Daim ntawv thov ntawm multi axis CNC system nyob rau hauv nto machining
Kab lus no muab cov kev txhais lus matrix thiab kev sib hloov matrix nyob rau hauv daim ntawv ntawm homogeneous coordinates, thiab lej ua qauv ntawm txoj hauj lwm thiab tus cwj pwm hloov ntawm ib qho kev sib koom ua ke ntawm ntau qhov kev sib txuas. Ib daim ntawv tawm tswv yim RTPA algorithm tau tsim los ntawm cov khoom sib piv, cov khoom txee, thiab cov khoom siv hluav taws xob rau kev tswj xyuas hauv ntau qhov kev sib txuas ntawm CNC system machining txheej txheem, thiab cov kev cuam tshuam ntawm cov qauv zaus tau txheeb xyuas. Thaum kawg, kev siv qhov chaw simulation machining ua piv txwv rau kev sim kev tshawb fawb, cov txiaj ntsig tau pom tias nyob rau hauv kev tswj hwm ntawm RTPA algorithm, ntau qhov kev sib txuas ntawm CNC system tuaj yeem ua tiav qhov chaw machining.
Ntsiab lus: Multi axis linkage; CNC system; Nto machining; RTPA algorithm
Qib ntawm kev sib koom ua ke thiab automation hauv kev tsim khoom lag luam tau dhau los ua qhov tseem ceeb rau kev ntsuas lub teb chaws lub zog ntawm kev tshawb fawb thiab thev naus laus zis. Tuam Tshoj yog lub teb chaws tsim khoom loj, suav nrog feem ntau ntawm cov tshuab ua haujlwm hauv ntiaj teb [1], uas CNC tshuab thiab CNC tshuab ua lub luag haujlwm tseem ceeb heev. Rau ntau hom kev ua haujlwm ntawm machining, tsuas yog CNC machining cov tswv yim thiab cov txheej txheem nrog ntau axis txuas tuaj yeem ua tiav ntau dua. Yog li ntawd, kev tsim ntawm multi axis linkage CNC systems thiab multi axis linkage CNC machining txoj kev tau dhau los ua cov ntsiab lus tseem ceeb rau kev txiav txim siab ntawm kev sib tw ntawm cov tshuab ua haujlwm thiab kev tsim khoom lag luam [3]. Tam sim no, muaj qee qhov sib txawv ntawm Tuam Tshoj thiab lub ntiaj teb qib siab hauv kev txhim kho ntawm 5-axis thiab saum toj no txuas CNC tshuab thiab CNC machining txoj kev, uas tau dhau los ua teeb meem hauv lub raj mis uas txwv tsis pub sib sib zog nqus ntawm Tuam Tshoj txoj kev siv tshuab ua haujlwm. kev lag luam. Yog li ntawd, tsab xov xwm no yuav siv sij hawm ib tug 5-axis linkage CNC system raws li kev tshawb fawb kwv, thiab los ntawm kev ua lej qauv tsom xam thiab tswj txheej txheem kev tshawb fawb, muab nws cov tshwj xeeb daim ntawv thov nyob rau hauv nto machining.
1. Ib tug lej qauv rau lub pose ntawm multi axis CNC tshuab
Tus yuam sij rau kev tswj hwm kev ua haujlwm thiab kev ua haujlwm ntawm kev sib txuas ntawm ntau lub axis CNC yog nyob rau hauv qhov tseeb tus yam ntxwv ntawm txoj hauj lwm thiab lub cev, nrog rau kev sib txuas tsim nyog. Yog li no, tsab xov xwm no thawj zaug ua lej ua qauv ntawm txoj haujlwm thiab tus cwj pwm ntawm ntau qhov kev sib txuas ntawm CNC system nyob rau hauv daim ntawv ntawm homogeneous coordinates.
