CN108241338A - A kind of numerically-controlled machine tool heat error compensation control device - Google Patents
A kind of numerically-controlled machine tool heat error compensation control device Download PDFInfo
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- CN108241338A CN108241338A CN201810070115.6A CN201810070115A CN108241338A CN 108241338 A CN108241338 A CN 108241338A CN 201810070115 A CN201810070115 A CN 201810070115A CN 108241338 A CN108241338 A CN 108241338A
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- 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 invention discloses a kind of numerically-controlled machine tool heat error compensation control device, including embedded main control unit, heat error compensation computing unit, data acquisition process unit, temperature detecting unit, position detection unit and phototube coupling unit.The numerically-controlled machine tool is in heat error compensation control device, temperature detecting unit and position detection unit are connected using wireless transmission method with data acquisition process unit so that it is few that simple, easy to connect and occupancy interface is connected up between multiple temperature detecting units, multiple position detection units and data acquisition process unit；Thermal Error is compensated by inputting numerical control device after phototube coupling unit again to complete the heat error compensation of lathe, it avoids due to embedded main control unit small volume and during machine tool mechanical bulky dimensions, so that vibrations, noise and electromagnetic interference are generated in process, so as to which the safety of thermal compensation device controller operation and stability be effectively ensured.
Description
Technical field
The present invention relates to numerical control machine tool technique field more particularly to a kind of numerically-controlled machine tool heat error compensation control devices.
Background technology
Machine tool thermal error be due to the effect of external heat source in lathe make lathe building block occur thermal deformation caused by,
Lathe more accurate, at a high speed, large-scale, the ratio that Thermal Error accounts for overall error are bigger.Thermal Error not only makes under the dimensional accuracy of product
Drop, and because size adjusting generates strong influence to the productivity of product.Research shows that, Thermal Error is numerically-controlled machine tool both at home and abroad
One of maximum error source accounts for the 40%-70% of overall error.It can be seen that effectively control Thermal Error, the effective numerical control machine of exploitation
Bed thermal error compensating device has great significance to improving numerically-controlled machine tool machining accuracy.
At present, there are mainly two types of the modes for reducing the Thermal Error of numerical control processing apparatus：Error prevents method and error compensation method.
Error prevents method to rely on the method for improving the improvement hardware such as numerical control processing apparatus structure design or is directly realized by control to temperature
It makes to reduce Thermal Error, this method can reduce heat source Wen Sheng, equilibrium Wen Sheng and reduce digital control processing dress to a certain extent
Thermal deformation is put, but structure design and the cost of manufacture can be increased.Error compensation method is exactly to obtain numerical control by analysis modeling to add
The error of system is eliminated or reduced to the error estimation that tooling is put then using the appropriate compensation of different methods, be it is a kind of both
The means of effective and economic raising numerical control processing apparatus machining accuracy.At present, the method for heat error compensation has become domestic and international
The important research field of modern precision engineering.However, there are the following problems for existing Error Compensation Technology：
(1) since the temperature sensor of heat error compensation technology is arranged with position sensor using parallel form,
Thus, each temperature sensor and position sensor must be connect by individual line with acquisition controller, be caused multiple
Wiring after temperature sensor, multiple position sensors are connected with acquisition control unit is complicated.
(2) it since the temperature sensor of heat error compensation technology is using thermal resistance or thermocouple, exports as weak electric signal,
The antijamming capability of thermal error compensating device is caused to decline, the robustness and versatility of error compensation model are not good enough.
(3) error compensation calculating is completed using single DSP or ARM chips due to heat error compensation technology to control with acquisition
System, chip power-consumption is big, response is slower, and the real-time of error compensation is bad.
(4) due to heat error compensation compensator obtains the feedback pulse signal of encoder when, the space calculated with compensator
Error pulse signal is mutually added and subtracted, and is then inserted into the thermal compensation signal as phase signal in servo loop by the use of special electronic device.
When the insertion is more complicated, it is susceptible between the feedback signal of thermal compensation signal and lathe in itself and interferes, so as to influence
The stability of work of numerical control machine.
Invention content
The present invention provides a kind of numerically-controlled machine tool heat error compensation control devices so that heat error compensation control device cloth
Line is flexible, can effectively avoid generating vibrations, noise and electromagnetic interference in process, ensures the operation of thermal compensation device controller
Safety and stability.
