CN109960215A - A kind of offline compensation method of four-spindle lathe machining locus profile errors - Google Patents
A kind of offline compensation method of four-spindle lathe machining locus profile errors Download PDFInfo
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- 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
Abstract
A kind of offline compensation method of four-spindle lathe machining locus profile errors of the present invention belongs to the profile errors compensation field of numerically-controlled machine tool processing, is related to a kind of for improving the offline compensation method of machining locus profile errors of closed closed loop four-spindle numerically controlled lathe machining accuracy.This method constructs four-spindle lathe Jacobian matrix, off-line calculation feed shaft actual speed using initial turnery processing code building theory cutter location and theoretical generating tool axis vector, to estimate lathe feed shaft following error, calculates practical cutter location and practical generating tool axis vector.Using non-homogeneous B spline curve fitting theory cutter location three times and cutter shaft mark point, practical cutter location is estimated to the intersection point of theoretical cutter location matched curve using tangential error backstepping method, calculates cutter location profile errors and generating tool axis vector profile errors.Finally, being pre-compensated for respectively to feed shaft following error.This method can realize closed closed loop four-spindle numerically controlled lathe profile errors precompensation, and implementation method is convenient, and effect is obvious.
Description
Technical field
The invention belongs to lathe in machining profile errors to compensate field, be related to a kind of four-spindle lathe machining locus profile mistake
The offline compensation method of difference.
Background technique
Curved surface part with complicated face structure is more and more wider in the fields application such as aerospace, energy source and power, adds
Work precision directly affects the military service performance of the high-end equipment of related fields.Complex curved surface parts are often using with rotary shaft B axle and C
The Multi-shaft numerical control lathe of axis is processed, and B axle rotates so that cutter is able to achieve more complicated machining locus movement.It is several with lathe
The mismachining tolerance of the generations such as what error, thermal deformation is compared, and influence of the lathe dynamic characteristic to lathe process precision is more significant.By
In digital control system servo lag and dynamic lose the problems such as, each feed shaft will generate following error so that induce machining locus wheel
Wide error.However, closed digital control system can not modify controller parameter or carry out online compensation, therefore, closed close is studied
The offline compensation method of ring four-spindle lathe machining locus profile errors pushes the Precision Machining for realizing complex-curved class part
The development of high-end numerical control equipment is of great significance.
The patent " post-processing mismachining tolerance compensation method in Novel movable portal lathe in high precision " of Li Ming et al., the patent No.
CN108445836A, the patent are inserted into the mistake that new cutter location makes adjacent two cutter locations error amount be less than setting by post-processing
Difference.However, this method does not consider machining locus profile errors caused by control system of numerically-controlllathe lathe dynamic characteristic.Yu's et al.
Document " Profile error compensation in fast tool servo diamond turning ofmicro-
Structured surfaces ", International Journal of Machine Tools and Manufacture,
2012,52 (1): 13-23 proposes a kind of integral sliding mode control device and carries out dynamic error compensation to fast tool servo.However, the party
Method is higher to the kinetic model of system and the precise requirements of parameter, and the slight error of model and parameter can stablize controller
Property generate dramatic impact.
Summary of the invention
The present invention is directed to prior art defect, invents a kind of offline compensation method of four-spindle lathe machining locus profile errors.
The caused machining locus profile errors of the problems such as this method is for four-spindle lathe servo lag and dynamic mistake, utilize initial turning
Machining code, off-line calculation lathe feed shaft actual feed and feed shaft following error realize machining locus profile errors
Estimate and compensate offline, effectively increase the contour accuracy of complex curved surface parts turnery processing track.
