CN110262394A - The compensation method of profile errors in a kind of numerical control processing - Google Patents
The compensation method of profile errors in a kind of numerical control processing Download PDFInfo
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- CN110262394A CN110262394A CN201910605316.6A CN201910605316A CN110262394A CN 110262394 A CN110262394 A CN 110262394A CN 201910605316 A CN201910605316 A CN 201910605316A CN 110262394 A CN110262394 A CN 110262394A
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- 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
Abstract
The invention belongs to numerical control correlative technology fields, it discloses a kind of compensation methodes of profile errors in numerical control processing, the compensation method is the following steps are included: (1) obtains the profile errors value of workpieces processing, and the error compensation amount of each axis is calculated based on the obtained profile errors value, then generate workpiece error compensation tables；Wherein, the workpiece error compensation tables include each compensation point position fed in axis direction and corresponding compensation rate during machine tooling；(2) compensated control instruction sequence is calculated in processing G code and the workpiece error compensation tables before digital control system is compensated based on workpieces processing, and then the dynamic compensation of workpieces processing profile errors is realized in the Interpolation Process of machining control.The present invention generates the workpiece error compensation tables of corresponding workpieces processing profile under non-processing state, and realizes the dynamic compensation of profile errors in the Interpolation Process of machining control based on workpiece error compensation tables, improves machining profile precision, with strong applicability.
Description
Technical field
The invention belongs to numerical control correlative technology fields, more particularly, to a kind of compensation of profile errors in numerical control processing
Method.
Background technique
With the promotion required product quality, the precision of workpieces processing is put forward new requirements.In process
Inevitably there are profile errors, influences the precision of numerical control processing.Error Compensation Technology is processed as numerically-controlled machine tool is improved
The effective ways of precision are widely used in machine industry, and wherein NC Machine Error compensates the routine side being related to
Method includes:
(1) after part processing, the dimensional accuracy of part to be processed is measured to obtain error information, and utilize error
Data are adjusted nc program；
(2) error compensation function provided using digital control system, by way of parameter setting, by the error compensation of measurement
Data input corresponding error compensation setting option (such as backlash compensation, the compensation of pitch error), and in actual processing, digital control system will
These preset error terms are included in algorithm calculating process and are compensated；
(3) in process, real-time acquisition instructions profile and real-time response profile are missed with the profile for estimating current time
Difference realizes the distribution of each axis and compensation (such as the cross-coupling control side of profile errors at next moment in digital control system
Method).
Although the methods of traditional lathe 21 error compensations, the compensation of pitch error, backlash Compensation of Half can be to lathes
Static geometric error compensates, amendment Machine Tool design, manufacture and rigging error.But for movement velocity, movement parts weight
Power, driving force and the dynamic kinematic error of the relevant lathe of frictional force, can not be mended by way of static measurement and compensation
It repays, for example, circularity test (one circular contour of processing) is carried out on specific lathe, using different radii or different feeding speed
When spending, the profile errors of the practical circle processed are discrepant.Therefore, on specific lathe, the size of profile errors
Require (motion control parameter, such as feed speed) closely related with workpiece features (such as the size of circle) and technique.
There is the research much about machine tool error emulation and compensation method in existing Error Compensation Technology, as patent is " a kind of
Static the missing of method and system for the compensation static error on numerically-controlled machine tool " laser applied measurement device measurement numerically-controlled machine tool
Difference generates the static errors model according to measurement data and carries out error compensation, for another example a kind of patent " NC Machining Error optimization side
Method " utilizes time-domain analysis and frequency-domain analysis pair by the error information of acquisition machine tooling real time data and acquisition processing dimension
Process data is analyzed to obtain relevant parameter, and joint error data construct error prediction model, and then the processing program of adjustment member
Realize the compensation of error.
But the measurement that current method is only used for static error (had both included with the information compensated or needs acquire
Lathe internal information also includes lathe external information), process complexity is not easy, and can not accomplish following error of prediction, can only
The error at current time is estimated.Same lathe.Under different speed and different parameters, the profile of institute's workpieces processing
Error is different, thus compensation method must accomplish it is related to specific workpiece (workpiece features, technique).However, current compensation side
Method can not accomplish related to lathe and workpieces processing, can not adapt to different processing conditions.Correspondingly, there is development for this field
The technical need of the compensation method of profile errors in a kind of preferable numerical control processing of precision.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides profile errors in a kind of numerical control processing
Compensation method the characteristics of based on the compensation of existing profile errors, is studied and is devised and take turns in a kind of preferable numerical control processing of precision
The compensation method of wide error.The compensation method generates the workpiece error compensation of corresponding workpieces processing profile under non-processing state
Table, workpiece error compensation tables are related to specific lathe, (the workpiece features, technique) binding of specific workpiece；It is right on identical lathe
It is corresponding to generate different error compensation tables in different workpiece (different workpiece features, technique), it is based on workpiece error compensation tables
The dynamic compensation that profile errors are realized in the Interpolation Process of machining control, improves complex-curved machining profile precision, fits
It is stronger with property.
