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CNC System
Direct Control Indirect Control
Command generation
Interpolator
Linear Circular
Courtesy of Heidenhain Corp.
Chapter 9
ME 440
Chapter 10
ME 440
CNC Systems y
Indirect Control System
NC Program
tool location feeds
CNC System
Position c command Torque c command
e(k)
_
m(t) ()
Torque command (voltage)
Drive + Motor
m(t)
Motor torque
x(t)
Feed Drive
Part
NC Program
Interpolator
Motion i Controller
Clock
Synchronization Signal
x(k)
S Sensor In nterface
Nut
CNC System
Position Sensor
Carriage's position
CNC System S t
Torque command P Position command
Part
Position sensor
Interpolator
Motion Controller
Nut
In this direct control system, the position of the carriage y , p g (x) is measured and sampled by this simplified CNC system. The interpolator computes the desired position ( *) of the comp tes (x*) carriage at a particular instant in time using the NC p g program.
Chapter 10 ME 440 5
Chapter 10
ME 440
Computer Control p
Each physical quantity (such as position measurement, error, etc.) in CNC system (a.k.a. control computer) is represented by a corresponding binary number with a finite length:
Byte / word Integer, long integer Floating point number etc etc.
Chapter 10
ME 440
Control Algorithm
Control algorithm can be expressed in terms of a finite g p difference equation. That is, it is an algebraic expression which depends on not only the history of the input but also that of the output:
m( k ) = aim( k i ) + bj e( k j )
i =1 j =0
In discrete-time domain, the time dependence among various quantities of interest are represented by a time index:
x(t=kT) = x(kT) = x(k) where k = 0, 1, 2, ... (t kT) (kT) (k) h 0 1 2 Integer k is called time index.
Chapter 10 ME 440 8
ai, bj are the constant coefficients of the equation; m(k) current value of the output (manipulation) @ t = kT; m(k-1) is old value of m @ t = (k-1)T, ... ; e(k) current value of the input (error) @ t = kT; e(k-1) is old value of e @ t = (k-1)T, ... ;
Chapter 10 ME 440 9
5. Send m(k) to the output interface. 6. 6 Wait till the end of the period T T. 7. Go to Step 1.
Chapter 10 ME 440 10 Chapter 10
Time
ME 440
11
Interpolator p
Interpolator is an advanced command generation algorithm executed by the CNC system. By interpreting the codes in the default NC program, the interpolator generates the following commands: i t l t t th f ll i d
The desired position and velocity of each axis The desired velocity of spindle (and angular position wherever necessary) The appropriate peripheral unit commands:
Coolant on / off Spindle on / off Tool change
Interpolator ( p (Contd) )
Since the commands are to be fed to the axis-position control (a.k.a. servo) cycle at each sampling period T certain ti h li i d T, t i time restrictions are imposed on the interpolation algorithm. Furthermore the interpolator has to carry Furthermore, out complicated trigonometric calculations involved i th t l radius compensation. i l d in the tool di ti
Chapter 10 ME 440 13
Chapter 10
ME 440
12
Interpolation Types
Y
Linear Interpolation p
G90 G1 Xxf Yyf Zzf Ff
yf
f
ys xs xf
X
More advanced interpolation types are also used i modern CNC machine t l l d in d hi tools:
Parabolic NURBS
Chapter 10 ME 440 14
zf zs xs
Chapter 10
xf
Here, Here int {} rounds its argument {} to the nearest integer while T denotes the sampling time. p g
ME 440 15
Circular Interpolation p
G90 G17 G3 Xxf Yyf Rr Ff Y Y'
(x y' (x'f ,y f)
(x'(k+1),y'(k+1)) (x'(k),y'(k))
r f k
(x's ,y's)
In these equations, q ,
k = 1, 2, ..., N; x*(0) = xs; y*(0) = ys; z*(0) = zs
O(xc ,yc)
f s
x =
Chapter 10
x f xs N
y =
y f ys N
z =
z f zs N
16
( x s x c ) + ( ys yc ) = r ( x f x c ) + ( y f yc ) = r
2 2
2 2
ME 440
f s
N
r ( ) N = int ff T s 60
s = cos1
f = cos1
xf xc r
xs xc r
Thus, we have
y * ( k ) = y' ( k ) + yc
ME 440
19
Example p
Y [mm]
Samples to be generated
50
D
v = 600 [mm/min]
10 0
B 60
G90 (ABSOLUTE COORDINATES) G01 X0 Y0 Z0 F600 (PT 0) X20 Y10 (PT A) X60 (PT B) Y50 (PT C) X20 (PT D) Y10 (PT A) X0 Y0 Z0 (GO TO PT 0) M30
20
X [mm]
G90: Absolute Coordinates Specified G01: Linear Interpolation Mode
ME 440 20