CN111487928A - Numerical control machining track smoothing method based on tool location point increasing and deleting modification instructions - Google Patents
Numerical control machining track smoothing method based on tool location point increasing and deleting modification instructions Download PDFInfo
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Abstract
The invention belongs to the technical field related to the technical field of numerical control, and discloses a numerical control machining track smoothing method based on tool location point adding, deleting and modifying instructions. The method comprises the following steps: s1, calculating the distance between adjacent tool positions on the machining track for the numerical control machining track to be processed, and adding a new tool position between the adjacent tool positions when the distance between the adjacent tool positions is greater than a preset maximum threshold value until the distance does not exceed the maximum threshold value; when the distance between adjacent tool positions is smaller than a preset minimum threshold value, deleting one of the tool positions; when the distance between adjacent tool location points is between a preset maximum threshold value and a preset minimum threshold value, modifying the tool location points; s2, constructing constraint conditions of actual machining of the numerical control system, and judging whether each tool location point on the machining track meets the constraint conditions; unsatisfied knife locations are modified. By the method, the smooth and stable machining requirement can be better met by the processed tool location point while the machining efficiency is not sacrificed as much as possible.
Description
Technical Field
The invention belongs to the technical field of numerical control, and particularly relates to a numerical control machining track smoothing method based on tool location point increasing, deleting and modifying instructions.
Background
In the numerical control machining process, the CAM system disperses the free-form surface into small line segments, generates corresponding machining paths, further generates corresponding G01 codes, and inputs the G01 codes into the numerical control system for interpolation machining. Because of the local irrationality of the discrete corners and curved surfaces between the continuous small line segments, when the numerical control system directly processes the small line segments, frequent fluctuation of acceleration is caused, the processing speed is reduced, and the violent shaking of the cutter in the processing process can cause the cutter to leave redundant tool marks on the surface of a workpiece during processing, thereby influencing the surface smoothness of a processing result.
In order to solve the problem of tool shake in the numerical control machining process and improve the machining precision and stability, at present, the research aiming at the smooth aspect of numerical control machining is mostly carried out from two aspects of interpolation and speed planning, firstly, spline fitting interpolation is carried out from an interpolation layer, so that better spline fitting conditions (such as B splines and the like) are achieved among small line segments formed by generated interpolation points, the method usually relates to the forward looking of a program segment and the calculation of various characteristics of interpolation information (such as the length of the small line segment, the curvature of each interpolation point, the change rate of a corner and the like), and corresponding error calculation and the refitting process are usually carried out after the fitting; secondly, an acceleration and deceleration algorithm adaptive to the motion of the numerical control system is researched from the aspect of speed planning, so that the cutter in the machining process has better motion characteristics. The control requirement of the numerical control system is extremely high in real-time performance, the complexity of the algorithm related to interpolation point fitting processing and speed planning control cannot be too high, incompatible contradictions often exist between the improvement of the processing precision and the processing efficiency and the reduction of the algorithm precision, and the cost for improving the servo control performance is very high.
Therefore, the numerical control machining code is preprocessed, so that better spline fitting conditions and acceleration and deceleration characteristics are achieved before the interpolation stage, and the numerical control machining code has important significance for reducing interpolation and speed planning algorithm difficulty and complexity, improving numerical control machining efficiency, reducing servo manufacturing requirements and reducing enterprise production cost.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides a numerical control machining track smoothing method based on tool location point adding, deleting and modifying instructions, which adopts three numerical control processing instructions (ADD, DE L and CHANGE) to preprocess a numerical control tool location point, performs adding, deleting and modifying processing on the original numerical control tool location point within an error allowable range, generates a corresponding side file, assists a numerical control system to perform motion control, and enables the processed tool location point to better meet the smooth and stable machining requirement while the machining efficiency is not sacrificed as much as possible.
