CN114755975B - Method, apparatus and storage medium for controlling trajectory error generated by velocity filtering - Google Patents
Method, apparatus and storage medium for controlling trajectory error generated by velocity filtering Download PDFInfo
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- G05B19/00—Programme-control systems
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- 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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Abstract
The application belongs to the technical field of program control, and particularly relates to a control method, equipment and a storage medium for a track error generated by speed filtering, wherein the control method comprises the following steps: s10, acquiring system preset parameters and to-be-processed path information, wherein the system preset parameters comprise filter parameters, curve errors and corner errors, and the to-be-processed path information comprises an arc curvature radius and a motion joining section included angle; s20, determining the filter coefficient of the speed filter according to the filter parameter; s30, determining the maximum planning speed of the circular arc according to the curvature radius of the circular arc, the filter coefficient and the curve error, and limiting the maximum feeding speed of the processing cutter on the circular arc processing section; and S40, determining the maximum corner joining planning speed according to the included angle of the motion joining section, the filter coefficient and the corner error, and limiting the maximum feeding speed of the machining tool in the corner machining section. The method can effectively reduce errors caused by filtering and improve the processing precision.
Description
Technical Field
The application belongs to the technical field of program control, and particularly relates to a control method for a track error generated by speed filtering.
Background
Along with the increase of modeling complexity, many product designs adopt curve surface modeling, and numerical control system has acceleration sudden change in the motion section junction in carrying out the course of working, leads to adding the vibration of machine tool production man-hour, consequently need carry out smooth processing to speed: one processing mode is that Bezier curve fitting is carried out at the joint of the motion section, the algorithm is complex, the operation process is complicated, and speed fluctuation exists at the joint of the motion section and the transition section; another way of processing is to low-pass filter the speed of the numerical control system to eliminate high-frequency components thereof, so that the speed becomes smooth and the acceleration becomes continuous, thereby suppressing the vibration of the machine tool. Wherein, when carrying out low pass filtering with numerical control system speed measurement, carry out filtering respectively to the unipolar usually to make the motion section produce certain orbit deviation in corner and circular arc section, reduced the machining precision.
In summary, after the speed planning and interpolation processing are performed by the conventional numerical control system, the track deviation is caused by filtering, so that the machining precision of the conventional numerical control system is reduced.
Disclosure of Invention
Technical problem to be solved
In view of the above-mentioned shortcomings and drawbacks of the prior art, the present application provides a method, apparatus and readable storage medium for controlling a trajectory error generated by velocity filtering.
(II) technical scheme
In order to achieve the purpose, the technical scheme is as follows:
in a first aspect, an embodiment of the present application provides a method for controlling a trajectory error generated by speed filtering, which is used in a numerical control system in which a path to be processed includes an arc processing section and a corner processing section, and the method includes:
s10, obtaining system preset parameters and path information to be processed, wherein the system preset parameters comprise filter parameters, curve errors and corner errors, and the path information to be processed comprises an arc curvature radius and a motion joining section included angle;
s20, determining the filter coefficient of the speed filter according to the filter parameter;
s30, determining the maximum planning speed of the circular arc according to the curvature radius of the circular arc, the filter coefficient and the curve error, and limiting the maximum feeding speed of the processing cutter on the circular arc processing section;
s40, determining the maximum joint planning speed of the corner according to the included angle of the motion joint section, the filter coefficient and the corner error, and limiting the maximum feeding speed of the machining tool in the corner machining section.
Optionally, S40 is followed by:
s50, performing speed planning and interpolation on the path to be processed by taking the maximum circular arc planning speed and the maximum corner connection planning speed as limiting conditions of speed planning;
and S60, filtering the interpolation result through the speed filter to control the servo system and the execution mechanism to process.
Optionally, in S50, the path to be processed is speed-planned and interpolated by using an S-type acceleration/deceleration algorithm.
Optionally, the filter parameters include a filter type, a filter order, and a filter cut-off frequency; s20 includes:
judging whether the order of the filter meets a preset order limit relationship or not;
if yes, the filter parameters take effect, and the filter coefficients are calculated and updated according to the filter parameters; if not, the filter parameters are invalid, and the speed filter maintains the original state.
