CN110109418A - A kind of geometric error Fast Identification Method of five face machining center of large-sized gantry - Google Patents
A kind of geometric error Fast Identification Method of five face machining center of large-sized gantry Download PDFInfo
- Publication number
- CN110109418A CN110109418A CN201910416007.4A CN201910416007A CN110109418A CN 110109418 A CN110109418 A CN 110109418A CN 201910416007 A CN201910416007 A CN 201910416007A CN 110109418 A CN110109418 A CN 110109418A
- Authority
- CN
- China
- Prior art keywords
- error
- axis
- lathe
- geometric
- follows
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35222—From cad derive data points for endball mill, grinder, then radius compensation
Abstract
The invention discloses a kind of geometric error Fast Identification Methods of five face machining center of large-sized gantry, first establish the geometric error model of lathe, analysis is measured to lathe using ball bar, the measurement data of ball bar is substituted into geometric error model, the over-determined systems of multinomial geometric error parameter are obtained；Over-determined systems are solved, every geometric error value is obtained；It is characterized in that, first obtaining group optimal solution using simulated annealing particle swarm algorithm, then emulation solution is carried out to above-mentioned over-determined systems using group optimal solution as the initial value of LM algorithm.The present invention has robustness good, and collective search ability is strong, and solving speed is fast, and stability is preferable, can be avoided the advantages that falling into local minimum.
Description
Technical field
The present invention relates to lathe geometric error identification technique fields, in particular to a kind of five face machining center of large-sized gantry
Geometric error Fast Identification Method.
Background technique
Numerically-controlled machine tool is manufacturing machine-tool, and the manufacturing industry that development level represents country is horizontal, and numerically-controlled machine tool flies
Speed develops to high-precision, intelligent direction.Numerous studies are shown: lathe Geometric error and thermal error is up to machine tool accuracy influence
70%, wherein geometric error accounts for 35%-70%.Therefore, domestic and international experts and scholars distinguish numerically-controlled machine tool geometrical error modeling, error
Know and error compensation has carried out a large amount of research, achieves significant achievement.It is several that Geometric Error for Computerized Numerical Control Milling Machine identification is divided into individual event
What the error direct method of measurement and synthetic geometry error identification method.The individual event geometric error direct method of measurement is exactly directly to utilize measuring instrument
Device detects lathe items geometric error, but its low efficiency, low precision and is difficult to realize automatic measurement；Synthetic geometry error identification
Method is recognized with lathe mathematical model to measurement point composition error by measuring to the certain working range of lathe,
Synthetic geometry error identification method generally has grating array method, one dimension spherical column method, circle survey method, 9 collimation methods, 12 collimation methods of laser interferometer
Deng circle survey method is compared with can fully assess machine tool error.Most typical in circle survey method is exactly ball bar, simple with measurement method,
The advantages that precision height and measuring speed are fast.
Geometric error identification key based on ball bar measurement is the accurate rapid solving of over-determined systems, existing to ask
Ball bar over-determined systems are solved the most commonly used is pure particle swarm algorithm, which can effectively solve solution of equations, but this
Algorithm easily falls into locally optimal solution and solving speed is slow.
Summary of the invention
In view of the above shortcomings of the prior art, the technical problems to be solved by the present invention are: how to provide a kind of robustness
Good, collective search ability is strong, and solving speed is fast, and stability is preferable, can be avoided five face of large-sized gantry for falling into local minimum
The geometric error Fast Identification Method of machining center.
In order to solve the above-mentioned technical problem, present invention employs the following technical solutions:
A kind of geometric error Fast Identification Method of five face machining center of large-sized gantry, first establishes the geometric error mould of lathe
Type measures analysis to lathe using ball bar, and the measurement data of ball bar is substituted into geometric error model, is obtained multinomial
The over-determined systems of geometric error parameter；Over-determined systems are solved, every geometric error value is obtained；It is characterized in that,
Group optimal solution is first obtained using simulated annealing particle swarm algorithm, then using group optimal solution as the initial value of LM algorithm to above-mentioned super
Determine equation group and carries out emulation solution.
Further, when solving to over-determined systems, following steps are specifically used:
The position and speed of each particle in S1, random initializtion population；
The position of current each particle and fitness value are stored in each particle by the fitness value of S2, each particle of evaluation
In Pi, the position of the optimal individual of adaptive value in all Pbest and fitness value are stored in Pg；
S3, initial temperature is determined；
S4, the adaptation value that each Pi under Current Temperatures is determined by following formula:
S5, a global optimal replacement value Pg is determined from all Pi using roulette strategy, then is updated by following formula
The speed of each particle and position:
xij(t+1)=xij(t)+Vij(t+1)
S6, the target value for calculating each particle, update the Pi value of each particle and the Pg value of group；
Warm operation is moved back in S7, calculating；
S8, according to preset operational precision or program the number of iterations, judge whether iteration reaches termination condition, if full
Sufficient termination condition, stop search output as a result, and carry out subsequent step, otherwise repeatedly step S4~S8；
S9, using above-mentioned group optimal solution Pg as the initial value of LM algorithm；
S10, k=0 is enabled, calculatedIf | | g (xk) | |≤ε stops calculating, and exports xkFor approximate minimal point；
S11, equation group is soughtSolve dk；
S12, m is enabledkTo meetMinimum nonnegative integer m, enable αk=βmk, xk+1=
xk+αkdk；
S13, μ is updatedkValue, enable k=k+1, go to step S10；
Whereinc1With c2For accelerated factor；r1With r2It is random between 0 and 1
Number；T is the number of iterations；N is population；β and σ parameter between 0 and 1；μ0Greater than 0；ε is allowable error.
