CN113946139A - Speed prediction method of numerical control system, control method of numerical control system and numerical control system - Google Patents
Speed prediction method of numerical control system, control method of numerical control system and numerical control system 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
- G05B19/416—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 of velocity, acceleration or deceleration
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- G—PHYSICS
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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
- G05B19/4155—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 programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
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- G05B2219/00—Program-control systems
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- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43001—Speed, feed, infeed, acceleration, stopping problems
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Abstract
The invention discloses a speed prediction method of a numerical control system, a control method of the numerical control system and the numerical control system, wherein the speed prediction method comprises the steps of obtaining a plurality of first sub-processing paths of a cutter for processing a workpiece; calculating the preprocessing speed of the cutter on the current first sub-processing path and carrying out center point transformation on the rotary cutter to obtain a current second sub-processing path; calculating the average speed and the average acceleration of the cutter on the current second sub-processing path and checking to judge whether the preprocessing speed is adjusted or not; taking the final speed of the cutter on the previous first sub-processing path as the initial speed of the current first sub-processing path; and calculating and outputting the final speed of the tool on the current first sub-processing path according to the initial speed and the preprocessing speed. The invention can solve the problem of speed coordination of the programmed coordinate of the cutter in the workpiece coordinate system and the actual displacement coordinate in the machine tool coordinate system under the nonlinear relationship, and prevent the speed and the acceleration of the cutter after speed planning from exceeding the performance limit of the machine tool.
Description
Technical Field
The invention relates to the technical field of numerical control machining, in particular to a speed prediction method of a numerical control system, a control method of the numerical control system and the numerical control system.
Background
The three-axis machine tool has the advantages that core parts such as propellers and impellers used in the fields of aviation, ships, automobiles and the like are required by a complex curved surface high-speed and high-precision machining process, the efficiency of the traditional three-axis machine tool is low due to the limitation of the angle of a cutter, and positioning errors are easily generated by repeated clamping, so that the machining requirements cannot be met.
The inventor of the application finds that the five-axis linkage numerical control system can make up the problem of limiting the cutter angle of the three-axis machine tool in long-term research and development, and meets the machining requirement of complex curved surfaces. However, the existing five-axis linkage numerical control system mostly adopts a speed planning algorithm similar to the three-axis linkage numerical control system, for example, the tool tip point speed is planned according to the cutting speed specified by the user, and during interpolation, the tool tip point coordinates are transformed through a Rotating Tool Center Point (RTCP) to obtain control point interpolation coordinates.
However, due to the influence of the rotational motion of the tool in the five-axis linkage numerical control system, the synthesis of the linear motion of each axis of the machine tool makes the motion track of the center point of the tool in the discrete section deviate from the ideal programmed track, thereby generating a nonlinear motion error, so that the speeds of the tool and the tool cannot be guaranteed to be smooth at the same time when the speed look-ahead planning is performed, and when the rotational axis changes rapidly, the speed and the acceleration of the control point may exceed the performance limit of the machine tool, thereby affecting the processing quality or damaging the machine tool.
Disclosure of Invention
The invention provides a numerical control system speed prediction method, a numerical control system control method and a numerical control system, and aims to solve the technical problem that in the prior art, the speed prospect is limited due to a nonlinear motion error in a five-axis linkage numerical control system.
In order to solve the above technical problems, one technical solution adopted by the present invention is to provide a speed prediction method for a numerical control system, including:
the method comprises the steps of obtaining a first processing path of a cutter for processing a workpiece, and dividing the first processing path into a plurality of first sub-processing paths;
calculating the preprocessing speed of the cutter for processing the workpiece on the current first sub-processing path according to the previous first sub-processing path and the current first sub-processing path;
converting the center point of a rotating tool of the current first sub-processing path to obtain a current second sub-processing path;
calculating the average speed and the average acceleration of the cutter for processing the workpiece on the current second sub-processing path according to the current first sub-processing path, the current second sub-processing path and the preprocessing speed;
respectively checking the average speed and the average acceleration to judge whether the preprocessing speed is adjusted or not;
taking the final speed of the cutter for processing the workpiece on the previous first sub-processing path as the initial speed of the current first sub-processing path;
and calculating and outputting the final speed of the cutter for machining the workpiece on the first sub-machining path according to the initial speed and the preprocessing speed.
In a specific embodiment, the calculating a pre-processing speed of the tool for processing the workpiece on the current first sub-processing path according to the previous first sub-processing path and the current first sub-processing path includes:
calculating the length of the current first sub-processing path and an included angle between the current first sub-processing path and the previous first sub-processing path to obtain a first maximum speed;
judging whether the current first sub-processing path is arc-shaped;
if the current first sub-processing path is arc-shaped, calculating a second maximum speed allowed by a bow height error of the current first sub-processing path and a third maximum speed allowed by a centripetal acceleration of the current first sub-processing path;
and taking the minimum value from a first preset maximum speed of the numerical control system, a second preset maximum speed designated by a user, the first maximum speed, the second maximum speed and the third maximum speed as the preprocessing speed of the cutter on the current first sub-processing path.
