CN104698982B

CN104698982B - Stepping type CNC system and the generation method of processed file, real-time control method

Info

Publication number: CN104698982B
Application number: CN201510111333.6A
Authority: CN
Inventors: 江俊逢; 朱行; 朱一行
Original assignee: Individual
Current assignee: Individual
Priority date: 2015-03-13
Filing date: 2015-03-13
Publication date: 2018-01-12
Anticipated expiration: 2035-03-13
Also published as: CN104698982A

Abstract

The application proposes generation method, the real-time control method of cutter track curve of a kind of stepping type CNC system and processed file using WEDM as embodiment.The application carries out high-precision planning to cutter track curve, common G code program is instead of with processed file, eliminate G code programming, procedure is write just as writing short message using word, " opening numerical control just as playing mobile phone; programming is just as photos and sending messages ", in the thorough Gao Do interpolation epoch, significantly reduce the technique approval threshold and its cost of CNC system.The application carries out fine real-time control to technological parameter, significantly improves machining accuracy and surface quality, and strong technological means is provided with surface quality to improve the machining accuracy of turning processing.

Description

Stepping type CNC system and the generation method of processed file, real-time control method

Technical field

A kind of the application category advanced manufacturing field, and in particular to stepping type computerized numerical system The generation method of (ComputerNumerical Control system, CNC system) and processed file, for wire cutting (Wire-cut Electrical Discharge Machine, WEDM), the numerical control device such as laser cutting machine.

Technical background

The general principle of existing CNC technologies is, in an interpolation cycle, for different cutter track curves, for example, straight line Or circular arc, real time operating system are called linear interpolation module or circular interpolation module, according to feed speed, calculated using linear interpolation Method or arc interpolation calculate the amount of feeding of the dependent coordinate axle in interpolation cycle, are sent to related spool driver, drive Dynamic dependent coordinate axle produces resultant displacement.Interpolation cycle is followed, is so gone round and begun again, completes the processing of workpiece.

This control method is referred to as interpolation iteration control by the application.

Interpolation cycle immobilizes, and is the most important systematic parameter of existing CNC system.The interpolation week of middle low speed CNC system Phase is generally 8ms, 4ms, 2ms.Interpolation cycle is less than the mark that 0.1ms turns into high-end CNC system.

The operation time of interpolation algorithm and the overall performance of computational accuracy shadow noon CNC system, particularly machining accuracy are with adding Work speed, it is the core of existing CNC technologies.

Stepping type CNC system and two kinds of fundamental types that incremental digital control system is CNC system.The former reference axis is discrete The step-by-step impulse that information is " 0 " " 1 " form is fed, the discrete feeding information of reference axis of the latter is coordinate value increment.

Stepping type CNC system embodies numerically controlled essence completely, and architecture and control method are all extremely simple.

The outstanding advantages of stepping type CNC system are that 2 points synchronous (starting point is synchronous synchronous with terminal) are simple and reliable.For step Enter type associated data stream, otherwise all reference axis for participating in linkage feed a feeding equivalent, otherwise do not feed.Thus, terminal It is synchronously the inherent attribute of stepping type CNC system, without using cross-coupling control (Cross Coupling Control, CCC) processing dynamic lag caused by profile errors.

The major defect of stepping type CNC system is that feed speed is low, can not meet the High-speed machining of the equipment such as machining center.

In the case where feed speed is relatively low, many numerical control devices, such as WEDM etc., using stepping type CNC system.

In addition to except caused by the existing CNC technical systems defined based on IEEE the problem of, in the presence of existing stepping type CNC system State problem.

Existing stepping type CNC system writes NC procedures (abbreviation G code program) using G code, and G code program turns into The programming interface of NC programmings.

It is specification on paper tape/punched card during basic physical medium as input of the paper tape/punched card fifties in last century Character is represented, has formulated the coding standard of perforation, i.e. G code standard, including ISO6983 (ISO standards generations Code), EIA-RS274 (EIA's standard code).China is then in the beginning of the eighties in last century, according to iso standard system JB3050-82 are determined《Seven unit encoding characters of numerically-controlled machine tool》、JB3208—83《Numerically-controlled machine tool perforated tape journey Preparatory function G and miscellaneous function M codes in sequence paragraph format》Etc. standard.

G code programming is the product of interpolation iteration control.

The core of G code instruction is interpolation instruction.Interpolation instruction is directed to specific curve and function.For example, linear interpolation Instruct G01, instruct G02, inverse circle interpolation to instruct the basic interpolation instruction such as G03 along circle interpolation, for real-time interpolation dependent coordinate axle The amount of feeding in interpolation cycle.For some specific curves, for example, parabola, ellipse, nurbs curve etc., using expansion The G code interpolation instruction opened.For technological parameters such as the speed of mainshaft, feed speeds, represented with S instructions and F instructions.

Based on interpolation iteration control, for different cutter track curves, for example, straight line, suitable circle, inverse circle, existing CNC system must The corresponding interpolation module of the interpolation instruction calls such as G01, G02, G03 must be passed through.As can be seen here, in existing CNC technical systems, G Program in machine code and interpolation iteration control are interdependences.

At the initial stage of Numeric Control Technology, using hand-coding G code program.

Instruct various in G code program, and can not remember.Thus, the manual programming of G code program it is very cumbersome, it is time-consuming, It is error-prone and be difficult to examine.The number for representative with automatically programmed tools (AutomaticallyProgrammedTools) is generated for this Control programing system.

The nineties in last century, the automatic programming system using CAD/CAE/CAPP/CAM as representative substitute APT to turn into main flow.Its In, the CAM of narrow sense has turned into the synonym of NC programmings.

Above-mentioned programing system is based on G code, and independently of CNC system, turns into the standard configuration of CNC system, and price It is high.

G code standard is the primary product of information technology starting stage, is limited by paper tape and is inevitably present information Measure the defects of very few.Each manufacturer has thus all carried out expansion outside basic semantic to G code, the instruction code expanded and Form is also different, causes the dependence of G code program and corresponding hardware, G code program between different digital control systems not With interchangeability.Thus, above-mentioned programing system can only be based on standard G code and carry out NC programmings, commonly referred to as preposition processing.

G code program and interpolation iteration control interdependence, cause existing CNC technologies to generate following problems.

1st, the generation of cutter track curve

Interpolation iteration control must carry out real-time interpolation according to feed speed, and this is just by the several of feed speed and cutter track curve What structure Coupling is together.

Interpolation calculates must assure that number of the micro-line section between current interpolated point and previous interpolated point for cutter track curve first Word image, i.e. discretization error are in given scope；On the other hand, the reference axis amount of feeding that interpolation is calculated must also meet The requirement such as feed speed and acceleration and deceleration.So, interpolation iteration control method by the time involved by cutter track curve, space, Technological requirement, the key element whole close-coupled such as kinematics/dynamic characteristic of Mechatronic Systems are together.

Because cutter track curve is the basis that interpolation calculates, this generation for resulting in cutter track curve turns into existing CNC technologies The content of research the most extensively and profoundly.

Generation for cutter track curve, even if having complicated movement relation, any complicated mathematics meter between reference axis Calculation be not problem, difficult be must within the extremely short time, for example, in 0.1ms real-time interpolation dependent coordinate axle feeding Amount.In order to realize that the high-speed, high precision of cutter track curve controls, uniquely selection is existing CNC system, using the hard of higher performance Part, so as to increase substantially interpolation rate, and effectively handle acceleration and deceleration problem.

2nd, the postpositive disposal of G code program

Because CNC system species is various, lathe configuration is different, for different CNC systems, it is necessary to write different Post processing program, postpositive disposal is carried out to the G code program of programing system generation, to adapt to specific CNC system.