Further, the geometric error model of lathe is established using following steps:
First determine the geometric error of lathe, wherein
The error moved along the x-axis is respectively as follows: position error δx(X), the straightness error δ in Y-directiony(X), in Z-direction
Straightness error δz(X), roll error εx(X), Run-out error εy(X) and pitch error εz(X)；
It is respectively as follows: position error δ along the error that Y-axis movesy(Y), the straightness error δ in X-directionx(Y), in Z-direction
Straightness error δz(Y), roll error εy(Y), Run-out error εx(Y) and pitch error εz(Y)；
It is respectively as follows: position error δ along the error that Z axis movesz(Z), the straightness error δ in X-directionx(Z), in Y-direction
Straightness error δy(Z), roll error εz(Z), Run-out error εx(Z) and pitch error εy(Z)；
The error moved along W axis is respectively as follows: position error δz(W), the straightness error δ in X-directionx(W), in Y-direction
Straightness error δy(W), roll error εz(W), Run-out error εx(W) and pitch error εy(W)；
Determine X, Y, Z, the error of perpendicularity formed between W coordinate axis because orthogonal again, including between X-axis and Y-axis it is vertical
Spend error Sxy, error of perpendicularity S between Y-axis and Z axisyz, error of perpendicularity S between Z axis and X-axiszx, between W axis and Y-axis
Error of perpendicularity SywError of perpendicularity S between W axis and X-axiswx；
Lathe is divided into workpiece branch and cutter branch, respectively obtains location matrix and cutter phase of the workpiece relative to lathe
When the difference in the location matrix of lathe, the two is the relative displacement error matrix of cutter and workpiece, i.e., the geometry of lathe misses
Poor matrix.
Further, workpiece obtains in the following way relative to the location matrix of lathe:
Homogeneous transform matrix containing geometric error of the X-axis relative to lathe bed R are as follows:
Then homogeneous coordinate transformation matrix comprising geometric error of the lathe bed R to X axis coordinate system are as follows:
If position coordinates vector of the workpiece theory processing stand in workpiece coordinate system are as follows:
TB=[XB YB ZB 1]T
Then homogeneous coordinate transformation matrix comprising geometric error of the workpiece B relative to lathe bed R are as follows:
The location matrix that cutter is equivalent to lathe obtains in the following way:
First fix Z axis, obtain lathe bed R to W axis homogeneous coordinate transformation, by the homogeneous coordinate transformation of W axis to Y-axis, by Y-axis
Homogeneous coordinate transformation to cutter is respectively as follows:
If position coordinates vector of the machine tool tip in tool coordinate system are as follows:
Tt=[0 00 1]T
Then homogeneous transform matrix containing geometric error of the tool nose T-phase for lathe bed R are as follows:
Again fix W axis, obtain lathe bed R to the homogeneous coordinate transformation of Y-axis, by the homogeneous coordinate transformation of Y-axis to Z axis, by Y-axis
Homogeneous coordinate transformation to cutter is respectively as follows:
If position coordinates vector of the machine tool tip in tool coordinate system are as follows:
Tt=[0 00 1]T
Then homogeneous transform matrix containing geometric error of the tool nose T-phase for lathe bed R are as follows:
Cutter is equivalent to the homogeneous coordinate transformation matrix of latheSubtract homogeneous coordinate transformation of the workpiece relative to lathe
MatrixObtain the relative displacement error matrix of point of a knife and workpiece, i.e. the geometric error matrix of lathe:
It is rightIt cries for help, and casts out error cubic term and high-order term, being moved along X, Y, Z coordinate axis after being simplified
Geometric error model.
In conclusion the present invention has robustness good, collective search ability is strong, and solving speed is fast, and stability is preferable, can
Avoid the advantages that falling into local minimum.
Detailed description of the invention
Fig. 1 is the structure diagram of certain five face machining center of large-sized gantry.
Fig. 2 is the error of perpendicularity of simplex particle swarm algorithm identification and the application condition figure that ball bar is surveyed.
Fig. 3 is the error of perpendicularity of SAPSO-LM algorithm identification and the application condition figure that ball bar is surveyed.
Fig. 4 is ball bar kinematic error datagram counterclockwise before compensating.
Fig. 5 is ball bar kinematic error datagram clockwise before compensating.
Fig. 6 is using ball bar kinematic error datagram counterclockwise after the compensation of simplex particle swarm algorithm.
Fig. 7 is using ball bar kinematic error datagram clockwise after the compensation of simplex particle swarm algorithm.
Fig. 8 is ball bar kinematic error datagram counterclockwise after being compensated using the method for the present invention.
Fig. 9 is ball bar kinematic error datagram clockwise after being compensated using the method for the present invention.
Specific embodiment
Below with reference to embodiment, the present invention is described in further detail.
