CN109765844B - Numerical control machine tool temperature error compensation estimation method and device - Google Patents
Numerical control machine tool temperature error compensation estimation method and device Download PDFInfo
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Abstract
The invention provides a method and a device for estimating temperature error compensation of a numerical control machine tool, wherein the method comprises the following steps: acquiring the accumulated movement amount of a target workbench corresponding to a target axis in an n +1 th period, wherein n is a positive integer; determining an accumulated heating value in the (n + 1) th period according to the accumulated movement amount; determining the current deformation error according to the accumulated heating value and a deformation error coefficient calibrated in advance; and performing position error compensation on the current deformation error based on the current first position of the target workbench and the second position of the target workbench when the deformation error coefficient is calibrated to obtain an error value for performing temperature error compensation. The embodiment of the invention reduces the cost of the numerical control machine tool.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a method and a device for estimating temperature error compensation of a numerical control machine tool.
Background
As is well known, the temperature compensation algorithm of a Numerical Control (CNC) machine tool is always a difficult problem for the manufacturing industry to improve the machining precision. This is because the ambient temperature or the heat accumulated by the machining may cause expansion of parts of the machine. The expansion range depends on the temperature, thermal conductivity, etc. of the respective machine tool parts. Different temperatures may cause variations in the actual position of the shafts, which may negatively affect the accuracy of the workpiece being machined. These actual variations can be compensated for by temperature compensation, in order to always correctly compensate for the thermal expansion errors. In the prior art, a temperature value detected by a sensor is usually adopted, and an error value is rapidly calculated based on the detected temperature value, so that temperature error compensation is performed on a numerical control machine tool. Because the temperature sensor needs to be installed, the cost of the numerical control machine tool is higher.
Disclosure of Invention
The embodiment of the invention provides a method and a device for estimating temperature error compensation of a numerical control machine tool, which aim to solve the problem of higher cost of the numerical control machine tool caused by temperature error compensation by installing a temperature sensor.
In order to solve the technical problem, the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides a method for estimating temperature error compensation of a numerical control machine, including:
acquiring the accumulated movement amount of a target workbench corresponding to a target axis in an n +1 th period, wherein n is a positive integer;
determining an accumulated heating value in the (n + 1) th period according to the accumulated movement amount;
determining the current deformation error according to the accumulated heating value and a deformation error coefficient calibrated in advance;
and performing position error compensation on the current deformation error based on the current first position of the target workbench and the second position of the target workbench when the deformation error coefficient is calibrated to obtain an error value for performing temperature error compensation.
Optionally, the performing position error compensation on the current deformation error based on the current first position of the target workbench and the second position of the target workbench when the deformation error coefficient is calibrated, and obtaining an error value for performing temperature error compensation includes:
according to Δ Hx＝ΔT*Lx/L0Calculating the error value Δ Hx(ii) a Wherein Δ T represents the current deformation error, LxRepresenting a distance between the first position to a fixed point of the target axis; l is0Representing the distance between the second position and a fixed point of the target axis.
Optionally, the determining the cumulative heating value in the (n + 1) th cycle according to the cumulative moving amount includes:
according to Cn+1＝(Cn+M)*exp(-T/t)Calculating the cumulative heating value C in the (n + 1) th periodn+1Wherein, CnRepresents the cumulative heat generation value in the nth cycle, T represents the period of the cycle, and T represents the heat release period.
Optionally, the determining a current deformation error according to the accumulated heating value and a deformation error coefficient calibrated in advance includes:
according to Δ T ═ Cn+1K calculating the current deformation error Delta T, wherein Cn+1Represents the cumulative heating value in the (n + 1) th period, and K represents the deformation error coefficient.