In an embodiment, the performing the center point transformation of the rotating tool on the current first sub-processing path to obtain the current second sub-processing path, and calculating the average speed of the tool for processing the workpiece on the current second sub-processing path according to the current first sub-processing path, the current second sub-processing path, and the preprocessing speed includes:
defining the current first sub-processing path as P1P2In which P is1Has the coordinates of (x)1，y1，z1，a1，b1)，P2Has the coordinates of (x)2，y2，z2，a2，b2) Calculating the current first sub-addition
Converting the center point of a rotating tool of the current first sub-processing path to obtain a current second sub-processing path;
defining the current second sub-processing path as P1′P2', wherein P1The coordinate of' is (X)1，Y1，Z1，A1，B1)，P2The coordinate of' is (X)2，Y2，Z2，A2，B2) Calculating the current second
Obtaining the average speed of the tool on the current second sub-processing path according to the length L of the current first sub-processing path, the length L' of the current second sub-processing path and the preprocessing speed
In a specific embodiment, the verifying the average speed includes:
judging whether the average speed F' exceeds the maximum speed V set by the systemmax；
If the average speed exceeds the maximum speed V set by the systemmaxAdjusting the preprocessing speed to
If the average speed does not exceed the maximum speed V set by the systemmaxNo adjustment is necessary.
In an embodiment, calculating an average acceleration of the tool for machining the workpiece on the current second sub-machining path according to the current second sub-machining path, and verifying the average acceleration includes:
calculating the average acceleration A of the tool on the current second sub-processing path according to the length of the current second sub-processing path, the target speed of the tool after the current second sub-processing path is subjected to speed limitation, and the time of the tool passing the current second sub-processing pathi；
Obtaining the displacement vector and the acceleration limit of the tool on the second sub-processing path according to the second sub-processing path, and calculating to obtain the maximum acceleration Amax；
Judgment AiWhether or not it is greater than Amax；
If AiGreater than AmaxAdjusting the average speed and adjusting the preprocessing speed according to the average speed.
In a specific embodiment, the calculating a final speed of the tool machining the workpiece on the first sub-machining path according to the initial speed and the pre-processing speed includes:
judging whether the current second sub-processing path is the last section of the second sub-processing path or not;
if the current second sub-machining path is the last section of the second sub-machining path, setting the final speed of the cutter on the current second sub-machining path to be 0;
if the current second sub-machining path is not the last section of the second sub-machining path, calculating the maximum final speed of the cutter on the second sub-machining path according to the initial speed, the preset section length of the second sub-machining path and the maximum acceleration;
judging whether the maximum final speed is less than the preprocessing speed or not;
if the maximum final speed is smaller than the preprocessing speed, modifying the final speed of the cutter on the current second sub-processing path to the maximum final speed;
and if the maximum final speed is greater than or equal to the preprocessing speed, adjusting the final speed of the cutter on the current second sub-processing path according to the total length of the subsequent second sub-processing path.
In a specific embodiment, the adjusting the final speed of the tool on the current second sub-machining path according to the total length of the subsequent second sub-machining path includes:
judging whether the total length of the subsequent second sub-processing paths is larger than the moving distance of the cutter when the speed of the cutter is reduced to 0;
if the total length of the subsequent second sub-processing paths is smaller than or equal to the distance moved by the cutter when the speed of the cutter is reduced to 0, waiting for subsequent data;
if the total length of the subsequent second sub-machining path is larger than the distance moved when the speed of the cutter is reduced to 0, adjusting the final speed of the cutter on the current second sub-machining path so that the cutter can move to the tail end of the subsequent second sub-machining path.
In an embodiment, before the step of taking the final speed of the tool for machining the workpiece on the previous first sub-machining path as the initial speed of the current first sub-machining path, the method further includes:
judging whether the current first sub-processing path is a first section of the first sub-processing path;
if the current first sub-processing path is a first section of the first sub-processing path, setting the initial speed of the cutter on the current first sub-processing path to be 0;
and if the current first sub-machining path is not the first section of the first sub-machining path, taking the last speed of the cutter on the previous first sub-machining path as the initial speed of the current first sub-machining path.
In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a method for controlling a numerical control system, including:
receiving a machining program of a workpiece and compiling the machining program to obtain a first machining path of a cutter for machining the workpiece, and dividing the first machining path into a plurality of first sub-machining paths;
predicting the speed of the cutter for processing the workpiece on the current first sub-processing path according to the previous first sub-processing path and the current first sub-processing path;
carrying out speed planning on the cutter for processing the workpiece according to the predicted speed and outputting the speed;
the method for predicting the speed of the tool is the speed prediction method.
