TWI521318B - Thermal compensation apparatus and method - Google Patents
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本發明是有關於一種熱補償技術，且特別是有關於一種熱補償裝置及方法。This invention relates to a thermal compensation technique, and more particularly to a thermal compensation apparatus and method.
在機械加工的過程中，加工的精確度取決於靜態誤差以及動態誤差。其中，靜態誤差是加工機的幾何誤差所產生，其誤差量大小與位置相關。動態誤差則是由電腦數值控制器（computer numerical controller；CNC）所產生的誤差。然而，在高速加工的條件下，熱變位所導致的誤差，已經成為加工機主要的誤差來源。熱變位誤差佔機台總誤差可達40%至70%。In the machining process, the accuracy of the machining depends on the static error and the dynamic error. Among them, the static error is generated by the geometric error of the processing machine, and the magnitude of the error is related to the position. The dynamic error is the error produced by the computer numerical controller (CNC). However, under the conditions of high-speed machining, the error caused by thermal displacement has become the main source of error for the processing machine. The thermal displacement error accounts for 40% to 70% of the total error of the machine.
因此，如何設計一個新的熱補償裝置及方法，以改善上述的缺點，乃為此一業界亟待解決的問題。Therefore, how to design a new thermal compensation device and method to improve the above-mentioned shortcomings is an urgent problem to be solved in the industry.
因此，本發明之一態樣是在提供一種熱補償方法，應用於熱補償裝置，熱補償裝置係應用於綜合加工機中，綜合加工機包含進給軸以及依據進給軸之驅動而移動之床台。熱補償方法包含：藉由溫度感測模組感測綜合加工機之至少一關鍵位置之溫度，以產生至少一溫度感測值；藉由軌跡運算模組包含之模型熱變位計算單元，根據溫度感測值至少其中之一以及第一熱變位模型計算第一模型熱位移量，以及根據溫度感測值至少其中之一以及第二熱變位模型計算第二模型熱位移量，其中第一及第二熱變位模型分別對應進給軸之第一關鍵位置以及第二關鍵位置；藉由軌跡運算模組包含之補償計算單元，接收第一及第二模型熱位移量以及路徑插值命令，並據以產生第一及第二關鍵位置間之任一位置之至少一熱位移量補償值，其中路徑插值命令為軌跡運算模組中的路徑插值計算單元根據空間軌跡資訊產生；藉由軌跡運算模組包含之插值命令單元，根據熱位移量補償值對路徑插值命令進行補償，以產生補償後路徑插值命令；以及藉由插值命令單元，控制進給軸根據補償後路徑插值命令驅動床台。Therefore, an aspect of the present invention provides a thermal compensation method applied to a thermal compensation device, wherein the thermal compensation device is applied to an integrated processing machine including a feed axis and moving according to driving of the feed axis. Bed. The thermal compensation method includes: sensing, by the temperature sensing module, a temperature of at least one critical position of the integrated processing machine to generate at least one temperature sensing value; and the model thermal displacement calculating unit included in the trajectory computing module, according to Calculating a first model thermal displacement amount according to at least one of the temperature sensing values and the first thermal displacement model, and calculating a second model thermal displacement amount according to at least one of the temperature sensing values and the second thermal displacement model, wherein The first and second thermal displacement models respectively correspond to the first key position and the second key position of the feed axis; and the first and second model thermal displacement and the path interpolation command are received by the compensation calculation unit included in the trajectory calculation module And generating at least one thermal displacement compensation value according to any position between the first and second key positions, wherein the path interpolation command is generated by the path interpolation calculation unit in the trajectory operation module according to the spatial trajectory information; The operation module includes an interpolation command unit, and compensates the path interpolation command according to the thermal displacement compensation value to generate a compensated path interpolation command; Command by the interpolation unit, to control the feed axis drive commands according to the compensated path interpolation bed.
本發明之另一態樣是在提供一種熱補償裝置，應用於綜合加工機中，綜合加工機包含進給軸以及依據進給軸之驅動而移動之床台。熱補償裝置包含：溫度感測模組以及軌跡運算模組。溫度感測模組用以感測綜合加工機之至少一關鍵位置之溫度，以產生至少一溫度感測值。軌跡運算模組包含：模型熱變位計算單元、路徑插值計算單元、補償計算單元以及插值命令單元。模型熱變位計算單元根據溫度感測值至少其中之一以及第一熱變位模型計算第一模型熱位移量，以及根據溫度感測值至少其中之一以及第二熱變位模型計算第二模型熱位移量，其中第一及第二熱變位模型分別對應進給軸之第一關鍵位置以及第二關鍵位置。路徑插值計算單元接收空間軌跡資訊，產生路徑插值命令。補償計算單元接收第一及第二模型熱位移量以及路徑插值命令，並據以產生第一及第二關鍵位置間之任一位置之熱位移量補償值。插值命令單元根據熱位移量補償值對路徑插值命令進行補償，以產生補償後路徑插值命令，俾控制進給軸根據補償後路徑插值命令驅動床台。Another aspect of the present invention provides a thermal compensation apparatus for use in an integrated processing machine including a feed shaft and a bed that moves in accordance with the drive of the feed shaft. The thermal compensation device comprises: a temperature sensing module and a trajectory computing module. The temperature sensing module is configured to sense a temperature of at least one critical position of the integrated processing machine to generate at least one temperature sensing value. The trajectory operation module includes: a model thermal displacement calculation unit, a path interpolation calculation unit, a compensation calculation unit, and an interpolation command unit. The model thermal displacement calculation unit calculates a first model thermal displacement amount according to at least one of the temperature sensing values and the first thermal displacement model, and calculates a second according to at least one of the temperature sensing values and the second thermal displacement model The model thermal displacement amount, wherein the first and second thermal displacement models respectively correspond to the first key position of the feed axis and the second key position. The path interpolation calculation unit receives the spatial trajectory information and generates a path interpolation command. The compensation calculation unit receives the first and second model thermal displacement amounts and the path interpolation command, and accordingly generates a thermal displacement compensation value at any position between the first and second key positions. The interpolation command unit compensates the path interpolation command according to the thermal displacement compensation value to generate a compensated path interpolation command, and the control feed axis drives the bed according to the compensated path interpolation command.
應用本發明之優點在於藉由熱補償裝置以及熱補償方法提供的機制，根據有限的熱變位模型計算進給軸上不同位置的熱位移量補償值，以使進給軸根據補償後路徑插值命令驅動床台，達到精確控制的目的。The invention has the advantages that the thermal displacement compensation value at different positions on the feed axis is calculated according to the limited thermal displacement model by the mechanism provided by the thermal compensation device and the thermal compensation method, so that the feed axis is interpolated according to the compensated path. The command drives the bed to achieve precise control.
