CN110968038A - Numerical control machine tool feed shaft thermal error monitoring method based on digital twinning - Google Patents
Numerical control machine tool feed shaft thermal error monitoring method based on digital twinning Download PDFInfo
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- 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
- G05B19/406—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 monitoring or safety
- G05B19/4065—Monitoring tool breakage, life or condition
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
A numerical control machine tool feed shaft thermal error monitoring method based on digital twinning comprises the following steps: creating a virtual digital model of a feeding shaft of the entity numerical control machine tool based on three-dimensional modeling software and MATLAB script language; creating a driving data acquisition module based on MATLAB scripting language and Simulink, and acquiring geometric model driving data from a numerical control system; a thermal error data acquisition module is created based on Simulink, and thermal error prediction data is obtained; on the basis of Simulink, the modules are connected through data input and output interfaces, a feed shaft digital twin model is built, and three-dimensional real-time presentation of the thermal error of the feed shaft is realized; and creating a user-oriented interactive interface based on the MATLAB scripting language and Simulink. The method can realize the presentation of the thermal error monitoring of the machine tool feed shaft from data presentation to visualization, and provides a specific implementation method for the application of a digital twin technology in the field of the thermal error monitoring of the numerical control machine tool.
Description
Technical Field
The invention relates to the technical field of numerical control machine tool error compensation and digital twinning, in particular to a numerical control machine tool feed shaft thermal error monitoring method based on digital twinning.
Background
The thermal error is one of important factors influencing the precision of the numerical control machine tool, and documents show that the thermal error accounts for about 40-70% of the total error of the machine tool, thereby not only influencing the processing precision of a single workpiece, but also influencing the precision consistency of batch processing. The thermal error of the numerical control machine tool comprises a feed shaft thermal error and a main shaft thermal error. At present, research aiming at modeling and compensating the thermal error of the feed shaft of the numerical control machine tool becomes the key direction of research of relevant scholars. With the development of a new generation of information technology, the trend of changing state parameters from data display to visualization is obvious, however, no research for realistically and real-timely perspective monitoring of the thermal error of the feed shaft of the numerical control machine tool is found in the aspect of monitoring the thermal error of the feed shaft.
The digital twin is a simulation process integrating multidisciplinary, multi-physical quantity, multi-scale and multi-probability by fully utilizing data such as a physical model, sensor updating, operation history and the like, and mapping is completed in a virtual space, so that the full life cycle process of corresponding entity equipment is reflected. With the development of a new generation of information technology, particularly a big data technology, a digital twin technology is considered as a key technology for realizing intelligent manufacturing, and the problems that the traditional simulation cannot realize the real-time performance of data information and the visualization degree of one-dimensional data or two-dimensional charts is low can be solved, so that the real-time three-dimensional visual monitoring is realized.
At present, a great deal of research has been carried out by relevant scholars aiming at the theory of the digital twin technology and the application thereof in the industrial fields of product design, manufacture and service, equipment failure prediction and health management, production workshop management and the like. The research shows that the digital twin technology is less applied to the field of numerical control machine tools, and the numerical twin modeling method is applied to the numerical control machine tool in the patent of 'a numerical twin modeling method', the application number is as follows: 201711434013.X adopts a multi-field unified modeling language Modelica, and a numerical control machine tool digital twin description model with the characteristics of multi-field unified modeling, mathematical equation and object orientation is established. In the patent 'a machine tool digital twin model performance test method and device', the application number: 201910154112.5, a loading mechanism is provided in the device to simulate the real process of the machine tool, and the sensors collect the required reliability data, so as to test the performance of the digital twin model of the vulnerable parts. However, no application research of the digital twinning technology is found in the field of thermal errors of the machine tool at present.
Disclosure of Invention
The invention provides a method for monitoring the thermal error of a feed shaft of a numerical control machine tool by utilizing a digital twin technology, aiming at the problem that the thermal error monitoring capability of the feed shaft is insufficient due to the fact that three-dimensional real-time visualization of the thermal deformation state of the feed shaft cannot be realized in the thermal error compensation of the existing numerical control machine tool, so that the state parameters are displayed from data to visual presentation in the thermal error compensation process, the traditional 'black box' operation mode is changed, and the thermal error of the feed shaft is vividly and real-time perspective monitored.
