具有连续加加速度与误差自适应特性的高效柔性数控算法研究与设计
发布时间：2018-12-15 16:14
【摘要】：高精度数控加工设备应用广泛,其控制软件中的算法是其最为核心的技术,目前在这一领域国内外的技术差距较为明显。流行的梯形加减速算法及S形加减速算法存在着加速度或者加加速度的断裂,且电机启停即以最大加速度为达成目标,在面对曲率较高需要频繁加减速的高柔性加工场合,往往导致效率低下、机床震动,产品的过切、欠切等不良结果,且长时使用也会导致电机的磨损加剧、寿命下降;普通的直线与圆弧插补算法种类类繁多,但都很难在精度与资源消耗上获得妥协,且往往忽视段间过渡的重要性,在一定程度上影响了效率和成品质量。在这两个方面,国外的研究工作较为扎实且卓有成效,相关技术大幅领先国内,其核心成果作为机密级材料被严格保密,成为技术壁垒。本文研究并提出了基于高次多项式速度模型的加减速算法以及误差自适应的前瞻插补算法,结合完整的段间过渡算法,应用于自行研发的基于DSP+CPLD开发板,并做了较为详细的测评,对国内该领域的技术突破提供了一个综合优化解决方案。论文首先对比了梯型、S型、指数型等传统加减速算法,指出各算法存在的弊端和优势,针对技术点提出改进方法和思路;列举了迭代插补、直线插补、圆弧插补等具有普适性的插补算法,分析各自存在的问题和矛盾,提出综合优化方案。接着,建立标准五次多项式加减速速度模型,做到速度、加速度、加加速度的连续执行,并在此基础上提出基于改进的双曲正切函数的可变Jmax调速机制,使得在提升机体加工效率的同时,进一步增强系统柔性,并在仿真测试中加以验证。在此基础上,为了应对连续变化曲率的现实加工环境,对不同的加工角度提出了不同的过渡处理机制。然后,建立了基于三分法的自适应误差模型,提出了优化的误差自适应圆弧插补算法,结合了等参数法和等误差法优势,使得在不占用大量资源的情况下,获得较高的精度,并大幅提升加工效率。再次,设计了基于DSP+CPLD的硬件测试板卡,给出了设计思路与实施方案,包括原理图、PCB图及基本的设计流程,并对制作的硬件板卡进行了仿真测试。最后,搭建仿真环境与测试平台。经验证,本套算法具备更强的柔性,在提高效能及精度的同时,确保了适当的资源消耗,并加强了对电机系统的保护,具有实际的工业应用价值。
[Abstract]:High precision NC machining equipment is widely used, and the algorithm in its control software is the most important technology. At present, the technical gap in this field is obvious at home and abroad. The popular trapezoidal acceleration and deceleration algorithms and S-shaped acceleration and deceleration algorithms have the breakage of acceleration or acceleration, and the maximum acceleration is the goal of motor starting and stopping. Often lead to inefficiency, machine tool vibration, product over-cut, undercut and other adverse results, and long-term use will also lead to motor wear, life decline; There are many kinds of interpolation algorithms for straight line and circular arc, but it is difficult to obtain compromise on precision and resource consumption, and the importance of transition between segments is often neglected, which affects the efficiency and the quality of finished product to a certain extent. In these two aspects, the foreign research work is more solid and fruitful, the related technology is leading the domestic, its core results as confidential material is strictly confidential, become a technical barrier. In this paper, the acceleration and deceleration algorithm based on the high order polynomial speed model and the forward interpolation algorithm based on error adaptation are studied and proposed. Combined with the complete inter-segment transition algorithm, the algorithm is applied to the self-developed DSP CPLD development board. A comprehensive optimization solution is provided for the technical breakthrough in this field. Firstly, the paper compares the traditional acceleration and deceleration algorithms such as trapezoid, S-type, exponential, etc., points out the disadvantages and advantages of each algorithm, and puts forward the improvement method and train of thought for the technical points. The universal interpolation algorithms, such as iterative interpolation, linear interpolation and circular arc interpolation, are listed. The existing problems and contradictions are analyzed, and a comprehensive optimization scheme is put forward. Then, a standard five-order polynomial acceleration and deceleration speed model is established to achieve the continuous execution of speed and acceleration. On this basis, a variable Jmax speed regulation mechanism based on the improved hyperbolic tangent function is proposed. At the same time, the flexibility of the system is further enhanced and verified in the simulation test. On this basis, in order to cope with the continuous changing curvature of the real processing environment, different processing angles proposed different transition processing mechanism. Then, an adaptive error model based on the three-point method is established, and an optimized adaptive circular arc interpolation algorithm is proposed, which combines the advantages of the isoparametric method and the equal-error method. And greatly improve the processing efficiency. Thirdly, the hardware test board based on DSP CPLD is designed, the design idea and implementation scheme are given, including the schematic diagram, PCB diagram and basic design flow, and the hardware board is simulated and tested. Finally, the simulation environment and test platform are built. It has been proved that the algorithm is more flexible, which can improve the efficiency and precision, ensure the appropriate resource consumption, and strengthen the protection of the motor system. It has practical application value.
