CN105549545A - Control algorithm based on constant-linear speed grinding of edge grinding machine - Google Patents
Control algorithm based on constant-linear speed grinding of edge grinding machine Download PDFInfo
- Publication number
- CN105549545A CN105549545A CN201610091714.7A CN201610091714A CN105549545A CN 105549545 A CN105549545 A CN 105549545A CN 201610091714 A CN201610091714 A CN 201610091714A CN 105549545 A CN105549545 A CN 105549545A
- Authority
- CN
- China
- Prior art keywords
- grinding
- emery wheel
- constant
- curve
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 229910001651 emery Inorganic materials 0.000 claims description 56
- 238000000034 method Methods 0.000 claims description 14
- 238000007688 edging Methods 0.000 claims description 11
- 238000007514 turning Methods 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 4
- 230000010354 integration Effects 0.000 claims description 4
- 238000003754 machining Methods 0.000 claims description 4
- 238000013178 mathematical model Methods 0.000 claims description 4
- 238000013341 scale-up Methods 0.000 claims description 4
- 230000009466 transformation Effects 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 230000004044 response Effects 0.000 abstract description 2
- 238000004364 calculation method Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011088 calibration curve Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000700 radioactive tracer Substances 0.000 description 1
Classifications
-
- 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
- G05B19/416—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 of velocity, acceleration or deceleration
- G05B19/4163—Adaptive control of feed or cutting velocity
-
- 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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
-
- 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
- G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
-
- 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
- G05B2219/43—Speed, acceleration, deceleration control ADC
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses a control algorithm based on constant-linear speed grinding of an edge grinding machine. Firstly, track planning is conducted on the outer contour of a tableware plate, an outer contour curve is dispersed, and discrete point coordinate data are acquired; then, the grinding wheel feed speed Vx of each discrete point and the rotation tangential speed Vy of each discrete point are calculated, a program in a machine code G is written according to the grinding wheel feed speeds and the rotation tangential speeds, and through PID adjustment and control, constant-linear speed and constant-moment grinding is achieved. The PID algorithm is adopted to guarantee that a grinding wheel grinds the edge in a constant-moment mode. According to the control algorithm, outer contour calculation of the tableware plate is conducted, the code G is generated and used for controlling a feed shaft of the grinding wheel and a rotation shaft of the tableware plate to achieve two-shaft linkage, and constant-linear speed edge grinding is guaranteed. The control algorithm has the advantages that high adaptivity, high grinding precision and dynamic response are achieved and can be suitable for complex contour edges, and the grinding effect is good.
Description
Technical field
The present invention relates to technical field of automatic control, be specially a kind of control algolithm based on the grinding of edge polisher constant linear velocity.
Background technology
Current edge polisher is mainly divided into two classes: hand edge-grinder and automatic edging machine.Traditional automatic edging machine, also claim profile tracer machine, it controls to be ground shape of product by pattern, utilizes product Template Location.But a kind of plate-rack of the every grinding of this edge polisher, just need to make a kind of template to locate, production cost is high, and efficiency is low.Along with developing rapidly of the industrial economy such as rubber, plastics, the range of application of edge polisher expands further, starts the edging technique being applied to plastic tableware dish, is constantly applicable to the processing of difformity, specification plate-rack.Along with plate-rack shape becomes increasingly complex, from circular discs to square plate, more and more high requirement is proposed to edge polisher grinding, in order to ensure that plate-rack edge is removed uniformly, emery wheel carries out constant linear velocity along plate-rack edge, constant moment of force is followed is the key of present stage.
In existing practical application, adopt the servo driving with torque mode, the constant moment of force that can be realized emery wheel by parameter configuration is followed, and the program has good effect for general circle, oval plate-rack.But comparatively large for length breadth ratio or that wedge angle is more plate-rack, is difficult to realize around the corner following the tracks of fast, timely, thus cause edging not evenly or mill less than, therefore the program is difficult to the edging requirement meeting complicated and diversified heterotype edge plate-rack.
Summary of the invention
The object of the present invention is to provide a kind of control algolithm based on the grinding of edge polisher constant linear velocity, to solve the problem proposed in above-mentioned background technology.