Kev ua tiav ntawm kev ua tiav hauv ntau qhov kev sib txuas ntawm CNC machining system yog tshwm sim raws li cov txiaj ntsig ntawm kev sib hloov thiab kev txhais lus ntawm ntau yam pob qij txha thiab axes hauv qhov chaw peb sab. Yog li ntawd, los piav qhia txog ntau qhov kev sib txuas ntawm CNC system los ntawm kev ua lej, nws nyob ntawm tus yam ntxwv ntawm kev sib hloov matrix thiab kev txhais lus matrix.
Yog hais tias ib qho point A nyob rau hauv qhov chaw hloov mus rau hauv txoj hauj lwm ntawm point A 'los ntawm kev txhais lus, thiab nws tau txhais a, b, thiab c units ntawm x, y, thiab z coordinate axes, ces muaj kev sib raug zoo ntawm kev txhais lus raws li qhia hauv cov qauv. (1).
Yog hais tias ib qho point A hauv qhov chaw hloov mus rau hauv txoj hauj lwm ntawm point A 'los ntawm kev sib hloov, thiab nws lub kaum sab xis ntawm kev sib hloov nyob ib ncig ntawm z yog θ, Yog li ntawd muaj kev sib hloov kev sib raug zoo raws li qhia hauv mis (2).
Ib yam li ntawd, cov kev sib hloov matrices nyob ib ncig ntawm y-axis thiab x-axis ntawm txhua qhov chaw kuj tuaj yeem tau txais, nrog rau cov lus qhia homogeneous ntawm ob matrices. Los ntawm kev txhawb ntxiv rau txoj hauv kev no, kev sib hloov matrix tuaj yeem tau txais rau txhua qhov chaw nyob ib puag ncig axis hauv qhov chaw, uas tseem yuav tshwm sim raws li kev sib xyaw ua ke ntawm kev sib hloov ncig ntawm x, y, thiab z axes. Los ntawm tau txais kev txhais lus matrix thiab kev sib hloov matrix ntawm txoj haujlwm hloov ntawm txhua qhov chaw hauv qhov chaw, tus qauv lej ntawm txoj haujlwm hloov ntawm qhov chaw tuaj yeem tsim. Txoj hauv kev no tseem siv tau rau txhua qhov kev sib koom tes hauv qhov chaw thiab txhua yam khoom hauv qhov chaw. Multi axis linkage CNC machining txheej txheem yog kev sib xyaw ua ke ntawm ntau yam kev txhais lus txav thiab kev txav txav ntawm ntau lub axes ntawm kev ua haujlwm kawg uas ua haujlwm ua haujlwm.
Piv txwv tias txoj hauj lwm transformation ntawm qhov kawg effector ntawm ib tug multi axis linkage system yog qhia nyob rau hauv daim duab 1. Raws li qhia nyob rau hauv daim duab 1, qhov kawg effector ntawm lub multi axis linkage system underwent ob transformations, ib tug ntawm uas yog ib tug txhais lus nyob rau hauv lub x thiab y axes, thiab lwm yam yog 90 degree kev sib hloov nyob ib ncig ntawm z axis.
Daim duab 1 Txoj hauj lwm transformation ntawm qhov kawg effector ntawm ib tug multi axis linkage system
Nws tuaj yeem pom tau tias nrog cov qauv qauv saum toj no, kev sib xyaw ua ke ntawm kev txhais lus thiab kev hloov pauv tuaj yeem piav qhia rau txhua qhov kev sib koom ua ke thiab kev ua haujlwm hauv ntau qhov kev sib txuas.
2. Txheej txheem tswj ntawm Multi axis CNC System
Tom qab muaj peev xwm piav qhia txog ntau qhov kev sib txuas ntawm CNC system los ntawm cov qauv lej, qhov nyuaj ntawm tag nrho cov txheej txheem CNC yog yuav ua li cas los teeb tsa CNC program thiab pab kom lub kaw lus ua kom tiav cov haujlwm ua haujlwm raws li txoj kev tsim. Qhov tsab xov xwm no tsim ib tug mem tes tswj algorithm nrog zoo real-time kev ua tau zoo rau lub machining txheej txheem ntawm ntau axis linkage CNC systems, abbreviated li RTPA (Real time pulse algorithm) algorithm.