Optionally, the order limit relationship is expressed as:
wherein the content of the first and second substances,T A the maximum acceleration and deceleration time is set as the maximum acceleration and deceleration time,T S in order to interpolate the period of the time,Nhalf the order of the filter.
Optionally, the calculation formula for determining the maximum planning speed of the arc according to the arc curvature radius, the filter coefficient and the curve error is as follows:
wherein, the first and the second end of the pipe are connected with each other,
in order to be a curve error,
the maximum planning speed of the circular arc is obtained,T S in order to interpolate the period of the time,Ris the radius of curvature of the circular arc,
in order to be a filter coefficient, the filter coefficient,
，2Nis the filter order.
Optionally, S40 includes:
s41, calculating a corner minimum error at a corner when filtering by the following formula:
wherein the content of the first and second substances,
in order to minimize the error in the corner,
the acceleration is the maximum acceleration, and the acceleration is the maximum acceleration,T S is a time period of the sampling, and,T A is the maximum acceleration and deceleration time of the vehicle,
forming an included angle for the motion joining section;
s42, judging whether a preset corner error is larger than the corner minimum error or not;
s43, if yes, calculating the maximum corner connection planning speed through the following formula
：
Wherein, the first and the second end of the pipe are connected with each other,
in order to minimize the error in the corner,
in order to be said corner error,
in order to interpolate the period of the time,
the included angle of the motion connecting section is set;
if not, setting the maximum corner connection programming speed to be zero.
In a second aspect, an embodiment of the present application provides an electronic device, including: memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method of controlling trajectory errors resulting from velocity filtering as described in any of the first aspects above.
In a third aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method for controlling a trajectory error generated by velocity filtering according to any one of the above first aspects.
(III) advantageous effects
The beneficial effect of this application is: the application provides a method, equipment and a readable storage medium for controlling a trajectory error generated by speed filtering, wherein the method is used in a numerical control system of which a path to be processed comprises an arc processing section and a corner processing section, and specifically comprises the following steps: s10, acquiring system preset parameters and to-be-processed path information, wherein the system preset parameters comprise filter parameters, curve errors and corner errors, and the to-be-processed path information comprises an arc curvature radius and a motion joining section included angle; s20, determining the filter coefficient of the speed filter according to the filter parameter; s30, determining the maximum planning speed of the circular arc according to the curvature radius of the circular arc, the filter coefficient and the curve error, and limiting the maximum feeding speed of the processing cutter on the circular arc processing section; s40, determining the maximum joint planning speed of the corner according to the included angle of the motion joint section, the filter coefficient and the corner error, and limiting the maximum feeding speed of the machining tool in the corner machining section.
The control method provided by the application effectively reduces errors caused by filtering, so that the errors caused by filtering are controlled within a given range, corner errors and curve errors after filtering meet processing requirements, the processing precision is improved, and the processing time is short.
Drawings
The application is described with the aid of the following figures:
FIG. 1 is a flow chart illustrating a method for controlling a trajectory error generated by velocity filtering according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of an included angle of a kinematic coupling segment according to an embodiment of the present application;
FIG. 3 is a flow chart illustrating a method for controlling a trajectory error generated by velocity filtering according to another embodiment of the present disclosure;
FIG. 4 is a graph illustrating exemplary corner errors for unfiltered traces, filtered traces not employing the present invention, and filtered traces employing the present invention in another embodiment of the present application;
FIG. 5 is a graph illustrating an example of a comparison of arc errors for unfiltered tracks, filtered tracks not incorporating the present invention, and filtered tracks incorporating the present invention in another embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to still another embodiment of the present application.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings. It is to be understood that the following specific examples are illustrative of the invention only and are not to be construed as limiting the invention. In addition, it should be noted that, in the case of no conflict, the embodiments and features in the embodiments in the present application may be combined with each other; for convenience of description, only portions related to the invention are shown in the drawings.
The method is applied to a Computer Numerical Control (CNC) system and can be executed in a main Control device of the CNC system. Specifically, the CNC system may be a numerically controlled machine, and the path to be processed includes a circular arc processing section and a corner processing section.