When specific implementation: as shown in Figure 1, certain five face machining center of large-sized gantry, the machining center is by lathe bed 1, X-axis, Y
The buildings such as axis, Z axis, W axis, cutter 3, workbench and workpiece 2 composition.Machine tool structure is lathe bed respectively to workpiece there are two branch
Branch, i.e. lathe bed-X-axis-workpiece and lathe bed to the branch of cutter, i.e. lathe bed-W axis-Y-axis-Z axis-cutter.
1, five face machining center geometric error of large-sized gantry parses
In machine tool structure, prismatic pair is made of the slide carriage of guide rail and translation shaft.Ideally, slide carriage is only along designated parties
To moving reciprocatingly, but in practical situations, slide carriage and guide rail have manufacture, size, assembly equal error.In addition to this, guide rail is led
To between face geometric dimension error, guide pass parallelism error, guide rail and slide carriage difference gap and rolling element form error etc.
Influence prismatic pair precision.Therefore, prismatic pair can have the error in each freedom degree direction during the motion.One kinematic pair has
Six errors, including 3 translational errors and 3 rotation errors.When moving along X-axis, three translational errors are respectively as follows:
Position error δx(X), the straightness error δ in Y-directiony(X), the straightness error δ in Z-directionz(X)；Three rotation errors point
Not are as follows: roll error εx(X), Run-out error εy(X) and pitch error εz(X).It can be obtained by Fig. 1, five face machining center of large-sized gantry
Distinctive W axis is the movement on vertical direction, similarly knows: being respectively as follows: position error δ for six errors of Y-axisy(Y), X
Straightness error δ on directionx(Y), the straightness error δ in Z-directionz(Y), roll error εy(Y), Run-out error εx(Y) and
Pitch error εz(Y)；Position error δ is respectively as follows: for six errors of Z axisz(Z), the straightness error δ in X-directionx(Z), Y
Straightness error δ on directiony(Z), roll error εz(Z), Run-out error εx(Z) and pitch error εy(Z)；For the six of W axis
Item error is respectively as follows: position error δz(W), the straightness error δ in X-directionx(W), the straightness error δ in Y-directiony(W),
Roll error εz(W), Run-out error εx(W) and pitch error εy(W)。
It additionally, there may be 5 error of perpendicularitys, the error of perpendicularity refers to X, Y, Z, the mistake formed between W coordinate axis because orthogonal
Difference.(Z axis and W axis except) ideally orthogonal two-by-two between reference axis, because the factors such as assembly cause two vertical axises it
Between there is no completely vertical, cause low-angle deviation.SxyIndicate the error of perpendicularity between X-axis and Y-axis, SyzIndicate Y-axis and Z axis
Between the error of perpendicularity, SzxIndicate the error of perpendicularity between Z axis and X-axis, SywIndicate that the verticality between W axis and Y-axis is missed
Difference, SwxIndicate the error of perpendicularity between W axis and X-axis.
2, the large size dragon of simulated annealing particle swarm algorithm (SAPSO) and Levenberg-Marquardt (L-M) algorithm is merged
Five face machining center geometric error Fast Identifications of door
2.1, the five face machining center geometrical error modeling of large-sized gantry based on multi-body system
The general geometric error model for establishing lathe will in theory of multi body system and next coordinate transform theoretical basis
Lathe is divided into workpiece branch and cutter branch, obtains location matrix of the cutter relative to lathe bed, workpiece relative to lathe bed, builds respectively
The vertical ideally location matrix with error state bottom tool relative to workpiece, obtains the general error model of lathe from this.
2.1.1, workpiece motion s chain homogeneous coordinate transformation
(1) by the homogeneous coordinate transformation of lathe bed R to X-axis
For X-axis when moving on lathe, there are 6 geometric errors: δx(X)、δy(X)、δz(X)、εx(X)、εy(X)、εz(X),
So homogeneous transform matrix containing geometric error of the X-axis relative to lathe bed R are as follows:
Then homogeneous coordinate transformation matrix comprising geometric error of the lathe bed R to X axis coordinate system are as follows:
If position coordinates vector of the workpiece theory processing stand in workpiece coordinate system are as follows: TB=[XB YB ZB 1]T.So work
Homogeneous coordinate transformation matrix comprising geometric error of the part B relative to bed piece R are as follows:
2.1.2, the homogeneous coordinate transformation of tool motion chain
The Z axis and W axis of five face machining center of large-sized gantry are all the movements on vertical direction, therefore fix Z axis and W respectively
Axis is modeled.
(1) fixed Z axis
The homogeneous coordinate transformation by lathe bed R to W axis, the homogeneous coordinate transformation by W axis to Y-axis can be obtained, by Y-axis to cutter
Homogeneous coordinate transformation is respectively as follows:
Assuming that position coordinates vector of the machine tool tip in tool coordinate system are as follows: Tt=[0 00 1]T, then cutter
Homogeneous transform matrix containing geometric error of the point of a knife T-phase for lathe bed R are as follows:
(2) fixed W axis
The homogeneous coordinate transformation by lathe bed R to Y-axis, the homogeneous coordinate transformation by Y-axis to Z axis can be obtained, by Y-axis to cutter
Homogeneous coordinate transformation is respectively as follows:
Assuming that position coordinates vector of the machine tool tip in tool coordinate system are as follows: Tt=[0 00 1]T, then cutter
Homogeneous transform matrix containing geometric error of the point of a knife T-phase for lathe bed R are as follows:
2.1.3, five face machining center geometric error model of large-sized gantry
Obtaining homogeneous coordinate transformation matrix of the workpiece relative to latheThe homogeneous coordinates for being equivalent to lathe with cutter become
Change matrixAfterwards, the difference of the two matrixes is the relative displacement error matrix of point of a knife and workpiece, the i.e. geometric error of lathe
Matrix:
It solvesWhen, cast out error cubic term and it is high this, missed after abbreviation can be obtained along the geometry that X, Y, Z coordinate axis move
Differential mode type.