In a second aspect, an embodiment of the present invention further provides a device for estimating temperature error compensation of a numerical control machine, including:
the acquisition module is used for acquiring the accumulated movement amount of a target workbench corresponding to a target axis in an n +1 th period, wherein n is a positive integer;
the first calculation module is used for determining an accumulated heating value in the (n + 1) th period according to the accumulated movement amount;
the second calculation module is used for determining the current deformation error according to the accumulated heating value and a deformation error coefficient calibrated in advance;
and the processing module is used for carrying out position error compensation on the current deformation error based on the current first position of the target workbench and the second position of the target workbench when the deformation error coefficient is calibrated to obtain an error value for carrying out temperature error compensation.
Optionally, the processing module is specifically configured to: according to Δ Hx＝ΔT*Lx/L0Calculating the error value Δ Hx(ii) a Wherein Δ T represents the current deformation error, LxRepresenting a distance between the first position to a fixed point of the target axis; l is0Representing the distance between the second position and a fixed point of the target axis.
Optionally, the first calculating module is specifically configured to: according to Cn+1＝(Cn+M)*exp(-T/t)Calculating the cumulative heating value C in the (n + 1) th periodn+1Wherein, CnRepresents the cumulative heat generation value in the nth cycle, T represents the period of the cycle, and T represents the heat release period.
Optionally, the second calculating module is specifically configured to: according to deltaT＝Cn+1K calculating the current deformation error Delta T, wherein Cn+1Represents the cumulative heating value in the (n + 1) th period, and K represents the deformation error coefficient.
In a third aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the numerical control machine temperature error compensation estimation method described above.
In the embodiment of the invention, the accumulated movement amount of the target workbench corresponding to the target axis in the (n + 1) th period is obtained, wherein n is a positive integer; determining an accumulated heating value in the (n + 1) th period according to the accumulated movement amount; determining the current deformation error according to the accumulated heating value and a deformation error coefficient calibrated in advance; and when the deformation error coefficient is calibrated based on the current first position of the target workbench, the second position of the target workbench carries out position error compensation on the current deformation error to obtain an error value for carrying out temperature error compensation. Therefore, compared with the prior art, the temperature sensor is not required to be adopted for collecting the temperature value, and therefore the embodiment of the invention reduces the cost of the numerical control machine tool. In addition, because a sensor is not required to be installed, the assembly difficulty of the numerical control machine tool can be reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a flow chart of a method for estimating temperature error compensation of a CNC machine according to an embodiment of the present invention;
fig. 2 is a schematic view of a connection structure between a target axis and a target table in the numerically-controlled machine tool in the numerical control machine tool temperature error compensation estimation method according to the embodiment of the present invention;
fig. 3 is a deformation error curve of a target axis in the method for estimating temperature error compensation of a numerical control machine according to an embodiment of the present invention;
fig. 4 is a structural diagram of a temperature error compensation estimation apparatus for a cnc machine according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart of a method for estimating temperature error compensation of a numerically-controlled machine tool according to an embodiment of the present invention, as shown in fig. 1, including the following steps:
the numerical control machine temperature error compensation estimation method provided by the embodiment of the invention is mainly applied to numerical control machines, the movable axes on the numerical control machine can comprise an X axis, a Y axis and a Z axis, the target axis is any axis in the numerical control machine, and the error compensation can be carried out on any axis in the numerical control machine by the numerical control machine temperature error compensation estimation method provided by the invention. In the following examples, the target axis is the X axis.
As shown in fig. 2, the target axis is a lead screw 201, and the target table 202 is provided on the lead screw 201 via a slider 203 so as to be movable left and right along the lead screw 201. In fig. 2, two target tables 202 are included on the lead screw 201 to indicate a state where the target tables 202 are located at different positions, and it is not necessary to provide two target tables 202 on the lead screw 201 in actual use. Specifically, one end of the screw 201 is used for connecting with a motor, and the other end is in a free state.
In the embodiment of the invention, the moving distance of the target workbench can be recorded in real time, the absolute value of the moving distance is accumulated and accumulated in the integrator, and finally the accumulated moving amount in each period is obtained. For example, in the (n + 1) th cycle, when the movement is first 100mm in the positive direction of the X-axis, then 20mm in the negative direction of the X-axis, then 50mm in the positive direction of the X-axis, and finally 80mm in the negative direction of the X-axis, the cumulative movement amount in the (n + 1) th cycle is 250 mm.