請參照第1圖。第1圖為本發明之一實施例中，一種綜合加工機1的示意圖。綜合加工機1包含：進給軸10以及床台12。Please refer to Figure 1. 1 is a schematic view of an integrated processing machine 1 in an embodiment of the present invention. The integrated processing machine 1 includes a feed shaft 10 and a bed 12.
於本實施例中，進給軸10包含導螺桿100以及軸承102A與102B。其中，軸承102A與102B係固定設置於機台底座14上，並用以支撐導螺桿100。導螺桿100可由例如，但不限於穿過軸承102A與102B的方式設置，並可相對軸承102A與102B在導螺桿100延伸方向上的X軸進行移動。In the present embodiment, the feed shaft 10 includes a lead screw 100 and bearings 102A and 102B. The bearings 102A and 102B are fixedly disposed on the machine base 14 and are used to support the lead screw 100. The lead screw 100 can be disposed, for example, but not limited to, through the bearings 102A and 102B, and can be moved relative to the X-axis of the bearings 102A and 102B in the direction in which the lead screw 100 extends.
床台12用以承載工件11，其中工件11可為任何待進行加工處理的物體。床台12可設置於導螺桿100上的任一位置。導螺桿100進行移動時，可驅動床台12沿X軸進行移動，並使得工件11隨著床台12移動。The bed 12 is used to carry the workpiece 11, wherein the workpiece 11 can be any object to be processed. The bed 12 can be placed at any position on the lead screw 100. When the lead screw 100 is moved, the bed 12 can be driven to move along the X axis, and the workpiece 11 can be moved with the bed 12.
於一實施例中，綜合加工機1可更包含編碼器13及馬達15。其中，馬達15可由一個馬達驅動器（未繪示）依據路徑插值命令驅動，以控制進給軸10驅動床台12。In an embodiment, the integrated processing machine 1 may further include an encoder 13 and a motor 15. The motor 15 can be driven by a motor driver (not shown) according to a path interpolation command to control the feed shaft 10 to drive the bed 12.
於一實施例中，除X軸外，綜合加工機1可包含其他對應不同軸向，例如與X軸垂直之Y軸上的進給軸（未繪示），以使床台12進行不同軸向的移動。並且，於一實施例中，綜合加工機1更包含可沿與X軸及Y軸形成之平面相垂直的Z軸移動的加工器具17，以對工件11進行例如，但不限於切割的加工處理。In an embodiment, in addition to the X-axis, the integrated processing machine 1 may include other feed axes (not shown) corresponding to different axial directions, such as the Y-axis perpendicular to the X-axis, so that the bed 12 performs different axes. Move to the direction. Moreover, in an embodiment, the integrated processing machine 1 further includes a processing tool 17 that is movable along a Z-axis perpendicular to a plane formed by the X-axis and the Y-axis to perform processing such as, but not limited to, cutting of the workpiece 11. .
請參照第2圖。第2圖為本發明之一實施例中，一種熱補償裝置2以及綜合加工機1之方塊圖。熱補償裝置2可應用於第1圖所示的綜合加工機1中，以透過例如，但不限於馬達驅動器控制進給軸10，並進而驅動床台12。熱補償裝置2包含：溫度感測模組20以及軌跡運算模組22。Please refer to Figure 2. 2 is a block diagram of a thermal compensation device 2 and an integrated processing machine 1 in an embodiment of the present invention. The thermal compensation device 2 can be applied to the integrated processing machine 1 shown in Fig. 1 to control the feed shaft 10 through, for example, but not limited to, a motor driver, and thereby drive the bed 12. The thermal compensation device 2 includes a temperature sensing module 20 and a trajectory computing module 22.
溫度感測模組20用以感測綜合加工機1中，至少一關鍵位置的溫度，以產生溫度感測值21。關鍵位置可為綜合加工機1的任一位置，例如但不限於進給軸10的導螺桿100及軸承102A、102B、床台12、加工器具17上或是其他位置上。於一實施例中，關鍵位置可為具有最容易影響進給軸10移動精確度的溫度之位置。The temperature sensing module 20 is configured to sense a temperature of at least one critical position in the integrated processing machine 1 to generate a temperature sensing value 21 . The key position may be any position of the integrated machine 1, such as, but not limited to, the lead screw 100 of the feed shaft 10 and the bearings 102A, 102B, the bed 12, the processing tool 17, or other locations. In one embodiment, the critical position may be the position having the temperature that most easily affects the accuracy of the movement of the feed shaft 10.
於一實施例中，溫度感測模組20更包含：溫度感測單元200以及溫度擷取單元202。溫度感測單元200實際上可設置於上述綜合加工機1之關鍵位置，並感測溫度，以產生溫度感測值21。因此，溫度感測單元200的數目是由關鍵位置的數目決定。溫度擷取單元202進一步自溫度感測單元202擷取溫度感測值21。In one embodiment, the temperature sensing module 20 further includes: a temperature sensing unit 200 and a temperature capturing unit 202. The temperature sensing unit 200 can be actually disposed at a key position of the integrated processing machine 1 described above, and senses the temperature to generate the temperature sensing value 21. Therefore, the number of temperature sensing units 200 is determined by the number of key positions. The temperature capturing unit 202 further extracts the temperature sensing value 21 from the temperature sensing unit 202.
於一實施例中，軌跡運算模組22是設置於例如，但不限於電腦數值控制器（Computer numerical controller；CNC）24中。並且於一實施例中，此電腦數值控制器24可更包含通訊模組240及儲存模組242。其中，通訊模組240自溫度感測模組20中的溫度擷取單元202讀取溫度感測值21後，傳送至儲存模組242儲存。In one embodiment, the trajectory computing module 22 is disposed, for example, but not limited to, a computer numerical controller (CNC) 24. In an embodiment, the computer numerical controller 24 further includes a communication module 240 and a storage module 242. The communication module 240 reads the temperature sensing value 21 from the temperature capturing unit 202 in the temperature sensing module 20, and then transfers the result to the storage module 242 for storage.
軌跡運算模組22主要包含：模型熱變位計算單元220、補償計算單元222、插值命令單元224、信號處理單元226以及路徑插值計算單元228。The trajectory calculation module 22 mainly includes a model thermal displacement calculation unit 220, a compensation calculation unit 222, an interpolation command unit 224, a signal processing unit 226, and a path interpolation calculation unit 228.