Cov txheej txheem ntawm CNC machining feem ntau ua tiav thiab ua tiav los ntawm kev sib cuam tshuam algorithms, thiab kev tswj hwm ntawm txhua axis hauv CNC machining yog raws li cov mem tes ntawm stepper lub cev muaj zog, uas yuav tsum tau tsim kom muaj kev sib raug zoo ntawm cov txheej txheem interpolation thiab cov mem tes tiam sij hawm. . Txawm li cas los xij, qhov kev ua tau zoo ntawm lub sijhawm tiag tiag ntawm cov txheej txheem kev cuam tshuam ib txwm ua raws li cov mem tes zaus tsis zoo tagnrho. Yog li ntawd, tsab xov xwm no tsim ib tug tshiab pulse tiam algorithm nrog zoo dua real-time kev ua tau zoo los ntawm qhov kev xav ntawm VF transformation algorithm (voltage zaus). Lub pulse sequence generated los ntawm qhov algorithm no tuaj yeem ua tiav kev tswj xyuas zoo ntawm ntau qhov kev sib txuas ntawm CNC tshuab.
Qhov algorithm no siv cov khoom sib piv, cov khoom siv hluav taws xob, thiab cov khoom siv hluav taws xob los sib koom ua ke tsim cov mem tes sib luag nrog kev ua tau zoo ntawm lub sijhawm. Lub schematic daim duab ntawm lub algorithm yog qhia nyob rau hauv daim duab 2.
Daim duab 2 Txoj Cai Thaiv Daim duab ntawm RTPA Control Algorithm rau Multi axis Linkage System
Raws li daim duab 2, nws tuaj yeem pom tau tias qhov kev hloov pauv ntawm qhov sib koom ua ke lossis qhov kawg ntawm cov khoom siv sib txuas tau raug coj mus kuaj thiab siv los ua cov tswv yim rau RTPA algorithm, nrog rau qhov piv txwv ntawm f. Tom qab nkag mus rau tus nqi pauv hloov pauv, nws muab piv nrog cov mem tes sib npaug tsim los ntawm cov mem tes ntsuas ntawm cov lus tawm tswv yim, thiab qhov sib txawv ntawm ob yog nkag mus rau hauv lub tshuab hluav taws xob mem tes raws li qhov kev txiav txim siab rau tiam ntawm cov mem tes sib lawv liag. Lub tshuab hluav taws xob mem tes yuav tsim ob qhov khoom tawm, uas yog lub zog pem hauv ntej thiab rov qab mem tes, uas kuj sib haum mus rau pem hauv ntej thiab thim rov qab ntawm lub stepper lub cev muaj zog.
Qhov kev txiav txim siab seb lub tshuab hluav taws xob mem tes ua rau pem hauv ntej lossis rov qab pulses nyob ntawm qhov kev sib piv ntawm qhov yuam kev ntawm cov tswv yim thiab cov lus tawm tswv yim thiab cov nqi pib. Cov cai sib piv yog raws li hauv qab no. Txoj Cai 1: Yog tias qhov sib npaug ntawm qhov yuam kev ntawm cov tswv yim thiab cov tswv yim tawm tswv yim ntau dua li qhov teeb tsa tus nqi, lub tshuab hluav taws xob mem tes tsim cov mem tes pem hauv ntej thiab tso tawm nws. Txoj Cai 2: Yog tias qhov sib npaug ntawm qhov yuam kev ntawm cov tswv yim thiab cov tswv yim tawm tswv yim tsawg dua qhov sib txawv ntawm qhov teeb tsa tus nqi, lub tshuab hluav taws xob mem tes tsim cov mem tes rov qab thiab tso tawm nws.