In order to achieve the above object, according to the present invention, there is provided a numerical control machining trajectory smoothing method based on tool location point adding, deleting and modifying instructions, the method comprising the steps of:
s1, for the numerical control machining track to be processed, calculating the distance between adjacent tool location points on the machining track, and processing according to one of the following modes:
(a) when the distance between the adjacent cutter location points is larger than a preset maximum threshold value, adding a new cutter location point between the adjacent cutter location points until the maximum threshold value is not exceeded;
(b) when the distance between adjacent tool positions is smaller than a preset minimum threshold value, deleting one of the tool positions;
(c) when the distance between the adjacent tool location points is between a preset maximum threshold value and a preset minimum threshold value, modifying the tool location points according to the following steps:
(c1) dividing the numerical control machining track into a plurality of line segments, wherein the end points of the line segments are tool location points with curvatures larger than a preset curvature threshold value on the machining track; fitting each line segment to obtain a fitting curve of each line segment and a knife location point on the fitting curve;
(c2) and for the knife position point A, calculating the distance between the knife position points A and A corresponding to the knife position points A on the fitting curve after fitting, and selecting one of the following modes for processing according to the calculated distance:
(c21) when the distance between the two meets a preset acceptable threshold value, reserving a cutter location point A;
(c22) when the distance between the two is larger than a preset acceptable threshold value, taking the midpoint between A and A as a knife position point A, and returning to the step (c 1);
s2, constructing constraint conditions of actual machining of the numerical control system, and judging whether each tool location point on the machining track meets the constraint conditions;
for a knife location point i which does not satisfy the constraint condition, taking a midpoint between i-1 and i +1 of the knife location point adjacent to the knife location point as the knife location point i until the knife location point i satisfies the constraint condition; otherwise, the knife location i is reserved.
Further preferably, in step (a), a new knife location point is added between the adjacent knife locations, and the new knife location point is a midpoint of the adjacent knife locations.
Further preferably, in step (b), the deleting one of the knife sites is performed in the following manner: when the distance between the tool location points j and j +1 is smaller than a preset minimum threshold value, respectively calculating the distance p (j-1, j) between the tool location points j-1 and j and the distance p (j, j +1) between the tool location points j and j +1, deleting the tool location point j when p (j-1, j) is less than or equal to p (j, j +1), and otherwise deleting the tool location point j + 1.
Further preferably, in the step (c1), the curvature of the tool location on the machining trajectory is calculated as follows:
(c11) constructing a calculation relation of the machining error of the numerical control machine servo system so as to obtain the machining error,
＝1+2
wherein, the maximum allowable machining error is the maximum allowable machining error,1is the profile error that is generated by the time lag,2is the profile error for acceleration and deceleration lag;
(c12) constructing a relation between the machining error and the curvature of the cutter location point, calculating the curvature of the cutter location point by using the relation,
wherein R is the tool location curvature, K is the intermediate variable, V is the machining speed, KpIs the proportional gain, k, of the servo controlfIs the feed forward gain, T acceleration time constant.
Further preferably, in step S2, when the numerical control system is a winding machine numerical control system, the constraint condition is: the side sliding force of the winding object is less than or equal to the maximum static friction force applied to the winding object.
Further preferably, the sideslip force of the winding object is calculated according to the following expression:
where λ is the sideslip force, kgIs the curvature of the curved surface to be wound in the tangential direction, knIs the curvature of the curved surface to be wound in the normal direction.
Further preferably, k isgAnd knThe calculation was performed according to the following expressions, respectively:
where α is the wind angle, l is the fiber length, r is the distance of a point on the curved surface from the wind axis, r' is the first derivative of r with respect to the wind axis, and r "is the second derivative of r with respect to the wind axis.
Generally, compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the method can generate the auxiliary file containing the adding, deleting and modifying instructions based on the numerical control original tool location point by utilizing the corresponding algorithm flow, and the adding, deleting and modifying instructions in the auxiliary file can be combined with the original tool location point to carry out auxiliary control on the numerical control machine tool so as to achieve the purpose of smoothing the numerical control machining track;
2. the algorithm flow provided by the invention is the preprocessing operation of the original tool location point, can be completed before the numerical control machining, does not occupy the processing time of the numerical control system in the machining process, and correspondingly reduces the calculated amount of the numerical control system in the interpolation optimization and speed planning process after the machining track is preprocessed.
Drawings
FIG. 1 is a flow chart of a numerical control machining trajectory smoothing method constructed in accordance with a preferred embodiment of the present invention;
FIG. 2 is a schematic illustration of the forces exerted by a fiber constructed in accordance with a preferred embodiment of the present invention as it is wound around a mandrel surface, wherein (a) is a schematic illustration of tangential section fiber forces and (b) is a force diagram of the fiber at macroscopic viewing angles to the mandrel surface;
fig. 3 is a schematic diagram of a generic rotating housing wrap constructed in accordance with a preferred embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention provides a numerical control machining track smoothing method based on tool location point increasing, deleting and modifying instructions, and the winding machining track of a numerical control winding machine is smoothed based on the method.
As shown in fig. 1, a numerical control machining trajectory smoothing method based on tool location point adding and deleting instructions specifically includes the following steps:
step 1: and establishing a winding machining error calculation model, and solving the curvature of each tool location point by using the machining error.
