CN117666476A - Control method and system of numerical control machine tool and electronic equipment - Google Patents
Control method and system of numerical control machine tool and electronic equipment Download PDFInfo
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Abstract
The application discloses a control method, a control system and electronic equipment of a numerical control machine tool, and belongs to the technical field of numerical control technology. The control method of the numerical control machine tool comprises the following steps: determining a target machining track of a numerical control machine tool; if the target processing track is an elliptical arc, generating an elliptical equation of the target processing track; determining a circle equation corresponding to the ellipse equation, and determining an arc starting point and an arc end point according to the end point of the target processing track and the circle equation; performing acceleration and deceleration planning according to the arc starting point and the arc ending point, and determining a target coordinate of each interpolation period according to an acceleration and deceleration planning result; and controlling the numerical control machine tool to process according to the target coordinates. The method and the device can reduce the interpolation error of the elliptical arc and improve the machining precision of the numerical control machine tool.
Description
Technical Field
The application relates to the technical field of numerical control, in particular to a control method, a control system and electronic equipment of a numerical control machine tool.
Background
In the process of numerical control processing of complex contour parts, elliptical arcs or elliptical trajectories are often required to be processed according to the needs of customers, so that elliptical arc interpolation instructions are required to be integrated in a numerical control system. The interpolation of the elliptic arc is controlled in a combined mode according to the interpolation actions of the abscissa and the ordinate to generate the elliptic arc, so that the interpolation coordinate calculation calculated by the interpolation of the elliptic arc is required to be located on the elliptic arc.
In the prior art, an approximate arc length is generally calculated by using a Gauss-Legendre product formula, and elliptic interpolation is performed based on the approximate arc length. Because the approximate arc length inevitably has calculation errors, the scheme cannot perform acceleration and deceleration planning according to the approximate arc length, cannot reach the target end point of the elliptical arc, and has lower control precision.
Therefore, how to reduce the interpolation error of the elliptical arc and improve the machining precision of the numerical control machine tool is a technical problem that needs to be solved by those skilled in the art at present.
Disclosure of Invention
The purpose of the application is to provide a control method, a control system and electronic equipment of a numerical control machine tool, which can reduce the interpolation error of an elliptical arc and improve the machining precision of the numerical control machine tool.
In order to solve the above technical problems, the present application provides a control method of a numerically-controlled machine tool, where the control of the numerically-controlled machine tool includes:
determining a target machining track of a numerical control machine tool;
if the target processing track is an elliptical arc, generating an elliptical equation of the target processing track;
determining a circle equation corresponding to the ellipse equation, and determining an arc starting point and an arc end point according to the end point of the target processing track and the circle equation;
performing acceleration and deceleration planning according to the arc starting point and the arc ending point, and determining a target coordinate of each interpolation period according to an acceleration and deceleration planning result;
and controlling the numerical control machine tool to process according to the target coordinates.
Optionally, performing acceleration and deceleration planning according to the arc starting point and the arc ending point includes:
calculating the length of the arc according to the arc starting point and the arc ending point;
performing acceleration and deceleration planning according to the arc length, the circle center coordinates of the circle equation and the machining direction of the target machining track to obtain an acceleration and deceleration planning result; the acceleration and deceleration planning result comprises the linear speed of each interpolation period.
Optionally, the determining the target coordinate of each interpolation period according to the acceleration and deceleration planning result includes:
calculating the corresponding arc angular speed of each interpolation period according to the linear speed of each interpolation period in the acceleration and deceleration planning result;
calculating a centrifugal angle of each interpolation period according to the arc angular velocity;
and determining the target coordinate of each interpolation period according to the centrifugal angle.
Optionally, calculating the centrifugal angle of each interpolation period according to the circular arc angular velocity includes:
calculating the arc angle increment of each interpolation period according to the arc angular speed;
and calculating the centrifugal angle of each interpolation period according to the arc angle increment of each interpolation period.
Optionally, the determining the arc starting point and the arc ending point according to the end point of the target processing track and the circular equation includes:
generating an auxiliary line in a preset direction through the end point of the target processing track; wherein the preset direction is a direction perpendicular to the semi-long axis;
and determining the circular arc starting point and the circular arc ending point according to the intersection point of the auxiliary line and the circular equation.
Optionally, generating an auxiliary line in a preset direction through the end point of the target processing track includes:
determining a processing starting point and a processing end point of the target processing track;
generating a first auxiliary line in the preset direction through the processing starting point;
and generating a second auxiliary line in the preset direction through the processing end point.