To achieve the above object, according to one aspect of the present invention, a kind of benefit of profile errors in numerical control processing is provided
Compensation method, the compensation method the following steps are included:
(1) the profile errors value of workpieces processing is obtained, and each axis is calculated based on the obtained profile errors value
Error compensation amount then generates workpiece error compensation tables；Wherein, the workpiece error compensation tables include each during machine tooling
Feed the compensation point position in axis direction and corresponding compensation rate；
(2) processing G code and the workpiece error compensation tables before digital control system is compensated based on workpieces processing are calculated
Compensated control instruction sequence, and then realize that the dynamic of workpieces processing profile errors is mended in the Interpolation Process of machining control
It repays.
Further, the generation of workpiece error compensation tables based on profile errors value the following steps are included: firstly, compensated
Point；Later, compensation rate is obtained by the corresponding profile errors value of partial compensation point；It is then determined compensation rate is inserted relative to instruction
The periodic quantity that the complement point moment need to input in advance, and then workpiece is generated based on obtained compensation point position, compensation rate and periodic quantity and is missed
Difference compensation table.
Further, when instructing the absolute value of the corresponding profile errors change rate of interpolated point to be greater than given threshold, then should
Instruction interpolated point is compensation point.
Further, the compensation rate between two compensation points is to be determined when compensating processing by interpolation.
Further, the corresponding compensation rate of compensation point is obtained by the profile errors value at partial compensation point.
Further, Machine Tool Feeding System simulation and prediction response model is used to carry out simulation and prediction to obtain in process
Profile errors value.
Further, in the state of not cutting workpiece, idle running workpiece G code, and acquire the reality of platen
Border feedback position is to obtain profile errors value when work pieces process.
Further, in the work pieces process equipped with proprietary frock clamp, by previous workpieces processing measure come
It calculates and obtains profile errors value.
Further, based on uniaxial instruction time sequence, using required processing part model and workpieces processing it is specific
Feed system response prediction model prediction goes out the emulation speed equal with the real response speed of physical entity during actual processing
Degree, and then uniaxial emulation location is obtained by integral operation, and the motor imagination position grouping of each axis is got up to obtain workpiece
Obtained surface profile and instruction profile are made the difference and profile errors value can be obtained by surface profile.
Further, numerically-controlled machine tool is provided with servo-driver；Described instruction time series refers to be sent by numerically-controlled machine tool
To the control information of servo-driver, which is to send according to time series to the servo-driver.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, number provided by the invention
The compensation method of profile errors mainly has the advantages that in control processing
1. the error compensation amount of each axis is calculated based on the obtained profile errors value under non-processing state, after
And generate workpiece error compensation tables；Wherein, the workpiece error compensation tables include that machine tooling is respectively fed in axis direction in the process
Compensation point position and corresponding compensation rate, and the workpiece error compensation tables consider it is various non-thread in Machine Tool Feeding System
Property element, the curved surface features of workpieces processing, lathe parameter be arranged feature, the obtained error compensation amount in each axis direction is more
Accurately, machining accuracy is improved, it is with strong applicability.
2. digital control system based on workpieces processing compensate before processing G code and the workpiece error compensation tables benefit is calculated
Control instruction sequence after repaying, and then realize that the real-time dynamic of workpieces processing profile errors is mended in the Interpolation Process of machining control
It repays, non-time delay in error compensation improves precision.
3. determining the periodic quantity that compensation rate need to input in advance relative to instruction interpolation point moment, and then based on obtained compensation
Point position, compensation rate and periodic quantity generate workpiece error compensation tables, it is contemplated that the lag of feed system response, so that compensation rate
Shift to an earlier date in time, thus reduces compensation rate and deposited from being input in digital control system to real compensation to the machining profile of workpiece
Response lag, improve real-time and accuracy.
4. the compensation method is simple, easy to implement, the workpiece error compensation tables used have better specific aim, energy
Enough particular process workpiece to required processing carry out accurate profile errors compensation, improve the quality of numerical control processing.
