CN114609969B - Numerical control machine tool track error compensation method based on cloud computing - Google Patents
Numerical control machine tool track error compensation method based on cloud computing 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
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35408—Calculate new position data from actual data to compensate for contour error
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Abstract
The invention discloses a numerical control machine tool track error compensation method based on cloud computing, which can collect processing data of all machine tools through a server PC under the condition that most of the characteristics of the machine tools on the same production line are consistent, so that a neural network virtual simulation model can be built more quickly. And the data of a plurality of numerical control systems can be processed through one server PC, so that most of data processing tasks are completed by the server PC. According to the invention, under the condition of not changing the existing hardware, the cloud server PC is used for processing a plurality of numerical control system data in real time, so that the contour error caused by delay of response of the numerical control machine tool is compensated in the machine tool machining process, and error compensation of numerical control system codes can be directly carried out on the server PC, thereby greatly reducing the calculated amount of the numerical control system, reducing the performance requirement of the numerical control system and reducing the system cost of equipment.
Description
Technical Field
The invention belongs to the field of machine tool track planning, and particularly relates to a numerical control machine tool track error compensation method based on cloud computing.
Background
In recent years, with the continuous increase of the technological requirements of products in the industrial field and the rapid increase of the production scale, the importance of the synergistic effect among subsystems in the production and manufacturing stages is highlighted in order to obtain higher processing precision. In multi-axis motion control, efforts have been made to achieve higher motion control accuracy so that the actual motion of each axis can track the input signal relatively accurately. However, due to the delay of the servo system itself, unavoidable friction of the mechanical structure and the back lash problem of the transmission system, precisely tracking the planned path to obtain a high-precision trajectory still has a problem to be solved. With the distributed and collaborative manufacturing industry, numerical control systems are integrated and isolated. And as computer technology evolves, more and more functions are integrated into the numerical control system, which makes the CNC architecture more complex and less functional reusable.
Due to the development of computer technology and 5G networks, the numerical control system can operate in a real-time environment and can perform data transmission and data processing more conveniently. Early digitally controlled computers and their peripherals were specially designed and it was difficult to reconfigure the controller to meet specific requirements. Since the 90 s of the 20 th century, personal Computers (PCs) have been used as platforms for digital control systems. Unlike previous CNC system platforms, PCs have a standard hardware architecture, communication interfaces, and a unified operating system. Thus, we can design the functions by a PC, using a PC to design the functions we need.
In the aspect of error control of a numerical control system, cross Coupling Control (CCC) is a common control method, and the CCC calculates and compensates the contour error in real time, so that the purpose of compensating the contour error on line can be achieved, but the cross coupling method calculates the contour error on line and compensates the error at the next moment, so that the problem of compensation lag exists. Aiming at the defects of the cross coupling problem, a learner proposes to compensate the contour error in the track processing process by using an iterative learning method, wherein the iterative learning is performed by repeatedly running the track for a plurality of times, compensating the calculation error in the last processing process in the process of each running, and compensating the processing error in the repeated track processing process by performing a plurality of running on the track. However, iterative learning is relatively suitable for a track of repetitive processing, and when the track changes or the processing parameters of the machine tool change, the learning needs to be carried out again.
In the 70 s of the 20 th century, many scholars have studied learning control. The learning control can enable the system to learn a certain unknown feature and automatically acquire knowledge, so that the system can continuously perform self-optimization in the running process, and the performance of the system is better. Artificial neural networks have now been widely used in a variety of intelligent learning scenarios with the ability to approximate arbitrary functions. Therefore, the method can be used for constructing a complex nonlinear model and predicting the output of a nonlinear system, and the neural network is widely applied to the modeling aspect of a motion control system due to the excellent nonlinear fitting capability, so that a learner proposes to apply the neural network to the error compensation aspect of a numerical control system and obtain good effects. However, because the neural network has high computational complexity, the neural network is difficult to deploy on a numerical control system, and in addition, a large amount of data is required in the process of training the neural network, and the data of a single machine tool is difficult to meet the requirement of training the neural network. On the production line, factories generally purchase a plurality of machine tools of the same type, the consistency of the machine tools is generally better, more calculation resources can be consumed if a neural network is independently built for each machine tool, and the time for building the model can be greatly reduced if a unified model can be built for all the machine tools.
