CN117742237A

CN117742237A - Quadrant mark compensation method, system, device and storage medium

Info

Publication number: CN117742237A
Application number: CN202311780280.8A
Authority: CN
Inventors: 杨晓生; 杨宇达; 刘焕; 孙玉财
Original assignee: Shenzhen Inovance Technology Co Ltd
Current assignee: Shenzhen Inovance Technology Co Ltd
Priority date: 2023-12-22
Filing date: 2023-12-22
Publication date: 2024-03-22

Abstract

The application discloses a quadrant trace compensation method, a quadrant trace compensation system, a quadrant trace compensation device and a storage medium, wherein the quadrant trace compensation method comprises the following steps: receiving a quadrant mark compensation error curve fed back by a servo control system; determining an optimal quadrant mark compensation parameter according to the quadrant mark compensation error curve; determining real-time compensation parameters according to the real-time reversing acceleration and the optimal quadrant trace compensation parameters; and sending the real-time compensation parameters to a servo control system for quadrant trace compensation by the servo control system based on the real-time compensation parameters. The method solves the problems that in the numerical control machining process, the quadrant mark compensation precision is low, and the method cannot be suitable for quadrant mark compensation scenes of high-speed or high-precision machining occasions, improves the quadrant mark compensation precision, and improves the surface machining quality of workpieces.

Description

Quadrant mark compensation method, system, device and storage medium

Technical Field

The present disclosure relates to the field of numerical control processing technologies, and in particular, to a quadrant mark compensation method, system, device, and storage medium.

Background

Along with the rapid development of CNC (Computer Numerical Control Controller, numerical control system) numerical control technology, more and more processing problems are focused, and most of the processing problems relate to CNC, servo driver, servo motor and machine tool body mechanical structure, so that the processing problems are complicated, and further the existing compensation function of CNC cannot completely meet the actual production requirement.

In the machining of a numerical control machine tool, CNC needs to generate corresponding command positions according to track instructions of a target NC file, and sends the command positions to a servo control system so as to finish follow-up control of the positions. However, due to friction and mechanical clearance of the machine tool, an additional follow-up error is necessarily caused at the position reversing characteristic track, namely, deviation between a command position and a feedback position at the reversing characteristic track becomes large, and finally, the problem of quadrant mark on the surface of a machined workpiece is formed.

At present, the prior technical scheme for solving quadrant mark mainly comprises: the CNC calculates a speed feedforward compensation value curve in real time according to a plurality of groups of preset compensation parameters and with a control period (typical value 1 ms) as small as possible through a speed feedforward interface of the servo control system, and then the quadrant mark compensation is completed.

However, the conventional 1ms compensation period is still insufficient to achieve accurate compensation, resulting in failure to solve the quadrant problem in some high-speed or high-precision machining situations.

Disclosure of Invention

The embodiment of the application aims to solve the problems that in the numerical control machining process, the quadrant mark compensation precision is low, the method, the system and the device cannot be suitable for quadrant mark compensation scenes of high-speed or high-precision machining occasions, the quadrant mark compensation precision is improved, and the surface machining quality of a workpiece is improved by providing the quadrant mark compensation method, the system, the device and the storage medium.

The embodiment of the application provides a quadrant mark compensation method applied to a numerical control system, which comprises the following steps:

receiving a quadrant mark compensation error curve fed back by a servo control system;

determining an optimal quadrant mark compensation parameter according to the quadrant mark compensation error curve;

determining real-time compensation parameters according to the real-time reversing acceleration and the optimal quadrant trace compensation parameters;

and sending the real-time compensation parameters to a servo control system for quadrant trace compensation by the servo control system based on the real-time compensation parameters.

Optionally, the determining the optimal quadrant compensation parameter according to the quadrant compensation error curve includes:

performing parameter optimization based on the quadrant trace compensation error curve to obtain an optimal quadrant trace compensation parameter;

or, responding to the parameter configuration operation of the quadrant trace compensation parameter setting interface to obtain the optimal quadrant trace compensation parameter.

Optionally, the step of performing parameter optimization based on the quadrant trace compensation error curve to obtain an optimal quadrant trace compensation parameter includes:

calculating a compensation effect index according to the quadrant trace compensation error curve;

and determining the optimal quadrant mark compensation parameter according to the compensation effect index.

Optionally, the optimal quadrant mark compensation parameter includes at least one compensation circle parameter, the compensation circle parameter includes a compensation circle acceleration and at least one group of compensation parameters, and determining the real-time compensation parameter according to the real-time commutation acceleration and the optimal quadrant mark compensation parameter includes:

acquiring a real-time reversing acceleration corresponding to a current motion track;

when the compensation round acceleration corresponding to the real-time reversing acceleration exists in the compensation parameter database, determining the real-time compensation parameter according to the compensation round acceleration;

when the real-time reversing acceleration is located between two compensating circular accelerations, determining a target compensating circular acceleration and a target compensating parameter according to the real-time reversing acceleration, and determining the real-time compensating parameter according to the real-time reversing acceleration, the target compensating circular acceleration and the target compensating parameter, wherein the target compensating circular acceleration comprises a first compensating circular acceleration and a second compensating circular acceleration, and the target compensating parameter comprises a first compensating parameter and a second compensating parameter.

Optionally, the step of determining the real-time compensation parameter according to the compensation circular acceleration includes:

Acquiring a compensation circle index corresponding to the compensation circle acceleration;

and determining the compensation parameter corresponding to the compensation circle index as the real-time compensation parameter.

Optionally, the step of determining the target compensation circular acceleration and the target compensation parameter according to the real-time commutation acceleration includes:

determining a first compensation circle index having a compensation circle acceleration less than or equal to and closest to the real-time commutation acceleration, and determining a second compensation circle index having a compensation circle acceleration greater than or equal to and closest to the real-time commutation acceleration;

acquiring a first compensating circular acceleration associated with the first compensating circular index and a second compensating circular acceleration associated with the second compensating circular index, and determining the first compensating circular acceleration and the second compensating circular acceleration as the target compensating circular acceleration;

and acquiring a first compensation parameter associated with the first compensation circle index and a second compensation parameter associated with the second compensation circle index, and determining the first compensation parameter and the second compensation parameter as the target compensation parameter.