The technical scheme is that a kind of offline compensation method of four-spindle lathe machining locus profile errors, characteristic exist
In, this method by establishing four-spindle lathe kinematics model, by initial turnery processing code be converted into theoretical cutter location coordinate with
Theoretical generating tool axis vector estimates cutter actual motion speed, calculates lathe Jacobian matrix, estimates lathe feed shaft actual speed,
To calculating lathe feed shaft following error, using the difference fitting theory cutter location of non-homogeneous B spline curve three times with
Theoretical cutter shaft mark point, using tangential error backstepping method estimate practical cutter location to theoretical cutter location matched curve intersection point, into
And cutter location profile errors and generating tool axis vector profile errors are calculated, finally, being carried out respectively to four-spindle lathe feed shaft following error
Precompensation.Specific step is as follows for method:
Step 1 establishes lathe kinematics model, generative theory cutter location and theoretical generating tool axis vector
Four-spindle lathe is made of 0, two linear axis X-axis 1 of lathe bed, Z axis 4 and two rotary shaft B axles 5, C axis 2, according to D-H
Parametric method establishes four-spindle lathe kinematic chain coordinate system, comprising: lathe basis coordinates system { O0:x0,y0,z0, X axis coordinate system { O1:
x1,y1,z1, C axis coordinate system { O2:x2,y2,z2, workpiece coordinate system { O3:x3,y3,z3, Z axis coordinate system { O4:x4,y4,z4, B
Axis coordinate system { O5:x5,y5,z5, tool coordinate system { O6:x6,y6,z6}；Workpiece coordinate system is overlapped with C axis coordinate system, cutter is sat
Mark system is overlapped with B axle coordinate system, and the homogeneous transformation rule between coordinate system calculates the homogeneous transformation of adjacent coordinates system according to formula (1)
Matrix；The kinematics model of four-spindle lathe, i.e. homogeneous coordinate transformation matrix relationship between adjacent coordinates system meet formula (2):
Wherein, X, Z, B, C are respectively the displacement of lathe X-axis, Z axis displacement, B axle displacement, C axial displacement, equation (2) left side matrixHomogeneous coordinate transformation matrix for tool coordinate system relative to workpiece coordinate system, equation (2) the right matrix:For X-axis seat
Homogeneous coordinate transformation matrix of the mark system relative to lathe basis coordinates system,It is C axis coordinate system relative to the homogeneous of X axis coordinate system
Transformation matrix of coordinates,Homogeneous coordinate transformation matrix for Z axis coordinate system relative to lathe basis coordinates system,For B axle coordinate
It is the homogeneous coordinate transformation matrix relative to Z axis coordinate system.
Enable P=[px, py, pz]TIt indicates the theoretical cutter location in workpiece coordinate system, remembers that another point Q is on center cutter axis
The unit vector of cutter shaft mark point, the note direction PQ is generating tool axis vector, enables O=[oi, oj, ok]TIndicate the reason in workpiece coordinate system
By generating tool axis vector, theoretical knife bit vector is L=[PT,OT]T, in initial turnery processing code lathe feed shaft displacement be q=[X,
Z,B,C]T.Lathe forward motion mathematic(al) function is constructed using formula (2), converts theoretical knife bit vector for lathe feed shaft displacement:
In formula, fDTFor the forward motion mathematic(al) function of four-spindle lathe.
By the feeding axial displacement R=[Rx, Rz, Rb, Rc] of each point in initial manufacture codeTIt is converted into theoretical knife bit vector:
Step 2 estimates lathe feed shaft speed, calculates lathe feed shaft following error
According to the Jacobian matrix definition of movement mechanism in differential kinematics and four-spindle lathe forward motion mathematic(al) function, calculate
The Jacobian matrix of four-spindle lathe:
It is real according to the theoretical knife bit vector of i+1, i-th of practical knife bit vector, the theoretical cutter location of i+1 and i-th
The distance d of border cutter locationiAnd the feed speed F provided in machining code, calculate the actual motion speed of cutter:
In formula, v=[vx, vy, vz, vi, vj, vk]TIndicate cutter actual motion velocity vector, i is cutter location serial number, i
=1,2 ..., N, N are cutter location sum, Li+1For the theoretical knife bit vector of i+1,It is practical for i-th
Knife bit vector, wherein P'i=[px'i,py'i,pz'i]TFor i-th of practical cutter location, O'i=[oi'i,oj'i,ok'i]TIt is i-th
A practical generating tool axis vector, enables P'1=P1, O'1=O1, diIt is the theoretical cutter location of i+1 at a distance from i-th of practical cutter location,
I.e.
According to differential kinematics, using four-spindle lathe Jacobian matrix, constructs lathe feed shaft movement velocity and cutter is transported
The relationship of dynamic speed:
V=JV (7)
In formula, V=[VX,VZ,VB,VC]TIndicate that four-spindle lathe feeds axle speed.
Each feed shaft actual speed of lathe is calculated using the Inverse jacobian matrix of four-spindle lathe:
According to the following error model of feed shaft steady state of motion, the servo-actuated of each feed shaft of lathe is estimated by formula (9)
Error:
In formula, eX,eZ,eB,eCRespectively feed shaft following error, KX,KZ,KB,KCRespectively four-spindle lathe respectively feeds axle position
Set ring overall gain value.
