Adaptive estimation and nonlinear variable gain compensation of the contouring error for precise parametric curve following
Adaptive estimation and nonlinear variable gain compensation of the contouring error for precise parametric curve following
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精确参数曲线跟随的轮廓误差的自适应估计和非线性可变增益补偿
DOI：
10.1007/s11431-017-9042-x
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发表时间：
2017-07
期刊：
影响因子：
--
通讯作者：
Su Wei-wei
中科院分区：
文献类型：
--
作者：
Jia Zhen-yuan;Song De-ning;Ma Jian-wei;Zhao Xiao-xuan;Su Wei-wei
轮廓跟踪是许多计算机数控机床实现高加工精度所面临的重要问题之一。针对参数曲线轮廓跟踪中伺服滞后、动态失配等因素引起的轮廓误差，提出了一种新的实时误差补偿方法。对于自由曲面参数曲线刀具轨迹，由于缺乏高精度的轮廓误差估计方法，这种误差很难得到有效补偿。为此，首先提出了一种自适应精确轮廓误差估计算法，提出了一种基于泰勒展开的切向误差反推方法，以快速找到参数曲线上最接近实际运动位置的点。在此基础上，采用一种非线性变增益补偿方法对轮廓线误差进行补偿，补偿增益不仅根据轮廓线误差的大小，而且还根据轮廓线误差的方向变化来获得。根据JUIL稳定性判据对补偿后系统的稳定性进行了分析。根据所提出的轮廓误差补偿方法和稳定性分析结果设计补偿器，可以有效地在响应速度和轮廓控制稳定性之间取得平衡。实验验证了该方法在轮廓误差估计和轮廓精度改善方面的可行性。本文的研究成果对提高数控机床的轮廓跟踪性能具有重要意义。
Contour following is one of the most important issues faced by many computer-numerical-control (CNC) machine tools to achieve high machining precision. This paper presents a new real-time error compensation method aiming at reducing the contouring error caused by facts such as servo lag and dynamics mismatch in parametric curved contour-following tasks. Due to the lack of high-precision contouring-error estimation method for free-form parametric curved toolpath, the error can hardly be compensated effectively. Therefore, an adaptive accurate contouring-error estimation algorithm is proposed first, where a tangential-error backstepping method based on Taylor’s expansion is developed to rapidly find the closest point on the parametric curve to the actual motion position. On this foundation, the contouring error is compensated using a proposed nonlinear variable-gain compensation method, where the compensation gain is obtained according to not only the contouring-error magnitude but also its direction variation. The stability of the system after compensation is analyzed afterwards according to the Jury stability criterion. By design of the compensator in accordance with the presented contouring-error compensation method as well as the stability analyzation result, the balance between the response speed and the contour control stability can be effectively made. Experimental tests demonstrate the feasibility of the presented methods in both contouring-error estimation and contour-accuracy improvement. Contributions of this research are significant for enhancing the contour-following performance of the CNC machine tools.
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影响因子：
4.8
作者：
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作者：
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期刊：
IEEE/ASME Transactions on Mechatronics
影响因子：
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