The existing neural network prediction control method can achieve a good effect on error compensation of a numerical control system, but the calculation of the neural network requires a large calculation amount.
Disclosure of Invention
The invention aims to provide a numerical control machine tool track error compensation method based on cloud computing, which solves the problem that a numerical control system cannot process a complex algorithm under the condition of poor performance of a numerical control system controller. The advantage of the current network transmission is utilized, a complex algorithm is deployed on a server PC, when the numerical control system needs to process data, the data to be processed is uploaded to the server PC, and after the server PC processes the data, the processed data is transmitted to the numerical control system, so that the requirement of the numerical control system on the complex algorithm processing is met.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a numerical control machine tool track error compensation method based on cloud computing comprises the following steps:
step S1, a server PC based on cloud computing is established, communication between the server PC and a numerical control system of a numerical control machine tool is established, operation data of a plurality of numerical control machine tools are processed through the server PC, and in the process of processing the numerical control system, the server PC issues data to be processed to the numerical control system, so that the numerical control system continuously controls controlled equipment in the operation process; the network transmission speed can meet the real-time requirement, namely, in the processing process of the numerical control system, the server PC can ensure that the data to be processed are issued to the numerical control system, and ensure that the operation of the numerical control system is not interrupted;
s2, the server PC has stronger data processing capability, based on machining track data of the numerical control machine tool, the server PC establishes virtual simulation models of numerical control systems of a plurality of numerical control machine tools on a production line through a neural network, the virtual simulation models are stored in a database on the server PC, and a one-to-one mapping relation between the virtual simulation models and the numerical control systems of the numerical control machine tools is established through the database on the server PC;
s3, after the numerical control system acquires the processing track data of the numerical control machine tool, the processing track data are uploaded to the server PC, the server PC analyzes the received processing track data, analyzes an IP address of the numerical control machine tool, searches a virtual simulation model corresponding to the IP address, predicts the processing track based on the virtual simulation model, acquires a prediction error, compensates the error, generates a processing instruction after the error compensation is performed on the processing track data, and transmits the processing instruction to the numerical control system corresponding to the numerical control machine tool;
s4, before the numerical control system controls the controlled equipment to process, analyzing the reliability of data processed by the server PC, including analyzing the data of track optimization and error compensation, firstly testing whether the track optimization by the server PC can cause processing error increase, if the error increase indicates that the server PC cannot accurately model the numerical control system, the server PC needs to directly return original processing track data to the numerical control system, and updating a virtual simulation model of the numerical control system stored in the server PC.
Preferably, in the step S1, a Socket is used to transmit data, so that communication between the server PC and the digital control system is performed between the local area network and the public network.
Preferably, in the step S2, the method for establishing the virtual simulation model of the numerical control system of the plurality of numerical control machine tools on the production line is as follows:
step a1., establishing a virtual simulation model of the numerical control machine tool through an artificial neural network by using an off-line training square test: when the numerical control machine tool operates, the designed processing track operates on the numerical control machine tool, actual operation processing track data of the numerical control machine tool in the processing process are acquired in real time through the data sampling module, the acquired processing track data are transmitted to the server PC, so that the planned point position and the actual point position are collected, the mapping relation between the planned point position and the actual point position is established, and the server PC establishes a virtual simulation model of the numerical control system operation according to the planned point position and the actual point position;
step a2, after the virtual simulation model is established, the server PC stores the IP address and the virtual simulation model corresponding to the numerical control machine tool in a database of the server PC, so that one IP address of each numerical control machine tool corresponds to one virtual simulation model;
in step a3., the data sampling module collects the planned point position and the actual point position of the machine tool during the process of executing the machining task, and when the machining task is executed by a certain numerical control machine tool and the machine tool stops running, the numerical control system uploads the collected planned point position and the collected actual point position to the server PC so as to update the virtual simulation model.