In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a numerical control system, including:
a receiving device for receiving a machining program of a workpiece;
the processor is connected with the receiving equipment and used for compiling the machining program so as to obtain a first machining path of a cutter for machining the workpiece, and the first machining path is divided into a plurality of first sub-machining paths; predicting the speed of the cutter for processing the workpiece on the current first sub-processing path according to the previous first sub-processing path and the current first sub-processing path; carrying out speed planning on the cutter for processing the workpiece according to the predicted speed and outputting the speed;
the driver is connected with the processor and is used for receiving the speed plan of the cutter and driving the machine tool to operate;
the processor is specifically used for acquiring a first processing path of the tool for processing the workpiece, and dividing the first processing path into a plurality of first sub-processing paths; calculating the preprocessing speed of the cutter for processing the workpiece on the current first sub-processing path according to the previous first sub-processing path and the current first sub-processing path; converting the center point of a rotating tool of the current first sub-processing path to obtain a current second sub-processing path; calculating the average speed and the average acceleration of the cutter for processing the workpiece on the current second sub-processing path according to the current first sub-processing path, the current sub-processing path and the preprocessing speed; respectively checking the average speed and the average acceleration to judge whether the preprocessing speed is adjusted or not; taking the final speed of the cutter for processing the workpiece on the previous first sub-processing path as the initial speed of the current first sub-processing path; and calculating and outputting the final speed of the cutter on the current first sub-processing path according to the initial speed and the preprocessing speed.
The invention calculates and obtains the preprocessing speed on the current first sub-processing path according to the previous first sub-processing path and the current first sub-processing path of the cutter for processing the workpiece, and carries out the center point transformation of the rotary cutter on the current first sub-processing path of the cutter to obtain the current second sub-processing path, calculates and obtains the average speed and the average acceleration of the cutter on the current second sub-processing path according to the current first sub-processing path, the current second sub-processing path and the preprocessing speed, and respectively checks the average speed and the average acceleration to judge whether to adjust the preprocessing speed, calculates and outputs the final speed of the cutter on the current first sub-processing path according to the initial speed and the preprocessing speed, and can solve the problem that the programming coordinate of the cutter under a workpiece coordinate system is cooperated with the speed of the actual displacement coordinate under a machine tool coordinate system under a nonlinear relationship, and the speed and the acceleration of the cutter are prevented from exceeding the performance limit of the machine tool after the speed planning.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a flow chart illustrating a method for predicting speed of a numerical control system according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating a method for predicting speed of a numerical control system according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of the structure of a tool and a workpiece in another embodiment of the method for predicting the speed of the numerical control system according to the present invention;
FIG. 4 is a schematic flow chart diagram of an embodiment of a control method of the numerical control system of the present invention;
FIG. 5 is a schematic diagram of the construction of the numerical control system of the present invention;
FIG. 6 is a schematic diagram of the structure of the memory device of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The terms "first" and "second" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. While the term "and/or" is merely one type of association that describes an associated object, it means that there may be three types of relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Referring to fig. 1 and 2, an embodiment of the speed prediction method of the numerical control system of the present invention includes:
s110, a first processing path of the tool 202 for processing the workpiece 201 is obtained, and the first processing path is divided into a plurality of first sub-processing paths.
In this embodiment, the first machining path is a programmed coordinate of the tool 202 in the workpiece coordinate system, and may be specifically obtained by compiling a machining program.
In this embodiment, the number of segments N can be calculated by calculating the linear resultant displacement and the rotational resultant displacement of the first processing path, and the first processing path can be equally divided into N first sub-processing paths.
And S120, calculating the preprocessing speed of the cutter 202 for processing the workpiece 201 on the current first sub-processing path according to the previous first sub-processing path and the current first sub-processing path.
In this embodiment, the maximum speed allowed by the current first sub-processing path may be calculated according to an included angle between the previous first sub-processing path and the current first sub-processing path, a shape of the current first sub-processing path, and the like, and a minimum value among the several maximum speeds and a maximum speed preset by a system or a user may be selected as the preprocessing speed.
And S130, converting the center point of the rotating tool of the current first sub-processing path to obtain a current second sub-processing path.
In this embodiment, the transformation of the center point of the rotating tool is to transform the programmed coordinates of the tool 202 in the workpiece coordinate system into the actual displacement coordinates of the tool 202 in the machine coordinate system, so that the motion trajectory of the tool 202 is closer to the ideal programmed trajectory. Specifically, a mapping relationship is formed according to the spatial position relationship between the origin, the X axis, the Y axis, and the Z axis in the working coordinate system and the origin, the X axis, the Y axis, and the Z axis in the machine coordinate system, and the actual displacement coordinate of the tool 202 in the machine coordinate system can be obtained according to the programming coordinate of the tool 202 in the workpiece coordinate system.