Example one
Fig. 1 is a schematic flow chart of a method for controlling a trajectory error generated by velocity filtering in an embodiment of the present application, and as shown in fig. 1, the method for controlling a trajectory error generated by velocity filtering in the embodiment includes:
s10, obtaining system preset parameters and path information to be processed, wherein the system preset parameters comprise filter parameters, curve errors and corner errors, and the path information to be processed comprises an arc curvature radius and a motion joining section included angle;
s20, determining a filter coefficient of the speed filter according to the filter parameter;
s30, determining the maximum planning speed of the circular arc according to the curvature radius of the circular arc, the filter coefficient and the curve error, and limiting the maximum feeding speed of the processing cutter on the circular arc processing section;
s40, determining the maximum joint planning speed of the corner according to the included angle of the motion joint section, the filter coefficient and the corner error, and limiting the maximum feeding speed of the machining tool in the corner machining section.
According to the control method for the track error generated by the speed filtering, the feeding speed constraint value in the numerical control machining process is calculated, so that the feeding speed of the arc and the corner is limited, the error caused by the filtering is effectively reduced, the error caused by the filtering is controlled within a given range, the corner error and the curve error after the filtering meet the machining requirement, the machining precision is improved, and the machining time is short.
In order to better understand the present invention, the steps in the present embodiment are explained below.
In this embodiment, the velocity filter is a low-pass filter, and is configured to filter the velocity to eliminate a high-frequency acceleration signal therein, and reduce an influence of an error introduced by the difference calculation on an output result.
In this embodiment S10, the filter parameters include the filter type, the filter order, and the filter cutoff frequency.
The corner is the connection point of two adjacent small straight line segments which are not on the same straight line in the processing path. The interpolation is a process of determining a tool motion track by a machine tool numerical control system according to a set method, namely a method of calculating an intermediate point between known points according to a certain algorithm, and is also called as densification of data points. The curve error is the maximum distance deviation between the actual processing track and the arc in the arc processing process, and the corner error is the minimum distance between the actual processing track and the corner vertex in the corner processing process.
The arc curvature radius and the included angle of the motion connection section are determined by the numerical control system according to the geometric information of the workpiece to be processed.
The included angle of the motion linking segment is a complementary angle of an included angle formed by a tangent vector of an end point of a previous motion segment and a tangent vector of a start point of a next motion segment, fig. 2 is a schematic diagram of the included angle of the motion linking segment in an embodiment of the present application, as shown in fig. 2, an arrow direction is a motion direction,
is the tangent vector of the end point of the front motion segment,
for the tangent vector of the starting point of the lower motion segment, the included angle is shown
Namely the included angle of the motion linking section.
In this embodiment, S20 includes:
judging whether the order of the filter meets a preset order limit relationship or not;
if yes, the filter parameters take effect, and the filter coefficients are calculated and updated according to the filter parameters; if not, the filter parameters are invalid, and the speed filter maintains the original state.
Specifically, the order limit relationship is expressed as the following formula (1):
wherein the content of the first and second substances,T A the maximum acceleration and deceleration time is set as the maximum acceleration and deceleration time,T S in order to interpolate the period of the time,Nhalf the filter order.
It should be noted that the maximum acceleration and deceleration time and the interpolation period are both parameters given during initialization of the numerical control system.
In this embodiment S30, the maximum circular arc planning speed is determined according to the circular arc curvature radius, the filter coefficient, and the curve error, and the calculation formula is shown in formula (2):
wherein the content of the first and second substances,
in order to be a curve error,
the maximum planning speed of the circular arc is obtained,T S in order to interpolate the period of the time,Ris the radius of curvature of the circular arc,
in order to be a filter coefficient, the filter coefficient,
，2Nis the filter order.
In this embodiment, S40 includes:
s41, the corner minimum error at the corner when calculating the filtering by equation (3) is:
wherein the content of the first and second substances,
in order to minimize the error in the corner,
the acceleration is the maximum acceleration, and the acceleration is the maximum acceleration,T S in order to be the sampling period of time,T A the maximum acceleration and deceleration time is set as the maximum acceleration and deceleration time,
the included angle of the motion connecting section is set;
s42, judging whether a preset corner error is larger than the corner minimum error or not;
s43, if yes, calculating the maximum corner connection planning speed through the formula (4)
：
Wherein, the first and the second end of the pipe are connected with each other,
in order to minimize the error in the corner,
in order to be said corner error,
in order to interpolate the period of the time,
the included angle of the motion connecting section is set;
if not, setting the maximum corner connection programming speed to be zero.