Preferably, in the step a1, the process of establishing the virtual simulation model is completed by collecting actual running and machining track data of a plurality of machine tools, the artificial neural network firstly uses data of all the machine tools to perform fitting, and then performs fitting on a single machine tool after the fitting is completed. This is done because the same batch of machine tools on a production line generally has good consistency, so collecting data from multiple machine tools can speed up the process of virtual simulation model establishment.
Preferably, the error compensation method based on the virtual simulation model in the step S3 is as follows:
step b1., in the actual operation stage of the numerically-controlled machine tool, the server PC monitors the request from the numerically-controlled machine tool in real time, when the numerically-controlled machine tool has data to be processed, the numerically-controlled system of the numerically-controlled machine tool requests to establish network connection with the server PC, and when the server PC establishes network connection with the numerically-controlled machine tool, the numerically-controlled system uploads the processing track data to be processed to the server PC;
step b2.After the numerical control system acquires the processing track data of the numerical control machine tool, the processing track data is uploaded to the server PC, and the server PC analyzes the IP address of the numerical control machine tool, searches a virtual simulation model corresponding to the numerical control machine tool sending the request, and then plans the position y of the point d (k) Inputting the actual point position y into a virtual simulation model, and predicting the actual point position y to which the numerical control machine tool operates by a server PC according to the virtual simulation model pre (k) The server PC calculates the planned point position y d (k) And the actual point position y pre (k) Error of (2) to obtain the contour error EC of machine tool machining i (k) If the calculated contour error meets the set threshold value requirement, marking the position of the planned point after contour error inspection as y r (k) Issuing to a numerical control system; if the calculated contour error does not meet the processing requirement, compensating the error according to the calculated contour error and generating a new planning position point p i (k) The new planning position point p i (k) Input into a virtual simulation model to form a predicted new actual point position y pre (k) Continuing to calculate a new planned point position p i (k) And a new actual point position y pre (k) If the error of the profile error meets the set threshold requirement, continuing error compensation until the profile error meets the set threshold requirement, and after the error compensation is completed, transmitting the processed data to the numerical control machine by the server PC;
step b3. after the numerical control system receives the data from the server PC, the numerical control system disconnects the network connection with the server PC, and the numerical control system stores the received error-compensated planned position points or the original planned position points conforming to the contour error in a data buffer zone and controls the operation of the controlled device;
step b4. the server PC will continually monitor the requests from the numerical control system of the controlled device, and the numerical control system waits for new track processing data to be acquired, and repeats the operations in step b2.
Preferably, in the step b3, when the numerical control system controls the controlled device to operate, it needs to collect uniaxial actual position data of the numerical control machine tool in real time, obtain an actual point position y (k) of the operation of the numerical control machine tool according to the uniaxial actual position data, and upload the actual point position y (k) as actual operation processing track data of the numerical control machine tool to a server PC for storage, so as to complete training and updating of the virtual simulation model. Thereby improving the accuracy of the virtual simulation model.
Preferably, after the actual point position y (k) is uploaded as the actual running and machining track data of the numerical control machine tool to a server PC for storage, the server PC analyzes the received actual running and machining track data of the numerical control machine tool, analyzes an IP address of the corresponding numerical control machine tool, searches a virtual simulation model corresponding to the IP address, and further uses the actual running and machining track data for training the virtual simulation model.
Preferably, in the step S3, after the numerical control machine of the machine tool receives the processing instruction transmitted by the server PC, the processing instruction is cached in the numerical control system, and the controlled device is controlled to move according to the processing instruction.
Preferably, in the step S4, before the numerical control system controls the controlled device to process, the numerical control system controls the controlled device to execute the processing track instruction after error compensation, and the numerical control system and the server PC acquire the processing process data of the controlled device, calculate whether the error between the processing process data and the planning data is within the set threshold range, and further determine whether the optimization of the server PC on the track will cause the increase of the processing error.
