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 PDFInfo
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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
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. a kind of real time profile error compensating method of embedded cutting controller, which is characterized in that the method includes as follows
Step:
1) by the deviation between encoder feedback current location and desired locations, the direct position error E of X-axis and Y-axis is obtainedx
And Ey, according to the deviation between present speed and desired speed, obtain the velocity error V of X-axis and Y-axisxAnd Vy, in an interpolation
Velocity error is integrated in cycle T, obtains the indirect position error E due to caused by two axle speed errorsx' and Ey′;
2) it enablesEstablish track profile error model are as follows: ε=- CxEx+
CyEy;
3) the reason of comprehensive profile errors formation, according to direct position error ExAnd EyCalculate direct profile errors ε1=-CxEx+
CyEy, according to indirect position error Ex' and Ey' calculate indirect profile errors ε2=-CxEx'+CyEy', take maximum real time profile error
E′c=max { ε1,ε2};
4) optimal compensation is calculated using variant gain cross-coupling PID controller based on the real time profile error estimator in real time
Amount, to largest contours error E 'cIt compensates, the Variant Gain Cross coupling Control device gain: Kdc=0.013, Kpc=
2.235 Kic=5.261.
2. the real time profile error compensating method of embedded cutting controller as described in claim 1, it is characterised in that: described
Desired locations are chosen according to the track inflection point that interpolation software is planned, direct position error is that desired inflection point coordinate and current location are sat
It is expected target difference, velocity error are the difference of inflection point speed and present speed, and speed is at the uniform velocity, therefore to accumulate in interpolation cycle T
Indirect position error obtained by point is exactly the product of velocity error and interpolation cycle T.
3. the real time profile error compensating method of embedded cutting controller as claimed in claim 1 or 2, it is characterised in that:
The current position coordinates and present speed are obtained by encoder feedback, and the last one interpolation before the expectation inflection point
Encoder feedback value is read in cycle T.
4. the real time profile error compensating method of embedded cutting controller as claimed in claim 1 or 2, it is characterised in that:
In the step 2), track profile error model is established, F (x, y)=0 is an arbitrary curve, PaFor true location point, PeFor
Desired locations point, Ex、EyIndicate the uniaxiality tracking error of X-axis and Y-axis, θ is the tangent line of corresponding position point osculating circle on reference locus
With the angle of X-axis, R is close radius of circle, is derived, is 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:
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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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