CN107463150B - The method that digital control system crosses the control of quadrant second compensation is realized based on dynamic model - Google Patents
The method that digital control system crosses the control of quadrant second compensation is realized based on dynamic model Download PDFInfo
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- CN107463150B CN107463150B CN201710825864.0A CN201710825864A CN107463150B CN 107463150 B CN107463150 B CN 107463150B CN 201710825864 A CN201710825864 A CN 201710825864A CN 107463150 B CN107463150 B CN 107463150B
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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Abstract
Realize that digital control system crosses the method that quadrant second compensation controls based on dynamic model the present invention relates to a kind of, wherein, including, digital control system finds position single shaft error and is crossing the compensation starting point at quadrant, compensate terminal and compensation maximum point, construction compensation sequence, compensation starting point is established to the first dynamic compensation model between compensation maximum point, compensation maximum point is established to the second dynamic compensation model between compensation terminal, calculate the error between the first dynamic compensation model and the second dynamic compensation model and deviations of actual position, acquire the region distribution for making the first dynamic compensation model and the second dynamic compensation model fit well on deviations of actual position, and with this region for according to progress actual pulse compensation, it can carry out multiple pulses compensation.Allow model to carry out second compensation under adaptive state and completed the whole of location error at quadrant reducing, it can be achieved that best compensation be bonded using the compensating control method of this kind of structure, improves the accuracy of digital control system, and operation is convenient.
Description
Technical field
The present invention relates to automation field more particularly to backoff algorithm fields, in particular to one kind to be based on dynamic model
Realize the method that digital control system crosses the control of quadrant second compensation.
Background technique
Numerical control device is industrially widely used, and crosses quadrant backoff algorithm about numerical control device control in the prior art:
Different friction conditions and mechanical rigid, at quadrant switching point, the actual speed for participating in each axis of moving interpolation is different, machine
Bed axis can not accurately navigate to instruction value every time.But the physical location of each axis is not ideal programming route, especially
It is crossing at quadrant, is generating profile errors.It is previously added additional speed setting value pulse in crossing at quadrant for axis, it is right to reduce aixs cylinder
Profile errors are positioned due to caused by the mutation of mechanically deform, backlass or friction condition in counter motion.The algorithm passes through
Control information is obtained in the feedback data crossed at quadrant when acquiring arc machining, fixed compensation rate is fitted according to control information
Model again compensates compensation rate in arc machining.
When it has the following disadvantages: 1, just starts compensating for, driver responds excessive compensated in advance and compensation overshoot causes to miss
It is poor reversed；2, disadvantage 1 causes subsequent compensation intensity is less than normal compensation effect is not achieved, and positive error still has；3, by subtracting
Overshoot reduces but will lead to subsequent compensation global error less than normal and increase when small compensation intensity to start compensating for；4, lead to
Increase compensation delay is crossed so that starting the somewhere error that overshoot delays error to reduce still below will increase again；5, can not accomplish
Effectively reduce global error persistently in one direction；6, compensation model fixation can not be adaptive, and compensation starting velocity is not
Zero may be to cause to drive one of the factor excessively responded；7, it needs constantly modification model or modifies the different lathe of parameter adaptation
Cross quadrant compensation.
Summary of the invention
The purpose of the present invention is overcoming the above-mentioned prior art, provide a kind of based on dynamic model realization numerical control
The method that system crosses the control of quadrant second compensation.