The beneficial effects are that:
according to the cloud computing-based numerical control machine tool track error compensation method, processing data of all machine tools can be collected through the server PC under the condition that most of the machine tools on the same production line are consistent in characteristics, so that a neural network virtual simulation model can be built more quickly. And the data of a plurality of numerical control systems can be processed through one server PC, so that the server PC can complete most of data processing tasks, and the numerical control system can receive instructions from the server PC and issue the instructions to the controlled equipment. According to the invention, under the condition of not changing the existing hardware, the cloud server PC is used for processing a plurality of numerical control system data in real time, so that the contour error caused by delay of response of the numerical control machine tool is compensated in the machine tool machining process, and error compensation of numerical control system codes can be directly carried out on the server PC, thereby greatly reducing the calculated amount of the numerical control system, reducing the performance requirement of the numerical control system and reducing the system cost of equipment.
Drawings
FIG. 1 is a general flow chart of the numerical control machine tool track error compensation based on cloud computing;
FIG. 2 is a schematic diagram of an error compensation system architecture of a numerical control system based on cloud computing;
FIG. 3 is a schematic diagram of a neural network model used in the present invention to build a virtual simulation model;
FIG. 4 is a diagram showing the correspondence between a virtual simulation model and an IP address of a numerical control machine tool according to the present invention;
FIG. 5 is a diagram of a neural network-based error compensation framework of the server PC of the present invention;
FIG. 6 is a schematic diagram of an error compensation architecture for the linkage of the numerical control machine tool and the server PC of the invention;
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will explain the specific embodiments of the present invention with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the invention, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
The technical scheme of the invention is described in detail in the following by specific embodiments.
As shown in fig. 1 and 2, a method for compensating a track error of a numerical control machine tool based on cloud computing comprises the following steps:
step S1, a server PC based on cloud computing is established, communication between the server PC and a numerical control system of a numerical control machine tool is established, operation data of a plurality of numerical control machine tools are processed through the server PC, and in the process of processing the numerical control system, the server PC issues data to be processed to the numerical control system, so that the numerical control system continuously controls controlled equipment in the operation process; the network transmission speed can meet the real-time requirement, namely, in the processing process of the numerical control system, the server PC can ensure that the data to be processed are issued to the numerical control system, and ensure that the operation of the numerical control system is not interrupted;
s2, the server PC has stronger data processing capability, based on machining track data of the numerical control machine tool, the server PC establishes virtual simulation models of numerical control systems of a plurality of numerical control machine tools on a production line through a neural network, the virtual simulation models are stored in a database on the server PC, and a one-to-one mapping relation between the virtual simulation models and the numerical control systems of the numerical control machine tools is established through the database on the server PC;
s3, after the numerical control system acquires the processing track data of the numerical control machine tool, the processing track data are uploaded to the server PC, the server PC analyzes the received processing track data, analyzes an IP address of the numerical control machine tool, searches a virtual simulation model corresponding to the IP address, predicts the processing track based on the virtual simulation model, acquires a prediction error, compensates the error, generates a processing instruction after the error compensation is performed on the processing track data, and transmits the processing instruction to the numerical control system corresponding to the numerical control machine tool;
s4, before the numerical control system controls the controlled equipment to process, analyzing the reliability of data processed by the server PC, including analyzing the data of track optimization and error compensation, firstly testing whether the track optimization by the server PC can cause processing error increase, if the error increase indicates that the server PC cannot accurately model the numerical control system, the server PC needs to directly return original processing track data to the numerical control system, and updating a virtual simulation model of the numerical control system stored in the server PC.
In the step S1, a Socket is used to transmit data, so that communication between the local area network and the public network is performed between the server PC and the digital control system. Therefore, the server PC can complete most of data processing tasks, and the numerical control system can receive the instruction from the server PC and issue the instruction to the controlled equipment.
