CN116466650A - Precision compensation method and application of numerical control machine tool - Google Patents
Precision compensation method and application of numerical control machine tool Download PDFInfo
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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
- G05B19/404—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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- 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
- G05B2219/35408—Calculate new position data from actual data to compensate for contour error
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- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a precision compensation method and application of a numerical control machine tool, wherein the method comprises the following steps: acquiring compensation data, and constructing a compensation data table based on the compensation data, wherein the compensation data comprises forward compensation data, reverse compensation data and verticality compensation data; determining theoretical compensation data corresponding to the current instruction position based on the compensation data table; and determining actual compensation data corresponding to the current instruction position based on the numerical control machine set parameters and the theoretical compensation data, and controlling the servo motor based on the actual compensation data. The method realizes that specific process requirements are met and the precision of the numerical control machine tool is improved on the basis of compensating pitch errors, reverse clearances and perpendicularity errors simultaneously.
Description
Technical Field
The invention relates to the technical field of precision compensation of numerical control machine tools, in particular to a precision compensation method and application of a numerical control machine tool.
Background
The numerical control machine tool can influence the positioning precision on the machine due to the error of mechanical installation and the clearance and abrasion of a transmission mechanism. And a machine tool with impaired precision is used for processing, and even if the surface quality reaches the standard, the dimensional precision of the machine tool can not meet the processing requirement.
Most of the existing machine tool precision compensation methods use a laser interferometer to collect laser data, and then the collected laser data is manually input into a compensation table of a numerical control system. Moreover, the existing machine tool precision compensation method can only realize compensation of the screw pitch in the effective stroke, generally cannot compensate the perpendicularity deviation among the shafts on the numerical control machine tool caused by assembly, and cannot control the dynamic compensation algorithm.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide a precision compensation method and application of a numerical control machine tool, which are used for solving the problem of how to improve the mechanical precision of the numerical control machine tool.
To achieve the above object, an embodiment of the present invention provides a method for compensating precision of a numerically-controlled machine tool, the method including:
acquiring compensation data, and constructing a compensation data table based on the compensation data, wherein the compensation data comprises forward compensation data, reverse compensation data and perpendicularity compensation data;
determining theoretical compensation data corresponding to the current instruction position based on the compensation data table;
and determining actual compensation data corresponding to the current instruction position based on the numerical control machine setting parameters and the theoretical compensation data, and controlling a servo motor based on the actual compensation data.
In one or more embodiments of the present invention, the acquiring compensation data specifically includes:
acquiring forward compensation data and reverse compensation data based on a data file generated by a laser interferometer; and/or the number of the groups of groups,
and acquiring perpendicularity compensation data based on the data file generated by the club instrument.
In one or more embodiments of the present invention, the compensation data is ISO unit data, and the method further includes: and converting the compensation data into cnt unit data.
In one or more embodiments of the present invention, determining theoretical compensation data corresponding to a current instruction position based on the compensation data table specifically includes:
in Cartesian coordinates, determining compensation data corresponding to the current instruction position in the compensation data table according to the X-axis mechanical coordinates and the Y-axis mechanical coordinates of the current instruction position;
and determining compensation data corresponding to the current instruction position in the compensation data table as the theoretical compensation data.
In one or more embodiments of the present invention, the compensation data corresponding to the current instruction position in the compensation data table is determined according to the X-axis mechanical coordinate and the Y-axis mechanical coordinate of the current instruction position, and a specific calculation formula is:
where i is the index of the query compensation data table,x is the mechanical absolute position of the X-axis of the current command position, step is the compensation length of a single point, Y is the mechanical absolute position of the Y-axis of the current command position, err x For the compensation data corresponding to the X axis of the current instruction position, f xx () A deviation value f which is a deviation of the X-axis caused by the mechanical absolute position of the Y-axis yx () The mechanical absolute position of the Y axis is a deviation value causing the X axis to deviate itself.
