CN117471984A - Compensation method and device of numerical control system, numerical control system and storage medium - Google Patents

Compensation method and device of numerical control system, numerical control system and storage medium Download PDF

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Publication number
CN117471984A
CN117471984A CN202311487719.8A CN202311487719A CN117471984A CN 117471984 A CN117471984 A CN 117471984A CN 202311487719 A CN202311487719 A CN 202311487719A CN 117471984 A CN117471984 A CN 117471984A
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China
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compensation
model
control system
numerical control
real
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Chinese (zh)
Inventor
何春茂
崔中
翟亚飞
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Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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Priority to CN202311487719.8A priority Critical patent/CN117471984A/en
Publication of CN117471984A publication Critical patent/CN117471984A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention discloses a compensation method, a device, a numerical control system and a storage medium of the numerical control system, wherein the numerical control system comprises a compensation module for executing a compensation function and a data acquisition module for acquiring real-time parameters, the compensation model comprises a custom compensation model, and the custom compensation model can be modified by a user; the method comprises the following steps: in the compensation module, a compensation function is executed according to the model parameters input by the user and the real-time parameters acquired by the data acquisition module by using a compensation model selected by the user. According to the scheme, the user can customize the compensation model and the acquired real-time parameters to execute the compensation function, so that the compensation functions of different types and different logics can be realized, the compensation is performed by utilizing the real-time parameters, the compensation speed is improved, and the real-time compensation and the high precision of the compensation are realized.

Description

Compensation method and device of numerical control system, numerical control system and storage medium
Technical Field
The invention belongs to the technical field of numerical control, and particularly relates to a compensation method and device of a numerical control system, the numerical control system and a storage medium, in particular to a real-time compensation method and device of an open numerical control system, the numerical control system and the storage medium.
Background
In order to control the machine tools with various requirements such as dense machine tools, high precision, ultra-precision and the like, the matched numerical control system also needs to have high precision. In order to realize high precision of the numerical control system, the general numerical control system is more or less provided with a compensation module according to an application object and is fixed for a customer to use. The compensation module is basically not opened, the compensation model cannot be modified, meanwhile, due to the requirement of the diversity of compensation, the self-contained compensation scheme in the numerical control system cannot meet the specific requirement of the numerical control system, and the numerical control system cannot meet the high-precision requirement of a machine tool.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention aims to provide a compensation method, a device, a numerical control system and a storage medium of the numerical control system, so as to solve the problem that the numerical control system cannot meet the high-precision requirement of a machine tool due to the fact that the numerical control system cannot modify a compensation model in a related scheme and the self-contained compensation scheme in the numerical control system cannot meet the specific requirement of the numerical control system due to the diversity requirement of compensation, realize the compensation function through the user-definable compensation model and acquired real-time parameters, realize the compensation functions of different types and different logics, and utilize the real-time parameters for compensation, improve the compensation speed and realize the effects of real-time compensation and high precision of compensation.
The invention provides a compensation method of a numerical control system, which comprises a compensation module and a data acquisition module; the compensation module is used for executing the compensation function of the numerical control system; the data acquisition module is used for acquiring real-time parameters; the numerical control system is provided with a compensation model and is used for providing functional logic for the compensation function of the numerical control system; the compensation model comprises a fixed compensation model and a custom compensation model, and a user can edit the compensation logic of the custom compensation model; the method comprises the following steps: the method comprises the steps of obtaining a current compensation model selected by a user from the fixed compensation model and the custom compensation model, model parameters input by the user and real-time parameters acquired by the data acquisition module, wherein the real-time parameters are real-time parameters required by running the current compensation model; and in the compensation module, the compensation function of the numerical control system is executed according to the model parameters and the real-time parameters by utilizing the current compensation model selected by the user.
In some embodiments, in the compensation module, using the current compensation model selected by the user, performing a compensation function of the numerical control system according to the model parameters and the real-time parameters, including: judging the type of the current compensation model selected by the user; if the current compensation model is a fixed compensation model, loading the current fixed compensation model selected by the user, the model parameters and the real-time parameters into the compensation module, and executing the compensation function of the numerical control system; if the current compensation model is a custom compensation model, carrying out model analysis on the current custom compensation model selected by the user so that the current custom compensation model can be identified and operated by the compensation module; and then loading the analyzed current custom compensation model, the model parameters and the real-time parameters into the compensation module, and executing the compensation function of the numerical control system.
In some embodiments, model analysis of the custom compensation model includes at least one of lexical analysis, grammatical analysis, and formula identification of the custom compensation model.
In some embodiments, the data acquisition module comprises a signal acquisition unit, a signal processing unit, and a communication unit; the signal acquisition unit is used for acquiring analog signals and converting the analog signals into digital signals; the signal processing unit is used for carrying out digital filtering and data calibration on the digital signals acquired from the signal acquisition unit to acquire the real-time parameters; the communication unit is used for sending the real-time parameters obtained after the signal processing unit processes to the compensation module.