As shown in fig. 3 and 4, the method for establishing the virtual simulation model of the numerical control system of the plurality of numerical control machine tools on the production line in the step S2 is as follows:
step a1., establishing a virtual simulation model of the numerical control machine tool through an artificial neural network by using an off-line training square test: when the numerical control machine tool operates, the designed processing track operates on the numerical control machine tool, actual operation processing track data of the numerical control machine tool in the processing process are acquired in real time through the data sampling module, the acquired processing track data are transmitted to the server PC, so that the planned point position and the actual point position are collected, the mapping relation between the planned point position and the actual point position is established, and the server PC establishes a virtual simulation model of the numerical control system operation according to the planned point position and the actual point position;
step a2, after the virtual simulation model is established, the server PC stores the IP address and the virtual simulation model corresponding to the numerical control machine tool in a database of the server PC, so that one IP address of each numerical control machine tool corresponds to one virtual simulation model;
in step a3., the data sampling module collects the planned point position and the actual point position of the machine tool during the process of executing the machining task, and when the machining task is executed by a certain numerical control machine tool and the machine tool stops running, the numerical control system uploads the collected planned point position and the collected actual point position to the server PC so as to update the virtual simulation model.
In the step a1, the process of establishing a virtual simulation model is completed by collecting actual running processing track data of a plurality of machine tools, the artificial neural network firstly utilizes data of all the machine tools to perform fitting, and then the fitting is performed on a single machine tool after the fitting is completed. This is done because the same batch of machine tools on a production line generally has good consistency, so collecting data from multiple machine tools can speed up the process of virtual simulation model establishment.
As shown in fig. 5 and 6, the error compensation method based on the virtual simulation model in the step S3 is as follows:
step b1., in the actual operation stage of the numerically-controlled machine tool, the server PC monitors the request from the numerically-controlled machine tool in real time, when the numerically-controlled machine tool has data to be processed, the numerically-controlled system of the numerically-controlled machine tool requests to establish network connection with the server PC, and when the server PC establishes network connection with the numerically-controlled machine tool, the numerically-controlled system uploads the processing track data to be processed to the server PC;
step b2. after the numerical control system obtains the processing track data of the numerical control machine tool, uploading the processing track data to the server PC, and after the server analyzes the IP address of the numerical control machine tool and finds the virtual simulation model corresponding to the numerical control machine tool sending the request, planning the position y of the point d (k) Inputting the actual point position y into a virtual simulation model, and predicting the actual point position y to which the numerical control machine tool operates by a server PC according to the virtual simulation model pre (k) The server PC calculates the planned point position y d (k) And the actual point position y pre (k) Error of (2) to obtain the contour error EC of machine tool machining i (k) If the calculated contour error meets the set threshold value requirement, marking the position of the planned point after contour error inspection as y r (k) Issuing to a numerical control system; if the calculated contour error does not meet the processing requirement, compensating the error according to the calculated contour error and generating a new planning position point p i (k) The new planning position point p i (k) Input into a virtual simulation model to form a predicted new actual point position y pre (k) Continuing to calculate a new planned point position p i (k) And a new actual point position y pre (k) If the error of the profile error meets the set threshold requirement, continuing error compensation until the profile error meets the set threshold requirement, and after the error compensation is completed, transmitting the processed data to the numerical control machine by the server PC;
step b3. after the numerical control system receives the data from the server PC, the numerical control system disconnects the network connection with the server PC, and the numerical control system stores the received error-compensated planned position points or the original planned position points conforming to the contour error in a data buffer zone and controls the operation of the controlled device;
step b4. the server PC will continually monitor the requests from the numerical control system of the controlled device, and the numerical control system waits for new track processing data to be acquired, and repeats the operations in step b2.