Qhov tseem ceeb parameter uas txiav txim siab algorithm nyob rau hauv tsab xov xwm no yog qhov piv txwv zaus f ua ntej siv kev hloov pauv raws li cov tswv yim. Txhawm rau txiav txim siab qhov cuam tshuam ntawm cov qauv zaus f ntawm qhov kev ua tau zoo ntawm RTPA algorithm, kab lus no tau teeb tsa cov qauv zaus mus rau 5 kHz thiab 20 kHz feem, thiab npaj lawv cov lus teb hloov pauv thiab cov lus teb nrawm. Cov txiaj ntsig tau pom hauv daim duab 3.
Daim duab 3 Kev cuam tshuam ntawm qhov piv txwv zaus ntawm kev ua haujlwm algorithm ntawm kev sib txuas ntau axis
Sab laug ntawm daim duab 3 (a) sawv cev rau qhov kev hloov pauv cov lus teb nkhaus ntawm RTPA algorithm ntawm qhov piv txwv zaus ntawm 5kHz, thaum sab xis sawv cev rau cov lus teb hloov pauv ntawm RTPA algorithm ntawm qhov piv txwv zaus ntawm 20kHz; Sab laug ntawm daim duab 3 (b) sawv cev rau qhov nrawm teb nkhaus ntawm RTPA algorithm ntawm qhov piv txwv zaus ntawm 20kHz, thaum sab xis sawv cev rau qhov nrawm teb nkhaus ntawm RTPA algorithm ntawm qhov piv txwv zaus ntawm 20kHz.
Los ntawm daim duab 3 (a), nws tuaj yeem pom tau tias qhov loj dua qhov piv txwv zaus thiab qhov me dua lub sij hawm ua piv txwv, qhov kev hloov pauv ceev ceev ntawm RTPA algorithm. Los ntawm kev sib piv ntawm cov duab ntawm sab laug thiab sab xis, nws tuaj yeem pom tau tias thaum qhov piv txwv zaus yog 5kHz, qhov kev hloov pauv ntawm RTPA algorithm yuav siv sijhawm 0.58s, thiab qhov kev hloov pauv tiag tiag ntawm cov kab sib txuas sib txuas tuaj yeem tsuas yog phim qhov zoo tagnrho hloov chaw; Thaum qhov piv txwv zaus yog 20kHz, qhov kev hloov pauv ntawm RTPA algorithm yog 0.16s, thiab qhov kev hloov pauv tiag tiag ntawm cov kab sib txuas sib txuas sib txuas nrog qhov zoo tshaj plaws hloov chaw. Qhov no qhia tau hais tias qhov kev hloov pauv ntawm qhov piv txwv ntawm 20kHz yog 0.42s sai dua li qhov piv txwv zaus ntawm 5kHz.
Los ntawm daim duab 3 (b), nws tuaj yeem pom tau tias qhov loj dua qhov piv txwv zaus thiab qhov me me ntawm lub sij hawm ua piv txwv, qhov nrawm nrawm teb ntawm RTPA algorithm. Los ntawm kev sib piv ntawm cov duab sab laug thiab sab xis, nws tuaj yeem pom tau tias thaum qhov piv txwv zaus yog 5 kHz, cov lus teb ceev ntawm RTPA algorithm yuav siv sijhawm 0.5 vib nas this rau qhov tseeb ceev ntawm ntau qhov kev sib txuas ntawm cov kab ke mus rau phim qhov zoo tagnrho ceev; Thaum qhov piv txwv zaus yog 20 kHz, cov lus teb ceev ntawm RTPA algorithm yog 0.13 vib nas this, thiab qhov tseeb ceev ntawm multi axis linkage system yog qhov zoo tagnrho ceev. Qhov no qhia tau hais tias cov lus teb ceev ntawm qhov piv txwv ntawm 20 kHz yog 0.37 vib nas this sai dua li qhov piv txwv ntawm 5 kHz.
