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    Please use this identifier to cite or link to this item: http://ccur.lib.ccu.edu.tw/handle/A095B0000Q/254


    Title: 整合動態加減速與命令整形之插補器設計;Novel interpolation design using input shaping technique and dynamic acceleration/deceleration algorithms
    Authors: 黃英哲;HUANG, YING-CHE
    Contributors: 機械工程系研究所
    Keywords: 工具機;插補器;命令誤差;輪廓誤差;命令重塑;低通濾波器;振動抑制;CNC;Interpolation;Command error;Contour error;Input shaper;FIR;Residual vibration
    Date: 2017
    Issue Date: 2019-07-17
    Publisher: 機械工程系研究所
    Abstract: 為了考慮振動與輪廓誤差在工具機上的影響,本論文考慮了基底、馬達、導螺桿與平台之間的關係,建立完整工具機傳動系統之動態模型。我們將動態模型中的共振頻率與阻尼做為插補器的參數,設計full order modified input shaping with zero vibration (FMISZV) 演算法來抑制各軸振動。此方法雖然可以降低振動,但由於後插補命令所產生的誤差,以致轉角輪廓誤差加大。為了考慮此輪廓誤差,我們發展了一套integrated dynamic acceleration/deceleration interpolation (IDAD)演算法以結合既有的動態模型,並將前加減速與後加減速整併於插補器內,藉由調整轉角速度,滿足轉角輪廓誤差容忍精度。最後,模擬實驗結果,驗證本論文提出演算法的可行性。FMISZV 不僅抑制主要之低頻共振,由於其具有低通濾波器的效應,因此也可以避免引發高頻振動。架構在FMISZV之上的IDAD,更能有效降低轉角輪廓誤差。此篇論文的主要貢獻在於設計了一套整合動態模型的插補器,比起傳統的插補器,能提供更佳的動態性能。
    In order to consider the influence of vibration and contour error on the computer numerical control (CNC) machine tool, this dissertation considers the relationship between the bed, the motor, the lead screw, and the platform and establishes a more complete dynamic model of the feed drive system. We utilize the resonant frequency and damping ratio obtained from the dynamic model as the parameters of the interpolation to design the full order modified input shaping with zero vibration (FMISZV) algorithm to suppress the vibration of each axis. Although this method can reduce the vibration, but due to the acceleration/deceleration after interpolation (ADAI) method, the dynamic corner contour error increases. In order to consider this dynamic corner contour error, we developed an integrated dynamic acceleration/deceleration interpolation (IDAD) algorithm to combine the developed dynamic model, acceleration/deceleration before interpolation (ADBI), and ADAI in the interpolation, by adjusting the connective feedrate between two linear line (G01) blocks to meet the given dynamic contour error at the corner. Finally, we perform the simulations and experiments to verify the feasibility of the proposed algorithms. It is shown that the FMISZV not only suppresses the main low-frequency resonance but also avoids causing high-frequency vibration because it has the effect of low-pass filter. By integrating the IDAD and FMISZV, it is more effective in reducing the dynamic corner contour error. The main contribution of this dissertation is to design the algorithm which could integrate the dynamic model with the interpolation. As compared to the traditional interpolation, the proposed methodology can provide better dynamic performances.
    Appears in Collections:[機械工程學系] 學位論文

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