Optionally, determining the arc starting point and the arc ending point according to the intersection point of the auxiliary line and the circular equation includes:
determining a first intersection point of the first auxiliary line and the circular equation, and setting the first intersection point which is in the same quadrant or the same coordinate axis as the machining starting point as the circular arc starting point;
and determining a second intersection point of the second auxiliary line and the circular equation, and setting the second intersection point which is in the same quadrant or the same coordinate axis as the processing end point as the circular arc end point.
Optionally, determining a circle equation corresponding to the ellipse equation includes:
determining an endpoint connection line between a processing starting point and a processing end point of the target processing track;
judging whether the projection length of the endpoint connecting line in the preset direction is larger than the semi-minor axis length of the elliptic equation or not;
if yes, generating the circular equation by taking the center of the ellipse as the center of the circle and the length of the semi-major axis as the radius;
if not, generating the circular equation by taking the center of the ellipse as the center of the circle and taking the length of the semi-major axis or the semi-minor axis as the radius.
The application also provides a control system of the numerical control machine tool, which comprises:
the track determining module is used for determining a target machining track of the numerical control machine tool;
the elliptic equation generation module is used for generating an elliptic equation of the target processing track if the target processing track is an elliptic arc;
the circular arc determining module is used for determining a circular equation corresponding to the elliptic equation and determining a circular arc starting point and a circular arc end point according to the end point of the target processing track and the circular equation;
the interpolation calculation module is used for carrying out acceleration and deceleration planning according to the arc starting point and the arc ending point, and determining the target coordinate of each interpolation period according to the acceleration and deceleration planning result;
and the control module is used for controlling the numerical control machine tool to process according to the target coordinates.
The application also provides electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps executed by the control method of the numerical control machine tool when calling the computer program in the memory.
The application provides a control method of a numerical control machine tool, which comprises the following steps: determining a target machining track of a numerical control machine tool; if the target processing track is an elliptical arc, generating an elliptical equation of the target processing track; determining a circle equation corresponding to the ellipse equation, and determining an arc starting point and an arc end point according to the end point of the target processing track and the circle equation; performing acceleration and deceleration planning according to the arc starting point and the arc ending point, and determining a target coordinate of each interpolation period according to an acceleration and deceleration planning result; and controlling the numerical control machine tool to process according to the target coordinates.
After determining that a target machining track of a numerical control machine tool is an elliptical arc, generating an elliptical equation of the target machining track, and further generating a corresponding circular equation according to the elliptical equation. According to the method, the arc starting point and the arc ending point are determined according to the end point of the target machining track and the circular equation, and then acceleration and deceleration planning is carried out according to the arc starting point and the arc ending point, so that the target coordinate of the numerical control machine tool in each interpolation period is obtained, and machining is carried out based on the target coordinate. The target coordinate of each interpolation period calculated by the method is obtained by direct elliptic equation calculation, and the target coordinate is necessarily located on the target processing track, so that calculation errors in the elliptic arc interpolation process are avoided. Therefore, the method and the device can reduce the interpolation error of the elliptical arc and improve the machining precision of the numerical control machine tool. The application also provides a control system of the numerical control machine tool and electronic equipment, and the control system has the beneficial effects and is not repeated here.
Drawings
For a clearer description of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described, it being apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a control method of a numerical control machine tool according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a first round equation generation provided in an embodiment of the present application;
FIG. 3 is a schematic diagram of a second round equation generation provided in an embodiment of the present application;
FIG. 4 is a flowchart of elliptic arc interpolation according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a determination method of a circular arc starting point and a circular arc ending point according to an embodiment of the present application;
FIG. 6 is a schematic diagram of an elliptical arc track simulation provided in an embodiment of the present application;
FIG. 7 is a schematic diagram of a simulation of a circular arc velocity curve according to an embodiment of the present application;
FIG. 8 is a schematic diagram of an elliptic arc standard equation verification result according to an embodiment of the present application;
FIG. 9 is a schematic diagram of a sum verification of the distance from the interpolation point to the focus point of an elliptical arc according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of an elliptical interpolation control device according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Referring to fig. 1, fig. 1 is a flowchart of a control method of a numerical control machine tool according to an embodiment of the present application.