For achieving the above object, the invention provides following technical scheme: a kind of control algolithm based on the grinding of edge polisher constant linear velocity, the method comprises the following steps:
Step 1: build edge polisher motion mathematical model, set up moving coordinate system x0y, (x direction is the speed of feed direction of emery wheel, and y direction is disc spins tangential velocity, and true origin is turntable rotation center);
Step 2: according to the outline curve of plate-rack, derive contour curve DXF file, file reading discretize curve, obtains n discrete point, and export each point coordinate figure (
,
) (
), wherein (
,
) and (
,
) be any two points in Curve Machining process, its phasing degree is respectively
,
, by curve any two points (
,
) and (
,
) carry out coordinate conversion, be converted to 2 points under x0y coordinate system (
,
) and (
,
);
Formula of Coordinate System Transformation:
In formula, alpha-beta is 2 phase angle differences;
Step 3: the emery wheel speed of feed calculating each discrete point of contour curve
, rotating disk tangential velocity
.By grinding speed
resolve into emery wheel speed of feed
with rotating disk tangential velocity
,
for
with
angle, outline curve discrete point is more intensive,
be approximately equal to the slope of 2 lines;
Step 4: write G code program according to discrete point coordinate data and speed;
Step 5: gather emery wheel feed motor current
with emery wheel electric rotating machine electric current
, within n cycle, gather n current value
with
(
), take stacked manner store electricity flow valuve, namely by the access rule of " one-in-and-one-out ";
Step 6: carry out filtering process to the emery wheel feed motor current gathered and emery wheel electric rotating machine electric current, adopts arithmetic mean method, obtains filtered electric current
,
, each cycle refreshes once, calculates electric current
with
value;
Step 7: given weight
, calculating current value
.According to PID discrete expression, and in conjunction with antisaturation integration and change Integral Thought, write pid control algorithm;
PID discrete point form:
In formula
,
with
be respectively scale-up factor, integral coefficient and differential coefficient.
Step 8: given steady current
, regulated by PID result as plate-rack clamping error compensation, Correction and Control emery wheel feed shaft G code, guarantees emery wheel grinding under constant moment;
Step 9: according to G code program, controls emery wheel feed shaft by digital control system and tableware turning axle runs, and by pid control algorithm real-Time Compensation, revises G code program, ensures that emery wheel is followed along plate-rack outline constant linear velocity, constant moment of force.
Preferably, the described control algolithm based on the grinding of edge polisher constant linear velocity, for obtaining plate-rack contour curve grinding speed, by curve discretization, calculates Grinding Contact point emery wheel speed of feed
with rotating disk tangential velocity
.
Preferably, the described control algolithm based on the grinding of edge polisher constant linear velocity, adopts the weight relationship of emery wheel feed shaft and turning axle electric current to carry out PID regulating and controlling, improves the stability of system motion.
Preferably, the described control algolithm based on the grinding of edge polisher constant linear velocity, under being controlled by the calculating of plate-rack contour curve, the G code generated and PID, realizes abrasive wheel constant linear speed, constant moment of force edging.
Compared with prior art, the invention has the beneficial effects as follows: trajectory planning should be carried out based on the control algolithm of edge polisher constant linear velocity grinding to dish outline, discrete outline curve, obtain discrete point coordinate data, emery wheel speed of feed and this point of calculating each discrete point rotate tangential velocity, write G code program and in conjunction with PID regulable control, realize constant linear velocity grinding.It is characterized in that: compared with prior art, all have employed pid algorithm and ensure emery wheel constant moment of force edging, this invention is calculated by plate-rack outline, generate G code, realizes two-axle interlocking, ensure that constant linear velocity edging by G code control emery wheel feed shaft and plate-rack turning axle.Adopt discretize outline curve, calculate each discrete point rotating disk tangential velocity and speed of feed, realized the interlock of diaxon by the G code calculating generation, emery wheel is followed with constant linear velocity in grinding process, and realizes feed shaft constant moment of force edging in conjunction with the clamping error compensation of pid algorithm.This method goes for complex-shaped contour curve, has stronger versatility and adaptivity, and control by permanent velocity algorithm, in conjunction with PID regulable control, makes it have the advantages such as grinding accuracy is high, dynamic response is fast.And if dish outline curve discrete point is more intensive, more close to actual profile curve, processing effect is better.
Accompanying drawing explanation
Fig. 1 is that outline curve of the present invention rotates schematic diagram.
