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

将雅可比矩阵、V-F变换和正运动学相结合，设计了一种驱动多轴机床的控制器。与以往不同的是，这种驱动多轴机床的NC控制器可以实时产生脉冲序列，从而可以实时改变加工速度和形状，以满足加工要求。将该控制器应用于五轴联动加工中心，对圆的加工进行了仿真，验证了其有效性。对于形状复杂的零件的加工，由于在加工过程中通常需要刀具的定位，所以广泛使用多轴机床，如五轴控制加工中心。例如，为了准确地获得刀具轨迹，要求刀具方向保持在已固化加工轨迹的法线方向。在加工硬化表面时，除了要保证刀具的定向外，还必须将刀尖的运动轨迹及其速度控制在所需的值内。在加工复杂形状的零件时，传统的数控控制器很难根据直线和曲线的插补精确地生成刀具轨迹。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实时生成对应于驱动轴运动和运动速度的脉冲序列，从而得到所需的刀具轨迹。与控制多关节机器人一样，可以通过建立坐标系并计算其雅可比矩阵来控制五轴加工中心。

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.