Step 3 estimates cutter location profile errors and generating tool axis vector profile errors
Axial displacement R=[Rx, Rz, Rb, Rc] is fed according in initial manufacture codeTWith estimate following error e=[eX,eZ,
eB,eC]T, calculate lathe feed shaft actual displacement:
Using lathe feed shaft actual displacement, practical cutter location and practical cutter shaft are calculated according to lathe forward motion mathematic(al) function
Vector:
Using cubic NURBS curve difference fitting theory cutter location P and theoretical cutter shaft mark point Q, remember theoretical cutter location P's
Matched curve is PC, and the matched curve of theoretical cutter shaft mark point Q is QC:
In formula, PiFor theoretical cutter location sequence, QiFor theoretical cutter shaft mark point sequence, ωiFor each theoretical cutter location and theory
The weight of cutter shaft mark point, BFi,3It (u) is the basic function of B-spline Curve, uiFor knot vector parameter.
The vector for defining any point PC (u) on practical cutter location P' to theoretical cutter location matched curve is intended at point PC (u)
Close curve PC tangential direction on be projected as practical cutter location to theoretical profile tangential error etan(u), calculation method such as formula
(13).With parameter value u of the corresponding theoretical cutter location of currently practical cutter location on curve PCsFor initial value, missed using tangential
Poor backstepping method updates parameter of curve value, such as formula (14):
In formula, PC'(us) be theoretical cutter location fit curve equation to the derivative of parameter u in usThe value at place, | | | | it indicates
Euclideam norm, ussFor the intermediate parameters of tangential error backstepping process.
Terminate frequency n (n > 1) or tangential error e when reference point iterative method cycle-index reaches setting circulationtan(u) small
Terminate iterative cycles when setting value, parameter of curve value when iteration ends is ue, practical cutter location is denoted as to theoretical cutter location
The approximate intersection point parameter of matched curve.Calculate practical cutter location P' to approximation intersection point PC (ue) vector, as practical before compensation
The estimated value ε of cutter location profile errors vector:
ε=PC (ue)-P' (15)
Approximate intersection point parameter u is utilized simultaneouslyeThe generating tool axis vector O of approximate intersection point is calculated by formula (16)e, thus according to public affairs
Formula (17) calculates generating tool axis vector profile errors εori:
εori=Oe-O' (17)
Step 4 compensates lathe feed shaft following error offline
To effectively reduce machining locus profile errors, following error penalty coefficient K is introducedecFeed shaft following error is carried out
Precompensation, each components R x of four-spindle lathe feeding axial displacement after compensationcomp、Rzcomp、Rbcomp、RccompIt is respectively as follows:
In formula, KecThe value between 0.5~1.5.
Turnery processing code finally is generated using the compensated feeding axial displacement of following error, it is pre- according to step 2, step 3
Estimate cutter location profile errors and generating tool axis vector profile errors after compensating；Draw cutter location profile errors figure and the compensation of compensation front and back
The generating tool axis vector profile errors figure of front and back, compares and analyzes.
The beneficial effects of the invention are as follows using initial four axis turnery processing code and each feed shaft position ring overall gain of lathe,
Feed shaft actual feed is estimated offline, is calculated feed shaft following error, is estimated practical knife position using lathe kinematics model
Point can convenient reality by tangential error backstepping method using cubic NURBS curve matching theory machining locus with practical generating tool axis vector
Existing cutter location profile errors and generating tool axis vector profile errors synchronize estimate, it is complete eventually by feed shaft following error is compensated offline
It is pre-compensated at four-spindle lathe machining locus profile errors, holistic approach is simple and effective, and implementation method is convenient, and effect is obvious.
Detailed description of the invention
Fig. 1-method overall flow figure.
Fig. 2-four-spindle lathe topology diagram, wherein 0 is the body of lathe bed, and 1 is lathe X-axis, and 2 be lathe C axis, and 3 be work
Part, 4 be lathe Z axis, and 5 be lathe B axle, and 6 be lathe tool.
Fig. 3-four-spindle lathe kinematic chain and coordinate system diagram, wherein { O0:x0,y0,z0It is lathe basis coordinates system, { O1:x1,
y1,z1It is X axis coordinate system, { O2:x2,y2,z2It is C axis coordinate system, { O3:x3,y3,z3It is workpiece coordinate system, { O4:x4,y4,z4}
For Z axis coordinate system, { O5:x5,y5,z5It is B axle coordinate system, { O6:x6,y6,z6It is tool coordinate system.