The specific steps may include:
s101: determining a target machining track of a numerical control machine tool;
the embodiment can be applied to a PLC controller of a numerical control machine tool, and can also be applied to electronic equipment connected with the numerical control machine tool. There may be an operation of receiving a numerical control machining task before this step, and the target machining trajectory may be determined based on the numerical control machining task.
S102: if the target processing track is an elliptical arc, generating an elliptical equation of the target processing track;
after determining the target processing track, the shape of the target processing track may be determined, and if the target processing track is an elliptical arc, an elliptical equation of the target processing track is generated. Specifically, the elliptic equation may be an elliptic parameter equation or an elliptic standard equation.
S103: determining a circle equation corresponding to the ellipse equation, and determining an arc starting point and an arc end point according to the end point of the target processing track and the circle equation;
the embodiment may determine a corresponding circle equation according to the ellipse equation, where the circle equation is an equation for assisting in describing the interpolation position of the target processing track. The method and the device can determine the circular arc starting point and the circular arc ending point according to the position relation between the end point of the target processing track and the circular equation. The arc starting point and the arc ending point are points on a circular equation.
As a further introduction to S102, a circle equation may be generated and arc start and arc end points determined by:
determining an ellipse center and a target axial length according to the ellipse equation, and generating a circle equation by taking the ellipse center as a circle center and the target axial length as a radius; generating an auxiliary line in a preset direction through the end point of the target processing track; and determining an arc starting point and an arc ending point according to the intersection point of the auxiliary line and the circular equation.
Specifically, in this embodiment, after the ellipse equation is obtained, the coordinates of the center of the ellipse and the target axial length may be determined according to the parameters in the ellipse equation; the target axial length may be the length of the semi-major axis of the elliptic equation, or the target axial length may be the length of the semi-minor axis of the elliptic equation. The embodiment can generate a circular equation by taking the coordinates of the center of the ellipse as the circle center and the target axial length as the radius. Before generating the auxiliary line in the preset direction, the embodiment may determine the preset direction according to an elliptic equation, where the preset direction is a direction perpendicular to the semi-major axis. In this embodiment, the end points of the target machining track include a machining start point and a machining end point, so that two auxiliary lines corresponding to the machining start point and the machining end point can be obtained, and the arc start point and the arc end point are determined according to the intersection points of the two auxiliary lines and the circular equation.
S104: performing acceleration and deceleration planning according to the arc starting point and the arc ending point, and determining a target coordinate of each interpolation period according to an acceleration and deceleration planning result;
after the arc starting point and the arc ending point are obtained, a corresponding arc projected on a circular equation of a target machining track can be determined, acceleration and deceleration planning can be performed on the machining process of the numerical control machine tool on the target machining track based on the arc, so that the linear speed of the numerical control machine tool in each interpolation period is obtained, the centrifugal angle of the numerical control machine tool in each interpolation period can be calculated based on the linear speed, and then the target coordinate, namely the interpolation point coordinate, of each interpolation period is determined according to the centrifugal angle.
S105: and controlling the numerical control machine tool to process according to the target coordinates.
After the target coordinates of each interpolation period are obtained, the numerical control machine tool can be controlled according to the target coordinates so as to add according to the target processing track.
In the embodiment, after determining that the target machining track of the numerical control machine tool is an elliptical arc, an elliptical equation of the target machining track is generated, and then a circular equation is generated according to the elliptical center and the target axial length of the elliptical equation. In the embodiment, an auxiliary line in a preset direction is generated through an end point of a target machining track, an arc starting point and an arc end point are determined according to an intersection point of the auxiliary line and a circular equation, and then acceleration and deceleration planning is performed according to the arc starting point and the arc end point, so that target coordinates of a numerical control machine tool in each interpolation period are obtained, and machining is performed based on the target coordinates. The target coordinates of each interpolation period calculated in the embodiment are obtained by direct elliptic equation calculation, and the target coordinates are necessarily located on the target processing track, so that calculation errors in the elliptic arc interpolation process are avoided. Therefore, the method and the device can reduce the interpolation error of the elliptical arc and improve the machining precision of the numerical control machine tool.
As a further introduction to the corresponding embodiment of fig. 1, the acceleration and deceleration planning may be performed by: calculating the length of the arc according to the arc starting point and the arc ending point; performing acceleration and deceleration planning according to the arc length, the circle center coordinates of the circle equation and the machining direction of the target machining track to obtain an acceleration and deceleration planning result; the acceleration and deceleration planning result comprises the linear speed of each interpolation period. The acceleration and deceleration planning includes, but is not limited to, T-type acceleration and deceleration planning and S-type acceleration and deceleration planning.
