多段循跡運動曲線在三軸次微米平台上之研究及應用

在CNC工具機上，對於外型複雜的曲線，往往是拆解成多段較單純的線段依序加工，因此機台需要在每個線段內都個別執行「加速－等速－減速」的動作。然而頻繁地加減速除了使加工時間隨著線段數目的增加而拉長以外，對於需要調控加工強度的設備，暫態的加減速行為也容易成為加工品質上的不穩定點。此外，不當地加減速規劃也容易對機台造成不當的作用力與振動，而導致加工件或刀具在移動時的定位誤差，不但使工件的加工精度變差，還可能增加機台磨耗、縮減設備的壽命。因此本研究從曲線路徑、速度規劃、插值器的原理來探討以單次加減速度完成多段曲線時所產生的現象與問題，並對其提出補償策略；再用Physik Instrument公司所生產之C-843運動控制卡與M511.DD型之X-Y-Z平臺，結合AutoCAD內建之VBA語言撰寫介面，實際比較補償前後的速度曲線差異。經實驗證明，在高速運動時，本研究的補償方式可有效減少曲線間在動態銜接時因插值器殘值所造成不確定的速度誤差，使加工路徑的動態銜接更為平順。

關鍵字

運動控制；三軸次微米平台；速度規劃；速度補償

並列摘要

In CNC machining, the execution of a complex profile is usually composed of many sequential simple curve segments, so the table has to accelerate and decelerate in each segment. However, the frequently speed change not only extend the running time but also make the machining quality not uniform. Besides, the improper force and vibration caused by improper speed planning would shorten the life of machine center. This study investigates the phenomenon and problems of multi-segment motion with single speed planning, then proposes a method to compensate. The C-843 motion control card and the X-Y-Z platform model M511.DD, which are both produced by Physik Instrument Inc., are used for experiment in this research. The experiment result shows that when two curve motions connect with a non-zero speed, the proposed compensation method could effectively reduce the uncertain speed error caused by the residue of interpolator.

並列關鍵字

Trajectory Motion Control ； Speed Compensation

參考文獻

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國際替代計量

多段循跡運動曲線在三軸次微米平台上之研究及應用

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