Fig. 2 is moving coordinate system schematic diagram of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1-2, the invention provides a kind of technical scheme: a kind of control algolithm based on the grinding of edge polisher constant linear velocity, the method comprises the following steps:
Step 1: build edge polisher motion mathematical model, set up moving coordinate system x0y, (x direction is the speed of feed direction of emery wheel, and y direction is disc spins tangential velocity, and true origin is turntable rotation center);
Step 2: according to the outline curve of plate-rack, derive contour curve DXF file, file reading discretize curve, obtains n discrete point, and export each point coordinate figure (
,
) (
), wherein (
,
) and (
,
) be any two points in Curve Machining process, its phasing degree is respectively
,
, by curve any two points (
,
) and (
,
) carry out coordinate conversion, be converted to 2 points under x0y coordinate system (
,
) and (
,
);
Formula of Coordinate System Transformation:
In formula, alpha-beta is 2 phase angle differences;
Step 3: the emery wheel speed of feed calculating each discrete point of contour curve
, rotating disk tangential velocity
.By grinding speed
resolve into emery wheel speed of feed
with rotating disk tangential velocity
,
for
with
angle, outline curve discrete point is more intensive,
be approximately equal to the slope of 2 lines;
Step 4: write G code program according to discrete point coordinate data and speed;
Step 5: gather emery wheel feed motor current
with emery wheel electric rotating machine electric current
, within n cycle, gather n current value
with
(
), take stacked manner store electricity flow valuve, namely by the access rule of " one-in-and-one-out ";
Step 6: carry out filtering process to the emery wheel feed motor current gathered and emery wheel electric rotating machine electric current, adopts arithmetic mean method, obtains filtered electric current
,
, each cycle refreshes once, calculates electric current
with
value;
Step 7: given weight
, calculating current value
.According to PID discrete expression, and in conjunction with antisaturation integration and change Integral Thought, write pid control algorithm;
PID discrete point form:
In formula
,
with
be respectively scale-up factor, integral coefficient and differential coefficient.
Step 8: given steady current
, regulated by PID result as plate-rack clamping error compensation, Correction and Control emery wheel feed shaft G code, guarantees emery wheel grinding under constant moment;
Step 9: according to G code program, controls emery wheel feed shaft by digital control system and tableware turning axle runs, and by pid control algorithm real-Time Compensation, revises G code program, ensures that emery wheel is followed along plate-rack outline constant linear velocity, constant moment of force.
Embodiment 2:
The control algolithm based on the grinding of edge polisher constant linear velocity according to embodiment 1, for obtaining plate-rack contour curve grinding speed, by curve discretization, calculates Grinding Contact point emery wheel speed of feed
with rotating disk tangential velocity
.
Embodiment 3:
The control algolithm based on the grinding of edge polisher constant linear velocity according to embodiment 1 or 2, adopts the weight relationship of emery wheel feed shaft and turning axle electric current to carry out PID regulating and controlling, improves the stability of system motion.
Embodiment 4:
The control algolithm based on the grinding of edge polisher constant linear velocity according to embodiment 1 or 2 or 3, under being controlled by the calculating of plate-rack contour curve, the G code generated and PID, realizes abrasive wheel constant linear speed, constant moment of force edging.
Embodiment 5:
The control algolithm based on the grinding of edge polisher constant linear velocity according to embodiment 1 or 2 or 3 or 4,
Step 1: build edge polisher motion mathematical model, set up the speed of feed direction that coordinate system x0y(x direction is emery wheel, y direction is disc spins tangential velocity, and true origin is turntable rotation center).
Step 2: the outline curve drawing plate-rack, and the Drawing Interchange File DXF deriving contour curve, and by contour curve DXF file import system, calibration curve information in file reading, carry out curve discretization, obtain n discrete point, and export each point coordinate figure (
,
) (
), heavy line represents plate-rack outline curve, (
,
), (
,
) be any two points in Curve Machining process, its phasing degree is α, β respectively, as shown in Figure 1.
Step 3: by curve any two points (
,
) and (
,
) carry out coordinate conversion, be converted to 2 points under x0y coordinate system (
,
) and (
,
).
Formula of Coordinate System Transformation:
In formula, alpha-beta is 2 phase angle differences.
Step 4: grinding speed
resolve into emery wheel speed of feed
with rotating disk tangential velocity
,
for
with
angle.Outline curve discrete point is more intensive,
be approximately equal to the slope of 2 lines, calculate θ value.
Step 5: the emery wheel speed of feed calculating each discrete point of contour curve
, rotating disk tangential velocity
, ensure that its aggregate velocity is definite value
.
