【摘要】：本文基于當(dāng)前拉床行業(yè)在誤差補(bǔ)償技術(shù)上關(guān)于動(dòng)態(tài)誤差補(bǔ)償方面的技術(shù)空白，提出了一種基于貝葉斯網(wǎng)絡(luò)PID(BNPID)的誤差補(bǔ)償控制策略，并基于該策略，研制了軸瓦拉削加工機(jī)床電氣控制系統(tǒng)，最后進(jìn)行了實(shí)驗(yàn)研究，實(shí)際運(yùn)行結(jié)果表明，應(yīng)用了本文研制的電氣控制系統(tǒng)的軸瓦拉床對比傳統(tǒng)軸瓦拉床有更高的加工精度。本文針對軸瓦拉床閉環(huán)控制系統(tǒng)，首先介紹了軸瓦拉床的機(jī)械系統(tǒng)和電液驅(qū)動(dòng)系統(tǒng)，完成了拉床電氣控制系統(tǒng)硬件部分的設(shè)計(jì)；接著，基于拉床的機(jī)械系統(tǒng)，根據(jù)空間定位誤差，推導(dǎo)出了拉床多誤差綜合數(shù)學(xué)模型；然后，在貝葉斯網(wǎng)絡(luò)的基礎(chǔ)上，設(shè)計(jì)了BNPID控制器；最后進(jìn)行了相應(yīng)的軟件設(shè)計(jì)以及實(shí)驗(yàn)研究。 第1章介紹了有關(guān)拉床誤差補(bǔ)償?shù)谋尘昂鸵饬x及其相關(guān)關(guān)鍵技術(shù)的國內(nèi)外研究現(xiàn)狀。 第2章介紹了軸瓦拉削加工機(jī)床閉環(huán)控制系統(tǒng)及其性能指標(biāo)，講解了機(jī)床的整體機(jī)械結(jié)構(gòu)，，重點(diǎn)說明了電氣系統(tǒng)的硬件設(shè)計(jì)，主要包括電源供配電設(shè)計(jì)(380v電源供配電設(shè)計(jì)、220v電源供配電設(shè)計(jì))，PLC模塊選型，元器件選型。 第3章中，采用了傳統(tǒng)的齊次坐標(biāo)變換方法，基于第2章中介紹的軸瓦拉床的機(jī)械系統(tǒng)，分別在軸瓦拉床的底座上建立了基坐標(biāo)系，在軸瓦拉床橫向以及縱向運(yùn)動(dòng)軸上建立了子坐標(biāo)系，然后通過在拉床底座、床身、主溜板、刀具各個(gè)部分之間建立其坐標(biāo)變換矩陣，建立刀具到拉床底座這條運(yùn)動(dòng)鏈的坐標(biāo)變換矩陣，同理再建立工件到拉床底座之間運(yùn)動(dòng)鏈的坐標(biāo)變換矩陣，最后基于以上兩條運(yùn)動(dòng)鏈，建立軸瓦拉削加工機(jī)床的多誤差綜合數(shù)學(xué)模型。同時(shí)本章中也引入了閥控缸的數(shù)學(xué)模型，架構(gòu)了由閥芯位移到液壓缸位移的數(shù)學(xué)模型。 第4章以PID理論作為運(yùn)動(dòng)控制方法，并基于第3章的多誤差綜合模型，運(yùn)用貝葉斯網(wǎng)絡(luò)計(jì)算各誤差源的熱誤差，同時(shí)考慮幾何誤差，提出了一種新型的BNPID控制策略。BNPID控制策略汲取了當(dāng)今流行的誤差補(bǔ)償方法，并在此基礎(chǔ)上推陳出新，以多誤差（幾何誤差、熱誤差）綜合數(shù)學(xué)模型為基礎(chǔ)，并將熱誤差分為3個(gè)相對獨(dú)立的分量，與8個(gè)熱敏點(diǎn)一一對應(yīng)，運(yùn)用貝葉斯網(wǎng)絡(luò)分別計(jì)算3個(gè)熱誤差分量，同時(shí)在運(yùn)動(dòng)控制上借鑒了傳統(tǒng)PID控制簡單且有效的優(yōu)點(diǎn)。 第5章主要完成了軸瓦拉削加工機(jī)床軟件部分的設(shè)計(jì)及其實(shí)驗(yàn)部分的研究。軟件部分的設(shè)計(jì)包括了基于西門子CPU315的PLC程序設(shè)計(jì)和基于研華工控機(jī)的上位機(jī)監(jiān)控程序設(shè)計(jì)；實(shí)驗(yàn)部分則主要研究了BNPID控制策略在軸瓦拉削加工機(jī)床上的控制效果。 第6章中，對本文的工作內(nèi)容進(jìn)行了分析總結(jié)，并對今后軸瓦拉削加工機(jī)床電氣控制系統(tǒng)的研究方向進(jìn)行了展望。
[Abstract]:In this paper, a new error compensation control strategy based on Bayesian network (PID (BNPID) is proposed based on the technical blank of dynamic error compensation in broaching machine industry, and based on this strategy, an error compensation control strategy based on Bayesian network (PID (BNPID) is proposed. The electrical control system of the machine tool for the broaching of the bearing bush is developed. At last, the experimental research is carried out. The actual operation results show that the bearing broaching machine with the electrical control system developed in this paper has higher machining accuracy than the traditional broaching machine of the bearing bush. Aiming at the closed-loop control system of the bearing broaching machine, this paper first introduces the mechanical system and the electro-hydraulic drive system of the bearing broaching machine, and completes the hardware design of the electrical control system of the broaching machine, and then, the mechanical system based on the broaching machine, According to the spatial positioning error, the multi-error comprehensive mathematical model of broaching machine is derived. Then, based on Bayesian network, the BNPID controller is designed. Finally, the corresponding software design and experimental research are carried out. Chapter 