In some embodiments, acquiring the real-time parameters acquired by the data acquisition module includes: acquiring an analog signal corresponding to the real-time parameter through the signal acquisition unit, and converting the analog signal into a digital signal; the digital signal converted by the signal acquisition unit is subjected to digital filtering and data calibration processing by the signal processing unit to obtain real-time parameters required by running the current compensation model; and sending the obtained real-time parameters required by the running of the current compensation model to the compensation module through the communication unit.
In accordance with the above method, another aspect of the present invention provides a compensation device of a numerical control system, where the numerical control system includes a compensation module and a data acquisition module; the compensation module is used for executing the compensation function of the numerical control system; the data acquisition module is used for acquiring real-time parameters; the numerical control system is provided with a compensation model and is used for providing functional logic for the compensation function of the numerical control system; the compensation model comprises a fixed compensation model and a custom compensation model, and a user can edit the compensation logic of the custom compensation model; the device comprises: the acquisition unit is configured to acquire a current compensation model selected by a user from the fixed compensation model and the custom compensation model, model parameters input by the user and real-time parameters acquired by the data acquisition module, wherein the real-time parameters are real-time parameters required by running the current compensation model; and the processing unit is configured to execute the compensation function of the numerical control system according to the model parameters and the real-time parameters by using the current compensation model selected by the user in the compensation module.
In some embodiments, the processing unit, in the compensation module, performs a compensation function of the numerical control system according to the model parameters and the real-time parameters using the current compensation model selected by the user, including: judging the type of the current compensation model selected by the user; if the current compensation model is a fixed compensation model, loading the current fixed compensation model selected by the user, the model parameters and the real-time parameters into the compensation module, and executing the compensation function of the numerical control system; if the current compensation model is a custom compensation model, carrying out model analysis on the current custom compensation model selected by the user so that the current custom compensation model can be identified and operated by the compensation module; and then loading the analyzed current custom compensation model, the model parameters and the real-time parameters into the compensation module, and executing the compensation function of the numerical control system.
In some embodiments, the processing unit performs model analysis on the custom compensation model, including at least one of lexical analysis, grammatical analysis, and formula recognition on the custom compensation model.
In some embodiments, the data acquisition module comprises a signal acquisition unit, a signal processing unit, and a communication unit; the signal acquisition unit is used for acquiring analog signals and converting the analog signals into digital signals; the signal processing unit is used for carrying out digital filtering and data calibration on the digital signals acquired from the signal acquisition unit to acquire the real-time parameters; the communication unit is used for sending the real-time parameters obtained after the signal processing unit processes to the compensation module.
In some embodiments, the acquiring unit acquires the real-time parameters acquired by the data acquisition module, including: acquiring an analog signal corresponding to the real-time parameter through the signal acquisition unit, and converting the analog signal into a digital signal; the digital signal converted by the signal acquisition unit is subjected to digital filtering and data calibration processing by the signal processing unit to obtain real-time parameters required by running the current compensation model; and sending the obtained real-time parameters required by the running of the current compensation model to the compensation module through the communication unit.
In accordance with another aspect of the present invention, there is provided a numerical control system comprising: the compensation device of the numerical control system is described above.
In accordance with the foregoing method, a further aspect of the present invention provides a storage medium, where the storage medium includes a stored program, where the program, when executed, controls a device in which the storage medium is located to perform the foregoing method for compensating for a numerical control system.
According to the scheme, the numerical control system comprises a compensation module and a data acquisition module, wherein the compensation module is used for executing the compensation function of the numerical control system, the numerical control system is provided with a compensation model, and a user can modify the compensation logic of the self-defined compensation model in the compensation model, so that the application scene of the compensation function of the numerical control system is wider, and different types of compensation are realized; meanwhile, parameters acquired by the data acquisition module in real time are utilized for real-time compensation, so that the compensation speed is improved, and the control precision of the numerical control system after compensation is improved while the real-time compensation is realized.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a flow chart of an embodiment of a compensation method of a numerical control system according to the present invention;
FIG. 2 is a flow chart of an embodiment of the method of the present invention for performing compensation function;
FIG. 3 is a schematic diagram illustrating an embodiment of a compensation device of the numerical control system according to the present invention;
FIG. 4 is a schematic diagram of a system architecture diagram of a numerical control system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an embodiment of a numerical control system using a fixed compensation model for compensation according to the present invention;
FIG. 6 is a schematic diagram of an embodiment of a numerical control system using a custom compensation model for compensation according to the present invention;
FIG. 7 is a schematic diagram illustrating a data acquisition module of a numerical control system according to an embodiment of the present invention;
in the embodiment of the present invention, reference numerals are as follows, in combination with the accompanying drawings:
102-an acquisition unit; 104-a processing unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments of the present invention and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The model for compensation in the numerical control system is a mathematical modeling or logic model, and is fixed in the numerical control system, and only some parameters can be adjusted, but the numerical control or logic itself cannot be modified, so that the self-contained compensation scheme in the numerical control system cannot meet the specific requirements of the numerical control system. In addition, compensation parameters of numerical control systems are often manually entered; or the data is input through the PLC and transmitted to the numerical control system from the Ethernet. The compensation delay of the modes is high, and the compensation effect is not ideal.