Each coordinate data of outline curve discrete point and the wheel traverse speed of each discrete point can be obtained by above-mentioned steps
with rotating disk tangential velocity
, write G code program accordingly.
Step 6: gather emery wheel feed motor current
with emery wheel electric rotating machine electric current
, within n cycle, gather n current value
with
(
), take stacked manner store electricity flow valuve, namely by the access rule of " one-in-and-one-out ".
Step 7: carry out filtering process to the emery wheel feed motor current gathered and emery wheel electric rotating machine electric current, adopts arithmetic mean method, obtains filtered electric current
,
, each cycle refreshes once, calculates electric current
with
value.
Step 8: given weight
, calculating current value
.
Step 9: according to PID discrete expression, and in conjunction with antisaturation integration and change Integral Thought, write pid control algorithm.
PID discrete point form:
In formula
,
with
be respectively scale-up factor, integral coefficient and differential coefficient.
Step 10: given steady current
, regulated by PID result as plate-rack clamping error compensation, Correction and Control emery wheel feed shaft G code, guarantees emery wheel grinding under constant moment.
Step 11: according to G code program, controls emery wheel feed shaft by digital control system and tableware turning axle runs, and by pid control algorithm real-Time Compensation, revises G code program, ensures that emery wheel is followed along plate-rack outline constant linear velocity, constant moment of force.
Although illustrate and describe embodiments of the invention, for the ordinary skill in the art, be appreciated that and can carry out multiple change, amendment, replacement and modification to these embodiments without departing from the principles and spirit of the present invention, scope of the present invention is by claims and equivalents thereof.
Claims (4)
1. based on a control algolithm for edge polisher constant linear velocity grinding, it is characterized in that: the method comprises the following steps:
Step 1: build edge polisher motion mathematical model, set up moving coordinate system x0y, (x direction is the speed of feed direction of emery wheel, and y direction is disc spins tangential velocity, and true origin is turntable rotation center);
Step 2: according to the outline curve of plate-rack, derive contour curve DXF file, file reading discretize curve, obtains n discrete point, and export each point coordinate figure (
,
) (
), wherein (
,
) and (
,
) be any two points in Curve Machining process, its phasing degree is respectively
,
, by curve any two points (
,
) and (
,
) carry out coordinate conversion, be converted to 2 points under x0y coordinate system (
,
) and (
,
);
Formula of Coordinate System Transformation:
In formula, alpha-beta is 2 phase angle differences;
Step 3: the emery wheel speed of feed calculating each discrete point of contour curve
, rotating disk tangential velocity
, by grinding speed
resolve into emery wheel speed of feed
with rotating disk tangential velocity
,
for
with
angle, outline curve discrete point is more intensive,
be approximately equal to the slope of 2 lines;
Step 4: write G code program according to discrete point coordinate data and speed;
Step 5: gather emery wheel feed motor current
with emery wheel electric rotating machine electric current
, within n cycle, gather n current value
with
(
), take stacked manner store electricity flow valuve, namely by the access rule of " one-in-and-one-out ";
Step 6: carry out filtering process to the emery wheel feed motor current gathered and emery wheel electric rotating machine electric current, adopts arithmetic mean method, obtains filtered electric current
,
, each cycle refreshes once, calculates electric current
with
value;
Step 7: given weight
, calculating current value
;
According to PID discrete expression, and in conjunction with antisaturation integration and change Integral Thought, write pid control algorithm;
PID discrete point form:
In formula
,
with
be respectively scale-up factor, integral coefficient and differential coefficient;
Step 8: given steady current
, regulated by PID result as plate-rack clamping error compensation, Correction and Control emery wheel feed shaft G code, guarantees emery wheel grinding under constant moment;
Step 9: according to G code program, controls emery wheel feed shaft by digital control system and tableware turning axle runs, and by pid control algorithm real-Time Compensation, revises G code program, ensures that emery wheel is followed along plate-rack outline constant linear velocity, constant moment of force.
2. the control algolithm based on the grinding of edge polisher constant linear velocity according to claim 1, is characterized in that: for obtaining plate-rack contour curve grinding speed, by curve discretization, calculates Grinding Contact point emery wheel speed of feed
with rotating disk tangential velocity
.
3. the control algolithm based on the grinding of edge polisher constant linear velocity according to claim 1, is characterized in that: adopt the weight relationship of emery wheel feed shaft and turning axle electric current to carry out PID regulating and controlling, improve the stability of system motion.
