双转台五坐标机床RTCP功能的研究

五轴加工中由于旋转运动的影响,会产生非线性误差.RTCP(绕刀具中心点旋转)功能可使数控系统自动对旋转轴的运动进行实时线性补偿,从而保证插补点始终位于编程轨迹上.在深入分析双转台五坐标机床运动原理的基础上,介绍了一种集成RTCP功能的插补算法,并在MATLAB中做了仿真计算.计算结果表明该算法可以有效减小非线性误差.     

五轴联动数控加工中的刀具轨迹控制算法

已有的五轴联动数控加工系统往往忽略刀轴矢量插补问题,只是简单地通过对线性轴进行插补、对旋转轴进行跟随的方式来实现刀具轨迹的控制,导致产生非线性误差和刀具碰撞与干涉等问题。为此,提出一种基于刀轴矢量插补的刀具轨迹控制算法。该算法采用大圆弧插补法对加工过程中的刀轴矢量进行控制,同时采用NURBS曲线拟合方法对控制过程中产生的中间点进行处理,并通过对拟合而成的NURBS曲线进行插补来实时计算各运动轴的位置。该算法不仅能够有效地提高五轴联动数控加工的精度,而且可以有效减小数据存储量。仿真和实际加工验证了算法的有效性和实用性,证明算法具有轨迹过渡平稳、非线性误差小的特点。     

龙门五轴机床RTCP功能的新模型及其应用

旋转运动的存在使得五轴联动加工存在非线性运动误差。通过实时线性补偿,现有高档数控系统RTCP功能可有效补偿非线性运动误差,但并不能完全消除非线性误差。重点研究了现有RTCP模块设计和算法实现,总结了一种改进的RTCP模型,设计了相应的算法。利用MATLAB对一台A-C轴铣床进行编程仿真和加工验证,结果表明五轴联动数控机床的动态精度得到了提高。     

五轴联动刀轴矢量平面插补算法

大多数数控系统仍默认以旋转轴角度线性插补插补方式进行铣削加工,实际刀轴矢量偏离理论刀轴矢量位置,产生极大的非线性误差。在五轴联动数控加工中心圆周铣削倾斜面时,表现为实际刀轴矢量偏离待加工平面,造成过切或欠切误差。而且,机床类型不同,铣削的误差表现形式也不同。经研究表明,此非线性误差完全来源于旋转轴角度的线性插补方式。从研究分析运动学坐标转换开始,从理论上研究旋转轴角度线性插补的原理和产生非线性加工误差的根源,提出刀轴矢量平面插补具体算法,并针对CA型双摆头类型机床进行仿真验证,新算法从根本上解决了该问题。     

曲线的三参数路径规划车削插补算法研究

为了保证数控加工中复杂曲线零件的车削加工精度,在普通二参数车削加工的基础上,提出了一种三参数路径规划车削插补算法。该算法将复杂曲面数控加工插补过程的路径规划分解为若干插补点之间的最优路径搜索和选取问题,根据不同加工要求设置决策变量,并进行取值判别,通过3个参数联动对曲线进行插补运算,优化加工过程中刀具的路径,并应用于相关的实例分析。研究结果表明,该优化算法能保证加工曲线的光滑性,有利于提高曲线的加工质量,并且该算法还具有计算规模小、求解迅速、数控加工插补误差小等优点。     

五轴数控加工中旋转轴运动引起的非线性误差分析及控制

五轴数控(Computer numerical control,CNC)加工中,刀具路径规划阶段与实际加工阶段对旋转轴运动采用的插补方式存在差异,其中刀具路径规划阶段是根据零件的几何信息进行插补,而实际加工中则根据机床信息进行插补,这种差异将引起原理性加工误差。针对五轴数控加工中旋转轴的运动,分析采用线性插补方式控制两个旋转轴进行加工时刀具姿态变化引起的原理性误差,进一步研究不同加工情况下由此产生的在垂直于走刀方向的平面内的非线性误差。通过分析旋转轴运动过程中线性插补引起的刀轴偏差角,证明刀具在相邻两刀位点运动过程的中间时刻处刀轴偏差角取得最大值,并得到由该最大值的显式表达式,在此基础上分析最大偏差角的影响因素。提出通过限制相邻两刀位点间刀轴夹角来控制此非线性误差的方法,并给出实例验证。     