Existing special post processing program is up to as many as thousands of kinds, so that postpositive disposal is theoretical to turn into existing CNC with technology The important content of technology.

G code programmed readability is poor, is not easy use and is shared with exchanging, either manual programming or automated programming, and it is compiled Journey and postpositive disposal are very specialized work, it is necessary to the programming personnel of specialty.G code programming turns into numerical control field One big specialty.As professional, the wages of programming personnel are several times as much as common employee, improve the cost of linear cutter.

CNC system must also handle the operation related to G code program, include explanation and the pretreatment etc. of G code program.

3rd, feed speed prediction control (Look ahead)

According to discretization error, cutter track curve is generally divided into some micro-line sections by CAM system, and generates corresponding G code journey Sequence section.So-called feed speed prediction control, is exactly before interpolation operation, carries out acceleration and deceleration to some G code program segments in advance Pretreatment, the G code of pretreatment often up to 1000~5000.Feed speed prediction control consumes substantial amounts of calculate and provided Source, reduce process velocity.

Feed speed prediction control is as one of existing CNC core technology.

In addition, also there are following problems in existing stepping type CNC system.

1st, the real-time control of technological parameter

WEDM and other lathes (for example, machining center) important difference is, its process velocity and machining accuracy Depending on the technological parameter of the electric pulse between wire electrode and workpiece, including pulse frequency, pulse width, single pulse energy etc..

Generally, for the different curved sections on cutter track curve, for example, straight line or one section of circular arc, technological parameter It is different.Therefore, for the straight line or the circular arc, work is set using the H instructions or E instructions of expansion in G code program Skill parameter.This is the basic skills of existing wire cutting CNC system control technological parameter.This is not the real-time control of technological parameter.

The real-time control of so-called technological parameter refers to that technological parameter, such as single pulse energy w follow point on cutter track curve Position and change, i.e. w be point coordinate (x, y) function.

Straight line (including oblique line) in cutter track curve, the junction (turning) of circular arc is typically wedge angle or small arc-shaped.These The processing of wedge angle or small arc-shaped is referred to as turning processing.

Wire electrode is flexible cutter, produces motion delay in the presence of the explosive force and water under high pressure in electric discharge, causes to turn Occur angle of collapsing at angle, destroy the precision at turning.

Turning machining accuracy turns into WEDM basic technical indicator.The frequency of high frequency electric pulse, pulse width, single pulse energy The technological parameters such as amount, machining accuracy and surface quality are influenceed greatly, in particularly being processed at turning, it is necessary to which turning position is entered The real-time control of row technological parameter.

2nd, point-to-point comparison method

Existing wire cutting CNC system is typically using point-to-point comparison method as interpolation algorithm.

There are following shortcomings in point-to-point comparison method, so as to shadow noon crudy and process velocity：

1), point-to-point comparison method is not optimal algorithm.

Point-to-point comparison method is not optimal algorithm, and particularly, step-by-step impulse caused by an interpolation cycle is not X-axis pulse, It is exactly Y-axis pulse.X-axis does not link from Y-axis and (fed when different), and process velocity is low.

Oblique line can only be approached with parallel to the micro-line section of reference axis.Thus, the process velocity of oblique line is less than isometric therewith Straight line process velocity.The operation time of circular interpolation is longer than the operation time of linear interpolation, and the time of " stopping " is also just long, leads The process velocity of circular arc is caused far below the process velocity of oblique line isometric therewith.

For circular arc, the symmetrical sex distortion of X, Y step-by-step impulse caused by point-to-point comparison method is big, and out-of-roundness is larger.

2), digitlization is exactly discretization.Continuous motion becomes discrete motion after being digitized into.Just as film, TV, " loitering " is the intrinsic attribute of the reference axis discrete motion of CNC controls.The time of " stopping " is substantially dependent on interpolation cycle.

The number of point-to-point comparison method " stopping " is most.In G code program, 90 more than ﹪ instruction instructs for interpolation.For Every interpolation instruction must all explain execution, and the number that this results in reference axis " stopping " is too many, and the time of " stopping " is oversize.The opposing party Face, CNC system must handle the operation related to G code program, such as explanation and the pretreatment etc. of G code program.This just consumes Taken substantial amounts of computing resource, shadow noon the process velocity and crudy of CNC system.

Secondly, for the at the uniform velocity section on straight line (including oblique line), instruction description its process can be used originally.So And beeline interpolation algorithm must by the straight line it is discrete for some micro-line sections for being referred to as profile step-length, it is necessary to straight with some Its process of line interpolation instruction description.Because workpiece profile curve is often made up of a large amount of straight lines (including oblique line), this just enters One step shadow noon the process velocity and crudy of CNC system.

The content of the invention

In order to illustrate more clearly of the technical principle of the application, G code program and interpolation iteration control institute are further disclosed The problem of existing, existing CNC system is contrasted with computer system.

An in fact, computer system inherently CNC system.For example, a PC is just formed with a printer One CNC system.

The reference axis of printer is X-axis, Y-axis.Word is made up of straight line, curve, its being to determine property of geometry.Text Word, such as Chinese character, in advance by a discrete dot matrix in x/y planes, and it is solidificated in character library.Address of the dot matrix in character library Referred to as ISN.Chinese character is different, and its dot matrix, ISN are different.

After printer is ready, interrupt requests are sent to operating system, operating system response is interrupted, word is edited File be sent to printer.When printing a Chinese character, according to its ISN, the x coordinate of each point in its dot matrix is read from character library With y-coordinate, the printhead prints dot matrix, that is, the Chinese character that the dot matrix is formed.

From the viewpoint of CNC, the CNC system of printer has following features：

1), the Discrete geometry structure of advance planning Chinese character is dot matrix, and is stored in character library.

2), Chinese character dot matrix can subtly be planned using multiple technologies means.

3), using word editing files, for Chinese character, user need not write the print routine similar with G code program.

4) control of miscellaneous function, is completed in the editing process of file, for example, line feed, space etc..

5) real time operating system, need not be configured, operating system simply supports word editing files, and responds printer Interrupt requests, the print procedure of file is not controlled, particularly, do not participate in the generating process of Chinese character dot matrix.

6), do not limited by the computer timesharing cycle, print speed greatly improves.

7) cost, paid for this is, it is necessary to configures mass storage for character library, that is, trades space for time.

8), once print object complicates, its basic fundamental means is extension storage space, 8G, 16G, 32G etc..

Printhead is considered as cutter, mimeograph documents are considered as cutter track curve, and various Chinese characters are considered as straight line, circle in cutter track curve Arc etc., the print procedure of mimeograph documents are considered as the process of cutter track curve.Using control of the existing CNC system as printer System, then with following features：

1) the Discrete geometry structure i.e. dot matrix of each Chinese character, is obtained by interpolation algorithm real-time interpolation.

2), interpolation algorithm is a kind of not overproof conservative algorthm, is not optimal algorithm, it is difficult to subtly plans Chinese character Dot matrix.

3), for the curve in Chinese character, it is necessary to write G code print routine with corresponding interpolation instruction.

4), for the control of miscellaneous function, it is necessary to insert corresponding function command.

5) real time operating system, must be configured, real time operating system controls the Print All process of file, particularly Chinese character The generating process of dot matrix.

6), limited by computer interpolation cycle, print speed necessarily reduces.

7), its advantage is, without configuration character library, to save memory space.

8), once print object complicates, its basic fundamental means is to configure 32 high-speed CPUs and its real-time oss System, 64 high-speed CPUs and its real time operating system etc..

