面向伺服动态特性匹配的轮廓误差补偿控制研究*

李祥飞; 赵欢; 赵鑫; 丁汉

doi:10.3901/JME.2017.01.150

机械工程学报 >

2017 , Vol. 53 >Issue 1: 150 - 156

DOI: https://doi.org/10.3901/JME.2017.01.150

数字化设计与制造

面向伺服动态特性匹配的轮廓误差补偿控制研究^*

李祥飞 ,
赵欢 ,
赵鑫 ,
丁汉

展开

华中科技大学数字制造装备与技术国家重点实验室武汉 430074

李祥飞，男，1990年出生，博士研究生。主要研究方向为数控和运动控制技术。E-mail：lixiangfei@hust.edu.cn赵欢(通信作者)，男，1983年出生，博士，讲师。主要研究方向为机器人智能化加工数控装备与技术。E-mail：huanzhao@hust.edu.cn

网络出版日期: 2017-01-05

基金资助

* 国家自然科学基金(51405175，51535004，51323009)和中国博士后科学基金(2014M562013，2015T80789)资助项目; 20151214收到初稿，20160630收到修改稿;

收起

Research on Contour Error Compensation Method with Matched Servo Dynamic Characteristics

LI Xiangfei ,
ZHAO Huan ,
ZHAO Xin ,
DING Han

Expand

State Key Laboratory of Digital Manufacturing Equipment and Technology， Huazhong University of Science and Technology， Wuhan 430074

Online published: 2017-01-05

Fold

摘要

在多轴数控加工中，轮廓误差直接决定零件最终加工精度。交差耦合控制和任务坐标系法通过估计轮廓误差，并设计轮廓跟踪控制器来提高轮廓精度。这两种方法存在大曲率位置轮廓误差估计精度差，轮廓控制增益整定依赖于工程经验等问题。为此，从伺服轴动态特性匹配出发，提出了一种基于轮廓误差精确计算的轮廓误差补偿控制方法。根据足点定义，采用解析方法快速准确计算轮廓误差。将轮廓误差分量分别补偿到各伺服轴的速度环和转矩环，提高各伺服轴动态特性的匹配程度。采用两维和三维NURBS曲线开展轮廓跟踪试验。试验结果表明：所提出的轮廓误差计算方法可以精确求解轮廓误差;所提出的轮廓误差补偿控制方法不需要建立轮廓误差与伺服跟踪误差间的映射关系，且可通过调整控制器增益定量显著减小轮廓误差。

关键词： 动态特性匹配; 轮廓误差; 轮廓控制; 补偿

本文引用格式

李祥飞 , 赵欢 , 赵鑫 , 丁汉 . 面向伺服动态特性匹配的轮廓误差补偿控制研究^*[J]. 机械工程学报, 2017 , 53(1) : 150 -156 . DOI: 10.3901/JME.2017.01.150

Abstract

In multi-axis CNC machining, the final machining precision of the parts is determined directly by the contour error. Cross-coupling controller and task coordinate frame approach can improve the contour accuracy by estimating the contour error and designing the contouring controller. There exist some problems such as the poor contour error estimation accuracy in the large curvature position and contour control gain setting depending on engineering experience with the two methods. To solve this issue, proceeding from the dynamic characteristics matching of the servo axes, a contour error compensation method based on the precise calculation of the contour error is proposed. According to the definition of the foot point, the contour error is calculated quickly and accurately using the analytical method. Then, the contour error component is compensated to every servo axis’s speed loop and torque loop to improve the matching degree of the dynamic characteristics. Finally, the experiments are conducted using the two-dimensional and three-dimensional NURBS curves. The experiment results show that the contour error can be estimated exactly by the proposed contour error calculation method. The proposed contour error compensation method does not need to establish the relationship between the contour error and the tracking errors, and reduce the contour error quantitatively and significantly by adjusting the controller gains.

Key words： dynamic characteristics matching; contour error; contouring control; compensation

参考文献

[1] 孙玉文，郭东明，贾振元. 复杂曲面的测量加工一体化[J]. 科学通报，2015，60(9)：781-791.

SUN Yuwen，GUO Dongming，JIA Zhenyuan. Measuring complex surface machining integration[J]. Chinese Science Bulletin，2015，60(9)：781-791.

[2] SENCER B，ALTINTAS Y，CROFT E. Modeling and control of contouring errors for five-axis machine tools-part I：Modeling[J]. ASME Journal of Manufacturing Science and Engineering，2009，131：031006.

[3] YEH S S，HSU P L. Perfectly matched feedback control and its integrated design for multiaxis motion systems[J]. Trans. of the ASME，Journal of Dynamic Systems，Measurement and Control，2004，126(3)：547-557.

[4] MASORY O. Improving contouring accuracy of NC/CNC systems with additional velocity feed forward loop[J]. Journal of Manufacturing Science and Engineering，1986，108(3)：227-230.

[5] TOMIZUKA M. Zero phase error tracking algorithm for digital control[J]. Trans. of the ASME，Journal of Dynamic Systems，Measurement and Control，1987，109(1)：65-68.

[6] ALTINTAS Y，ERKORKMAZ K，ZHU Wenhong. Sliding mode controller design for high speed feed drives[J]. CIRP Annals-Manufacturing Technology，2000，49(1)：265-270.

[7] CHIU G T C，TOMIZUKA M. Contouring control of machine tool feed drive systems：A task coordinate frame approach[J]. IEEE Trans. Control System Technology，2001，9(1)：130-139.

[8] YAO Bin，HU Chuxiong，WANG Qingfeng. An orthogonal global task coordinate frame for contouring control of biaxial systems[J]. IEEE/ASME Trans. On Mechatronics，2012，17(4)：622-634.

[9] KOREN Y. Cross-coupled biaxial computer controls for manufacturing systems[J]. Trans. of the ASME，Journal of Dynamic Systems，Measurement and Control，1980，102(4)：265-272.

[10] KOREN Y，LO C C. Variable-gain cross-coupling controller for contouring[J]. CIRP Annals-Manufacturing Technology，1991，40(1)：371-374.

[11] UCHIYAMA N. Contouring controller design based on iterative contour error estimation for three-dimensional machining[J]. Robotics and Computer-Integrated Manufacturing，2011，27(4)：802-807.

[12] YANG Jiangzhao，LI Zexiang. A novel contour error estimation for position loop-based cross-coupled control[J]. IEEE/ASME Trans. On Mechatronics，2011，16(4)：643-655.

[13] SHIH Yiti，CHEN Chinsheng，LEE Anchen. A novel cross-coupling control design for bi-axis motion[J]. International Journal of Machine Tools and Manufacture，2002，42：1539-1548.

[14] ZHU Limin，ZHAO Huan，DING Han. Real-time contouring error estimation for multi-axis motion systems using the second-order approximation[J]. International Journal of Machine Tools and Manufacture，2013，68：5-80.

[15] CONWAY J R，ERNESTO C A，FAROUKI R T，et al. Performance analysis of cross-coupled controllers for CNC machines based upon precise real-time contour error measurement[J]. International Journal of Machine Tools and Manufacture，2012，52：30-39.

[16] YEH S S，HSU P L. Perfectly matched feedback control and its integrated design for multiaxis motion systems[J]. ASME Journal of Dynamic Systems，Measurement and Control，2004，126：547-557.

[17] XI X C，POO A N，HONG G S. Improving contouring accuracy by tuning gains for a bi-axial CNC machine[J]. International Journal of Machine Tools and Manufacture，2009，49(5)：395-406.

Options

文章导航

模态框（Modal）标题

摘要

本文引用格式

Abstract

参考文献