面向运动控制的轮廓误差补偿关键技术研究

发布时间：2019-05-09 08:32

【摘要】：轨迹跟踪和轮廓误差补偿技术是现代数控加工技术的重要研究内容,直接影响着数控机床加工的生产质量和效率。本文针对数控加工领域的轨迹跟踪和轮廓误差补偿技术所存在的问题进行理论分析,主要研究目标是在零相差位置跟踪控制设计的离散时间选取问题上提出理论分析；对轮廓误差补偿控制策略中的交叉耦合控制补偿进行研究,对比传统的位置误差补偿算法,提出将全局任务坐标系算法应用到交叉耦合控制中。主要研究内容如下：(1)对当前数控加工领域的轮廓误差补偿控制策略主要集中在单轴伺服位置系统的跟踪精度、轮廓误差模型建立、运动控制补偿等技术的国内外研究现状进行了对比分析。(2)分析用于提高轮廓跟踪精度的零相位误差跟踪控制技术。根据简化的位置伺服系统的数学模型设计相应的前馈控制器,分析针对不同的离散时间所设计的零相位误差控制器得到的仿真结果,并结合系统数学模型和前馈控制器的稳定性对仿真图形结果进行分析。通过对离散化系统设计的前馈控制器的稳定性、离散时间的理论分析,提出前馈控制器设计存在最优离散时间采样点并进行详细的理论推导验证。(3)研究现有各种轮廓误差模型的估算、计算方法的优劣,对比传统近似估算的交叉耦合控制算法和基于全局任务坐标系算法进行理论分析、重点对交叉耦合控制方法对轮廓误差的补偿效果进行分析研究,提出将全局任务坐标系算法应用到交叉耦合控制中。(4)通过上面的理论分析,论文以简化的伺服系统数学模型作为仿真对象,对提出来的算法在Simulink环境中下进行轨迹跟踪和轮廓误差补偿的验证计算机仿真,并验证了相关理论验证。(5)对论文的研究内容进行了总结,并对接下来的研究方向进行了展望。
[Abstract]:Trajectory tracking and contour error compensation are important research contents of modern NC machining technology, which directly affect the production quality and efficiency of NC machine tools. In this paper, the problems of trajectory tracking and contour error compensation technology in NC machining field are analyzed theoretically. The main research goal is to put forward the theoretical analysis on the discrete time selection of zero phase-difference position tracking control design. The cross-coupling control compensation in profile error compensation control strategy is studied. Compared with the traditional position error compensation algorithm, the global task coordinate system algorithm is applied to cross-coupling control. The main research contents are as follows: (1) the current profile error compensation control strategy in the field of NC machining mainly focuses on the tracking accuracy of single-axis servo position system and the establishment of profile error model. The research status of motion control compensation technology at home and abroad is compared and analyzed. (2) the zero phase error tracking control technology used to improve the accuracy of profile tracking is analyzed. According to the mathematical model of the simplified position servo system, the corresponding feedforward controller is designed, and the simulation results of the zero phase error controller designed for different discrete time are analyzed. Combined with the mathematical model of the system and the stability of the feedforward controller, the simulation graph results are analyzed. The stability of feedforward controller designed by discrete system and the theoretical analysis of discrete time are analyzed. It is proposed that there are optimal discrete time sampling points in the design of feedforward controller and verified by detailed theoretical derivation. (3) the estimation of various outline error models and the advantages and disadvantages of the calculation methods are studied. Compared with the traditional approximate estimation cross-coupling control algorithm and the global task coordinate system algorithm, the compensation effect of cross-coupling control method on outline error is analyzed and studied. The global task coordinate system algorithm is applied to cross-coupling control. (4) through the above theoretical analysis, the simplified mathematical model of servo system is taken as the simulation object. The proposed algorithm is simulated to verify the trajectory tracking and contour error compensation in Simulink environment, and the related theoretical verification is verified. (5) the research contents of this paper are summarized. And the future research direction is prospected.
【学位授予单位】：广东工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TG659;TP391.9

【相似文献】