And S140, calculating the average speed and the average acceleration of the tool 202 for processing the workpiece 201 on the current second sub-processing path according to the current first sub-processing path, the current second sub-processing path and the preprocessing speed.
In the present embodiment, the ratio of the average speed of the tool 202 on the current second sub-machining path to the length of the current second sub-machining path and the ratio of the preprocessing speed to the length of the current first sub-machining path are substantially equal, so that the average speed of the tool 202 on the current second sub-machining path can be calculated.
In the present embodiment, the average acceleration of the tool 202 on the current second sub-processing path can be calculated by the target speed and the estimated duration of the tool 202 on the previous second sub-processing path and the current second sub-processing path.
S150, respectively checking the average speed and the average acceleration to judge whether the preprocessing speed is adjusted.
In this embodiment, the average speed and the average acceleration may be compared with the maximum average speed and the maximum average acceleration set by the system, respectively, and if the average speed and the average acceleration exceed the limits, the preprocessing speed needs to be adjusted, so as to avoid the machining speed of the tool 202 from being too high, and thus the performance limit of the machine tool can be prevented from being exceeded, and the service life of the machine tool can be prevented from being affected.
And S160, taking the final speed of the tool 202 for processing the workpiece 201 on the previous first sub-processing path as the initial speed of the current first sub-processing path.
By taking the last speed of the tool 202 on the previous first sub-machining path as the initial speed of the current first sub-machining path, the machining speed of the tool 202 can be made smoother, and the machine tool jitter can be reduced.
And S170, calculating and outputting the final speed of the cutter 202 for processing the workpiece 201 on the current first sub-processing path according to the initial speed and the preprocessing speed.
In this embodiment, the final speed of the tool 202 on the current second sub-machining path may be set according to whether the current second sub-machining path is the last segment of the second sub-machining path, so that the tool 202 can completely traverse the second machining path composed of all the second sub-machining paths, and the problem of incomplete machining is avoided.
In the embodiment of the present invention, the preprocessing speed on the current first sub-processing path is obtained by calculation according to the previous first sub-processing path and the current first sub-processing path of the tool 202 for processing the workpiece 201, the center point of the rotating tool is transformed for the current first sub-processing path of the tool 202 to obtain the current second sub-processing path, the average speed and the average acceleration of the tool 202 on the current second sub-processing path are obtained by calculation according to the current first sub-processing path, the current second sub-processing path and the preprocessing speed, the average speed and the average acceleration are respectively verified to determine whether to adjust the preprocessing speed, the final speed of the tool 202 on the current first sub-processing path is calculated according to the initial speed and the preprocessing speed and is output, and the problem of the synergy between the programming coordinate of the tool 202 under the workpiece coordinate system and the speed under the nonlinear relationship of the actual displacement coordinate under the machine tool coordinate system can be solved, the speed and acceleration of the tool 202 after the speed planning are prevented from exceeding the performance limits of the machine tool.
Referring to fig. 2 and 3, in another embodiment of the speed prediction method of the numerical control system, a tool double-swing five-axis machine tool is taken as an example to establish a motion model of the tool. Wherein, OmIs the center of rotation, O, of the tool 202tIs the origin of the tool coordinate system, OwIs the origin of the workpiece coordinate system. In the initial state, the moving axis B is parallel to the Y axis, the tool axis is parallel to the Z axis, the direction of the workpiece coordinate system is consistent with that of the machine tool coordinate system, and the origin of the tool coordinate system is coincident with that of the workpiece coordinate system. Setting the intersection point O of the rotating shaftmTo the origin O of the tool coordinate systemtIs D, and the position vector in the tool coordinate system is rm(0,0, D). In the tool coordinate system, the position vector and the arbor direction vector of the control point (i.e., the end point of the tool 202) are [ 000 ], respectively]TAnd [ 001 ]]TThe translation axis of the knife is opposite to the first axisThe initial state is at position rs(X, Y, Z), the angles of the rotation axis A, B with respect to the initial state are respectively thetaAAnd thetaB(counterclockwise is positive in this embodiment), whereby the expressions of the tool axis and the control point vector in the workpiece coordinate system are u (i, j, k) and r, respectivelyp(x, y, z). Tool coordinate system OtXtYtZtRelative to the workpiece coordinate system OwXwYwZwCan be moved by OtXtYtZtRelative to OmXmYmZmRotation of (a) and (b)mXmYmZmRelative to OwXwYwZwIs converted into.
From the above coordinate transformation relationship, it can be obtained:
[xyz1]T＝T(rs+rm)×Rx(θA)×Ry(θB)×T(-rm)×[0001]T (1)
wherein, T and R respectively represent homogeneous coordinate transformation matrixes of tool translation and rotation motion, and can be obtained by the following formula (1):
from equation (2), as the tool rotation axis A, B moves, the control point is non-linearly related to the rotation center of the tool 202 (i.e., the programming point), and thus the rotation center of the tool 202 is non-linearly related to the speed and acceleration of the control point.