2.2, five face machining center error Fast Identification of large-sized gantry
2.2.1, the error identification principle based on ball bar
The research of geometric error parameter identification method is the important content of Geometric Error for Computerized Numerical Control Milling Machine detection, domestic and foreign scholars
A large amount of research is made to this.Currently, the main method of relatively mature geometric error parameter identification has: 9 collimation methods, 12 lines
Method, ball bar identification method.
Ball bar is the standard device of machine tool precision analytical, by high accuracy displacement sensor, is joined using two axis of lathe
The dynamic circular interpolation that does is by the radius change of analysis circular arc and the track characteristic of camber line, then passes through analysis software data.This
Literary grace measures analysis to lathe with the QC20 ball bar of Renishaw, and QC20 ball bar is installed on the workbench, installation
When answer careful attention to avoid collision, otherwise seriously affect measurement accuracy.Room temperature is adjusted to lathe operating temperature, and in light condition
It is lower to make circular motion in X-Y, X-Z, Y-Z, X-W, Y-W plane respectively.
Obtain XY, XZ, YZ, XW, YW planar radial error information such as table 1.
1 XY, XZ, YZ, XW, YW planar radial error amount of table
Ball bar measurement data is substituted into lathe geometric error model, can be obtained about the super of 21 geometric error parameters
Determine equation group.Over-determined systems refer to that equation group number is more than the equation group of unknown number number.Over-determined systems are generally solved without accurate,
Its approximate solution in some sense is sought in most cases.Every geometric error value can be calculated by solving over-determined systems.It is based on
The geometric error identification key of ball bar measurement is the accurate rapid solving of over-determined systems, existing solution ball bar overdetermination
Equation group is the most commonly used is pure particle swarm algorithm, which can effectively solve solution of equations, but this algorithm is easily fallen into
Locally optimal solution and solving speed are slow.
2.2.2, Geometric Error for Computerized Numerical Control Milling Machine identification algorithm
Particle swarm optimization algorithm is a kind of evolutionary computation technique, derived from the behavioral study preyed on to birds and beasts.Particle is according to such as
Lower formula come update oneself speed and new position.
xij(t+1)=xij(t)+Vij(t+1)
Particle swarm algorithm has Memorability and search speed fast parameter lacks advantages of simple structure and simple, but it easily falls into part
It is optimal to cause convergence precision low and be not easy to restrain.
Simulated annealing is a kind of common probability algorithm, for finding the optimal of problem in a big search space
Solution.Thought is derived from the annealing process of solid, i.e., solid is heated to sufficiently high temperature, then Slow cooling, finally at room temperature
Reach ground state, it is interior to be kept to minimum.Simulated annealing calculating process is simple, and versatility, strong robustness can be used for solving complexity
Nonlinear optimal problem but the disadvantages of its long convergence rate slow execution time.
L-M algorithm is the combination of gradient descent method and gauss-newton method.When μ increases, algorithm is similar to gradient descent method,
Play its global property；When μ reduces, algorithm plays its local convergence characteristic close to gauss-newton method.L-M algorithm is using close
As second dervative information, required iteration time is less, restrains very fast, and algorithm stability is preferable, avoids falling into part most
Small value.Its iterative formula are as follows:
μk+1=μk-(Ak TAk+μl)-1Ak Tek
The existing gauss-newton method local convergence of L-M algorithm, and have the global property of gradient descent method, but L-M algorithm pair
Initial value has high requirement.
For the advantage and disadvantage of above-mentioned algorithm, simulated annealing particle swarm algorithm combination L-M algorithm is proposed, in conjunction with simulated annealing grain
The advantages of swarm optimization and L-M algorithm, propose a kind of hybrid algorithm for solving this Nonlinear System of Equations.The hybrid algorithm is at distribution
The collective search ability of particle swarm algorithm is waved, simulated annealing is in search process with the ability of probability kick, Neng Gouyou
Avoid the careful search in part that local minimizers number and L-M algorithm are fallen into search process to effect.