In one or more embodiments of the present invention, determining actual compensation data corresponding to the current command position based on a numerical control machine setting parameter and the theoretical compensation data specifically includes:
determining a dynamic compensation algorithm based on the numerical control machine setting parameters, wherein the numerical control machine setting parameters comprise machine motor mechanical parameters and machine transmission mechanism mechanical parameters;
and calculating actual compensation data corresponding to the current instruction position based on the theoretical compensation data and the determined dynamic compensation algorithm.
In one or more embodiments of the invention, the dynamic compensation algorithm includes a linear compensation algorithm that matches the machine motor mechanical parameter, and a T-type compensation algorithm that matches the machine drive mechanism mechanical parameter.
In another aspect of the present invention, there is also provided a precision compensation apparatus for a numerical control machine, the apparatus comprising:
the acquisition module is used for acquiring compensation data and constructing a compensation data table based on the compensation data, wherein the compensation data comprises forward compensation data, reverse compensation data and perpendicularity compensation data;
the determining module is used for determining theoretical compensation data corresponding to the current instruction position based on the compensation data table;
and the execution module is used for determining actual compensation data corresponding to the current instruction position based on the numerical control machine tool setting parameters and the theoretical compensation data and controlling the servo motor based on the actual compensation data.
In another aspect of the present invention, there is also provided an electronic apparatus including:
at least one processor; and
a memory storing instructions that, when executed by the at least one processor, cause the at least one processor to perform the numerically controlled machine tool precision compensation method as described above.
In another aspect of the present invention, there is also provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the numerical control machine precision compensation method as described above.
Compared with the prior art, the precision compensation method and the application of the numerical control machine tool according to the embodiment of the invention are characterized in that the theoretical compensation data corresponding to the current instruction position is determined by analyzing and processing the forward compensation data, the reverse compensation data and the perpendicularity compensation data, the actual compensation data corresponding to the current instruction position is determined according to the numerical control machine tool setting parameters and the theoretical compensation data, and finally the obtained actual compensation data is superimposed on the input of a servo position instruction to control a servo motor, so that specific process requirements are met and the precision of the numerical control machine tool is improved on the basis of compensating pitch errors, reverse clearances and perpendicularity errors at the same time.
Drawings
FIG. 1 is a flow chart of a method for precision compensation of a numerically controlled machine tool according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of obtaining compensation data corresponding to an X axis of a current command position in a precision compensation method of a numerical control machine according to an embodiment of the present invention;
FIG. 3 is a flow chart of a dynamic compensation algorithm selected in a method for compensating precision of a numerical control machine according to an embodiment of the present invention;
FIG. 4 is a graph of position, velocity and acceleration for linear reverse programming in a method of precision compensation of a numerically controlled machine tool according to an embodiment of the present invention;
FIG. 5 is a graph of position, velocity, acceleration and jerk for a T-shaped reverse plan in a method of precision compensation for a numerically controlled machine tool according to one embodiment of the present invention;
FIG. 6 is a schematic block diagram of a precision compensation apparatus for a numerical control machine according to an embodiment of the present invention;
fig. 7 is a hardware configuration diagram of an electronic device for precision compensation of a numerical control machine according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention is, therefore, to be taken in conjunction with the accompanying drawings, and it is to be understood that the scope of the invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the term "comprise" or variations thereof such as "comprises" or "comprising", etc. will be understood to include the stated element or component without excluding other elements or components.
As shown in fig. 1, an embodiment of the precision compensation method of the numerically controlled machine tool according to the present invention is described, and in this embodiment, the method includes the following steps.
S101, acquiring compensation data and constructing a compensation data table based on the compensation data. In this embodiment, the compensation data includes forward compensation data, reverse compensation data, and perpendicularity compensation data.
Specifically, there are two ways to obtain the compensation data: the method comprises the steps of acquiring forward compensation data and reverse compensation data based on a data file generated by a laser interferometer, and acquiring perpendicularity compensation data based on a data file generated by a club instrument, namely acquiring corresponding compensation data directly through the data files generated by the laser interferometer and the club instrument. The other is compensation data that is manually entered.