模型熱變位計算單元220根據溫度感測值21至少其中之一以及第一熱變位模型（未繪示）計算第一模型熱位移量221，以及根據溫度感測值至少其中之一以及第二熱變位模型（未繪示）計算第二模型熱位移量223。信號處理單元226自儲存模組242讀取溫度感測值21進行例如，但不限於類比至數位轉換及濾波的信號處理，並傳送至模型熱變位計算單元220進行上述模型熱位移量的計算。The model thermal displacement calculation unit 220 calculates the first model thermal displacement amount 221 according to at least one of the temperature sensing values 21 and the first thermal displacement model (not shown), and at least one of the temperature sensing values and the first The second thermal displacement model (not shown) calculates the second model thermal displacement 223. The signal processing unit 226 reads the temperature sensing value 21 from the storage module 242 for, for example, but not limited to, analog to digital conversion and filtering signal processing, and transmits it to the model thermal displacement calculation unit 220 for calculation of the model thermal displacement amount. .
於一實施例中，上述之第一及第二熱變位模型係可內儲於模型熱變位計算單元220，並分別為對應如第1圖所示的進給軸10的導螺桿100之第一關鍵位置P n以及第二關鍵位置P n+1的熱變位模型。因此，第一模型熱位移量221係為第一關鍵位置P n在對應的溫度感測值21的條件下，依據第一熱變位模型所計算出對應的熱位移量。而第二模型熱位移量223係為第二關鍵位置P n+1在對應的溫度感測值21的條件下，依據第二熱變位模型所計算出對應的熱位移量。 In one embodiment, the first and second thermal displacement models may be stored in the model thermal displacement calculation unit 220 and respectively corresponding to the lead screw 100 of the feed shaft 10 as shown in FIG. A thermal displacement model of the first critical position P n and the second critical position P n+1 . Therefore, the first model thermal displacement amount 221 is the first critical position P n under the condition of the corresponding temperature sensing value 21, and the corresponding thermal displacement amount is calculated according to the first thermal displacement model. The second model thermal displacement 223 is the second key position P n+1 under the condition of the corresponding temperature sensing value 21, and the corresponding thermal displacement amount is calculated according to the second thermal displacement model.
於一實施例中，熱補償裝置2更包含路徑插值計算單元228，用以接收空間軌跡資訊23，以產生路徑插值命令225。其中，空間軌跡資訊23是依據第1圖所示的工件11所欲進行的加工設計來決定。舉例來說，當工件11欲經由加工處理以形成一個手機殼，則此空間軌跡資訊23則為與該手機殼之外形樣式相關的資訊。In one embodiment, the thermal compensation device 2 further includes a path interpolation calculation unit 228 for receiving the spatial trajectory information 23 to generate a path interpolation command 225. The spatial trajectory information 23 is determined according to the processing design desired for the workpiece 11 shown in FIG. For example, when the workpiece 11 is to be processed to form a mobile phone case, the spatial track information 23 is information related to the outer shape of the mobile phone case.
路徑插值計算單元228可依據空間軌跡資訊23計算出路徑插值命令225。路徑插值命令包含X軸插值命令、Y軸插值命令、Z軸插值命令與旋轉軸插值命令，據以控制進給軸10及/或加工器具17對工件11進行加工處理。The path interpolation calculation unit 228 can calculate the path interpolation command 225 based on the spatial trajectory information 23. The path interpolation command includes an X-axis interpolation command, a Y-axis interpolation command, a Z-axis interpolation command, and a rotary axis interpolation command, whereby the feed shaft 10 and/or the processing tool 17 are controlled to process the workpiece 11.
因此，補償計算單元222接收第一及第二模型熱位移量221、223以及路徑插值命令225，並據以產生第一及第二關鍵位置P n及P n+1間之任一位置P的熱位移量補償值227。 Therefore, the compensation calculation unit 222 receives the first and second model thermal displacement amounts 221, 223 and the path interpolation command 225, and accordingly generates any position P between the first and second key positions P n and P n+1 Thermal displacement compensation value 227.
請參照第3圖。第3圖為本發明一實施例中，第2圖之補償計算單元222更詳細之方塊圖。Please refer to Figure 3. Fig. 3 is a more detailed block diagram of the compensation calculation unit 222 of Fig. 2 in an embodiment of the invention.
補償計算單元222包含：第一計算模組300、第二計算模組302以及第三計算模組304。The compensation calculation unit 222 includes: a first calculation module 300, a second calculation module 302, and a third calculation module 304.
第一計算模組300將第一模型熱位移量221與第一熱位移量權重函數f n(P)相乘，以產生第一模型熱位移分量301。第二計算模組302將第二模型熱位移量223與第二熱位移量權重函數f n+1(P)相乘，以產生第二模型熱位移分量303。第三計算模組304將第一模型熱位移分量301以及第二模型熱位移分量303相加，以產生對應位置P的熱位移量補償值227。 The first calculation module 300 multiplies the first model thermal displacement amount 221 by the first thermal displacement amount weighting function f n (P) to generate a first model thermal displacement component 301. The second calculation module 302 multiplies the second model thermal displacement 223 by the second thermal displacement weighting function f n+1 (P) to generate a second model thermal displacement component 303. The third calculation module 304 adds the first model thermal displacement component 301 and the second model thermal displacement component 303 to generate a thermal displacement compensation value 227 corresponding to the position P.
如將第一模型熱位移量221以TC n表示，將第二模型熱位移量223以TC n+1表示，且將熱位移量補償值227以TC(p)表示，則補償計算單元222所計算的熱位移量補償值227以TC(p)可由下式表示： If the first model thermal displacement amount 221 is represented by TC n , the second model thermal displacement amount 223 is represented by TC n+1 , and the thermal displacement amount compensation value 227 is represented by TC (p), the compensation calculation unit 222 The calculated thermal displacement compensation value 227 is expressed by the following equation as TC(p):
TC(p)=TC n*f n(P)+TC n+1*f n+1(P) TC(p)=TC n *f n (P)+TC n+1 *f n+1 (P)
請同時參照第4圖。第4圖為本發明一實施例中，進給軸10之位置及對應之補償值之關係的示意圖。上述之第一模型熱位移分量TC n*f n(P)於第4圖中以較寬鬆的虛線繪示，而第二模型熱位移分量TC n+1*f n+1(P)於第4圖中以較密集的虛線繪示。第一熱位移量權重函數f n(P)以及第二熱位移量權重函數f n+1(P)於不同實施例中，可依實際需求定義。因此，即便無法建立進給軸10所有位置上的熱變位模型，在第一關鍵位置P n以及第二關鍵位置P n+1間的任一位置P的熱位移量補償值227仍可藉由上述的公式計算而得。 Please also refer to Figure 4. Figure 4 is a schematic diagram showing the relationship between the position of the feed axis 10 and the corresponding compensation value in an embodiment of the present invention. The first model thermal displacement component TC n *f n (P) is shown by a loose dotted line in Fig. 4, and the second model thermal displacement component TC n+1 *f n+1 (P) is in the first 4 is shown by a dense dotted line. The first thermal displacement weight function f n (P) and the second thermal displacement weight function f n+1 (P) can be defined according to actual needs in different embodiments. Therefore, even if the thermal displacement model at all positions of the feed shaft 10 cannot be established, the thermal displacement compensation value 227 at any position P between the first critical position P n and the second critical position P n+1 can still be borrowed Calculated by the above formula.