To achieve the goals above, of the invention to realize that digital control system crosses the control of quadrant second compensation based on dynamic model
Method is as follows:
This realizes the method that digital control system crosses the control of quadrant second compensation based on dynamic model, is mainly characterized by, described
Method include the following steps；
(1) digital control system described in finds position single shaft error and is crossing the compensation starting point at quadrant, compensation terminal and compensation
Maximum point；
(2) construction compensation sequence limits, the compensation using the compensation starting point, compensation terminal as compensatory zone
The node that maximum point increases as location error, reduces is established compensation starting point and is compensated to the first dynamic between compensation maximum point
Model establishes compensation maximum point to the second dynamic compensation model between compensation terminal；
(3) the first dynamic compensation model and the second dynamic in the step (2) are calculated separately using least square method
Error between compensation model and deviations of actual position, being acquired by dichotomy makes the first dynamic compensation model and described
The second dynamic compensation model fit well on deviations of actual position region distribution, and with this region be according to carry out actual pulse benefit
It repays；
(4) judge to compensate whether number reaches the systemic presupposition upper limit；
(5) if the compensation number is not up to the systemic presupposition upper limit, continue subsequent step (6), after otherwise continuing
Continuous step (8)；
(6) this impulse compensation is passed through in judgement, and whether the location error reaches the acceptable standard of system intialization；
(7) if the location error is not up to the acceptable standard of the system intialization, above-mentioned steps are returned
(2), second pulse compensation is carried out, and after the compensation of the described second pulse need to be to the previous impulse compensation of second compensation
The 2 sections of regions generated compensate respectively, otherwise continue subsequent step (8)；
(8) terminate compensation.
Preferably, the compensation sequence in the step (2) is generated by the algorithm construction with acceleration planning function.
Preferably, the first dynamic compensation model speed reduces and increased velocity zone is in the step (2)
Dynamically distributed in the case where the first dynamic compensation model overall area is constant, the second dynamic compensation model speed reduce and
Increased velocity zone is also dynamically distributed in the case where the second dynamic compensation model overall area is constant
The method that digital control system crosses the control of quadrant second compensation is realized based on dynamic model using in the invention, it can be with
The whole diminution that second compensation completed location error at quadrant is carried out under adaptive state.The present invention can obtain have as follows
Best compensation fitting may be implemented according to actual feedback data dynamic change in beneficial effect model；Without constructing multiple models, move
States model can realize adaptive equalization；Guarantee the stability of error reduction, single compensation can be such that quadrant error effectively reduces
One times, second compensation can stablize at least one times of reduction on the basis of single compensation；No setting is required crosses multi-parameter, and client is not required to
To be constantly regulate according to lathe compensation intensity and compensation delay, when control more accurate, more convenient operation.
Detailed description of the invention
Fig. 1 is the first time of the method for the invention that the control of quadrant second compensation is crossed based on dynamic model realization digital control system
Compensate interval graph.
Fig. 2 is the first time of the method for the invention that the control of quadrant second compensation is crossed based on dynamic model realization digital control system
Compensated interval graph i.e. second of compensation interval graph.
Fig. 3 is each section of area of the method for the invention that the control of quadrant second compensation is crossed based on dynamic model realization digital control system
Between dynamic model figure.
Specific embodiment
It is further to carry out combined with specific embodiments below in order to more clearly describe technology contents of the invention
Description.
This realizes the method that digital control system crosses the control of quadrant second compensation based on dynamic model, comprising the following steps:
(1) digital control system described in finds position single shaft error and is crossing the compensation starting point at quadrant, compensation terminal and compensation
Maximum point；
(2) construction compensation sequence limits, the compensation using the compensation starting point, compensation terminal as compensatory zone
The node that maximum point increases as location error, reduces is established compensation starting point and is compensated to the first dynamic between compensation maximum point
Model establishes compensation maximum point to the second dynamic compensation model between compensation terminal；
(3) the first dynamic compensation model and the second dynamic in the step (2) are calculated separately using least square method
Error between compensation model and deviations of actual position, being acquired by dichotomy makes the first dynamic compensation model and described
The second dynamic compensation model fit well on deviations of actual position region distribution, and with this region be according to carry out actual pulse benefit
It repays；
(4) judge to compensate whether number reaches the systemic presupposition upper limit；
(5) if the compensation number is not up to the systemic presupposition upper limit, continue subsequent step (6), after otherwise continuing
Continuous step (8)；
(6) this impulse compensation is passed through in judgement, and whether the location error reaches the acceptable standard of system intialization；
(7) if the location error is not up to the acceptable standard of the system intialization, above-mentioned steps are returned
(2), second pulse compensation is carried out, and after the compensation of the described second pulse need to be to the previous impulse compensation of second compensation
The 2 sections of regions generated compensate respectively, otherwise continue subsequent step (8)；
(8) terminate compensation.