In conjunction with above-mentioned requirements, its algorithm steps is as follows:
The position and speed of each particle in S1, random initializtion population；
The position of current each particle and fitness value are stored in the Pi of each particle by the fitness of S2, each particle of evaluation
In, the position of the optimal individual of adaptive value in all Pbest and fitness value are stored in Pg；
S3, initial temperature is determined, specifically:
S4, the adaptation value that each Pi under Current Temperatures is determined by following formula:
S5, a global optimal replacement value Pg is determined from all Pi using roulette strategy, then is updated by following formula
The speed of each particle and position:
xij(t+l)=xij(t)+Vj(t+1)
S6, the target value for calculating each particle, update the Pi value of each particle and the Pg value of group；
Warm operation, specially T are moved back in S7, calculatingk+1=CTk, C ∈ (0.5,0.99), value determines the process of cooling；
If S8, meeting stop condition, stop search output as a result, and carry out subsequent step, otherwise repeatedly step S4~S8；
S9, using above-mentioned group optimal solution Pg as the initial value of LM algorithm；
S10, k=0 is enabled, calculatedIf | | g (xk) | |≤ε stops calculating, and exports xkFor approximate minimal point；
S11, equation group is soughtSolve dk；
S12, m is enabledkTo meetMinimum nonnegative integer m, enable αk=βmk, xk+1=
xk+αkdk；
S13, μ is updatedkValue, enable k=k+1, go to step S10；
Whereinc1With c2For accelerated factor；r1With r2It is random between 0 and 1
Number；T is the number of iterations；N is population；β and σ parameter between 0 and 1；μ0Greater than 0；ε is allowable error.
3, it tests and analyzes
3.1, five face machining center geometric error of large-sized gantry
Large-scale dragon can be solved by writing MATLAB program solution over-determined systems by simulated annealing population combination L-M algorithm
Every geometric error coefficient such as table 2 of five face machining centers of door.
The five face machining center geometric error of large-sized gantry of 2 SAPSO-LM algorithm solution of table
Comparative analysis: ball bar QC20 can obtain vertical in the geometric error of five face machining center of large-sized gantry in the measurements
Error is spent, compares simplex particle swarm algorithm result and SAPSO-LM arithmetic result such as table 3 respectively.
The application condition that 3 two kinds of algorithms of table obtain the error of perpendicularity and ball bar is surveyed
Fig. 2 and Fig. 3 can be obtained by table 3, it is clear that the error of perpendicularity that SAPSO-LM algorithm recognizes is with respect to simplex particle
Group's algorithm difference is smaller.
3.2, experimental verification after compensating
The result for result and the SAPSO-LM identification that simplex particle swarm algorithm is recognized respectively substitutes into error compensation model
In, respectively obtain compensated numerical control program.Then by three Duan Chengxu, (program, simplex particle swarm algorithm are distinguished before compensating respectively
Know post-compensation program, SAPSO-LM algorithm recognize compensation program) substitute into lathe and run obtain ball bar result.
Ball bar measures result as shown in Fig. 4, Fig. 5 and table 4 before five face machining center geometric error compensation of large-sized gantry,
Ball bar kinematic error data before table 4 compensates
Five face machining center geometric error of large-sized gantry measures result using ball bar after the compensation of simplex particle swarm algorithm
As shown in Fig. 6, Fig. 7 and table 5,
Ball bar kinematic error data after the compensation of 5 simplex particle swarm algorithm of table
Five face machining center geometric error of large-sized gantry uses ball bar after SAPSO-LM algorithm compensation to measure result as schemed
8, shown in Fig. 8 and table 6,
Ball bar kinematic error data after 6 SAPSO-LM algorithm compensation of table
Comparison diagram 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8 and Fig. 9 are it is found that simplex particle swarm algorithm can effectively compensate for numerically-controlled machine tool
Geometric error error, but the lower effect compensated of SAPSO-LM algorithm identification is substantially better than simplex particle swarm algorithm.
4, conclusion
In order to improve the geometric accuracy of five face machining center of large-sized gantry, the geometric error model of lathe is established, is proposed
SAPSO-LM algorithm recognizes the geometric error coefficient of lathe, and establishes the error compensation model of lathe.Pass through the dynamic of ball bar
Performance test, it is determined that the validity of algorithm is simultaneously better than simplex particle swarm algorithm.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not limitation with the present invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (4)
1. a kind of geometric error Fast Identification Method of five face machining center of large-sized gantry, first establishes the geometric error mould of lathe
Type measures analysis to lathe using ball bar, and the measurement data of ball bar is substituted into geometric error model, is obtained multinomial
The over-determined systems of geometric error parameter；Over-determined systems are solved, every geometric error value is obtained；It is characterized in that,
Group optimal solution is first obtained using simulated annealing particle swarm algorithm, then using group optimal solution as the initial value of LM algorithm to above-mentioned super
Determine equation group and carries out emulation solution.
2. the geometric error Fast Identification Method of five face machining center of large-sized gantry as described in claim 1, which is characterized in that
When solving to over-determined systems, following steps are specifically used:
The position and speed of each particle in S1, random initializtion population；
The position of current each particle and fitness value are stored in the Pi of each particle by the fitness value of S2, each particle of evaluation,
The position of the optimal individual of adaptive value in all Pbest and fitness value are stored in Pg；
S3, initial temperature is determined；
S4, the adaptation value that each Pi under Current Temperatures is determined by following formula:
S5, determined from all Pi using roulette strategy one it is global it is optimal replace value Pg, then updated by following formula each
The speed of particle and position:
xij(t+1)=xij(t)+Vij(t+1)
S6, the target value for calculating each particle, update the Pi value of each particle and the Pg value of group；
Warm operation is moved back in S7, calculating；
S8, according to preset operational precision or program the number of iterations, judge whether iteration reaches termination condition, if meet eventually
Only condition, stop search output as a result, and carry out subsequent step, otherwise repeatedly step S4~S8；
S9, using above-mentioned group optimal solution Pg as the initial value of LM algorithm；
S10, k=0 is enabled, calculatedIf | | g (xk) | |≤ε stops calculating, and output xk is approximate minimal point；
S11, equation group is soughtSolve dk；
S12, m is enabledkTo meetMinimum nonnegative integer m, enable αk=βmk, xk+1=xk+αkdk；
S13, μ is updatedkValue, enable k=k+1, go to step S10；
Whereinc1With c2For accelerated factor；r1With r2Random number between 0 and 1；t
For the number of iterations；N is population；β and σ parameter between 0 and 1；μ0Greater than 0；ε is allowable error.