By above-mentioned contrast, following conclusions are can obtain：

First, the essence of computer has two.First, do simplest thing, binary arithmetic operation and two with most fast speed System logical operation is undoubtedly simplest computing.Second, " storage information control ", more than operation rule (the i.e. root of computer The program write according to algorithm with programming language) it is previously stored, related data are also previously stored, the rule determined according to algorithm Then, computer is handled the data of correlation.The certainty Discrete geometry structure of word (cutter track curve) is one prior Planning problem, it is not necessary to real-time interpolation.Existing CNC system uses interpolation iteration control, under the control of real time operating system, enters Row real-time interpolation, the general principle of storage information control has been run counter to completely.

Second, the Discrete geometry structure of word is unrelated with feed speed.The Discrete geometry structure of cutter track curve also with feeding Speed is unrelated.

Chinese character (cutter track curve) is purely a geometrical issues, and this is a brass tacks.Thus, Chinese character (cutter track curve) Discrete geometry structure be a geometrical invariants unrelated with feed speed.Interpolation iteration control is by feed speed and Chinese character The geometry of (cutter track curve) is coupled, and its technical principle falls behind the times, and is out-of-date.

3rd, in computer systems, the control of time is simplest.

By interpolation iteration control, existing CNC system couples feed speed with the geometry of Chinese character (cutter track curve) Together, the time is interpolated the cycle and is locked as systematic parameter, is no longer free variable.This is just highly complex by simplest problem Change, generate the pseudo problems such as feed speed prediction control.

4th, control object is different, and real-time control process is also different.Existing CNC system uses interpolation iteration control, will be real When operating system administrative mechanism and strain mechanism as a kind of pervasive controlling mechanism, run counter to particular problem completely and specifically divided The basic principle of analysis, back real time operating system this millstone around one's neck.

To overcome the drawbacks described above present in existing stepping type CNC system, the application is controlled using data stream association (Data-flow Related Control, DRC), based on following patents of invention：ZL 2,007 1 0124304.9, ZL 2009 1 0190612.0, ZL 2,009 1 0110439.9, ZL 2,010 1 0536800.7 (US Pat.No.13/883,576), ZL 2011 1 0206679.6 (US Pat.No.14/349,054), ZL 2,011 1 0206676.2, ZL 2,011 1 0207211.9, ZL 2,011 1 0206677.7, using WEDM as embodiment, propose a kind of stepping type CNC system, programming interface With the generation method of processed file, and the real-time control method of cutter track curve.

The technical scheme of the application is as follows.

A kind of stepping type CNC system, for controlling linkage reference axis linkage, to realize the real-time control of cutter track curve, bag Hardware platform, software platform and application software system are included, the hardware platform is PC systems, and the software platform is graphical interfaces Operating system；Characterized in that, the application software system includes CANC planning components, NC information banks, processed file planning group Part, real-time kernel；

(1), CANC plans component

The CANC planning component includes discrete coordinates system generation module, L segmentations planning module, T segmentation planning modules；

(1-1) described discrete coordinates system generation module is used for according to given discrete scale, is the discrete mark with distance Coordinate plane gridding is established discrete coordinates system by the equal space line of degree on screen；

(1-2) is used to plan micro-line section in the discrete coordinates system according to processing orientation, the L segmentations planning module L₁,…,L_mL segmentations δ L_i(i=1 ..., n)；

The micro-line section L₁,…,L_mAccelerating sections/braking section including all straight lines in the cutter track curve, at the uniform velocity section, All circular arcs approach broken line；

(1-3) is used for the robust motion for checking reference axis, plans institute according to processing technology, the T segmentations planning module State micro-line section L₁,…,L_mT segmentations δ t_i(i=1 ..., n)；

(2) NC information banks

The NC information banks are used for the digital control information for storing control reference axis linkage, and the digital control information includes The micro-line section L₁,…,L_mIn every micro-line section linkage table and servo-actuated table；

The linkage table is used to store the micro-line section L₁,…,L_mL segmentations δ L_i(i=1 ..., n)；The L points Cut δ L_i(i=1 ..., n) is used for the amount of feeding for storing the linkage reference axis, and control reference axis links to produce resultant displacement；

The servo-actuated table is used to store the micro-line section L₁,…,L_mT segmentations δ t_i(i=1 ..., n)；The T points Cut δ t_i(i=1 ..., n) is used to store the time interval between the amount of feeding, controls the feed speed of the resultant displacement；

The NC information banks also include the micro-line section L₁,…,L_mIn every micro-line section status word；The status word For specifying the linkage reference axis and its direction of feed；

The NC information banks also include NC information bank concordance lists, and the NC information banks concordance list includes the micro-line section L₁,…,L_mIn first address and the last address of linkage table of every micro-line section, the first address of servo-actuated table；

(3), processed file planning component

The processed file planning component includes NC information banks generation module, path instructions editor module, NC information bank ropes Draw table generation module, NC information banks index generation module, processed file generation module；

(3-1) is for the micro-line section L₁,…,L_mL segmentation with T split, the NC information banks generation module be used for according to Given data format constructs the micro-line section L in memory space₁,…,L_mIn every micro-line section linkage table and servo-actuated table, Generate the NC information banks；

(3-2) is used for the micro-line section L according to processing technology, the path instructions editor module₁,…,L_mIt is divided into p sections, It is correspondingly generated p bar path instructions；

(3-3) for every micro-line section in every path instructions, the NC information banks concordance list generation module is used to give birth to Into NC information bank concordance lists；The NC information banks concordance list accordingly stores the linkage of every micro-line section in every path instructions The first address of table, the first address of servo-actuated table and last address；

(3-4) is used to generate for every micro-line section in every path instructions, the NC information banks index generation module NC information banks are indexed, and the NC information banks are indexed for linking the NC information banks；

(3-5) is used in the p bars path instructions according to processing technology, the processed file generation module, and insertion is opened Instruction, status command are closed, generates processed file；

The switch order is used for opening and the closing for controlling tight silk motor, the opening of water pump and closing；

The status command is used for the startup, end, pause for controlling process, and Coordinate Setting, origin return；

(4), real-time kernel component

The real-time kernel component includes processed file processing module, linkage reference axis setup module, linkage command and set Module, rhythm detection module, terminal point control module；

After (4-1) described CNC system receives the enabled instruction of processing operation, the operating system sets real-time kernel to run Mark, starts the real-time kernel；

(4-2) described processed file processing module reads the 1st article of path instructions from the processed file, according to described The NC information banks index of the 1st article of micro-line section in 1 article of path instructions, reads described 1st article from the NC information banks concordance list The first address of the linkage table of micro-line section and last address, the first address of servo-actuated table, read from the NC information banks described 1st article it is micro- The status word of line segment；

The linkage table first address is write L pointers by (4-3) described linkage reference axis setup module；By the servo-actuated heading Address writes T pointers；By the status word write state word register, the linkage reference axis and its direction of feed are specified；

(4-4) reads the control rhythm and pace of moving things δ t in the servo-actuated table according to the T pointers, the linkage command setup module_i And write T segmentation timers；

Timing in (4-5) described T segmentation timers arrives, and the rhythm detection module is by linkage interface to described The linkage reference axis that status word is specified sends the amount of feeding that the L pointers are specified, and drives the linkage reference axis by described The direction of feed feeding that status word is specified, produces resultant displacement；The virtual coordinates axle specified to the status word sends the L and referred to The technological parameter that pin is specified；

(4-6) described terminal point control module judges whether the L pointers are equal to the linkage table of the 1st article of micro-line section Last address, if the L pointers be equal to the linkage table last address, the 1st article of micro-line section completion of processing, perform step (4-2), the processed file processing module read the first ground of the linkage table of the 2nd article of micro-line section from the NC information banks concordance list Location, the first address of servo-actuated table and last address, the status word of the 2nd article of micro-line section is read from the NC information banks；Otherwise, hold Row step (4-4), T pointers point to δ t_i+1, continue to process the 1st article of micro-line section；

(4-7) repeat step (4-2) is to step (4-6), until all micro-line sections processing in the 1st article of path instructions Finish；

(4-8) repeat step (4-2) is to step (4-7), until all path instructions are finished, the terminal point control mould Block closes running mark.