In a particular embodiment, the compensation sequence in the step (2) passes through the algorithm with acceleration planning function
Construction generates.The first dynamic compensation model speed reduces and increased velocity zone is in the first dynamic compensation mould
It is dynamically distributed in the case that type overall area is constant, the second dynamic compensation model speed reduces and increased velocity zone also exists
It is dynamically distributed in the case that the second dynamic compensation model overall area is constant.
As shown in Figure 1 to Figure 3, the present invention in a specific embodiment, carries out model under adaptive state
Second compensation was completed the whole of location error at quadrant and was reduced.
It has following technical characteristic
1, it finds position single shaft error and is crossing starting point, terminal and maximum point at quadrant as compensatory zone；
2, sequence is compensated using the algorithm construction with acceleration planning function, wherein making to compensate starting point and compensation terminal
For compensatory zone restriction, increase reduced node using location error maximum point as location error；It is missed from compensation starting point to position
The reduction of compensation model speed and increased velocity zone between poor maximum point are can be total in the first dynamic compensation model
Dynamically distributed in the case that region is constant, from location error maximum point to compensation terminal compensation model speed reduce and
Increased velocity zone is also that can dynamically distribute in the case where the second dynamic compensation model overall area is constant.
3, above-mentioned zone is calculated using a series of error calculation methods such as least square dynamically distribute the compensation model generated
Error between deviations of actual position acquires the region point for making compensation model fit well on deviations of actual position by dichotomy
Match, and impulse compensation is carried out with this model；
4, processing is sent to compensated data and obtains feedback data, then the location error looked for novelty, utilize method 2 and side
Method 3 carries out second compensation again, reaches the setting upper limit until location error reaches acceptable standard or compensates number.
In this embodiment, the present invention can bring it is following the utility model has the advantages that
1) best compensation fitting may be implemented according to actual feedback data dynamic change in model；
2) without constructing multiple models, dynamic model can realize adaptive equalization；
3) guarantee the stability of error reduction, single compensation can make quadrant error effectively reduce one times, second compensation
At least one times of reduction can be stablized on the basis of single compensation；
4) no setting is required crosses multi-parameter, and client does not need to constantly regulate compensation intensity and compensation delay according to lathe.
Specific embodiment as shown in Figure 1, Figure 2, find position single shaft error cross quadrant at starting and terminal point and
Maximum point is as compensatory zone (one section of compensation section of single compensation as shown in Figure 1, two sections of compensating basins of second compensation as shown in Figure 2
Between)；Dynamic model is established for above-mentioned every section of compensation section, as shown in figure 3, wherein T0, T1, T2 are fixed value, it can be in T0-T1 model
Interior activity is enclosed, can be movable within the scope of T1-T2, it can be calculated according to actual error curve using dichotomy and least square method
Suitable and value (meet precision or the number of iterations reach maximum limitation).
Wherein, T0: compensation starting point, T1: compensation maximum point, T2: compensation terminal, t ': from compensation starting point to compensation maximum point
Between dynamic compensation model point, t ": from compensation maximum point to compensation terminal dynamic compensation model point:
Finally practical compensation can be carried out to pulse is sent according to the compensation sequence that actual configuration comes out.