於一實施例中，對應於第一關鍵位置P n之外側，亦即座標小於P n的任一位置的熱位移量補償值，可相當於第一關鍵位置P n的熱位移量補償值。而對應於第二關鍵位置P n+1之外側，亦即座標大於P n+1的任一位置的熱位移量補償值，可相當於第二關鍵位置P n+1的熱位移量補償值。因此，如第4圖所示，在第一關鍵位置P n及第二關鍵位置P n+1外側的熱位移量補償值分別為一定值。 In one embodiment, P n corresponding to the outside of the first key position, i.e., the coordinate is smaller than the amount of thermal displacement compensation value of a position P n is any, may be equivalent to the amount of thermal displacement of the first compensation value of the key position P n. And a second key corresponding to the position of the outer P n + 1, i.e., the coordinate value is greater than the thermal displacement compensation amount of any one of a position P n + 1, a second key may correspond to a thermal displacement amount of the position P n + 1, the compensation value . Therefore, as shown in FIG. 4, the thermal displacement amount compensation values outside the first key position Pn and the second key position Pn+1 are each a constant value.
然而，上述對於第一關鍵位置P n及第二關鍵位置P n+1外的熱位移量補償值的決定方式僅為一範例，於其他實施例中亦可採用其他機制決定。 However, the manner of determining the thermal displacement compensation value outside the first key position P n and the second key position P n+1 is only an example, and may be determined by other mechanisms in other embodiments.
需注意的是，於不同實施例中，補償計算單元222可依實際需求，對應不同的進給軸10的位置P產生多個熱位移量補償值227。It should be noted that, in different embodiments, the compensation calculation unit 222 may generate a plurality of thermal displacement compensation values 227 corresponding to the position P of the different feed axes 10 according to actual needs.
插值命令單元224根據熱位移量補償值227，對路徑插值命令225進行補償，以產生補償後路徑插值命令229，俾控制進給軸10根據補償後路徑插值命令229驅動床台12。於一實施例中，插值命令單元224係傳送補償後路徑插值命令225至馬達驅動器，以使產生可用以控制馬達15的指令後，控制進給軸10驅動床台12。The interpolation command unit 224 compensates the path interpolation command 225 based on the thermal displacement compensation value 227 to generate a compensated path interpolation command 229 that controls the feed axis 10 to drive the bed 12 in accordance with the compensated path interpolation command 229. In one embodiment, the interpolation command unit 224 transmits the compensated path interpolation command 225 to the motor driver to control the feed axis 10 to drive the bed 12 after an instruction to control the motor 15 is generated.
因此，本發明的熱補償裝置2可根據有限的熱變位模型計算進給軸10上不同位置的熱位移量補償值，以使進給軸10根據補償後路徑插值命令229驅動床台12。並且，當綜合加工機1在運轉過程，溫度隨著運轉時間增加而上升時，採用上述的方式計算熱位移量補償值，其改變是連續的。因此，進給軸10的控制精確度可大幅提升。Therefore, the thermal compensation device 2 of the present invention can calculate the thermal displacement compensation value at different positions on the feed shaft 10 based on the limited thermal displacement model, so that the feed shaft 10 drives the bed 12 according to the compensated path interpolation command 229. Further, when the integrated processing machine 1 is in operation and the temperature rises as the operation time increases, the thermal displacement compensation value is calculated in the above manner, and the change is continuous. Therefore, the control accuracy of the feed shaft 10 can be greatly improved.
請參照第5圖。第5圖為本發明一實施例中，一種熱補償方法500之流程圖。熱補償方法500可應用於如第2圖所示的熱補償裝置2中。熱補償方法500包含下列步驟（應瞭解到，在本實施方式中所提及的步驟，除特別敘明其順序者外，均可依實際需要調整其前後順序，甚至可同時或部分同時執行）。Please refer to Figure 5. FIG. 5 is a flow chart of a thermal compensation method 500 in accordance with an embodiment of the present invention. The thermal compensation method 500 can be applied to the thermal compensation device 2 as shown in FIG. The thermal compensation method 500 includes the following steps (it should be understood that the steps mentioned in the present embodiment can be adjusted according to actual needs, except for the order in which they are specifically stated, or even simultaneously or partially) .
於步驟501，藉由溫度感測模組20感測綜合加工機1之關鍵位置之溫度，以產生溫度感測值21。In step 501, the temperature of the key position of the integrated processing machine 1 is sensed by the temperature sensing module 20 to generate a temperature sensing value 21.
於步驟502，藉由模型熱變位計算單元220，根據溫度感測值21至少其中之一以及第一熱變位模型計算第一模型熱位移量221，以及根據溫度感測值21至少其中之一以及第二熱變位模型計算第二模型熱位移量223，其中第一及第二熱變位模型分別對應進給軸之第一關鍵位置P n以及第二關鍵位置P n+1。 In step 502, the first model thermal displacement amount 221 is calculated according to at least one of the temperature sensing values 21 and the first thermal displacement model by the model thermal displacement calculating unit 220, and at least one of the temperature sensing values 21 according to the temperature sensing value 21 The first and second thermal displacement models calculate a second model thermal displacement amount 223, wherein the first and second thermal displacement models respectively correspond to the first key position Pn and the second key position Pn+1 of the feed axis.
於步驟503，藉由補償計算單元222，接收第一及第二模型熱位移量221、223以及路徑插值命令225，並據以產生第一及第二關鍵位置P n及P n+1間之任一位置P之至少一熱位移量補償值227。 In step 503, the first and second model thermal displacements 221, 223 and the path interpolation command 225 are received by the compensation calculation unit 222, and the first and second key positions P n and P n+1 are generated accordingly. At least one thermal displacement compensation value 227 at any position P.
於步驟504，藉由插值命令單元224，根據熱位移量補償值227對路徑插值命令225進行補償，以產生補償後路徑插值命令229。In step 504, the path interpolation command 225 is compensated according to the thermal displacement compensation value 227 by the interpolation command unit 224 to generate a compensated path interpolation command 229.
