疊代學習控制技術應用於五軸輪廓循跡控制

蔡秉寰

doi:10.6827/NFU.2013.00013

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疊代學習控制技術應用於五軸輪廓循跡控制

Iterative Learning Control Technology for Five-Axis Contouring Control

蔡秉寰 , Masters　　Advisor：林明宗　　

繁體中文 DOI： 10.6827/NFU.2013.00013

疊代學習控制；五軸輪廓循跡；輪廓誤差；刀具中心點控制； Iterative learning control ； Five-axis contouring ； Contour error ； Tool center point control

Abstract │ Reference (27) │ Times Cited (4) │ Altmetrics

Abstract 〈TOP〉

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In this paper, a five-axis command-based iterative learning control (FCILC) with tool center point control function (TCPCF) is proposed to improve the tracking and contouring performance for five-axis repetitive contour machining. Without changing the original CNC control architecture, the proposed FCILC utilizes the learning algorithm to updates the input commands based on the tracking errors from the previous process. The TCPCF can detect the sharp corner and discontinuity of the tool position and orientation, and generate smooth five-axis motion trajectories based on the constraints of tangential and axial jerk. The FCILC can reduce the tracking and contouring errors caused by servo lag and friction, and alleviate the effects of noise accumulation. Finally, FCILC with a zero-phase filter is applied to a C-type five-axis engraving machine using a PC-based controller. Experiment results validate that the contour errors of the TCP can be significantly reduced using the proposed technology.

Reference ( 27 ) 〈TOP〉

[1]L. Andolfatto, S. Lavernhe and J. R. R. Mayer,“Evaluation of servo, geometric and dynamic error sources on five-axis high-speed machine tool,” International Journal of Machine Tools and Manufacture, vol. 51, no. 10-11, pp. 787-796, 2011.
連結：
[2]M.-T. Lin, M.-S. Tsai and H.-T. Yau, “Development of a dynamics-based NURBS interpolator with real-time look-ahead algorithm,” International Journal of Machine Tools and Manufacture, vol. 47, no. 15, pp. 2246-2262, 2007.
連結：
[3]Z. Qiao, T. Wang, Y. Wang, M. Hu and Q. Liu, “Bezier polygons for the linearization of dual NURBS curve in five-axis sculptured surface machining,” International Journal of Machine Tools and Manufacture, vol. 53, no. 1, pp. 107-117, 2012.
連結：
[4]A.-C. Lee, M.-T. Lin, Y.-R. Pan and W.-Y. Lin, “The feedrate scheduling of NURBS interpolator for CNC machine tools,” Computer-Aided Design, vol. 43, no. 6, pp. 612-628, 2011.
連結：
[5]X. Beudaert, S. Lavernhe and C. Tournier, “Feedrate interpolation with axis jerk constraints on 5-axis NURBS and G1 tool path,” International Journal of Machine Tools and Manufacture, vol. 57, pp. 73-82, 2012.
連結：

Times Cited (4) 〈TOP〉

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