卡尔曼滤波在精密机床装配过程误差状态估计中的应用

发布时间：2018-03-28 16:20

本文选题：卡尔曼滤波　切入点：机床装配　出处：《西安交通大学学报》2015年12期

【摘要】：针对精密机床装配偏差控制问题,在借鉴多工位装配中薄壁件装配偏差控制方法的基础上,建立了精密机床装配过程中偏差传递的状态空间模型,并提出了一种利用卡尔曼滤波实现对装配误差进行最优估计的新方法。首先,根据机床结构建立基准传递链,将零件关键特征在基础坐标系中位姿误差定义为状态变量,引入状态空间方程描述装配过程中的偏差传递,实现对装配工艺过程的数学表达。然后,基于状态空间模型,将当前装入零件加工误差作为系统输入误差,以当前装配步的测量结果为观测值,通过卡尔曼滤波计算装配误差最优估计值以及相应协方差矩阵,实现装配过程中装配误差的估计。最后,应用该方法对精密坐标镗床装配过程进行计算,结果表明:与传统公差分析计算方差相比,经过卡尔曼滤波计算得到最终装配状态估计误差的方差减小了63%,说明该方法用于评价装配过程中偏差累积是有效的,能为优化装配工艺和机床装配调整工艺提供有效指导。
[Abstract]:Aiming at the problem of assembly deviation control of precision machine tools, the state space model of deviation transfer in assembly process of precision machine tools is established on the basis of drawing lessons from the deviation control method of thin-walled parts in multi-station assembly. A new method for optimal estimation of assembly error using Kalman filter is proposed. Firstly, the reference transfer chain is established according to the structure of machine tool, and the position and pose error of the key feature of the part is defined as the state variable in the basic coordinate system. The state space equation is introduced to describe the deviation transfer in the assembly process, and the mathematical expression of the assembly process is realized. Then, based on the state space model, the machining error of the current loading parts is regarded as the system input error. Based on the measurement results of the current assembly step, the optimal estimation of assembly error and the corresponding covariance matrix are calculated by Kalman filter. Finally, the assembly error is estimated in the assembly process. The method is used to calculate the assembly process of precision coordinate boring machine. The results show that compared with the traditional tolerance analysis and calculation variance, The variance of the final assembly state estimation error is reduced by 63 by Kalman filter calculation, which shows that the method is effective in evaluating the accumulation of errors in the assembly process, and can provide effective guidance for the optimization of assembly process and the assembly adjustment process of machine tools.
【作者单位】：西安交通大学机械制造系统工程国家重点实验室;
【基金】：国家高技术研究发展计划资助项目(2012AA040701)
【分类号】：TG502;TG95

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