【学位授予单位】：上海交通大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TG659
本文编号：2380944
[Abstract]:High precision NC machining equipment is widely used, and the algorithm in its control software is the most important technology. At present, the technical gap in this field is obvious at home and abroad. The popular trapezoidal acceleration and deceleration algorithms and S-shaped acceleration and deceleration algorithms have the breakage of acceleration or acceleration, and the maximum acceleration is the goal of motor starting and stopping. Often lead to inefficiency, machine tool vibration, product over-cut, undercut and other adverse results, and long-term use will also lead to motor wear, life decline; There are many kinds of interpolation algorithms for straight line and circular arc, but it is difficult to obtain compromise on precision and resource consumption, and the importance of transition between segments is often neglected, which affects the efficiency and the quality of finished product to a certain extent. In these two aspects, the foreign research work is more solid and fruitful, the related technology is leading the domestic, its core results as confidential material is strictly confidential, become a technical barrier. In this paper, the acceleration and deceleration algorithm based on the high order polynomial speed model and the forward interpolation algorithm based on error adaptation are studied and proposed. Combined with the complete inter-segment transition algorithm, the algorithm is applied to the self-developed DSP CPLD development board. A comprehensive optimization solution is provided for the technical breakthrough in this field. Firstly, the paper compares the traditional acceleration and deceleration algorithms such as trapezoid, S-type, exponential, etc., points out the disadvantages and advantages of each algorithm, and puts forward the improvement method and train of thought for the technical points. The universal interpolation algorithms, such as iterative interpolation, linear interpolation and circular arc interpolation, are listed. The existing problems and contradictions are analyzed, and a comprehensive optimization scheme is put forward. Then, a standard five-order polynomial acceleration and deceleration speed model is established to achieve the continuous execution of speed and acceleration. On this basis, a variable Jmax speed regulation mechanism based on the improved hyperbolic tangent function is proposed. At the same time, the flexibility of the system is further enhanced and verified in the simulation test. On this basis, in order to cope with the continuous changing curvature of the real processing environment, different processing angles proposed different transition processing mechanism. Then, an adaptive error model based on the three-point method is established, and an optimized adaptive circular arc interpolation algorithm is proposed, which combines the advantages of the isoparametric method and the equal-error method. And greatly improve the processing efficiency. Thirdly, the hardware test board based on DSP CPLD is designed, the design idea and implementation scheme are given, including the schematic diagram, PCB diagram and basic design flow, and the hardware board is simulated and tested. Finally, the simulation environment and test platform are built. It has been proved that the algorithm is more flexible, which can improve the efficiency and precision, ensure the appropriate resource consumption, and strengthen the protection of the motor system. It has practical application value.
【学位授予单位】：上海交通大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TG659
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