The method that digital control system crosses the control of quadrant second compensation is realized based on dynamic model using in the invention, it can be with
The whole diminution that second compensation completed location error at quadrant is carried out under adaptive state.The present invention can obtain have as follows
Best compensation fitting may be implemented according to actual feedback data dynamic change in beneficial effect model；Without constructing multiple models, move
States model can realize adaptive equalization；Guarantee the stability of error reduction, single compensation can be such that quadrant error effectively reduces
One times, second compensation can stablize at least one times of reduction on the basis of single compensation；No setting is required crosses multi-parameter, and client is not required to
To be constantly regulate according to lathe compensation intensity and compensation delay, when control more accurate, more convenient operation.
In this description, the present invention is described with reference to its specific embodiment.But it is clear that can still make
Various modifications and alterations are without departing from the spirit and scope of the invention.Therefore, the description and the appended drawings should be considered as illustrative
And not restrictive.
Claims (1)
1. a kind of method for realizing that digital control system crosses the control of quadrant second compensation based on dynamic model, which is characterized in that described
Method includes the following steps；
(1) digital control system described in finds position single shaft error and is crossing the compensation starting point at quadrant, compensation terminal and compensation maximum
Point；
(2) construction compensation sequence is limited using the compensation starting point, compensation terminal as compensatory zone, and the compensation is maximum
The node that point increases as location error, reduces, foundation compensation starting point to the first dynamic compensation model between compensation maximum point,
Compensation maximum point is established to the second dynamic compensation model between compensation terminal；
(3) the first dynamic compensation model in the step (2) is calculated separately using least square method and the second dynamic compensates
Error between model and deviations of actual position, being acquired by dichotomy makes the first dynamic compensation model and described
Two dynamic compensation models fit well on the region distribution of deviations of actual position, and are according to progress actual pulse compensation with this region；
(4) judge to compensate whether number reaches the systemic presupposition upper limit；
(5) if the compensation number is not up to the systemic presupposition upper limit, continue subsequent step (6), otherwise continue subsequent step
Suddenly (8)；
(6) this impulse compensation is passed through in judgement, and whether the location error reaches the acceptable standard of system intialization；
(7) if the location error is not up to the acceptable standard of the system intialization, above-mentioned steps (2) are returned,
Carry out second pulse compensation, and the compensation of the described second pulse need to be to generating after the previous impulse compensation of second compensation
2 sections of regions compensate respectively, otherwise continue subsequent step (8)；
(8) terminate compensation；
Compensation sequence in the step (2) is generated by the algorithm construction with acceleration planning function；
In the step (2), the first dynamic compensation model speed reduces and increased velocity zone is described the
It is dynamically distributed in the case that one dynamic compensation model overall area is constant, the second dynamic compensation model speed reduces and speed
Increase region also to dynamically distribute in the case where the second dynamic compensation model overall area is constant.
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| CN107918356B (en) * | 2017-12-14 | 2020-04-10 | 上海维宏电子科技股份有限公司 | Over-quadrant friction compensation method for numerical control machine tool shaft linkage machining process |
| CN109133598B (en) * | 2018-08-09 | 2021-09-14 | 东旭光电科技股份有限公司 | Method and device for correcting cutting track of glass substrate |
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| CN101289146A (en) * | 2007-02-17 | 2008-10-22 | 罗伯特.博世有限公司 | Method and device for friction compensation |
| CN104635621A (en) * | 2013-11-08 | 2015-05-20 | 沈阳高精数控技术有限公司 | XY workbench over-quadrant heave compensation method based on field buses |
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Address after: 201108 4th floor, No.29, Lane 1277, zhuanxing East Road, Minhang District, Shanghai Co-patentee after: Shanghai Weihong Intelligent Technology Co., Ltd. Patentee after: Shanghai Weihong Electronic Technology Ltd. Address before: 201401, No. 1590, Shanghai Hangzhou highway, Shanghai, Fengxian District Co-patentee before: Shanghai Weihong Intelligent Technology Co., Ltd. Patentee before: Shanghai Weihong Electronic Technology Ltd. |