基于PC的三维激光切割数控系统研究

发布时间：2019-03-07 10:04

【摘要】：三维激光切割技术的发展使其在航空航天、汽车制造等工业领域得到广泛应用。我国的激光工业基础较薄弱使得三维激光切割机床在制造水平、软件水平等方面与国际先进设备存在一定差距,目前国内的三维激光切割机也多购入国外专用系统或在通用的数控系统基础上进行二次开发,成本很高,因而研发具有自主知识产权的三维激光切割数控系统,对满足国内主要行业对三维激光切割设备需求,提高我国装备制造业国际竞争力具有重要意义。所以本文采用PC+I/O的开放式数控系统结构并基于Windows系统平台,对三维激光切割数控系统的双控制器硬件体系与软件架构进行构建,并对其关键功能实现进行了研究。首先为体现三维激光切割数控系统的特点,分析了三维激光切割数控系统双控制器硬件体系及数控软件功能需求,对数控软件功能按执行位置及实时性进行了划分。将系统划分为两个主要模块来明确表述数控系统层次结构、功能组成及模块间的数据流走向,完成了系统软件架构的建立。进而利用用户管理模块多任务调度结构模型及数控内核模块“双线程-中断响应”任务调度结构模型描述系统对多任务的调度机制,满足系统多任务协调控制需求。在系统软件架构的基础上进行数控系统功能模块的设计与开发。为实现数控系统基本功能开发界面计算机及内核计算机的通用功能模块。针对进行激光切割控制的关键功能模块进行研究。为实现对数控系统I/O状态点及系统运行状态的统一管理并实现部分用户逻辑控制功能,研究软PLC模块的数据结构定义和运行机制。通过研究网络通信模块的运行机制并确定通信指令及通信参数,实现数控系统网络通信功能。基于数据采样插补结构研究微步距插补功能模块,开发硬件DDA插补算法及伺服驱动算法使系统满足激光切割高速高精度运动控制需求。为提高激光切割速度并保证切割过程稳定、切缝光滑,研究轨迹插补及速度预测与平滑功能,提出连续切割轨迹段的运动参数约束条件及平滑规则,并实现速度平滑算法。最后设计加工控制模拟实验并分析运行结果,验证数控系统软件架构、多任务调度模型的可行性及各功能模块开发的有效性。分析微步距插补仿真波形并设计匀速段运动实验,根据实际控制脉冲波形验证微步距插补模块功能的正确性。设计三维轨迹加工算例并利用MATLAB模拟轨迹插补及速度预测与平滑算法,分析数值仿真生成的平滑后运动段速度及加速度曲线,验证轨迹插补及速度预测与平滑功能的正确性。
[Abstract]:With the development of three-dimensional laser cutting technology, it has been widely used in aerospace, automobile manufacturing and other industrial fields. The weak foundation of laser industry in our country makes the 3D laser cutting machine have a certain gap with the international advanced equipment in manufacturing level, software level and so on. At present, the domestic three-dimensional laser cutting machine also buys the foreign special system or carries on the second development on the basis of the general numerical control system, so the research and development of the three-dimensional laser cutting numerical control system with independent intellectual property right is very high. It is of great significance to meet the demand for three-dimensional laser cutting equipment in main domestic industries and to improve the international competitiveness of our country's equipment manufacturing industry. In this paper, the dual controller hardware architecture and software architecture of 3D laser cutting numerical control system are constructed based on PC I O open CNC system structure and Windows system platform, and the key functions of the system are studied. In order to reflect the characteristics of three-dimensional laser cutting numerical control system, the hardware system of dual controller and the functional requirements of numerical control software are analyzed, and the functions of numerical control software are divided according to the position of execution and the real-time performance. The system is divided into two main modules to clearly describe the hierarchical structure, functional composition and data flow direction between the modules, and complete the establishment of the system software architecture. Then, the user management module multi-task scheduling structure model and the NC kernel module "double thread-interrupt response" task scheduling structure model are used to describe the scheduling mechanism of the system to meet the multi-task coordination control requirements of the system. On the basis of system software architecture, the function module of NC system is designed and developed. In order to realize the basic function of NC system, the general function module of interface computer and kernel computer is developed. The key function module of laser cutting control is studied. In order to realize the unified management of the I O state point and the running state of the NC system, and to realize some user logic control functions, the data structure definition and operation mechanism of the soft PLC module are studied. By studying the operation mechanism of the network communication module and determining the communication instructions and communication parameters, the network communication function of the NC system is realized. The micro-step interpolation module is studied based on the data sampling interpolation structure. The hardware DDA interpolation algorithm and servo-driven algorithm are developed to meet the needs of high-speed and high-precision motion control for laser cutting. In order to improve the cutting speed and keep the cutting process stable and smooth, the function of trajectory interpolation, velocity prediction and smoothing is studied. The constraint conditions of motion parameters and smoothing rules for continuous cutting track segment are proposed, and the speed smoothing algorithm is realized. Finally, the simulation experiment of machining control is designed and the running results are analyzed to verify the software architecture of NC system, the feasibility of multi-task scheduling model and the effectiveness of the development of each functional module. The simulation waveform of micro-step interpolation is analyzed and the uniform-speed motion experiment is designed to verify the correctness of the micro-step interpolation module according to the actual control pulse waveform. A 3-D trajectory machining example is designed and the velocity and acceleration curves generated by numerical simulation are analyzed by using MATLAB simulated trajectory interpolation and velocity prediction and smoothing algorithm. The correctness of trajectory interpolation and velocity prediction and smoothing function is verified.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TG48

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