The technical scheme of the invention is as follows:
a numerical control machine tool feed shaft thermal error monitoring method based on digital twinning comprises the steps of firstly, establishing a virtual digital model of a feed shaft of a physical numerical control machine tool in a digital virtual space based on three-dimensional modeling software and MATLAB script language; then, compiling a dynamic link library file calling program and a data acquisition program of the numerical control system based on an MATLAB scripting language, importing a Simulink creation drive data acquisition module, and acquiring geometric model drive data from the numerical control system; then, a thermal error data acquisition module is established in Simulink, and thermal error data obtained by a thermal error prediction model is obtained; then, the geometric model and the driving data acquisition module and the physical model and the thermal error data acquisition module are respectively connected through data input and output interfaces in a digital virtual space based on Simulink, so that a digital twin model of a feeding shaft of the numerical control machine tool is built, and the three-dimensional real-time presentation of the thermal error of the feeding shaft of the numerical control machine tool is realized; finally, creating an interactive interface facing the user based on MATLAB scripting language and Simulink;
the method comprises the following steps:
first step, creating virtual digital model of feeding shaft of entity numerical control machine tool
Establishing a virtual digital model of a feed shaft of the numerical control machine tool in a digital virtual space according to a numerical control machine tool entity, wherein the virtual digital model comprises a geometric model and a physical model; the geometric model is created based on three-dimensional modeling software, a lightweight modeling mode is adopted, and only key parts and assembly relations of the three feed shafts of the lathe bed and X, Y, Z are reserved; importing the geometric model into Simulink and creating a driving data input interface; the physical model is created based on MATLAB scripting language, an abstract modeling mode is adopted, only the cylindrical shape of a lead screw is reserved, thermal deformation of a machine tool feed shaft is represented, and the physical model is used for visually displaying thermal errors of the machine tool feed shaft; importing a physical model into Simulink, and creating a thermal error data input interface by setting 'sizes.NumInputs' in a function setting program to '1';
second, obtaining geometric model driving data
Creating a driving data acquisition module in a digital virtual space based on Simulink, wherein the driving data acquisition module comprises a numerical control system dynamic link library file calling program, a driving data acquisition program and a module function setting program; the numerical control system dynamic link library file calling program is compiled based on MATLAB scripting language, and the connection between a digital virtual space and the numerical control system is established by setting the IP address, the port number and the machine tool serial number of the numerical control system; the driving data acquisition program is compiled based on MATLAB scripting language, codes of corresponding mechanical coordinates of the numerical control system are set, and after the digital virtual space is successfully connected with the numerical control system, the mechanical coordinates of a feed shaft of the numerical control system are read and converted into geometric model driving data; the module function setting program is automatically generated by Simulink, and the input interface is connected with the thermal error prediction model and the output interface is used for being connected with the thermal error data input interface of the physical model of the feed shaft by respectively setting 'sizes.NumIutputs' and 'sizes.NumOutputs' as the thermal error data input and output interfaces of the '1' creation module;
third, acquiring thermal error data
Creating a thermal error data acquisition module based on Simulink in the digital phantom space, wherein the thermal error data acquisition module comprises a data acquisition program and a module function setting program; the data acquisition program is compiled based on an MATLAB scripting language, and thermal error data obtained by a thermal error prediction model are obtained; the module function setting program is automatically generated by Simulink, and a thermal error data output interface of the module is created by setting 'sizes.NumOutputs' to '1', and is used for being connected with a thermal error data input interface of the physical model of the feed shaft;
fourthly, realizing three-dimensional real-time presentation of thermal error of a feed shaft of the numerical control machine tool based on digital twinning
Connecting the geometric model and the driving data acquisition module, and connecting the physical model and the thermal error data acquisition module through data input and output interfaces respectively in a digital virtual space based on Simulink, thereby building a digital twin model of a feed shaft of a numerical control machine; the driving data acquisition module transmits driving data to the geometric model of the feed shaft of the numerical control machine tool in real time, and the driving geometric model and the feed shaft of the physical numerical control machine tool synchronously move; the thermal error data acquisition module transmits thermal error data to the physical model of the feed shaft in real time, and the physical model presents the thermal deformation state of the entity feed shaft in real time in a three-dimensional mode;
fifthly, creating an interactive interface facing the user
Creating a user-oriented interactive interface based on MATLAB scripting language and Simulink, wherein the user-oriented interactive interface comprises a numerically-controlled machine tool feed shaft motion simulation display area, a feed shaft thermal deformation state real-time presentation area, a function option area and a communication state display area; the user monitors the thermal error of the feeding shaft of the numerical control machine tool in real time through the interface.