Optionally, the step of determining the real-time compensation parameter according to the real-time commutation acceleration, the target compensation circular acceleration, and the target compensation parameter includes:

Obtaining a proportionality coefficient according to the real-time reversing acceleration, the first compensating circular acceleration and the second compensating circular acceleration;

and determining the real-time compensation parameter according to the proportionality coefficient, the first compensation parameter and the second compensation parameter.

Optionally, the obtaining the scaling factor according to the real-time commutation acceleration, the first compensated circular acceleration, and the second compensated circular acceleration includes:

determining a first difference between the real-time commutation acceleration and the first compensated circular acceleration, and determining a second difference between the second compensated circular acceleration and the first compensated circular acceleration;

determining a ratio of the first difference to the second difference;

the ratio is taken as the proportionality coefficient.

Optionally, the determining the real-time compensation parameter according to the scaling factor, the first compensation parameter and the second compensation parameter includes:

determining a third difference between the second compensation parameter and the first compensation parameter;

determining a product between the scaling factor and the third difference value;

determining a sum between the product and the first compensation parameter;

And taking the sum value as the real-time compensation parameter.

Optionally, before receiving the quadrant trace compensation error curve fed back by the servo control system, the method further includes:

displaying a self-learning interface, wherein the self-learning interface comprises a parameter setting area, a learning program loading component and a self-learning component;

determining compensation circle information, each piece of motion axis information of a compensation circle and circle center position information when responding to parameter editing operation of the parameter setting area, wherein the circle center position information is used for generating a motion track;

loading a motion trail for parameter self-learning in response to a triggering operation of the learning program loading component;

and controlling the servo control system to run based on the motion trail for parameter self-learning to obtain the quadrant trace compensation error curve.

The embodiment of the application also provides a quadrant mark compensation method applied to the servo control system, which comprises the following steps:

receiving real-time compensation parameters sent by a numerical control system;

generating a real-time compensation torque curve according to the real-time compensation parameters;

and performing quadrant trace compensation based on the real-time compensation torque curve.

Optionally, the generating the real-time compensation torque curve according to the real-time compensation parameter includes:

Determining real-time compensation torque, real-time compensation delay and real-time compensation time according to the real-time compensation parameters;

when the bit replacement backward time is greater than the real-time compensation delay time, determining a first real-time compensation torque curve according to the bit replacement backward time, the real-time compensation torque, the real-time compensation delay time and the real-time compensation time;

determining a second real-time compensation torque curve when the bit displacement backward time is less than or equal to the real-time compensation delay;

and generating the real-time compensation torque curve according to the first real-time compensation torque curve and the second real-time compensation torque curve.

In addition, to achieve the above object, the present application further provides a quadrant marking compensation system, including:

the receiving module is used for receiving the quadrant trace compensation error curve fed back by the servo control system;

the optimal compensation parameter self-learning module is used for determining optimal quadrant mark compensation parameters according to the quadrant mark compensation error curve;

the self-adaptive parameter calculation module is used for determining real-time compensation parameters according to the real-time reversing acceleration and the optimal quadrant trace compensation parameters;

the sending module is used for sending the real-time compensation parameters to a servo control system so that the servo control system can perform quadrant mark compensation based on the real-time compensation parameters;

Alternatively, the quadrant marking compensation system includes:

the real-time compensation module is used for receiving real-time compensation parameters sent by the numerical control system; generating a real-time compensation torque curve according to the real-time compensation parameters; and performing quadrant trace compensation based on the real-time compensation torque curve.

In addition, to achieve the above object, the present application further provides a quadrant marking compensation device, including: a numerical control system and a servo control system;

the numerical control system includes: a first memory, a first processor, and a quadrant compensation program stored on the first memory and running on the first processor, which when executed by the first processor, implements the steps of the quadrant compensation method as described above;

the servo control system includes: the device comprises a second memory, a second processor and a quadrant compensation program stored in the second memory and running on the second processor, wherein the quadrant compensation program realizes the steps of the quadrant compensation method when being executed by the second processor.

In addition, in order to achieve the above object, the present application further provides a computer-readable storage medium having a quadrant marking compensation program stored thereon, which when executed by a processor, implements the quadrant marking compensation method described above.

According to the technical scheme of the quadrant mark compensation method, the system, the device and the storage medium, as the quadrant mark compensation error curve fed back by the servo control system is received, the optimal quadrant mark compensation parameter is obtained through calculation according to the quadrant mark compensation error curve, the real-time compensation parameter is determined according to the real-time reversing acceleration and the optimal quadrant mark compensation parameter, and finally the quadrant mark compensation is carried out by adopting the real-time compensation parameter. Compared with the speed compensation method in the related art, the speed compensation method based on the numerical control system and the servo control system can further utilize the servo control system to conduct torque compensation, so that more accurate quadrant mark compensation is achieved, and the surface machining quality of a workpiece is improved.

Drawings

FIG. 1 is a functional schematic diagram of a quadrant marking compensation system of the present application;

FIG. 2 is a flowchart of a first embodiment of a quadrant trace compensation method according to the present application;

FIG. 3 is a block diagram of the adaptive parameter calculation module of the present application;

FIG. 4 is a block diagram of the self-learning module of the optimal compensation parameters of the present application;

FIG. 5 is a schematic flow chart of the parameter optimizing module of the present application;

FIG. 6 is an interface diagram of a quadrant marking compensation parameter setting interface of the present application;

FIG. 7 is a block diagram of a real-time compensation module of the present application;

FIG. 8 is a schematic diagram of a real-time compensation torque curve of the present application;

FIG. 9 is a block diagram of an error monitoring module of the present application;

FIG. 10 is a graph of the tracking error without quadrant compensation;

FIG. 11 is a graph of the tracking error after quadrant mark compensation according to the present application;

fig. 12 is a schematic structural diagram of a numerical control system or a servo control system according to an embodiment of the present application.