To realize above-mentioned design, the present invention uses following technical scheme：
A kind of numerically-controlled machine tool heat error compensation control device calculates single including embedded main control unit, heat error compensation
Member, data acquisition process unit, temperature detecting unit, position detection unit and phototube coupling unit；
The data acquisition process unit acquires the number that the temperature detecting unit measures in real time by wireless transport module
The position of numerically-controlled machine tool key position that temperature information and the position detection unit at control lathe temperature sensitivity measure in real time
Information；
The embedded main control unit obtains the temperature information of the data acquisition process unit acquisition by GPIO interface
And location information, and the data acquisition modes of the data acquisition process unit are set；
The heat error compensation computing unit receives the temperature information by HPI interfaces from the embedded main control unit
And location information, according to the temperature information and location information and the mathematical model computation model parameter pre-established, and will
The model parameter returns to the embedded main control unit；
The embedded main control unit calculates compensation Thermal Error according to the model parameter and the temperature information, by described in
Compensation Thermal Error inputs numerical control device to complete the heat error compensation of lathe by the phototube coupling unit.
Wherein, the mathematical model pre-established is multiple linear regression or neural network model.
Wherein, including end bearing block, lead screw shaft bearings, nut seat, main shaft before main shaft of numerical control machine tool at the temperature sensitivity
Case and lathe bed；The X of the key position including main shaft of numerical control machine tool is to, Y-direction and Z-direction.
Wherein, the data acquisition modes include acquisition channel and frequency acquisition.
Wherein, the data acquisition process unit uses fpga chip, equipped with wireless transport module.
Wherein, the embedded main control unit uses ARM chips, equipped with RJ45 communication interfaces.
Wherein, the heat error compensation computing unit uses dsp chip.
Wherein, the temperature detecting unit uses fiber-optical grating temperature sensor, equipped with wireless transport module.
Wherein, the position detection unit uses current vortex sensor, equipped with wireless transport module.
Wherein, it is described that the compensation Thermal Error is inputted into numerical control device to complete lathe by the phototube coupling unit
Heat error compensation, specially：By it is described compensation Thermal Error by after the phototube coupling unit by the GPIO mouths of numerical control device into
Enter the numerical control device, translate the reference origin of the numerical control device by PLC programmings according to the compensation Thermal Error, and by institute
It states in the control signal of compensation Thermal Error addition servo loop to realize the compensation to the margin of error of the CNC control devices.
Beneficial effects of the present invention are：The numerically-controlled machine tool heat error compensation control device of the present invention, including embedded master
Control unit, heat error compensation computing unit, data acquisition process unit, temperature detecting unit, position detection unit and photoelectricity every
From unit；The data acquisition process unit acquires the numerical control that the temperature detecting unit measures in real time by wireless transport module
The position letter for the numerically-controlled machine tool key position that temperature information and the position detection unit at lathe temperature sensitivity measure in real time
Breath；The embedded main control unit obtains temperature information and the position that the data acquisition process unit acquires by GPIO interface
Information, and the data acquisition modes of the data acquisition process unit are set；The heat error compensation computing unit is connect by HPI
Mouthful receive the temperature information and location information from the embedded main control unit, according to the temperature information and location information with
And the mathematical model computation model parameter pre-established, and the model parameter is returned into the embedded main control unit；Institute
It states embedded main control unit and compensation Thermal Error is calculated according to the model parameter and the temperature information, by the compensation Thermal Error
Numerical control device is inputted by the phototube coupling unit to complete the heat error compensation of lathe.Numerically-controlled machine tool heat error compensation control
In device processed, temperature detecting unit and position detection unit are connected using wireless transmission method with data acquisition process unit
It connects so that simple, connection is connected up between multiple temperature detecting units and multiple position detection units and data acquisition process unit
Convenient and occupancy interface is few；Thermal Error is compensated by inputting numerical control device after phototube coupling unit again to complete the Thermal Error of lathe
Compensation, avoid due to embedded main control unit small volume and during machine tool mechanical bulky dimensions so that shake is generated in process
Dynamic, noise and electromagnetic interference, so as to which the safety of thermal compensation device controller operation and stability be effectively ensured.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, institute in being described below to the embodiment of the present invention
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example for those of ordinary skill in the art, without creative efforts, can also be implemented according to the present invention
The content of example and these attached drawings obtain other attached drawings.
