五轴数控机床几何误差建模、检测及补偿
发布时间：2018-11-02 20:45
【摘要】：随着精密加工技术的广泛应用和数控机床技术的快速发展,现代机械制造业对机床加工精度的要求日益提高,而误差补偿技术是提高数控机床精度的经济且有效的手段之一,因此本文以五轴数控机床为研究对象,为实现对机床综合几何误差的补偿,从几何误差综合建模、误差元素测量和辨识、误差补偿方案设计及误差补偿验证四个方面展开了研究,具体工作及成果如下:1)以QLM27100-5X型五轴数控机床为对象,采用低序体阵列描述了机床拓扑结构,再基于多刚体运动学与齐次坐标变换理论,对机床各相邻体间的初始位置变换、运动变换以及其误差矩阵进行了分析,从而定义了各相邻体间的综合变换矩阵,最终由刀具与工件间的相对位姿建立了五轴数控机床几何误差的综合模型,为实现误差补偿提供了模型基础。2)为获取误差模型中的各几何误差参数值,分别使用激光干涉仪和球杆仪对移动轴和旋转轴进行了误差测量实验,并重点针对旋转轴误差测量过程中会耦合移动轴误差这一问题,提出了一种基于球杆仪两端测量球实际位置的误差解耦、辨识方法,经比较验证,解耦后辨识精度得到了有效提高。3)基于软件补偿误差法的思路,针对机床移动轴的三种典型运动(G00、G01、G02/G03)及A、C轴的旋转运动,分别提出了对应的误差补偿方案并建立了补偿模型,再通过迭代修改数控指令值实现补偿,并在此基础上探讨了移动轴与旋转轴共同运动时的误差解耦、补偿方案,最后基于MATLAB编程技术,开发了五轴数控机床几何误差补偿软件。4)以QLM27100-5X型五轴机床为实验平台,分别对移动轴的直线插补运动、圆弧插补运动、C轴旋转运动及A、Y、Z多轴联动进行了误差补偿实验。补偿后,移动轴的定位精度以及由球杆仪测得的圆轨迹的圆度误差精度均提高了30%~50%,验证了补偿方案的可行性及补偿模型的正确性。
[Abstract]:With the wide application of precision machining technology and the rapid development of numerical control machine tool technology, the modern mechanical manufacturing industry is increasing the requirements of machine tool machining accuracy, and error compensation technology is one of the economic and effective means to improve the accuracy of numerical control machine tools. Therefore, this paper takes the five-axis NC machine tool as the research object, in order to realize the compensation of the synthetic geometric error of the machine tool, the synthetic modeling of the geometric error, the measurement and identification of the error elements are carried out. Four aspects of error compensation scheme design and error compensation verification are studied. The specific work and results are as follows: 1) taking QLM27100-5X five-axis CNC machine tool as an object, the topological structure of the machine tool is described by using low-sequence body array. Based on the theory of kinematics and homogeneous coordinate transformation of multi-rigid bodies, the initial position transformation, motion transformation and error matrix of each adjacent body of machine tool are analyzed, and the comprehensive transformation matrix of each adjacent body is defined. Finally, the synthetic model of geometric error of five-axis NC machine tool is established by the relative position and orientation of the tool and workpiece, which provides the model foundation for error compensation. 2) to obtain the geometric error parameters of the error model. The errors of moving axis and rotating axis are measured by laser interferometer and ball rod instrument respectively, and the problem of coupling moving axis error in the measuring process of rotation axis error is emphasized. An error decoupling and identification method based on measuring the actual position of the ball at both ends of the ball rod instrument is proposed. After comparison, the identification accuracy is improved effectively. 3) the idea of compensating error method based on software is proposed. According to the three kinds of typical movement of the moving axis of machine tool (G00G01G02 / G03) and the rotation motion of Agna C axis, the corresponding error compensation scheme and compensation model are put forward, and the compensation is realized by iteratively modifying the numerical control instruction value. On this basis, the error decoupling and compensation scheme of moving axis and rotating axis are discussed. Finally, based on MATLAB programming technology, the geometric error compensation software of five-axis NC machine tool is developed. 4) the QLM27100-5X five-axis machine tool is used as the experimental platform. The error compensation experiments of linear interpolation motion, arc interpolation motion, C-axis rotation motion and AHY Z multiaxial linkage are carried out respectively. After compensation, the positioning accuracy of the moving shaft and the accuracy of the roundness error of the circle track measured by the ball rod instrument are improved by 3050%, which verifies the feasibility of the compensation scheme and the correctness of the compensation model.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TG659
[Abstract]:With the wide application of precision machining technology and the rapid development of numerical control machine tool technology, the modern mechanical manufacturing industry is increasing the requirements of machine tool machining accuracy, and error compensation technology is one of the economic and effective means to improve the accuracy of numerical control machine tools. Therefore, this paper takes the five-axis NC machine tool as the research object, in order to realize the compensation of the synthetic geometric error of the machine tool, the synthetic modeling of the geometric error, the measurement and identification of the error elements are carried out. Four aspects of error compensation scheme design and error compensation verification are studied. The specific work and results are as follows: 1) taking QLM27100-5X five-axis CNC machine tool as an object, the topological structure of the machine tool is described by using low-sequence body array. Based on the theory of kinematics and homogeneous coordinate transformation of multi-rigid bodies, the initial position transformation, motion transformation and error matrix of each adjacent body of machine tool are analyzed, and the comprehensive transformation matrix of each adjacent body is defined. Finally, the synthetic model of geometric error of five-axis NC machine tool is established by the relative position and orientation of the tool and workpiece, which provides the model foundation for error compensation. 2) to obtain the geometric error parameters of the error model. The errors of moving axis and rotating axis are measured by laser interferometer and ball rod instrument respectively, and the problem of coupling moving axis error in the measuring process of rotation axis error is emphasized. An error decoupling and identification method based on measuring the actual position of the ball at both ends of the ball rod instrument is proposed. After comparison, the identification accuracy is improved effectively. 3) the idea of compensating error method based on software is proposed. According to the three kinds of typical movement of the moving axis of machine tool (G00G01G02 / G03) and the rotation motion of Agna C axis, the corresponding error compensation scheme and compensation model are put forward, and the compensation is realized by iteratively modifying the numerical control instruction value. On this basis, the error decoupling and compensation scheme of moving axis and rotating axis are discussed. Finally, based on MATLAB programming technology, the geometric error compensation software of five-axis NC machine tool is developed. 4) the QLM27100-5X five-axis machine tool is used as the experimental platform. The error compensation experiments of linear interpolation motion, arc interpolation motion, C-axis rotation motion and AHY Z multiaxial linkage are carried out respectively. After compensation, the positioning accuracy of the moving shaft and the accuracy of the roundness error of the circle track measured by the ball rod instrument are improved by 3050%, which verifies the feasibility of the compensation scheme and the correctness of the compensation model.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TG659
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