1 introduces the background and significance of error compensation of broaching machine and the research status of related key technologies at home and abroad. In chapter 2, the closed-loop control system and its performance index are introduced, the overall mechanical structure of the machine tool is explained, and the hardware design of the electrical system is emphasized. It mainly includes power supply and distribution design (380v power supply and distribution design) PLC module selection and components selection. In Chapter 3, the traditional homogeneous coordinate transformation method is used. Based on the mechanical system of the bearing broaching machine introduced in Chapter 2, the basic coordinate system is established on the base of the bearing broach respectively. The sub-coordinate system is established on the horizontal and longitudinal moving axis of the bearing broaching machine, and then the coordinate transformation matrix is established between the broach base, the bed, the main slide plate and the cutting tool. The coordinate transformation matrix of the motion chain from the tool to the broach base is established, and the coordinate transformation matrix of the motion chain between the workpiece and the broach base is also established. Finally, based on the above two motion chains, A comprehensive mathematical model of multi-error for broaching machine tool for bearing bush is established. At the same time, the mathematical model of valve control cylinder is introduced in this chapter, and the mathematical model from valve core displacement to hydraulic cylinder displacement is constructed. In chapter 4, the PID theory is used as the motion control method, and based on the multi-error synthesis model in chapter 3, the thermal error of each error source is calculated by using Bayesian network, and the geometric error is considered at the same time. In this paper, a new BNPID control strategy .BNPID control strategy is proposed, which draws on the popular error compensation method, and on this basis, it is based on the comprehensive mathematical model of multi-error (geometric error, thermal error). The thermal error is divided into three relatively independent components, corresponding to eight heat sensitive points, and three thermal error components are calculated by using Bayesian network, and the advantages of traditional PID control are used for reference in motion control. In chapter 5, the design and experimental research of the machine tool software for bearing broaching are completed. The software design includes the design of PLC program based on Siemens CPU315 and the design of monitor program of upper computer based on CPU315. The experiment part mainly studies the control effect of BNPID control strategy on the broaching machine tool of axle bush. In Chapter 6, the work of this paper is analyzed and summarized, and the research direction of the electrical control system of the machine tool for bearing broaching is prospected in the future.
【學(xué)位授予單位】：杭州電子科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TG57;TP273

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