Specifically, in this embodiment, the circular arc angular velocity corresponding to each interpolation period may be calculated according to the linear velocity of each interpolation period in the acceleration/deceleration planning result; the embodiment may calculate a centrifugal angle of each interpolation period according to the circular arc angular velocity, and further determine the target coordinate of each interpolation period according to the centrifugal angle. The process of calculating the centrifugal angle of each interpolation period is as follows: calculating the arc angle increment of each interpolation period according to the arc angular speed; and calculating the centrifugal angle of each interpolation period according to the arc angle increment of each interpolation period.
As a further introduction to the corresponding embodiment of fig. 1, upon deriving the circular equation, the circular arc start point and the circular arc end point may be determined by: generating an auxiliary line in a preset direction through the end point of the target processing track; wherein the preset direction is a direction perpendicular to the semi-long axis; and determining the circular arc starting point and the circular arc ending point according to the intersection point of the auxiliary line and the circular equation.
Further, the above procedure may generate the auxiliary line by: determining a processing starting point and a processing end point of the target processing track; generating a first auxiliary line in the preset direction through the processing starting point; and generating a second auxiliary line in the preset direction through the processing end point.
Because the first auxiliary line and the second auxiliary line both have two intersection points with the circular equation, if the center of the circle of the circular equation is at the origin, the embodiment can determine the circular arc starting point and the circular arc ending point by the following ways: determining a first intersection point of the first auxiliary line and the circular equation, and setting the first intersection point which is in the same quadrant or the same coordinate axis as the machining starting point as the circular arc starting point; and determining a second intersection point of the second auxiliary line and the circular equation, and setting the second intersection point which is in the same quadrant or the same coordinate axis as the processing end point as the circular arc end point.
Referring to fig. 2 and 3, fig. 2 is a schematic diagram of generating a first circular equation according to an embodiment of the present application, fig. 3 is a schematic diagram of generating a second circular equation according to an embodiment of the present application, where P1 is a processing start point, P2 is a processing end point, and L1 and L2 represent auxiliary lines. To avoid situations where the query fails to reach the intersection of the auxiliary line and the circular equation, the circular equation may be generated by: determining an endpoint connection line between a processing starting point and a processing end point of the target processing track; judging whether the projection length of the endpoint connecting line in the preset direction is larger than the semi-minor axis length of the elliptic equation or not; if yes, generating a circular equation shown in fig. 2 by taking the center of the ellipse as the center of the circle and the length of the semi-major axis as the radius; if not, a circular equation shown in fig. 3 is generated by taking the center of the ellipse as the center of the circle and taking the length of the semi-major axis or the semi-minor axis as the radius.
The flow described in the above embodiment is explained below by way of an embodiment in practical application.
The interpolation of the numerical control machine tool refers to the process that a numerical control system of the machine tool determines the movement track of a cutter according to a certain method, and when the numerical control machine tool of the related technology processes according to the elliptical arc track, an analytic solution cannot be given to the calculation of the elliptical arc length at present. In a related art, the arc length calculated by using a gaussian-legendre product equation is an approximate arc length, and a certain arc length calculation error necessarily exists in the approximate arc length, so that the interpolation end point cannot be directly caused by acceleration and deceleration planning in the mode, and therefore, the end point judgment is required, the complexity of the interpolation processing is increased, and the target end point cannot be directly reached by acceleration and deceleration planning, so that the condition that the actual processing effect is not ideal occurs. In another related art, a step angle approximation calculation formula is used for performing arc interpolation, but the above method leads to errors in calculation of an elliptical centrifugal angle, and end point judgment is required to be performed to reach the elliptical arc end point, so that the machining precision of the numerical control machine tool is low.
In order to solve the technical problems, the embodiment provides a simple elliptic arc interpolation scheme with high speed and high precision, and the embodiment can be applied to a programmable logic control system, a numerical control system and a robot control system so as to realize real-time interpolation of motion trajectories. According to the method, the centrifugal angle of each period of the elliptical arc is obtained through interpolation calculation of the semi-long axis arc, and the abscissa and the ordinate of the elliptical arc can be directly obtained through calculation according to a parameter equation of the elliptical arc. The embodiment supports the realization of the elliptical arc interpolation track of two axes by a user under a plane coordinate system, avoids the numerical calculation difficulty of the elliptical arc length, and calculates the error of the centrifugal angle increment according to the differential of the elliptical arc length. Referring to fig. 4, fig. 4 is a flowchart of elliptical arc interpolation provided in an embodiment of the present application, and specifically includes the following steps:
step one: the locus of the ellipse is represented by an ellipse parameterized equation.
