CN114115116A - Method, device, processor and computer readable storage medium for realizing speed planning processing for numerical control system - Google Patents
Method, device, processor and computer readable storage medium for realizing speed planning processing for numerical control system Download PDFInfo
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- CN114115116A CN114115116A CN202111407652.3A CN202111407652A CN114115116A CN 114115116 A CN114115116 A CN 114115116A CN 202111407652 A CN202111407652 A CN 202111407652A CN 114115116 A CN114115116 A CN 114115116A
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- arc
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- numerical control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus
Abstract
The invention relates to a method for realizing speed planning processing aiming at a numerical control system, which comprises the following steps: judging whether the arc command height error is smaller than the maximum arc height error or not, and if so, continuing the step (2), wherein the arc central angle is smaller than the parameter arc minimum angle; otherwise, continuing the step (3); limiting the maximum speed of the arc instruction according to the radius of the arc; and taking the circular arc as a straight line segment, predicting the curvature radius of the straight line segment, and limiting the maximum speed of the circular arc. The invention also relates to a device, a processor and a computer readable storage medium for implementing a speed planning process for a numerical control system. The method, the device, the processor and the computer readable storage medium for realizing the speed planning processing aiming at the numerical control system solve the problem of speed dead center caused by the speed limit of the arc instruction, thereby improving the processing effect.
Description
Technical Field
The invention relates to the field of numerical control machining, in particular to the field of circular arc instructions, and specifically relates to a method, a device, a processor and a computer readable storage medium for realizing speed planning processing for a numerical control system.
Background
In addition to the trajectory acceleration, radial accelerations also occur on curved profiles, which, if this is not taken into account when setting the machining acceleration, reach 2 times the maximum acceleration in a short time on a curved profile during acceleration or braking.
In this case, the machine tool vibrates due to the centripetal acceleration of the arc, and the machine tool vibrates more significantly when the arc speed is higher for the arc having the same radius. And radial retraction of the machining arc can occur due to the time delay of the servo.
Therefore, in order to avoid the influence of the centripetal acceleration on the machining effect, the centripetal acceleration on the arc is limited by limiting the maximum speed on the arc.
The radial arc retraction values due to servo lag are:
under the condition that the retraction amount is kept fixed and the servo characteristic is fixed, a reference circle Rref (radius 5mm) is appointed, and the maximum retraction amount on the circular arc motion is appointed according to the maximum speed Vref on the corresponding reference circle.
Given the feed speed for any circular radius, the relationship is:
therefore, in order to ensure constant retraction, the maximum speed on the circular arc motion needs to be controlled so as to ensure that the circular arc retraction exceeds a specified value, and the maximum acceleration in the radial direction is controlled at the same time as the maximum speed is controlled by a formula of centripetal acceleration.
At present, in order to ensure the stability of the speed of the arc command for processing, the numerical control system in the industry limits the speed of the arc command according to the radius of the arc command,
and selecting a reference circle to limit the maximum speed of the circular arc and ensure that the servo retraction amount is within a control range when the circular arc instruction runs.
In the process of converting CAD into G instruction format, the CAM software has the condition that the radius of the circular arc instruction is excessively different from the actual curvature radius of the surrounding track. When an arc with a very small radius and a very small arc length is suddenly inserted into a gentle arc track consisting of G01 instructions.
Due to the speed-limiting feature of the arc, a speed dead spot is generated at the position, which causes the processing effect to be poor, as shown in the speed color chart of fig. 2.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method, a device, a processor and a computer readable storage medium thereof for realizing speed planning processing aiming at a numerical control system, which have the advantages of high precision, good processing effect and wider application range.
The method for realizing speed planning processing aiming at the numerical control system is mainly characterized by comprising the following steps of:
(1) judging whether the arc command height error is smaller than the maximum arc height error or not, and if so, continuing the step (2), wherein the arc central angle is smaller than the parameter arc minimum angle; otherwise, continuing the step (3);
(2) limiting the maximum speed of the arc instruction according to the radius of the arc;
(3) and taking the circular arc as a straight line segment, predicting the curvature radius of the straight line segment, and limiting the maximum speed of the circular arc.
Preferably, the step (2) specifically comprises the following steps:
and calculating according to the maximum speed of the reference circle and the radius of the arc to obtain the maximum speed of the arc, and limiting the maximum speed of the arc instruction.