The numerical control servo system generates time lag and acceleration and deceleration lag of the servo motor, thereby causing errors in two aspects, namely, profile error generated by time lag1On the other hand, profile error due to acceleration/deceleration lag2Machining errors can be viewed as the sum of two errors:
wherein k ispIs the proportional gain, k, of the servo controlfThe method is characterized in that the method comprises the steps of feeding forward gain, T acceleration time constant, V processing speed, R curvature radius, V and R in a card type are only variables, and the rest are all intrinsic parameters of a machine tool servo system.
The method for solving the curvature radius R can obtain the following formula from the figure:
step 2: calculating the distance between adjacent tool positions on the machining track, and processing according to one of the following modes:
(a) when the distance between the adjacent cutter location points is larger than a preset maximum threshold value, adding a new cutter location point between the adjacent cutter location points until the maximum threshold value is not exceeded; wherein the new knife location point is the middle point of the adjacent knife location points;
(b) when the distance between adjacent tool positions is smaller than a preset minimum threshold value, deleting one of the tool positions; the deletion mode is as follows:
the deletion of one of the knife positions is performed in the following manner: when the distance between the tool location points j and j +1 is smaller than a preset minimum threshold value, respectively calculating the distance p (j-1, j) between the tool location points j-1 and j and the distance p (j, j +1) between the tool location points j and j +1, deleting the tool location point j when p (j-1, j) is less than or equal to p (j, j +1), and otherwise deleting the tool location point j + 1.
(c) When the distance between the adjacent tool location points is between a preset maximum threshold value and a preset minimum threshold value, modifying the tool location points according to the following steps:
(c1) dividing the numerical control machining track into a plurality of line segments, wherein the end points of the line segments are tool location points with curvatures larger than a preset curvature threshold value on the machining track; fitting each line segment to obtain a fitting curve of each line segment and a knife location point on the fitting curve;
(c2) and for the knife position point A, calculating the distance between the knife position points A and A corresponding to the knife position points A on the fitting curve after fitting, and selecting one of the following modes for processing according to the calculated distance:
(c21) when the distance between the two meets a preset acceptable threshold value, reserving a cutter location point A;
(c22) when the distance between the two is larger than a preset acceptable threshold value, taking the midpoint between A and A as a knife position point A, and returning to the step (c 1);
and step 3: constructing a constraint condition of actual machining of the numerical control system, and judging whether each tool location point on the machining track meets the constraint condition;
for a knife location point i which does not satisfy the constraint condition, taking a midpoint between i-1 and i +1 of the knife location point adjacent to the knife location point as the knife location point i until the knife location point i satisfies the constraint condition; otherwise, the knife location i is reserved.
In this embodiment, fig. 2 (a) is a schematic view of a tangential fiber stress, in which,
the resultant of the tensions on both sides of the point p is the fiber tension
Which can be decomposed into normal pressure directed towards the center of curvature
(perpendicular to the mandrel surface) and tangential (tangential to the mandrel surface) sideslip forces
In order to ensure that the fibers do not slip during winding, the force required to sideslip the fibers must not be greater than the maximum static friction force, i.e.:
wherein, lambda is the slippage coefficient, mu is the friction coefficient between the fiber and the surface of the core mold.
Fig. 2 (b) is a macroscopic view of the fiber of fig. 2 (a) at the surface of the mandrel, from which the following formula can be derived:
substituting (5) and (6) into (4) yields:
wherein k isgAnd knRespectively represent curved surfaces to be wound on
Curvature in the direction of
The curvature of the direction.
It should be noted, however, that when the mandrel surface is concave, the fibers do not contact the mandrel, and this is doneThe phenomenon is called fiber bridging, and in order to avoid the occurrence of the fiber bridging phenomenon, the condition should be satisfied
The angle to the normal of the curved surface is not less than 90 degrees (there is no recess in the mandrel surface treated in this embodiment, and it should be discussed further with respect to the recessed mandrel present), that is:
fig. 3 is a schematic diagram of a general winding of a rotating housing, from which it can be seen that:
S(θ,z)＝{r(z)cosθ,r(z)sinθ,z}
the parameters of the first basic form of S (θ, z) according to the differential geometry are as follows:
ds2＝Edu·du+2Fdu·dv+Gdv·dv (8)
in the above formula, s is the arc length of the curve,
v＝θ,E＝r2,F＝0,G＝1+r'2where r is the distance of a point of the curved surface from the winding axis and r' is the first derivative of r with respect to the winding axis, it should be noted here that equation (8) applies only when the main curvature directions of the curved surfaces are mutually perpendicular, but for a rotating housing this condition is just met.
The basic form of the known liuweier formula is:
substituting formula (8) into (9) can yield:
wherein α is the winding angle (the included angle between the fiber path and the direction of the end socket main shaft), and l is the fiber length.