In particular, the present embodiment takes the form of parameters of a standard elliptic equationThe method comprises the steps of representing an elliptical track where an elliptical arc is located, wherein a is the semi-major axis length of the elliptical arc, b is the semi-minor axis length of the elliptical arc, the semi-major axis and the semi-minor axis of the elliptical arc coincide with a coordinate system, and θ is the centrifugal angle of the elliptical arc.
The elliptic arc standard equation is:
the parametric equation for the elliptical arc is as follows:
step two: and generating an arc by taking the center of the ellipse as the circle center and taking the semi-major axis a as the radius.
Specifically, in this embodiment, the semi-major axis arc C1 may be generated by using the semi-major axis a of the elliptical arc as a radius and the center point of the elliptical arc as a center of a circle.
Step three: according to the coordinates of the start point and the end point of the ellipse, the straight line x=x 0 ，x＝x 1 And calculating to obtain the starting point and the end point of the arc C1.
Referring to fig. 5, fig. 5 is a schematic diagram showing a determination manner of a circular arc starting point and an arc end point according to an embodiment of the present application, wherein x and y represent coordinate axes, a represents a semi-major axis of an ellipse, b represents a semi-minor axis of the ellipse, F1 and F2 represent focal points of the ellipse, S represents a circular arc starting point (i.e. a processing starting point), E represents a circular arc end point (i.e. a processing end point), S 0 Represent the starting point of the arc E 0 Represents the arc end point, O is the center of the elliptical arc, and theta represents the arc start point S 0 And arc end point E 0 The angle to the circle center O vector.
The starting point of an elliptical arc is known as S (x 0 ,y 0 ) End point coordinates E (x 1 ,y 1 ) The coordinates of the central point of the elliptic arc are O (0, 0), the rotation direction of the elliptic arc is anticlockwise, the length of the semi-major axis is a, and the length of the semi-minor axis is b.
Straight line x=x 0 And the arc C 1 The intersection point of (2) is S 0 (x 0 ,y 2 ) The intersection point S 0 Namely the starting point coordinates of the arc, if y 0 >0 is thenIf y 0 If the weight is less than or equal to 0->
Straight line x=x 1 And the arc C 1 The intersection point of (2) is E 0 (x 1 ,y 3 ) The intersection point E 0 I.e. the end point coordinates of the arc, if y 1 >0, thenIf y 1 Less than or equal to 0%>
Calculating the arc starting point S of the arc C1 0 And arc end point E 0 The included angle theta to the circle center O vector is calculated as follows:
similarly, the starting point S of the arc C1 can be obtained 0 Initial angle θ with abscissa 0 Initial angle theta 0 Is the starting angle of the arc.
The starting point S of the arc C1 can be obtained according to the included angle theta 0 To end point E 0 Is l=r×θ, where R is the radius length a of the arc.
Step four: and calculating the linear speed of the current interpolation period according to the semi-long axis arc parameters.
Specifically, in this embodiment, acceleration and deceleration planning may be performed according to parameters of the semi-long axis arc C1, and the linear velocity v of the arc in each interpolation period may be calculated, where the acceleration and deceleration planning includes, but is not limited to, T-type acceleration and deceleration planning and S-type acceleration and deceleration planning.
Step five: and calculating the centrifugal angle of the current interpolation period of the ellipse.
Specifically, in this embodiment, a centrifugal angle β of the current interpolation period of the elliptical arc is calculated, where the centrifugal angle β is the current interpolation point of the semi-major axis arc C1 and the arc starting point S 0 Is provided. The arc angular velocity w=v×r can be calculated according to the arc linear velocity v, where R is the radius a of the arc.
The arc angle increment delta beta=w×ts of each interpolation period can be calculated according to the angular velocity w, and Ts is the interpolation period. Each interpolation point of the interpolation period is opposite to the circular arc starting point S 0 Included angle β=β' +Δβ. The included angle beta' is the centrifugal angle of the elliptic arc of the previous interpolation period.
Step six: and calculating the coordinates of interpolation points of the next interpolation period according to the centrifugal angle.