In the embodiment, the maximum planning speed of the arc and the maximum joint planning speed of the corner are both limited by the filtering parameters, so that the corresponding planning speed is reduced, and the processing precision is improved.
In this embodiment, S40 is followed by:
s50, taking the maximum circular arc planning speed and the maximum corner connection planning speed as limiting conditions of speed planning, and carrying out speed planning and interpolation on the path to be processed;
and S60, filtering the interpolation result through the speed filter to control the servo system and the execution mechanism to process.
In this embodiment S50, the path to be processed may be speed-planned and interpolated by using an S-type acceleration/deceleration algorithm.
It should be noted that the above S-type acceleration and deceleration algorithm is only an exemplary one, and in some other embodiments, other algorithms may be adopted, for example, a straight-line acceleration and deceleration algorithm and an exponential acceleration and deceleration algorithm, and this embodiment does not constitute a specific limitation on the acceleration and deceleration algorithm.
Example two
The execution main body of this embodiment may be a control module of the numerical control system, the control module may include a memory and a processor, and in some other embodiments, the execution main body may also be other electronic devices that can implement the same or similar functions, which is not limited in this embodiment.
Fig. 3 is a flow chart of a method for controlling a trajectory error generated by velocity filtering in another embodiment of the present application, and this embodiment describes a specific implementation process of this embodiment in detail on the basis of the first embodiment. The steps of the method of the present embodiment will be specifically described below with reference to fig. 3.
Step S1, initializing parameters.
The initialization parameters include the following: initializing parameters of a system, such as an interpolation period, maximum acceleration, maximum speed, maximum acceleration and deceleration time, curve errors, corner errors and the like; filter parameters including filter type, filter order, and filter cutoff frequency are input through the system interface. After receiving the filter parameters, it is necessary to first determine whether the filter order satisfies the following condition according to equation (1).
And if the filtering order number meets the condition, the input filtering parameter takes effect, and the filter coefficient is calculated and updated according to the input filtering parameter. If the condition is not met, the input filtering parameters are invalid, and the filter maintains the original state.
And step S2, limiting the maximum planning speed of the circular arc by setting an error, and connecting the planning speed of the corner.
When the system processes the processing graph, the processing graph is divided into a plurality of motion sections, and the motion sections are composed of linear feeding and circular arc feeding. And the track error caused by filtering is only generated in two parts of the processing section, one part is circular arc feeding, and when the circular arc feeding is filtered, the circular arc track can generate the inward shrinkage phenomenon. Another part is at the corners where filtering will smooth out sharp corners. At the moment, the maximum planning speed of the circular arc and the connection planning speed of the corner are limited only by errors before planning and interpolation, and the position point after interpolation can be restricted within a given error range. The method comprises the following specific steps:
step B1, limiting the maximum planning speed of the arc, that is, when the motion segment is arc feeding, the method includes: calculating geometric characteristics such as arc curvature radius and the like; and calculating the maximum planning speed of the circular arc according to the curvature radius of the circular arc, the filter coefficient and the error of the system input curve. The calculation formula is shown in formula (2) in embodiment one, and is not described here.
Step B2, limiting the maximum joining speed at the corner, specifically:
step B2-1, firstly calculating the corner minimum error at the corner when filtering by formula (3);
step B2-2, judging whether the error of the input corner of the system is larger than the minimum error of the corner calculated in the step B2-1, if so, calculating the maximum connection planning speed of the corner through a formula (4);
if not, setting the corner connection planning speed to be zero.
And step S3, performing speed planning and interpolation on the whole machining section by taking the maximum circular arc planning speed and the maximum corner connection planning speed as limiting conditions of the speed planning.
And step S4, performing speed filtering on the interpolation points and outputting filtered points.