In this embodiment, the data files generated by the laser interferometer and the cue instrument are preferably used to obtain corresponding compensation data, so as to prevent errors caused by human input. Meanwhile, a manual input interface of the compensation data is reserved, and when abnormal data exist, the data in the compensation data table can be manually modified.
The obtained compensation data are ISO unit data, and the numerical control system of the machine tool cannot identify the ISO unit data, so that the compensation data are required to be processed, firstly, 0 point data are aligned, then, the aligned data are converted into cnt unit data which can be identified by the numerical control system, and finally, the converted compensation data are constructed into a compensation data table.
S102, determining theoretical compensation data corresponding to the current instruction position based on the compensation data table.
In this embodiment, the data theoretical value that needs to be compensated for the current point location may be calculated by using the current instruction position and the current instruction direction as reference bases. And mapping specific compensation data of the position according to the position returned by the feedback mechanism (such as the position fed back by a reading head in the linear grating or the position fed back by a rotary encoder arranged at the rear end of the servo motor), and taking the compensation data as a theoretical compensation value.
Referring specifically to fig. 2, in this embodiment, a cartesian coordinate system is adopted, and in the cartesian coordinate system, compensation data corresponding to a current command position in a compensation data table is determined according to an X-axis mechanical coordinate and a Y-axis mechanical coordinate of the current command position. The specific calculation formula is as follows:
wherein i is query complementThe index of the table of the compensation data,x is the mechanical absolute position of the X-axis of the current command position, step is the compensation length of a single point, Y is the mechanical absolute position of the Y-axis of the current command position, err x For the compensation data corresponding to the X axis of the current instruction position, f xx () A deviation value f which is a deviation of the X-axis caused by the mechanical absolute position of the Y-axis yx () The mechanical absolute position of the Y axis is a deviation value causing the X axis to deviate itself.
And finally, determining the compensation data corresponding to the current instruction position in the compensation data table as theoretical compensation data.
And S103, determining actual compensation data corresponding to the current instruction position based on the numerical control machine setting parameters and the theoretical compensation data, and controlling the servo motor based on the actual compensation data.
Referring to fig. 3, the reverse compensation data needs to be determined according to whether the current motion direction is reverse, and finally the final theoretical compensation data of the current point position is formed. Since the theoretical compensation data adds or subtracts the reverse compensation data when the motion direction changes, the theoretical compensation data has abrupt change, so if the theoretical compensation data is directly transmitted to the servo system, the vibration of the shaft may be caused, and therefore the actual compensation data needs to be planned, including linear reverse programming, T-type reverse programming, and the like.
In this embodiment, different planning modes correspond to different compensation algorithms. Specifically, a dynamic compensation algorithm is determined according to numerical control machine setting parameters, wherein the numerical control machine setting parameters comprise machine motor mechanical parameters and machine transmission mechanism mechanical parameters; and then calculating actual compensation data corresponding to the current instruction position according to the theoretical compensation data and the determined dynamic compensation algorithm.
The dynamic compensation algorithm may generate actual compensation data at a certain point in time based on the time and the theoretical compensation data. The user may select the compensation algorithm provided by the system or may select a self-describing compensation algorithm, for example, the values of the system parameters I4x25 (x representing a specific motor number) may be used to select the reverse gap dynamic compensation algorithm to be used specifically.
In this embodiment, the system itself is provided with a linear compensation algorithm matching the machine motor mechanical parameters, and a T-type compensation algorithm matching the machine drive mechanical parameters. The user can select an algorithm specifically used for reverse compensation according to the mechanical characteristics of the motor and the transmission mechanism used by the user, for example, i4x25=0, and select constant speed compensation; i4x25=1, selecting to perform T-type programming compensation; i4x25=2, optionally using a user-defined algorithm (e.g., an exponential algorithm).
The linear compensation algorithm sets the compensation rate by giving the maximum increment in each compensation period, the reverse compensation rate curve being a straight line parallel to the X-axis. The T-shaped compensation algorithm constructs a compensation curve for compensation by giving maximum speed and acceleration, and controls an acceleration section, a constant speed section and a deceleration section by the residual distance.