Therefore, the invention provides a compensation method of a numerical control system, which realizes a real-time compensation function through a user-defined compensation model and parameters acquired in real time according to the compensation model, so that the realization range of the compensation function is wider, different compensation requirements can be met, and meanwhile, the compensation is performed by utilizing the parameters acquired in real time, so that the compensation speed is improved, and the compensation is more accurate and timely.
According to an embodiment of the invention, there is provided a compensation method of a numerical control system, the numerical control system including a compensation module and a data acquisition module; the compensation module is used for executing the compensation function of the numerical control system; the data acquisition module is used for acquiring real-time parameters such as temperature, speed, acceleration, displacement, humidity and the like; the numerical control system is provided with a compensation model which is used for providing functional logic for the compensation function of the numerical control system, and the compensation model can be loaded into the compensation module to realize the compensation function of the functional logic corresponding to the compensation model; the compensation model comprises a fixed compensation model and a self-defined compensation model; the user can edit the compensation logic of the custom compensation model. A schematic flow chart of an embodiment of the method of the present invention is shown in fig. 1. The compensation method of the numerical control system can comprise the following steps: step S110 and step S120.
At step S110, current compensation models selected by the user from the fixed compensation models and the custom compensation models, model parameters input by the user, and real-time parameters acquired by the data acquisition module are acquired, wherein the real-time parameters are real-time parameters required for running the current compensation models; the real-time parameters comprise parameters of the numerical control machine tool and environment parameters. And one part of parameters required for running the compensation model are model parameters input by a user, and the other part of parameters are parameters acquired by the data acquisition module in real time, so that the user can adjust the model through the input parameters and can perform real-time compensation according to the parameters acquired in real time.
At step S120, in the compensation module, a compensation function of the numerical control system is performed according to the model parameters and the real-time parameters using the current compensation model selected by the user.
According to the scheme, an open numerical control system is adopted, a user can customize a compensation model, and the user-defined compensation model is modified, so that the application scene of the compensation function of the numerical control system is wider. Meanwhile, the model parameters input by a user and the parameters acquired in real time are brought into the compensation model, so that the compensation speed is improved, the real-time compensation is realized, and the control precision of the numerical control system after the compensation is improved.
In some embodiments, in step S120, in the compensation module, a specific process of performing a compensation function of the numerical control system according to the model parameter and the real-time parameter by using the current compensation model selected by the user, as shown in a schematic flow chart of an example of performing the compensation function in the method of the present invention shown in fig. 2, includes: step S210 to step S230.
Step S210, judging the type of the current compensation model selected by the user.
Step S220, if the current compensation model is a fixed compensation model, loading the current fixed compensation model, the model parameters and the real-time parameters selected by the user into the compensation module, and executing the compensation function of the numerical control system.
Specifically, fig. 4 is a schematic structural diagram of an embodiment of a system architecture diagram of the numerical control system of the present invention, as shown in fig. 4, where the numerical control system further has a man-machine interface, and a user can select a compensation model required for executing a compensation function and can input model parameters required for operating the compensation model, and after completion, the compensation model selected by the user and the input model parameters are loaded into a compensation module in real-time compensation. In addition, the data acquisition card acquires some real-time parameters required by the compensation model, communicates with the compensation module through the EtherCAT bus, and sends real-time data to the compensation module. The compensation module acquires a compensation model, model parameters and implementation parameters required by executing the compensation function, and starts to execute the compensation function. In implementing compensation, the compensation module has a plurality, and the numerical control system can simultaneously perform a plurality of compensation functions, such as compensation 1, compensation 2, compensation 3 and compensation 4 … … in fig. 4.
When a user selects a compensation model on a man-machine interaction interface, the compensation model comprises a fixed compensation model and a self-defined compensation model, as shown in fig. 5, a structural schematic diagram of compensation is carried out by using the fixed compensation model in the numerical control system of the invention, wherein the fixed compensation model is a system self-contained model, the system self-contained model comprises a plurality of different fixed compensation models, such as pitch compensation, temperature compensation, vibration suppression, abrasion, pitching compensation, quadrant error compensation and the like, and the system self-contained model is established in real-time compensation software. After the user selects one of the fixed compensation models, the user is prompted according to the selected model which parameters need to be input. After the parameters input by the user are acquired, loading the parameters and the compensation model into real-time compensation, loading the acquired real-time parameters into the implementation compensation, and starting to execute the compensation. In the compensation execution process, the real-time parameters can be acquired again according to the requirement of the compensation function, so that the real-time parameters can be acquired again and brought into the real-time compensation for logic judgment and processing, and the effect of implementing the compensation according to the current parameters is achieved.