The Computer Aided Manufacturing (CAM) processing implementation of the present invention is an example, and has the following G-code (G-code, numerical control programming language):
G00 X0 Y0，
G01 X5 Y10，
G01 X10 Y0，
other part of the parameter settings are as follows:
interpolation period: the time of the reaction solution is 0.001s,
maximum acceleration: 1000mm/s 2 is used as the index value,
maximum speed: the thickness of the glass is 500mm/s,
corner precision: the diameter of the hole is 0.01mm,
fig. 4 is a graph illustrating a comparison of corner errors of unfiltered traces, filtered traces not employing the present invention, and filtered traces employing the present invention in another embodiment of the present application, where the horizontal axis is the X-axis of the processing plane and the vertical axis is the Y-axis of the processing plane. As shown in fig. 4, when the error limit condition is 0.01mm, when the method is not used, the error at the corner of the actual processing track and the track without filtering is about 0.02mm, which exceeds the given error limit, and after the method of the present invention is used, the limit precision of the corner obtained after interpolation filtering is 0.01mm, so as to meet the requirement of the given corner precision.
Another set of G codes is given as follows:
G00 X0 Y0，
G02 X20 Y0 I10 J0，
G02 X0 Y0 I-10 J0，
other part of the parameter settings are as follows:
interpolation period: the time of the reaction solution is 0.001s,
maximum acceleration: 1000mm/s 2 is used as the index value,
maximum speed: the thickness of the glass is 500mm/s,
and (3) curve precision: the diameter of the hole is 0.05mm,
FIG. 5 is a diagram illustrating an example of arc error comparison of unfiltered tracks, filtered tracks not employing the present invention, and filtered tracks employing the present invention in another embodiment of the present application, wherein the horizontal axis is the X-axis of the processing plane and the vertical axis is the Y-axis of the processing plane. As shown in fig. 5, when the error limit condition is 0.05mm, when the method is not used, the error at the corner of the actual processing track and the track without filtering is about 0.25mm, which exceeds the given error limit, and after the method of the present invention is used, the limit precision of the corner obtained after interpolation filtering is 0.05mm, which meets the requirement of the given corner precision.
According to the method, the filtering parameters are input through the system interface, the filtering coefficient is calculated according to the filtering parameters, the maximum planning speed of arc feeding is limited according to the filtering coefficient and the curve precision input by the system interface, and the connection planning speed of the corner is limited according to the filtering coefficient and the corner precision input by the system interface. And then planning and interpolating the motion segment, and outputting a position point through filtering. By adopting the method for controlling the filtering error by limiting the planning speed in the numerical control system, the track error caused by filtering is effectively controlled, and the problem that the error precision generated after filtering is uncontrollable is solved.
EXAMPLE III
A third aspect of the present application provides, by way of a third embodiment, an electronic apparatus, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method for controlling trajectory errors resulting from velocity filtering as described in any of the above embodiments.
Fig. 6 is a schematic structural diagram of an electronic device according to still another embodiment of the present application.
The electronic device shown in fig. 6 may include: at least one processor 101, at least one memory 102, at least one network interface 104, and other user interfaces 103. The various components in the electronic device are coupled together by a bus system 105. It is understood that the bus system 105 is used to enable communications among the components. The bus system 105 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as bus system 105 in fig. 6.
The user interface 103 may include, among other things, a display, a keyboard, or a pointing device (e.g., a mouse, trackball, or touch pad, among others.
It will be appreciated that the memory 102 in this embodiment may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous SDRAM (ESDRAM), Sync Link DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 102 described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
In some embodiments, memory 102 stores elements, executable units or data structures, or a subset thereof, or an expanded set thereof as follows: an operating system 1021 and application programs 1022.
The operating system 1021 includes various system programs, such as a framework layer, a kernel library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks. The application 1022 includes various applications for implementing various application services. Programs that implement methods in accordance with embodiments of the invention can be included in application 1022.
In the embodiment of the present invention, the processor 101 is configured to execute the method steps provided in the first aspect by calling a program or an instruction stored in the memory 102, which may be specifically a program or an instruction stored in the application 1022.
The method disclosed by the above embodiment of the present invention can be applied to the processor 101, or implemented by the processor 101. The processor 101 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 101. The processor 101 described above may be a general purpose processor, a digital signal processor, an application specific integrated circuit, an off-the-shelf programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software elements in the decoding processor. The software elements may be located in ram, flash, rom, prom, or eprom, registers, among other storage media that are well known in the art. The storage medium is located in the memory 102, and the processor 101 reads the information in the memory 102 and completes the steps of the method in combination with the hardware thereof.