Detailed description of the invention
Fig. 1 is the process signal of the compensation method of profile errors in the numerical control processing of better embodiment offer of the present invention
Figure；
Fig. 2 is the machining locus schematic diagram that the compensation method of profile errors in numerical control processing in Fig. 1 is related to；
Fig. 3 is the process signal of the compensation method of profile errors in the numerical control processing of first embodiment of the invention offer
Figure.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Fig. 1 and Fig. 2 is please referred to, the compensation method of profile errors in numerical control processing provided by the invention, the compensation method
It mainly comprises the steps that
Step 1 obtains the profile errors value of workpieces processing.
Specifically, the workpiece shapes in numerical control processing are complicated various, and the cutting state of lathe also exists in real time in process
The considerations of variation, the angle of simple slave lathe static state geometric error carries out error compensation be it is insufficient, need to consider that lathe exists
Cutting state when the different manufacturing procedures of workpiece, to improve the effect of error compensation.
The setting state of numerically-controlled machine tool equally has large effect to the profile errors in processing, such as in swivel feeding
In movement, tracking error size of the existing angular speed lag on the different radius of gyration be it is different, radius is bigger, absolutely
Error amount is bigger.Therefore, the setting of different workpiece coordinate systems also will affect the size of profile errors, consider in profile errors compensation
Different setting states can improve the compensation effect of error to a certain extent.
In order to realize the compensation of workpieces processing profile errors, need to obtain the profile errors value in processing, and for specific
Workpieces processing, the acquisition of profile errors value mainly has three ways, such as following: the first, utilize Machine Tool Feeding System simulation and prediction
Response model carries out simulation and prediction to obtain the profile errors value in process；Second, in the state of not cutting workpiece,
Idle running workpiece G code, and the actual feedback position of platen is acquired to calculate the profile errors for obtaining work pieces process
Value, this mode are suitable for finishing stage, mainly Milling Process, and when finishing, cutting feed amount is small, and cutting force is small, feeding
System motion state response can taking human as with zero load processing very close to；The third, for being in high volume equipped with proprietary frock clamp
Work pieces process in, and then profile errors value can be calculated by measuring previous workpieces processing.
The error compensation amount of each axis is calculated based on the obtained profile errors value, and then generates workpiece for step 2
Error compensation tables, wherein the workpiece error compensation tables include each compensation point fed in axis direction during machine tooling
It sets and corresponding compensation rate.
Specifically, workpiece error compensation tables preserve each compensation rate fed in axis direction during machine tooling, for
For one processing G code file, workpiece error compensation tables are made of several compensator sections, and the content of each compensator section is equal
It is made of " compensator section marker word CMPEN ", " compensation point position S ", " compensation rate EX/EY/EZ/EA/EB/EC ".Wherein, compensator section
Format are as follows: CMPEN S#.###.# ... EX##.###.# ... EY##.###.# ... EZ##.###.# ... EA ##.###.# ...
EB##.###.#…EC##.###.#…。
In formula, CMPEN (compensation) indicates the banner word of compensator section in workpiece error compensation tables；G code file
In each G code can correspond to several compensator sections；S indicates the corresponding location point of each compensation rate recorded in the compensator section, S
" #.###.#... " afterwards corresponds to the cutter location travel position of the row G code, i.e. rising relative to every row G code respectively
Point, take stroke length as the position of index, and " #.###.#... " is greater than 0；EX is X-axis error compensation amount banner word, compensation rate
The error compensation amount array in stroke section that " ##.###.#... " is in S#.###.# ..., the dimension and stroke of array are in positive
It closes, each compensation rate is corresponding with the travel position point in stroke section S, and compensation numerical quantity number is generally all with digital control system interpolation
Phase sum is unequal, and when practical application, the interpolated determination of the compensation rate of each interpolation cycle, ##.# is to retain after decimal point five
Floating number；Y, Z, A, B, C axis are similar to X-axis.
Workpiece error compensation tables are described in detail with example below.Wherein, with a two-dimensional surface song
For line (x, y), according to the control principle and measurement method of lathe, instruction track is substantially by a series of with actual path
The position coordinates point of constant duration is constituted.During lathe actual processing, instructs and is not overlapped between track and actual path,
There is deviations, i.e. profile errors, are most short between point P and actual path for the profile errors value at instruction interpolated point P
Distance.
When calculating profile errors value, by taking point P as an example, comparison point is calculated at a distance from each point on actual path, is found most
Small distance PK-2, connect K-2It is adjacent thereto, point P is calculated separately to straight line K-1K-2, straight line K-2K-3Vertical range, smaller value
As the profile errors value PO at point P.Similarly, using identical calculation method, traversal instruction respectively instructs interpolated point i.e. on track
It can get the profile errors of whole track.