Step S230, if the current compensation model is a custom compensation model, performing model analysis on the current custom compensation model selected by the user, so that the current custom compensation model can be identified and operated by the compensation module; and then loading the analyzed current custom compensation model, the model parameters and the real-time parameters into the compensation module, and executing the compensation function of the numerical control system.
In some embodiments, model analysis of the custom compensation model includes at least one of lexical analysis, grammatical analysis, and formula identification of the custom compensation model.
Specifically, as shown in fig. 6, in the numerical control system of the present invention, a user can edit the custom compensation model, such as logic determination, parameter type, parameter number, etc. in the custom compensation model if the user selects the custom compensation model. Because the numerical control system cannot directly identify the user-defined compensation model, the user-defined compensation model needs to be translated, so that software can run the user-defined compensation model. The numerical control system analyzes the self-defined compensation model mainly by lexical analysis, grammar analysis and formula identification. For example, the user inputs "c=a/B", the lexical analysis is to determine whether the divisor "/" is normal and the lexical analysis is to determine whether the "a/B" is a normal expression, and the formula recognition is to be executed by the numerical control system capable of recognizing the "c=a/B" inputted by the user. After the self-defined compensation model is translated into a software-operable model through analysis processing, parameters input by a user and the translated model are loaded into real-time compensation, and compensation starts to be executed. In the compensation execution process, the real-time parameters can be acquired again according to the requirement of the compensation function, so that the real-time parameters can be acquired again and brought into the real-time compensation for logic judgment and processing, and the effect of implementing the compensation according to the current parameters is achieved.
In some embodiments, the data acquisition module comprises a signal acquisition unit, a signal processing unit, and a communication unit; the signal acquisition unit is used for acquiring analog signals and converting the analog signals into digital signals; the signal processing unit is used for carrying out digital filtering and data calibration on the digital signals acquired from the signal acquisition unit to acquire the real-time parameters; the communication unit is used for sending the real-time parameters obtained after the signal processing unit processes to the compensation module.
The numerical control system needs to collect parameters in real time when performing real-time compensation, and needs to collect real-time data such as temperature, speed, acceleration, displacement, humidity and the like. Typically, analog signals, as well as digital signals, such as temperature acquisition typically employ thermocouples, PT100, etc., while displacement sensors typically are digital signals. Fig. 7 is a schematic structural diagram of an embodiment of a data acquisition module of the numerical control system according to the present invention, as shown in fig. 7, wherein the data acquisition module is the signal acquisition card in fig. 4, and the signal acquisition unit includes analog signal acquisition components, such as an operational amplifier OPA2192 and an operational amplifier AD8495 in fig. 7; the signal acquisition unit further includes components that convert analog signals to digital signals, such as AD converter ADs8648 in fig. 7. The analog signal is input by voltage, amplified by an operational amplifier OPA2192, and sent to an AD converter. For thermocouple temperature acquisition, a high-precision operational amplifier AD8495 is used for signal amplification, the operational amplifier AD8495 is provided with cold end compensation, and the temperature is amplified nearly linearly to a voltage value for AD conversion. For other analog signals, other types of components may be used for acquisition, which is not illustrated here. The AD converter adopts an ADS8648 chip with 16-bit 8 channels, realizes multipath collection, can meet most precision requirements, and can be used by a numerical control system after converting analog signals into digital signals.
The signal processing unit adopts a singlechip of ST32F103 model, and is communicated with the AD converter ADS8648 through SPI, and the converted digital signal is obtained from the AD converter. And the SPI and the I2C buses are externally expanded on a single surface, AD conversion is not needed for a sensor of the digital module, and the SPI and the I2C buses are directly connected with the singlechip, so that signal acquisition expansion is realized. After the digital signal is transmitted into the singlechip, the singlechip performs preliminary processing on the data, including digital filtering and data calibration. In addition, the singlechip is also used for configuring a communication mechanism, namely, configuring an EtherCAT protocol.
Aiming at the slave station of the EtherCAT bus, the communication unit adopts a LAN9252 chip, FSMC communication is adopted between the communication unit and the singlechip, the LAN9252 chip is a special EtherCAT slave station controller, an Ethernet physical layer data transceiver is integrated, and an RJ45 interface is externally connected, so that the communication of the EtherCAT master station of the numerical control system is realized.
In some embodiments, in step S110, acquiring the real-time parameters acquired by the data acquisition module includes: acquiring an analog signal corresponding to the real-time parameter through the signal acquisition unit, and converting the analog signal into a digital signal; the digital signal converted by the signal acquisition unit is subjected to digital filtering and data calibration processing by the signal processing unit to obtain real-time parameters required by running the current compensation model; and sending the obtained real-time parameters required by the running of the current compensation model to the compensation module through the communication unit.
The data acquisition module disclosed by the invention has the advantages that the requirement of acquiring real-time compensation data from a physical layer by the numerical control system is met, the real-time acquisition of the compensation data is realized, the compensation value is not required to be read from an NC program, and the problem that the numerical control system cannot acquire the compensation data in real time is solved.