基于极坐标的新型插补算法

本文介绍了数控加工系统中一种基于极坐标的新型插补算法。其算法简单，易于实现，且插补误差小。     

基于角度逼近法的圆弧插补算法

介绍数控加工系统中一种基于角度逼近法的圆弧插补算法。其算法简单,易于实现,且插补误差小。     

刀具姿态实时控制的空间圆弧插补研究

基于坐标变换原理,平面圆弧插补算法可以扩展到由空间任意三点确定的空间圆弧插补。在此基础上,笔者对传统的固定轴空间圆弧加工进行扩展,给出空间圆弧加工时刀具姿态的实时控制方法和G代码指令格式,以满足机械加工工艺和CNC系统实时控制的要求。在深入分析五轴联动机床的RTCP(旋转刀具中心点)功能建立的基础上,对该类圆弧插补进行实时的非线性误差补偿,得到准确的插补轨迹,方便用户根据零件轮廓和期望的刀具角度进行编程。仿真结果验证了算法的有效性。     

基于de Boor算法的NURBS曲线自适应插补研究

在现代数控加工中已普遍使用NURBS曲线插补,但大多数NURBS曲线插补都致力于取得恒定的进给速度而不是轮廓精度,对此,提出了基于de Boor算法的NURBS自适应插补算法.将de Boor算法应用于NURBS曲线插补中,并用限定弓高误差对插补的进给速度实行自适应调节,实现了数控加工中进给速度的平滑过渡,减少速度急剧变化时对机床的冲击,保证了NURBS曲线实时插补和轮廓加工的精度.通过仿真证明了这种插补算法的实时性和实际应用的可行性.     

On the workpiece setup optimization for five-axis machining with RTCP function

Nonlinear errors in five-axis machining process are caused due to the nonlinear motions of the rotational axes, which are inevitable. For the RT-type machine tool, the workpiece setup location on the working table has a direct effect on the nonlinear errors, thus there must be an optimal setup position which can reduce the nonlinear errors. Today’s five-axis machine tools are mostly equipped the with the RTCP (rotational tool center point) function, with which the NC program becomes independent from the workpiece setup. In this paper, we have focused on finding the optimal workpiece setup for the RT-type machine tool with RTCP function, more specifically, the Mikron UCP 600 five-axis machine tool in our lab. The kinematics of the machine tool is briefly analyzed. Based on that, the nonlinear error evaluation method with RTCP interpolation is derived. With this method, nonlinear errors can actually be considered as a function of the workpiece setup position. Then, the particle swarm optimization (PSO) is applied to find the optimal workpiece setup, in which a mutation operation is used since PSO traps into local optimum easily. The proposed optimal workpiece setup method is implemented and tested. Example results show that the optimal setup with least nonlinear errors can be found. Some interesting results also show that the nonlinear errors are not sensitive with the z component of the workpiece setup vector. The proposed optimization is nearly zero-cost and easy to both understand and implement, yet has a potential to reduce the nonlinear errors and thus to improve the accuracy of five-axis machining.     

双核架构嵌入式数控系统RTCP算法研究

分析了五轴数控机床非线性误差产生的原因,阐述了RTCP减小非线性误差的算法原理,基于C-A型双摆头机床结构建模并给出了一种RTCP补偿算法。针对嵌入式数控系统的特殊性,合理设计了在双核架构嵌入式数控系统中RTCP功能的实现方法。最后,在MATLAB中仿真验证了RTCP算法对于减小非线性误差的有效性。     

基于递归特征分析的NURBS曲线插补算法

在分析NURBS曲线公式中基函数递归特征的基础上,提出了一种新的NURBS曲线插补算法。该算法通过前一个参数增量值和前一段插补弦长来确定下一个参数增量值,进而实现对参数的密化。仿真实验结果表明,该算法在改善弦长误差和减小计算量方面优于Taylor展开插补算法。     

基于环形补偿参数曲线插补算法

对于数控加工中参数曲线的加工,提出了一种新的插补算法,该算法利用泰勒展开对曲线方程进行重构,引入误差补偿思想,对插补过程中产生的误差反复补偿,从而满足目标要求,通过仿真和实际切削实验,表明该算法简单实用、通用性强、算法精度高,能够保证参数曲线的光滑性,有利于提高参数曲线加工质量和加工效率.     