After the profile errors value of whole track is calculated, one is set according to the order of magnitude of corresponding curvature value
Threshold value λ, when the absolute value of profile errors change rate is greater than λ, which is confirmed as compensation point, several among two compensation points
The compensation rate of interpolated point is to be determined when compensating processing by interpolation.
Compensation rate is obtained by the profile errors value at partial compensation point, by taking point P as an example, along x, y-axis Directional Decomposition
The profile errors of point P, i.e., to vectorIt is decomposed intoThe size of compensation rate is vector field homoemorphism, positive and negative according to vector
It is determined with the relationship of reference axis positive direction, is positive when identical, is negative on the contrary.
There is the rule of Machine Tool Feeding System response delay hysteresis quality to need the benefit that will be calculated in error compensation
The amount of repaying instruction interpolation point moment corresponding with respect to its shifts to an earlier date certain interpolation cycle T input, and cycle T is optimal by experimental selection
Value, the periodic quantity T for entirely processing G code is identical.In present embodiment, to be determined compensation point, compensation point position
And workpiece error compensation tables can be generated according to the format of design after corresponding compensation rate etc..
By taking the processing of a full circle as an example, G code is processed are as follows:
%1234
N1 G54 G90 G01 X0 Y0 F8000
N2 G02 X0 Y0 I0 J50
N3 M30
Wherein, the figure processed is X, the full circle of radius 50mm on Y plane, required to compensate G code behavior N2.
The workpiece error compensation tables of above-mentioned circle are as follows:
N2 CMPEN S 0.0000 0.0000 0.0001 0.0002 0.0003 0.0006 0.0010 0.0016
0.0024 0.0035 EX -0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 EY 0.0002 0.0002 0.0002 0.0002 0.0002 0.0002 0.0002 0.0002
0.0002 0.0003；
N2 CMPEN S 0.0048 0.0063 0.0083 0.0105 0.0132 0.0162 0.0197 0.0237
0.0282 0.0332 EX 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 EY 0.0003 0.0004 0.0005 0.0005 0.0005 0.0005 0.0005 0.0005
0.0005 0.0006；
N2 CMPEN S 0.0387 0.0448 0.0516 0.0589 0.0669 0.0756 0.0850 0.0951
0.1059 0.1175 EX 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 EY 0.0006 0.0006 0.0006 0.0006 0.0007 0.0007 0.0007 0.0007
0.0007 0.0007；
N2CMPEN S 0.1300 0.1432 0.1572 0.1721 0.1879 0.2045 0.2220 0.2405
0.2598 0.2801 EX 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 EY 0.0007 0.0007 0.0007 0.0007 0.0008 0.0008 0.0007 0.0007
0.0007 0.0008。
N2 is corresponding with N2 row in processing G code in workpiece error compensation tables, and CMPEN is compensator section keyword, is shown here
4 compensator sections before the row G code, in each compensator section, corresponding value is compensation point position after S, position be with relative to
The stroke length of the row G code starting point；Respectively value is the X-axis compensation rate at each compensation point position after corresponding S after EX；Respectively value is after EY
Y-axis compensation rate after corresponding S at each compensation point position.
Keep error compensation more targeted by the way of workpiece error compensation tables, when non-processing state, is in feeding
Pass through input instruction time sequence, i.e., exportable simulation track in the prediction model of system；The instruction time sequence of input is and spy
It is relevant to determine task (workpiece process), and be on specific lathe, therefore generate workpiece error compensation tables be exactly
For the lathe and task, more targetedly, offset is more accurate.
The workpiece error compensation tables are input to digital control system by step 3, and the digital control system is mended based on workpieces processing
Compensated control instruction sequence is calculated in processing G code and the workpiece error compensation tables before repaying, and then controls in processing
The dynamic compensation of workpieces processing profile errors is realized in the Interpolation Process of system.
Referring to Fig. 3, the compensation method of profile errors is mainly wrapped in the numerical control processing that first embodiment of the invention provides
Include following steps:
S1, using the part model of required processing and the specific feed system response prediction model of workpieces processing, input is single
Axis instruction time sequence can predict the emulation of substantially equal with the real response speed of physical entity during actual processing
Speed, and then uniaxial emulation location is obtained by integral operation, the motor imagination position grouping of each axis is got up to obtain workpiece
Surface profile, and then obtained surface profile and instruction profile are made the difference and profile errors value can be obtained.