於步驟505，藉由插值命令單元224，控制進給軸10根據補償後路徑插值命令229驅動床台12。In step 505, the feed axis 10 is controlled to drive the bed 12 according to the compensated path interpolation command 229 by the interpolation command unit 224.
請參照第6圖。第6圖為本發明之一實施例中，一種熱補償裝置2’以及綜合加工機1之方塊圖。熱補償裝置2’與第2圖所繪示的熱補償裝置2類似，包含溫度感測模組20以及軌跡運算模組22’。Please refer to Figure 6. Figure 6 is a block diagram of a thermal compensation device 2' and an integrated processing machine 1 in an embodiment of the present invention. The thermal compensation device 2' is similar to the thermal compensation device 2 illustrated in Fig. 2, and includes a temperature sensing module 20 and a trajectory computing module 22'.
軌跡運算模組22’亦包含模型熱變位計算單元220、補償計算單元222’、插值命令單元224、信號處理單元226及路徑插值計算單元228。此些單元由於與第2圖所繪示相對應的各單元大同小異，因此不再就重複之部份贅述。於本實施例中，軌跡運算模組22’除上述之單元外，更包含適應性濾波單元60。The trajectory calculation module 22' also includes a model thermal displacement calculation unit 220, a compensation calculation unit 222', an interpolation command unit 224, a signal processing unit 226, and a path interpolation calculation unit 228. Since these units are similar to each other corresponding to those shown in FIG. 2, the repeated description will not be repeated. In the present embodiment, the trajectory computing module 22' further includes an adaptive filtering unit 60 in addition to the above-described units.
適應性濾波單元60接收由模型熱變位計算單元220所計算產生的第一及第二模型熱位移量221及223，並分別根據第一權重值w(e 1)以及第二權重值w(e 2)產生一第一及一第二模型熱位移補償值61及63，以使第一及第二模型熱位移補償值61及63分別持續追蹤第一及第二模型熱位移量221/223。 The adaptive filtering unit 60 receives the first and second model thermal displacement amounts 221 and 223 calculated by the model thermal displacement calculating unit 220, and according to the first weight value w(e 1 ) and the second weight value w ( e 2 ) generating a first and a second model thermal displacement compensation values 61 and 63 such that the first and second model thermal displacement compensation values 61 and 63 respectively track the first and second model thermal displacements 221/223 .
請參照第7圖。第7圖為本發明一實施例中，適應性濾波單元60更詳細的方塊圖。適應性濾波單元60更包含：誤差計算器700、權重計算器702、速率計算器704以及熱位移補償值計算器706。Please refer to Figure 7. Figure 7 is a more detailed block diagram of the adaptive filtering unit 60 in accordance with one embodiment of the present invention. The adaptive filtering unit 60 further includes an error calculator 700, a weight calculator 702, a rate calculator 704, and a thermal displacement compensation value calculator 706.
以下以第一模型熱位移量221以及第一模型熱位移補償值61為例進行說明。誤差計算器700計算將第一模型熱位移補償值61以及第一模型熱位移量221間具有之第一誤差值e 1。權重計算器702根據第一誤差值e 1所在之第一誤差值區間產生第一權重值w(e 1)。 Hereinafter, the first model thermal displacement amount 221 and the first model thermal displacement compensation value 61 will be described as an example. The error calculator 700 calculates a first error value e 1 between the first model thermal displacement compensation value 61 and the first model thermal displacement amount 221. The weight calculator 702 generates a first weight value w(e 1 ) based on the first error value interval in which the first error value e 1 is located.
請同時參照第8圖。第8圖為本發明一實施例中，第一誤差值e 1以及第一權重值w(e 1)的關係示意圖。 Please also refer to Figure 8. Figure 8 is a diagram showing the relationship between the first error value e 1 and the first weight value w(e 1 ) in an embodiment of the present invention.
於一實施例中，當第一誤差值e 1所在之第一誤差區間小於第一臨界值A1，例如對應於第8圖所標示的零熱變位補償區間，第一權重值w(e 1)輸出為0。當第一誤差值e 1所在之第一誤差區間不小於第二臨界值A2，例如對應於第8圖所標示的定速熱變位補償區間，第一權重值w(e 1)輸出為1，其中第二臨界值A2大於第一臨界值A1。 In an embodiment, when the first error interval where the first error value e 1 is located is smaller than the first threshold A1, for example, corresponding to the zero thermal displacement compensation interval indicated in FIG. 8 , the first weight value w (e 1 ) ) The output is 0. When the first error interval where the first error value e 1 is located is not less than the second threshold A2, for example, corresponding to the constant speed thermal displacement compensation interval indicated in FIG. 8, the first weight value w(e 1 ) is output as 1 Where the second critical value A2 is greater than the first critical value A1.
而當第一誤差值e 1所在之第一誤差區間不小於第一臨界值A1且小於第二臨界值A2，例如對應於第8圖所標示的低速熱變位補償區間，第一權重值w(e 1)係依預設之權重曲線輸出，例如第8圖中所示的曲線。 When the first error interval where the first error value e 1 is located is not less than the first threshold A1 and less than the second threshold A2, for example, corresponding to the low-speed thermal displacement compensation interval indicated in FIG. 8 , the first weight value w (e 1 ) is output according to a preset weight curve, such as the curve shown in FIG.
第7圖中的速率計算器704將第一權重值w(e 1)與補償速度參數S相乘，得到兩者相乘後的乘積w(e 1)*S。需注意的是，此補償速度參數S可視實際需求調整，以得到不同的補償速度。 The rate calculator 704 in Fig. 7 multiplies the first weight value w(e 1 ) by the compensation speed parameter S to obtain a product w(e 1 )*S obtained by multiplying the two. It should be noted that this compensation speed parameter S can be adjusted according to actual needs to obtain different compensation speeds.
熱位移補償值計算器706根據第一權重值w(e 1) 與補償速度參數S的乘積w(e 1)*S，與前一時間點之第一模型熱位移補償值61’之和或差，計算當下時間點之第一模型熱位移補償值61。其中，當下時間點之第一模型熱位移補償值61將再反饋至誤差計算器700以進行下一次之計算。 Thermal displacement compensation value calculator 706 according to a product of a first weighting value w w (e 1) and the compensated speed parameter S (e 1) * S, and thermal displacement of the first compensation value model of time before one o'clock 61 'or the sum and Poor, calculate the first model thermal displacement compensation value 61 at the current time point. The first model thermal displacement compensation value 61 at the current time point will be fed back to the error calculator 700 for the next calculation.