It should be noted that the time for acquiring the accumulated moving amount in the n +1 th cycle may be set according to actual needs, and when the end time of each cycle is reached, the accumulated moving amount in the corresponding cycle may be acquired. That is, the accumulated movement amount in the cycle may be acquired every preset time period, which coincides with the time length of the cycle, and the time at which acquisition is started is the end of the 1 st cycle. Of course, in other embodiments, other time points may be used to obtain and compensate, which is not further limited. In this embodiment, the time length of the period may be set according to actual needs, for example, may be 6 to 10 ms. That is, the accumulated movement amount of the target table in the previous cycle is acquired every 6 to 10ms, and the deformation error is adjusted once.
in the embodiment of the present invention, the calculation manner of the cumulative heating value in the (n + 1) th cycle may be set according to actual needs, for example, in this embodiment, the cumulative heating value may be calculated according to Cn+1＝(Cn+M)*exp(-T/t)Calculating the cumulative heating value C in the (n + 1) th periodn+1Wherein, CnRepresents the cumulative heat generation value in the nth cycle, T represents the period of the cycle, and T represents the heat release period.
The heat release duration refers to a duration from a time point when the temperature rises to cause the maximum deformation error to a time point when the deformation error falls to a preset percentage of the maximum deformation error, and a value of the preset percentage can be set according to actual needs, in the embodiment, the preset percentage is 37%, and at this time, it is determined that the deformation of the target axis tends to a static equilibrium state.
103, determining a current deformation error according to the accumulated heating value and a deformation error coefficient calibrated in advance;
in the embodiment of the present invention, the calculation manner of the current deformation error may be set according to actual needs, for example, in the embodiment, Δ T ═ C may be usedn+1K calculating the current deformation error Delta T, wherein Cn+1Represents the cumulative heating value in the (n + 1) th period, and K represents the deformation error coefficient.
The deformation error coefficient is calibrated in advance, for example, before the numerically-controlled machine tool leaves a factory or after the numerically-controlled machine tool is installed, a user can calibrate the deformation error coefficient of the numerically-controlled machine tool. Specifically, the calibration process is described in detail in the following examples.
And 104, performing position error compensation on the current deformation error based on the current first position of the target workbench and the second position of the target workbench when the deformation error coefficient is calibrated, so as to obtain an error value for performing temperature error compensation.
In the embodiment of the present invention, the calculation manner of the error value may be set according to actual needs, for example, in the embodiment, the error value may be calculated according to Δ Hx＝ΔT*Lx/L0Calculating the error value Δ Hx(ii) a Wherein Δ T represents the current deformation error, LxRepresenting a distance between the first position to a fixed point of the target axis; l is0Representing the distance between the second position and a fixed point of the target axis.
As shown in fig. 2, one end of the target shaft is mounted on the fixing block and connected to the motor, the other end is a free end, and a fixing point is formed at the fixing block of the target shaft. In fig. 2, when the target table is located at a first position, the distance L between the first position and the fixed pointxIs 100 mm; when the target table is at the second position, the distance L between the second position and the fixed point0Is 950 mm. The first position is a target position where the target stage moves at the current time (the (n + 1) th cycle end time).
The current deformation error is indicated in the indexAnd when the second position of the target workbench with the deformation error coefficient is determined, the deformation error correspondingly generated at the current temperature, namely the deformation error is the deformation error of the second position at the current temperature. Based on the deformation error, the above equation Δ H is usedx＝ΔT*Lx/L0A corresponding error value at the first position may be calculated.
