Development of New NC Controller for 5-axis Control Machining Center with Real Time Control

将雅可比矩阵、V-F Transformer和运动学正解相结合，设计了一种多轴机床驱动控制器。与以往的多轴机床数控控制器不同的是，该多轴机床数控控制器能够真实的实时地产生脉冲序列，从而能够真实的实时地改变加工速度和形状，以满足加工要求。通过在五轴联动加工中心上使用该控制器加工圆的仿真，验证了该控制器的有效性。为了加工具有复杂形状的工件，广泛使用多轴机床，例如5轴控制加工中心，因为在加工期间通常需要工具的定向。例如，为了精确地获得刀具轨迹，要求刀具取向保持在曲线加工轨迹的法线方向上。在加工曲面时，除了刀具方向外，还必须控制刀尖的运动轨迹和速度。在加工形状复杂的工件时，使用传统的数控控制器很难根据直线和曲线的插补精确生成刀具轨迹。针对这些问题，提出了一种数控控制方法。该方法利用计算机软件真实的实时生成驱动轴运动和运动速度的脉冲序列，从而获得所需的刀具轨迹，通过建立坐标系和计算其雅可比矩阵，就可以像控制多关节机器人一样控制五轴加工中心。

A controller for driving multi-axis machine was combined with a Jacobian matrix, V-F transformer, and forward kinematics. Different from previous ones, this NC controller for driving multi-axis machine can generate a pulse series in real time so that the machining velocity and shape can be changed in real time to meet machining requirements. A simulation of machining a circle by using the new NC controller for 5-axis control machining center demonstrated its effectiveness. For machining pieces with complicated shapes, multi-axis machines, such as 5-axis control machining centers, are widely used because orientation of the tool is usually required during machining. For example, in order to obtain a tool path accurately, tool orientation is required to keep in the direction of normal line of a cured machining trace. In addition to tool orientation, the motional trace of the tool tip and its velocity must be controlled at a desired value under machining cured surface. In the case of machining a work with complicated shape, it is difficult to generate the tool path accurately according to the interpolation of line and curve by using a conventional NC controller. To solve these questions, an NC controlling method is proposed. In this method, the corresponding pulse series for movement and motional velocity of a driving axis can be generated in real time with computer software to obtain a desired tool path. Just like control a multi-joint robot, a 5-axis machining center can be controlled by building coordinate system and calculating its Jacobian matrix.