Nonlinear Error Compensation Method in Five-axis Linear Interpolation
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摘要: 以A-C双摆头五轴数控机床为研究对象，通过对机床的运动学求解，分析了五轴数控机床在加工过程中非线性误差产生机理并建立了非线性误差的数学模型。通过齐次坐标变换的方法，推导出计算加工过程中刀尖点实际位置的数学表达式以及其反计算公式。针对五轴数控机床的旋转轴运动所产生的非线性误差，提出了一种反求插补点的补偿方法。从五轴数控加工旋转中心位置插补算法角度考虑降低非线性误差的方法，通过理论刀尖点位置来反求旋转中心的插补的位置，使实际刀尖点更多地落在理论插补路径上。利用MATLAB进行实际数据的仿真验证，结果表明所提出方法能将非线性误差有效控制在加工允差内，可显著提高五轴数控系统的轨迹控制精度，可见本文所提出方法具有较好的可行性和实际应用价值。Abstract: The producing mechanism of nonlinear error during the machining process of 5-axis Computer Numerical Control (CNC) machine tool is analyzed through solving the kinematics of the machine tool in this article. The mathematical model of the nonlinear error is also established taking the A-C cutter-tilting type of five-axis CNC machine tool as the object of study. The homogeneous coordinate transformation method is used to deduce the forward and reverse mathematical calculation formulas of the actual tool-tip point position in the machining process. A reverse compensation method of interpolation points is proposed for the nonlinear error caused by rotation of the axes of the five-axis CNC machine tool. The method of reducing nonlinear error is considered from the perspective of position interpolation algorithm for rotation center of five-axis CNC machining and the method's objective is to control the more actual tool-tip points being located on the theoretical interpolation tool path. The MATLAB software is used as simulation verification platform of the actual data. The simulation results show that the proposed method can effectively control the nonlinear error within the allowable range, and significantly improve the trajectory controlling accuracy of the five-axis CNC system. Consequently, the proposed method in this article has better feasible and the value of practical application.
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Key words:
- Five-axis CNC machining /
- linear interpolation /
- center of rotary axis /
- nonlinear error /
- compensation /
- mathematical model /
- simulation /
- MATLAB
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表 1 后处理数据
G代码 X/mm Y/mm Z/mm A/(°) C/(°) G01 -25.356 -36.546 137.859 -50.241 192.677 G01 -23.514 -28.555 139.778 -47.4 193.912 G01 -27.054 -30.33 138.524 -48.015 192.421 G01 -26.71 -28.438 138.906 -47.142 192.518 G01 -33.417 -34.896 135.518 -49.464 188.17 
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表 2 NC数据
行号 X/mm Y/mm Z/mm A/(°) C/(°) N0270 -25.356 -36.546 137.859 -50.241 192.677 N0280 -23.514 -28.555 139.778 -47.4 193.912
下载: 导出CSV
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