In the embodiment of the invention, the accumulated movement amount of the target workbench corresponding to the target axis in the (n + 1) th period is obtained, wherein n is a positive integer; determining an accumulated heating value in the (n + 1) th period according to the accumulated movement amount; determining the current deformation error according to the accumulated heating value and a deformation error coefficient calibrated in advance; and when the deformation error coefficient is calibrated based on the current first position of the target workbench, the second position of the target workbench carries out position error compensation on the current deformation error to obtain an error value for carrying out temperature error compensation. Therefore, compared with the prior art, the temperature sensor is not required to be adopted for collecting the temperature value, and therefore the embodiment of the invention reduces the cost of the numerical control machine tool. In addition, because a sensor is not required to be installed, the assembly difficulty of the numerical control machine tool can be reduced.
For a better understanding of the present invention, the following is a detailed description of the process of calibrating the deformation error coefficient and testing the above-described heat-release time period.
Specifically, first, a temperature sensor is disposed on the target axis, and the target table is moved to the test origin (i.e., the second position); and then controlling the target workbench to rapidly move back and forth on the target shaft at a high speed, so that the temperature of the target shaft is increased. In the moving process, the target workbench moves to the test origin at intervals of preset time (the time can be consistent with the time of the period), the temperature value detected by the temperature sensor is obtained when the preset time reaches each time, and the moving distance in each preset time is determined according to a program for controlling the movement of the target workbench. When the temperature rises to cause the maximum deformation error (for example, 50um), the target workbench is not controlled to move any more, the target shaft is statically cooled, the distance between the target workbench and the fixed point is recorded at intervals, and the deformation error of the target shaft can be calculated according to the distance between the target workbench and the fixed point recorded at each interval, so that the heat release duration is obtained. Specifically, as shown in fig. 3, the percentage is 37%, that is, exp (-1), and the heat release time length is a time length required for the target axis to decrease from the maximum deformation error 50um to 18.4um in the static state, and in this embodiment, the heat release time length is 600ms, but in other embodiments, other values are also possible, and are not listed here.
After obtaining the heat release time, the temperature value detected by the temperature sensor when the heat release time reaches the preset time each time, and the moving distance within each preset time, the heat release time can be calculated according to the formula 1: cn+1＝(Cn+M)*exp(-T/t)Calculating Cn(ii) a Finally, according to equation 2: Δ T ═ Cn+1K and formula 3: Δ Hx＝ΔT*Lx/L0The coefficient K is derived.
It should be noted that, various optional implementations described in the embodiments of the present invention may be implemented in combination with each other or implemented separately, and the embodiments of the present invention are not limited thereto.
Referring to fig. 4, fig. 4 is a structural diagram of a temperature error compensation estimation apparatus for a cnc machine according to an embodiment of the present invention, and as shown in fig. 4, the temperature error compensation estimation apparatus 400 for a cnc machine includes:
an obtaining module 401, configured to obtain an accumulated movement amount of a target table corresponding to a target axis in an (n + 1) th period, where n is a positive integer;
a first calculating module 402, configured to determine an accumulated heating value in an (n + 1) th cycle according to the accumulated movement amount;
a second calculating module 403, configured to determine a current deformation error according to the accumulated heating value and a deformation error coefficient calibrated in advance;
a processing module 404, configured to perform position error compensation on the current deformation error based on the current first position of the target workbench and the second position of the target workbench when the deformation error coefficient is calibrated, so as to obtain an error value for performing temperature error compensation.
Optionally, the processing module404 is specifically configured to: according to Δ Hx＝ΔT*Lx/L0Calculating the error value Δ Hx(ii) a Wherein Δ T represents the current deformation error, LxRepresenting a distance between the first position to a fixed point of the target axis; l is0Representing the distance between the second position and a fixed point of the target axis.
Optionally, the first calculating module 402 is specifically configured to: according to Cn+1＝(Cn+M)*exp(-T/t)Calculating the cumulative heating value C in the (n + 1) th periodn+1Wherein, CnRepresents the cumulative heat generation value in the nth cycle, T represents the period of the cycle, and T represents the heat release period.
Optionally, the second calculating module 403 is specifically configured to: according to Δ T ═ Cn+1K calculating the current deformation error Delta T, wherein Cn+1Represents the cumulative heating value in the (n + 1) th period, and K represents the deformation error coefficient.