4. the control algolithm based on the grinding of edge polisher constant linear velocity according to claim 1, is characterized in that: under being controlled by the calculating of plate-rack contour curve, the G code generated and PID, realize abrasive wheel constant linear speed, constant moment of force edging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610091714.7A CN105549545B (en) | 2016-02-19 | 2016-02-19 | A kind of control algolithm based on the grinding of edge polisher constant linear velocity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610091714.7A CN105549545B (en) | 2016-02-19 | 2016-02-19 | A kind of control algolithm based on the grinding of edge polisher constant linear velocity |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105549545A true CN105549545A (en) | 2016-05-04 |
| CN105549545B CN105549545B (en) | 2018-06-08 |
Family
ID=55828786
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610091714.7A Active CN105549545B (en) | 2016-02-19 | 2016-02-19 | A kind of control algolithm based on the grinding of edge polisher constant linear velocity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105549545B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737196A (en) * | 2016-12-26 | 2017-05-31 | 广东博科数控机械有限公司 | A kind of constant pressure constant linear velocity polishing method of robot polishing machine |
| CN106881768A (en) * | 2017-01-24 | 2017-06-23 | 泉州华中科技大学智能制造研究院 | A kind of method that saw blade processes concave arc on stone material |
| CN107866705A (en) * | 2016-09-27 | 2018-04-03 | 上海宝钢工业技术服务有限公司 | The method for grinding of roll uniformly linear |
| CN108098515A (en) * | 2017-12-12 | 2018-06-01 | 科德数控股份有限公司 | A kind of method using a variety of forming grinding wheel processing drill groove profiles |
| CN110421406A (en) * | 2019-07-14 | 2019-11-08 | 深圳市烨嘉为技术有限公司 | Cutter dynamic self-adapting compensation method based on centering error control |
| CN112264842A (en) * | 2020-10-28 | 2021-01-26 | 福州大学 | Constant linear velocity grinding method based on polar coordinate glass edge grinding machine |
| CN113199491A (en) * | 2021-05-26 | 2021-08-03 | 广西大学 | Industrial robot constant-force polishing method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020034927A1 (en) * | 2000-09-20 | 2002-03-21 | Z. Bavelloni S.P.A. | Edge grinding unit for edge working machines |
| CN101954479A (en) * | 2009-07-21 | 2011-01-26 | 中铝国际技术发展有限公司 | Control system and control method of ladle cleaning machine set |
| CN102765034A (en) * | 2012-07-18 | 2012-11-07 | 浙江大学 | Multi-grinding-unit multi-working-procedure parallel constant linear velocity grinding method and grinding device |
| CN103009200A (en) * | 2012-12-25 | 2013-04-03 | 武汉宝德机电有限责任公司 | Two-wheeled numerical control roll grinder and numerical control method thereof |
| CN103128642A (en) * | 2011-11-29 | 2013-06-05 | 广州市珠峰电气有限公司 | Tile polishing machine and dedicated automatic-control electricity saving system |
| CN103213069A (en) * | 2013-04-19 | 2013-07-24 | 杭州电子科技大学 | Constant-power grinding control device and constant-power grinding control method on basis of vibration frequency characteristic of grinding wheel |
| CN104133388A (en) * | 2014-07-04 | 2014-11-05 | 北京航空航天大学 | Multifunctional-sampler control device and control method thereof |
-
2016
- 2016-02-19 CN CN201610091714.7A patent/CN105549545B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020034927A1 (en) * | 2000-09-20 | 2002-03-21 | Z. Bavelloni S.P.A. | Edge grinding unit for edge working machines |
| CN101954479A (en) * | 2009-07-21 | 2011-01-26 | 中铝国际技术发展有限公司 | Control system and control method of ladle cleaning machine set |
| CN103128642A (en) * | 2011-11-29 | 2013-06-05 | 广州市珠峰电气有限公司 | Tile polishing machine and dedicated automatic-control electricity saving system |
| CN102765034A (en) * | 2012-07-18 | 2012-11-07 | 浙江大学 | Multi-grinding-unit multi-working-procedure parallel constant linear velocity grinding method and grinding device |
| CN103009200A (en) * | 2012-12-25 | 2013-04-03 | 武汉宝德机电有限责任公司 | Two-wheeled numerical control roll grinder and numerical control method thereof |
| CN103213069A (en) * | 2013-04-19 | 2013-07-24 | 杭州电子科技大学 | Constant-power grinding control device and constant-power grinding control method on basis of vibration frequency characteristic of grinding wheel |
