本文關(guān)鍵詞：基于歷史數(shù)據(jù)的進(jìn)給軸運(yùn)動(dòng)響應(yīng)模型研究及應(yīng)用　出處：《華中科技大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 歷史數(shù)據(jù) 速度預(yù)測 誤差預(yù)測 實(shí)時(shí) 前饋

【摘要】：為提高曲面加工的輪廓精度,需要降低數(shù)控加工中進(jìn)給軸的跟隨誤差。為此需要對(duì)軸的運(yùn)動(dòng)響應(yīng)特性建立較為準(zhǔn)確的模型,常規(guī)Simulink環(huán)境下的框圖模型和機(jī)電聯(lián)合仿真模型,需要復(fù)雜的有限元計(jì)算,難以用于實(shí)時(shí)的運(yùn)動(dòng)控制。本文基于歷史數(shù)據(jù)對(duì)軸運(yùn)動(dòng)響應(yīng)進(jìn)行建模,以線性迭代模型描述軸輸出在相鄰兩周期內(nèi)本周期實(shí)際速度與上一周期內(nèi)速度跟隨誤差、上一周期實(shí)際速度的關(guān)系,速度跟隨誤差是同一周期內(nèi)指令速度與實(shí)際速度之間差值,從歷史數(shù)據(jù)中提取線性迭代模型的線性迭代系數(shù)。這種線性迭代模型可以在運(yùn)動(dòng)控制過程中對(duì)軸的響應(yīng)進(jìn)行同步預(yù)測,可以在實(shí)時(shí)的控制過程中改進(jìn)運(yùn)動(dòng)控制的性能。對(duì)于一個(gè)具體的軸,其響應(yīng)特性的可重復(fù)程度是研究基于歷史數(shù)據(jù)的建模方法的前提。設(shè)計(jì)了重復(fù)運(yùn)行試驗(yàn),分析了軸在同一套控制參數(shù)下,同樣的指令速度下,其實(shí)際速度曲線的重復(fù)性,采用了五點(diǎn)三次平滑法對(duì)實(shí)際速度進(jìn)行平滑處理,去除采樣數(shù)據(jù)中的噪聲,得到實(shí)際速度曲線。重復(fù)實(shí)驗(yàn)結(jié)果表明,軸速度曲線的不重復(fù)范圍是編程速度的0.1%,因此利用歷史數(shù)據(jù)建立軸的響應(yīng)模型是可行的。研究了影響軸實(shí)際速度的因素,及各因素對(duì)實(shí)際速度的影響程度,確定了以相鄰兩周期內(nèi)上一周期速度跟隨誤差、上一周期實(shí)際速度為基本變元的線性迭代模型,采用最小二乘法從歷史數(shù)據(jù)中提取線性迭代系數(shù)。進(jìn)行了實(shí)際速度預(yù)測有效性驗(yàn)證實(shí)驗(yàn),對(duì)預(yù)測速度和實(shí)際速度進(jìn)行比較,預(yù)測速度與實(shí)際速度差值最大值在編程速度的5%以內(nèi),平均值在編程速度的0.5%以內(nèi),結(jié)果表明響應(yīng)模型具有較高的速度預(yù)測精度。研究不同類型軸、不同類型機(jī)床對(duì)跟隨誤差的影響程度,進(jìn)行了跟隨誤差預(yù)測有效性驗(yàn)證實(shí)驗(yàn),其中線軌機(jī)床的預(yù)測穩(wěn)態(tài)跟隨誤差與實(shí)際穩(wěn)態(tài)跟隨差值占實(shí)際穩(wěn)態(tài)跟隨誤差的2%以下,結(jié)果表明響應(yīng)模型具有較高的跟隨誤差預(yù)測精度。研究基于預(yù)測跟隨誤差的前饋方法,進(jìn)行了圓加工實(shí)驗(yàn),編程速度為1000mm/min圓加工中,加前饋后圓半徑誤差減少31.5um。該結(jié)果表明,基于預(yù)測跟隨誤差的前饋方法能有效提高圓加工精度。
[Abstract]:In order to improve the accuracy of contour machining, the need to reduce the error of feed shaft in NC machining. So we need to establish a more accurate model response characteristics of shaft, block diagram and the co simulation of the mechanical model of conventional Simulink environment, need complicated finite element calculation, which is difficult for the real-time motion control. The model of the in response to the motion based on historical data, using linear iterative model to describe the output shaft in two adjacent the actual speed and cycle period on a cycle speed following error, a relationship between the actual speed of the cycle, the speed of tracking error is the difference between instruction speed in the same period with the actual velocity, extracting linear iterative coefficient linear iterative model from the historical data. The linear iterative model can respond to the axial movement in the control process can be predicted in the control process of synchronization, real-time The performance improvement of motion control. For a specific axis, the response characteristics of the repetitive degree is the premise to research the modeling method based on historical data. The repetitive operation of experimental design, analysis of the shaft in the same set of control parameters under the same instruction rate, in fact, are repetitive speed curve. The five point three times smoothing method on the actual speed of smoothing, remove the noise in the data sampling, get the actual velocity curve. Experiments show that the range of axial velocity curve does not repeat 0.1% programming speed, therefore the use of historical data to establish the model of shaft response is feasible. To study the factors that affect the actual speed of the shaft the influence of various factors on the degree and the actual speed, to determine the two adjacent period on a cycle speed following error, a cycle of the actual speed of the basic linear iterative model variables, using the minimum Two linear iterative multiplication coefficient extracted from the historical data. The actual speed prediction validation experiment, the prediction speed and actual speed is compared with the actual prediction speed maximum speed difference value within the programming speed of 5%, the average value of 0.5% in the programming speed. The results show that the model has high response speed prediction precision. Different types of shaft, the influence degree of different types of machine tools on the tracking error, the tracking error prediction validation experiment, the prediction of steady state line rail machine follow error and real steady with the difference in the actual steady-state tracking error is below 2%, the results show that the prediction accuracy error following response model is higher. Feedforward prediction method based on tracking error, the circle processing experiment, the programming speed is 1000mm/min round processing, feedforward radius error is reduced by 31. after 5um. results show that the feedforward method based on the predictive following error can effectively improve the precision of circular machining.

【學(xué)位授予單位】：華中科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TG659

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