Fig. 4-spiral section turnery processing trajectory diagram, PC are the matched curve of theoretical cutter location, and QC is theoretical cutter shaft mark point
Matched curve.
Fig. 5-machining locus profile errors schematic diagram, wherein the matched curve of curve PC representation theory cutter location, (P',
O' currently practical cutter location and practical generating tool axis vector) are indicated, (P, O) indicates current theoretical cutter location and theoretical generating tool axis vector,
(Pe,Oe) indicate that the cutter location and generating tool axis vector of approximate intersection point, ε indicate cutter location profile errors vector, εoriIndicate generating tool axis vector
Profile errors.
Cutter location profile errors figure before and after Fig. 6-compensation, wherein X-axis indicates that cutter location serial number, Y-axis indicate deviation,
Unit is mm, and curve 1 indicates that the cutter location profile errors for not using this compensation method to obtain, curve 2 are indicated using this compensation side
The cutter location profile errors that method obtains.
Generating tool axis vector profile errors figure before and after Fig. 7-compensation, wherein X-axis indicates that cutter location serial number, Y-axis indicate deviation
Value, unit rad, curve 1 indicate that the generating tool axis vector profile errors for not using this compensation method to obtain, curve 2 are indicated using this
The generating tool axis vector profile errors that compensation method obtains.
Specific embodiment
Combination technology scheme and the attached drawing specific embodiment that the present invention will be described in detail.
In four-spindle lathe processing, due to digital control system there are servo lag and dynamically the problems such as mistake, feed shaft will be produced
Raw following error, and then machining locus profile errors are induced, the final available accuracy for influencing workpiece.It is real to solve this problem
The high-precision of existing turnery processing track follows, and for closed Closed-loop Nc System, invents a kind of four-spindle lathe machining locus wheel
The wide offline compensation method of error, overall flow are as shown in Fig. 1.
For the X-C&Z-B four-spindle lathe shown in the attached drawing 2, carries out four-spindle lathe machining locus profile errors and compensates offline,
Specific steps are as follows:
Step 1, four-spindle lathe kinematic chain and each local coordinate system are established, as shown in Fig. 3, is counted according to formula (1)-(3)
Four-spindle lathe forward motion mathematic(al) function is calculated, converts theoretical knife for the feeding axial displacement of each point in machining code using formula (4)
Bit vector.
Step 2, according to four-spindle lathe forward motion mathematic(al) function, lathe Jacobian matrix is calculated according to formula (5), according to reason
By cutter location and theoretical generating tool axis vector, tool motion velocity vector is estimated by formula (6), calculates vehicle according to formula (7)-(8)
Each feeding axle speed of bed.According to following error model, feed shaft following error is calculated according to formula (9), in the present embodiment, feeding
Shaft position ring servo gain is respectively KX=31.71, KZ=20.07, KB=20.71, KC=30.71.
Step 3, each feed shaft actual displacement of lathe is calculated by formula (10), estimates the practical knife of turnery processing using formula (11)
Site and practical generating tool axis vector, according to formula (12), using cubic NURBS curve difference fitting theory cutter location and theoretical cutter shaft
Mark point obtains spiral section turnery processing trajectory diagram as shown in Fig. 4.Using tangential error backstepping method, according to formula (13)-
(14) practical cutter location is estimated to the parameter of curve of theoretical cutter location matched curve approximation intersection point, with reference to the accompanying drawings cutter location shown in 5
The definition of profile errors and generating tool axis vector profile errors is missed according to cutter location profile before formula (15)-(17) respectively predictive compensation
Difference and generating tool axis vector profile errors, as shown in curve 1 in attached drawing 6, attached drawing 7, wherein cutter location profile errors maximum value before compensating
0.0150mm, average value 0.0111mm, generating tool axis vector profile errors maximum value 0.0031rad, average value before compensating
0.0022rad。
Step 4, lathe feed shaft following error is pre-compensated for according to formula (18), in the present embodiment, takes Kec=
0.6, according to cutter location profile errors and generating tool axis vector profile errors after step 2, step 3 predictive compensation, in attached drawing 6, attached drawing 7
Shown in curve 2, wherein cutter location profile errors maximum value 0.0059mm after compensation, reduces by 60.67% before relatively compensating, cutter location wheel
Wide average error 0.0039mm reduces by 64.86% before relatively compensating.Generating tool axis vector profile errors maximum value after compensation
0.0013rad reduces by 58.06% before relatively compensating, generating tool axis vector profile errors average value 8.7258 × 10-4Rad, drop before relatively compensating
Low 60.34%.
