CN109828534A - A kind of real time profile error compensating method of embedded cutting controller - Google Patents

A kind of real time profile error compensating method of embedded cutting controller Download PDF

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CN109828534A
CN109828534A CN201910003663.1A CN201910003663A CN109828534A CN 109828534 A CN109828534 A CN 109828534A CN 201910003663 A CN201910003663 A CN 201910003663A CN 109828534 A CN109828534 A CN 109828534A
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speed
errors
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CN109828534B (en
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俞立
杨舒捷
董辉
何德峰
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Zhejiang University of Technology ZJUT
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Abstract

A kind of real time profile error compensating method of embedded cutting controller, includes the following steps: the deviation between the current location and desired locations by encoder feedback, obtains the direct position error E of X-axis and Y-axisxAnd Ey, according to the deviation between present speed and desired speed, get indirect position error E in an interpolation cycle T inner productx' and Ey'.According to profile errors model, direct profile errors ε is calculated1=-CxEx+CyEy, and profile errors ε indirectly2=-CxEx'+CyEy', take E 'c=max { ε1,ε2}.Based on the real time profile error estimator, using variant gain cross-coupling PID controller, to largest contours error E 'cReal-time compensation.Present invention can apply to the cutting of any nonlinear loci, calculate that maximum real time profile error speed is fast, high-efficient, it is good to the profile control adaptability of nonlinear loci, precision is high.

