本文選題：數(shù)控凸輪磨削 + 輪廓誤差　； 參考：《吉林大學》2017年博士論文

【摘要】：目前數(shù)控加工最大的問題就是過于依賴人工操作經(jīng)驗,加工效率低。本論文在吉林省科技廳項目(20150101031JC)“高精度數(shù)控凸輪磨削過程的速度優(yōu)化與輪廓誤差補償”的資助下,以數(shù)控凸輪磨削為研究對象,為實現(xiàn)磨削加工的最優(yōu)化和智能化為目標,展開以下幾方面的研究工作:第一,建立了數(shù)控凸輪磨削系統(tǒng)中傳動機構(gòu)的數(shù)學模型。在機理分析和非線性因素分析的基礎上,分別對X軸和C軸的傳動機構(gòu)建立了數(shù)學模型;并考慮到數(shù)控凸輪磨削中存在的重復問題,設計了基于擴張狀態(tài)觀測器的重復控制機械系統(tǒng),提高了兩個單軸伺服系統(tǒng)的跟蹤精度,也為數(shù)控磨削加工的優(yōu)化提供理論基礎。第二,在單軸精度保證的前提下,設計了基于重復學習控制的交叉耦合控制系統(tǒng)�？紤]到兩個單軸即使精度得到提高,但仍然無法完全沒有跟蹤誤差,且存在滯后等問題,對輪廓誤差與伺服跟蹤誤差的幾何關系進行分析,建立了基于同步滯后控制策略的輪廓誤差模型�；诖四Ｐ�,開展了實時補償?shù)慕徊骜詈峡刂啤？紤]到輪廓誤差中的重復信號,設計了重復學習控制與PID控制相結(jié)合的交叉耦合控制器。數(shù)字仿真實驗結(jié)果證明了利用此控制器可以對輪廓誤差進行實時補償,使得輪廓精度得以提高。第三,提出一種數(shù)控磨床凸輪磨削的速度優(yōu)化控制方法。即使兩個單軸的動態(tài)特性良好,高速數(shù)控凸輪磨削依然會引起兩個軸的不同滯后,將導致輪廓誤差不可避免的超過規(guī)定的范圍帶。為解決這個問題,本文提出一種新的速度優(yōu)化方案。第一、導出了輪廓誤差與兩軸速度之間的數(shù)學關系,提出砂輪架相對于凸輪的相對速度概念,構(gòu)造了有關相對速度的參數(shù)方程;第二、構(gòu)造了一個有關于相對速度的指數(shù)型函數(shù)來優(yōu)化兩個單軸的速度使輪廓誤差盡可能的減小。所提出的速度優(yōu)化方案可以實現(xiàn)在凸輪升程斜率較大處,即凸輪敏感區(qū)域,速度降低,在升程變化緩慢處,提高速度。在保證效率的同時,提高磨削加工精度。與恒角速度磨削相對比,提出的速度優(yōu)化算法可以有效提高輪廓精度。并通過實際對三種凸輪片的加工實驗進一步來證明算法的有效性和可靠性。應用結(jié)果說明了輪廓誤差可以有效的控制在0.012mm里。第四,提出了基于GCTC(generalized cycle-to-cycle)控制的雙閉環(huán)控制方案。數(shù)控加工的凸輪輪廓只能在一個周期結(jié)束后才能得到真正的測量,即使過程中的測量可行,付出的代價也很大。針對這個問題,本文建立了基于GCTC的凸輪輪廓誤差的雙閉環(huán)控制。其中,內(nèi)環(huán)是利用本地控制器以保證跟蹤精度;外環(huán)利用GCTC反饋控制,將其作為內(nèi)環(huán)的一個優(yōu)化模塊以實時更新給定值。加工系統(tǒng)的等價動態(tài)模型可以通過內(nèi)環(huán)的基于擴張狀態(tài)觀測器的重復控制系統(tǒng)而獲得。論文給出了GCTC反饋控制系統(tǒng)穩(wěn)定的充要條件。通過對基于GCTC控制的數(shù)控磨削系統(tǒng)的仿真實驗來驗證了提出的控制方案的優(yōu)越性。第五,進一步提出了基于測量誤差的雙層優(yōu)化輪廓曲線誤差控制方案。在內(nèi)層應用基于重復控制的更新策略來提高可行性和收斂速度;從CTC控制和約束自適應中推導出的CTC誤差修正作為外層的優(yōu)化方案。兩層目標函數(shù)一致,雙層互相作用,內(nèi)層作為外層的反饋,外層作為內(nèi)層的指導。仿真實驗結(jié)果證明了其有效性。
[Abstract]:At present, the biggest problem of NC machining is relying too much on manual operation experience and low processing efficiency. In this paper, under the support of "speed optimization and contour error compensation of high precision CNC cam grinding process" in the Jilin science and Technology Department (20150101031JC) project, CNC cam grinding is used as the research object, and the optimization of grinding process is realized. The following research work is carried out in the following aspects: first, the mathematical model of the transmission mechanism in the CNC cam grinding system is set up. On the basis of the mechanism analysis and the nonlinear factor analysis, the mathematical model of the transmission mechanism of the X axis and the C axis is established, and the repeated problems in the CNC cam grinding are taken into consideration. The repetitive control mechanical system based on the extended state observer improves the tracking accuracy of two single axis servo systems and provides a theoretical basis for the optimization of CNC grinding machining. (second) a cross coupling control system based on repeated learning control is designed under the premise of single axis precision guarantee. The accuracy of two single axes is considered. To improve, but still can not complete no tracking error, and there is a lag and other problems, the geometric relationship between the contour error and the servo tracking error is analyzed, and the contour error model based on the synchronization lag control strategy is established. Based on this model, the real-time compensation cross coupling control is carried out. A cross coupling controller