Preferably, the step (3) specifically includes the following steps:
and taking the arc as a straight line instruction, and participating in the calculation of the arc speed limit by the arc instruction to carry out the maximum speed limit of the arc.
The device for realizing speed planning processing aiming at the numerical control system is mainly characterized by comprising the following components:
a processor configured to execute computer-executable instructions;
a memory storing one or more computer-executable instructions that, when executed by the processor, perform the steps of the above-described method for implementing a speed planning process for a numerical control system.
The processor for implementing the speed planning process for the numerical control system is mainly characterized in that the processor is configured to execute computer-executable instructions, and the computer-executable instructions, when executed by the processor, implement the steps of the method for implementing the speed planning process for the numerical control system.
The computer-readable storage medium is primarily characterized in that a computer program is stored thereon, which computer program is executable by a processor for carrying out the steps of the above-described method for implementing a speed planning process for a numerical control system.
The method, the device, the processor and the computer readable storage medium for realizing the speed planning processing aiming at the numerical control system solve the problem of speed dead center caused by the speed limit of the arc instruction, thereby improving the processing effect.
Drawings
FIG. 1 is a flow chart of a method of the present invention for implementing a speed planning process for a numerical control system.
Fig. 2 is a diagram of a prior art velocity profile.
FIG. 3 is a schematic arc diagram of the method for implementing speed planning processing for a numerical control system according to the present invention.
FIG. 4 is a schematic diagram of a processed velocity color chart of the method for implementing velocity planning processing for a numerical control system according to the present invention
Detailed Description
In order to more clearly describe the technical contents of the present invention, the following further description is given in conjunction with specific embodiments.
The method for realizing speed planning processing aiming at the numerical control system comprises the following steps:
(1) judging whether the arc command height error is smaller than the maximum arc height error or not, and if so, continuing the step (2), wherein the arc central angle is smaller than the parameter arc minimum angle; otherwise, continuing the step (3);
(2) limiting the maximum speed of the arc instruction according to the radius of the arc;
(3) and taking the circular arc as a straight line segment, predicting the curvature radius of the straight line segment, and limiting the maximum speed of the circular arc.
As a preferred embodiment of the present invention, the step (2) specifically comprises the following steps:
and calculating according to the maximum speed of the reference circle and the radius of the arc to obtain the maximum speed of the arc, and limiting the maximum speed of the arc instruction.
As a preferred embodiment of the present invention, the step (3) specifically comprises the following steps:
and taking the arc as a straight line instruction, and participating in the calculation of the arc speed limit by the arc instruction to carry out the maximum speed limit of the arc.
The device for realizing the speed planning processing aiming at the numerical control system comprises the following components:
a processor configured to execute computer-executable instructions;
a memory storing one or more computer-executable instructions that, when executed by the processor, perform the steps of the above-described method for implementing a speed planning process for a numerical control system.
The processor for implementing a speed planning process for a numerical control system of the present invention is configured to execute computer-executable instructions that, when executed by the processor, implement the steps of the above-described method for implementing a speed planning process for a numerical control system.
The computer-readable storage medium of the present invention, having stored thereon a computer program executable by a processor for performing the steps of the above-described method for implementing a speed planning process for a numerical control system.
In the specific implementation mode of the invention, the problem of speed dead pixel caused by speed limit of the arc instruction is solved.
When the height error delta L of the arc command and the central angle theta are small enough, the arc command can be actually regarded as a small line segment, the limitation of the maximum speed on the arc is not carried out, and the local speed is limited only by the connection speed limit. Therefore, the problem of poor speed consistency caused by overlarge difference between the arc command radius and the actual curvature radius of the peripheral command is solved.
When the shape of the arc command meets the following conditions of the minimum arc height error and the minimum arc angle, the strategy of limiting the speed of the arc is carried out on the arc, namely when the arc command arc height error value is smaller than the maximum arc height error and the arc command central angle is smaller than the minimum arc angle, the system adjusts the strategy of limiting the speed of the maximum arc speed.
The invention relates to a method for realizing speed planning processing aiming at a numerical control system, which comprises the following steps:
judging whether the arc is smaller than the parameter (maximum arc height error) and the arc central angle is smaller than the parameter (minimum arc angle) is the second step, and if not, the third step
The second step is that: limiting the maximum speed of alignment according to the radius of the arc
The third step: and taking the circular arc as a straight line segment, predicting the curvature radius of the straight line segment, and limiting the maximum speed of the circular arc.