Description

A kind of real time profile error compensating method of embedded cutting controller
Technical field
The invention belongs to industrial numerical control device field of automation technology, it is related to a kind of applied to embedded cutting controller Real time profile error compensating method.
Background technique
With the acceleration of industrial automation process and the continuous development of computer technology, embedded microprocessor is more and more Ground is applied to modern industry field.For high-speed, high precision multiaxial motion system, it is embedded control integrated controller have at The advantages that this is low, compact-sized, small in size, laying-out is easy, electromagnetic interference is few.Domestic medium-sized and small enterprises move low and middle-end and control The demand of control equipment is increasing, and the related application of the Motion Control Platform is also increasingly mature, as cutting, template cutter, Ink jet printer etc..
It is cut in this type games in 3D printing, spray painting, cardboard, profile control is core technology therein, and profile errors are past Past is the prior performance indicator of comparison-tracking error.But in the actual production process, most of Motion Control Platform is mostly to select The method of speed planning, reasonable design locus interpolation period rarely have concern to profile control algolithm.Only a few applies profile The high-end Motion Control Platform of control technology also mainly uses traditional profile control strategy, is missed by reducing uniaxial tracking Difference reduces profile errors.However, a host of facts illustrate, the profile errors of uniaxial tracking error and system are not exclusively in positive The relationship of pass.Asynchronous between kinematic axis can cause profile errors to increase, on the other hand, even if synchronous in relative motion axis Under the premise of, for any deep camber nonlinear loci, it is possible to there is the phenomenon that tracking error reduces, profile errors increase.
Summary of the invention
In view of the above-mentioned problems, the present invention proposes a kind of real time profile error compensation side applied to embedded cutting controller Method, according to the origin cause of formation of profile errors, comprehensive displacement error and velocity error calculate time-varying coupling operator, real-time estimation largest contours Error model compensates the profile errors of any high speed deep camber nonlinear loci, to achieve the effect that high-accurate outline controls.
The technical solution adopted by the present invention to solve the technical problems is as follows:
A kind of real time profile error compensating method of embedded cutting controller, includes the following steps:
1) according to the deviation between the current location of encoder feedback and desired locations, the position of X-axis and Y-axis single shaft is obtained Error ExAnd Ey, according to the deviation between the present speed and desired speed of encoder feedback, obtain the speed of X-axis and Y-axis single shaft Error VxAnd Vy, velocity error is integrated in an interpolation cycle T, obtains the position due to caused by two axle speed errors Error Ex' and Ey'；
2) track profile error model is established, F (x, y)=0 is an arbitrary curve, PaFor true location point, PeFor expectation Location point, Ex、EyIndicate the uniaxiality tracking error of X-axis and Y-axis, θ is the tangent line and X of corresponding position point osculating circle on reference locus The angle of axis, R are close radius of circle, are derived, are obtained according to geometrical relationship:
P is indicated with the uniaxiality tracking error of X-axis and Y-axisaWith ObThe relationship of point, it may be assumed that
xa-xb=Rsin θ-Ex (2)
ya-yb=-Rcos θ-Ey (3)
It is obtained after formula (2) (3) are substituted into formula (1):
Formula (4) is unfolded using Maclaurin formula:
It enablesTrack profile error model indicates are as follows:
ε=- CxEx+CyEy (6)
3) the reason of comprehensive profile errors formation, in conjunction with the direct position error E of X-axis and Y-axis single shaftxAnd EyWith due to speed Spend indirect position error E caused by errorx' and Ey', it proposes the expression formula (7) (8) of real time profile error estimator, obtains maximum Profile errors Ec' mathematical model, by formula (9) indicate；
ε1=-CxEx+CyEy (7)
ε2=-CxEx'+CyEy' (8)
Ec'=max { ε1,ε2} (9)
4) the largest contours error model obtained based on real time profile error estimator proposes a kind of improved variable-gain Cross-coupling controller calculates optimal compensation amount by controller in real time, realizes under embedded platform to the quick of arbitrary trajectory Compensation, cross-coupling controller KcUsing the form of PID control, indicate are as follows:
The controller gain: Kdc=0.013, Kpc=2.235, Kic=5.261.
The desired locations are chosen according to the track inflection point that interpolation software is planned, direct position error is desired inflection point coordinate With the difference of current position coordinates, velocity error is the difference of desired inflection point speed and present speed, and speed is in interpolation cycle T At the uniform velocity, therefore the product that gained indirect position error is exactly velocity error and interpolation cycle T is integrated.
The current position coordinates and present speed are obtained by encoder feedback, and last before the expectation inflection point Encoder feedback value is read in one interpolation cycle T.
Technical concept of the invention are as follows: in the motion process of multi-spindle machining platform track, tracking error be Track command and Difference between actual path is the performance indicator for measuring motion stabilization.Profile errors are points on actual path to reference to rail The minimum distance of mark is to measure the most important performance indicator of multiaxial motion precision.When real system is built, position detection is filled The motion platform being mounted on each motor shaft is set, encoder count directly reflects the tracking error of each axis, can use uniaxiality tracking Geometrical relationship between error carrys out real-time estimation profile errors, then compensates.
Beneficial effects of the present invention are mainly manifested in: in embedded cutting control platform, using the real time profile error It is fast, high-efficient to calculate maximum real time profile error speed, while considering location error and velocity error for estimator, to any The profile control adaptability of nonlinear loci is good, precision is high.
Detailed description of the invention
Fig. 1 is track profile error model schematic diagram.
Fig. 2 is the embedded cutting controller architecture block diagram based on real time profile error estimator.
Fig. 3 is to cut some non-linear profile track actual effect figure.
Specific embodiment
With reference to the accompanying drawing and specific example the invention will be further described.
In conjunction with FIG. 1 to FIG. 3, a kind of real time profile error compensating method of embedded cutting controller, comprising the following steps:
1) any nonlinear loci is parsed using interpolation software, records the desired locations point P of each inflection pointe's Coordinate and planning speed, while to desired locations point PeThe tangent line of corresponding close radius of circle R and the osculating circle and the folder of X-axis Angle θ saves sin θ and cos θ list；
2) X-axis and Y-axis are read in the last one interpolation cycle that will reach inflection point according to the parsing to arbitrary trajectory The current location of encoder and current speed value do subtraction with the desired location and goal pace of the inflection point, obtain X-axis and Y-axis Uniaxial location error ExAnd Ey, individual axis velocity error VxAnd Vy, by velocity error multiplied by the interpolation cycle time, obtain X-axis and Y The indirect position error E of axisx' and Ey'；
3) direct profile errors ε is calculated according to profile errors model1, indirect profile errors ε2, compare the two size, take big Value be largest contours error Ec', formula is as follows:
ε1=-CxEx+CyEy
ε2=-CxEx′+CyEy′
Ec'=max { ε1,ε2}
4) a kind of improved Variant Gain Cross coupling Control device is used, to largest contours before reaching next inflection point Error Ec' made up, structural block diagram is as shown in Figure 2.The cross-coupling controller KcUsing the form of PID control, controller Gain is as follows:
Kdc=0.013, Kpc=2.235, Kic=5.261.
Using the cutting controller application in the cutting of nonlinear loci, actual effect is run on embedded platform as schemed Shown in 3.Terminal actual path and reference locus coincide substantially, when being mutated deep camber wedge angle, although smoother deep camber Profile control precision in the case of circular arc is more inferior, remains in lesser error range, overall using effect is preferable.