Further, the stepping type CNC system, is further characterized in that, the linkage table include " driving shaft " field, " substrate " field, " cycle " field, " status word " field；" driving shaft " field is used to identify driving shaft, driving shaft data Flow for default value entirely " 1 "；" substrate " field is used to identify " 0 "/" 1 " distribution of universal driving shaft data flow in one cycle； " cycle " field is used for the number for identifying the substrate, and the cycle is equal to the most grand duke of the terminal point coordinate of the micro-line section Approximate number；" status word " field is used for the reference axis and its direction of feed for identifying linkage.

Further, the stepping type CNC system, is further characterized in that, the linkage reference axis includes virtual coordinates axle, The virtual coordinates axle is the switch of control technological parameter.

Further, the stepping type CNC system, is further characterized in that, the linkage table of the virtual coordinates axle relative to The servo-actuated table of the micro-line section moves forward the S control rhythm and pace of moving things：

(δt_i-s+,…,+δt_i) ≈ τ,

In formula, τ is the response time of the technological parameter.

Further, the stepping type CNC system, is further characterized in that, including display correction verification module；

The display correction verification module reads the micro-line section △ L from the NC information banks₁,…,△L_mLinkage table, in institute The generating process that the micro-line section is shown in discrete coordinates system is stated, verifies the micro-line section.

Further, the stepping type CNC system, is further characterized in that, the graphical interfaces operating system includes programming Interface；The programming interface includes CANC planning functions area, processed file planning function area；

The CANC planning functions area includes discrete coordinates system generation window, L segmentation planning window, T segmentation planning windows； The discrete coordinates system generation window links discrete coordinates system generation module, L segmentations plan that window link is described L points Cut planning module, T segmentation planning windows link the T segmentations planning module；

The processed file planning function area includes NC information banks generation window, path instructions editor, NC information banks Concordance list generates window, NC information banks index generation window, processed file generation window；The NC information banks generation window link The NC information banks generation module, the track refer to editor and link the path instructions editor module, the NC information banks Concordance list generation window links the NC information banks concordance list generation module, and the NC information banks index is generated described in window link NC information banks index generation module, and the processed file generation window links the processed file generation module.

Further, the stepping type CNC system, is further characterized in that, the programming interface is operated using touch control manner In each functional areas and each window.

A kind of processed file generation method based on the programming interface, it is characterised in that comprise the steps：

(1) CANC planning steps

The CANC planning steps include：

(1-1) discrete coordinates system generation step

Discrete coordinates system generation module is according to given discrete scale, with the equal space line that distance is the discrete scale By coordinate plane gridding, discrete coordinates system is established on screen；

(1-2) L splits planning step

According to processing orientation, the L segmentations planning module plans the micro-line section L in the discrete coordinates system₁,…,L_m L segmentation；Comprise the steps：

The 1st article of micro-line section is generated in the discrete coordinates system, since the starting point of the 1st article of micro-line section, along permission The direction of motion feeds a discrete scale, arrives separately at two different lattice points, calculate and more described two lattice points with it is described The distance of 1st article of micro-line section, select the minimum lattice point of astigmatic error；

Repeat the above steps, until the terminal of the 1st article of micro-line section, generates the L segmentations of the 1st article of micro-line section；

Repeat the above steps, until generation micro-line section L_mL segmentation, generate the micro-line section L₁,…,L_mL segmentations δ L_i (i=1 ..., n)；

(1-3) T splits planning step：

According to processing technology, the T segmentations planning module checks the robust motion of reference axis, plans the micro-line Section L₁,…,L_mT segmentation；Comprise the steps：

(1-3-1) checks reference axis robust motion constraints：

︱ F_i+1,d-F_i,d︳≤δ_F(i=1 ..., n)；

In formula, F_i,dFor micro-line section L_iDriving shaft D feeding progress, F_i+1,dFor micro-line section L_i+1Driving shaft D feeding Progress；δ_FFor the permission saltus step amount of reference axis feed speed, specified by processing technology；For the micro-line section of circular arc, then δ is taken_F/ λ makees For the permission saltus step amount of feed speed, λ is the reference axis coefficient of stability, λ >=5；

F can be reduced if reference axis robust motion constraints Bu Full foot, during acceleration_i+1, can improve during deceleration F_i+1；In formula, F_i+1For L_i+1Feeding progress；

(1-3-2) based on the feed speed after adjustment, according to formula t_i=L_i/F_i, try to achieve the micro-line section L₁,…,L_mPlus T between man-hour₁,…,t_m；

(1-3-3) plans the micro-line section L₁,…,L_mT segmentations δ t_i(i=1 ..., n)：

By formula

δt_i,j+1=δ t_i,jn_i/(δ_Fδt_i,j±n_i)

Try to achieve δ t_i,j+1, j=1 ..., n₁；Take "+" in formula, during acceleration, take "-" during deceleration；n_iFor micro-line section L_iActive The number of " 1 " in axle data flow, δ t_i,j、δt_i,j+1For with δ L_i,j、δL_i,j+1Corresponding time interval, δ t_i,1=t_i/n_i, t_iFor Micro-line section L_iProcess time；

Repeat the above steps, generate the micro-line section L_iT segmentations δ t_i(i=1 ..., n₁)；

Repeat the above steps, until generating the micro-line section L_mT segmentation, generate the micro-line section L₁,…,L_mT segmentation δt_i(i=1 ..., n)；

(2) processed file planning step

The processed file planning step includes：

(2-1) NC information bank generation steps

For the micro-line section L₁,…,L_mL segmentation with T split, the NC information banks generation module is according to given number According to form the micro-line section L is constructed in memory space₁,…,L_mIn every micro-line section linkage table and servo-actuated table, described in generation NC information banks；

(2-2) path instructions edit step

According to processing technology, the path instructions editor module is by the micro-line section L₁,…,L_mIt is divided into p sections, accordingly gives birth to Into p bar path instructions；

(2-3) NC information bank concordance list generation steps

For every micro-line section in every path instructions, the NC information banks concordance list generation module generates NC information banks Concordance list；The NC information banks concordance list accordingly stores the first ground of the linkage table of every micro-line section in every path instructions Location, the first address of servo-actuated table and last address；

(2-4) NC information banks index generation step

For every micro-line section in every path instructions, the NC information banks index generation module generation NC information bank ropes Draw, the NC information banks are indexed for linking the NC information banks；

(2-5) processed file generation step

According to processing technology, in the p bars path instructions, insertion switch order, state refer to processed file generation module Order, generate processed file.

Further, the processed file generation method, is further characterized in that, L segmentation planning module it is described from Dissipate and 1 circular arc is generated in coordinate system, since the starting point of the circular arc, a discrete mark is fed along the permission direction of motion Degree, arrives separately at two different lattice points, calculates and compare the distance of the two lattice points and the circular arc, selects astigmatic error minimum Lattice point；Repeat the above steps, until the terminal of the circular arc；Generate the L segmentation δ L of the circular arc_i(i=1 ..., s), s are The number of " 1 " in the driving shaft data flow of the circular arc；

According to the distribution period of the universal driving shaft data flow of the circular arc, the L of the circular arc is split into δ L_i(i=1 ..., s) Be converted to k bar micro-line sections L₁,…,L_s, k ＜ s.