因此，如前一時間點之第一模型熱位移補償值61’係以y(n-1)表示，且當下時間點之第一模型熱位移補償值61係以y(n)表示，則上述之計算過程可以下式表示：Therefore, if the first model thermal displacement compensation value 61' of the previous time point is represented by y(n-1), and the first model thermal displacement compensation value 61 of the current time point is represented by y(n), then the above The calculation process can be expressed as follows:
y(n)=y(n-1)±w(e 1)*S y(n)=y(n-1)±w(e 1 )*S
需注意的是，第二模型熱位移補償值63可以上述方式，根據第二模型熱位移量223計算出，因此不再贅述。於一實施例中，第一及第二模型熱位移補償值61與63可各獨立設置一個適應性濾波單元60分別進行計算而得。It should be noted that the second model thermal displacement compensation value 63 can be calculated according to the second model thermal displacement amount 223 in the above manner, and therefore will not be described again. In an embodiment, the first and second model thermal displacement compensation values 61 and 63 can be independently calculated by separately setting an adaptive filtering unit 60.
在未設置適應性濾波單元60的狀況下，雖然熱位移補償值的改變是連續的，但是其並非平滑的改變，會影響工件11加工的表面紋路。於本實施例中，藉由適應性濾波單元60的設置，可依模型熱位移補償值以及模型熱位移量的誤差大小動態地調整補償的速度。In the case where the adaptive filtering unit 60 is not provided, although the change of the thermal displacement compensation value is continuous, it is not a smooth change, which affects the surface texture of the workpiece 11 processing. In this embodiment, by the setting of the adaptive filtering unit 60, the speed of the compensation can be dynamically adjusted according to the model thermal displacement compensation value and the error magnitude of the model thermal displacement amount.
更詳細地來說，在誤差不小於第二臨界值A2時，模型熱位移補償值將以最大補償速度快速地追隨模型熱位移量；當誤差在第一臨界值A1和第二臨界值A2之間時，依所定義的補償權重曲線進行補償，其速度隨著誤差量的不同而調整，以在誤差小時將補償速度調降，在誤差大時將補償速度調升；而在綜合加工機1的溫度較為穩定，而使誤差小於第一臨界值A1時，使模型熱位移補償值停止改變。In more detail, when the error is not less than the second critical value A2, the model thermal displacement compensation value will quickly follow the model thermal displacement amount at the maximum compensation speed; when the error is at the first critical value A1 and the second critical value A2 During the interval, the compensation weight curve is compensated according to the defined compensation weight, and the speed is adjusted according to the error amount to reduce the compensation speed when the error is small, and the compensation speed is increased when the error is large; The temperature of the model is relatively stable, and when the error is less than the first critical value A1, the model thermal displacement compensation value is stopped to change.
補償計算單元222’進一步接收第一及第二模型熱位移補償值61及63以及路徑插值命令225，並以先前實施例所述的方式，產生第一及第二關鍵位置P 1及P 2間之任一位置之熱位移量補償值227。 Compensation calculation unit 222 'further receives the first and second models of thermal displacement compensation value interpolation paths 61 and 63 and the command 225, and in a manner described in the previous embodiment, the key generating first and second positions P 1 and P 2 Room The thermal displacement compensation value 227 at any position.
請參照第9圖。第9圖為本發明一實施例中，補償計算單元222’更詳細的方塊圖。類似於第3圖繪示的補償計算單元222，本實施例中的補償計算單元222’亦包含第一計算模組300、第二計算模組302及第三計算模組304。Please refer to Figure 9. Figure 9 is a more detailed block diagram of the compensation calculation unit 222' in accordance with one embodiment of the present invention. Similar to the compensation calculation unit 222 shown in FIG. 3, the compensation calculation unit 222' in this embodiment also includes a first calculation module 300, a second calculation module 302, and a third calculation module 304.
第一計算模組300將第一模型熱位移補償值61與第一熱位移量權重函數f n(P)相乘，以產生第一模型熱位移分量301。第二計算模組302將第二模型熱位移補償值63與第二熱位移量權重函數f n+1(P)相乘，以產生第二模型熱位移分量303。第三計算模組304將第一模型熱位移分量301以及第二模型熱位移分量303相加，以產生對應位置P的熱位移量補償值227。 The first calculation module 300 multiplies the first model thermal displacement compensation value 61 by the first thermal displacement amount weighting function f n (P) to generate a first model thermal displacement component 301. The second calculation module 302 multiplies the second model thermal displacement compensation value 63 by the second thermal displacement weight function f n+1 (P) to generate a second model thermal displacement component 303. The third calculation module 304 adds the first model thermal displacement component 301 and the second model thermal displacement component 303 to generate a thermal displacement compensation value 227 corresponding to the position P.
插值命令單元224根據熱位移補償值227對路徑插值命令225進行補償，以產生補償後路徑插值命令229，俾控制進給軸10根據補償後路徑插值命令229驅動床台12。The interpolation command unit 224 compensates the path interpolation command 225 based on the thermal displacement compensation value 227 to generate a compensated path interpolation command 229 that controls the feed axis 10 to drive the bed 12 in accordance with the compensated path interpolation command 229.
請參照第10圖。第10圖為本發明一實施例中，模型熱位移量經由傳統濾波器和適應性濾波單元60濾波後產生的波形圖。其中，縱軸為輸出的模型熱位移補償值，橫軸則為時間。Please refer to Figure 10. FIG. 10 is a waveform diagram of a model thermal displacement amount filtered by a conventional filter and an adaptive filtering unit 60 according to an embodiment of the present invention. Among them, the vertical axis is the model thermal displacement compensation value of the output, and the horizontal axis is time.
在未經過任何濾波時，模型熱位移量可能會因為雜訊或是其他因素而有相當大幅度的抖動。傳統濾波器的濾波方式在溫度改變較大時能有較快的追隨速度，但是在溫度穩定的情形時，其輸出卻因為追隨速度快而產生來回擺盪的現象，影響模型熱位移補償值的一致性，使得最終工件11的表面紋路變差。相對的，適應性濾波單元60能動態地調整追隨速度，在溫度改變較大時能有較快的追隨速度，在溫度趨於穩定時，則使模型熱位移補償值維持不變，使得工件11的加工表面紋路更為一致。Without any filtering, the model's thermal displacement may be quite large due to noise or other factors. The filtering method of the traditional filter can have a faster follow-up speed when the temperature changes greatly, but in the case of stable temperature, the output is swung back and forth due to the fast following speed, which affects the consistency of the thermal displacement compensation value of the model. The surface of the final workpiece 11 deteriorates. In contrast, the adaptive filtering unit 60 can dynamically adjust the following speed, and can have a faster following speed when the temperature changes greatly. When the temperature tends to be stable, the model thermal displacement compensation value is maintained, so that the workpiece 11 is The surface texture of the machined surface is more consistent.