Claims (4)

1.一种嵌入式裁床控制器的实时轮廓误差补偿方法，其特征在于，所述方法包括如下步骤：1. a real-time contour error compensation method of an embedded cutting machine controller, is characterized in that, described method comprises the steps: 1)通过编码器反馈当前位置和期望位置之间的偏差，得到X轴和Y轴的直接位置误差Ex和Ey，根据当前速度和期望速度之间的偏差，得到X轴和Y轴的速度误差Vx和Vy，在一个插补周期T内对速度误差进行积分，得到由于两轴速度误差引起的间接位置误差Ex'和Ey′；1) Feedback the deviation between the current position and the desired position through the encoder, obtain the direct position errors Ex and E y of the X-axis and the Y-axis, and obtain the X-axis and Y-axis according to the deviation between the current speed and the desired speed. Velocity errors V x and V y , the velocity errors are integrated within an interpolation period T to obtain the indirect position errors E x ' and E y ' caused by the velocity errors of the two axes; 2)令建立轨迹轮廓误差模型为：ε＝-CxEx+CyEy；2) Order The trajectory contour error model is established as: ε=-C x E x +C y E y ; 3)综合轮廓误差形成的原因，根据直接位置误差Ex和Ey计算直接轮廓误差ε1＝-CxEx+CyEy，根据间接位置误差Ex'和Ey'计算间接轮廓误差ε2＝-CxEx'+CyEy'，取最大实时轮廓误差E′c＝max{ε1,ε2}；3) Synthesize the reasons for the formation of contour errors, calculate the direct contour error ε 1 =-C x E x +C y E y according to the direct position errors E x and E y , and calculate the indirect contour according to the indirect position errors E x ' and E y ' Error ε 2 =-C x E x '+C y E y ', take the maximum real-time contour error E' c =max{ε 1 ,ε 2 }; 4)基于该实时轮廓误差估计器，使用变增益交叉耦合PID控制器，实时计算最优补偿量，对最大轮廓误差E′c进行补偿，所述变增益交叉耦合控制器增益：Kdc＝0.013，Kpc＝2.235，Kic＝5.261。4) Based on the real-time contour error estimator, use a variable-gain cross-coupling PID controller to calculate the optimal compensation amount in real time to compensate for the maximum contour error E'c, the variable-gain cross-coupling controller gain: K dc =0.013 , K pc =2.235, K ic =5.261. 2.如权利要求1所述的嵌入式裁床控制器的实时轮廓误差补偿方法，其特征在于：所述期望位置根据插补软件规划的轨迹拐点选取，直接位置误差为期望拐点坐标和当前位置坐标的差值，速度误差为期望拐点速度和当前速度的差值，插补周期T内速度为匀速，因此积分所得间接位置误差就是速度误差和插补周期T的乘积。2. the real-time contour error compensation method of embedded cutting machine controller as claimed in claim 1, is characterized in that: described desired position is selected according to the trajectory inflection point of interpolation software planning, and direct position error is desired inflection point coordinates and current position The difference between the coordinates, the speed error is the difference between the desired inflection point speed and the current speed, and the speed in the interpolation period T is a constant speed, so the indirect position error obtained by integration is the product of the speed error and the interpolation period T. 3.如权利要求1或2所述的嵌入式裁床控制器的实时轮廓误差补偿方法，其特征在于：所述当前位置坐标和当前速度通过编码器反馈得到，且在该期望拐点之前的最后一个插补周期T内读取编码器反馈值。3. The real-time contour error compensation method of an embedded cutting machine controller as claimed in claim 1 or 2, wherein the current position coordinates and the current speed are obtained by feedback from the encoder, and the last time before the desired inflection point The encoder feedback value is read within one interpolation cycle T. 4.如权利要求1或2所述的嵌入式裁床控制器的实时轮廓误差补偿方法，其特征在于：所述步骤2)中，建立轨迹轮廓误差模型，F(x,y)＝0为一条任意曲线，Pa为实际位置点，Pe为期望位置点，Ex、Ey表示X轴和Y轴的单轴跟踪误差，θ为参考轨迹上对应位置点密切圆的切线与X轴的夹角，R为密切圆半径，根据几何关系推导，得出：4. The real-time contour error compensation method of the embedded cutting machine controller according to claim 1 or 2, wherein: in the step 2), a trajectory contour error model is established, and F(x, y)=0 is An arbitrary curve, Pa is the actual position point, Pe is the desired position point, E x and E y represent the single-axis tracking error of the X-axis and Y-axis, θ is the tangent of the close circle of the corresponding position point on the reference trajectory and the X-axis The included angle of , R is the radius of the close circle, which is derived from the geometric relationship, and we get: 用X轴和Y轴的单轴跟踪误差表示Pa与Ob点的关系，即：The relationship between P a and O b points is represented by the single-axis tracking error of X-axis and Y-axis, namely: xa-xb＝Rsinθ-Ex (2)x a -x b =Rsinθ-E x (2) ya-yb＝-Rcosθ-Ey (3)y a -y b = -Rcosθ-E y (3) 将公式(2)(3)代入公式(1)后得：Substituting formula (2) (3) into formula (1), we get: 将公式(4)利用麦克劳林公式展开：Expand formula (4) using McLaughlin's formula:
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CN113359422A (en) * 2021-06-29 2021-09-07 湘潭大学 Motion control system and method based on Codesys software development position error compensation

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