The embodiment comprises the following steps:
s110, a first processing path of the tool 202 for processing the workpiece 201 is obtained, and the first processing path is divided into a plurality of first sub-processing paths.
S121, calculating the length of the current first sub-processing path and an included angle between the current first sub-processing path and the previous first sub-processing path to obtain a first maximum speed.
And S122, judging whether the current first sub-processing path is arc-shaped.
And S123, if the current first sub-processing path is arc-shaped, calculating a second maximum speed allowed by a bow height error of the current first sub-processing path.
And S124, calculating a third maximum speed allowed by the centripetal acceleration of the current first sub-machining path.
And S125, taking the minimum value from the first preset maximum speed of the numerical control system, the second preset maximum speed designated by the user, the first maximum speed, the second maximum speed and the third maximum speed as the preprocessing speed of the cutter 202 for processing the workpiece 201 on the current first sub-processing path.
S131, converting the center point of the rotating tool of the current first sub-processing path to obtain a current second sub-processing path.
In this embodiment, the current first sub-processing path is defined as P1P2In which P is1Has the coordinates of (x)1，y1，z1，a1，b1)，P2Has the coordinates of (x)2，y2，z2，a2，b2) Calculating the current
Converting the center point of the rotating tool of the current first sub-processing path to obtain a current second sub-processing path;
defining the current second sub-processing path as P1′P2', wherein P1The coordinate of' is (X)1，Y1，Z1，A1，B1)，P2The coordinate of' is (X)2，Y2，Z2，A2，B2) Calculating the current
S141, obtaining the average speed of the tool 202 for processing the workpiece 201 on the current second sub-processing path according to the length L of the current first sub-processing path, the length L' of the current second sub-processing path and the preprocessing speed
And S142, calculating the average acceleration of the tool 202 for processing the workpiece 201 on the current second sub-processing path according to the current second sub-processing path.
In this embodiment, the average acceleration a of the tool 202 on the current second sub-machining path may be calculated according to the length of the current second sub-machining path, the target speed of the tool 202 after the current second sub-machining path is speed-limited, and the time of the tool 202 passing the current second sub-machining pathi。
S151, judging whether the average speed F' exceeds the maximum speed V set by the systemmax。
S152, if the average speed exceeds the maximum speed V set by the systemmaxThen adjust the pre-processing speed to
Steps S151 and S152 further include: judging the average acceleration AiWhether or not greater than maximum acceleration Amax(ii) a If AiGreater than AmaxAdjusting the average speed, and adjusting the preprocessing speed according to the average speed; if the average speed does not exceed the maximum speed V set by the systemmaxNo adjustment is necessary.
Specifically, in the present embodiment, L is setiIs the length of the i-th section of the second sub-machining path, ViThe target speed T after the control point passes through the speed limit on the ith section of the second sub-processing pathi＝Li/ViThe estimated time length of the cutter passing through the ith section of the second sub-processing path is as follows:
AiTi-1Ti 2+(AiTi-1 2+2Li-1)Ti-2LiTi-1＝0 (3)
obtaining the displacement vector and the acceleration limit of the tool on the second sub-processing path according to the second sub-processing path, and calculating to obtain the maximum acceleration
If Ai＞AmaxIf the average acceleration is out of limit, the equation (3) is about TiEquation (a) of the equation (b), let:
a＝AmaxTi-1
b＝AmaxTi-1 2+2Li-1
c＝-2Li-1Ti-1
then
Adjusted velocity Vi＝Li/TiAnd adjusting the speed of the tool on the first processing path according to the speed verification.
And S160, taking the final speed of the tool 202 for processing the workpiece 201 on the previous first sub-processing path as the initial speed of the current first sub-processing path.
And S171, judging whether the current second sub-processing path is the last section of second sub-processing path.
And S172, if the current second sub-machining path is the last section of second sub-machining path, setting the final speed of the cutter 202 for machining the workpiece 201 on the current second sub-machining path to be 0.
And S173, if the current second sub-machining path is not the last second sub-machining path, calculating the maximum final speed of the tool 202 for machining the workpiece 201 on the second sub-machining path according to the initial speed, the preset section length of the second sub-machining path and the maximum acceleration.
S174, judging whether the maximum final speed is less than the preprocessing speed;
s175, if the maximum final speed is smaller than the preprocessing speed, modifying the final speed of the cutter 202 for processing the workpiece 201 on the current second sub-processing path into the maximum final speed;
if the maximum final speed is greater than or equal to the preprocessing speed, the final speed of the tool 202 for processing the workpiece 201 on the current second sub-processing path is adjusted according to the total length of the subsequent second sub-processing paths.