A kind of cutter track curve real-time control method based on the stepping type CNC system, it is characterised in that including following steps Suddenly：

(1), real-time kernel starting step

After the CNC system receives processing order, the operating system sets real-time kernel running mark, starts the reality When kernel；

(2), processed file processing step

The processed file processing module reads the 1st article of path instructions from the processed file, according to the 1st article of rail The NC information banks index of the 1st article of micro-line section in mark instruction, reads the 1st article of micro-line section from the NC information banks concordance list First address and the last address of linkage table, the first address of servo-actuated table, the 1st article of micro-line section is read from the NC information banks Status word；

(3), link reference axis setting steps

The linkage table first address is write L pointers by the linkage reference axis setup module；By the servo-actuated heading address Write T pointers；By the status word write state word register, linkage reference axis is specified；

(4), linkage command setting steps

According to the T pointers, the linkage command setup module reads the control rhythm and pace of moving things δ t in the servo-actuated table_iAnd write T splits timer；

(5), rhythm detection step

Timing in T segmentation timer arrives, and the rhythm detection module is by linkage interface to the state The linkage reference axis that word is specified sends the amount of feeding that the L pointers are specified, and drives the linkage reference axis to press the state The direction of feed feeding that word is specified, produces resultant displacement；The virtual coordinates axle specified to the status word sends the L pointers and referred to Fixed technological parameter；

(6), terminal point control step

Terminal point control module judges whether the L pointers are equal to the last address of the linkage table of the 1st article of micro-line section, If the L pointers are equal to the last address of the linkage table, the 1st article of micro-line section completion of processing, step (2) is performed, it is described Processed file processing module reads the first address of the linkage table of the 2nd article of micro-line section, servo-actuated table from the NC information banks concordance list First address and last address, the status word of the 2nd article of micro-line section is read from the NC information banks；Otherwise, step is performed (4), T pointers point to δ t_i+1, continue to process the 1st article of micro-line section；

(7), repeat step (2) is to step (6), until all micro-line section completion of processing in the 1st article of path instructions；

(8), repeat step (2) is to step (7), until all micro-line section completion of processing in all path instructions, described Terminal point control module closes the running mark.

Further, the cutter track curve real-time control method, is further characterized in that, the step (5) also includes, described Rhythm detection module sends what the L pointers were specified by the linkage interface to the Dynamic Announce switch that the status word is specified The amount of feeding, the micro-line section L described in real-time display on screen₁,…,L_mProcess.

The application is compared with the prior art possessed beneficial effect：

1st, interpolation iteration control is combined with G code program, and caused consequence is, by involved by cutter track curve when Between, space, technological requirement, the key element whole close-coupled such as kinematics/dynamic characteristic of Mechatronic Systems together.This is resulted in The generation of cutter track curve turns into the problem of being studied the most extensively and profoundly in existing CNC technologies.

Cutter track curve is purely a geometrical issues, and this is a brass tacks.In other words, feed speed and cutter track curve Geometry be separate.In feeding, the amount of feeding for the reference axis that links is solely dependent upon the geometry of cutter track curve With machining accuracy.Thus, the generation problem of cutter track curve is unrelated with G code program, joins with interpolation iteration control without any essence System；Saltus step amount between adjacent feed speed is also unrelated with G code program, with interpolation iteration control and without any essential connection. The two is all planning problem.

The generation of cutter track curve is converted into the generation of NC information banks by the application, for reference axis feed speed saltus step amount Periodicity acute variation, introduce the reference axis coefficient of stability, solve the problems, such as the generation of cutter track curve.

The application can use a variety of technological means to carry out high-precision planning to NC information banks, to improve machining accuracy and coordinate The robust motion of axle.The structure of NC information banks is simple, and processing speed is fast, and the memory space of occupancy is small.

2nd, the application is planned by CANC, constructs the NC information banks of cutter track curve, and further constructs NC information banks index Table indexes with NC information banks, is converted into generation processed file so as to write NC programs, programming interface is arranged on the people of CNC system Machine interface, is operated using touch control manner, need only click on slip, can complete generation and the editor of processed file.

The editor of the similar word document of generation of processed file, its generating process is visualized, and control information is transparent, opens Put.

The application instead of common G code program with processed file, eliminate G code programming, write procedure still Short message such as is write using word, " opening numerical control just as playing mobile phone, program just as photos and sending messages ", is realized " everyone can program " Popular target, significantly reduce the access threshold of CNC technologies.

3rd, existing programing system is based on G code, and independently of CNC system, turns into the standard configuration of CNC system, and price It is high.

The application combines CNC system and programing system together, it is not necessary to the programing system of specialty is configured, so as to reduce The cost of CNC processing.

4th, G code standard is the primary product of information technology starting stage, and each manufacturer has thus all carried out base to G code Expansion outside this semanteme, the instruction code and form expanded are also different, cause G code program and corresponding hardware according to Rely, G code program does not have interchangeability between different CNC systems.

This defect of G code program causes various special post processing programs to be up to as many as thousands of kinds, so that existing In CNC technical systems, the theoretical important content for turning into existing CNC technologies unexpectedly with technology of postpositive disposal, substantial amounts of resource is consumed.

In this application, in the absence of the postpositive disposal problem of processed file, the versatility of processed file is significantly improved.

5th, the establishment of G code program is very personalized work, causes existing programming technique to be compiled for the individual formula of closing Journey, either preposition processing or postpositive disposal, the programming personnel of specialty is required for, its expense is about 3 times of general work.

The application need not configure the programming personnel of specialty, and preposition processing is combined together with postpositive disposal, " everyone Can program ", significantly reduce the cost that CNC is processed.

6th, feed speed prediction control is one of existing CNC core technology.In this application, before in the absence of feed speed Control, the special case that acceleration and deceleration problem is planned as T segmentations are looked forward or upwards, and a variety of technological means can be used to carry out finely cutter track curve T segmentation planning.

Particularly, during Machining Arc, existing CNC technologies do not differentiate between the distinctive geometric properties of circular arc, do not consider that reference axis is entered To the periodicity acute variation of velocity jump amount, do not consider yet universal driving shaft robust motion and driving shaft robust motion it Between greatest differences, for universal driving shaft, without the concept of the reference axis coefficient of stability.The discrete feeding of the application distich moving axes axle Information carries out high-precision planning with robust motion, eliminates the non-Europe error of circular arc, sets reference axis coefficient of stability λ, significantly Improve the robust motion of reference axis and the crudy of circular arc.

7th, existing CNC system typically knits point-score as interpolation algorithm using point-to-point comparison method or numeral.These interpolation algorithms Simply not overproof conservative algorthm, it is not optimal algorithm.

In an interpolation cycle, step-by-step impulse caused by point-to-point comparison method is not X-axis pulse, is exactly Y-axis pulse.X-axis Do not link and (fed when different) from Y-axis；Numeral knits point-score and also produces the redundancies such as " hole ", diagonal bag.Thus, interpolation algorithm The fine microstructures of cutter track curve are destroyed, include the periodicity of universal driving shaft data flow, reduce machining accuracy and processing speed Degree.

The stepping type CNC system that the application proposes, is planned by CANC, generates the fine microstructures of cutter track curve, X-axis Fed simultaneously with Y-axis, significantly improve machining accuracy and process velocity.

8th, the application eliminates interpolation iteration control, the stepping type CNC system supported using real-time kernel, without configuration palpus Real time operating system, architecture is simple, and reliability is high.

9th, the application will be reduced to free variable the time.In the real-time control process of cutter track curve, real-time kernel is with most Fast speed exports discrete feeding information to related spool driver, and the time of " stopping " is most short；On the other hand, the application eliminates Explanation and pretreatment of G code program, the not operation related to G code program, such as G code program etc..Thus, the application Significantly improve process velocity.

10th, for the real-time control of technological parameter, prior art is using the H instructions of expansion or E in G code program Instruction is directed to the different curved sections on cutter track curve, for example, straight line or one section of circular arc, set technological parameter, fail reality The real-time control of existing technological parameter.

