具有連續(xù)加加速度與誤差自適應(yīng)特性的高效柔性數(shù)控算法研究與設(shè)計
發(fā)布時間：2018-12-15 16:14
【摘要】：高精度數(shù)控加工設(shè)備應(yīng)用廣泛,其控制軟件中的算法是其最為核心的技術(shù),目前在這一領(lǐng)域國內(nèi)外的技術(shù)差距較為明顯。流行的梯形加減速算法及S形加減速算法存在著加速度或者加加速度的斷裂,且電機啟停即以最大加速度為達成目標(biāo),在面對曲率較高需要頻繁加減速的高柔性加工場合,往往導(dǎo)致效率低下、機床震動,產(chǎn)品的過切、欠切等不良結(jié)果,且長時使用也會導(dǎo)致電機的磨損加劇、壽命下降;普通的直線與圓弧插補算法種類類繁多,但都很難在精度與資源消耗上獲得妥協(xié),且往往忽視段間過渡的重要性,在一定程度上影響了效率和成品質(zhì)量。在這兩個方面,國外的研究工作較為扎實且卓有成效,相關(guān)技術(shù)大幅領(lǐng)先國內(nèi),其核心成果作為機密級材料被嚴(yán)格保密,成為技術(shù)壁壘。本文研究并提出了基于高次多項式速度模型的加減速算法以及誤差自適應(yīng)的前瞻插補算法,結(jié)合完整的段間過渡算法,應(yīng)用于自行研發(fā)的基于DSP+CPLD開發(fā)板,并做了較為詳細(xì)的測評,對國內(nèi)該領(lǐng)域的技術(shù)突破提供了一個綜合優(yōu)化解決方案。論文首先對比了梯型、S型、指數(shù)型等傳統(tǒng)加減速算法,指出各算法存在的弊端和優(yōu)勢,針對技術(shù)點提出改進方法和思路;列舉了迭代插補、直線插補、圓弧插補等具有普適性的插補算法,分析各自存在的問題和矛盾,提出綜合優(yōu)化方案。接著,建立標(biāo)準(zhǔn)五次多項式加減速速度模型,做到速度、加速度、加加速度的連續(xù)執(zhí)行,并在此基礎(chǔ)上提出基于改進的雙曲正切函數(shù)的可變Jmax調(diào)速機制,使得在提升機體加工效率的同時,進一步增強系統(tǒng)柔性,并在仿真測試中加以驗證。在此基礎(chǔ)上,為了應(yīng)對連續(xù)變化曲率的現(xiàn)實加工環(huán)境,對不同的加工角度提出了不同的過渡處理機制。然后,建立了基于三分法的自適應(yīng)誤差模型,提出了優(yōu)化的誤差自適應(yīng)圓弧插補算法,結(jié)合了等參數(shù)法和等誤差法優(yōu)勢,使得在不占用大量資源的情況下,獲得較高的精度,并大幅提升加工效率。再次,設(shè)計了基于DSP+CPLD的硬件測試板卡,給出了設(shè)計思路與實施方案,包括原理圖、PCB圖及基本的設(shè)計流程,并對制作的硬件板卡進行了仿真測試。最后,搭建仿真環(huán)境與測試平臺。經(jīng)驗證,本套算法具備更強的柔性,在提高效能及精度的同時,確保了適當(dāng)?shù)馁Y源消耗,并加強了對電機系統(tǒng)的保護,具有實際的工業(yè)應(yīng)用價值。
[Abstract]:High precision NC machining equipment is widely used, and the algorithm in its control software is the most important technology. At present, the technical gap in this field is obvious at home and abroad. The popular trapezoidal acceleration and deceleration algorithms and S-shaped acceleration and deceleration algorithms have the breakage of acceleration or acceleration, and the maximum acceleration is the goal of motor starting and stopping. Often lead to inefficiency, machine tool vibration, product over-cut, undercut and other adverse results, and long-term use will also lead to motor wear, life decline; There are many kinds of interpolation algorithms for straight line and circular arc, but it is difficult to obtain compromise on precision and resource consumption, and the importance of transition between segments is often neglected, which affects the efficiency and the quality of finished product to a certain extent. In these two aspects, the foreign research work is more solid and fruitful, the related technology is leading the domestic, its core results as confidential material is strictly confidential, become a technical barrier. In this paper, the acceleration and deceleration algorithm based on the high order polynomial speed model and the forward interpolation algorithm based on error adaptation are studied and proposed. Combined with the complete inter-segment transition algorithm, the algorithm is applied to the self-developed DSP CPLD development board. A comprehensive optimization solution is provided for the technical breakthrough in this field. Firstly, the paper compares the traditional acceleration and deceleration algorithms such as trapezoid, S-type, exponential, etc., points out the disadvantages and advantages of each algorithm, and puts forward the improvement method and train of thought for the technical points. The universal interpolation algorithms, such as iterative interpolation, linear interpolation and circular arc interpolation, are listed. The existing problems and contradictions are analyzed, and a comprehensive optimization scheme is put forward. Then, a standard five-order polynomial acceleration and deceleration speed model is established to achieve the continuous execution of speed and acceleration. On this basis, a variable Jmax speed regulation mechanism based on the improved hyperbolic tangent function is proposed. At the same time, the flexibility of the system is further enhanced and verified in the simulation test. On this basis, in order to cope with the continuous changing curvature of the real processing environment, different processing angles proposed different transition processing mechanism. Then, an adaptive error model based on the three-point method is established, and an optimized adaptive circular arc interpolation algorithm is proposed, which combines the advantages of the isoparametric method and the equal-error method. And greatly improve the processing efficiency. Thirdly, the hardware test board based on DSP CPLD is designed, the design idea and implementation scheme are given, including the schematic diagram, PCB diagram and basic design flow, and the hardware board is simulated and tested. Finally, the simulation environment and test platform are built. It has been proved that the algorithm is more flexible, which can improve the efficiency and precision, ensure the appropriate resource consumption, and strengthen the protection of the motor system. It has practical application value.