In this embodiment, the adjusting the final speed of the tool 202 for processing the workpiece 201 on the current second sub-processing path specifically includes:
s176, judging whether the total length of the subsequent second sub-processing paths is larger than the moving distance of the cutter 202 when the speed is reduced to 0;
s177, if the total length of the subsequent second sub-processing path is smaller than or equal to the distance moved by the cutter 202 when the speed is reduced to 0, waiting for subsequent data;
s178, if the total length of the subsequent second sub-machining path is greater than the distance moved when the speed of the tool 202 is decreased to 0, adjusting the final speed of the tool 202 on the current second sub-machining path, so that the tool 202 can move to the end of the subsequent second sub-machining path and output.
In this embodiment, before taking the last speed of the tool 202 on the previous first sub-machining path as the initial speed of the current first sub-machining path in S160, the method may further include:
s161, judging whether the current first sub-processing path is a first section of first sub-processing path;
s162, if the current first sub-machining path is a first section of first sub-machining path, setting the initial speed of the cutter 202 on the current first sub-machining path to be 0;
and S163, if the current first sub-machining path is not the first segment first sub-machining path, taking the last speed of the tool 202 on the previous first sub-machining path as the initial speed of the current first sub-machining path.
Referring to fig. 4, the embodiment of the control method of the numerical control system of the present invention includes:
s310, receiving and compiling the machining program of the workpiece 201 to obtain a first machining path of the tool 202 for machining the workpiece 201, and dividing the first machining path into a plurality of first sub-machining paths.
Referring to fig. 3, in the present embodiment, the machining program may be a specific program for machining the workpiece 201 by the tool 202 of the machine tool, and the first machining path of the tool 202 in the workpiece coordinate system is obtained by compiling the machining program.
In the present embodiment, the first processing path may be generated by CAM (Computer Aided Manufacturing) software.
In this embodiment, operations such as interpolation and smoothing may be performed after compiling to further reduce the calculation error.
And S320, predicting the speed of the tool 202 for processing the workpiece 201 on the current first sub-processing path according to the previous first sub-processing path and the current first sub-processing path.
In this embodiment, the method for predicting the speed of the tool 202 on the current first sub-processing path refers to the above embodiment of the speed prediction method of the numerical control system, and is not described herein again.
And S330, planning the speed of the tool 202 for processing the workpiece 201 according to the predicted speed and outputting the speed.
In the embodiment of the present invention, the preprocessing speed on the current first sub-processing path is obtained by calculation according to the previous first sub-processing path and the current first sub-processing path of the tool 202 for processing the workpiece 201, the center point of the rotating tool is transformed for the current first sub-processing path of the tool to obtain the current second sub-processing path, the average speed and the average acceleration of the tool 202 on the current second sub-processing path are obtained by calculation according to the current first sub-processing path, the current second sub-processing path and the preprocessing speed, the average speed and the average acceleration are respectively verified to judge whether to adjust the preprocessing speed, the final speed of the tool 202 on the current first sub-processing path is calculated according to the initial speed and the preprocessing speed and is output, and the problem of the speed coordination between the programming coordinate of the tool 202 under the workpiece coordinate system and the actual displacement coordinate under the machine tool coordinate system under the nonlinear relationship can be solved, the speed and acceleration of the tool 202 after the speed planning are prevented from exceeding the performance limits of the machine tool.
Referring to fig. 5, the numerical control system embodiment of the present invention includes a receiving device 401, a processor 402, and a driver 403, wherein the receiving device 401 is configured to receive a machining program for a workpiece 201; the processor 402 is connected to the receiving device 401, and is configured to compile a machining program to obtain a first machining path of the tool 202 for machining the workpiece 201, and divide the first machining path into a plurality of first sub-machining paths; predicting the speed of the tool 202 for processing the workpiece 201 on the current first sub-processing path according to the previous first sub-processing path and the current first sub-processing path; planning and outputting the speed of the tool 202 for processing the workpiece 201 according to the predicted speed; the driver 403 is connected to the processor 402 for receiving a speed plan of the tool 202 for machining the workpiece 201 and driving the machine tool to operate.
For the method for predicting the speed of the tool 202 for processing the workpiece 201 in the processing program by the processor 402, the above embodiment of the speed prediction method of the numerical control system is referred to, and details are not repeated here.
In the embodiment of the present invention, the preprocessing speed on the current first sub-processing path is obtained by calculation according to the previous first sub-processing path and the current first sub-processing path of the tool 202 for processing the workpiece 201, the center point of the rotating tool is transformed for the current first sub-processing path of the tool 202 to obtain the current second sub-processing path, the average speed and the average acceleration of the tool 202 on the current second sub-processing path are obtained by calculation according to the current first sub-processing path, the current second sub-processing path and the preprocessing speed, the average speed and the average acceleration are respectively verified to determine whether to adjust the preprocessing speed, the final speed of the tool 202 on the current first sub-processing path is calculated according to the initial speed and the preprocessing speed and is output, so that the problem of the speed coordination between the programming coordinate of the tool 202 under the workpiece coordinate system and the actual displacement coordinate under the machine tool coordinate system under the nonlinear relationship can be solved, the speed and acceleration of the tool 202 after the speed planning are prevented from exceeding the performance limits of the machine tool.