The switch for controlling technological parameter is considered as virtual coordinates axle by the application, it would be desirable to which the technological parameter controlled in real time is considered as The coordinate value of the virtual coordinates axle, so as to which the real-time control of technological parameter and reference axis linkage be united, it is more to implement multiaxis The real-time linkage control of parameter.

The application is point-by-point to technological parameter to be controlled in real time, significantly improves machining accuracy and surface quality, particularly, To improve the machining accuracy of turning processing strong technological means is provided with surface quality.

11st, the programming interface of the application can be arranged on mobile phone.Mobile phone is highly popular mobile message processing system, is led to Mobile radio communication and internet are crossed, the open platform of an information sharing is provided for CNC processing, will effectively be promoted CNC technologies it is popular.

Brief description of the drawings

Fig. 1 is the stepping type L segmentation planning schematic diagrames of quadrature discrete coordinate system cathetus；

Fig. 2 is the stepping type L segmentation planning schematic diagrames of circular arc in quadrature discrete coordinate system；

Fig. 3 is a kind of architectural schematic of stepping type CNC system；

Fig. 4 is a kind of structural representation of programming interface；

Fig. 5 is a kind of flow chart of the generation method of processed file；

Fig. 6 is a kind of flow chart of multiaxis multi-parameter interlock method；

Fig. 7 is the flow chart of Fig. 6 sub-routines.

Embodiment

Any curve only exists two kinds of digital images, i.e., microcosmic digital image and incremental digital image, correspondingly, related Reference axis feeds a discrete equivalent or several discrete equivalents.

The former discrete feeding information of reference axis is the step-by-step impulse of " 0 " " 1 " form, and its CNC system is referred to as stepping type CNC system.The discrete feeding information of reference axis of the latter is coordinate value increment, and its CNC system is referred to as incremental CNC system.

Discretization error set in advance is referred to as discrete scale, is designated as e.It is with discrete scale that reference axis is discrete, between each other Distance for discrete scale parallel lines by coordinate plane gridding.Thus the coordinate system established is referred to as discrete coordinates system.

Discrete scale e_x、…、e_yIt is the systematic parameter of discrete coordinates system.The discrete scale of each reference axis can be different.

The orthogonal discrete coordinates system of the direction of motion of reference axis is referred to as discrete coordinates system, and as shown in Figure 1 is orthogonal Right angle discrete coordinates system.

In Fig. 1, distance for discretization error parallel lines by coordinate plane gridding.The intersection point of equal space line parallel to each other claims For lattice point, a, b, c, d lattice point in such as Fig. 1.

Only lattice point is only the position that the discrete motion of reference axis is actually reached.

Point on curve is referred to as preimage, such as the m points in Fig. 1.

One lattice point, if being less than or equal to discretization error with the distance of some preimage on curve, it is referred to as the preimage Digital image, referred to as image, such as lattice point b, c, d in Fig. 1.

Whole images of curve form a set, are referred to as the image collection of the curve.For example, for straight line OA, e be from Dissipate scale, form the border of straight line OA digital image for e two parallel lines with straight line OA distances, on border with border Whole lattice points are exactly the image collection of the circle.

In given discrete coordinates system, the image collection of curve and its distribution in discrete coordinates system depend entirely on this The geometry of curve.

Clearly for a preimage on curve, multiple images be present；Conversely, for an image, on the curve then Multiple preimages be present.

In CNC system, linked by reference axis and synthesize cutter track straight line, the direction of motion of reference axis is affined.Example Such as, for x/y coordinate setting tables ,+x/+y that the direction of motion is formed for ± x directions, ± y directions and X-axis and Y-axis linkage, + x/-y ,-x/+y ,-x/-y four directions.This 8 directions of motion are referred to as the permission direction of motion of mechanical system.

The process of cutter track straight line is motion process of the center cutter relative to workpiece, is existed counterclockwise with clockwise two The kind direction of motion.This directionality is referred to as to process orientation.For example, for the counterclockwise arc of 1st quadrant, processing orientation is west True north orientation.

Process the azimutal confinement direction of motion of reference axis.For example, when it is northwest position to process orientation, only-x sides With-x/+y directions it is to allow the direction of motion to ,+y directions, other directions are exclusion movement direction.

For reference axis, the required amount of feeding is the discrete feeding information under being dominated with processing orientation a kind of time State stream, referred to as associated data stream.

Stepping type associated data stream is the discrete feeding information of " 1 " " 0 " form, the discrete feeding of incremental associated data stream Information is coordinate value increment.

A sequence by discrete scale by curve discrete for image.If coordinate value increment between image for one from Scale is dissipated, that is, only have to be equal to " 1 " or " 0 ", the digital image sequence is referred to as the microcosmic digital image of curve.

The microcosmic digital image of curve is chronologically arranged, the discrete location information of caused " 0 " and " 1 " is exactly the song The stepping type associated data stream of line.

The microcosmic digital image of curve describes the fine microstructures of the curve.

The application describes the technical scheme of the application in detail using WEDM as specific embodiment.

The beginning of the seventies in last century, China take the lead in realizing the industrialized production of high wire traveling speed cutting (being commonly called as fast wire winding), And wire cutting is named as Wire-cut Electrical Discharge Machine first, abbreviation WEDM, this name is Into international consensus.

WEDM changes the manufacturing manufacturing process of traditional moulds, in the complex plane part processing side of single-piece, small lot Face has unique advantage, so as to be developed rapidly.To last century the mid-80, WEDM turns into the master of China NC Machine Power army, up to 90 more than ﹪ share is occupied in China at that time total amount of Digit Control Machine Tool.

On the other hand, in the whole seventies, WEDM digital control system is also the introduction of the department of computer science of numerous colleges and universities of China Teaching material, significant contribution is made for the starting and development of China's computer cause.

So far, linear cutter turns into Aero-Space, automobile, smart mobile phone and the manufacturing important skill of precision die Art means.

WEDM process velocity is relatively low, preferably using stepping type digital control system.

WEDM is to process the plane profile curve by the spark discharge between wire electrode and workpiece, generally X, Y, U, V is four-axle linked.X/Y planes are lower plane, and U/V planes are upper plane.U/V planes are similar with X/Y planes, U axles, V axles and X-axis, Y Axle linkage from top to bottom, for processing the ruled surface of laid abnormity.

Without loss of generality, with X-axis, the technical scheme of Y-axis linkage explanation the application.

Workpiece profile curve is typically made up of straight line (including oblique line), circular arc, non-circular curve.

Wire electrode has certain radius.After carrying out radius compensation for workpiece profile curve, cutter track curve (Tool is obtained Path), i.e., wire electrode center relative to x/y planes movement locus.

First, the generation of cutter track curve

Before the eighties, computer hardware is expensive.More than 30 years went over, and mass storage is extremely cheap, its valency Lattice are as little as negligible.The material conditions of CNC development are restricted there occurs so earth-shaking change, manufacturing industry is to CNC Propose higher requirement, existing CNC principle and method must adapt to this change, CNC be proposed to meet manufacturing industry The requirement of high speed high speed precision.

Cutter track curve is purely a geometrical issues, and this is a brass tacks.In other words, feed speed and cutter track curve Geometry be separate.In feeding, the amount of feeding for the reference axis that links is solely dependent upon the geometry of cutter track curve With machining accuracy.Thus, the generation problem of cutter track curve is unrelated with G code program, more with interpolation iteration control without any essence Contact.Saltus step amount between adjacent feed speed is also unrelated with G code program, with interpolation iteration control with joining without any essence System.The two is all planning problem.