Wherein, the feed system response prediction model is to the servo-driver in feed system, motor, machine driving
One motor imagination nonlinear simulation model of mechanism, the model and the response having the same of physical entity, that is, feed system are special
Property, that is, consistent motor imagination can be exported as a result, therefore in feed system response prediction model by inputting identical control instruction
When inputting the instruction time sequence on feed shaft, actual response can be predicted.
Described instruction time series refers to related control information (the position increasing that servo-driver is sent to by numerical control device
Amount), i.e. speed；The control information is to send according to time series to servo-driver.In addition, being responded according to feed system
Uniaxial simulation track can be obtained by integral in the simulation velocity that prediction model is predicted, by the motion profile of each axis according to
Time series combines the motion outline that emulation can be obtained, and making the difference with the workpiece profile of instruction can be obtained profile errors value.
The workpiece error compensation tables for meeting compensation and requiring are calculated according to obtained profile errors value by S2.
Specifically, profile errors are assigned on each feed shaft according to the different machining profile features of workpieces processing,
And generate workpiece error compensation tables.
S3, for workpiece when processing operation, digital control system is synchronous to read original processing G code and the workpiece error compensation tables
Compensated control instruction sequence is calculated, and then realize the intelligent compensation of error.
The compensation method of profile errors in numerical control processing provided by the invention, the compensation method are mended based on workpiece error
Table is repaid, the motion control performance of digital control system is improved under conditions of not increasing digital control system computing resource, is improved
The quality and precision of numerical control processing.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. the compensation method of profile errors in a kind of numerical control processing, which is characterized in that method includes the following steps:
(1) the profile errors value of workpieces processing is obtained, and the error of each axis is calculated based on the obtained profile errors value
Compensation rate then generates workpiece error compensation tables；Wherein, the workpiece error compensation tables include each feeding during machine tooling
Compensation point position and corresponding compensation rate in axis direction；
(2) compensation is calculated in processing G code and the workpiece error compensation tables before digital control system is compensated based on workpieces processing
Control instruction sequence afterwards, and then realize that the real-time dynamic of workpieces processing profile errors is mended in the Interpolation Process of machining control
It repays.
2. the compensation method of profile errors in numerical control processing as described in claim 1, it is characterised in that: workpiece error compensation tables
Generation the following steps are included: firstly, based on profile errors value obtain compensation point；Later, pass through the corresponding wheel of partial compensation point
Wide error amount obtains compensation rate；It is then determined the periodic quantity that compensation rate need to input in advance relative to instruction interpolation point moment, in turn
Workpiece error compensation tables are generated based on obtained compensation point position, compensation rate and periodic quantity.
3. the compensation method of profile errors in numerical control processing as claimed in claim 2, it is characterised in that: when instruction interpolated point pair
When the absolute value for the profile errors change rate answered is greater than given threshold, then the instruction interpolated point is compensation point.
4. the compensation method of profile errors in numerical control processing as claimed in claim 3, it is characterised in that: between two compensation points
Compensation rate be to be determined when compensating processing by interpolation.
5. the compensation method of profile errors in numerical control processing as claimed in claim 3, it is characterised in that: the corresponding benefit of compensation point
The amount of repaying is obtained by the profile errors value at partial compensation point.
6. the compensation method of profile errors in numerical control processing as described in any one in claim 1-5, it is characterised in that: use machine
Bed feed system simulation and prediction response model carries out simulation and prediction to obtain the profile errors value in process.
7. the compensation method of profile errors in numerical control processing as described in any one in claim 1-5, it is characterised in that: do not cutting
In the state of turning work piece, idle running workpiece G code, and the actual feedback position of platen is acquired to obtain work pieces process
When profile errors value.
8. the compensation method of profile errors in numerical control processing as described in any one in claim 1-5, it is characterised in that: for matching
In the work pieces process for having proprietary frock clamp, profile errors value is obtained by calculating previous workpieces processing measurement.
9. the compensation method of profile errors in numerical control processing as described in any one in claim 1-5, it is characterised in that: based on single
Axis instruction time sequence utilizes the part model of required processing and the specific feed system response prediction model prediction of workpieces processing
The simulation velocity equal with the real response speed of physical entity during actual processing out, and then list is obtained by integral operation
Axis emulation location, and the motor imagination position grouping of each axis is got up to obtain the surface profile of workpiece, the surface profile that will be obtained
Making the difference with instruction profile can be obtained profile errors value.
10. the compensation method of profile errors in numerical control processing as claimed in claim 9, it is characterised in that: numerically-controlled machine tool setting
There is servo-driver；Described instruction time series refers to the control information that servo-driver is sent to by numerically-controlled machine tool, the control
Information is to send according to time series to the servo-driver.
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