Referring to fig. 6, the storage device 50 of the present invention stores program data 501, and the program data 501 can be executed to implement a speed prediction method of a numerical control system, where the speed prediction method of the numerical control system refers to the above speed prediction method embodiment of the numerical control system, and is not described herein again.
In the embodiment of the present invention, the preprocessing speed on the current first sub-processing path is obtained by calculation according to the previous first sub-processing path and the current first sub-processing path of the tool 202 for processing the workpiece 201, the center point of the rotating tool is transformed for the current first sub-processing path of the tool 202 to obtain the current second sub-processing path, the average speed and the average acceleration of the tool 202 on the current second sub-processing path are obtained by calculation according to the current first sub-processing path, the current second sub-processing path and the preprocessing speed, the average speed and the average acceleration are respectively verified to determine whether to adjust the preprocessing speed, the final speed of the tool 202 on the current first sub-processing path is calculated according to the initial speed and the preprocessing speed and is output, so that the problem of the speed coordination between the programming coordinate of the tool 202 under the workpiece coordinate system and the actual displacement coordinate under the machine tool coordinate system under the nonlinear relationship can be solved, the speed and acceleration of the tool 202 after the speed planning are prevented from exceeding the performance limits of the machine tool.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A speed prediction method of a numerical control system is characterized by comprising the following steps:
the method comprises the steps of obtaining a first processing path of a cutter for processing a workpiece, and dividing the first processing path into a plurality of first sub-processing paths;
calculating the preprocessing speed of the cutter for processing the workpiece on the current first sub-processing path according to the previous first sub-processing path and the current first sub-processing path;
converting the center point of a rotating tool of the current first sub-processing path to obtain a current second sub-processing path;
calculating the average speed and the average acceleration of the cutter for processing the workpiece on the current second sub-processing path according to the current first sub-processing path, the current second sub-processing path and the preprocessing speed;
respectively checking the average speed and the average acceleration to judge whether the preprocessing speed is adjusted or not;
taking the final speed of the cutter for processing the workpiece on the previous first sub-processing path as the initial speed of the current first sub-processing path;
and calculating and outputting the final speed of the cutter for machining the workpiece on the first sub-machining path according to the initial speed and the preprocessing speed.
2. The speed prediction method of claim 1, wherein the calculating a pre-processing speed of the tool machining the workpiece on the current first sub-machining path based on the previous first sub-machining path and the current first sub-machining path comprises:
calculating the length of the current first sub-processing path and an included angle between the current first sub-processing path and the previous first sub-processing path to obtain a first maximum speed;
judging whether the current first sub-processing path is arc-shaped;
if the current first sub-processing path is arc-shaped, calculating a second maximum speed allowed by a bow height error of the current first sub-processing path and a third maximum speed allowed by a centripetal acceleration of the current first sub-processing path;
and taking the minimum value from a first preset maximum speed of the numerical control system, a second preset maximum speed designated by a user, the first maximum speed, the second maximum speed and the third maximum speed as the preprocessing speed of the cutter on the current first sub-processing path.
3. The method of claim 1, wherein the transforming the center point of the rotating tool for the current first sub-machining path to obtain the current second sub-machining path, and the calculating the average speed of the tool for machining the workpiece on the current second sub-machining path according to the current first sub-machining path, the current second sub-machining path and the pre-processing speed comprises:
defining the current first sub-processing path as P1P2In which P is1Has the coordinates of (x)1，y1，z1，a1，b1)，P2Has the coordinates of (x)2，y2，z2，a2，b2) Calculating the length of the current first sub-processing path
Converting the center point of a rotating tool of the current first sub-processing path to obtain a current second sub-processing path;
defining the current second sub-processing path as P'1P′2Of which is P'1Has the coordinates of (X)1，Y1，Z1，A1，B1)，P′2Has the coordinates of (X)2，Y2，Z2，A2，B2) Calculating the length of the current second sub-processing path
Obtaining the cutter on the current second sub-processing path according to the length L of the current first sub-processing path, the length L' of the current second sub-processing path and the preprocessing speedAverage velocity
4. The method of speed prediction according to claim 3, wherein said verifying said average speed comprises:
judging whether the average speed F' exceeds the maximum speed V set by the systemmax；
If the average speed exceeds the maximum speed V set by the systemmaxAdjusting the preprocessing speed to
If the average speed does not exceed the maximum speed V set by the systemmaxNo adjustment is necessary.