Thus, the basic problem of cutter track curve generation is, for the discretization error and feed speed required by processing technology, How the amount of feeding of in cutter track curve dependent coordinate axle is planned so that the saltus step amount of feed speed meets fortune between the adjacent amount of feeding The requirement of dynamic stationarity.

Table 1 is the schematic diagram of the 4 axles linkage stepping type associated data stream of cutter track curve in discrete coordinates system.Discrete scale is E, cutter track curve are the function of 4 variables such as x, y, u, v.

Table 1

In table 1, time T by it is discrete be n section：δt_i(i=1 ..., n).In each section δ t_i, X-axis is all " 1 ", X, Y, the amount of feeding of the axle of U, V etc. four is that step-by-step impulse is not the state that " 1 " is exactly " 0 ", referred to as stepping type associated data stream, for example, In δ t₁Interior, its state is (1,0,1,1).

The status switch of stepping type associated data stream is referred to as the L segmentations of cutter track curve；δt₁,…,δt_nSummation be referred to as The T segmentations of cutter track curve.δt_iLength depend on process velocity F.

For simplicity, L segmentations are designated as δ L_i(i=1 ..., n)；T segmentations are designated as δ t_i(i=1 ..., n).

Thus, the stepping type associated data stream of cutter track curve is exactly the L segmentation δ L of cutter track curve_i(i=1 ..., n) according to δ Split △ t_i(i=1 ..., n) be ranked up after state stream.

Resultant displacement when cutter track curve is reference axis linkage.On the one hand the synthesis of displacement requires that reference axis must link, On the other hand the synthesis of displacement is continuously realized in requirement with optimal feed speed.The synthesis of displacement and the continuous realization of resultant displacement are Two different problems of property.The synthesis of displacement is split depending on the L of cutter track curve, is related to the geometry of cutter track curve；Close Continuous realization into displacement depends on the T segmentations of cutter track curve, is related to feed speed.

L splits the discrete location information and its linkage for describing reference axis, to produce required resultant displacement.T Split for describing the trackability between the resultant displacement, control the time interval between the resultant displacement, that is, enter To speed.

In the existing CNC system defined based on IEEE, T segmentation δ t_i(i=1 ..., n) is the timesharing of real time operating system In the cycle, it is isometric, referred to as interpolation cycle, note is T_i.In this application, the δ t in T segmentations_i(i=1 ..., n) be not Long.

It is different from interpolation cycle T_i, δ t_iThe rhythm and pace of moving things is referred to as controlled, note is δ t₁,…,δt_n。

The digital image that L segmentations are segmented in memory space with T is referred to as linkage table and servo-actuated table.

For one section of given cutter track curve, for example, an oblique line, one section of circular arc, in each δ t_iIt is interior, there must be a seat Parameter, for example, X-axis is always fed " 1 ", i.e. the step-by-step impulse of X-axis is all " 1 ", and in other words, X-axis data flow is all " 1 ", and X-axis claims For driving shaft, the number of " 1 " is equal to the end coordinate values of driving shaft；In each δ t_iIt is interior, other reference axis feeding " 0 " or " 1 ", I.e. step-by-step impulse is not that " 0 " is exactly " 1 ", and in other words, its data flow is not all " 1 ", referred to as universal driving shaft, and the number of " 1 " is equal to connection The end coordinate values of moving axis.

It means that driving shaft data flow can be considered discrete independent variable, universal driving shaft data flow is then driving shaft data flow Distribution.And then for straight line, the period profile of its universal driving shaft data flow necessarily driving shaft data flow.Join in a cycle The number of " 1 " is only dependent upon the slope of the straight line in moving axis data flow.

Cutter track curve is purely a geometrical issues.Thus, it is not present and couples between the L segmentations and T segmentations of cutter track curve Relation.L segmentations determine the geometric properties of cutter track curve；T segmentations determine crudy and processing efficiency, unrelated with L segmentations.

After the L segmentations of cutter track curve determine, feed speed F is an efficiency, is only determined by processing technology institute It is required that productivity ratio and axle robust motion, the processing technology and the kinematics of Mechatronic Systems formulated with technologist/dynamic Mechanical characteristics are relevant, with δ L_iIt is unrelated.

L segmentations are the geometrical invariants of cutter track curve.Accordingly, it is not necessary to real-time interpolation, many discrete logarithms can be used to Obtain the L segmentations of cutter track curve.

As can be clearly seen from Table 1, digital control information includes two parts.

Part I is the discrete location information and its linkage of reference axis, i.e. L splits δ L_i(i=1 ..., n)：In δ t_i It is interior, the linkage of X, Y, U, V axle, produce required resultant displacement.

Part II is the trackability between resultant displacement, that is, the time interval between resultant displacement, i.e. T segmentations δ t_i(i=1 ..., n).

By given data format, L segmentation δ L_i(i=1 ..., n) is referred to as knife in the digital image of memory space generation The linkage table of road curve.

By given data format, T segmentation δ t_i(i=1 ..., n) is referred to as knife in the digital image of memory space generation The servo-actuated table of road curve.

Numerically controlled basic problem is exactly to manufacture associated data stream, that is, manufactures the linkage table of cutter track curve with being servo-actuated Table.Due to the manufacturing process of linkage table and servo-actuated table be not it is real-time, it is unrelated with the real-time of operating system.Thus, cutter track is bent The generating process of L segmentations and the T segmentations of line is the planning process under area of computer aided, and referred to as area of computer aided is digital control (ComputerAided Numerical Control, CANC), abbreviation CANC planning.

First basic problem of CANC planning is, for given discretization error e and optimization aim, to plan cutter track curve L segmentations δ L_i(i=1 ..., n), control dependent coordinate axle is in △ t_iPeriod produces corresponding feeding pulse, passes through reference axis Linkage produces required resultant displacement.Briefly, exactly plan that L is split, generate the linkage table of cutter track curve.

Second basic problem of CANC planning is the feed speed specified according to user, control δ t_iLength, i.e. phase Close the feed speed (productivity ratio) of reference axis so that adjacent δ L_iBetween feed speed saltus step amount meet robust motion will Ask, so that it is determined that T segmentation δ t_i(i=1 ..., n).Briefly, exactly plan that T is split, generate the servo-actuated table of cutter track curve.

1st, L segmentations planning

Existing wire cutting CNC system typically knits point-score as interpolation algorithm using point-to-point comparison method or numeral.Point-by-point comparison It is a kind of not overproof conservative algorthm that method, numeral, which knit point-score, is not optimal algorithm.

In an interpolation cycle, step-by-step impulse caused by point-to-point comparison method is not X-axis pulse, is exactly Y-axis pulse.X-axis Do not link and (fed when different) from Y-axis；Numeral knits point-score and also produces the redundancies such as " hole ", diagonal bag.Thus, interpolation algorithm The fine microstructures of cutter track curve are destroyed, reduce machining accuracy and process velocity.

1), the L segmentation planning of straight line

As shown in figure 1, in discrete coordinates system x/y, straight line L_O,APositioned at 1st quadrant, starting point is origin of coordinates O, terminal A Coordinate be (15,12), slope is tg α=4/5,.Processing orientation is northeastward, and+x directions are to allow to transport with+x/+y directions Dynamic direction, X-axis is driving shaft, and Y-axis is universal driving shaft.Two and straight line L_O,ADistance be discrete scale e dotted line form straight line L_O,ABorder.