In practical application, the linear compensation algorithm is suitable for the linear motor platform because the linear motor platform has the characteristics of small reverse gap and high dynamic response. Under the condition that the transmission mechanism is a screw rod and a gear rack, the characteristic of relatively weak dynamic response is that the reverse clearance is large, and a T-shaped compensation algorithm is selected to be used, so that smoother dynamic characteristics can be obtained.
Fig. 4 shows a graph of position, velocity and acceleration for a linear reverse program. In the whole motion process of the reverse compensation, a velocity v needs to be given, and in the case of v given, assuming that the original position p0=0, the position is p=p0+v (t) x t, and since v (t) =v, the position is p=v x t.
As can be seen from the acceleration curve, the sudden change of the speed curve at the moment of reversal judgment causes the pulse of acceleration, so that the method has high requirements on the dynamic response of the motor and the transmission mechanism, and vibration can be generated during reversal.
In the case of using a linear motor in a numerical control machine, since it can be basically considered that there is no transmission mechanism, the reverse deviation is small, and often about several μ, the compensation can be most quickly completed by using the reverse compensation motion curve.
Fig. 5 shows a graph of T-shaped reverse planned position, velocity, acceleration and jerk. When t is more than or equal to 0 and less than or equal to t a At time t 0 ＝0，v 0 ＝0，s 0 ＝0，s(t)＝1/2at 2 The method comprises the steps of carrying out a first treatment on the surface of the When t a <t<＝(t a +t m )，t 0 ＝t a ，v 0 ＝v m ，s 0 ＝s(t a )，a＝0，s(t)＝s(t a )+v m (t-t a ) The method comprises the steps of carrying out a first treatment on the surface of the When (t) a +t m )<t≤t total ，t 0 ＝(t a +t m )，v 0 ＝v m ，s 0 ＝s(t a +t m )，s(t)＝s(t a +t m )+v m [t-(t a +t m )]-1/2a[t-(t a +t m )] 2 。
As can be seen from the acceleration curve, the acceleration is not suddenly changed any more compared with the linear reverse programming, so that the effect of reducing vibration is achieved.
In the numerical control machine, a PMSM servo motor is used, and a transmission mechanism is adopted, so that the reverse error of the numerical control machine is usually in the order of 10 mu as the transmission mechanism is added to the motion of the final platform, and the numerical control machine is higher than that of a linear motor driving platform by an order of magnitude, and the rigidity of the numerical control machine is lower than that of the linear motor driving platform, so that the numerical control machine can be better used by compensating by using T-shaped reverse programming.
The user can also select the self-described compensation algorithm, and the user considers that an exponential type compensation curve is needed under the assumption that the user drives the screw rod by using the stepping motor currently so as to drive the platform to move. At this point, the system provides two variables to the user, one is the target compensation value and the other is the actual compensation value, and the user-defined function will be called at each servo period, and the user can define: actual compensation value = compensation value + (target compensation value-actual compensation value) of the previous period 1/2, then with the arrival of the reverse direction, an exponentially tracked position compensation curve is generated according to the user-defined function.
In this embodiment, in order to let the actual value of the compensation follow the theoretical value, a linear compensation algorithm is now given:
wherein t represents a servo period, err xact (t) represents the actual compensation value of a certain servo period, v comp Represents the compensation rate of the linear compensation err x Representing the theoretical value currently required to be compensated.
Meanwhile, an algorithm of T-type compensation is given:
acc comp ＝C 1
v comp (0)＝0
p comp (0)＝0
S reverse ＝p target -p act
when S is reverse At > 0
When S is reverse When less than 0, let S reverse ＝|S reverse |
p comp (t)＝p comp (t-1)+v comp (t)
In the above, acc comp Is the compensated acceleration, C 1 Is a constant, i.e. a compensated acceleration, provided by the user; v comp Is the speed of compensation; p is p comp Is the compensated position; s is S reverse Is the residual compensation amount; s is S stop Is the deceleration distance required by the current T-shaped planning; p (P) target Is the value to be compensated, which is obtained by looking up a table; p (P) act Is the actual compensation value, P act ＝P comp (t-1)。
And finally, the obtained actual compensation data is superimposed on the input of the servo position instruction to control the servo motor, so that the specific process requirements are met and the precision of the numerical control machine tool is improved on the basis of compensating the pitch error, the reverse gap and the perpendicularity error simultaneously.