After the sixth step, whether the acceleration and deceleration planning is completed or not can be judged; if yes, finishing interpolation; if not, the step four is entered.
The embodiment can calculate the abscissa and the ordinate of the elliptic arc of the next interpolation period according to the centrifugal angle. If the rotation direction of the elliptical arc is anticlockwise, the abscissa and the ordinate of the next interpolation period of the elliptical arc are respectivelyIf the rotation direction of the elliptical arc is clockwise, the abscissa and the ordinate of the next interpolation period of the elliptical arc are +.>
The interpolation point calculation formula of the embodiment is directly given by the parameterized equation of the elliptical arc, so that the calculated interpolation point is necessarily located on the elliptical arc. According to the method, a complex numerical solution calculation method for the arc length of the elliptical arc is avoided, a mode that the increment of the centrifugal angle of the elliptical arc is calculated through derivation of a tiny line segment is avoided, the increment of the centrifugal angle can be accurately calculated in a mode that the increment of the displacement of the circular arc is calculated, the calculation precision of the centrifugal angle is ensured, interpolation terminal point judgment is not needed, and the calculation precision of the interpolation point obtained by calculation in the method is high and simple.
Referring to fig. 6, fig. 6 is a schematic diagram of an elliptical arc track simulation provided in an embodiment of the present application, in which a simulation track of a semi-major axis arc and an elliptical arc is shown. X in FIG. 6 pOSITION And Y pOSITION Representing the coordinate axes. Referring to fig. 7, fig. 7 is a schematic diagram of a circular arc speed curve according to an embodiment of the present application, in which the ordinate v represents the linear speed, v x Representing the component of the linear velocity in the X-axis direction, v y The component of the linear velocity in the Y-axis direction is represented, and the abscissa period represents time.
To verify the feasibility and practicality of the elliptic interpolation method, an elliptic standard equation is adoptedFor example, given an ellipseThe coordinates of the interpolation start point are S (4, 0), the coordinates of the ellipse interpolation end point are E (-4, 0), the coordinates of the ellipse center point are (0, 0), and the interpolation direction is anticlockwise. Simulation shows that semi-major axis arcs and elliptical arcs are shown in figure 6. The acceleration and deceleration curve of the arc is shown in fig. 7.
In order to further verify the interpolation coordinates of the elliptic arc, the embodiment may input the coordinates of each interpolation point of the elliptic arc into the elliptic standard equation, and calculate a value equal to 1, as shown in fig. 8, and fig. 8 is a schematic diagram of a verification result of the elliptic standard equation provided in the embodiment of the present application. In FIG. 8, the abscissa indicates time and the ordinate indicates timeThe calculation results of (2) can be seen in the verification results of FIG. 8 +.>The value of (2) is constantly equal to 1.
According to the ellipse property, the sum of distances from any point on the ellipse to two focuses of the ellipse is equal to 2a, a is the length of a semi-major axis, the sum of coordinates from each interpolation point of the ellipse to the two focuses of the ellipse is calculated, the calculated value is equal to 2 times of the length of the semi-major axis of the ellipse, fig. 9 is a schematic diagram for verifying the sum of distances from interpolation points of the ellipse to the focuses, and as shown in fig. 9, the calculation accuracy of interpolation points of the ellipse interpolation method is high, and the feasibility of the ellipse interpolation algorithm is proved. In fig. 9, the abscissa indicates time, and the ordinate indicates the sum of the interpolation point-to-focus distances, and it can be seen that the ordinate indicates the sum of the interpolation point-to-focus distances is constantly 8 in the verification result of fig. 9.
Referring to fig. 10, fig. 10 is a schematic structural diagram of an elliptical interpolation control device according to an embodiment of the present application, where the elliptical interpolation control device may be a Programmable Logic Controller (PLC) capable of implementing a high-performance real-time interpolation function. The elliptic interpolation control device includes a memory 71 and a processor 72. Wherein the memory 71 stores therein a computer program executed by the processor 72 and the processor 72 is adapted to execute the computer program to implement the solution of the above-described embodiments.
The control system of a numerical control machine provided by the embodiment of the application comprises:
the track determining module is used for determining a target machining track of the numerical control machine tool;
the elliptic equation generation module is used for generating an elliptic equation of the target processing track if the target processing track is an elliptic arc;
the circular arc determining module is used for determining a circular equation corresponding to the elliptic equation and determining a circular arc starting point and a circular arc end point according to the end point of the target processing track and the circular equation;
the interpolation calculation module is used for carrying out acceleration and deceleration planning according to the arc starting point and the arc ending point, and determining the target coordinate of each interpolation period according to the acceleration and deceleration planning result;
and the control module is used for controlling the numerical control machine tool to process according to the target coordinates.