In addition, in combination with the method for controlling the trajectory error generated by the velocity filtering in the above embodiments, an embodiment of the present invention may provide a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for controlling the trajectory error generated by the velocity filtering in any one of the above embodiments is implemented.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. The use of the terms first, second, third, etc. are used for convenience only and do not denote any order. These words are to be understood as part of the name of the component.
Furthermore, it should be noted that in the description of the present specification, the description of the term "one embodiment", "some embodiments", "examples", "specific examples" or "some examples", etc., means that a specific feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to 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. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, the claims should be construed to include preferred embodiments and all changes and modifications that fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention should also include such modifications and variations.
Claims (8)
1. A method for controlling a track error generated by speed filtering is used in a numerical control system of which a path to be processed comprises an arc processing section and a corner processing section, and comprises the following steps:
s10, obtaining system preset parameters and path information to be processed, wherein the system preset parameters comprise filter parameters, curve errors and corner errors, and the path information to be processed comprises an arc curvature radius and a motion joining section included angle;
s20, determining the filter coefficient of the speed filter according to the filter parameter;
s30, determining the maximum planning speed of the circular arc according to the curvature radius of the circular arc, the filter coefficient and the curve error, and limiting the maximum feeding speed of the processing cutter on the circular arc processing section;
s40, determining the maximum joint planning speed of the corner according to the included angle of the motion joint section, the filter coefficient and the corner error, and limiting the maximum feeding speed of the machining tool in the corner machining section;
s50, performing speed planning and interpolation on the path to be processed by taking the maximum circular arc planning speed and the maximum corner connection planning speed as limiting conditions of speed planning;
and S60, filtering the interpolation result through the speed filter to control the servo system and the execution mechanism to process.
2. The method for controlling the trajectory error generated by the speed filtering according to claim 1, wherein in step S50, the path to be processed is subjected to speed planning and interpolation by using an S-type acceleration and deceleration algorithm.
3. The method of claim 1 wherein the filter parameters include filter type, filter order, and filter cutoff frequency; s20 includes:
judging whether the order of the filter meets a preset order limit relationship or not;
if yes, the filter parameters take effect, and the filter coefficients are calculated and updated according to the filter parameters; if not, the filter parameters are invalid, and the speed filter maintains the original state.
4. The method of claim 3, wherein the order limit relationship is expressed as:
wherein the content of the first and second substances,T A the maximum acceleration and deceleration time is set as the maximum acceleration and deceleration time,T S in order to interpolate the period of the time,Nhalf the order of the filter.
5. The method of claim 3, wherein the calculation formula for determining the maximum planning velocity of the circular arc according to the curvature radius of the circular arc, the filter coefficient and the curve error is as follows:
wherein, the first and the second end of the pipe are connected with each other,
in order to be a curve error,
the maximum planning speed of the circular arc is obtained,T S in order to interpolate the period of the time,Ris the radius of curvature of the circular arc,
in order to be a filter coefficient, the filter coefficient,
，2Nis the filter order.
6. The method for controlling trajectory error generated by velocity filtering according to claim 1, wherein S40 includes:
s41, calculating a corner minimum error at the corner when filtering by the following formula:
wherein the content of the first and second substances,
in order to minimize the error in the corner,
the acceleration is the maximum acceleration, and the acceleration is the maximum acceleration,T S is a time period of the sampling, and,T A the maximum acceleration and deceleration time is set as the maximum acceleration and deceleration time,
the included angle of the motion connecting section is set;
s42, judging whether a preset corner error is larger than the corner minimum error or not;
s43, if yes, calculating the maximum corner connection planning speed through the following formula
：
Wherein the content of the first and second substances,
is a cornerThe minimum error is set to be the minimum error,
in order to be able to correct said corner error,
in order to interpolate the period of the time,
forming an included angle for the motion joining section;
if not, setting the maximum corner connection programming speed to be zero.
7. An electronic device, comprising: memory, processor and computer program stored on said memory and executable on said processor, said computer program, when executed by said processor, implementing the steps of the method of controlling trajectory errors generated by velocity filtering as claimed in any one of the preceding claims 1 to 6.
8. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method for controlling a trajectory error generated by a velocity filtering according to any one of the claims 1 to 6.
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