Fig. 1 is the structure of a kind of numerically-controlled machine tool heat error compensation control device provided in the specific embodiment of the invention
Block diagram.
Fig. 2 is the insertion of a kind of numerically-controlled machine tool heat error compensation control device provided in the specific embodiment of the invention
The block diagram of formula main control unit.
Fig. 3 is the data of a kind of numerically-controlled machine tool heat error compensation control device provided in the specific embodiment of the invention
The block diagram of acquisition process unit.
Fig. 4 is that a kind of heat of the numerically-controlled machine tool heat error compensation control device provided in the specific embodiment of the invention is missed
The block diagram of poor compensation calculation unit.
Fig. 5 is the temperature of a kind of numerically-controlled machine tool heat error compensation control device provided in the specific embodiment of the invention
The block diagram of detection unit.
Fig. 6 is the position of a kind of numerically-controlled machine tool heat error compensation control device provided in the specific embodiment of the invention
The block diagram of detection unit.
Fig. 7 is the error of a kind of numerically-controlled machine tool heat error compensation control device provided in the specific embodiment of the invention
The block diagram of compensation principle.
Specific embodiment
For make present invention solves the technical problem that, the technical solution that uses and the technique effect that reaches it is clearer, below
The technical solution of the embodiment of the present invention will be described in further detail with reference to attached drawing, it is clear that described embodiment is only
It is part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art exist
All other embodiments obtained under the premise of creative work are not made, shall fall within the protection scope of the present invention.
As shown in Figure 1, the numerically-controlled machine tool heat error compensation control device of the present invention, including embedded main control unit, heat
Error compensation computing unit, data acquisition process unit, temperature detecting unit, position detection unit and phototube coupling unit.Temperature
Degree detection unit is made of multiple temperature sensors being arranged on numerically-controlled machine tool ontology at temperature sensitivity, collects these temperature biography
The temperature information that sensor measures in real time；Position detection unit is passed by multiple displacements for being arranged on key position on numerically-controlled machine tool ontology
Sensor forms, and collects the location information that these displacement sensors measure in real time；Temperature detecting unit, position detection unit are respectively provided with
There is wireless transport module, by wireless network connection between data acquisition process unit, and by temperature information, location information
Data acquisition process unit is transferred to by wireless transport module.Embedded main control unit as host computer by GPIO interface from
Data acquisition process unit receives data, and sets the data acquisition modes of data acquisition process unit.Heat error compensation calculates
Unit receives temperature information and location information by HPI interfaces from embedded main control unit, is believed according to the temperature information and position
The mathematical model computation model parameter for ceasing and pre-establishing, and counted model parameter is returned into embedded main control unit.
Embedded main control unit calculates compensation Thermal Error according to the model parameter and temperature information, and will compensation Thermal Error by photoelectricity every
Numerical control device is inputted from unit, then translates to realize the heat error compensation of numerically-controlled machine tool by control lathe coordinate system.
Wherein, the compensation Thermal Error is inputted into numerical control device to complete the heat of lathe accidentally by the phototube coupling unit
Difference compensation, specially：By the compensation Thermal Error by entering institute by the GPIO mouths of numerical control device after the phototube coupling unit
Numerical control device is stated, translates the reference origin of the numerical control device by PLC programmings according to the compensation Thermal Error, and by the benefit
It repays in the control signal of Thermal Error addition servo loop to realize the compensation to the margin of error of the numerical control device.
Optionally, including end bearing block, lead screw shaft bearings, nut seat, spindle box before main shaft of numerical control machine tool at temperature sensitivity
And lathe bed.The X of key position including main shaft of numerical control machine tool is to, Y-direction and Z-direction.
Optionally, the mathematical model pre-established can be multiple linear regression or neural network model.
Optionally, data acquisition modes include acquisition channel and frequency acquisition.
Optionally, embedded main control unit uses ARM chips, equipped with RJ45 communication interfaces.