Again according to the Euler formula, knCan be composed of a core mouldThe main curvature direction and the radial direction determine:
substituting the expressions (9) and (10) into the lambda expression can obtain the slip coefficient corresponding to each winding point (the differential expression in the expression can be obtained in a differential mode), and then comparing with the friction coefficient can judge whether the slip is generated at the position. The friction coefficient between the object (fiber) for winding and the object to be wound (core mold) is compared, if the friction coefficient is smaller than the friction coefficient, the requirement is satisfied, otherwise, the modification is returned
And 4, step 4: and (4) carrying out iterative operations of 1, 2 and 3 on the places which do not meet the optimization error threshold and the slippage condition in the step (3) until all the winding point positions meet the slippage judgment condition.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A numerical control machining track smoothing method based on tool location point increasing and deleting instructions is characterized by comprising the following steps:
s1, for the numerical control machining track to be processed, calculating the distance between adjacent tool location points on the machining track, and processing according to one of the following modes:
(a) when the distance between the adjacent cutter location points is larger than a preset maximum threshold value, adding a new cutter location point between the adjacent cutter location points until the maximum threshold value is not exceeded;
(b) when the distance between adjacent tool positions is smaller than a preset minimum threshold value, deleting one of the tool positions;
(c) when the distance between the adjacent tool location points is between a preset maximum threshold value and a preset minimum threshold value, modifying the tool location points according to the following steps:
(c1) dividing the numerical control machining track into a plurality of line segments, wherein the end points of the line segments are tool location points with curvatures larger than a preset curvature threshold value on the machining track; fitting each line segment to obtain a fitting curve of each line segment and a knife location point on the fitting curve;
(c2) and for the knife position point A, calculating the distance between the knife position points A and A corresponding to the knife position points A on the fitting curve after fitting, and selecting one of the following modes for processing according to the calculated distance:
(c21) when the distance between the two meets a preset acceptable threshold value, reserving a cutter location point A;
(c22) when the distance between the two is larger than a preset acceptable threshold value, taking the midpoint between A and A as a knife position point A, and returning to the step (c 1);
s2, constructing constraint conditions of actual machining of the numerical control system, and judging whether each tool location point on the machining track meets the constraint conditions;
for a knife location point i which does not satisfy the constraint condition, taking a midpoint between i-1 and i +1 of the knife location point adjacent to the knife location point as the knife location point i until the knife location point i satisfies the constraint condition; otherwise, the knife location i is reserved.
2. The numerical control machining trajectory smoothing method based on the tool location adding and deleting instruction as claimed in claim, wherein in the step (a), a new tool location is added between adjacent tool locations, and the new tool location is a midpoint of the adjacent tool locations.
3. The numerical control machining trajectory smoothing method based on tool location adding and deleting instructions as claimed in claim 1, wherein in step (b), the deleting of one of the tool locations is performed in the following manner: when the distance between the tool location points j and j +1 is smaller than a preset minimum threshold value, respectively calculating the distance p (j-1, j) between the tool location points j-1 and j and the distance p (j, j +1) between the tool location points j and j +1, deleting the tool location point j when p (j-1, j) is less than or equal to p (j, j +1), and otherwise deleting the tool location point j + 1.
4. The method as claimed in claim 1, wherein in step (c1), the curvature of the tool location on the machining path is calculated as follows:
(c11) constructing a calculation relation of the machining error of the numerical control machine servo system so as to obtain the machining error,
＝1+2
wherein, the machining error is the machining error,1is the profile error that is generated by the time lag,2is the profile error for acceleration and deceleration lag;
(c12) constructing a relation between the machining error and the curvature of the cutter location point, calculating the curvature of the cutter location point by using the relation,
wherein R is the tool location curvature, K is the intermediate variable, V is the machining speed, KpIs the proportional gain, k, of the servo controlfIs the feed forward gain, T acceleration time constant.
5. The method according to claim 1, wherein in step S2, when the numerical control system is a winding machine numerical control system, the constraint conditions are: the side sliding force of the winding object is less than or equal to the maximum static friction force applied to the winding object.
6. The numerical control machining trajectory smoothing method based on the tool location increasing and deleting instruction as set forth in claim 5, wherein the sideslip force of the winding object is calculated according to the following expression:
whereinλ is the sideslip force, kgIs the curvature of the curved surface to be wound in the tangential direction, knIs the curvature of the curved surface to be wound in the normal direction.
7. The numerical control machining trajectory smoothing method based on tool location point increasing and deleting instructions as claimed in claim 6, wherein k isgAnd knThe calculation was performed according to the following expressions, respectively:
where α is the wind angle, l is the fiber length, r is the distance of a point on the curved surface from the wind axis, r' is the first derivative of r with respect to the wind axis, and r "is the second derivative of r with respect to the wind axis.
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