請參照第11圖。第11圖為本發明一實施例中，熱位移補償值與時間和進給軸位置的關係示意圖。其中，細線是繪示未加入適應性濾波單元60的補償結果，而粗線則繪示加入適應性濾波單元60的補償結果。如第11圖所示，在加入適應性濾波單元60後，不論是第一及第二關鍵位置P 1及P 2上的第一及第二模型熱位移補償值61及63，或是依據第一及第二模型熱位移補償值61及63內插所產生對應位置P的熱位移量補償值227，都較未加入適應性濾波單元60前的補償結果平滑。 Please refer to Figure 11. Figure 11 is a schematic diagram showing the relationship between the thermal displacement compensation value and the time and the position of the feed axis in an embodiment of the present invention. The thin line indicates the compensation result that is not added to the adaptive filtering unit 60, and the thick line indicates the compensation result added to the adaptive filtering unit 60. As shown in Figure 11, after the addition of the adaptive filtering unit 60, whether the first and second key position P P. 1 and the first and second models and the thermal displacement compensating value 61 63 2, according to the first or The thermal displacement compensation value 227 of the corresponding position P generated by the interpolation of the first and second model thermal displacement compensation values 61 and 63 is smoother than the compensation result before the adaptive filtering unit 60 is not added.
因此，加入適應性濾波單元60後所產生的熱位移補償值，可同時具有時間與空間平滑化輸出的特性。Therefore, the thermal displacement compensation value generated after the adaptive filtering unit 60 is added can simultaneously have the characteristics of smoothing the output in time and space.
請參照第12圖。第12圖為本發明一實施例中，一種熱補償方法1200之流程圖。熱補償方法1200可應用於如第6圖所示的熱補償裝置2’中。熱補償方法1200包含下列步驟（應瞭解到，在本實施方式中所提及的步驟，除特別敘明其順序者外，均可依實際需要調整其前後順序，甚至可同時或部分同時執行）。Please refer to Figure 12. FIG. 12 is a flow chart of a thermal compensation method 1200 in accordance with an embodiment of the present invention. The thermal compensation method 1200 can be applied to the thermal compensation device 2' as shown in Fig. 6. The thermal compensation method 1200 includes the following steps (it should be understood that the steps mentioned in the present embodiment can be adjusted according to actual needs, except for the order in which they are specifically stated, or even simultaneously or partially) .
於步驟1201，藉由溫度感測模組20感測綜合加工機1之關鍵位置之溫度，以產生溫度感測值21。In step 1201, the temperature of the key position of the integrated processing machine 1 is sensed by the temperature sensing module 20 to generate the temperature sensing value 21.
於步驟1202，藉由模型熱變位計算單元220，根據溫度感測值21至少其中之一以及第一熱變位模型計算第一模型熱位移量221，以及根據溫度感測值21至少其中之一以及第二熱變位模型計算第二模型熱位移量223，其中第一及第二熱變位模型分別對應進給軸之第一關鍵位置P n以及第二關鍵位置P n+1。 In step 1202, the first model thermal displacement amount 221 is calculated according to at least one of the temperature sensing values 21 and the first thermal displacement model by the model thermal displacement calculating unit 220, and at least one of the temperature sensing values 21 according to the temperature sensing value 21 The first and second thermal displacement models calculate a second model thermal displacement amount 223, wherein the first and second thermal displacement models respectively correspond to the first key position Pn and the second key position Pn+1 of the feed axis.
於步驟1203，藉由適應性濾波單元60，接收第一及第二模型熱位移量221及223，並分別根據第一權重值w(e 1)以及第二權重值w(e 2)產生第一及第二模型熱位移補償值61及63，以使第一及第二模型熱位移補償值61及63分別持續追蹤第一及第二模型熱位移量221及223。 In step 1203, by the adaptive filter unit 60 receives the first and second models of the thermal displacement amount and 221 223, respectively, and a weight value according to a first weight w (e 1) and a second weighting value w (e 2) generates a first The first and second model thermal displacement compensation values 61 and 63 are such that the first and second model thermal displacement compensation values 61 and 63 continue to track the first and second model thermal displacement amounts 221 and 223, respectively.
於步驟1204，藉由補償計算單元222’，接收第一及第二模型熱位移補償值61及63以及路徑插值命令225，並據以產生第一及第二關鍵位置P n及P n+1間之任一位置P之至少一熱位移量補償值227。 In step 1204, the first and second model thermal displacement compensation values 61 and 63 and the path interpolation command 225 are received by the compensation calculation unit 222', and the first and second key positions Pn and Pn+1 are generated accordingly. At least one thermal displacement compensation value 227 at any position P therebetween.
於步驟1205，藉由插值命令單元224，根據熱位移量補償值227對路徑插值命令225進行補償，以產生補償後路徑插值命令229。In step 1205, the path interpolation command 225 is compensated according to the thermal displacement compensation value 227 by the interpolation command unit 224 to generate a compensated path interpolation command 229.
於步驟1206，藉由插值命令單元224，控制進給軸10根據補償後路徑插值命令229驅動床台12。At step 1206, the feed axis 10 is controlled to drive the bed 12 in accordance with the compensated path interpolation command 229 by the interpolation command unit 224.
雖然本揭示內容已以實施方式揭露如上，然其並非用以限定本揭示內容，任何熟習此技藝者，在不脫離本揭示內容之精神和範圍內，當可作各種之更動與潤飾，因此本揭示內容之保護範圍當視後附之申請專利範圍所界定者為準。The present disclosure has been disclosed in the above embodiments, but it is not intended to limit the disclosure, and any person skilled in the art can make various changes and refinements without departing from the spirit and scope of the disclosure. The scope of protection of the disclosure is subject to the definition of the scope of the patent application.