As shown in Fig. 2, embedded main control unit uses ARM chips, there is the operating system based on μ CLinux, be that heat is missed
Host computer in difference compensating device.ARM chips are communicated by GPIO mouthfuls with FPGA (data acquisition process unit), are obtained from FPGA
The temperature information and location information measured in real time, and the data acquisition parameters of FPGA are set；ARM chips pass through GPIO mouthfuls and numerical control
The CNC communications of lathe, the last compensation Thermal Error for calculating acquisition is defeated by the GPIO of phototube coupling unit and numerical control device mouths
Enter numerical control device；ARM chips are believed temperature information and position by HPI mouthfuls and the communication of DSP (heat error compensation computing unit)
Breath is transferred to DSP, and obtains model parameter from DSP；ARM chips connect touch screens by GPIO mouthfuls, realize interactive capability,
Handle the return information task of man-machine interface；ARM chips pass through RJ45 communication interfaces and outer PC (Personal
Computer, personal computer) it is connected, to realize the remote access of data；ARM chips pass through SRAM mouthfuls of acquisition error compensation moulds
Type brings model parameter and temperature information into the error compensation model, so as to calculate compensation Thermal Error；ARM chips pass through
JTAG mouthfuls are connected with detail programming module, and the programs such as the error compensation model in chip are debugged；ARM chips can also be real
Now to functions such as the predictions of real-time Thermal Error.
Embedded main control unit calculate compensate Thermal Error when, without acquiring position data, it is only necessary to according to pre-establishing
Mathematical model, DSP calculate model parameter and acquisition temperature data calculate compensation Thermal Error.Then by counted compensation heat
Error is converted to thermal compensation signal and is input in numerical control device by GPIO mouthfuls of phototube coupling unit and numerical control device, and control lathe is sat
Mark system translates the heat error compensation to complete lathe.
Data acquisition process unit as shown in Figure 3, it uses fpga chip, equipped with wireless transport module, biography that this is wireless
Defeated module is used to handle the real-time acquisition of multiple wireless high-speed data (temperature information and location information), and above-mentioned data are passed through
GPIO interface is sent to embedded main control unit (ARM chips).It meanwhile also can be by the interface from embedded main control unit (ARM
Chip) data acquisition modes that obtain fpga chip (data acquisition process unit) have related parameter, such as acquisition channel, acquisition frequency
Rate etc..
Heat error compensation computing unit as shown in Figure 4, it carries out the meter of heat error compensation model parameter based on dsp chip
It calculates, the temperature and thermal error data of acquisition is obtained from the embedded main control unit based on ARM by HPI interfaces, according to building in advance
Vertical mathematical model such as multiple linear regression, neural network model, calculates model parameter.Dsp chip (heat error compensation meter
Calculate unit) it can be according to the temperature information and location information of the transmission of ARM chips, with reference to the mathematical model quick obtaining mould pre-established
Then the model parameter of calculating is returned to ARM chips by shape parameter by HPI interfaces.
The calculation amount of model parameter is very big, and the model parameter for compensating Thermal Error and using, meter are individually calculated using dsp chip
The calculation amount for quickly, alleviating embedded main control unit is calculated, improves the real-time effect of heat error compensation.And if this is counted
Function is calculated to be integrated on embedded main control unit, then can be too big due to the calculation amount of model parameter, lead to embedded main control unit
Chip (ARM chips) power consumption is too big, response is too slow, the final real-time for influencing compensation Thermal Error so that heat error compensation
Effect is poor.
Temperature detecting unit as shown in Figure 5 includes fiber-optical grating temperature sensor, fiber Bragg grating (FBG) demodulator, equipped with RJ45
The wireless communication module and power module of interface.Fiber-optical grating temperature sensor is installed on numerically-controlled machine tool, the heat of numerically-controlled machine tool
Deformation can make grating fibers generate deformation, be obtained between slight change produced by detecting internal optical wavelength by fiber Bragg grating (FBG) demodulator
Obtain numerically-controlled machine tool temperature information.Since fiber grating is transmitted using optical signalling, not by industrial environment electromagnetic interference
Influence, have very high stability.Fiber Bragg grating (FBG) demodulator transmits temperature data outward using Ethernet, using wireless communication
Wired Ethernet is converted to wireless communication, and temperature data is transferred to data acquisition process unit by module, greatly letter
Wiring is changed.Sensor arrangement at numerically-controlled machine tool temperature sensitivity, acquisition front-end of spindle bearing block, lead screw shaft bearings, nut seat,
Temperature information near spindle box, lathe bed and lathe etc..
