基于多轴运动控制方法的高速切削复合轨迹研究

摘要

In order to solve the problem of high speed numercial control ( NC) machining of complex surface NC machining, the multi axis smooth motion model, interpolation control and position tracking were built from the view of process integration control. The speed optimization model was constructed by the method of mathematics, and for the acceleration and deceleration control. A flexible acceleration and deceleration control algorithm was proposed, which was based on the simplified optimization model in speed prepro-cessing. In order to overcome the nonlinear effect of high speed feed system, a high speed position tracking algorithm was proposed by introducing a new acceleration and speed feedforward control. The embedded NC system based on dual core processor was realized, and the structure could guarantee the six axis interpolation cycle as needed. Field data show that the system is stable in high speed motion, and can meet the requirements of the complex trajectory control of the impeller.%为了解决复杂曲面数控加工中的高速数控加工问题，从过程集成控制的角度构建了多轴平滑运动模型、插补控制、位置跟踪等。速度优化模型采用数学方法，构造了加、减速控制。速度预处理中通过简化优化模型，提出了柔性加减速控制算法，并对其进行了优化设计。为了克服高速进给系统的非线性影响，通过引入新的加速度和速度的前馈控制，提出了高速位置跟踪算法；实现了基于双核处理器的嵌入式数控系统，且该结构能保证六轴插补周期的要求。现场数据显示该系统在高速运动平稳性好，能满足叶轮复杂轨迹控制要求等。