【摘要】：數(shù)控系統(tǒng)是數(shù)控機(jī)床實(shí)現(xiàn)高速高精加工控制的核心,其性能直接決定了機(jī)床性能。以ARM+DSP雙核處理器構(gòu)建的嵌入式數(shù)控系統(tǒng),能滿足中高檔數(shù)控系統(tǒng)在高性能低成本方面的需求。速度前瞻控制能在插補(bǔ)之前對(duì)加工路徑進(jìn)行計(jì)算和規(guī)劃,實(shí)現(xiàn)機(jī)床的高效平穩(wěn)運(yùn)行。通過將嵌入式技術(shù)與前瞻控制技術(shù)相結(jié)合,可縮小國內(nèi)外在數(shù)控硬件技術(shù)和控制軟件上的差距,從而為我國裝備制造業(yè)的發(fā)展帶來新機(jī)遇。本文在基于OMAP3530的雙核數(shù)控系統(tǒng)平臺(tái)上,分別開展了對(duì)微小線段軌跡和NURBS曲線軌跡的前瞻插補(bǔ)算法研究,并將此算法進(jìn)行了仿真和試驗(yàn)驗(yàn)證。本文開展的主要研究工作如下:(1)加減速技術(shù)是速度前瞻控制算法中的重要組成部分。傳統(tǒng)S型加減規(guī)劃中其分段表達(dá)式比較繁瑣,而且速度曲線類型眾多,為了便于計(jì)算,本文研究了一種簡(jiǎn)化的以應(yīng)用到后續(xù)前瞻控制算法中的S型加減速規(guī)劃方法。(2)由于傳統(tǒng)小線段插補(bǔ)“段內(nèi)啟�！睍�(huì)導(dǎo)致加工效率低下,本文基于一種復(fù)合的拐角過渡模型,對(duì)小線段銜接處的前瞻速度約束進(jìn)行分析,確定了線段銜接處的最優(yōu)速度,并根據(jù)該速度大小自適應(yīng)選取前瞻段數(shù),從而有效減少了前瞻計(jì)算時(shí)間。(3)為了實(shí)現(xiàn)曲線加工過程中精度和速度的協(xié)調(diào)控制,本文提出了一種基于前瞻控制的自適應(yīng)NURBS插補(bǔ)算法:先根據(jù)預(yù)處理階段的信息找出曲線上的速度突變點(diǎn)和突變點(diǎn)處進(jìn)給速度,然后對(duì)突變點(diǎn)處速度重新規(guī)劃以防止速度躍變,最后利用NURBS曲線的對(duì)稱性和雙向插補(bǔ)思想來預(yù)測(cè)減速點(diǎn)。通過速度規(guī)劃,在實(shí)時(shí)插補(bǔ)階段結(jié)合Muller法和Newton迭代法來求取下一周期的插補(bǔ)參數(shù),避免NURBS曲線導(dǎo)數(shù)的計(jì)算。仿真結(jié)果表明,本文的NURBS插補(bǔ)方法能滿足機(jī)床的柔性要求,減小了進(jìn)給速度波動(dòng)。(4)針對(duì)雙核數(shù)控系統(tǒng)平臺(tái)設(shè)計(jì)了雙核通信程序和前瞻控制算法模塊,并實(shí)現(xiàn)了嵌入式數(shù)控系統(tǒng)的功能軟件模塊。通過NURBS實(shí)時(shí)插補(bǔ)算法執(zhí)行時(shí)間測(cè)試驗(yàn)證了該算法的實(shí)時(shí)性,同時(shí)速度前瞻插補(bǔ)算法仿真和試驗(yàn)結(jié)果也驗(yàn)證了該算法的有效性。
[Abstract]:Numerical control system is the core of NC machine tool to realize high speed and high precision machining control, and its performance directly determines the performance of the machine tool. The embedded NC system based on ARM DSP dual core processor can meet the demand of high performance and low cost for middle and high grade NC system. The speed forward control can calculate and plan the machining path before interpolation, and realize the machine tool running efficiently and smoothly. By combining embedded technology with prospective control technology, the gap between CNC hardware technology and control software at home and abroad can be narrowed, thus bringing new opportunities for the development of China's equipment manufacturing industry. On the platform of dual-core NC system based on OMAP3530, this paper studies the forward interpolation algorithm of tiny line segment trajectory and NURBS curve trajectory, and simulates and verifies the algorithm. The main work of this paper is as follows: (1) acceleration and deceleration technology is an important part of speed forward control algorithm. In the traditional S-type addition and subtraction programming, the piecewise expressions are tedious, and there are many types of velocity curves. In this paper, a simplified S-type acceleration and deceleration planning method applied to the follow-up forward control algorithm is studied. (2) because the traditional small line segment interpolation "start and stop within the segment" will lead to low processing efficiency, this paper is based on a compound corner transition model. Based on the analysis of the forward speed constraint at the junction of small segment, the optimal speed at the junction of line segment is determined, and the number of prospective segments is adaptively selected according to the size of the speed. In order to realize the coordination control of precision and speed in the process of curve processing, it can effectively reduce the time of prospective calculation. (3) in order to realize the coordinated control of precision and speed in curve processing, In this paper, an adaptive NURBS interpolation algorithm based on forward control is proposed. Firstly, the velocity abrupt point and feed velocity on the curve are found according to the information of the preprocessing stage, and then the velocity at the abrupt point is reprogrammed to prevent the velocity jump. Finally, the symmetry of NURBS curve and the idea of bidirectional interpolation are used to predict the deceleration point. Through velocity planning, the interpolation parameters of the next cycle are obtained by combining the Muller method and Newton iteration method in the real-time interpolation stage, thus avoiding the calculation of the derivative of the NURBS curve. The simulation results show that the proposed NURBS interpolation method can meet the flexible requirements of machine tools and reduce the fluctuation of feed speed. (4) Dual-core communication program and forward control algorithm module are designed for dual-core CNC system platform. The function software module of embedded NC system is realized. The real-time performance of the algorithm is verified by the execution time test of the NURBS real-time interpolation algorithm. The simulation and experimental results of the speed forward interpolation algorithm also verify the effectiveness of the algorithm.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TG659

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