And b3, when the numerical control system controls the controlled equipment to operate, acquiring single-axis actual position data of the numerical control machine tool in real time, obtaining an actual point position y (k) of the operation of the numerical control machine tool through the single-axis actual position data, uploading the actual point position y (k) serving as actual operation processing track data of the numerical control machine tool to a server PC for storage, and finishing training and updating of the virtual simulation model. Thereby improving the accuracy of the virtual simulation model. After the actual point position y (k) is used as the actual running processing track data of the numerical control machine tool and is uploaded to a server PC for storage, the server PC analyzes the received actual running processing track data of the numerical control machine tool, analyzes the IP address of the corresponding numerical control machine tool, searches a virtual simulation model corresponding to the IP address, and further uses the actual running processing track data for training the virtual simulation model.
In the step S3, after the numerical control machine of the machine tool receives the processing instruction transmitted by the server PC, the processing instruction is cached in the numerical control system, and the controlled device is controlled to move along the processing track according to the processing instruction.
In the step S4, before the numerical control system controls the controlled device to process, the numerical control system controls the controlled device to execute the processing track instruction after error compensation, the numerical control system and the server PC acquire the processing process data of the controlled device, calculate whether the error between the processing process data and the planning data is within the set threshold range, and further determine whether the optimization of the server PC to the track can cause the increase of the processing error.
The embodiments of the present invention are described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the core concepts of the invention. It should be noted that it will be apparent to those skilled in the art that the present invention may be modified and adapted without departing from the principles of the present invention, and that such modifications and adaptations are intended to be within the scope of the appended claims.
Claims (7)
1. A numerical control machine tool track error compensation method based on cloud computing is characterized by comprising the following steps:
s1, establishing a server PC based on cloud computing, establishing communication between the server PC and a numerical control system of a numerical control machine tool, and processing operation data of a plurality of numerical control machine tools through the server PC;
s2, based on machining track data of the numerical control machine tool operation, a server PC establishes virtual simulation models of numerical control systems of a plurality of numerical control machine tools on a production line through a neural network, the virtual simulation models are stored in a database on the server PC, and a one-to-one mapping relation between the virtual simulation models and the numerical control systems of the numerical control machine tools is established through the database on the server PC;
s3, after the numerical control system acquires the processing track data of the numerical control machine tool, the processing track data are uploaded to the server PC, the server PC analyzes the received processing track data, analyzes an IP address of the numerical control machine tool, searches a virtual simulation model corresponding to the IP address, predicts the processing track based on the virtual simulation model, acquires a prediction error, compensates the error, generates a processing instruction after the error compensation is performed on the processing track data, and transmits the processing instruction to the numerical control system corresponding to the numerical control machine tool;
step S4, before the numerical control system controls the controlled equipment to process, analyzing the reliability of data processed by the server PC, including analyzing the data of track optimization and error compensation, firstly testing whether the optimization of the server PC on the track can cause the increase of processing errors, if the increase of the errors indicates that the server PC cannot accurately model the numerical control system, the server PC needs to directly return the original processing track data to the numerical control system, and updating a virtual simulation model of the numerical control system stored in the server PC;
the error compensation method based on the virtual simulation model in the step S3 is as follows:
step b1., in the actual operation stage of the numerically-controlled machine tool, the server PC monitors the request from the numerically-controlled machine tool in real time, when the numerically-controlled machine tool has data to be processed, the numerically-controlled system of the numerically-controlled machine tool requests to establish network connection with the server PC, and when the server PC establishes network connection with the numerically-controlled machine tool, the numerically-controlled system uploads the processing track data to be processed to the server PC;
step b2. after the numerical control system obtains the processing track data of the numerical control machine tool, uploading the processing track data to the server PC, and after the server PC analyzes the IP address of the numerical control machine tool and finds the virtual simulation model corresponding to the numerical control machine tool sending the request, planning the position of the pointInputting the actual point position into a virtual simulation model, and predicting the actual point position of the numerical control machine tool by the server PC according to the virtual simulation model>The server PC calculates the planned point position +.>And the actual dot position +.>The error of (2) gives the contour error of the machine tool machining +.>If the calculated contour error meets the set threshold value requirement, marking the position of the planned point after contour error inspection as +.>Issuing to a numerical control system; if the calculated contour error is not fullOn demand for machining, the errors are compensated according to the calculated contour errors and new planned position points are generated>New planned location point +.>Input into virtual simulation model to form predicted new actual point positionContinue to calculate new planned point position +.>And a new actual dot position->If the error of the profile error meets the set threshold requirement, continuing error compensation until the profile error meets the set threshold requirement, and after the error compensation is completed, transmitting the processed data to the numerical control machine by the server PC;
step b3. after the numerical control system receives the data from the server PC, the numerical control system disconnects the network connection with the server PC, and the numerical control system stores the received error-compensated planned position points or the original planned position points conforming to the contour error in a data buffer zone and controls the operation of the controlled device;
step b4. the server PC will continually monitor the requests from the numerical control system of the controlled device, and the numerical control system waits for new track processing data to be acquired, and repeats the operations in step b2.
