博碩士論文 90323119 詳細資訊


姓名 康瑋峰(Wei-Feng Kang)  查詢紙本館藏   畢業系所 機械工程學系
論文名稱 CNC 工具機高速進給軌跡精度改善
(Improving contouring accuracy of high-feed CNC machine tools)
檔案 [Endnote RIS 格式]    [Bibtex 格式]    [檢視]  [下載]
  1. 本電子論文使用權限為同意立即開放。
  2. 已達開放權限電子全文僅授權使用者為學術研究之目的,進行個人非營利性質之檢索、閱讀、列印。
  3. 請遵守中華民國著作權法之相關規定,切勿任意重製、散佈、改作、轉貼、播送,以免觸法。

摘要(中) 隨著工業的進展,製造業目前已處於時間與品質並重的時代,因此目前自動化製造設備一直朝向高速高精度的方向發展。本論文就針對CNC工具機在循圓時,減少其追蹤誤差。摩擦力的影響是一般機械系統中主要的非線性因素來源,所以系統於低速度運作時,首先要克服的就是不同物體接觸面所產生的摩擦。摩擦是非常複雜的非線性物理現象,包括靜摩擦、庫倫摩擦及黏滯摩擦,其中靜摩擦與庫倫摩擦屬於非線性函數。以雙軸XY平台畫圓時,在每90度區間附近會有其中一軸的速度正好穿越零點,亦即平台反轉的時候,因摩擦力的影響而產生的突波,此種問題稱之為「quadrant glitches」。
象限誤差主要是因為摩擦力帶來的暫態現象。因此,我們為了解決這個暫態現象問題。我們會預先補償一個值在軸要換象的時候,讓這系統迅速到達穩態。讓系統一直維持在穩態。我們會在工具機循圓前,從系統的動態觀察以求得補償值。
另外,我們又設計前饋控制器和比例控制器。希望此控制器改善其系統的追蹤性能。
最後,關於以上循圓時的伺服控制在CNC工具機上,都有經過實驗,以證明這些方法的可行性。
摘要(英) As the development in industry, time and quality are more and more important in manufacturing industry. Therefore, automatic manufacturing machines are tending to high speed and high precision. This thesis is aimed to eliminate tracking error of traveling a circular profile on the CNC machine tools. Friction is one of the most significant source of nonlinear disturbance for the motion control which caused by the relative motion of different contact surface at the low velocity. The nonlinear component of friction such as static friction (stiction) and the Coulomb friction should be overcome so that the tracking error will be eliminated. When the X-Y tables are tracking a circular profile, quadrant glitches appear at ninety degrees intervals, i.e. the motion of one axis has a zero velocity crossing and reverses direction.
The quadrant glitches were due to friction brought about transient phenomenon. Therefore, we will solve the transient phenomenon. We will make the system to reach steady state quickly, we may anticipate compensating a value when the motion of one axis has a zero velocity crossing and reverses direction. We will observe the system dynamic before traversing a circular profile, and to obtain a compensated value on off-line.
In addition, we designed the feedforward and P feedback tracking controllers. The research adopts feedforward controller to improve the tracking performance of the system.
Finally, the above servo loop control of tracking a circular profile on CNC machine tools is verified by the simulation and experimental results.
關鍵字(中) ★ 前饋控制
★ 摩擦力
★ 象限突波誤差
關鍵字(英) ★ quadrant glitches
★ friction
★ feedforword control
論文目次 摘要 i
目錄 ii
第一章 導論 iii
第二章 象限誤差的簡介與補償 iv
第三章 控制器的設計 v
第四章 PC BASED CNC 架構介紹及實驗架構 vi
第五章 實驗與討論 vii
第六章 結論 viii
附錄 ix
ABSTRACT I
TABLE OF CONTENTS III
LIST OF FIGURE V
LIST OF TABLES VII
LIST OF TABLES VII
CHAPTER 1 INTRODUCTION 1
1.1 BACKGROUND AND MOTIVATION 1
1.2 LITERATURE REVIEW 1
1.3 THESIS ARRANGEMENT 3
CHAPTER 2 INTRODUCTION TO QUADRANT GLITCHES AND FRICTION COMPENSATION 4
2.1 INTRODUCTION 4
2.1.1 Low Velocity Friction 5
2.1.2 Model of Friction[14] 7
2.1.3 Transient phenomenon due to friction 9
2.2 FRICTION COMPENSATION 12
CHAPTER 3 DESIGN OF TRACKING CONTROLLERS 14
3.1 PRELIMINARY 14
3.2 SERVO CONTROL ANALYSIS OF CNC MACHINE TOOLS 14
