S型加減速參數最佳化分析並應用於五軸循跡控制器

S-type Acceleration and Deceleration Parameters Optimization Analysis of Contouring Control for Five-axis Machine

謝岳峻(Yue-Jun Xie)

指導教授 ： 陳世樂

國立中正大學/工學院/機械工程學系/碩士(2015年)

摘要

本論文主要探討S型加減速參數最佳化並應用於五軸工具機，再透過控制器的設計來降低輪廓誤差。
五軸工具機由於多了旋轉軸，相較於三軸工具機而言，想要達到高速高精度要困難許多，主要原因為下列幾點(1)五軸工具機的循跡控制器不易設計，(2)各軸之間相互耦合，其作動情況較不直觀，綜合以上幾點，本團隊提出了一套等效誤差法，來解決這些問題，此法適用於具非線性動態之多軸運動系統，正適合用於五軸工具機之循跡控制，目前幾乎所有的研究都將五軸系統之輪廓誤差分為兩部分，即一般輪廓誤差與方位角誤差，再分別設計循跡控制器，然而等效誤差法其主要的精神為將原本的循跡控制問題轉換為穩定化的問題。
　　不適當的加減速規劃，輕則使機台尋跡效果降低，加工路經所產生的輪廓誤差變大，重則可能會傷害到產品，甚至縮短機台壽命，增加成本，因此對工具機來說適當的加減速命令是非常重要的。
　　根據每台工具機的結構，剛性，幾何設計等等，所能負擔的最大速度、最大加速度和最大jerk也截然不同，若在進行命令規劃時忽略了這些限制，規劃出超出機台負荷的物理限制條件，將會使機台處於危險的情況；倘若因為這些條件，反倒規劃出過慢的加減速命令，將會大大增加時間成本，浪費了機台本身的能力。
　　因此本研究主要就是以S型加減速為基礎並搭配最佳化演算法，在機台的物理限制條件下，規劃出一條對工具機而言是快速且安全的加減速命令，再設計五軸循跡控制器，來降低輪廓誤差。

關鍵字

滑動模式控制 ； 五軸工具機 ； 加減速規劃 ； 等效誤差法 ； 基因演算法

並列摘要

This paper focuses on the S-type acceleration and deceleration parameters optimization applied axis machine tools, and then through the design of the controller to reduce contour errors.
Five-axis machine tools than the three-axis machine tools to achieve high speed and precision of many difficulties, mainly due to the following points (1) five-axis machine tools is not easy to design a tracking controller, (2) is coupled between the shaft actuation thereof situation less intuitive Based on the above points, we propose an equivalent error method to solve these problems, this law applies to a non-linear dynamic of multi-axis motion system, it is suitable for use in tracking control of the five-axis machine tools, almost all studies the system's five-axis contour error is divided into two parts, namely the general contour error and Orientation error, and then were tracking controller design, but its main error method equivalent to the spirit of the original tracking control problem into a stabilization problems.
Inappropriate acceleration and deceleration planning, will cause the machine to reduce the effect of tracking, contour error increases, harm the product, shortening the life of the machine, increasing cost, so it is suitable for machine tool deceleration planning is very important.
According to the structure of each machine tool, rigid, geometric design, etc., the affordability the maximum speed, maximum acceleration and maximum jerk also different, if during acceleration and deceleration planning ignore these restrictions, planning out beyond the machine load physical constraints, will make the machine in a dangerous situation; if because of these conditions, planning a slow deceleration command, will greatly increase the cost of time wasted capacity machine itself.
Therefore, this study is to the S type speed-based and with optimized algorithms in the machine's physical limitations, plan a machine tool in terms of fast and safe acceleration and deceleration command, and then design axis tracking control, to reduce contour errors.

並列關鍵字

Sliding Mode Control ； equivalent contour error ； Acc/Dec plan ； Genetic Algorithms ； Five-axis machine tool

參考文獻

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