The invention has the beneficial effects that:
(1) by utilizing the unique characteristic of real-time virtual-real interactive simulation of a digital twinning technology, the state parameters in the process of compensating the thermal error of the feed shaft of the numerical control machine tool are displayed from data to visual presentation, the traditional 'black box' type operation mode is changed, and the real-time visual monitoring of the thermal error of the feed shaft is realized;
(2) the method provides a specific description of the interconnection relationship between the virtual body and the entity for the application of the digital twin technology in the field of thermal error compensation of the numerical control machine tool, and defines an implementation method for establishing the mapping of the entity of the feed shaft of the numerical control machine tool in a digital space in a digital expression mode.
Drawings
FIG. 1 is a flow chart of a numerical control machine tool feed shaft thermal error monitoring method based on digital twinning.
FIG. 2 is a schematic diagram of a principle of monitoring thermal errors of a numerical control machine tool feed shaft based on digital twinning.
FIG. 3 is a schematic diagram of a user-oriented interactive interface.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in detail below with reference to the accompanying drawings.
The embodiment of the present invention will be described in detail by taking a vertical milling machine of a certain type as an example. The numerical control system model of the vertical milling machine is GJ 301.
Firstly, a virtual digital model of a feed shaft of the numerical control machine tool is created.
According to the size parameters of all parts of the vertical milling machine feed shaft, geometric models of key parts of a screw rod, a nut, a bearing, a guide rail, a sliding block, a workbench, a servo motor, a coupling and the like of three feed shafts of a machine body and X, Y, Z are established based on Solidworks software, and all parts models are added and matched according to actual assembly relations. And (3) introducing the assembly body into Simulink, and setting the Motion option as 'providedby Input' in a matching relation module of a lead screw and a servo motor to create a driving data Input interface. Writing a program for creating an abstract physical model of a feed shaft based on an MATLAB script language, keeping the cylindrical shape of a lead screw, setting the size of the physical model according to the model of each feed shaft lead screw of the vertical milling machine, and representing the thermal deformation of the feed shaft of the machine tool by the physical model. Importing the written physical model program into Simulink, and setting 'sizes.NumInputs' in the function setting program to '1' to create a thermal error data input interface.
And secondly, acquiring geometric model driving data.
Writing a calling program of a numerical control system dynamic link library file 'NCConnectDll.dll' based on an MATLAB scripting language, setting an IP address to be '192.168.2.70', setting a port number to be '5006' and defining a machine tool serial number 'NCxuhaoPtr ═ libpointer (' int32Ptr ', 0)' in the program according to the GJ301 numerical control system. Writing a driving data acquisition program based on an MATLAB scripting language, and respectively setting parameter serial numbers of calling X, Y, Z three-axis mechanical coordinates as '2094', '2096' and '2098' according to 'GJ 30 series numerical control system remote link library interface specification', for example, in the figure 1, after a digital virtual space is successfully connected with a numerical control system, reading the mechanical coordinates of a feeding axis of the numerical control system and converting the mechanical coordinates into geometric model driving data. The module function setup program is automatically generated by Simulink, creating the drive data output interface of the module by setting "sizes. numoutputs" to "1" for interfacing with the feed axis geometric model drive data input interface.
And thirdly, acquiring thermal error data.
And creating a thermal error data acquisition module based on Simulink, wherein the thermal error data acquisition module comprises a data acquisition program and a module function setting program. And writing a data acquisition program based on an MATLAB scripting language to acquire thermal error data obtained by the thermal error prediction model. The module function setup program is automatically generated by Simulink, creating the thermal error data input and output interfaces of the module by setting "sizes. In the embodiment, in order to verify the digital twin-based numerical control machine tool feed shaft thermal error monitoring method shown in fig. 2, a Ramp module in Simulink is directly called to provide data for a thermal error data acquisition module, and the thermal error data obtained by a thermal error prediction model is temporarily replaced. And a data output interface of the Ramp module is connected with a data input interface of the thermal error data acquisition module.