As shown in fig. 4, the motion control of the numerical control system generally comprises functions of path planning, speed planning, interpolation, field bus and the like, and the real-time compensation function is placed between interpolation and bus communication, so that data such as output position, speed and the like can be interpolated and used for calculating a compensation model, and new data such as position, speed and the like can be output. The compensation model selected by the user and the input parameters, as well as the parameters acquired in real time, are loaded into the compensation implementation function, so that the digital system is compensated in real time, and meanwhile, various different types or the same types of compensation, such as various or multiple types of compensation, such as temperature compensation, length compensation, speed compensation and the like, can be realized, and the temperature compensation can be multiple, and each intersection and realization can be realized.
Because the real-time compensation module can be provided with a plurality of channels, a plurality of series compensation channels are established in the system, used channels and unused channels are displayed on the interface of compensation software, a user can select which channel to use, and different compensation models are selected according to different machine tool control requirements, so that a flexible compensation mechanism is realized.
By adopting the technical scheme of the embodiment, the numerical control system comprises a compensation module and a data acquisition module, wherein the compensation module is used for executing the compensation function of the numerical control system, the numerical control system is provided with a compensation model, and a user can modify the compensation logic of the self-defined compensation model in the compensation model, so that the application scene of the compensation function of the numerical control system is wider, and different types of compensation are realized; meanwhile, parameters acquired by the data acquisition module in real time are utilized for real-time compensation, so that the compensation speed is improved, and the control precision of the numerical control system after compensation is improved while the real-time compensation is realized.
According to an embodiment of the present invention, there is also provided a compensation apparatus of a numerical control system corresponding to the compensation method of the numerical control system. The numerical control system comprises a compensation module and a data acquisition module; the compensation module is used for executing the compensation function of the numerical control system; the data acquisition module is used for acquiring real-time parameters such as temperature, speed, acceleration, displacement, humidity and the like; the numerical control system is provided with a compensation model which is used for providing functional logic for the compensation function of the numerical control system, and the compensation model can be loaded into the compensation module to realize the compensation function of the functional logic corresponding to the compensation model; the compensation model comprises a fixed compensation model and a self-defined compensation model; the user can edit the compensation logic of the custom compensation model. Referring to fig. 3, a schematic diagram of an embodiment of the apparatus of the present invention is shown. The compensation device of the numerical control system may include: an acquisition unit 102 and a processing unit 104.
The acquiring unit 102 is configured to acquire a current compensation model selected by a user from the fixed compensation model and the custom compensation model, model parameters input by the user, and real-time parameters acquired by the data acquisition module, wherein the real-time parameters are real-time parameters required for running the current compensation model. The specific function and process of the acquisition unit 102 refer to step S110. The real-time parameters comprise parameters of the numerical control machine tool and environment parameters. And one part of parameters required for running the compensation model are model parameters input by a user, and the other part of parameters are parameters acquired by the data acquisition module in real time, so that the user can adjust the model through the input parameters and can perform real-time compensation according to the parameters acquired in real time.
And a processing unit 104, configured to execute, in the compensation module, a compensation function of the numerical control system according to the model parameters and the real-time parameters by using the current compensation model selected by the user. The specific function and process of the processing unit 104 refer to step S120.
According to the scheme, an open numerical control system is adopted, a user can customize a compensation model, and the user-defined compensation model is modified, so that the application scene of the compensation function of the numerical control system is wider. Meanwhile, the model parameters input by a user and the parameters acquired in real time are brought into the compensation model, so that the compensation speed is improved, the real-time compensation is realized, and the control precision of the numerical control system after the compensation is improved.
In some embodiments, the processing unit 104 performs, in the compensation module, a compensation function of the numerical control system according to the model parameter and the real-time parameter using the current compensation model selected by the user, including:
the processing unit 104 is specifically further configured to determine the type of the current compensation model selected by the user. The specific function and process of the processing unit 104 refer to step S210.
The processing unit 104 is specifically further configured to load the current fixed compensation model selected by the user, the model parameters and the real-time parameters into the compensation module if the current compensation model is a fixed compensation model, and execute the compensation function of the numerical control system. The specific function and process of the processing unit 104 refer to step S220.
Specifically, fig. 4 is a schematic structural diagram of an embodiment of a system architecture diagram of the numerical control system of the present invention, as shown in fig. 4, where the numerical control system further has a man-machine interface, and a user can select a compensation model required for executing a compensation function and can input model parameters required for operating the compensation model, and after completion, the compensation model selected by the user and the input model parameters are loaded into a compensation module in real-time compensation. In addition, the data acquisition card acquires some real-time parameters required by the compensation model, communicates with the compensation module through the EtherCAT bus, and sends real-time data to the compensation module. The compensation module acquires a compensation model, model parameters and implementation parameters required by executing the compensation function, and starts to execute the compensation function. In implementing compensation, the compensation module has a plurality, and the numerical control system can simultaneously perform a plurality of compensation functions, such as compensation 1, compensation 2, compensation 3 and compensation 4 … … in fig. 4.