The offline compensation method of four-spindle lathe machining locus profile errors of the embodiment of the present invention, may be implemented closed closed loop
Four-spindle numerically controlled lathe profile errors precompensation, implementation method is convenient, and effect is obvious.
Claims (1)
1. a kind of offline compensation method of four-spindle lathe machining locus profile errors, characteristic are that this method is by establishing four axis
Lathe kinematics model converts theoretical cutter location coordinate and theoretical generating tool axis vector for initial turnery processing code, estimates cutter
Actual motion speed, calculate lathe Jacobian matrix, estimate lathe feed shaft actual speed, thus calculate lathe feed shaft with
Dynamic error, using the difference fitting theory cutter location of non-homogeneous B spline curve three times and theoretical cutter shaft mark point, using tangential
Error backstepping method estimates practical cutter location to the intersection point of theoretical cutter location matched curve, and then calculates cutter location profile errors and knife
Axial vector profile errors, finally, being pre-compensated for respectively to four-spindle lathe feed shaft following error；The specific steps of method are such as
Under:
Step 1 establishes lathe kinematics model, and generative theory cutter location and theoretical generating tool axis vector four-spindle lathe are by lathe bed 0, two
Linear axis X-axis 1, Z axis 4 and two rotary shaft B axles 5, C axis 2 form, and establish four-spindle lathe kinematic chain coordinate according to D-H parametric method
System, comprising: lathe basis coordinates system { O0:x0,y0,z0, X axis coordinate system { O1:x1,y1,z1, C axis coordinate system { O2:x2,y2,
z2, workpiece coordinate system { O3:x3,y3,z3, Z axis coordinate system { O4:x4,y4,z4, B axle coordinate system { O5:x5,y5,z5, cutter is sat
Mark system { O6:x6,y6,z6}；Workpiece coordinate system is overlapped with C axis coordinate system, tool coordinate system is overlapped with B axle coordinate system, according to seat
Homogeneous transformation rule between mark system calculates adjacent coordinates system homogeneous transform matrix, such as formula (1), the kinematics mould of four-spindle lathe
Type, i.e. homogeneous coordinate transformation matrix relationship between adjacent coordinates system meet formula (2):
Wherein, X, Z, B, C are respectively the displacement of lathe X-axis, Z axis displacement, B axle displacement, C axial displacement, equation (2) left side matrix
Homogeneous coordinate transformation matrix for tool coordinate system relative to workpiece coordinate system, equation (2) the right matrix:For X axis coordinate system
Relative to the homogeneous coordinate transformation matrix of lathe basis coordinates system,Homogeneous coordinates for C axis coordinate system relative to X axis coordinate system
Transformation matrix,Homogeneous coordinate transformation matrix for Z axis coordinate system relative to lathe basis coordinates system,For B axle coordinate system phase
For the homogeneous coordinate transformation matrix of Z axis coordinate system；
Enable P=[px, py, pz]TIt indicates the theoretical cutter location in workpiece coordinate system, remembers that another point Q is cutter shaft mark on center cutter axis
Remember point, the unit vector in the note direction PQ is generating tool axis vector, enables O=[oi, oj, ok]TIndicate the theoretical cutter shaft arrow in workpiece coordinate system
Amount, theoretical knife bit vector are L=[PT,OT]T, lathe feed shaft displacement is q=[X, Z, B, C] in initial turnery processing codeT；
Lathe forward motion mathematic(al) function is constructed using formula (2), converts theoretical knife bit vector for lathe feed shaft displacement:
In formula, fDTFor the forward motion mathematic(al) function of four-spindle lathe；
By the feeding axial displacement R=[Rx, Rz, Rb, Rc] of each point in initial manufacture codeTIt is converted into theoretical knife bit vector:
Step 2 estimates lathe feed shaft speed, calculates lathe feed shaft following error
According to the Jacobian matrix definition of movement mechanism in differential kinematics and four-spindle lathe forward motion mathematic(al) function, four axis are calculated
The Jacobian matrix of lathe:
According to the theoretical knife bit vector of i+1, i-th of practical knife bit vector, the theoretical cutter location of i+1 and i-th of practical knife
The distance d in siteiAnd the feed speed F provided in machining code, calculate the actual motion speed of cutter:
In formula, v=[vx, vy, vz, vi, vj, vk]TIndicate cutter actual motion velocity vector, i be cutter location serial number, i=1,
