Error estimation and cross-coupled control based on a novel tool pose representation method of a five-axis hybrid machine tool
Error estimation and cross-coupled control based on a novel tool pose representation method of a five-axis hybrid machine tool
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基于新型五轴混合机床刀位表示方法的误差估计与交叉耦合控制
DOI：
10.1016/j.ijmachtools.2022.103955
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发表时间：
2022-10
影响因子：
14
通讯作者：
Anbang Jiang
中科院分区：
文献类型：
--
作者：
Liping Wang;Xiangyu Kong;Guang Yu;Weitao Li;Mengyu Li;Anbang Jiang
五轴混合机床结合了串联机构和并联机构的优点；然而，并联机构的时变、非线性和强耦合特性给轮廓控制带来了困难，特别是在高速运动中。为了解决这一问题，本研究探讨了五个进给轴、刀具中心位置（TCP）和刀具方向（To）之间的误差传递规律。针对五轴机床，提出了一种新的刀具姿态表示方法“TP”；并设计了以TP为控制目标的交叉耦合控制器。建立了混合动力机床的运动学模型，并通过运动学模型的一阶微分求解了误差传递规律。然后，在刀具轴上取两点，通过坐标变换去除坐标冗余，实现TP。最后，设计了一个交叉耦合控制器。控制器的输入是根据五个反馈轴命令和编码器反馈得到的跟踪误差。在控制器中，根据误差传递规律，实时估计TP轮廓误差，并将控制变量分配给进给轴。最后，以五轴混合动力机床为例，进行了误差传递特性分析、误差估计和交叉耦合控制（CCC）实验。通过计算机数控（CNC）系统的数控（NC）程序反馈得到的实验结果验证了该方法的正确性和有效性。•揭示并分析了五轴混合动力机床的时变、非线性和强耦合误差传递规律。•提出了一种新的五轴机床位姿表示方法。跟踪实验表明，以所提出的刀具位姿表示方法为控制目标，综合轮廓精度得到了提高。
Five-axis hybrid machine tools combine the advantages of series and parallel mechanisms; however, the time-varying, non-linear, and strong coupled characteristics of parallel mechanisms cause contour control difficulties, particularly during high-speed motion. To solve this problem, this study explores the error-transfer laws between the five feed axes, tool centre position (TCP), and tool orientation (TO). It proposes a new tool-pose representation method, called ‘TP’, for five-axis machine tools; and designs a cross-coupled controller taking TP as the control target. Moreover, a kinematic model of the hybrid machine tool is established, and the error transfer law is solved through the first-order differentiation of the kinematic model. Subsequently, two points are taken on the tool axis, the redundancy of coordinates is removed by coordinate transformation, and TP is achieved. Finally, a cross-coupled controller is designed. The input of the controller are the tracking errors obtained according to the five feed-axes commands and encoder feedbacks. In the controller, according to the laws of error transfer, the TP contour error is estimated in real time, and the control variables are assigned to the feed axes. Finally, taking a five-axis hybrid machine tool as an example, the error transfer characteristic analysis as well as error estimation and cross-coupled control (CCC) experiments are performed. The experimental results obtained through the numerical control (NC) program feedback of the computer numerical control (CNC) system verify the correctness of the theory and validity of the method. • The time-varying, nonlinear and strong-coupled error transfer laws of the five-axis hybrid machine tool are revealed and analysed. • A novel tool pose representation method is proposed for five-axis machine tools. • Tracking experiments show that taking the proposed tool pose representation method as the control target, the comprehensive contour accuracy is improved.
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影响因子：
7.3
作者：
Lu Liu;S. Tian;Dingyu Xue;Tao Zhang;Y. Chen
通讯作者：
Lu Liu;S. Tian;Dingyu Xue;Tao Zhang;Y. Chen
五轴数控机床高精度轮廓误差估计的双滑模轮廓控制
DOI：
10.1016/j.ijmachtools.2016.05.007
发表时间：
2016-09
影响因子：
14
作者：
Xiangfei Li;Huan Zhao;Xin Zhao;Han Ding
通讯作者：
Han Ding
DOI：
10.1016/j.ijmachtools.2006.03.008
发表时间：
2007-02
影响因子：
14
作者：
Y. Hsu;S. S. Wang-S.
通讯作者：
Y. Hsu;S. S. Wang-S.
DOI：
10.1109/icccct.2010.5670571
发表时间：
2010-12
期刊：
2010 INTERNATIONAL CONFERENCE ON COMMUNICATION CONTROL AND COMPUTING TECHNOLOGIES
影响因子：
--
作者：
B. Nagaraj;N. Murugananth
通讯作者：
B. Nagaraj;N. Murugananth
DOI：
10.1016/0921-8890(92)90039-2
发表时间：
1992
期刊：
Robotics Auton. Syst.
影响因子：
--
作者：
C. Gosselin
通讯作者：
C. Gosselin