When a user selects a compensation model on a man-machine interaction interface, the compensation model comprises a fixed compensation model and a self-defined compensation model, as shown in fig. 5, a structural schematic diagram of compensation is carried out by using the fixed compensation model in the numerical control system of the invention, wherein the fixed compensation model is a system self-contained model, the system self-contained model comprises a plurality of different fixed compensation models, such as pitch compensation, temperature compensation, vibration suppression, abrasion, pitching compensation, quadrant error compensation and the like, and the system self-contained model is established in real-time compensation software. After the user selects one of the fixed compensation models, the user is prompted according to the selected model which parameters need to be input. After the parameters input by the user are acquired, loading the parameters and the compensation model into real-time compensation, loading the acquired real-time parameters into the implementation compensation, and starting to execute the compensation. In the compensation execution process, the real-time parameters can be acquired again according to the requirement of the compensation function, so that the real-time parameters can be acquired again and brought into the real-time compensation for logic judgment and processing, and the effect of implementing the compensation according to the current parameters is achieved.
The processing unit 104 is specifically further configured to perform model analysis on the current self-defined compensation model selected by the user if the current compensation model is a self-defined compensation model, so that the current self-defined compensation model can be identified and operated by the compensation module; and then loading the analyzed current custom compensation model, the model parameters and the real-time parameters into the compensation module, and executing the compensation function of the numerical control system. The specific function and process of the processing unit 104 refer to step S230.
In some embodiments, the processing unit 104 performs model analysis on the custom compensation model, including at least one of lexical analysis, grammatical analysis, and formula recognition on the custom compensation model.
Specifically, as shown in fig. 6, in the numerical control system of the present invention, a user can edit the custom compensation model, such as logic determination, parameter type, parameter number, etc. in the custom compensation model if the user selects the custom compensation model. Because the numerical control system cannot directly identify the user-defined compensation model, the user-defined compensation model needs to be translated, so that software can run the user-defined compensation model. The numerical control system analyzes the self-defined compensation model mainly by lexical analysis, grammar analysis and formula identification. For example, the user inputs "c=a/B", the lexical analysis is to determine whether the divisor "/" is normal and the lexical analysis is to determine whether the "a/B" is a normal expression, and the formula recognition is to be executed by the numerical control system capable of recognizing the "c=a/B" inputted by the user. After the self-defined compensation model is translated into a software-operable model through analysis processing, parameters input by a user and the translated model are loaded into real-time compensation, and compensation starts to be executed. In the compensation execution process, the real-time parameters can be acquired again according to the requirement of the compensation function, so that the real-time parameters can be acquired again and brought into the real-time compensation for logic judgment and processing, and the effect of implementing the compensation according to the current parameters is achieved.
In some embodiments, the data acquisition module comprises a signal acquisition unit, a signal processing unit, and a communication unit; the signal acquisition unit is used for acquiring analog signals and converting the analog signals into digital signals; the signal processing unit is used for carrying out digital filtering and data calibration on the digital signals acquired from the signal acquisition unit to acquire the real-time parameters; the communication unit is used for sending the real-time parameters obtained after the signal processing unit processes to the compensation module.
The numerical control system needs to collect parameters in real time when performing real-time compensation, and needs to collect real-time data such as temperature, speed, acceleration, displacement, humidity and the like. Typically, analog signals, as well as digital signals, such as temperature acquisition typically employ thermocouples, PT100, etc., while displacement sensors typically are digital signals. Fig. 7 is a schematic structural diagram of an embodiment of a data acquisition module of the numerical control system according to the present invention, as shown in fig. 7, wherein the data acquisition module is the signal acquisition card in fig. 4, and the signal acquisition unit includes analog signal acquisition components, such as an operational amplifier OPA2192 and an operational amplifier AD8495 in fig. 7; the signal acquisition unit further includes components that convert analog signals to digital signals, such as AD converter ADs8648 in fig. 7. The analog signal is input by voltage, amplified by an operational amplifier OPA2192, and sent to an AD converter. For thermocouple temperature acquisition, a high-precision operational amplifier AD8495 is used for signal amplification, the operational amplifier AD8495 is provided with cold end compensation, and the temperature is amplified nearly linearly to a voltage value for AD conversion. For other analog signals, other types of components may be used for acquisition, which is not illustrated here. The AD converter adopts an ADS8648 chip with 16-bit 8 channels, realizes multipath collection, can meet most precision requirements, and can be used by a numerical control system after converting analog signals into digital signals.
The signal processing unit adopts a singlechip of ST32F103 model, and is communicated with the AD converter ADS8648 through SPI, and the converted digital signal is obtained from the AD converter. And the SPI and the I2C buses are externally expanded on a single surface, AD conversion is not needed for a sensor of the digital module, and the SPI and the I2C buses are directly connected with the singlechip, so that signal acquisition expansion is realized. After the digital signal is transmitted into the singlechip, the singlechip performs preliminary processing on the data, including digital filtering and data calibration. In addition, the singlechip is also used for configuring a communication mechanism, namely, configuring an EtherCAT protocol.