2 ..., N, N are cutter location sum, Li+1For the theoretical knife bit vector of i+1,For i-th of practical knife position
Vector, wherein P 'i=[px 'i,py′i,pz′i]TFor i-th of practical cutter location, O 'i=[oi 'i,oj′i,ok′i]TIt is real for i-th
Border generating tool axis vector, enables P '1=P1, O '1=O1, diIt is the theoretical cutter location of i+1 at a distance from i-th of practical cutter location, i.e.,
Lathe feed shaft movement velocity and tool motion speed are constructed using four-spindle lathe Jacobian matrix according to differential kinematics
The relationship of degree:
V=JV (7)
In formula, V=[VX,VZ,VB,VC]TIndicate that four-spindle lathe feeds axle speed；
Lathe, which is calculated, using the Inverse jacobian matrix of four-spindle lathe respectively feeds axle speed:
According to the following error model of feed shaft steady state of motion, the following error of each feed shaft of lathe is estimated by formula (9):
In formula, eX,eZ,eB,eCRespectively feed shaft following error, KX,KZ,KB,KCRespectively each feed shaft position ring of four-spindle lathe
Overall gain value；
Step 3 estimates cutter location profile errors and generating tool axis vector profile errors
Axial displacement R=[Rx, Rz, Rb, Rc] is fed according in initial manufacture codeTWith estimate following error e=[eX,eZ,eB,eC]T,
Calculate lathe feed shaft actual displacement:
Using lathe feed shaft actual displacement, practical cutter location is calculated according to lathe forward motion mathematic(al) function and practical cutter shaft is sweared
Amount:
Using cubic NURBS curve difference fitting theory cutter location P and theoretical cutter shaft mark point Q, the fitting of theoretical cutter location P is remembered
Curve is PC, and the matched curve of theoretical cutter shaft mark point Q is QC:
In formula, PiFor theoretical cutter location sequence, QiFor theoretical cutter shaft mark point sequence, ωiFor each theoretical cutter location and theoretical cutter shaft
The weight of mark point, BFi,3It (u) is the basic function of B-spline Curve, uiFor knot vector parameter；
The vector for defining any point PC (u) on practical cutter location P' to theoretical cutter location matched curve is fitted song at point PC (u)
In line PC tangential direction be projected as practical cutter location to theoretical profile tangential error etan(u), it is calculated by formula (13)；
With parameter value u of the corresponding theoretical cutter location of currently practical cutter location on curve PCsFor initial value, using tangential error
Backstepping method updates parameter of curve value:
In formula, PC'(us) be theoretical cutter location fit curve equation to the derivative of parameter u in usThe value at place, | | | | indicate that Europe is several
Reed norm, ussFor the intermediate parameters of tangential error backstepping process；
Terminate frequency n (n > 1) or tangential error e when reference point iterative method cycle-index reaches setting circulationtan(u) it is less than and sets
Terminate iterative cycles when definite value, parameter of curve value when iteration ends is ue, practical cutter location is denoted as to theoretical cutter location fitting
The approximate intersection point parameter of curve；Calculate practical cutter location P' to approximation intersection point PC (ue) vector, as compensate before practical knife position
The estimated value ε of dot profile error vector:
ε=PC (ue)-P' (15)
Approximate intersection point parameter u is utilized simultaneouslyeThe generating tool axis vector O of approximate intersection point is calculated by formula (16)e, counted according to formula (17)
Calculate generating tool axis vector profile errors εori:
εori=Oe-O' (17)
Step 4 compensates lathe feed shaft following error offline
To effectively reduce machining locus profile errors, following error penalty coefficient K is introducedecFeed shaft following error is mended in advance
It repays, each components R x of four-spindle lathe feeding axial displacement after compensationcomp、Rzcomp、Rbcomp、RccompIt is respectively as follows:
In formula, KecThe value between 0.5~1.5；
Turnery processing code finally is generated using the compensated feeding axial displacement of following error, estimates benefit according to step 2, step 3
Repay rear cutter location profile errors and generating tool axis vector profile errors；Draw cutter location profile errors figure and the compensation front and back of compensation front and back
Generating tool axis vector profile errors figure, compare and analyze.
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