Referring to fig. 6, an embodiment of the precision compensation apparatus for a numerically controlled machine tool according to the present invention is described, and in this embodiment, the apparatus includes an acquisition module 201, a determination module 202, and an execution module 203.
An acquisition module 201, configured to acquire compensation data, and construct a compensation data table based on the compensation data, where the compensation data includes forward compensation data, reverse compensation data, and perpendicularity compensation data;
a determining module 202, configured to determine theoretical compensation data corresponding to the current instruction position based on the compensation data table;
and the execution module 203 is configured to determine actual compensation data corresponding to the current command position based on the numerical control machine setting parameter and the theoretical compensation data, and control the servo motor based on the actual compensation data.
In one embodiment, the obtaining module 201 is specifically configured to: acquiring forward compensation data and reverse compensation data based on a data file generated by a laser interferometer; and/or acquiring perpendicularity compensation data based on the data file generated by the cue stick.
In one embodiment, the obtaining module 201 is specifically further configured to: the compensation data is converted into cnt unit data.
In one embodiment, the determining module 202 is specifically configured to: in the Cartesian coordinates, determining compensation data corresponding to the current instruction position in a compensation data table according to the X-axis mechanical coordinates and the Y-axis mechanical coordinates of the current instruction position; and determining the compensation data corresponding to the current instruction position in the compensation data table as theoretical compensation data.
In one embodiment, the execution module 203 is specifically configured to: determining a dynamic compensation algorithm based on numerical control machine set parameters, wherein the numerical control machine set parameters comprise machine motor mechanical parameters and machine transmission mechanism mechanical parameters; based on the theoretical compensation data and the determined dynamic compensation algorithm, calculating actual compensation data corresponding to the current instruction position.
Fig. 7 shows a hardware configuration diagram of an electronic device 30 for numerical control machine precision compensation according to an embodiment of the present specification. As shown in fig. 7, the electronic device 30 may include at least one processor 301, a memory 302 (e.g., a non-volatile memory), a memory 303, and a communication interface 304, and the at least one processor 301, the memory 302, the memory 303, and the communication interface 304 are connected together via a bus 305. The at least one processor 301 executes at least one computer readable instruction stored or encoded in memory 302.
It should be appreciated that the computer-executable instructions stored in memory 302, when executed, cause at least one processor 301 to perform the various operations and functions described above in connection with fig. 1-5 in various embodiments of the present specification.
In embodiments of the present description, electronic device 30 may include, but is not limited to: personal computers, server computers, workstations, desktop computers, laptop computers, notebook computers, mobile computing devices, smart phones, tablet computers, cellular phones, personal Digital Assistants (PDAs), handsets, messaging devices, wearable computing devices, consumer electronic devices, and the like.
According to one embodiment, a program product, such as a computer readable storage medium, is provided. The computer-readable storage medium may have instructions (i.e., the elements described above implemented in software) that, when executed by a computer, cause the computer to perform the various operations and functions described above in connection with fig. 1-5 in various embodiments of the present specification. In particular, a system or apparatus provided with a readable storage medium having stored thereon software program code implementing the functions of any of the above embodiments may be provided, and a computer or processor of the system or apparatus may be caused to read out and execute instructions stored in the readable storage medium.