3. the geometric error Fast Identification Method of five face machining center of large-sized gantry as described in claim 1, which is characterized in that
The geometric error model of lathe is established using following steps:
First determine the geometric error of lathe, wherein
The error moved along the x-axis is respectively as follows: position error δx(X), the straightness error δ in Y-directiony(X), the straight line in Z-direction
Spend error deltaz(X), roll error εx(X), Run-out error εy(X) and pitch error εz(X)；
It is respectively as follows: position error δ along the error that Y-axis movesy(Y), the straightness error δ in X-directionx(Y), the straight line in Z-direction
Spend error deltaz(Y), roll error εy(Y), Run-out error εx(Y) and pitch error εz(Y)；
It is respectively as follows: position error δ along the error that Z axis movesz(Z), the straightness error δ in X-directionx(Z), the straight line in Y-direction
Spend error deltay(Z), roll error εz(Z), Run-out error εx(Z) and pitch error εy(Z)；
The error moved along W axis is respectively as follows: position error δz(W), the straightness error δ in X-directionx(W), the straight line in Y-direction
Spend error deltay(W), roll error εz(W), Run-out error εx(W) and pitch error εy(W)；
X, Y, Z, the error of perpendicularity formed between W coordinate axis because orthogonal, including verticality mistake between X-axis and Y-axis are determined again
Poor Sxy, error of perpendicularity S between Y-axis and Z axisyz, error of perpendicularity S between Z axis and X-axiszx, hanging down between W axis and Y-axis
Straight degree error SywError of perpendicularity S between W axis and X-axiswx；
Lathe is divided into workpiece branch and cutter branch, the location matrix and cutter for respectively obtaining workpiece relative to lathe are equivalent to
The location matrix of lathe, the difference of the two are the relative displacement error matrix of cutter and workpiece, i.e. the geometric error square of lathe
Battle array.
4. the geometric error Fast Identification Method of five face machining center of large-sized gantry as claimed in claim 3, which is characterized in that
Workpiece obtains in the following way relative to the location matrix of lathe:
Homogeneous transform matrix containing geometric error of the X-axis relative to lathe bed R are as follows:
Then homogeneous coordinate transformation matrix comprising geometric error of the lathe bed R to X axis coordinate system are as follows:
If position coordinates vector of the workpiece theory processing stand in workpiece coordinate system are as follows:
TB=[XB YB ZB 1]T
Then homogeneous coordinate transformation matrix comprising geometric error of the workpiece B relative to lathe bed R are as follows:
The location matrix that cutter is equivalent to lathe obtains in the following way:
First fix Z axis, obtain lathe bed R to W axis homogeneous coordinate transformation, by the homogeneous coordinate transformation of W axis to Y-axis, by Y-axis to knife
The homogeneous coordinate transformation of tool is respectively as follows:
If position coordinates vector of the machine tool tip in tool coordinate system are as follows:
Tt=[0 00 1]T
Then homogeneous transform matrix containing geometric error of the tool nose T-phase for lathe bed R are as follows:
W axis is fixed again, obtains homogeneous coordinate transformation of the lathe bed R to Y-axis, the homogeneous coordinate transformation by Y-axis to Z axis, by Y-axis to knife
The homogeneous coordinate transformation of tool is respectively as follows:
If position coordinates vector of the machine tool tip in tool coordinate system are as follows:
Tt=[0 00 1]T
Then homogeneous transform matrix containing geometric error of the tool nose T-phase for lathe bed R are as follows:
Cutter is equivalent to the homogeneous coordinate transformation matrix of latheSubtract homogeneous coordinate transformation matrix of the workpiece relative to latheObtain the relative displacement error matrix of point of a knife and workpiece, i.e. the geometric error matrix of lathe:
It is rightIt cries for help, and casts out error cubic term and high-order term, the geometry moved along X, Y, Z coordinate axis after being simplified
Error model.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910416007.4A CN110109418B (en) | 2019-05-19 | 2019-05-19 | Method for quickly identifying geometric errors of large gantry five-surface machining center |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910416007.4A CN110109418B (en) | 2019-05-19 | 2019-05-19 | Method for quickly identifying geometric errors of large gantry five-surface machining center |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110109418A true CN110109418A (en) | 2019-08-09 |
| CN110109418B CN110109418B (en) | 2021-04-13 |
Family
ID=67490913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910416007.4A Active CN110109418B (en) | 2019-05-19 | 2019-05-19 | Method for quickly identifying geometric errors of large gantry five-surface machining center |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110109418B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111459095A (en) * | 2020-04-08 | 2020-07-28 | 新代科技(苏州)有限公司 | Method for eliminating machining reversing lines of numerical control machine tool by using ball rod instrument |