And fourthly, realizing three-dimensional real-time presentation of the thermal error of the feed shaft of the numerical control machine tool based on digital twins.
Based on Simulink, the geometric model and the driving data acquisition module are connected with the Ramp module, the thermal error data acquisition module and the physical model through data input and output interfaces respectively, so that a digital twin model of a feeding shaft of the numerical control machine tool is built. Connecting the computer with the numerical control system through a twisted-pair straight-through cable, and configuring a computer network protocol: the IP address is "192.168.2.68", the subnet mask is "255.255.0.0", and the default gateway is "192.168.2.255". And after the computer is successfully connected with the numerical control system, the driving data acquisition module transmits the acquired driving data to the geometric model of the feeding shaft of the numerical control machine tool in real time, and the driving geometric model and the feeding shaft of the physical numerical control machine tool synchronously move. The thermal error data acquisition module transmits data temporarily provided by the 'Ramp' module to a feed axis physical model in real time, and the physical model presents the thermal deformation state of the solid feed axis in a three-dimensional manner in real time.
And fifthly, creating an interactive interface facing the user.
An interactive interface facing a user is created based on MATLAB scripting language and Simulink, and as shown in FIG. 3, the interactive interface comprises a feed shaft motion simulation display area, a feed shaft thermal deformation state real-time presentation area, a function option area and a communication state display area of the numerical control machine tool. The numerical control machine tool feed shaft motion simulation display area displays a geometric model of the numerical control machine tool feed shaft through a 'Mechanics Explorer' window; the feed shaft thermal deformation state real-time presentation area displays a machine tool feed shaft physical model through a Graphical User Interface; the function option area is used for X, Y, Z axis physical model display selection; and the communication state display area displays the connection state of the data acquisition channel.
The complete flow of the numerical control machine tool feed shaft thermal error monitoring based on the digital twin is shown in figure 1.
Claims (1)
1. A numerical control machine tool feed shaft thermal error monitoring method based on digital twinning comprises the steps of firstly, establishing a virtual digital model of a feed shaft of a physical numerical control machine tool in a digital virtual space based on three-dimensional modeling software and MATLAB script language; then, compiling a dynamic link library file calling program and a data acquisition program of the numerical control system based on an MATLAB scripting language, importing a Simulink creation drive data acquisition module, and acquiring geometric model drive data from the numerical control system; then, a thermal error data acquisition module is established in Simulink, and thermal error data obtained by a thermal error prediction model is obtained; then, the geometric model and the driving data acquisition module and the physical model and the thermal error data acquisition module are respectively connected through data input and output interfaces in a digital virtual space based on Simulink, so that a digital twin model of a feeding shaft of the numerical control machine tool is built, and the three-dimensional real-time presentation of the thermal error of the feeding shaft of the numerical control machine tool is realized; finally, creating an interactive interface facing the user based on MATLAB scripting language and Simulink; the method is characterized by comprising the following steps:
first step, creating virtual digital model of feeding shaft of entity numerical control machine tool
Establishing a virtual digital model of a feed shaft of the numerical control machine tool in a digital virtual space according to a numerical control machine tool entity, wherein the virtual digital model comprises a geometric model and a physical model; the geometric model is created based on three-dimensional modeling software, a lightweight modeling mode is adopted, and only key parts and assembly relations of the three feed shafts of the lathe bed and X, Y, Z are reserved; importing the geometric model into Simulink and creating a driving data input interface; the physical model is created based on MATLAB scripting language, an abstract modeling mode is adopted, only the cylindrical shape of a lead screw is reserved, thermal deformation of a machine tool feed shaft is represented, and the physical model is used for visually displaying thermal errors of the machine tool feed shaft; importing a physical model into Simulink, and creating a thermal error data input interface by setting 'sizes.NumInputs' in a function setting program to '1';
second, obtaining geometric model driving data