The achievement of the objects, functional features and advantages of the present application will be further described with reference to embodiments, with reference to the accompanying drawings, which are only illustrations of one embodiment, but not all of the inventions.

Detailed Description

In order to better understand the above technical solution, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Aiming at the problems, the application provides a quadrant mark compensation method, which mainly comprises the following steps: receiving a quadrant mark compensation error curve fed back by a servo control system; determining an optimal quadrant mark compensation parameter according to the quadrant mark compensation error curve; determining real-time compensation parameters according to the real-time reversing acceleration and the optimal quadrant trace compensation parameters; and sending the real-time compensation parameters to a servo control system for quadrant trace compensation by the servo control system based on the real-time compensation parameters. Compared with the speed compensation method in the related art, the speed compensation method based on the numerical control system and the servo control system can further utilize the servo control system to conduct torque compensation, so that more accurate quadrant mark compensation is achieved, and the surface machining quality of a workpiece is improved.

In addition, in the related art, the usability of the compensation parameters is poor, a plurality of compensation parameters are required to be manually set, and the parameter adjustment process of one machine tool is up to several hours according to the processing effect. Aiming at the problems, the method for self-learning the quadrant mark compensation parameters is adopted, so that the parameter adjusting time is greatly reduced, the usability of the quadrant mark compensation function is improved, and the difficulty in solving the quadrant mark problem is reduced.

The quadrant marking compensation system of the present application will be described in detail below.

Referring to fig. 1, the quadrant marking compensation system of the present application includes: the servo control system 6 and the numerical control system 7. The servo control system 6 comprises an error monitoring module 1 and a real-time compensation module 5. The numerical control system 7 comprises an optimal compensation parameter self-learning module 2, a compensation parameter database 3 and an adaptive parameter calculation module 4. Each module will be described in detail below:

the error curve monitoring module 1 is used for obtaining a quadrant trace compensation error curve.

The optimal compensation parameter self-learning module 2 is used for obtaining the optimal quadrant mark compensation parameter.

The compensation parameter database 3 is used for storing the optimal quadrant mark compensation parameters obtained by the optimal compensation parameter self-learning module 2 or the optimal quadrant mark compensation parameters manually set by a user.

The adaptive parameter calculation module 4 is configured to calculate a real-time compensation parameter.

The real-time compensation module 5 is used for realizing quadrant trace compensation based on the real-time compensation parameters.

As shown in fig. 2, in a first embodiment of the present application, the quadrant marking compensation method of the present application is applied to a numerical control system. Specifically, the quadrant mark compensation method comprises the following steps:

step S110, receiving a quadrant trace compensation error curve fed back by the servo control system.

In the present embodiment, in the numerical control machining system, quadrant mark compensation is a technique for correcting the influence of the tool radius on the machining profile. In numerical control machining, the actual radius of the tool may deviate from the theoretical radius, which may cause the size of the machined part to be inconsistent with the design requirements. To compensate for this error, quadrant compensation is required. Quadrant compensation is typically a correction for tool radius errors in the circular interpolation motion. When the numerical control system executes the circular arc interpolation instruction, the system corrects on different quadrants (namely four quadrants of the circular arc) according to the compensation value of the cutter radius error so as to ensure that the size of the machined part is consistent with the expected value. By dividing the error difference of the radius of the cutter into four quadrants for compensation, the machining path can be corrected more accurately, so that the size of the machined part is more accurate. Such compensation techniques can improve the accuracy and stability of numerical control machining, particularly where high accuracy machining is required.

In this embodiment, the servo control system acquires an output torque curve; determining whether a torque error exists according to the output torque curve and the expected torque curve; when the torque error exists, a quadrant trace compensation error curve is generated according to the torque error, and the quadrant trace compensation error curve is fed back to the numerical control system.

Illustratively, the numerical control system obtains the quadrant compensation error curve fed back by the servo control system, which can be generally implemented through the following steps:

performing system calibration: before error compensation is performed, the servo control system needs to be calibrated to ensure that the feedback control system can accurately measure and control the position and speed of the motor.

The experimental scheme is designed: in order to obtain an accurate error compensation curve, a certain experimental scheme needs to be designed. This includes determining the number and location of test points, the sampling frequency of the test data, the test method, etc.

Collecting test data: and (5) collecting test data according to an experimental scheme, and recording the test data. The test data should include the error between the actual position and the desired position of the servo motor at different positions or speeds.

And (3) data processing: the test data is imported into a computer and data analysis and processing is performed using specialized data processing software. According to the data analysis result, the error compensation quantity corresponding to each test point can be calculated.

Drawing an error compensation curve: and drawing a quadrant trace compensation error curve according to the error compensation quantity and the position of the test point. The quadrant mark compensation error curve is usually a four-quadrant curve, and each quadrant corresponds to a different error compensation amount.

Introducing a quadrant trace compensation error curve into a numerical control system: and (3) leading the drawn quadrant mark compensation error curve into a numerical control system, and setting parameters in the numerical control system so that the quadrant mark compensation error curve can carry out error compensation control on the motor.

It should be noted that the quadrant compensation error curves of different servo control systems may have differences, so when the quadrant compensation error curves are obtained, adjustment is required according to specific servo control systems and processing requirements. Meanwhile, the quadrant compensation error curve also needs to be periodically detected and updated to ensure the stability and the precision of the system.

Optionally, the quadrant trace compensation error curve comprises a position following error curve, a speed following error curve, or a torque following error curve.

And step S120, determining the optimal quadrant mark compensation parameters according to the quadrant mark compensation error curve.

