference, and as error of interpolation.
Compare、With the size of allowable error value, whenWithWhen being respectively less than equal to allowable error value, directly excessively D, E,
3 points of F makees circular interpolation；WhenWithWhen being all higher than allowable error value, 3 points of D, H, E is taken to recalculate error of interpolation；WhenIt is small
In equal to allowable error andDuring more than allowable error value, 3 points of D, E, I is taken to recalculate error of interpolation；WhenMore than allowable error
AndDuring less than or equal to allowable error value, 3 points of D, H, I is taken to recalculate error of interpolation；Untill error permissive condition is met.
According to the algorithm provided, the programming feature of combined techniques FANUC digital control systems writes macroprogram instruction format.It is whole grand
Assignment statement, Do statement are used in programming（WHILE）And skip instruction（GOTO）；
Algorithm is used on the curves such as ellipse, parabola, according to the canonical form of elliptic equation equation,
Made into parametric form,, willt As interpolation parameters, specific macroprogram is programmed, similarly,
Specific macroprogram is write according to parabolical equation；
Specific cutting checking is carried out using turning center, turning centre can not only carry out turnery processing, while also may be used
To carry out Milling Process, and the precision processed is high.This algorithm is really subjected to Product processing on lathe, by detecting product
Crudy carrys out the correctness and high efficiency of verification algorithm.
The present invention one is that solve non-circular curve to carry out interpolator node choosing method during interpolation, the circular interpolation of non-circular curve
Optimize the calculating of error with parameter intermediate point, by controlling maximum error of interpolation to realize the adaptive of parameter come adjustment parameter；
Second, solving the correlation computations of circular interpolation, by adjacent 3 points, the center of circle and radius are obtained, and by the center of circle and circular arc
3 points of position relationship derives circular arc along inverse discriminate, and the circular arc of judgement is along inverse, so as to carry out circular interpolation；Third, solve
Interpolation calculates the conversion of thinking and macroprogram, the thinking that interpolation calculates is expressed with algorithm flow chart, and borrow lathe
The macroprogram language that can be understood is write, and the circular interpolation for making to carry out non-circular curve on lathe is achieved；Fourth, solve
The concrete application of technology, with reference to the product of real enterprise's non-circular curve（LED lamp reflector parabolic curve and ellipse are bent
Line）, on the horizontal turning centers of specific HTC32100am, the checking of numerical control turning and numerical control milling is carried out, really to imitate
Fruit verifies the correctness of this technology, has that to simplify interpolation calculating, solution procedure simple, solves that difficulty is small, it is slotting to improve
The features such as mending quality and efficiency.
Claims (1)
- A kind of 1. 3 circule method parameter adaptive interpolation algorithms applied to Digit Control Machine Tool, it is characterized in that step is as follows：The first step, the equation of non-circular curve is expressed with parameter type, it is ensured that often takes the corresponding functional value of a parameter；Second step, by etc. take three points D, E, F successively on curve in the way of parameter, it is ensured that three points are on same curves；3rd step, calculate the radius R of the center of circle point coordinates and circular arc by 3 points of circular arc；4th step, derive that circular arc along inverse discriminate, judges the suitable inverse of this circular interpolation；5th step, finds out the parameter intermediate point H of D points and E points, and calculates H points to the distance in the center of circle, similarly find out E points and F points Parameter intermediate point I, and calculate I points to the distance in the center of circle；6th step, is calculated respectivelyWith, wherein,, and willWithAs error of interpolation；7th step, comparesWithWith interpolation allowable errorSize, share four kinds of possibility, ifWithRespectively less than it is equal to Meet error of interpolation condition, can directly carry out circular interpolation；IfWithIt is all higher than, then 3 points of D, H, E is taken as new Interpolated point re-start calculating, meet to carry out circular interpolation during error of interpolation condition, then taken again among parameter when being unsatisfactory for Point calculates；IfIt is more thanAndIt is less than or equal to, then 3 points of D, H, I is taken as new interpolated point and re-starts calculating, is met Circular interpolation is carried out during error of interpolation condition, otherwise takes parameter intermediate point again；IfIt is less than or equal toAndIt is more than, then 3 points of D, E, I is taken as new interpolated point and re-starts calculating, meets to carry out circular interpolation during error of interpolation condition, otherwise again Take parameter intermediate point；8th step, the starting point using the terminal of a upper interpolation as next interpolation, by etc. choose two again again successively in the way of parameter Point, this three is pressed by above step carries out interpolation calculating, circulates according to this, until interpolation terminates.
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| CN101493687A (en) * | 2009-03-02 | 2009-07-29 | 广西大学 | Real time forward looking whole-process acceleration and deceleration controlled NURBS curve self-adapting subsection interpolation method |
| CN103163837A (en) * | 2011-12-12 | 2013-06-19 | 沈阳高精数控技术有限公司 | Tool path self-adaptive management system and method for five-axis numerical control machining |
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