【學(xué)位授予單位】：上海交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TG659
本文編號：2380944
[Abstract]:High precision NC machining equipment is widely used, and the algorithm in its control software is the most important technology. At present, the technical gap in this field is obvious at home and abroad. The popular trapezoidal acceleration and deceleration algorithms and S-shaped acceleration and deceleration algorithms have the breakage of acceleration or acceleration, and the maximum acceleration is the goal of motor starting and stopping. Often lead to inefficiency, machine tool vibration, product over-cut, undercut and other adverse results, and long-term use will also lead to motor wear, life decline; There are many kinds of interpolation algorithms for straight line and circular arc, but it is difficult to obtain compromise on precision and resource consumption, and the importance of transition between segments is often neglected, which affects the efficiency and the quality of finished product to a certain extent. In these two aspects, the foreign research work is more solid and fruitful, the related technology is leading the domestic, its core results as confidential material is strictly confidential, become a technical barrier. In this paper, the acceleration and deceleration algorithm based on the high order polynomial speed model and the forward interpolation algorithm based on error adaptation are studied and proposed. Combined with the complete inter-segment transition algorithm, the algorithm is applied to the self-developed DSP CPLD development board. A comprehensive optimization solution is provided for the technical breakthrough in this field. Firstly, the paper compares the traditional acceleration and deceleration algorithms such as trapezoid, S-type, exponential, etc., points out the disadvantages and advantages of each algorithm, and puts forward the improvement method and train of thought for the technical points. The universal interpolation algorithms, such as iterative interpolation, linear interpolation and circular arc interpolation, are listed. The existing problems and contradictions are analyzed, and a comprehensive optimization scheme is put forward. Then, a standard five-order polynomial acceleration and deceleration speed model is established to achieve the continuous execution of speed and acceleration. On this basis, a variable Jmax speed regulation mechanism based on the improved hyperbolic tangent function is proposed. At the same time, the flexibility of the system is further enhanced and verified in the simulation test. On this basis, in order to cope with the continuous changing curvature of the real processing environment, different processing angles proposed different transition processing mechanism. Then, an adaptive error model based on the three-point method is established, and an optimized adaptive circular arc interpolation algorithm is proposed, which combines the advantages of the isoparametric method and the equal-error method. And greatly improve the processing efficiency. Thirdly, the hardware test board based on DSP CPLD is designed, the design idea and implementation scheme are given, including the schematic diagram, PCB diagram and basic design flow, and the hardware board is simulated and tested. Finally, the simulation environment and test platform are built. It has been proved that the algorithm is more flexible, which can improve the efficiency and precision, ensure the appropriate resource consumption, and strengthen the protection of the motor system. It has practical application value.
【學(xué)位授予單位】：上海交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TG659
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