In this embodiment, the problem of quadrant mark occurring in the processing process can be overcome by the optimal quadrant mark compensation parameter. Referring to fig. 1, an error curve monitoring module 1 acquires a quadrant trace compensation error curve and sends the quadrant trace compensation error curve to an optimal compensation parameter self-learning module 2 of a CNC control module 7; and the optimal compensation parameter self-learning module 2 calculates the optimal quadrant mark compensation parameter according to the quadrant mark compensation error curve.

Optionally, the optimal quadrant mark compensation parameters are stored in the compensation parameter database 3, and when adaptive parameter calculation is performed subsequently, corresponding quadrant mark compensation parameters can be obtained from the compensation parameter database 3 to perform real-time compensation parameter calculation.

And step S130, determining real-time compensation parameters according to the real-time reversing acceleration and the optimal quadrant trace compensation parameters.

In this embodiment, the adaptive parameter calculation module 4 calculates the real-time compensation parameter according to the quadrant trace compensation parameter of 3 in the compensation database.

Alternatively, the adaptive parameter calculation module 4 is configured as shown in fig. 3. The adaptive parameter calculation module 4 comprises motion commutation feature recognition 11 and real-time compensation parameter calculation 12. The motion reversing feature recognition 11 is responsible for recognizing the real-time reversing acceleration a of the motion trail; the real-time compensation parameter calculation 12 calculates the real-time compensation parameter according to the real-time commutation acceleration a and the quadrant trace compensation parameter in the compensation parameter database 3.

Step S140, sending the real-time compensation parameter to a servo control system for the servo control system to perform quadrant trace compensation based on the real-time compensation parameter.

In this embodiment, the real-time compensation parameter is sent to the real-time compensation module 5 of the servo control system 6, so that the real-time compensation module 5 generates a real-time compensation torque curve according to the real-time compensation parameter, and quadrant trace compensation is realized through a torque feedforward interface of the servo control system.

According to the technical scheme, the quadrant trace compensation error curve fed back by the servo control system is received; determining an optimal quadrant mark compensation parameter according to the quadrant mark compensation error curve; determining real-time compensation parameters according to the real-time reversing acceleration and the optimal quadrant trace compensation parameters; and sending the real-time compensation parameters to a servo control system for quadrant trace compensation by the servo control system based on the real-time compensation parameters. Compared with the speed compensation method in the related art, the speed compensation method based on the numerical control system and the servo control system can further utilize the servo control system to conduct torque compensation, so that more accurate quadrant mark compensation is achieved, and the surface machining quality of a workpiece is improved.

Further, based on the first embodiment, in a second embodiment of the present application, step S120 includes:

and S121, performing parameter optimization based on the quadrant trace compensation error curve to obtain an optimal quadrant trace compensation parameter.

In this embodiment, the present application obtains the optimal quadrant trace compensation parameter through the optimal compensation parameter self-learning module 2.

Optionally, in the optimal compensation parameter self-learning module 2, a particle swarm optimization algorithm and a quadrant trace compensation error curve are adopted to perform parameter optimization, so as to obtain an optimal quadrant trace compensation parameter.

Optionally, when the above-mentioned quadrant trace compensation method with parameter self-learning is actually used, the parameter optimizing algorithm in the optimal compensation parameter self-learning module 2 does not need to use a particle swarm optimizing algorithm, and can also be implemented by other parameter optimizing algorithms, but the parameter optimizing algorithms all have the following flow characteristics: and calculating a real-time compensation parameter according to the quadrant mark compensation error, sending the real-time compensation parameter to a driver for compensation, repeating the steps for a plurality of times, and finally outputting the optimal quadrant mark compensation parameter.

Optionally, step S121 includes:

step S1211, calculating a compensation effect index according to the quadrant trace compensation error curve.

Step S1212, determining the optimal quadrant trace compensation parameter according to the compensation effect index.

In this embodiment, as shown in fig. 4, the optimal compensation parameter self-learning module 2 includes a compensation effect index calculating module 9 and a parameter optimizing module 10. The compensation effect index calculation module 9 calculates a compensation effect index according to the quadrant trace compensation error curve, wherein the compensation effect index is used for evaluating the quality of the compensation effect. The parameter optimizing module 10 obtains the optimal quadrant mark compensation parameter according to the compensation effect index provided by the compensation effect index calculating module 9.

Optionally, step S1211 includes: determining quadrant mark compensation errors corresponding to N periods after the movement direction is changed according to the quadrant mark compensation error curve; respectively carrying out square operation on the quadrant mark compensation errors corresponding to each period to obtain square values of the quadrant mark compensation errors corresponding to each period; and carrying out summation operation on the square value of the quadrant trace compensation error corresponding to each period to obtain the compensation effect index of N periods after the movement direction is changed. The calculation formula is as follows:

。

optionally, step S1212 includes: and setting a preset compensation effect index, and determining the corresponding quadrant mark compensation parameter as the optimal quadrant mark compensation parameter when the compensation effect index meets the preset compensation effect index.

Referring to fig. 5, fig. 5 is a schematic diagram of determining an optimal quadrant compensation parameter by self-learning of the parameters of the present application. Specifically, the method comprises the following steps:

(1) Parameter self-learning is started, and i=1 is set.

(2) Judging whether parameter self-learning data of the ith compensation circle is initialized or not; if yes, executing (3); if not, execute (4): initializing parameter self-learning data and returning to the execution (2).

(4) Acquiring the compensated circular acceleration A _i 。

(5) The planned reversing acceleration is A _i And acquires the quadrant trace compensation error curve thereof.

(6) And obtaining the compensation effect index.

(7) Quadrant mark compensation parameter self-learning algorithm.

(8) Outputting the optimal quadrant trace compensation parameter B _ij 、C _ij 、D _ij 。

（9）i = i + 1。

(10) Judging whether i is larger than the number of compensation circles needing parameter self-learning. If yes, executing (11) if not, returning to executing (2).

(11) And saving the optimal quadrant mark compensation parameters of all the compensation circles to a database.