Creating a driving data acquisition module in a digital virtual space based on Simulink, wherein the driving data acquisition module comprises a numerical control system dynamic link library file calling program, a driving data acquisition program and a module function setting program; the numerical control system dynamic link library file calling program is compiled based on MATLAB scripting language, and the connection between a digital virtual space and the numerical control system is established by setting the IP address, the port number and the machine tool serial number of the numerical control system; the driving data acquisition program is compiled based on MATLAB scripting language, codes of corresponding mechanical coordinates of the numerical control system are set, and after the digital virtual space is successfully connected with the numerical control system, the mechanical coordinates of a feed shaft of the numerical control system are read and converted into geometric model driving data; the module function setting program is automatically generated by Simulink, and the input interface is connected with the thermal error prediction model and the output interface is used for being connected with the thermal error data input interface of the physical model of the feed shaft by respectively setting 'sizes.NumIutputs' and 'sizes.NumOutputs' as the thermal error data input and output interfaces of the '1' creation module;
third, acquiring thermal error data
Creating a thermal error data acquisition module based on Simulink in the digital phantom space, wherein the thermal error data acquisition module comprises a data acquisition program and a module function setting program; the data acquisition program is compiled based on an MATLAB scripting language, and thermal error data obtained by a thermal error prediction model are obtained; the module function setting program is automatically generated by Simulink, and a thermal error data output interface of the module is created by setting 'sizes.NumOutputs' to '1', and is used for being connected with a thermal error data input interface of the physical model of the feed shaft;
fourthly, realizing three-dimensional real-time presentation of thermal error of a feed shaft of the numerical control machine tool based on digital twinning
Connecting the geometric model and the driving data acquisition module, and connecting the physical model and the thermal error data acquisition module through data input and output interfaces respectively in a digital virtual space based on Simulink, thereby building a digital twin model of a feed shaft of a numerical control machine; the driving data acquisition module transmits driving data to the geometric model of the feed shaft of the numerical control machine tool in real time, and the driving geometric model and the feed shaft of the physical numerical control machine tool synchronously move; the thermal error data acquisition module transmits thermal error data to the physical model of the feed shaft in real time, and the physical model presents the thermal deformation state of the entity feed shaft in real time in a three-dimensional mode;
fifthly, creating an interactive interface facing the user
Creating a user-oriented interactive interface based on MATLAB scripting language and Simulink, wherein the user-oriented interactive interface comprises a numerically-controlled machine tool feed shaft motion simulation display area, a feed shaft thermal deformation state real-time presentation area, a function option area and a communication state display area; the user monitors the thermal error of the feeding shaft of the numerical control machine tool in real time through the interface.
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| PCT/CN2020/077097 WO2021120393A1 (en) | 2019-12-18 | 2020-02-28 | Digital twin-based method for monitoring thermal error of feed shaft of numerical control machine tool |
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| CN112859739B (en) * | 2021-01-15 | 2022-07-01 | 天津商业大学 | Digital twin-driven multi-axis numerical control machine tool contour error suppression method |
| CN112859739A (en) * | 2021-01-15 | 2021-05-28 | 天津商业大学 | Digital twin-driven multi-axis numerical control machine tool contour error suppression method |
| CN113742964A (en) * | 2021-08-19 | 2021-12-03 | 三峡大学 | Digital twinning construction method applied to numerical control machine tool |
| CN113742964B (en) * | 2021-08-19 | 2023-10-27 | 三峡大学 | Digital twin construction method applied to numerical control machine tool |
| CN114254414A (en) * | 2021-12-30 | 2022-03-29 | 大连蓝雪智能科技有限公司 | Digital twin-oriented rotating unit virtual reality method and device and electronic equipment |
| CN115423926A (en) * | 2022-07-20 | 2022-12-02 | 华建数创(上海)科技有限公司 | Equipment model creating method applied to digital twin building |
| CN115423926B (en) * | 2022-07-20 | 2023-11-17 | 华建数创(上海)科技有限公司 | Equipment model creation method applied to digital twin architecture |
| CN115793568A (en) * | 2023-02-06 | 2023-03-14 | 常州克迈特数控科技有限公司 | Machine tool part error compensation control system based on three-dimensional modeling |
| CN116643534A (en) * | 2023-06-02 | 2023-08-25 | 宣城市建林机械有限公司 | Numerical control machine tool dynamic monitoring system based on twin technology |
| CN116643534B (en) * | 2023-06-02 | 2023-11-24 | 宣城市建林机械有限公司 | Numerical control machine tool dynamic monitoring system based on twin technology |
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| CN110968038B (en) | 2020-11-03 |
| WO2021120393A1 (en) | 2021-06-24 |
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