| CN111580459A (en) * | 2020-06-01 | 2020-08-25 | 山东大学 | Five-axis machining center assembly error analysis control method |
| CN112008492A (en) * | 2020-07-29 | 2020-12-01 | 成都飞机工业（集团）有限责任公司 | Method for identifying perpendicularity error of translational shaft of gantry numerical control machine tool |
| CN112346408A (en) * | 2020-09-30 | 2021-02-09 | 北京工业大学 | Numerical control grinding machine geometric error compensation method for constructing equation set of linear two-dimensional equations |
| CN112621385A (en) * | 2020-12-11 | 2021-04-09 | 西安交通大学 | Rapid identification method for geometric errors of linear axis based on 8 displacement line measurements |
| CN115179445A (en) * | 2022-08-09 | 2022-10-14 | 永得利科技（无锡）有限公司 | CNC machining method for vacuum cavity sealing element based on space positioning error model |
| CN115562151A (en) * | 2022-10-13 | 2023-01-03 | 四川普什宁江机床有限公司 | Curve control method based on numerical control machine tool machining guide rail surface |
| CN117348518A (en) * | 2023-12-05 | 2024-01-05 | 广东海洋大学 | Numerical control machine tool geometric error identification method and device based on improved nine-line method |
| US20240019839A1 (en) * | 2021-02-19 | 2024-01-18 | Chengdu Aircraft Industrial (Group) Co., Ltd. | Methods for quickly optimizing geometric error compensation data of translational axes of five-axis numerically controlled machine tools |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006350524A (en) * | 2005-06-14 | 2006-12-28 | Nissan Motor Co Ltd | Process necessity decision apparatus |
| CN103034166A (en) * | 2012-11-26 | 2013-04-10 | 北京工业大学 | Recognition method of critical geometrical error source of machine tool |
| CN103878641A (en) * | 2014-03-14 | 2014-06-25 | 浙江大学 | Rotating shaft geometric error identification method commonly used for five-axis numerical control machine tool |
| CN105479268A (en) * | 2016-01-22 | 2016-04-13 | 清华大学 | RTCP (real-time transport control protocol) based geometrical error identification methods for swing shafts of five-axis numerical control machine tool |
| CN106141814A (en) * | 2016-08-04 | 2016-11-23 | 天津大学 | Digit Control Machine Tool translation shaft geometric error based on LaserTRACER detection and discrimination method |
| CN107066721A (en) * | 2017-04-09 | 2017-08-18 | 北京工业大学 | A kind of multi-axis NC Machine Tools C axle geometric error measuring systems and parameter identification method |
| CN107081638A (en) * | 2017-06-15 | 2017-08-22 | 天津大学 | A kind of lathe work Space Thermal error identification method for establishing model |
| CN107186548A (en) * | 2017-06-08 | 2017-09-22 | 大连理工大学 | A kind of five-axle number control machine tool gyroaxis geometric error detection method |
| CN108340210A (en) * | 2018-05-09 | 2018-07-31 | 天津工业大学 | A kind of gang tool geometric error discrimination method measured based on ball bar |
| CN108655827A (en) * | 2018-07-30 | 2018-10-16 | 天津中德应用技术大学 | Five-axle number control machine tool space error discrimination method |
-
2019
- 2019-05-19 CN CN201910416007.4A patent/CN110109418B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006350524A (en) * | 2005-06-14 | 2006-12-28 | Nissan Motor Co Ltd | Process necessity decision apparatus |
| CN103034166A (en) * | 2012-11-26 | 2013-04-10 | 北京工业大学 | Recognition method of critical geometrical error source of machine tool |
| CN103878641A (en) * | 2014-03-14 | 2014-06-25 | 浙江大学 | Rotating shaft geometric error identification method commonly used for five-axis numerical control machine tool |
| CN105479268A (en) * | 2016-01-22 | 2016-04-13 | 清华大学 | RTCP (real-time transport control protocol) based geometrical error identification methods for swing shafts of five-axis numerical control machine tool |
| CN106141814A (en) * | 2016-08-04 | 2016-11-23 | 天津大学 | Digit Control Machine Tool translation shaft geometric error based on LaserTRACER detection and discrimination method |
| CN107066721A (en) * | 2017-04-09 | 2017-08-18 | 北京工业大学 | A kind of multi-axis NC Machine Tools C axle geometric error measuring systems and parameter identification method |
| CN107186548A (en) * | 2017-06-08 | 2017-09-22 | 大连理工大学 | A kind of five-axle number control machine tool gyroaxis geometric error detection method |
| CN107081638A (en) * | 2017-06-15 | 2017-08-22 | 天津大学 | A kind of lathe work Space Thermal error identification method for establishing model |
| CN108340210A (en) * | 2018-05-09 | 2018-07-31 | 天津工业大学 | A kind of gang tool geometric error discrimination method measured based on ball bar |
| CN108655827A (en) * | 2018-07-30 | 2018-10-16 | 天津中德应用技术大学 | Five-axle number control machine tool space error discrimination method |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111459095A (en) * | 2020-04-08 | 2020-07-28 | 新代科技(苏州)有限公司 | Method for eliminating machining reversing lines of numerical control machine tool by using ball rod instrument |
| CN111580459A (en) * | 2020-06-01 | 2020-08-25 | 山东大学 | Five-axis machining center assembly error analysis control method |
| CN112008492B (en) * | 2020-07-29 | 2022-04-08 | 成都飞机工业（集团）有限责任公司 | Method for identifying perpendicularity error of translational shaft of gantry numerical control machine tool |
| CN112008492A (en) * | 2020-07-29 | 2020-12-01 | 成都飞机工业（集团）有限责任公司 | Method for identifying perpendicularity error of translational shaft of gantry numerical control machine tool |