1‧‧‧綜合加工機
100‧‧‧導螺桿
11‧‧‧工件
13‧‧‧編碼器
15‧‧‧馬達
2、2’‧‧‧熱補償裝置
200‧‧‧溫度感測單元
21‧‧‧溫度感測值
220‧‧‧模型熱變位計算單元
222、222’‧‧‧補償計算單元
224‧‧‧插值命令單元
226‧‧‧信號處理單元
228‧‧‧路徑插值計算單元
23‧‧‧空間軌跡資訊
240‧‧‧通訊模組
300‧‧‧第一計算模組
302‧‧‧第二計算模組
304‧‧‧第三計算模組
501-505‧‧‧步驟
61、61’‧‧‧第一模型熱位移補償值
702‧‧‧權重計算器
706‧‧‧熱位移補償值計算器
1200-1206‧‧‧步驟
10‧‧‧進給軸
102A、102B‧‧‧軸承
12‧‧‧床台
14‧‧‧機台底座
17‧‧‧加工器具
20‧‧‧溫度感測模組
202‧‧‧溫度擷取單元
22、22’‧‧‧軌跡運算模組
221‧‧‧第一模型熱位移量
223‧‧‧第二模型熱位移量
225‧‧‧路徑插值命令
227‧‧‧熱位移量補償值
229‧‧‧補償後路徑插值命令
24‧‧‧電腦數值控制器
242‧‧‧儲存模組
301‧‧‧第一模型熱位移分量
303‧‧‧第二模型熱位移量
500‧‧‧熱補償方法
60‧‧‧適應性濾波單元
63‧‧‧第二模型熱位移補償值
700‧‧‧誤差計算器
704‧‧‧速率計算器
1200‧‧‧熱補償方法1‧‧‧Comprehensive processing machine
100‧‧‧ lead screw
11‧‧‧Workpiece
13‧‧‧Encoder
15‧‧‧Motor
2, 2'‧‧‧ thermal compensation device
200‧‧‧Temperature sensing unit
21‧‧‧ Temperature sensing value
220‧‧‧Model thermal displacement calculation unit
222, 222'‧‧‧Compensation calculation unit
224‧‧‧Interpolation command unit
226‧‧‧Signal Processing Unit
228‧‧‧Path Interpolation Calculation Unit
23‧‧‧ Space Track Information
240‧‧‧Communication Module
300‧‧‧First Computing Module
302‧‧‧Second calculation module
304‧‧‧ third computing module
501-505‧‧‧Steps
61, 61'‧‧‧ first model thermal displacement compensation value
702‧‧‧ weight calculator
706‧‧‧ Thermal Displacement Compensation Calculator
1200-1206‧‧ steps
10‧‧‧Feed axis
102A, 102B‧‧‧ bearing
12‧‧‧ Beds
14‧‧‧Machine base
17‧‧‧Processing appliances
20‧‧‧Temperature Sensing Module
202‧‧‧Temperature extraction unit
22, 22'‧‧‧ trajectory computing module
221‧‧‧First model thermal displacement
223‧‧‧Second model thermal displacement
225‧‧‧Path Interpolation Command
227‧‧‧ Thermal displacement compensation value
229‧‧‧Compensated path interpolation command
24‧‧‧Computer numerical controller
242‧‧‧ Storage Module
301‧‧‧First model thermal displacement component
303‧‧‧Second model thermal displacement
500‧‧‧ Thermal compensation method
60‧‧‧Adaptive Filter Unit
63‧‧‧Second model thermal displacement compensation value
700‧‧‧ Error Calculator
704‧‧‧ rate calculator
1200‧‧‧ Thermal compensation method
第1圖為本發明之一實施例中，一種綜合加工機的示意圖； 第2圖為本發明之一實施例中，一種熱補償裝置以及綜合加工機之方塊圖； 第3圖為本發明一實施例中，第2圖之補償計算單元更詳細之方塊圖； 第4圖為本發明一實施例中，進給軸之位置及對應之補償值之關係的示意圖； 第5圖為本發明一實施例中，一種熱補償方法之流程圖； 第6圖為本發明之一實施例中，一種熱補償裝置以及綜合加工機之方塊圖； 第7圖為本發明一實施例中，適應性濾波單元更詳細的方塊圖； 第8圖為本發明一實施例中，第一誤差值以及第一權重值的關係示意圖； 第9圖為本發明一實施例中，補償計算單元更詳細的方塊圖； 第10圖為本發明一實施例中，模型熱位移量經由傳統濾波器和適應性濾波器濾波後產生的波形圖； 第11圖為本發明一實施例中，熱位移補償值與時間和進給軸位置的關係示意圖；以及 第12圖為本發明一實施例中，一種熱補償方法之流程圖。1 is a schematic view of an integrated processing machine in an embodiment of the present invention; FIG. 2 is a block diagram of a thermal compensation device and a comprehensive processing machine according to an embodiment of the present invention; In the embodiment, the compensation calculation unit of FIG. 2 is a more detailed block diagram; FIG. 4 is a schematic diagram showing the relationship between the position of the feed axis and the corresponding compensation value according to an embodiment of the present invention; In the embodiment, a flowchart of a thermal compensation method; FIG. 6 is a block diagram of a thermal compensation device and a comprehensive processing machine according to an embodiment of the present invention; and FIG. 7 is an adaptive filtering according to an embodiment of the present invention. A more detailed block diagram of the unit; FIG. 8 is a schematic diagram showing the relationship between the first error value and the first weight value according to an embodiment of the present invention; FIG. 9 is a more detailed block diagram of the compensation calculation unit according to an embodiment of the present invention. FIG. 10 is a waveform diagram of a model thermal displacement amount filtered by a conventional filter and an adaptive filter according to an embodiment of the present invention; FIG. 11 is a thermal displacement compensation value and time sum according to an embodiment of the present invention; Feed Showing the relationship between position; embodiment, the flow chart of a method for thermal compensation and the graph 12 a first embodiment of the present invention a.
1‧‧‧綜合加工機 1‧‧‧Comprehensive processing machine
2‧‧‧熱補償裝置 2‧‧‧ Thermal compensation device
20‧‧‧溫度感測模組 20‧‧‧Temperature Sensing Module
200‧‧‧溫度感測單元 200‧‧‧Temperature sensing unit
202‧‧‧溫度擷取單元 202‧‧‧Temperature extraction unit
21‧‧‧溫度感測值 21‧‧‧ Temperature sensing value
22‧‧‧軌跡運算模組 22‧‧‧Track computing module
220‧‧‧模型熱變位計算單元 220‧‧‧Model thermal displacement calculation unit
221‧‧‧第一模型熱位移量 221‧‧‧First model thermal displacement
222‧‧‧補償計算單元 222‧‧‧Compensation calculation unit
223‧‧‧第二模型熱位移量 223‧‧‧Second model thermal displacement
224‧‧‧插值命令單元 224‧‧‧Interpolation command unit
225‧‧‧路徑插值命令 225‧‧‧Path Interpolation Command
226‧‧‧信號處理單元 226‧‧‧Signal Processing Unit
227‧‧‧熱位移量補償值 227‧‧‧ Thermal displacement compensation value
228‧‧‧路徑插值計算單元 228‧‧‧Path Interpolation Calculation Unit
229‧‧‧補償後路徑插值命令 229‧‧‧Compensated path interpolation command
23‧‧‧空間軌跡資訊 23‧‧‧ Space Track Information
24‧‧‧電腦數值控制器 24‧‧‧Computer numerical controller
240‧‧‧通訊模組 240‧‧‧Communication Module
242‧‧‧儲存模組 242‧‧‧ Storage Module
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