面向数控系统的非线性运动控制插补算法的研究及实现

发布时间：2018-09-07 15:40

【摘要】：数控加工精度与加减速运动控制、插补算法密切相关,插补算法直接影响控制器的性能。%!(#曲线加工过程中,用小直线段逼近曲线加工时,直线距离短,造成速度波动大,加工误差难以控制。因此,样条曲线插补技术是实现高速高精数控加工的关键因素。同时,随着近年来微电子技术的发展,嵌入式数控系统由于体积小、运算速度快、稳定性高等优点具有广泛的应用前景。本文以2#.3 0嵌入式数控控制器为基本开发平台,开发了一种高性能样条曲线插补算法,具有重要的应用价值。本文首先研究了样条曲线的数学模型,通过对数学模型的研究,给出了采用插值法求取样条曲线的公式。为了更好的应用于嵌入式系统,便于编程,本文还给出了%!(#曲线求取的矩阵表示形式。为了验证算法的正确,利用4开发了图形显示的组件,并进行插值仿真。其次,是对刀位点进行了处理,目前由0,生产的刀位点直接是孤立的、毫无联系的一组数据点。将数据刀位点进行分类,通过识别与剔除,保留了在设置精度范围内,拟合样条曲线需要的基本数据点,去除了不必要的误差点与冗余点,简化了求取条件。同时,考虑到数控系统计算的实时性与最大的承受能力,给出了样条曲线分段的方法,保证样条曲线分段前后图形一致。利用上述算法,对样条曲线进行仿真分析,验证了算法的可行性。第三,在上述技术的基础上给出了利用泰勒级数展开原理求取节点增量实现样条曲线实时插补的方法。通过比较齐次坐标与系数矩阵的插补方式,给出了齐次坐标插补算法与齐次坐标表示式。根据速度、加速度与加工精度的要求,给出了弓高误差的计算方式与控制因素。通过设计直线型加减速算法,达到最终的到位检测。最后将上述算法移植到2#.30控制器上,搭建测试平台,在相同的测试条件下,通过对比圆弧直线插补与样条曲线插补的速度图形,验证了算法的高效性与稳定性。
[Abstract]:NC machining accuracy and acceleration and deceleration motion control, interpolation algorithm is closely related, interpolation algorithm directly affect the performance of the controller. Processing error is difficult to control. Therefore, spline curve interpolation technology is a key factor to achieve high-speed and high-precision NC machining. At the same time, with the development of microelectronics technology in recent years, embedded numerical control system has a wide application prospect because of its small size, fast operation speed and high stability. In this paper, a high performance spline interpolation algorithm is developed on the platform of 2#3.30 embedded NC controller, which has important application value. In this paper, the mathematical model of spline curve is studied at first. Through the study of mathematical model, the formula of using interpolation method to obtain the sampling spline curve is given. In order to be better applied in embedded system and easy to program, the matrix representation of # curve is also given in this paper. In order to verify the correctness of the algorithm, a graphic display component is developed using 4, and the interpolation simulation is carried out. Secondly, the knife site is treated, and the knife site produced by 0 is directly isolated and unrelated to a set of data points. The data knife sites are classified, and by identifying and eliminating, the basic data points needed for fitting spline curves are retained in the range of setting accuracy, and unnecessary error points and redundant points are removed, and the conditions for obtaining the data points are simplified. At the same time, considering the real time and the maximum bearing capacity of the numerical control system, the method of spline curve segmentation is given to ensure that the spline curve segmentation is consistent with each other. The feasibility of the algorithm is verified by the simulation analysis of the spline curve. Thirdly, on the basis of the above techniques, a method for real-time interpolation of spline curves by using Taylor series expansion principle to obtain node increments is presented. By comparing the interpolation method of homogeneous coordinate and coefficient matrix, the interpolation algorithm of homogeneous coordinate and the expression of homogeneous coordinate are given. According to the requirements of velocity, acceleration and machining accuracy, the calculation method and control factors of bow height error are given. Through the design of linear acceleration and deceleration algorithm to achieve the final detection in place. Finally, the algorithm is transplanted to the 2#.30 controller, and the test platform is built. Under the same test conditions, the efficiency and stability of the algorithm are verified by comparing the velocity figures of the arc-line interpolation and spline curve interpolation.
【学位授予单位】：广州大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TG659

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