5. The velocity prediction method according to claim 4, wherein an average acceleration of the tool for machining the workpiece on the current second sub-machining path is calculated based on the current second sub-machining path, and the verifying the average acceleration comprises:
calculating the average acceleration A of the tool on the current second sub-processing path according to the length of the current second sub-processing path, the target speed of the tool after the current second sub-processing path is subjected to speed limitation, and the time of the tool passing the current second sub-processing pathi；
Obtaining the displacement vector and the acceleration limit of the tool on the second sub-processing path according to the second sub-processing path, and calculating to obtain the maximum acceleration Amax；
Judgment AiWhether or not it is greater than Amax；
If AiGreater than AmaxAdjusting the average speed and adjusting the preprocessing speed according to the average speed.
6. The speed prediction method of claim 1, wherein the calculating a final speed of the tool machining the workpiece on the current first sub-machining path based on the initial speed and the pre-processing speed comprises:
judging whether the current second sub-processing path is the last section of the second sub-processing path or not;
if the current second sub-machining path is the last section of the second sub-machining path, setting the final speed of the cutter on the current second sub-machining path to be 0;
if the current second sub-machining path is not the last section of the second sub-machining path, calculating the maximum final speed of the cutter on the second sub-machining path according to the initial speed, the preset section length of the second sub-machining path and the maximum acceleration;
judging whether the maximum final speed is less than the preprocessing speed or not;
if the maximum final speed is smaller than the preprocessing speed, modifying the final speed of the cutter on the current second sub-processing path to the maximum final speed;
and if the maximum final speed is greater than or equal to the preprocessing speed, adjusting the final speed of the cutter on the current second sub-processing path according to the total length of the subsequent second sub-processing path.
7. The speed prediction method of claim 6, wherein the adjusting the final speed of the tool on the current second sub-machining path according to the total length of the subsequent second sub-machining path comprises:
judging whether the total length of the subsequent second sub-processing paths is larger than the moving distance of the cutter when the speed of the cutter is reduced to 0;
if the total length of the subsequent second sub-processing paths is smaller than or equal to the distance moved by the cutter when the speed of the cutter is reduced to 0, waiting for subsequent data;
if the total length of the subsequent second sub-machining path is larger than the distance moved when the speed of the cutter is reduced to 0, adjusting the final speed of the cutter on the current second sub-machining path so that the cutter can move to the tail end of the subsequent second sub-machining path.
8. The speed prediction method of claim 1, wherein said taking a final speed of the tool machining the workpiece on the previous first sub-machining path as an initial speed of the current first sub-machining path further comprises:
judging whether the current first sub-processing path is a first section of the first sub-processing path;
if the current first sub-processing path is a first section of the first sub-processing path, setting the initial speed of the cutter on the current first sub-processing path to be 0;
and if the current first sub-machining path is not the first section of the first sub-machining path, taking the last speed of the cutter on the previous first sub-machining path as the initial speed of the current first sub-machining path.
9. A control method of a numerical control system is characterized by comprising the following steps:
receiving a machining program of a workpiece and compiling the machining program to obtain a first machining path of a cutter for machining the workpiece, and dividing the first machining path into a plurality of first sub-machining paths;
predicting the speed of the cutter for processing the workpiece on the current first sub-processing path according to the previous first sub-processing path and the current first sub-processing path;
carrying out speed planning on the cutter for processing the workpiece according to the predicted speed and outputting the speed;
wherein the method of predicting the speed of the tool is the speed prediction method according to claims 1 to 8.
10. A numerical control system, comprising:
a receiving device for receiving a machining program of a workpiece;
the processor is connected with the receiving equipment and used for compiling the machining program so as to obtain a first machining path of a cutter for machining the workpiece, and the first machining path is divided into a plurality of first sub-machining paths; predicting the speed of the cutter for processing the workpiece on the current first sub-processing path according to the previous first sub-processing path and the current first sub-processing path; carrying out speed planning on the cutter for processing the workpiece according to the predicted speed and outputting the speed;
the driver is connected with the processor and is used for receiving the speed plan of the cutter and driving the machine tool to operate;
the processor is specifically used for acquiring a first processing path of the tool for processing the workpiece, and dividing the first processing path into a plurality of first sub-processing paths; calculating the preprocessing speed of the cutter for processing the workpiece on the current first sub-processing path according to the previous first sub-processing path and the current first sub-processing path; converting the center point of a rotating tool of the current first sub-processing path to obtain a current second sub-processing path; calculating the average speed and the average acceleration of the cutter for processing the workpiece on the current second sub-processing path according to the current first sub-processing path, the current sub-processing path and the preprocessing speed; respectively checking the average speed and the average acceleration to judge whether the preprocessing speed is adjusted or not; taking the final speed of the cutter for processing the workpiece on the previous first sub-processing path as the initial speed of the current first sub-processing path; and calculating and outputting the final speed of the cutter on the current first sub-processing path according to the initial speed and the preprocessing speed.
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Cited By (1)
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