The temperature error compensation estimation device for the numerical control machine tool provided by the embodiment of the invention can realize each process of the method embodiments of fig. 1 to 3, and is not repeated here for avoiding repetition.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when being executed by a processor, the computer program realizes each process of the numerical control machine temperature error compensation estimation method embodiment, and can achieve the same technical effect, and in order to avoid repetition, the description is omitted here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The technical solution of the present invention may be substantially implemented or partially implemented in the prior art, and the technical solution may be implemented in the form of a software product, which is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A temperature error compensation estimation method for a numerical control machine tool is characterized by comprising the following steps:
acquiring the accumulated movement amount of a target workbench corresponding to a target axis in an n +1 th period, wherein n is a positive integer;
determining an accumulated heating value in the (n + 1) th period according to the accumulated movement amount;
determining the current deformation error according to the accumulated heating value and a deformation error coefficient calibrated in advance;
performing position error compensation on the current deformation error based on the current first position of the target workbench and the second position of the target workbench when the deformation error coefficient is calibrated to obtain an error value for performing temperature error compensation;
wherein the determining of the cumulative heating value in the (n + 1) th cycle according to the cumulative moving amount includes:
according to Cn+1＝(Cn+M)*exp(-T/t)Calculating the cumulative heating value C in the (n + 1) th periodn+1Wherein, CnRepresents the cumulative heat generation value in the nth cycle, T represents the period of the cycle, and T represents the heat release period.
2. The method of claim 1, wherein the compensating for the position error of the current deformation error based on the current first position of the target stage and the second position of the target stage when calibrating the deformation error coefficient, and obtaining the error value for compensating for the temperature error comprises:
according to Δ Hx＝ΔT*Lx/L0Calculating the error value Δ Hx(ii) a Wherein Δ T represents the current deformation error, LxRepresenting a distance between the first position to a fixed point of the target axis; l is0Representing the distance between the second position and a fixed point of the target axis.
3. The method of claim 1, wherein determining the current deformation error according to the accumulated heating value and a deformation error coefficient calibrated in advance comprises:
according to Δ T ═ Cn+1K calculating the current deformation error Delta T, wherein Cn+1Represents the cumulative heating value in the (n + 1) th period, and K represents the deformation error coefficient.
4. A temperature error compensation estimation device for a numerical control machine tool is characterized by comprising:
the acquisition module is used for acquiring the accumulated movement amount of a target workbench corresponding to a target axis in an n +1 th period, wherein n is a positive integer;
the first calculation module is used for determining an accumulated heating value in the (n + 1) th period according to the accumulated movement amount;
the second calculation module is used for determining the current deformation error according to the accumulated heating value and a deformation error coefficient calibrated in advance;
the processing module is used for carrying out position error compensation on the current deformation error based on the current first position of the target workbench and the second position of the target workbench when the deformation error coefficient is calibrated to obtain an error value for carrying out temperature error compensation;
wherein the first computing module is specifically configured to: according to Cn+1＝(Cn+M)*exp(-T/t)Calculating the cumulative heating value C in the (n + 1) th periodn+1Wherein, CnRepresents the cumulative heat generation value in the nth cycle, T represents the period of the cycle, and T represents the heat release period.
5. The apparatus according to claim 4, wherein the processing module is specifically configured to: according to Δ Hx＝ΔT*Lx/L0Calculating the error value Δ Hx(ii) a Wherein Δ T represents the current deformation error, LxRepresenting a distance between the first position to a fixed point of the target axis; l is0Representing the distance between the second position and a fixed point of the target axis.
6. The apparatus according to claim 4, wherein the second calculating module is specifically configured to: according to Δ T ═ Cn+1K calculating the current deformation error Delta T, wherein Cn+1Represents the cumulative heating value in the (n + 1) th period, and K represents the deformation error coefficient.
7. A computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the steps of the numerical control machine temperature error compensation estimation method of any one of claims 1 to 3.
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