3.3 FEEDFORWARD CONTROLLER 16
CHAPTER 4 INTRODUCTION TO PC BASED CNC 19
4.1 INTRODUCTION TO PC BASED CNC CONFIGURATION 19
4.1.1 Motion Control Card (PCC1620) 20
4.2 EXPERIMENT FRAME 24
4.2.1 System Model 27
CHAPTER 5 EXPERIMENT RESULTS AND DISCUSSION 30
5.1 CONFIGURATION OF EXPERIMENT 30
5.2 EXPERIMENT RESULTS 31
5.2.1 Experiment Results of the friction compensation of traversing a circular profile 32
5.2.2 Experiment Results of applying the feedforwad control to enhance contouring motion precision 39
5.3 DISCUSSION 43
CHAPTER 6 CONCLUSION AND FUTRUE WORK 45
REFERENCE 46
參考文獻 [1] Ogata, K., Discrete Time Control System, Prentice Hall, 1987.
[2] Franklin, G. F., Powell J. D. and Workman M. L., Digital Control of Dynamic System, Prentice Hall, 1990.
[3] Poo, A., Bollinger, J. G., and Younkin, G. W., “Dynamic Errors in Type I Contouring Systems,” IEEE Trans. on Industry Automation, Vol. 1A-8, No. 4, pp.477-484, 1972.
[4] 陳金聖, “利用雙球感良測發展數值工具機之誤差展段與補償技術,” 國立交通大學機械工程研究所碩士論文, 1993.
[5] 林恆毅, “線性馬達運動系統之摩擦力補償設計,” 國立交通大學機械工程研究所碩士論文, 2001.
[6] Tomizuka, M., “High –Speed End Mill Boring and Rounded Corner Cutting,” Procesdings of American Control Conference, June 1994.
[7] Tomizuka, M., “Zero Phase Error Tracking Algorithm for Digital Control,” ASME Journal of Dynamic Systems, Measurement, and Control, vol.109, pp.349-254, 1987.
[8] Weck, M. G., “Sharp Corner Tracking Using the IKF Control Strategy,” Annals of CIRP 39/1/, pp.437-441, 1990.
[9] Masory, O., “Improving Contouring Accuracy of NC/CNC Systems with Additional Velocity Feed Forward Loop, “ASME Journal of Engineering for Industry, vol.108, pp.227-230, 1986.
[10] Lee, A. C. and Chen, C. S., “New Direct Velocity and Acceleration Feedforward Tracking Control in a Retrofitted Milling Machine, “International Conference on Precision Engineering, Vol.1, pp.49-54, November, 1997.
[11] Tomizuka, M., Tung, E.D., Anwar, G., “Low Velocity Friction Compensation and Feedforward Solution Based on Repetitive Control,” Trans of ASME, Journal of Dynamic Systems, Measurement and Control, Vol.115, pp.279-284, June 1993.
[12] Dupont, P.E., “Avoiding Stick/Slip in Position and Force Control Through Feedback,” Proc.1991 Inter. Conf. on Robotic and Automation. IEEE, pp.1470-1476, 1991.
[13] Dupont, P.E., Dunlap, E.P., “Friction Modeling and Control in Boundary Lubrication,” Proc.1993 American Control Conf. pp.1910-1914.
[14] Armstrong-Helouvry, “A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines with Friction,” Automatica, Vol.30, No.7, pp.1083-1138, 1994.
[15] Ogata, K., Modern Control Engineering, Prentice Hall, 1997.
[16] 寶元科技, “PCC1620 運動控制軸卡繁體中文使用手冊,” 2001.
[17] Panasonic, “AC 伺服馬達驅動器MINAS-A 操作說明書,” 2001.
[18] 洪明諒, “CNC工具機高速進給軌跡精度改進研究”, 國立清華大學動力機械研究所碩士論文, 2000.
[19] 陳鳴吉, “交叉耦合控制在高速軌跡追蹤控制之設計與實作”, 國立中山大學機械工程研究所碩士論文, 2001.
[20] 彭鐿文, ”直接速度、加速度前饋控制器設計及PC Based CNC系統的實現”, 國立交通大學機械工程研究所碩士論文, 1993
指導教授 董必正(Pi-Cheng Tung) 審核日期 2003-7-8
推文 facebook   plurk   twitter   funp   google   live   udn   HD   myshare   reddit   netvibes   friend   youpush   delicious   baidu   

若有論文相關問題,請聯絡國立中央大學圖書館推廣服務組 TEL:(03)422-7151轉57407,或E-mail聯絡