For a specific implementation of this embodiment, reference may be made to the relevant description in the above embodiments, which is not described herein again.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present invention, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by suitable instruction execution devices. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, and the corresponding program may be stored in a computer readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The method, the device, the processor and the computer readable storage medium for realizing the speed planning processing aiming at the numerical control system solve the problem of speed dead center caused by the speed limit of the arc instruction, thereby improving the processing effect.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (6)
1. A method for realizing speed planning processing aiming at a numerical control system is characterized by comprising the following steps:
(1) judging whether the arc command height error is smaller than the maximum arc height error or not, and if so, continuing the step (2), wherein the arc central angle is smaller than the parameter arc minimum angle; otherwise, continuing the step (3);
(2) limiting the maximum speed of the arc instruction according to the radius of the arc;
(3) and taking the circular arc as a straight line segment, predicting the curvature radius of the straight line segment, and limiting the maximum speed of the circular arc.
2. The method for implementing speed planning process for numerical control system according to claim 1, wherein the step (2) specifically comprises the steps of:
and calculating according to the maximum speed of the reference circle and the radius of the arc to obtain the maximum speed of the arc, and limiting the maximum speed of the arc instruction.
3. The method for implementing speed planning process for numerical control system according to claim 1, wherein the step (3) specifically comprises the steps of:
and taking the arc as a straight line instruction, and participating in the calculation of the arc speed limit by the arc instruction to carry out the maximum speed limit of the arc.
4. An apparatus for implementing a speed planning process for a numerically controlled system, the apparatus comprising:
a processor configured to execute computer-executable instructions;
a memory storing one or more computer-executable instructions that, when executed by the processor, perform the steps of the method of implementing a speed planning process for a numerically controlled system of any of claims 1 to 3.
5. A processor for implementing a speed planning process for a numerically controlled system, wherein the processor is configured to execute computer-executable instructions that, when executed by the processor, implement the steps of the method of implementing a speed planning process for a numerically controlled system of any of claims 1 to 3.
6. A computer-readable storage medium, having stored thereon a computer program executable by a processor for carrying out the steps of the method of carrying out a speed planning process for a numerically controlled system as claimed in any of claims 1 to 3.
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| CN202111407652.3A CN114115116A (en) | 2021-11-24 | 2021-11-24 | Method, device, processor and computer readable storage medium for realizing speed planning processing for numerical control system |
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| CN202111407652.3A CN114115116A (en) | 2021-11-24 | 2021-11-24 | Method, device, processor and computer readable storage medium for realizing speed planning processing for numerical control system |
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Citations (6)
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| US20050119784A1 (en) * | 2003-11-28 | 2005-06-02 | Yasuhiko Suzuki | Method and apparatus for controlling a machine tool |
| CN109648560A (en) * | 2018-12-28 | 2019-04-19 | 深圳市越疆科技有限公司 | Space tracking transition method, system and the robot of industrial robot |
| CN111708322A (en) * | 2020-06-12 | 2020-09-25 | 广州数控设备有限公司 | Three-coordinate positioner posture adjusting operation and control method and system, posture adjusting controller and storage medium |
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| CN113478097A (en) * | 2021-07-05 | 2021-10-08 | 上海维宏智能技术有限公司 | Method, device and processor for realizing circular hole surrounding sorting processing in laser cutting numerical control system and computer readable storage medium thereof |
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2021
- 2021-11-24 CN CN202111407652.3A patent/CN114115116A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050119784A1 (en) * | 2003-11-28 | 2005-06-02 | Yasuhiko Suzuki | Method and apparatus for controlling a machine tool |
| CN109648560A (en) * | 2018-12-28 | 2019-04-19 | 深圳市越疆科技有限公司 | Space tracking transition method, system and the robot of industrial robot |
| CN111708322A (en) * | 2020-06-12 | 2020-09-25 | 广州数控设备有限公司 | Three-coordinate positioner posture adjusting operation and control method and system, posture adjusting controller and storage medium |
| CN111813053A (en) * | 2020-07-31 | 2020-10-23 | 上海维宏电子科技股份有限公司 | Method and device for controlling corner speed overrun caused by speed filtering in numerical control system and storage medium thereof |
| CN112764394A (en) * | 2020-12-29 | 2021-05-07 | 上海维宏电子科技股份有限公司 | Method, equipment, device, processor and storage medium for realizing speed-limiting control for workpiece machining track in numerical control system |
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