In this embodiment, after determining that the target machining track of the numerical control machine tool is an elliptical arc, an elliptical equation of the target machining track is generated, and then a corresponding circular equation is generated according to the elliptical equation. According to the embodiment, according to the end point of the target processing track and the circular equation, an arc starting point and an arc end point are determined, and then acceleration and deceleration planning is performed according to the arc starting point and the arc end point, so that the target coordinate of the numerical control machine tool in each interpolation period is obtained, and processing is performed based on the target coordinate. The target coordinates of each interpolation period calculated in the embodiment are obtained by direct elliptic equation calculation, and the target coordinates are necessarily located on the target processing track, so that calculation errors in the elliptic arc interpolation process are avoided. Therefore, the method and the device can reduce the interpolation error of the elliptical arc and improve the machining precision of the numerical control machine tool.
Further, the process of performing acceleration and deceleration planning by the interpolation calculation module according to the arc starting point and the arc ending point includes: calculating the length of the arc according to the arc starting point and the arc ending point; performing acceleration and deceleration planning according to the arc length, the circle center coordinates of the circle equation and the machining direction of the target machining track to obtain an acceleration and deceleration planning result; the acceleration and deceleration planning result comprises the linear speed of each interpolation period.
Further, the process of determining the target coordinate of each interpolation period by the interpolation calculation module according to the acceleration and deceleration planning result includes: calculating the corresponding arc angular speed of each interpolation period according to the linear speed of each interpolation period in the acceleration and deceleration planning result; calculating a centrifugal angle of each interpolation period according to the arc angular velocity; and determining the target coordinate of each interpolation period according to the centrifugal angle.
Further, the process of calculating the centrifugal angle of each interpolation period by the interpolation calculation module according to the circular arc angular velocity includes: calculating the arc angle increment of each interpolation period according to the arc angular speed; and calculating the centrifugal angle of each interpolation period according to the arc angle increment of each interpolation period.
Further, the process of determining the arc starting point and the arc ending point by the arc determining module according to the end point of the target processing track and the circular equation includes: generating an auxiliary line in a preset direction through the end point of the target processing track; wherein the preset direction is a direction perpendicular to the semi-long axis; and determining the circular arc starting point and the circular arc ending point according to the intersection point of the auxiliary line and the circular equation.
Further, the process of generating the auxiliary line in the preset direction by the arc determining module through the end point of the target processing track includes: determining a processing starting point and a processing end point of the target processing track; generating a first auxiliary line in the preset direction through the processing starting point; and generating a second auxiliary line in the preset direction through the processing end point.
Further, the process of determining the arc starting point and the arc ending point by the arc determining module according to the intersection point of the auxiliary line and the circular equation includes: determining a first intersection point of the first auxiliary line and the circular equation, and setting the first intersection point which is in the same quadrant or the same coordinate axis as the machining starting point as the circular arc starting point; and determining a second intersection point of the second auxiliary line and the circular equation, and setting the second intersection point which is in the same quadrant or the same coordinate axis as the processing end point as the circular arc end point.
Further, the process of determining the circle equation corresponding to the ellipse equation by the circular arc determining module includes: determining an endpoint connection line between a processing starting point and a processing end point of the target processing track; judging whether the projection length of the endpoint connecting line in the preset direction is larger than the semi-minor axis length of the elliptic equation or not; if yes, generating the circular equation by taking the center of the ellipse as the center of the circle and the length of the semi-major axis as the radius; if not, generating the circular equation by taking the center of the ellipse as the center of the circle and taking the length of the semi-major axis or the semi-minor axis as the radius.
Since the embodiments of the system portion and the embodiments of the method portion correspond to each other, the embodiments of the system portion refer to the description of the embodiments of the method portion, which is not repeated herein.
The present application also provides a storage medium having stored thereon a computer program which, when executed, performs the steps provided by the above embodiments. The storage medium may include: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The application also provides an electronic device, which may include a memory and a processor, where the memory stores a computer program, and the processor may implement the steps provided in the foregoing embodiments when calling the computer program in the memory. Of course the electronic device may also include various network interfaces, power supplies, etc.