Real-time PH-based interpolation algorithm for high speed CNC machining

Various methods for parametric interpolation of non-uniform rational B-spline (NURBS) curves have been proposed in the past. However, the errors caused by the approximate nature of the NURBS interpolator were rarely taken into account. This paper proposes an integrated look-ahead algorithm for parametric interpolation along NURBS curves. The algorithm interpolates the sharp corners on the curve with the Pythagorean-hodograph (PH) interpolation. This will minimize the geometric and interpolator approximation errors simultaneously. The algorithm consists of four different modules: a sharp corner detection module, a PH construction module, a feedrate planning module, and a dynamics module. Simulations are performed to show correctness of the proposed algorithm. Experiments on an X?CY table confirm that the developed method improves tracking and contour accuracies significantly compared to previously proposed algorithms.     

自动调节进给速度的NURBS插补算法的研究与实现

现代计算机数控系统中已经普遍使用非均匀有理B样条插补,但大多数非均匀有理B样条插补算法都致力于取得恒定的进给速度而不是轮廓精度。对此,提出了一种限定弓高误差的自动调节进给速度的空间非均匀有理B样条曲线插补算法,它在通常加工时,是泰勒展开式2阶近似插补,而在小曲率半径零件的高速加工时,可以根据曲率半径和限定的弓高误差自动地调整进给速度,保证了轮廓加工精度。加工实例证实了这种插补算法的实时性和实际应用的可行性。     

五轴联动数控系统中RTCP技术的研究

在论述RTCP功能的基础上,推导了RTCP通用数学模型。针对B-C轴双回转工作台五轴数控机床的RTCP算法,开发了集成RTCP算法的五轴数控加工过程仿真软件,并使用该软件验证了算法的正确性。为开发具备RTCP功能的高档数控系统进行了探讨性的研究。     

Development of a real-time trajectory generator for NURBS interpolation based on the two-stage interpolation method

This paper deals with the real-time NURBS interpolation method in which the interpolation error between the ideal curve and the interpolated curve is compensated within the machine basic length unit (BLU). Parametric curve interpolation methods are based on the Taylor series expansion of curve parameters and an approximation. This approach enables effective feed command generation following the target curve. However, the interpolation error caused by the curve segmentation cannot be controlled.In this research, a two-stage interpolation method that compensates for interpolation errors within machine BLU is proposed. The interpolation result was filtered by an acceleration/jerk limitation equation. Through this two-stage interpolation, both the interpolation error condition and the motion dynamics can be satisfied.Using computer simulations in which interpolation results are revaluated by a numerical iteration method, it is shown that the two-stage interpolation algorithm can interpolate target curves precisely with geometric and dynamic contentment. The proposed algorithm was implemented in the CNC simulator system and an experimental run was conducted to identify the real-time adaptation.     

基于粒子群优化算法的磁流变阻尼器多项式动力学建模方法

为提高磁流变阻尼器（MRD）多项式动力学模型精度,提出了基于粒子群优化（PSO）算法的多项式模型建模方法。搭建了MRD试验平台,利用测得的力学特性数据,辨识并对比分析了传统多项式与Chebyshev多项式模型;运用PSO算法,结合Lagrange插值方程和实测数据优化插值节点,经MATLAB Simplify函数化简,构建了多项式动力学模型;研究优化插值节点的PSO算法流程及主要步骤,分析比较PSO算法与Chebyshev模型的12阶多项式建模平均累积相对误差。研究表明,在正弦激励频率1 Hz、振幅15 mm、电流0~1.5 A工况下,PSO多项式建模方法比Chebyshev多项式模型相对误差下降了47.0%,能较好地反映MRD动力学特性,满足实际工程应用需要。