3. Simulation kev sim ntawm nto machining nyob rau hauv multi axis CNC system
Hauv kev ua haujlwm yav dhau los, txoj haujlwm thiab tus cwj pwm ua qauv thiab RTPA tswj algorithm tsim tau ua raws li kev ua haujlwm rau ntau qhov kev sib txuas ntawm CNC system, thiab kev tswj xyuas zoo ntawm ntau axis txuas CNC system tau txiav txim siab los ntawm kev txheeb xyuas cov kev cuam tshuam ntawm cov ntsiab lus tseem ceeb. Tom ntej no, simulation simulation yuav tsum tau ua los xyuas kom meej RTPA algorithm tswj kev ua tau zoo ntawm ntau axis linkage system npaj rau hauv daim ntawv no. Kev simulation sim xaiv qhov chaw machining raws li cov khoom siv machining ntawm ntau axis txuas CNC system. Curved nto muaj qee qhov kev nyuaj hauv ntau lub tshuab ua haujlwm thiab xav tau cov txheej txheem tswj kom meej. Lub machining ntawm tag nrho saum npoo yog ua tiav los ntawm kev nruam nkhaus machining trajectories. Cov txiaj ntsig simulation ntawm qhov chaw yuav tsum ua tiav hauv kab lus no tau qhia hauv daim duab 4.
Daim duab 4 Simulation tshwm sim ntawm qhov chaw yuav tsum machined nyob rau hauv tsab xov xwm no
Los ntawm daim duab 4, nws tuaj yeem pom tias qhov chaw uas yuav tsum tau ua hauv kab lus no yog ib ntu ntawm qhov chaw uas tsim cov axial dav hauv x-kev taw qhia thiab radial dav hauv y-kev taw qhia, nrog lub vojvoog curvature ntawm qhov chaw nyob. nyob rau hauv lub z-axis kev taw qhia. Daim duab 4 kuj qhia tau hais tias thawj txoj hauj lwm ntawm lub cuab yeej, uas yog qhov pib taw tes, thiab qhov nkhaus thaum uas tig mus rau ntawm qhov chaw qhia tias lub machining trajectory nyob rau hauv kev tswj ntawm RTPA algorithm.
Muaj ntau txoj hauv kev CNC machining rau qhov chaw, xws li trajectory based parameter generation machining route method, CC path based cross-sectional data machining route method, and path based cross-sectional machining route method. Kab lus no xaiv cov ntaub ntawv ntu kev ua cov txheej txheem raws li CC txoj kev, thiab muab nws nrog Z-shaped txiav kom tiav cov txheej txheem. Thaum lub sij hawm machining txheej txheem, kev tswj cov nyhuv ntawm qhov kev hloov pauv thiab nrawm nkhaus tau txais los ntawm RTPA algorithm hauv x-axis, y-axis, thiab z-axis cov lus qhia yog qhia hauv daim duab 5.
Daim duab 5 Kev tswj cov nyhuv ntawm RTPA algorithm ntawm kev hloov pauv thiab nrawm nrawm hauv peb cov lus qhia
Los ntawm daim duab 5 (a), nws tuaj yeem pom tau tias RTPA algorithm tsim ib daim duab peb sab yoj nkhaus rau kev tswj kev hloov pauv hauv x-axis kev taw qhia. Vim muaj cov kev txwv ntawm kev ua haujlwm, qhov siab tshaj plaws ntawm kev hloov pauv ntawm RTPA algorithm nyob rau hauv x-axis kev taw qhia yog 0 hli, thiab qhov tsawg kawg nkaus tus nqi yog ze rau -150 hli. Lub sijhawm yoj daim duab peb sab ntawm qhov kev hloov pauv yog 4.17 vib nas this. RTPA algorithm tsim ib lub voj voos square yoj nkhaus rau kev tswj ceev hauv x-axis kev taw qhia, tab sis muaj qee qhov kev ntxhov siab vim muaj kev cuam tshuam ntawm cov