In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should be noted that it would be obvious to those skilled in the art that various improvements and modifications can be made to the present application without departing from the principles of the present application, and such improvements and modifications fall within the scope of the claims of the present application.
It should also be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A control method of a numerical control machine tool, comprising:
determining a target machining track of a numerical control machine tool;
if the target processing track is an elliptical arc, generating an elliptical equation of the target processing track;
determining a circle equation corresponding to the ellipse equation, and determining an arc starting point and an arc end point according to the end point of the target processing track and the circle equation;
performing acceleration and deceleration planning according to the arc starting point and the arc ending point, and determining a target coordinate of each interpolation period according to an acceleration and deceleration planning result;
and controlling the numerical control machine tool to process according to the target coordinates.
2. The control method of a numerical control machine according to claim 1, characterized in that performing acceleration and deceleration planning based on the arc start point and the arc end point includes:
calculating the length of the arc according to the arc starting point and the arc ending point;
performing acceleration and deceleration planning according to the arc length, the circle center coordinates of the circle equation and the machining direction of the target machining track to obtain an acceleration and deceleration planning result; the acceleration and deceleration planning result comprises the linear speed of each interpolation period.
3. The control method of a numerical control machine according to claim 2, wherein the determining the target coordinates of each interpolation period according to the acceleration and deceleration planning result includes:
calculating the corresponding arc angular speed of each interpolation period according to the linear speed of each interpolation period in the acceleration and deceleration planning result;
calculating a centrifugal angle of each interpolation period according to the arc angular velocity;
and determining the target coordinate of each interpolation period according to the centrifugal angle.
4. A control method of a numerical control machine according to claim 3, wherein calculating the centrifugal angle of each of the interpolation periods from the circular arc angular velocity includes:
calculating the arc angle increment of each interpolation period according to the arc angular speed;
and calculating the centrifugal angle of each interpolation period according to the arc angle increment of each interpolation period.
5. The method according to claim 1, wherein determining the arc start point and the arc end point according to the end point of the target machining trajectory and the round equation comprises:
generating an auxiliary line in a preset direction through the end point of the target processing track; wherein the preset direction is a direction perpendicular to the semi-long axis;
and determining the circular arc starting point and the circular arc ending point according to the intersection point of the auxiliary line and the circular equation.
6. The control method of a numerical control machine according to claim 5, wherein generating an auxiliary line of a preset direction through an end point of the target machining trajectory, comprises:
determining a processing starting point and a processing end point of the target processing track;
generating a first auxiliary line in the preset direction through the processing starting point;
and generating a second auxiliary line in the preset direction through the processing end point.
7. The control method of the numerical control machine according to claim 6, wherein determining the arc starting point and the arc ending point from the intersection of the auxiliary line and the circular equation includes:
determining a first intersection point of the first auxiliary line and the circular equation, and setting the first intersection point which is in the same quadrant or the same coordinate axis as the machining starting point as the circular arc starting point;
and determining a second intersection point of the second auxiliary line and the circular equation, and setting the second intersection point which is in the same quadrant or the same coordinate axis as the processing end point as the circular arc end point.
8. The control method of a numerical control machine according to any one of claims 1 to 7, characterized in that determining a round equation corresponding to the elliptic equation includes:
determining an endpoint connection line between a processing starting point and a processing end point of the target processing track;
judging whether the projection length of the endpoint connecting line in the preset direction is larger than the semi-minor axis length of the elliptic equation or not;
if yes, generating the circular equation by taking the center of the ellipse as the center of the circle and the length of the semi-major axis as the radius;
if not, generating the circular equation by taking the center of the ellipse as the center of the circle and taking the length of the semi-major axis or the semi-minor axis as the radius.
9. A control system of a numerical control machine tool, comprising:
the track determining module is used for determining a target machining track of the numerical control machine tool;
the elliptic equation generation module is used for generating an elliptic equation of the target processing track if the target processing track is an elliptic arc;
the circular arc determining module is used for determining a circular equation corresponding to the elliptic equation and determining a circular arc starting point and a circular arc end point according to the end point of the target processing track and the circular equation;
the interpolation calculation module is used for carrying out acceleration and deceleration planning according to the arc starting point and the arc ending point, and determining the target coordinate of each interpolation period according to the acceleration and deceleration planning result;
and the control module is used for controlling the numerical control machine tool to process according to the target coordinates.
10. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, realizes the steps of the control method of the numerical control machine tool according to any one of claims 1 to 8.
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