Position detection unit as shown in Figure 6 includes current vortex sensor, input modulate circuit, the PLC equipped with A/D interfaces
Microcontroller, detail programming module, wireless communication module and power module, current vortex sensor are mounted on each kinematic axis, in full
Lathe X is controlled at, Y-direction and Z-direction, detects the accurate variation of kinematic axis.The analog signal of current vortex sensor is through input conditioning electricity
After road filtering and amplification digital signal is converted into using the PLC microcontrollers equipped with A/D interfaces.Module number by radio communication
Word signal transmission gives data acquisition process unit.
Operation principle：Fig. 7 is please referred to, embedded main control unit (ARM chips) host computer carries out data by GPIO port
The function definition of each port of detection unit and temperature and position data acquisition period.Data acquisition process unit passes through wireless
Transmission module sends the data acquisition command with timestamp with the forms of broadcasting to temperature detecting unit, position detection unit；Temperature
After spending detection unit, position detection unit by data acquisition command, temperature sensor and position sensor detection are read respectively
Data, respectively random delay for a period of time to data acquisition process unit send temperature sensor and position sensor detection
Data and time stamp data.In work pieces process real-time compensation, heat error compensation computing unit is by HPI interfaces from embedded master
It controls unit and receives temperature information and location information, and according to the temperature information and location information and the mathematical model pre-established
Computation model parameter, and counted model parameter is returned into embedded main control unit.Embedded main control unit ARM will compensate heat
Error is converted to error compensating signal, and by phototube coupling unit, the error compensating signal is sent to the GPIO interface of digital control system,
Then it is designed by PLC program and the value for compensating Thermal Error is read in into the R addresses of PLC and the error information storage unit specified is written
In (G addresses), numerical control device will compensate heat accidentally further according to the external lathe coordinate system of error information control offset in G addresses
In the control signal of servo loop that the value of difference is added to servo-drive system, it is achieved thereby that the heat error compensation to numerically-controlled machine tool.
The present invention realizes the data exchange of thermal compensation device and numerical control device by the way of Phototube Coupling, be avoided that due to
Embedded main control unit small volume, and machine tool mechanical bulky dimensions so that vibrations, noise and electromagnetism are also easy to produce in process
The situation of interference, so as to which the safety of heat error compensation control device operation and stability be effectively ensured.
In conclusion the numerically-controlled machine tool of the present invention realizes heat with heat error compensation control device by the way of Phototube Coupling
The data exchange of compensation device and numerical control device is avoided that due to embedded main control unit small volume, and machine tool mechanical size
It is huge so that the situation of vibrations, noise and electromagnetic interference to be also easy to produce in process, so as to which heat error compensation control be effectively ensured
The safety of device operation and stability.Using wireless transmission method by multiple temperature detecting units and multiple position detection units
It is connect with data acquisition process unit, has many advantages, such as that wiring is simple, easy to connect, it is few to occupy interface.Using fiber grating temperature
Sensor is spent, substantially increases the anti-interference of system, the scene temperature for being suitable for adverse circumstances measures.Using FPGA, ARM and
Tri- kinds of chips of DSP are respectively completed data acquisition process, embedded interaction control is calculated with error compensation model parameter, have response
The advantages of speed is fast, control function is powerful, man-machine interface is friendly.Error compensation is programmed by PLC and realized, without special electronics
Phase signal is added in servo loop by device, will not be interfered and shadow because of thermal compensation signal and the feedback signal of lathe in itself
Ring the stability of work.
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and it cannot be construed to limiting the scope of the invention in any way.Based on explanation herein, the technology of this field
Personnel would not require any inventive effort the other specific embodiments that can associate the present invention, these modes are fallen within
Within protection scope of the present invention.