| CN112346408B (en) * | 2020-09-30 | 2023-11-24 | 北京工业大学 | Geometric error compensation method for numerically controlled grinder for constructing binary once equation set |
| CN112346408A (en) * | 2020-09-30 | 2021-02-09 | 北京工业大学 | Numerical control grinding machine geometric error compensation method for constructing equation set of linear two-dimensional equations |
| CN112621385A (en) * | 2020-12-11 | 2021-04-09 | 西安交通大学 | Rapid identification method for geometric errors of linear axis based on 8 displacement line measurements |
| US20240019839A1 (en) * | 2021-02-19 | 2024-01-18 | Chengdu Aircraft Industrial (Group) Co., Ltd. | Methods for quickly optimizing geometric error compensation data of translational axes of five-axis numerically controlled machine tools |
| CN115179445A (en) * | 2022-08-09 | 2022-10-14 | 永得利科技（无锡）有限公司 | CNC machining method for vacuum cavity sealing element based on space positioning error model |
| CN115179445B (en) * | 2022-08-09 | 2023-06-27 | 永得利科技（无锡）有限公司 | CNC (computer numerical control) processing method for vacuum cavity sealing piece based on space positioning error model |
| CN115562151A (en) * | 2022-10-13 | 2023-01-03 | 四川普什宁江机床有限公司 | Curve control method based on numerical control machine tool machining guide rail surface |
| CN117348518A (en) * | 2023-12-05 | 2024-01-05 | 广东海洋大学 | Numerical control machine tool geometric error identification method and device based on improved nine-line method |
| CN117348518B (en) * | 2023-12-05 | 2024-03-01 | 广东海洋大学 | Numerical control machine tool geometric error identification method and device based on improved nine-line method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110109418B (en) | 2021-04-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110109418A (en) | A kind of geometric error Fast Identification Method of five face machining center of large-sized gantry | |
| CN106141814B (en) | The detection of Digit Control Machine Tool translation shaft geometric error and discrimination method based on LaserTRACER | |
| CN102785129B (en) | The online test method of the surface machining accuracy of complex parts | |
| Gomez-Acedo et al. | A method for thermal characterization and modeling of large gantry-type machine tools | |
| CN103250025B (en) | The error of the measurement obtained using coordinate positioning apparatus by correction | |
| CN103328154B (en) | Error measure device and error measure method | |
| CN112008492B (en) | Method for identifying perpendicularity error of translational shaft of gantry numerical control machine tool | |
| Wang et al. | The technical method of geometric error measurement for multi-axis NC machine tool by laser tracker | |
| CN102200429B (en) | Precision detection method for numerical control machine based on laser-tracking combined measurement | |
| CN104007700A (en) | Three-axis numerical control machine tool key geometric error identification method based on global sensitivity analysis | |
| CN110181335A (en) | A kind of lathe translation shaft position correlated error discrimination method based on ball bar measurement | |
| CN109318059A (en) | The calibrating installation and method of numerically-controlled machine tool translation shaft geometric error | |
| Wang et al. | Configuration optimization of laser tracker stations for position measurement in error identification of heavy-duty machine tools | |
| CN101413785A (en) | Error compensation method of positioning system based on double-rotating laser plane transmitter network | |
| CN108801146A (en) | A kind of lathe five degree of freedom error measuring means and error model method for building up | |
| Liu et al. | Dynamic and static error identification and separation method for three-axis CNC machine tools based on feature workpiece cutting | |
| CN208720994U (en) | A kind of lathe five degree of freedom error measuring means | |
| Xing et al. | Comparison of direct and indirect methods for five-axis machine tools geometric error measurement | |
| CN108115466B (en) | A kind of the geometric moving error detection method and system of vertical machining centre | |
| CN106247997B (en) | Error of perpendicularity method for orthogonal guide rail platform | |
| CN108801187B (en) | The geometric error discrimination method of guide rail slide unit movement based on coordinate transform | |
| CN116400642A (en) | Machine tool precision compensation method and device, storage medium and electronic equipment | |
| Chen et al. | An accurate characterization method to tracing the geometric defect of the machined surface for complex five-axis machine tools | |
| CN113932707B (en) | Method for compensating geometric error of three-coordinate measuring machine based on elastic network algorithm | |
| Erkan et al. | A cluster analysis applied to volumetric errors of five-axis machine tools obtained by probing an uncalibrated artefact |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: No.69 Hongguang Avenue, Banan District, Chongqing Patentee after: Chongqing University of Technology Patentee after: Chongqing GAOJIN Industrial Co.,Ltd. Address before: No.69 Hongguang Avenue, Banan District, Chongqing Patentee before: Chongqing University of Technology Patentee before: CHONGQING GAOKIN INDUSTRY Co.,Ltd. |