txheej txheem machining. Qhov siab tshaj plaws tshaj tawm ntawm RTPA algorithm nyob rau hauv x-axis kev taw qhia yog ze rau 80 mm/s, thiab qhov tsawg kawg nkaus tus nqi yog ze rau {{10}} mm/s. Lub sijhawm square yoj lub sijhawm ntawm qhov nrawm nrawm yog 4.17 vib nas this. Los ntawm daim duab 5 (b), nws tuaj yeem pom tias RTPA algorithm tsim ib daim ntawv nkhaus ntawm cov kauj ruam nthwv dej hauv kev tswj kev hloov pauv hauv y-axis kev taw qhia. Vim muaj kev txwv ntawm kev ua haujlwm, qhov siab tshaj plaws ntawm kev hloov pauv ntawm RTPA algorithm nyob rau hauv y-axis kev taw qhia yog 0 hli, thiab qhov tsawg kawg nkaus tus nqi yog ze rau txoj hauj lwm ntawm -6 hli. Lub sijhawm nthwv dej ntawm qhov hloov pauv yog 4.17 vib nas this. RTPA algorithm tswj kev tshaj tawm nyob rau hauv y-axis kev taw qhia nyob rau hauv daim ntawv ntawm pulse waves. Qhov siab tshaj plaws tshaj tawm ntawm RTPA algorithm nyob rau hauv y-axis kev taw qhia yog 0 mm/s, thiab qhov tsawg kawg nkaus tus nqi yog -10 mm/s. Lub sijhawm square yoj lub sijhawm ntawm qhov nrawm nrawm yog 4.17 vib nas this.
Los ntawm daim duab 5 (c), nws tuaj yeem pom tau tias RTPA algorithm tsim ib lub voj voog ib nrab nthwv dej rau kev hloov pauv hauv cov kev taw qhia z-axis. Vim muaj cov kev txwv ntawm kev ua hauj lwm, RTPA algorithm muaj qhov siab tshaj plaws ntawm kev xaav ntawm 6.2 hli thiab qhov tsawg kawg nkaus hloov ntawm 0 hli nyob rau hauv z-axis kev taw qhia. Lub sijhawm sine ib nrab nthwv dej ntawm qhov kev hloov pauv yog 2.08 vib nas this. RTPA algorithm tsim cov sawtooth yoj nkhaus rau kev tswj kev tshaj tawm hauv z-axis kev taw qhia. Qhov siab tshaj plaws tshaj tawm ntawm RTPA algorithm nyob rau hauv z-axis kev taw qhia yog ze rau 15 mm / s, thiab qhov tsawg kawg nkaus tus nqi yog ze rau -15 mm / s. Lub sijhawm sawtooth nthwv dej ntawm qhov nrawm nrawm yog 2.08 vib nas this.
4. Cov lus xaus
Kab lus no tshawb xyuas ntau qhov kev sib txuas ntawm CNC system. Ua ntej, nyob rau hauv daim ntawv ntawm homogeneous coordinates, lej qauv yog ua nyob rau hauv txoj hauj lwm thiab tus cwj pwm hloov ntawm ib qho kev sib koom ua ke ntawm ib tug multi axis linkage system, thiab tiam txheej txheem ntawm kev txhais lus matrix thiab rotation matrix yog muab los. Thib ob, ib daim ntawv tawm tswv yim RTPA algorithm tau tsim los ntawm cov khoom sib piv, cov khoom txee, thiab cov khoom siv hluav taws xob rau kev tswj xyuas hauv ntau qhov kev sib txuas ntawm CNC system machining cov txheej txheem, thiab cov kev cuam tshuam ntawm cov qauv zaus tau txheeb xyuas. Thaum kawg, qhov kev sim ua pov thawj tau ua los ntawm kev siv qhov chaw simulation machining ua piv txwv, thiab cov txiaj ntsig kev sim pom tau hais tias cov ntaub ntawv seem machining txoj kev raws li CC txoj kev saws hauv daim ntawv no, ua ke nrog Z-zoo li lub cuab yeej taug kev, tuaj yeem ua tiav cov machining. Lub caij no, RTPA algorithm zoo tswj kev txav chaw thiab tshaj tawm hauv tag nrho peb txoj kev sib koom tes axis.