Optionally, performing parameter optimization by using a particle swarm optimization algorithm and a quadrant trace compensation error curve to obtain an optimal quadrant trace compensation parameter (i.e. a quadrant trace compensation parameter self-learning algorithm in fig. 5) includes the following steps:

(1) Setting parameters: number of particles N, particle dimension M, maximum number of iterations k _max Individual learning factor c ₁ Group learning factor c ₂ Maximum inertial weight factor w _max Minimum inertial weight factor w _min Adaptive value threshold f for stopping optimizing _min 。

(2) Generating N particles, and defining: the position of the nth particle in the kth iteration period is xn|k= (x) _n,1|k , ... , x _n,M|k ) At a speed of V _n|k = (v _n,1|k ,... , v _n,M|k )。

(3) The position and velocity of each particle are randomly initialized, and the number of initialization iterations k=0.

(4) The number of iterations k=k+1.

(5) Initializing the particle number n=0.

(6) Particle number n=n+1.

(7) According to the position X of the nth particle in the kth iteration period _n|k I.e. (x) _n,1|k , ... , x _n,M|k ) Calculating real-time compensation parameters:

real-time compensation torque bj=x _n,3j-2|k ；

Real-time compensation delay cj=x _n,3j-1|k ；

Real-time compensation time dj=x _n,3j|k ；

Where j represents the j-th set of real-time compensation parameters.

(8) Sending the real-time compensation parameter to a driver for quadrant trace compensation, obtaining a compensation effect index p corresponding to the real-time compensation parameter, and updating the adaptive value f of the nth particle in the kth iteration period _n|k The compensation effect index p.

(10) And judging whether N is greater than or equal to N. If yes, executing (11), otherwise, executing (6).

(11) Updating the population history optimal fitness value f of all particles _gbest = min(f _1|pbest , ... , f _N|pbest ) F _gbest Corresponding group history optimal position X _gbest Namely (x) _1|gbest , ... , x _M|gbest )。

(12) Judgment f _gbest Whether or not it is smaller than f _min Or whether k is greater than or equal to k _max . If yes, the execution of (13) is finished, and if not, the execution of (14) - (16) is finished.

(13) Optimum position X according to population history of all particles _gbest I.e. (x) _1|gbest , ... , x _M|gbest ) Calculating an optimal quadrant mark compensation parameter:

optimum compensation torque B _ij = x _3j-2|gbest ；

Optimum compensation delay C _ij = x _3j-1|gbest ；

Optimum compensation time D _ij = x _3j|gbest ；

Where i and j represent the j-th set of compensation parameters for the i-th compensation circle.

(14) Updating inertial weight factor w=w _max - (w _max - w _min )* k /k _max Generating random number r with the range of 0-1 ₁ And r ₂ 。

According to the technical scheme, the optimal quadrant trace compensation parameters are automatically optimized through the optimizing algorithm, and the optimizing efficiency and accuracy of the optimal quadrant trace compensation parameters are improved.

Further, based on the first embodiment, in a third embodiment of the present application, step S120 includes:

and step S122, responding to the parameter configuration operation of the quadrant trace compensation parameter setting interface to obtain the optimal quadrant trace compensation parameter.

In this embodiment, the quadrant mark compensation parameter may also be set manually by the user, and the user may directly perform quadrant mark compensation by manually setting the parameter, in which case the step of self-learning the optimal compensation parameter may be omitted.

When the above-mentioned parameter self-learning quadrant trace compensation method is actually used, all the quadrant trace compensation parameters can be divided into several groups of compensation circle parameters, each compensation circle parameter includes several axis compensation parameters, each axis compensation parameter includes 2 different bit-displaced direction (positive to negative direction and negative to positive direction) commutation compensation parameters, each commutation compensation parameter includes several groups of quadrant trace compensation parameters, and each group of quadrant trace compensation parameters includes at least compensation torque, compensation delay and compensation time.

Optionally, the user sets the number of compensation circles through a quadrant mark compensation parameter setting interface, where each compensation circle parameter includes axis compensation parameters of all axes, each axis compensation parameter includes 2 sets of quadrant mark compensation parameters, and the quadrant mark compensation parameter setting interface of each axis compensation parameter is shown in fig. 6.

According to the technical scheme, the quadrant mark compensation parameters are manually set, so that the quadrant mark compensation parameters are convenient to modify.

Further, based on the above embodiments, in a fourth embodiment of the present application, the optimal quadrant compensation parameters include at least one compensation circle parameter including a compensation circle acceleration and at least one set of compensation parameters. The real-time compensation parameters are calculated by the adaptive parameter calculation module 4. Specifically, step S130 includes:

Step S131, acquiring the real-time reversing acceleration corresponding to the current motion trail.

In this embodiment, the real-time commutation acceleration refers to acceleration generated when the machine tool needs to be suddenly changed from one motion state to another during machining of the machine tool. In particular, when the machine tool needs to be turned from positive to negative (or vice versa) during machining, or to be stopped and started quickly, a real-time commutation acceleration is generated. The present implementation can identify the real-time commutation acceleration a of the current motion trajectory through the motion commutation feature identification 11 in the adaptive parameter calculation module 4.

And step S132, when the compensation round acceleration corresponding to the real-time reversing acceleration exists in the compensation parameter database, determining the real-time compensation parameter according to the compensation round acceleration.

In this embodiment, when the compensation circular acceleration corresponding to the real-time commutation acceleration exists in the compensation parameter database, a compensation circular index corresponding to the compensation circular acceleration may be obtained from the compensation parameter database, and the compensation parameter corresponding to the compensation circular index is determined as the real-time compensation parameter.

And S133, when the real-time reversing acceleration is located between two compensating circular accelerations, determining a target compensating circular acceleration and a target compensating parameter according to the real-time reversing acceleration, and determining the real-time compensating parameter according to the real-time reversing acceleration, the target compensating circular acceleration and the target compensating parameter, wherein the target compensating circular acceleration comprises a first compensating circular acceleration and a second compensating circular acceleration, and the target compensating parameter comprises a first compensating parameter and a second compensating parameter.