Aiming at the slave station of the EtherCAT bus, the communication unit adopts a LAN9252 chip, FSMC communication is adopted between the communication unit and the singlechip, the LAN9252 chip is a special EtherCAT slave station controller, an Ethernet physical layer data transceiver is integrated, and an RJ45 interface is externally connected, so that the communication of the EtherCAT master station of the numerical control system is realized.
In some embodiments, the acquiring unit 102 acquires real-time parameters acquired by the data acquisition module, including: acquiring an analog signal corresponding to the real-time parameter through the signal acquisition unit, and converting the analog signal into a digital signal; the digital signal converted by the signal acquisition unit is subjected to digital filtering and data calibration processing by the signal processing unit to obtain real-time parameters required by running the current compensation model; and sending the obtained real-time parameters required by the running of the current compensation model to the compensation module through the communication unit.
The data acquisition module disclosed by the invention has the advantages that the requirement of acquiring real-time compensation data from a physical layer by the numerical control system is met, the real-time acquisition of the compensation data is realized, the compensation value is not required to be read from an NC program, and the problem that the numerical control system cannot acquire the compensation data in real time is solved.
As shown in fig. 4, the motion control of the numerical control system generally comprises functions of path planning, speed planning, interpolation, field bus and the like, and the real-time compensation function is placed between interpolation and bus communication, so that data such as output position, speed and the like can be interpolated and used for calculating a compensation model, and new data such as position, speed and the like can be output. The compensation model selected by the user and the input parameters, as well as the parameters acquired in real time, are loaded into the compensation implementation function, so that the digital system is compensated in real time, and meanwhile, various different types or the same types of compensation, such as various or multiple types of compensation, such as temperature compensation, length compensation, speed compensation and the like, can be realized, and the temperature compensation can be multiple, and each intersection and realization can be realized.
Because the real-time compensation module can be provided with a plurality of channels, a plurality of series compensation channels are established in the system, used channels and unused channels are displayed on the interface of compensation software, a user can select which channel to use, and different compensation models are selected according to different machine tool control requirements, so that a flexible compensation mechanism is realized.
Since the processes and functions implemented by the apparatus of the present embodiment substantially correspond to the embodiments, principles and examples of the foregoing methods, the descriptions of the embodiments are not exhaustive, and reference may be made to the descriptions of the foregoing embodiments and their descriptions are omitted herein.
By adopting the technical scheme of the invention, the numerical control system comprises a compensation module and a data acquisition module, wherein the compensation module is used for executing the compensation function of the numerical control system, the numerical control system is provided with a compensation model, and a user can modify the compensation logic of the self-defined compensation model in the compensation model, so that the application scene of the compensation function of the numerical control system is wider, and different types of compensation are realized; meanwhile, parameters acquired by the data acquisition module in real time are utilized for real-time compensation, so that the compensation speed is improved, and the control precision of the numerical control system after compensation is improved while the real-time compensation is realized.
According to an embodiment of the present invention, there is also provided a numerical control system corresponding to the compensation device of the numerical control system. The numerical control system may include: the compensation device of the numerical control system is described above.
Since the processing and functions implemented by the numerical control system of the present embodiment basically correspond to the embodiments, principles and examples of the foregoing apparatus, the description of the present embodiment is not exhaustive, and reference may be made to the related descriptions of the foregoing embodiments, which are not repeated herein.
By adopting the technical scheme of the invention, the numerical control system comprises a compensation module and a data acquisition module, wherein the compensation module is used for executing the compensation function of the numerical control system, the numerical control system is provided with a compensation model, and a user can modify the compensation logic of the self-defined compensation model in the compensation model, so that the application scene of the compensation function of the numerical control system is wider, and different types of compensation are realized; meanwhile, parameters acquired by the data acquisition module in real time are utilized for real-time compensation, so that the compensation speed is improved, and the control precision of the numerical control system after compensation is improved while the real-time compensation is realized.
According to an embodiment of the present invention, there is further provided a storage medium corresponding to a compensation method of a numerical control system, the storage medium including a stored program, wherein when the program runs, an apparatus in which the storage medium is controlled to execute the compensation method of the numerical control system described above.
Since the processes and functions implemented by the storage medium of the present embodiment substantially correspond to the embodiments, principles and examples of the foregoing methods, the descriptions of the present embodiment are not exhaustive, and reference may be made to the related descriptions of the foregoing embodiments, which are not repeated herein.
By adopting the technical scheme of the invention, the numerical control system comprises a compensation module and a data acquisition module, wherein the compensation module is used for executing the compensation function of the numerical control system, the numerical control system is provided with a compensation model, and a user can modify the compensation logic of the self-defined compensation model in the compensation model, so that the application scene of the compensation function of the numerical control system is wider, and different types of compensation are realized; meanwhile, parameters acquired by the data acquisition module in real time are utilized for real-time compensation, so that the compensation speed is improved, and the control precision of the numerical control system after compensation is improved while the real-time compensation is realized.
