数控系统运动控制及运行优化
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摘要
数控相关支撑技术的发展以及现代制造的推进,数控系统正发生革命性的变革,主要体现在对于系统运行的高稳定性、控制精度的高要求、体系结构的开放式、多功能融合以及智能化等方面。基于此,文章在轨迹段的转接处理算法及误差分析、改进型的三角函数加减速算法、数控系统任务的二级优化调度算法、数控系统的智能策略等四方面进行了深入的研究,并与自主研发的TDNC-H8数控系统结合,进行验证。
针对当前轨迹段与直线连接、与圆弧连接的两种转接处理方法以及误差情况进行了详细阐述和分析:对于与直线段的转接处理的误差依据其速度矢量夹角的不同分析了其产生的误差与插补剩余量及夹角的变化关系。对于与圆弧的转接处理方法和误差计算则提出依据是否在同一平面,与圆弧切线夹角两方面进行了阐述。最后提出了广泛适用于微小线段和大直线段的转接处曲线拟合处理方法,即利用曲线拟合的特性求出最大误差点,而后以直线段进行过渡。
提出一种改进型的三角函数加减速算法,并详细阐述了其速度规划。其中对于没有匀速运动过程的速度规划提出了一种类举式的推算方法进行期望速度的求解。并对速度前瞻处理算法提出了一种依据速度变化趋势的运算方法。
针对数控系统保证核心功能运行实时性的特点以及功能预定的特性,提出一种基于固定优先级与模糊控制的重要度-松闲度的任务二级优化调度算法。首先对任务进行优先级的设定,以任务重要度和任务优先级为依据利用模糊算法实时获取任务执行时间,克服原有对其保守预估的缺点;而后以任务重要度、松闲度以及任务间的逻辑关系为参考采用模糊算法求取优先级;最后针对数控系统运行的特点,提出一种基于任务周期延长的降载法保证系统核心功能的正常运行。
提出一种加工前----加工中----加工后的时间阶段智能策略:加工前,对加工程序依据工艺特征,采用基于蚁群算法进行以加工效率为目标的优化;加工进行中,对机床物理状态采用基于目的的监测方法,利用模糊控制算法实时调整进给速度实现机床切削力稳定的优化目标,同时内设故障的应急程序及对故障引导式的排查,并利用网络技术实现物理信息、数控系统操作信息、机床加工信息的远程共享以及故障的远程诊断。对数控系统远程控制与视频监控进行研究,实现数控系统和机床操作场景的远程获取,更具直观性,为数控系统的远程维护提供了一个新的发展思路。最后是加工完成后实现无拆卸的加工质量在机检测,并对获取的检测信息进行定性分析,为产品加工质量评定和后续工艺提供数据支持。
The development of relevant supporting technologies for CNC, the advancement of modern manufacturing and the revolutionary improvement for CNC system are mainly demonstrated by the high stability of system operation, high requirement of the control accuracy, the open architecture, the multi-function and intellectualization, etc. Based on this situation, in current study four aspects, method of transfer and error analysis for segment trajectory, improved acceleration and deceleration of trigonometric function two, leveled optimized algorithm and intelligent control strategies of CNC system, are studied in detail. In addition, the CNC system TDNC-H8, which is independently developed in our lab, is used to test the result.
In view of the current trajectories connecting with straight line, circular arc, two methods of transfer and error analysis are elaborated in detail: To the connection with straight line, we analyse the relationship between different angle between velocity vector with transfer error and the interpolation surplus. To the connection with circular arc, we present different transfer methods and calculation on error, according to whether the current trajectory is in the same plane with the circular arc and the angle between current trajectory and the Tangent of circular arc,is presented, Finally, we proposed a curve fitting method, which is applicable to the connection of small or large straight lines, namely, using the characteristics of curve fitting to get maximum error point, and then using straight line for transition.
An improved acceleration and deceleration algorithm of trigonometric function is recommended and elaborated the velocity planing according to the characteristics. For no uniform motion process, a solution of desired velocity is proposed by enumeration calculation method, To the look-ahead algorithm for velocity, paper introduces a new method according to the development trend of velocity.
Based on the fact that the CNC system will ensure the core functions to run and that the functions are predetermined, an importance-leisure degree task scheduling algorithm based on the fixed priority and fuzzy control is put forward in this study. It will set the priority level of known tasks, and then use time and events activation response for periodic real-time and aperiodic real-time tasks. Based on the importance and priority level of tasks, an algorithm employing fuzzy algorithm to acquire execution time for a task is presented. It overcomes the existing shortcomings of conservative estimate. After that, depending on the importance, leisure degree of tasks and the logical relationship between different tasks, the priority is solved by the fuzzy algorithm. Finally, according to the operation feature of CNC system, a load shedding strategy, which is used to extended period of task, is presented to ensure normal operation of core functions of the system.
An intelligent strategy is proposed according to the processing stage: pre-processing ----processing ---- after processing. At the pre-process stage, based on the process feature, paper uses the ant colony algorithm to optimize the objective of processing efficiency by changing the process parameters. At the processing stage, paper introduces the method of monitoring the physical state of tool based on the object. By using the fuzzy control method to timely adjust feedrate with the optimization target of cutting force stable with embedded the emergency-response program and interactive failure recovery, Using network technology, the physical information, operation information of CNC system, process information are realized remote data accessing, data sharing and fault diagnosis. And some research on the CNC system remote control and video monitoring, by which the interface of the CNC system and the operation are directly remotely got, are studied, and provide a new concept for the remote maintenance. Finally, the parts processing quality is tested without removal after processing, and quantitative analysis is made based on the measurement information which provides the data support for the follow-up processing.