In the present embodiment, the compensation circle in the numerical control processing refers to an additional circular arc path set for compensating an error generated in the machine tool or the tool path in the circular arc interpolation motion. In numerical control machining, when a circular interpolation motion is required, the actual path of a machine tool or a cutter may deviate from the desired path due to factors (such as the accuracy of a machine tool guide rail, cutter wear, etc.). To correct this deviation, the actual path can be adjusted by setting a compensation circle. The compensation circle is usually based on a desired circular path, and the actual path is corrected by adjusting the radius and the position. Specifically, the radius of the compensation circle is adjusted according to the actual situation, so that the actual path is as close to the expected path as possible. The position of the compensation circle is determined according to the error direction, so that the actual path is offset in the error direction, and the compensation effect is achieved. By using the compensation circle, the precision and accuracy of numerical control machining can be improved, and the parts are ensured to meet the design requirements. The size and position of the compensation circle are determined according to specific machining requirements and the performance of the machine tool, and the compensation circle is required to be debugged and optimized according to actual conditions.

In the present embodiment, the compensated circular acceleration is an important parameter in the machining error of the machine tool, which is defined as an angle error generated by the change of the acceleration during the machining of the machine tool. When the acceleration of the machine tool changes, due to the inertia and rigidity of the machine tool itself, there is a certain difference between the machining position of the machine tool and the desired position, which is to compensate the circular acceleration. The compensated circular acceleration is typically expressed in units of arcseconds/second, radians/second, or radians/second. The value of the sensor is related to factors such as the acceleration, the machine tool structure, a control system and the like. For a numerical control machine tool, compensation for the compensated circular acceleration is required in order to ensure machining accuracy. Generally, a numerical control machine tool obtains an error between a machining position and a desired position through a servo control system, and adjusts a motor motion parameter according to the error so as to eliminate the influence of the compensating circular acceleration, thereby improving machining precision. The magnitude and compensation effect of the compensation circular acceleration directly affect the machining precision of the machine tool, so that the compensation circular acceleration needs to be monitored and controlled in the machining process of the machine tool. The common monitoring method comprises the steps of monitoring the machine tool in real time by using a laser interferometer or an angle sensor and the like, and adjusting and optimizing according to the monitoring result.

In this embodiment, the target compensation circular acceleration and the target compensation parameter may be obtained by performing a correlation calculation according to the real-time commutation acceleration. And calculating the real-time compensation parameters according to the real-time reversing acceleration, the target compensation circular acceleration and the target compensation parameters.

Specifically, the method comprises the steps of performing relevant calculation according to the real-time reversing acceleration to obtain a first compensating circular acceleration, a second compensating circular acceleration, a first compensating parameter and a second compensating parameter, and calculating according to the real-time reversing acceleration, the first compensating circular acceleration, the second compensating circular acceleration, the first compensating parameter and the second compensating parameter to obtain the real-time compensating parameter.

Optionally, in step S133, determining the target compensated circular acceleration and the target compensation parameter according to the real-time commutation acceleration includes:

step S1331, determining a first compensation circle index having a compensation circle acceleration less than or equal to and closest to the real-time commutation acceleration, and determining a second compensation circle index having a compensation circle acceleration greater than or equal to and closest to the real-time commutation acceleration.

In the present embodiment, the first compensation circle index is denoted as i0, and the second compensation circle index is denoted as i1.

Step S1332, acquiring a first compensated circular acceleration associated with the first compensated circular index and acquiring a second compensated circular acceleration associated with the second compensated circular index, and determining the first compensated circular acceleration and the second compensated circular acceleration as the target compensated circular acceleration.

Step S1333, acquiring a first compensation parameter associated with the first compensation circle index and acquiring a second compensation parameter associated with the second compensation circle index, and determining the first compensation parameter and the second compensation parameter as the target compensation parameter.

In the present embodiment, quadrant-mark compensation parameters are stored in the compensation parameter database 3. The quadrant mark compensation parameters comprise at least 1 compensation circle parameter, and each compensation circle parameter comprises compensation circle acceleration A _i And at least 1 set of compensation parameters, each set of compensation parameters comprising at least a compensation torque B _ij Compensating delay C _ij And compensation time D _ij Where i, j represent the j-th set of compensation parameters of the i-th compensation circle. Therefore, after the first compensation circle index and the second compensation circle index are obtained, the corresponding compensation circle acceleration is acquired from the compensation parameter database 3 as the target compensation circle acceleration, and the corresponding compensation parameter is acquired as the target compensation parameter.

In the present embodiment, the firstThe compensating circular acceleration is marked as A _i0 Marking the second compensated circular acceleration as A _i1 。

Optionally, in step S133, determining the real-time compensation parameter according to the real-time commutation acceleration, the target compensated circular acceleration, and the target compensation parameter includes:

and S1334, obtaining a proportionality coefficient according to the real-time reversing acceleration, the first compensating circular acceleration and the second compensating circular acceleration.

Step S1335, determining the real-time compensation parameter according to the scaling factor, the first compensation parameter and the second compensation parameter.

Optionally, step S1334 includes: determining a first difference between the real-time commutation acceleration and the first compensated circular acceleration, and determining a second difference between the second compensated circular acceleration and the first compensated circular acceleration; determining a ratio of the first difference to the second difference; the ratio is taken as a proportionality coefficient.

Optionally, step S1335 includes: determining a third difference between the second compensation parameter and the first compensation parameter; determining a product between the scaling factor and the third difference value; determining a sum between the product and the first compensation parameter; the sum is taken as a real-time compensation parameter.

Optionally, the compensation parameters include compensation torque, compensation delay and compensation time.

According toReal-time compensation torque is determined.

According toAnd determining the real-time compensation delay.

According toReal-time compensation time is determined.