In summary, it is readily understood by those skilled in the art that the above-described advantageous ways can be freely combined and superimposed without conflict.
The above description is only an example of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (10)

1. The compensation method of the numerical control system is characterized in that the numerical control system comprises a compensation module and a data acquisition module; the compensation module is used for executing the compensation function of the numerical control system; the data acquisition module is used for acquiring real-time parameters; the numerical control system is provided with a compensation model and is used for providing functional logic for the compensation function of the numerical control system; the compensation model comprises a fixed compensation model and a custom compensation model, and a user can edit the compensation logic of the custom compensation model; the method comprises the following steps:
the method comprises the steps of obtaining a current compensation model selected by a user from the fixed compensation model and the custom compensation model, model parameters input by the user and real-time parameters acquired by the data acquisition module, wherein the real-time parameters are real-time parameters required by running the current compensation model;
And in the compensation module, the compensation function of the numerical control system is executed according to the model parameters and the real-time parameters by utilizing the current compensation model selected by the user.
2. The control method of the numerical control system according to claim 1, wherein in the compensation module, using the current compensation model selected by the user, a compensation function of the numerical control system is performed according to the model parameters and the real-time parameters, comprising:
judging the type of the current compensation model selected by the user;
if the current compensation model is a fixed compensation model, loading the current fixed compensation model selected by the user, the model parameters and the real-time parameters into the compensation module, and executing the compensation function of the numerical control system;
if the current compensation model is a custom compensation model, carrying out model analysis on the current custom compensation model selected by the user so that the current custom compensation model can be identified and operated by the compensation module; and then loading the analyzed current custom compensation model, the model parameters and the real-time parameters into the compensation module, and executing the compensation function of the numerical control system.
3. The method of claim 2, wherein performing model analysis on the custom compensation model comprises performing at least one of lexical analysis, grammatical analysis, and formula recognition on the custom compensation model.
4. The control method of a numerical control system according to claim 1, wherein the data acquisition module includes a signal acquisition unit, a signal processing unit, and a communication unit; the signal acquisition unit is used for acquiring analog signals and converting the analog signals into digital signals; the signal processing unit is used for carrying out digital filtering and data calibration on the digital signals acquired from the signal acquisition unit to acquire the real-time parameters; the communication unit is used for sending the real-time parameters obtained after the signal processing unit processes to the compensation module.
5. The method of claim 4, wherein acquiring the real-time parameters acquired by the data acquisition module comprises:
acquiring an analog signal corresponding to the real-time parameter through the signal acquisition unit, and converting the analog signal into a digital signal;
The digital signal converted by the signal acquisition unit is subjected to digital filtering and data calibration processing by the signal processing unit to obtain real-time parameters required by running the current compensation model;
and sending the obtained real-time parameters required by the running of the current compensation model to the compensation module through the communication unit.
6. The compensation device of the numerical control system is characterized by comprising a compensation module and a data acquisition module; the compensation module is used for executing the compensation function of the numerical control system; the data acquisition module is used for acquiring real-time parameters; the numerical control system is provided with a compensation model and is used for providing functional logic for the compensation function of the numerical control system; the compensation model comprises a fixed compensation model and a custom compensation model, and a user can edit the compensation logic of the custom compensation model; the device comprises:
the acquisition unit is configured to acquire a current compensation model selected by a user from the fixed compensation model and the custom compensation model, model parameters input by the user and real-time parameters acquired by the data acquisition module, wherein the real-time parameters are real-time parameters required by running the current compensation model;
And the processing unit is configured to execute the compensation function of the numerical control system according to the model parameters and the real-time parameters by using the current compensation model selected by the user in the compensation module.
7. The control device of the numerical control system according to claim 6, wherein the processing unit, in the compensation module, performs a compensation function of the numerical control system according to the model parameter and the real-time parameter using the user-selected current compensation model, comprising:
judging the type of the current compensation model selected by the user;
if the current compensation model is a fixed compensation model, loading the current fixed compensation model selected by the user, the model parameters and the real-time parameters into the compensation module, and executing the compensation function of the numerical control system;
if the current compensation model is a custom compensation model, carrying out model analysis on the current custom compensation model selected by the user so that the current custom compensation model can be identified and operated by the compensation module; and then loading the analyzed current custom compensation model, the model parameters and the real-time parameters into the compensation module, and executing the compensation function of the numerical control system.
8. The control device of the numerical control system according to claim 7, wherein the processing unit performs model analysis on the custom compensation model, including at least one of lexical analysis, grammatical analysis, and formula recognition on the custom compensation model.
9. A numerical control system, comprising: the control device of a numerical control system according to any one of claims 6 to 8.
10. A storage medium comprising a stored program, wherein the program, when executed, controls an apparatus in which the storage medium is located to perform the control method of the numerical control system according to any one of claims 1 to 5.
CN202311487719.8A 2023-11-09 2023-11-09 Compensation method and device of numerical control system, numerical control system and storage medium Pending CN117471984A (en)

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