Claims (10)
1. a kind of numerically-controlled machine tool heat error compensation control device, which is characterized in that mended including embedded main control unit, Thermal Error
Repay computing unit, data acquisition process unit, temperature detecting unit, position detection unit and phototube coupling unit；
The data acquisition process unit acquires the numerical control machine that the temperature detecting unit measures in real time by wireless transport module
The location information of numerically-controlled machine tool key position that temperature information and the position detection unit at bed tempertaure sensitivity measure in real time；
The embedded main control unit obtains temperature information and the position that the data acquisition process unit acquires by GPIO interface
Confidence ceases, and sets the data acquisition modes of the data acquisition process unit；
The heat error compensation computing unit receives the temperature information and position by HPI interfaces from the embedded main control unit
Confidence ceases, according to the temperature information and location information and the mathematical model computation model parameter pre-established, and by described in
Model parameter returns to the embedded main control unit；
The embedded main control unit calculates compensation Thermal Error according to the model parameter and the temperature information, by the compensation
Thermal Error inputs numerical control device to complete the heat error compensation of lathe by the phototube coupling unit.
2. a kind of numerically-controlled machine tool heat error compensation control device according to claim 1, which is characterized in that described advance
The mathematical model of foundation is multiple linear regression or neural network model.
A kind of 3. numerically-controlled machine tool heat error compensation control device according to claim 1, which is characterized in that the temperature
Including end bearing block, lead screw shaft bearings, nut seat, spindle box and lathe bed before main shaft of numerical control machine tool at sensitivity；The key position
X including main shaft of numerical control machine tool is to, Y-direction and Z-direction.
A kind of 4. numerically-controlled machine tool heat error compensation control device according to claim 1, which is characterized in that the data
Acquisition mode includes acquisition channel and frequency acquisition.
5. according to a kind of claim 1-4 any one of them numerically-controlled machine tool heat error compensation control device, which is characterized in that
The data acquisition process unit uses fpga chip, equipped with wireless transport module.
6. according to a kind of claim 1-4 any one of them numerically-controlled machine tool heat error compensation control device, which is characterized in that
The embedded main control unit uses ARM chips, equipped with RJ45 communication interfaces.
7. according to a kind of claim 1-4 any one of them numerically-controlled machine tool heat error compensation control device, which is characterized in that
The heat error compensation computing unit uses dsp chip.
8. according to a kind of claim 1-4 any one of them numerically-controlled machine tool heat error compensation control device, which is characterized in that
The temperature detecting unit uses fiber-optical grating temperature sensor, equipped with wireless transport module.
9. according to a kind of claim 1-4 any one of them numerically-controlled machine tool heat error compensation control device, which is characterized in that
The position detection unit uses current vortex sensor, equipped with wireless transport module.
10. according to a kind of claim 1-4 any one of them numerically-controlled machine tool heat error compensation control device, feature exists
In described that the compensation Thermal Error is inputted numerical control device by the phototube coupling unit to complete the Thermal Error of lathe benefit
It repays, specially：By the compensation Thermal Error by entering the number by the GPIO mouths of numerical control device after the phototube coupling unit
Device is controlled, translates the reference origin of the numerical control device by PLC programmings according to the compensation Thermal Error, and heat is compensated by described
With compensation of the realization to the margin of error of the numerical control device in the control signal of error addition servo loop.
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| CN108803485A (en) * | 2018-07-05 | 2018-11-13 | 大连理工大学 | Numerically-controlled machine tool external type heat error compensating method based on i5 iport agreements |
| CN109514285A (en) * | 2019-01-11 | 2019-03-26 | 安徽理工大学 | A kind of real-time acquisition system of XY worktable absolute optical gate signal based on DSP |
| CN109656198A (en) * | 2019-01-31 | 2019-04-19 | 大连理工大学 | A kind of feed shaft Thermal Error self-adapting compensation method |
| CN109709895A (en) * | 2019-01-22 | 2019-05-03 | 宁波大学 | A kind of main shaft of numerical control machine tool thermal error modeling training method based on image threshold setting |
| CN111665787A (en) * | 2020-06-30 | 2020-09-15 | 安徽理工大学 | DSP-based real-time acquisition and compensation system for thermal errors of two-dimensional workbench |
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| CN109656198A (en) * | 2019-01-31 | 2019-04-19 | 大连理工大学 | A kind of feed shaft Thermal Error self-adapting compensation method |
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