| CN104133388A (en) * | 2014-07-04 | 2014-11-05 | 北京航空航天大学 | Multifunctional-sampler control device and control method thereof |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107866705A (en) * | 2016-09-27 | 2018-04-03 | 上海宝钢工业技术服务有限公司 | The method for grinding of roll uniformly linear |
| CN106737196A (en) * | 2016-12-26 | 2017-05-31 | 广东博科数控机械有限公司 | A kind of constant pressure constant linear velocity polishing method of robot polishing machine |
| CN106881768A (en) * | 2017-01-24 | 2017-06-23 | 泉州华中科技大学智能制造研究院 | A kind of method that saw blade processes concave arc on stone material |
| CN106881768B (en) * | 2017-01-24 | 2018-11-09 | 泉州华中科技大学智能制造研究院 | A kind of method that saw blade processes concave arc on stone material |
| CN108098515A (en) * | 2017-12-12 | 2018-06-01 | 科德数控股份有限公司 | A kind of method using a variety of forming grinding wheel processing drill groove profiles |
| CN110421406A (en) * | 2019-07-14 | 2019-11-08 | 深圳市烨嘉为技术有限公司 | Cutter dynamic self-adapting compensation method based on centering error control |
| CN110421406B (en) * | 2019-07-14 | 2021-04-20 | 深圳市烨嘉为技术有限公司 | Dynamic self-adaptive compensation method for cutter based on eccentric difference control |
| CN112264842A (en) * | 2020-10-28 | 2021-01-26 | 福州大学 | Constant linear velocity grinding method based on polar coordinate glass edge grinding machine |
| CN112264842B (en) * | 2020-10-28 | 2022-03-11 | 福州大学 | Constant linear velocity grinding method based on polar coordinate glass edge grinding machine |
| CN113199491A (en) * | 2021-05-26 | 2021-08-03 | 广西大学 | Industrial robot constant-force polishing method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105549545B (en) | 2018-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105549545A (en) | Control algorithm based on constant-linear speed grinding of edge grinding machine | |
| CN104907617B (en) | Zoning cutting-based five-axis milling method of centrifugal compressor impeller | |
| CN103592891A (en) | Method for cutter-axis vector fairing of complex curved surface five-axis numerical control machining based on kinematical constraints | |
| CN100343021C (en) | Grinding wheel normal tracing method during complex curve grinding process | |
| CN106292530B (en) | The up-front optimization design of centrifugal impellers blades import and processing method | |
| CN104875104A (en) | Wheel hub irregular curved surface polishing method based on CAD/CAM technologies | |
| CN103645674A (en) | A method for generating a mixed path of rough-semifine-fine milling of an integrated impeller blade | |
| CN102198632A (en) | Speed control method of cam tangential point tracking grinding | |
| CN109759627B (en) | Method for realizing vertical conversion of numerical control four-axis horizontal milling machine | |
| CN108490874A (en) | A kind of non-linearity PID cross-coupling control method of biaxial movement control system | |
| CN112883505B (en) | Ultra-precise end face turning surface modeling method considering relative vibration of cutter workpiece | |
| CN103707160B (en) | Camshaft grinding transition profile planing method | |
| CN108177028A (en) | Ceramic grinding technique | |
| CN205147997U (en) | Intraocular lens material bowl type radome fairing special processing equipment | |
| Hong et al. | Tool orientations’ generation and nonlinear error control based on complex surface meshing | |
| CN104385084B (en) | Five-axis grinding method for variably-formed base circle planar envelope convex surface workpiece | |
| CN102554779B (en) | Method for processing variable molding point rotating member with straight line-enveloped profile line as convex function | |
| CN102528663B (en) | Variable forming point face-grinding processing method of revolving part with outer contour line as convex function | |
| CN113910021B (en) | Special-shaped excircle grinding method and system | |
| CN105058199B (en) | A kind of artificial crystal material bowl-type radome fairing special processing equipment | |
| CN110414175B (en) | Method for processing parts by using three-dimensional process | |
| CN114137904A (en) | Path generation method for curved surface turning | |
| CN110238704A (en) | A kind of grinding wheel dynamic and intelligent deflection processing method and device | |
| CN102528553A (en) | Method for quickly adjusting servo dynamic parameters of five-axis linkage numerically controlled milling machine | |
| Min et al. | Cutter axis vector smoothing algorithm for five-axis milling |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |