【正文】 畢業(yè)設(shè)計(jì) (論文 )適用于復(fù)雜形面加工的多軸運(yùn)動(dòng)控制系統(tǒng)設(shè)計(jì)理論與方法研究 (博士畢業(yè)論文 ) 適用于復(fù)雜形面加工的多軸運(yùn)動(dòng)控制系統(tǒng) 設(shè)計(jì)理論與方法研究 Theory and design of multiaxis motion control system applicable to sculptured surface machining 一級(jí)學(xué)科機(jī)械工程 學(xué)科專業(yè)機(jī)械制造及其自動(dòng)化 研 究 生喬志峰 指導(dǎo)教師王太勇 教授 天津大學(xué)機(jī)械工程學(xué)院 二零一二 年五 月 獨(dú)創(chuàng)性聲明 本人聲明所呈交的學(xué)位論文是本人在導(dǎo)師指導(dǎo)下進(jìn)行的研究工作和取得的 研究成果除了文中特別加以標(biāo)注和致謝之處外論文中不包含其他人已經(jīng)發(fā)表 或撰寫過的研究成果也不包含為獲得 天津大學(xué) 或其他教育機(jī)構(gòu)的學(xué)位或證 書而使用過的材料與我一同工作的同志對(duì)本研究所做的任何貢獻(xiàn)均已在論文中 作了明確的說明并表示了謝意 學(xué)位論文作者簽名 簽字日期 年 月 日 我是愛天大的 學(xué)位論文版權(quán)使用授權(quán)書 本學(xué)位論文作者完全了解 天津大學(xué) 有關(guān)保留使用學(xué)位論文的規(guī)定 特授權(quán) 天津大學(xué) 可以將學(xué)位論文的全部或部分內(nèi)容編入有關(guān)數(shù)據(jù)庫(kù)進(jìn)行檢 索并采用影印縮印或掃描等復(fù)制手段保存匯編以供查閱和借閱同意學(xué)校 向國(guó)家有關(guān)部門或機(jī)構(gòu)送交論文的復(fù)印件和磁盤 保密的學(xué)位論文在解密后適用本授權(quán)說明 學(xué)位論文作者簽名 導(dǎo)師簽名 簽字日期 年 月 日 簽字日期 年 月 日 摘 要 伴隨著五軸加工中心車銑復(fù)合機(jī)床等多軸加工機(jī)床越來越廣泛的應(yīng)用適 用于復(fù)雜形面高速高精加工的多軸運(yùn)動(dòng)控制技術(shù)越來越受到人們的重視鑒于 此本文對(duì)與之密切相關(guān)的五軸 NURBS 插補(bǔ)理論與方法通用型 RTCP 技術(shù) 三維空間刀具補(bǔ)償技術(shù)納米級(jí)多軸聯(lián)動(dòng)柔性前瞻軌跡規(guī)劃理論和適用 于復(fù)雜形 面加工的多軸運(yùn)動(dòng)控制系統(tǒng)的設(shè)計(jì)理論與方法展開了深入研究 鑒于傳統(tǒng)三軸 NURBS 插補(bǔ)所取得的良好加工性能提出了一種適用于五軸 加工的弱實(shí)時(shí)性 NURBS 插補(bǔ)方法該方法采用兩條 NURBS 曲線分別描述刀尖 點(diǎn)的運(yùn)動(dòng)和刀軸矢量的變化并通過先將 NURBS 曲線轉(zhuǎn)換為 B233。zier 曲線的方法 實(shí)現(xiàn)了 NURBS 曲線的快速離散和離散精度的準(zhǔn)確控制 分類研究了常見結(jié)構(gòu)五軸機(jī)床的刀具中心點(diǎn)控制方法提出了適用于五軸機(jī) 床的非線性誤差快速校核和控制方法 并在此基礎(chǔ)上提出了適用于多軸加工機(jī)械 的通用型 RTCP 的概念以用于將工件坐標(biāo)系下的刀軸運(yùn)動(dòng)轉(zhuǎn)換為多軸機(jī)床各軸 的運(yùn)動(dòng)量 針對(duì)多軸加工中的空間刀補(bǔ)問題進(jìn)一步提出了三重 NURBS 插補(bǔ)方法通 過采用第三條 NURBS 曲線描述刀具加工時(shí)切觸點(diǎn)位置有效解決了多軸NURBS 加工中的空間刀具半徑和長(zhǎng)度補(bǔ)償問題并通過仿真實(shí)驗(yàn)對(duì)該方法的實(shí)用性進(jìn)行 了驗(yàn)證 研究了與實(shí)現(xiàn)多軸高速高精加工密切相關(guān)的納米級(jí)多軸聯(lián)動(dòng)柔性前瞻軌跡 規(guī)劃理論對(duì)多軸線性插補(bǔ)中的柔性前瞻軌跡規(guī)劃策略段間 速度轉(zhuǎn)接技術(shù)反 向和正向速度規(guī)劃方法納米級(jí)高精速度規(guī)劃方法進(jìn)行了深入研究將 S 形加減 速的速度曲線分為 10 種類型并給出了每種速度曲線類型中相關(guān)參數(shù)的求解公 式提出了基于普通微處理器架構(gòu)的納米級(jí)高精軌跡規(guī)劃方法 研究和總結(jié)了適用于復(fù)雜形面加工的多軸運(yùn)動(dòng)控制系統(tǒng)的設(shè)計(jì)理論和方法 總結(jié)了影響多軸運(yùn)動(dòng)系統(tǒng)精度和速度的相關(guān)因素通過對(duì)人機(jī)交互 NCK 和 PLC 的設(shè)計(jì)理論和方法的研究建立了較為完整的多軸運(yùn)動(dòng)控制系統(tǒng)的設(shè)計(jì)理論和方 法該套理論和方法應(yīng)用于在了自主研發(fā)的數(shù)控系統(tǒng)中并通 過多軸加工實(shí)驗(yàn)對(duì) 其有效性進(jìn)行了驗(yàn)證 關(guān)鍵詞 多軸 NURBS 插補(bǔ) RTCP 空間刀補(bǔ) S 型加減速 ABSTRACT With the development and wide application of multiaxis machine tools the multiaxis motion control technologies applicable to sculptured surface high speed and high precision machining have got more and more attention In view of this the thesis mainly researched on the multiaxis NURBS interpolation technology general RTCP Rotation Tool Center Point control technology 3D tool pensation technology Sshape accelerationdeceleration method with nanometer accuracy and the theory and design of multiaxis motion control system used for the sculptured surface machining Motivated by the excellent machining performance achieved by the threeaxis NURBS interpolation a weak realtime multiaxis NURBS interpolation method is proposed The method using two NURBS curves respectively describe the movement of the tool tip point and the tool axis vector B233。zier polygons are used for the fast and high accuracy linearization of the two NURBS curves The coordinate transformation and nonlinear error control methods for major fiveaxis machine tools are studied Based on this a generic rotation tool center point management module is designed to realize the coordinate transformation and adaptive nonlinear error control for multiaxis machine tools In view of the 3D tool pensation problem of fiveaxis sculptured surface machining a triple NURBS interpolation method is further proposed which uses the third NURBS curve to describe the movement of the cutter contact vector Through this way the tool radius and length pensation problem of the multiaxils NURBS interpolation could be effectively solved A simulation experiment is also done to verify the proposed method As closely related to the high speed machining of multiaxis machine tools the multiaxis Sshape accelerationdeceleration method with look ahead function and nanometer accuracy is also researched in this thesis It mainly includes the study of multiaxis linear interpolation technology corner speed control technology backward and forward trajectory planning technology The Sshaped speed curve is divided into 10 types and the parameter solution formulas for each type are given A nanometer accuracy Sshape accelerationdeceleration method based on 32bit processor is also proposed Finally the theory and design method of multiaxis motion control system used for the sculptured surface machining is further studied The affecting factors of multiaxis motion systems accuracy and speed are summarized The design methods of HMI Human Machine Interface module NCK module and the PLC module are discussed to make a plete theory The overall effectiveness of the proposed fiveaxis NURBS machining scheme is demonstrated by the fiveaxis machining of an impellers flow channel KEY WORDS multiaxis NURBS interpolation RTCP 3D tool pensation Sshape accelerationdeceleration