针对当前轨迹段与直线连接、与圆弧连接的两种转接处理方法以及误差情况进行了详细阐述和分析:对于与直线段的转接处理的误差依据其速度矢量夹角的不同分析了其产生的误差与插补剩余量及夹角的变化关系。对于与圆弧的转接处理方法和误差计算则提出依据是否在同一平面,与圆弧切线夹角两方面进行了阐述。最后提出了广泛适用于微小线段和大直线段的转接处曲线拟合处理方法,即利用曲线拟合的特性求出最大误差点,而后以直线段进行过渡。
提出一种改进型的三角函数加减速算法,并详细阐述了其速度规划。其中对于没有匀速运动过程的速度规划提出了一种类举式的推算方法进行期望速度的求解。并对速度前瞻处理算法提出了一种依据速度变化趋势的运算方法。
针对数控系统保证核心功能运行实时性的特点以及功能预定的特性,提出一种基于固定优先级与模糊控制的重要度-松闲度的任务二级优化调度算法。首先对任务进行优先级的设定,以任务重要度和任务优先级为依据利用模糊算法实时获取任务执行时间,克服原有对其保守预估的缺点;而后以任务重要度、松闲度以及任务间的逻辑关系为参考采用模糊算法求取优先级;最后针对数控系统运行的特点,提出一种基于任务周期延长的降载法保证系统核心功能的正常运行。
提出一种加工前----加工中----加工后的时间阶段智能策略:加工前,对加工程序依据工艺特征,采用基于蚁群算法进行以加工效率为目标的优化;加工进行中,对机床物理状态采用基于目的的监测方法,利用模糊控制算法实时调整进给速度实现机床切削力稳定的优化目标,同时内设故障的应急程序及对故障引导式的排查,并利用网络技术实现物理信息、数控系统操作信息、机床加工信息的远程共享以及故障的远程诊断。对数控系统远程控制与视频监控进行研究,实现数控系统和机床操作场景的远程获取,更具直观性,为数控系统的远程维护提供了一个新的发展思路。最后是加工完成后实现无拆卸的加工质量在机检测,并对获取的检测信息进行定性分析,为产品加工质量评定和后续工艺提供数据支持。
The development of relevant supporting technologies for CNC, the advancement of modern manufacturing and the revolutionary improvement for CNC system are mainly demonstrated by the high stability of system operation, high requirement of the control accuracy, the open architecture, the multi-function and intellectualization, etc. Based on this situation, in current study four aspects, method of transfer and error analysis for segment trajectory, improved acceleration and deceleration of trigonometric function two, leveled optimized algorithm and intelligent control strategies of CNC system, are studied in detail. In addition, the CNC system TDNC-H8, which is independently developed in our lab, is used to test the result.
In view of the current trajectories connecting with straight line, circular arc, two methods of transfer and error analysis are elaborated in detail: To the connection with straight line, we analyse the relationship between different angle between velocity vector with transfer error and the interpolation surplus. To the connection with circular arc, we present different transfer methods and calculation on error, according to whether the current trajectory is in the same plane with the circular arc and the angle between current trajectory and the Tangent of circular arc,is presented, Finally, we proposed a curve fitting method, which is applicable to the connection of small or large straight lines, namely, using the characteristics of curve fitting to get maximum error point, and then using straight line for transition.
An improved acceleration and deceleration algorithm of trigonometric function is recommended and elaborated the velocity planing according to the characteristics. For no uniform motion process, a solution of desired velocity is proposed by enumeration calculation method, To the look-ahead algorithm for velocity, paper introduces a new method according to the development trend of velocity.
Based on the fact that the CNC system will ensure the core functions to run and that the functions are predetermined, an importance-leisure degree task scheduling algorithm based on the fixed priority and fuzzy control is put forward in this study. It will set the priority level of known tasks, and then use time and events activation response for periodic real-time and aperiodic real-time tasks. Based on the importance and priority level of tasks, an algorithm employing fuzzy algorithm to acquire execution time for a task is presented. It overcomes the existing shortcomings of conservative estimate. After that, depending on the importance, leisure degree of tasks and the logical relationship between different tasks, the priority is solved by the fuzzy algorithm. Finally, according to the operation feature of CNC system, a load shedding strategy, which is used to extended period of task, is presented to ensure normal operation of core functions of the system.
An intelligent strategy is proposed according to the processing stage: pre-processing ----processing ---- after processing. At the pre-process stage, based on the process feature, paper uses the ant colony algorithm to optimize the objective of processing efficiency by changing the process parameters. At the processing stage, paper introduces the method of monitoring the physical state of tool based on the object. By using the fuzzy control method to timely adjust feedrate with the optimization target of cutting force stable with embedded the emergency-response program and interactive failure recovery, Using network technology, the physical information, operation information of CNC system, process information are realized remote data accessing, data sharing and fault diagnosis. And some research on the CNC system remote control and video monitoring, by which the interface of the CNC system and the operation are directly remotely got, are studied, and provide a new concept for the remote maintenance. Finally, the parts processing quality is tested without removal after processing, and quantitative analysis is made based on the measurement information which provides the data support for the follow-up processing.
引文
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