Wherein j is>0，For compensating the circular acceleration to be greater than or equal to the compensating torque corresponding to the compensating circular index closest to the real-time acceleration a, +.>The compensation torque corresponding to the compensation circle index which is smaller than or equal to the compensation circle acceleration and closest to the real-time acceleration a is used for compensating the circle acceleration; />For compensating the compensation delay corresponding to the compensation circle index with the circular acceleration larger than or equal to and closest to the real-time acceleration a, +.>The compensation time delay corresponding to the compensation circle index which is smaller than or equal to the compensation circle acceleration and closest to the real-time acceleration a is used for compensating the circle acceleration; />In order to compensate for the compensation time corresponding to the compensation circle index having the circular acceleration greater than or equal to and closest to the real-time acceleration a,the compensation circle acceleration is smaller than the compensation time corresponding to the compensation circle index which is equal to and closest to the real-time acceleration a.

According to the technical scheme, the real-time compensation parameters are calculated through the self-adaptive parameter calculation module, and accuracy of calculation results of the real-time compensation parameters is improved.

Further, based on the above embodiments, in the fifth embodiment of the present application, before step S110, the following steps are further included:

Step S210, displaying a self-learning interface, wherein the self-learning interface comprises a parameter setting area, a learning program loading component and a self-learning component.

Step S220, determining, in response to the parameter editing operation of the parameter setting area, compensation circle information, each movement axis information of the compensation circle, and circle center position information, where the circle center position information is used to generate a movement track.

Step S230, loading a motion trail for parameter self-learning in response to the triggering operation of the learning program loading component.

And step S240, controlling the servo control system to run based on the motion trail for parameter self-learning to obtain the quadrant trace compensation error curve.

In this embodiment, it is determined whether to start the parameter self-learning of quadrant trace compensation, if so, a compensation circle is set in the self-learning interface, that is, compensation circle information requiring the parameter self-learning is set, including the speed and radius of the circle. And setting a motion axis in the self-learning interface, namely setting the motion axis of each compensation circle, which needs to participate in parameter self-learning, for each compensation circle. Setting a circle center, wherein the circle center position information is used for generating a motion trail program. And loading a learning program, a motion trail program for parameter self-learning, and starting motion control.

According to the technical scheme, the method for self-learning the quadrant mark compensation parameters is adopted, so that the parameter adjustment time is greatly reduced, the usability of the quadrant mark compensation function is improved, and the problem solving difficulty of the quadrant mark is reduced.

In a sixth embodiment of the present application, the quadrant marking compensation method of the present application is applied to a servo control system. Specifically, the quadrant mark compensation method comprises the following steps:

step S310, receiving real-time compensation parameters sent by the numerical control system.

In this embodiment, the present application performs quadrant compensation by the real-time compensation module 5. The block diagram of the real-time compensation module 5 is shown in fig. 7, and includes a real-time torque calculation module 13 and a servo control system 8. The real-time compensation torque calculation module 13 calculates a real-time compensation torque curve Tc according to the real-time compensation parameters provided by the adaptive parameter calculation module 4 or the optimal compensation parameter self-learning module 2, and receives the real-time compensation parameters sent by the numerical control system through a torque compensation interface provided by the servo control system 8, so as to perform subsequent quadrant trace compensation.

And step S320, generating a real-time compensation torque curve according to the real-time compensation parameters.

In this embodiment, the time after bit permutation is acquired. And generating a real-time compensation torque curve according to the bit replacement backward time and the real-time compensation parameter.

And step S330, quadrant mark compensation is performed based on the real-time compensation torque curve.

According to the technical scheme, the servo control system performs quadrant mark compensation based on the real-time compensation torque curve, is applicable to quadrant mark compensation scenes of high-speed or high-precision machining occasions, and improves the surface machining quality of a workpiece.

Optionally, step S320 includes:

and S321, determining real-time compensation torque, real-time compensation delay and real-time compensation time according to the real-time compensation parameters.

And S322, when the bit replacement backward time is greater than the real-time compensation time delay, determining a first real-time compensation torque curve according to the bit replacement backward time, the real-time compensation torque, the real-time compensation time delay and the real-time compensation time.

Step S323, determining a second real-time compensation torque curve when the bit-shift-backward time is less than or equal to the real-time compensation delay.

In this embodiment, referring to fig. 8, fig. 8 is a real-time compensation torque curve of the present application. The first and second live compensation torque curves are determined using the following equation (1).

（1）。

Wherein T is _j For the j-th section of real-time compensation torque curve, t is the backward time of bit replacement and t is more than or equal to 0, the definition is shown in figure 8, the amplitude, delay time and time constant of the curve are respectively provided by the adaptive parameter calculation module 4 as quadrant trace real-time compensation parameters, namely b _j 、c _j And d _j It is determined that j represents the j-th set of compensation parameters.

Step S324, generating the real-time compensation torque curve according to the first real-time compensation torque curve and the second real-time compensation torque curve.

In this embodiment, after the first real-time compensation torque curve and the second real-time compensation torque curve are obtained, the first real-time compensation torque curve and the second real-time compensation torque curve are connected to obtain the real-time compensation torque curve. The real-time compensation torque curve can be determined according to the following formula (2).

。

Wherein n is>0，T _c The torque curve is compensated for in real time.

Optionally, an output torque curve of the servo control system can also be obtained; determining whether a torque error exists according to the output torque curve and the expected torque curve; when a torque error exists, a quadrant trace compensation error curve is generated according to the torque error.

Specifically, the quadrant trace compensation error curve is obtained by the error curve monitoring module 1. A block diagram of the error curve monitoring module 1 is shown in fig. 9. The quadrant trace compensation error curve can be set as a position following error curve, a speed following error curve, or a torque following error curve of the servo control system 8 according to the parameter configuration of the user.

In actual machine tool machining, the tracking error map when no quadrant mark compensation is performed is shown in fig. 10, the tracking error after quadrant mark compensation is shown in fig. 11, and the position protrusion error at four quadrant points (position reversing positions) after compensation is suppressed, thereby improving machining accuracy.