2. The method for compensating the trajectory error of the numerical control machine tool based on the cloud computing according to claim 1, wherein in the step S1, a Socket is used to transmit data, so that communication between the server PC and the numerical control system is performed between a local area network and a public network.
3. The method for compensating the trajectory error of the numerical control machine tool based on the cloud computing according to claim 1 or 2, wherein the method for establishing the virtual simulation model of the numerical control system of the plurality of numerical control machines on the production line in the step S2 is as follows:
step a1., establishing a virtual simulation model of the numerical control machine tool through an artificial neural network by using an off-line training square test: when the numerical control machine tool operates, the designed processing track operates on the numerical control machine tool, actual operation processing track data of the numerical control machine tool in the processing process are acquired in real time through the data sampling module, the acquired processing track data are transmitted to the server PC, so that the planned point position and the actual point position are collected, the mapping relation between the planned point position and the actual point position is established, and the server PC establishes a virtual simulation model of the numerical control system operation according to the planned point position and the actual point position;
step a2, after the virtual simulation model is established, the server PC stores the IP address and the virtual simulation model corresponding to the numerical control machine tool in a database of the server PC, so that one IP address of each numerical control machine tool corresponds to one virtual simulation model;
in step a3., the data sampling module collects the planned point position and the actual point position of the machine tool during the process of executing the machining task, and when the machining task is executed by a certain numerical control machine tool and the machine tool stops running, the numerical control system uploads the collected planned point position and the collected actual point position to the server PC so as to update the virtual simulation model.
4. The method for compensating trajectory errors of numerically-controlled machine tools based on cloud computing according to claim 3, wherein in the step a1, the process of establishing the virtual simulation model is completed by collecting actual running machining trajectory data of a plurality of machine tools, and the artificial neural network performs fitting by using data of all machine tools, and then performs fitting for a single machine tool after the fitting is completed.
5. The cloud computing-based numerical control machine tool trajectory error compensation of claim 1The compensation method is characterized in that when the numerical control system in the step b3 controls the controlled equipment to operate, the single-axis actual position data of the numerical control machine tool is required to be acquired in real time, and the operating actual point position of the numerical control machine tool is obtained through the single-axis actual position dataAnd locating the actual positionAnd uploading the actual running and machining track data serving as the numerical control machine tool to a server PC for storage, and finishing the training and updating of the virtual simulation model.
6. The cloud computing-based numerical control machine tool trajectory error compensation method according to claim 1, wherein in the step S3, after the numerical control machine tool of the machine tool receives the processing command transmitted by the server PC, the processing command is cached in the numerical control system, and the controlled device is controlled to move the processing trajectory according to the processing command.
7. The method for compensating the trajectory error of the numerically-controlled machine tool based on the cloud computing according to claim 1, wherein in the step S4, before the numerically-controlled system controls the controlled device to process, the numerically-controlled system controls the controlled device to execute the processing trajectory instruction after the error compensation, and the numerical control system and the server PC acquire the processing process data of the controlled device, calculate whether the error between the processing process data and the planning data is within the set threshold range, and further determine whether the optimization of the trajectory by the server PC causes the processing error to increase.
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