combined with repetitive learning control and PID control is designed. The results of digital simulation prove that the contour error can be compensated in real time by using this controller, and the contour precision can be improved. Third, a speed optimization control method for cam grinding of CNC grinding machine is proposed. Even the dynamic characteristics of two single axes are presented. Well, the grinding of high-speed CNC cam will still cause different lag of the two axes, which will lead to the inevitable contour error exceeding the prescribed range. In order to solve this problem, a new speed optimization scheme is proposed in this paper. First, the mathematical relationship between the contour error and the velocity of the two axis is derived, and the phase of the grinding wheel frame relative to the cam is proposed. For the concept of speed, a parameter equation about relative velocity is constructed. Second, an exponential function with relative velocity is constructed to optimize the speed of two uniaxial forces to minimize the contour error. The proposed speed optimization scheme can be achieved in the higher slope of the cam lift, that is, the cam sensitive area, the speed decrease, and the increase of the speed. At the same time, the speed is improved. While the efficiency is ensured, the grinding precision is improved. Compared with the constant angular velocity grinding, the proposed speed optimization algorithm can effectively improve the contour precision. The efficiency and reliability of the algorithm are further proved by the processing experiments of the three kinds of cam sheets. The application results show the outline error. The difference can be effectively controlled in 0.012mm. Fourth, a double closed loop control scheme based on GCTC (generalized cycle-to-cycle) control is proposed. The cam profile of NC machining can only be measured at the end of one cycle. Even if the measurement is feasible in the process, the cost is very high. The double closed loop control of the cam profile error based on GCTC. The inner loop is used to ensure the tracking accuracy, and the outer ring uses the GCTC feedback control to use it as an optimization module of the inner loop to update the given value in real time. The equivalent dynamic model of the machining system can be controlled by the repeated control of the inner loop based on the extended state observer. The paper gives the necessary and sufficient conditions for the stability of the GCTC feedback control system. The superiority of the proposed control scheme is verified by the simulation experiment on the CNC grinding system based on GCTC control. Fifth, the double layer optimized contour error control scheme based on the measurement error is further proposed. The application based on the duplication is based on the internal layer. The updated strategy is controlled to improve the feasibility and convergence speed; the CTC error correction derived from the CTC control and the constraint adaptation is used as the optimization scheme for the outer layer. The two layer objective function is consistent, the double layer interaction, the inner layer as the outer layer feedback, the outer layer as the inner guide. The simulation results prove its effectiveness.
【學位授予單位】：吉林大學
【學位級別】：博士
【學位授予年份】：2017
【分類號】：TG596

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