Embodiments of the present application provide embodiments of quadrant marking compensation methods, it being noted that although a logic sequence is shown in the flow diagrams, in some cases the illustration or description may be performed in a different order than that shown herein.

The application provides a quadrant trace compensation system, quadrant trace compensation system includes:

Alternatively, the quadrant marking compensation system includes:

The specific implementation manner of the quadrant mark compensation system is basically the same as that of each embodiment of the quadrant mark compensation method, and is not repeated here.

Based on the same inventive concept, the present application further provides a quadrant marking compensation device, which may include: the numerical control system and the servo control system can be connected in a wired mode. The numerical control system comprises a first memory and a first processor, and the servo control system comprises a second memory and a second processor.

As shown in fig. 12, fig. 12 is a schematic structural diagram of a hardware operating environment of a numerical control system or a servo control system according to an embodiment of the present application. Specifically, the method comprises the following steps: a processor 1001, such as a CPU, memory 1005, user interface 1003, network interface 1004, communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a display, an input unit such as a keyboard, and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.

It will be appreciated by those skilled in the art that the quadrant compensation arrangement shown in fig. 12 is not limiting to quadrant compensation arrangements, and may include more or fewer components than shown, or may be combined with certain components, or may be arranged with different components.

As shown in fig. 12, an operating system, a network communication module, a user interface module, and a quadrant compensation program may be included in the memory 1005 as one type of storage medium. The operating system is a program for managing and controlling hardware and software resources of the quadrant marking compensation device, and the quadrant marking compensation program and other software or running programs.

In the quadrant marking compensation device shown in fig. 12, the user interface 1003 is mainly used for connecting a terminal, and is in data communication with the terminal; the network interface 1004 is mainly used for a background server and is in data communication with the background server; the processor 1001 may be used to invoke the quadrant marking compensation program stored in the memory 1005.

In this embodiment, the quadrant mark compensation device includes: a memory 1005, a processor 1001, and a quadrant compensation program stored on the memory and executable on the processor, wherein:

when the processor 1001 calls the quadrant compensation program stored in the memory 1005, the following operations are performed:

When the processor 1001 calls the quadrant compensation program stored in the memory 1005, the following operations are also performed:

receiving real-time compensation parameters sent by a numerical control system;

Based on the same inventive concept, the embodiments of the present application further provide a computer readable storage medium, where the computer readable storage medium stores a quadrant compensation program, where each step of the quadrant compensation method described above is implemented when the quadrant compensation program is executed by a processor, and the same technical effects can be achieved, so that repetition is avoided and redundant description is omitted herein.

Because the storage medium provided in the embodiments of the present application is a storage medium used for implementing the method in the embodiments of the present application, based on the method described in the embodiments of the present application, a person skilled in the art can understand the specific structure and the modification of the storage medium, and therefore, the description thereof is omitted herein. All storage media used in the methods of the embodiments of the present application are within the scope of protection intended in the present application.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. 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 system that comprises the element.

The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above, including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, a television, or a network device, etc.) to perform the method described in the embodiments of the present application.

The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.

Claims

1. A quadrant marking compensation method, which is applied to a numerical control system, the quadrant marking compensation method comprising:

2. The method of quadrant compensation according to claim 1, wherein said determining optimal quadrant compensation parameters according to said quadrant compensation error curve comprises:

3. The quadrant marking compensation method according to claim 2, wherein the step of performing parameter optimization based on the quadrant marking compensation error curve to obtain an optimal quadrant marking compensation parameter comprises:

4. A method of quadrant compensation according to any of claims 1-3, wherein the optimal quadrant compensation parameters comprise at least one compensation circle parameter comprising a compensation circle acceleration and at least one set of compensation parameters, said determining real-time compensation parameters based on real-time commutation acceleration and the optimal quadrant compensation parameters comprising:

5. The quadrant marking compensation method of claim 4, wherein said determining said real-time compensation parameter according to said compensated circular acceleration comprises:

6. The quadrant trace compensation method according to claim 4, wherein said step of determining a target compensated circular acceleration and a target compensation parameter based on said real-time commutation acceleration comprises:

7. The quadrant trace compensation method according to claim 4, wherein said step of determining said real-time compensation parameter based on said real-time commutation acceleration, said target compensated circular acceleration and said target compensation parameter comprises:

8. The quadrant trace compensation method according to claim 7, wherein obtaining the proportionality coefficient according to the real-time commutation acceleration, the first compensated circular acceleration and the second compensated circular acceleration comprises:

determining a ratio of the first difference to the second difference;

the ratio is taken as the proportionality coefficient.

9. The quadrant marking compensation method of claim 7, wherein said determining said real-time compensation parameter according to said scaling factor, said first compensation parameter and said second compensation parameter comprises:

determining a sum between the product and the first compensation parameter;

and taking the sum value as the real-time compensation parameter.

10. The method of claim 1, wherein prior to receiving the servo control system feedback quadrant compensation error curve, further comprising:

11. A quadrant marking compensation method, applied to a servo control system, comprising:

Receiving real-time compensation parameters sent by a numerical control system;

12. The quadrant marking compensation method of claim 11 wherein generating a real-time compensation torque curve based on the real-time compensation parameters comprises:

13. A quadrant marking compensation system, the quadrant marking compensation system comprising:

alternatively, the quadrant marking compensation system includes:

14. A quadrant marking compensation device, characterized in that it comprises: a numerical control system and a servo control system;

the numerical control system includes: a first memory, a first processor, and a quadrant compensation program stored on the first memory and running on the first processor, which when executed by the first processor, implements the steps of the quadrant compensation method according to any of claims 1-10;

The servo control system includes: a second memory, a second processor, and a quadrant marking compensation program stored on the second memory and running on the second processor, which when executed by the second processor, implements the steps of the quadrant marking compensation method according to any one of claims 11 or 12.

15. A computer readable storage medium, characterized in that the computer readable storage medium stores a quadrant compensation program, which when executed by a processor implements the steps of the quadrant compensation method of any of the claims 1-12.