According to the numerical control machine tool precision compensation method and application of the embodiment of the invention, the theoretical compensation data corresponding to the current instruction position is determined by analyzing and processing the forward compensation data, the reverse compensation data and the perpendicularity compensation data, the actual compensation data corresponding to the current instruction position is determined according to the numerical control machine tool setting parameters and the theoretical compensation data, and finally the obtained actual compensation data is superimposed on the input of a servo position instruction to control a servo motor, so that specific process requirements are met on the basis of compensating pitch errors, reverse clearances and perpendicularity errors simultaneously, and the precision of the numerical control machine tool is improved.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing descriptions of specific exemplary embodiments of the present invention are presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application to thereby enable one skilled in the art to make and utilize the invention in various exemplary embodiments and with various modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (10)
1. The method for compensating the precision of the numerical control machine tool is characterized by comprising the following steps of:
acquiring compensation data, and constructing a compensation data table based on the compensation data, wherein the compensation data comprises forward compensation data, reverse compensation data and perpendicularity compensation data;
determining theoretical compensation data corresponding to the current instruction position based on the compensation data table;
and determining actual compensation data corresponding to the current instruction position based on the numerical control machine setting parameters and the theoretical compensation data, and controlling a servo motor based on the actual compensation data.
2. The method for compensating precision of a numerically-controlled machine tool according to claim 1, wherein the acquiring compensation data specifically comprises:
acquiring forward compensation data and reverse compensation data based on a data file generated by a laser interferometer; and/or the number of the groups of groups,
and acquiring perpendicularity compensation data based on the data file generated by the club instrument.
3. The numerical control machine tool accuracy compensation method according to claim 1, wherein the compensation data is ISO unit data, the method further comprising: and converting the compensation data into cnt unit data.
4. The method for compensating precision of a numerical control machine tool according to claim 1, wherein determining theoretical compensation data corresponding to a current command position based on the compensation data table comprises:
in Cartesian coordinates, determining compensation data corresponding to the current instruction position in the compensation data table according to the X-axis mechanical coordinates and the Y-axis mechanical coordinates of the current instruction position;
and determining compensation data corresponding to the current instruction position in the compensation data table as the theoretical compensation data.
5. The method for compensating precision of numerically-controlled machine tool according to claim 4, wherein the compensation data corresponding to the current command position in the compensation data table is determined according to the X-axis mechanical coordinate and the Y-axis mechanical coordinate of the current command position, and the specific calculation formula is:
where i is the index of the query compensation data table,x is the mechanical absolute position of the X-axis of the current command position, step is the compensation length of a single point, Y is the mechanical absolute position of the Y-axis of the current command position, err x For the current instructionCompensation data corresponding to the X-axis of the position, f xx () A deviation value f which is a deviation of the X-axis caused by the mechanical absolute position of the Y-axis yx () The mechanical absolute position of the Y axis is a deviation value causing the X axis to deviate itself.
6. The numerical control machine tool accuracy compensation method according to claim 1, wherein determining actual compensation data corresponding to the current command position based on a numerical control machine tool setting parameter and the theoretical compensation data, specifically comprises:
determining a dynamic compensation algorithm based on the numerical control machine setting parameters, wherein the numerical control machine setting parameters comprise machine motor mechanical parameters and machine transmission mechanism mechanical parameters;
and calculating actual compensation data corresponding to the current instruction position based on the theoretical compensation data and the determined dynamic compensation algorithm.
7. The method of precision compensation for a numerically controlled machine tool according to claim 6, wherein said dynamic compensation algorithm comprises a linear compensation algorithm matching mechanical parameters of said machine motor and a T-type compensation algorithm matching mechanical parameters of said machine drive mechanism.
8. A numerical control machine tool accuracy compensation device, characterized in that the device comprises:
the acquisition module is used for acquiring compensation data and constructing a compensation data table based on the compensation data, wherein the compensation data comprises forward compensation data, reverse compensation data and perpendicularity compensation data;
the determining module is used for determining theoretical compensation data corresponding to the current instruction position based on the compensation data table;
and the execution module is used for determining actual compensation data corresponding to the current instruction position based on the numerical control machine tool setting parameters and the theoretical compensation data and controlling the servo motor based on the actual compensation data.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory storing instructions that, when executed by the at least one processor, cause the at least one processor to perform the numerically controlled machine tool precision compensation method of any one of claims 1-7.
10. A computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when executed by a processor, the computer program implements the numerical control machine tool accuracy compensation method according to any one of claims 1 to 7.
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