Since starting point O, a discrete scale is fed along+x directions and+x/+y directions, arrives separately at two different lattice Point, calculate and compare the two lattice points and straight line L_O,ADistance, according to optimization aims such as shortest path, astigmatic error minimums, selection Corresponding lattice point, for example, the lattice point that selection astigmatic error is minimum, it is identified with "●"；Repeat the above steps, until terminal A.Thus Obtain straight line L_O,AStepping type associated data stream, i.e. L segmentations δ L_i(i=1 ..., 15)：

X data flows：1 1 1 1 1 1 1 1 1 1 1 1 1 1 1

Y data flows：1 1 0 1 1 1 1 0 1 1 1 1 0 1 1

Wherein, x data flows are 15 continuous " 1 "；Y data flows are the cycle with 3, and 110 are distributed as in each cycle 1 1。

Linkage reference axis and its direction of feed are specified with status word, straight line L_O,AStatus word be：(+x ,+y).

Straight line L_O,AL segmentations δ L_i(i=1 ..., 15) directly it can generate linkage table in memory space.Driving shaft data flow " 1 " entirely, is not take up memory space；When straight line is longer, the memory space that universal driving shaft data flow takes is quite big.

Linkage table can be compressed using following manner, but it is slightly slow to perform speed.

" 0 "/" 1 " distribution of universal driving shaft data flow in one cycle is referred to as the substrate of stepping type associated data stream.

Linkage table is made up of in the record of memory space field " driving shaft ", " substrate ", " cycle ", " status word ".

" status word " field is used to identify linkage reference axis and its direction of feed；" driving shaft " field is used to identify actively Axle, driving shaft data flow are that default value is complete " 1 "；" substrate " field be used to identifying universal driving shaft data flow " 0 " in one cycle/ " 1 " is distributed；" cycle " field is used for the number for identifying substrate, and the cycle is equal to the greatest common divisor of the terminal point coordinate of straight line, for example, The x coordinate of terminal and the greatest common divisor of y-coordinate.

The substrate of above-mentioned stepping type associated data stream is：11011, the cycle 3, note of its linkage table in memory space Record and be：

Driving shaft：X；

Cycle：3；

Substrate：+1 1 0 1 1；

Status word：(+x ,+y).

In the cycle 3, it is straight line L_O,ATerminal point coordinate (15,12) greatest common divisor.In one cycle, x data flows 5 " 1 ", y data flows 4 " 1 ".

The periodicity of universal driving shaft data flow is the Discrete geometry invariant of straight line.

As can be seen here, the L segmentations of straight line and linkage table are not only very fine but also very simple.

2), the L segmentation planning of circular arc

Circular arc is the fundamental curve in cutter track curve, and non-circular curve is only limited to some peculiar parts.

For the non-circular curve in cutter track curve, using discrete scale as approximate error, first approached with family's osculating circle, so as to It is converted into family's circular arc.Thus, the L segmentation planning of non-circular curve is converted into the L segmentation planning of circular arc.

4 quadrants are divided into 8 sections by zeroaxial 45 ° of oblique lines and 135 ° of oblique lines.This two oblique lines and circular arc Intersection point be referred to as characteristic point.In characteristic point, circular arc enters another section from a section, and X-axis will change active/connection with Y-axis Dynamic attribute.

As shown in Fig. 2 the inverse of the 1st section justifies O in discrete coordinates system x/y_s,e, its radius r is 60, and starting point S coordinate is (0,60), terminal E coordinate areProcessing orientation is direction northwest, and+y directions are with-x/+y directions Allow the direction of motion, Y-axis is driving shaft, and X-axis is universal driving shaft.Radius is (60+e), two circular arcs of (60-e) are inverse round O_s,e's Border (is represented by dotted lines).

Since starting point S, a discrete scale is fed along+y directions and-x/+y directions, arrives separately at two different lattice Point, calculate and compare the two lattice points and inverse round O_s,eDistance, according to optimization aims such as shortest path, astigmatic error minimums, selection Corresponding lattice point, for example, the lattice point that selection astigmatic error is minimum, it is identified with "●"；Repeat the above steps, until terminal E.Thus Obtain inverse circle O_s,eStepping type associated data stream, i.e. L segmentations δ L_i(i=1 ..., 42)：

X data flows：0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 1 0 1 0 1 0 1 0 1 1 0 1 1 1 0 1 1 1

Y data flows：1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1

Wherein, Y-axis is driving shaft, and y data flows are 42 continuous " 1 "；X-axis is universal driving shaft, and x data flows 17 are discontinuous " 1 ".

Compared with the stepping type associated data stream of straight line, the difference of the stepping type associated data stream of circular arc is：First, In one section, driving shaft/universal driving shaft attribute of reference axis keeps constant, then changes when crossing section, crossing quadrant.Second, one In individual section, universal driving shaft data flow loses periodically.3rd, X-axis, Y-axis are exchanged, two stepping types association of adjacent interval Data flow is symmetrical.

According to the distribution period of x data flows, inverse O can will be justified_s,eL segmentations δ L_i(i=1 ..., 42) is converted to 9 and approached Broken line L_i(x_e, y_e), x_e, y_eFor the x coordinate and y-coordinate of its terminal：

L₁(0,7), cycle 1；L₂(1,1), cycle 1；L₃(0,4), cycle 1；L₄(1,1), cycle 1；L₅(0, 3), cycle 1；L₆(1,3), cycle 2；L₇(1,2), cycle 5；L₈(1,1), cycle 2；L₉(3,4), cycle 2.

As can be seen here, in a section, circular arc is made up of the broken line that approaches of different cycles, and the change of its length is mixed and disorderly 's.In other words, to approach broken line as the digital image of circular arc, the length for approaching broken line must be unequal.Existing CAM system will circle Arc is considered as the circular arc in Euclidean space, according to the equation of circular arc, using equidistant straight line, etc. program segment straight line, equal error Straight line approaches broken line construct circular arc, and the broken line that approaches generated is isometric.This error is referred to as non-Europe error.

In existing CNC technologies, interpolation algorithm and CAM system come discrete circular arc, necessarily produce with the isometric broken line that approaches Raw above-mentioned non-Europe error.

Inverse circle O_s,eL segmentations δ L_i(i=1 ..., 42) directly it can generate linkage table in memory space.Driving shaft data flow " 1 " entirely, is not take up memory space；When radius r is larger, the memory space that universal driving shaft data flow takes is quite big.

It can use following manner will inverse circle O_s,eLinkage table compression, but perform speed it is slightly slow.

In the inverse circle O of memory space_s,eLinkage table be divided into 9 sections, corresponding 9 micro-line sections, every section of record is " main by field Moving axis ", " substrate ", " cycle ", " status word " are formed.

2nd, T segmentations planning

It is pointed out that the feed speed that processing technology is specified refers to certain straight line in cutter track curve or certain circular arc It is not the feed speed of axle for process velocity.Secondly, the feed speed that processing technology is specified need not be controlled accurately, need only Keep within the specific limits.

Feed speed control of the T segmentation planning depending on axle.

In existing CNC technologies, it is necessary to straight line is first divided into by accelerating sections/braking section, at the uniform velocity section according to acceleration and deceleration requirement, Interpolation algorithm further gives accelerating sections/braking section, at the uniform velocity section according still further to profile step-length discrete.In this application, according to adding After straight line is divided into accelerating sections/braking section, at the uniform velocity section by deceleration demand, at the uniform velocity section need not be discrete, need only be to accelerating sections/braking section Carry out deceleration planning.

The division category routine techniques of accelerating sections/braking section of straight line, at the uniform velocity section.

Thus, substantially, micro-line section of the deceleration planning just for circular arc.

For narration it is easy for the sake of, the application is by accelerating sections/braking section of all straight lines in cutter track curve, at the uniform velocity section, institute The broken line that approaches for having circular arc is referred to as micro-line section, is designated as L₁,…,L_m, m≤n.

Without loss of generality, it is believed that the feed speed specified according to processing technology, for micro-line section L₁..., L_m, it enters It is F to speed₁..., F_m.By simple computation, the feeding progress F of X-axis, Y-axis can obtain_1,x,…,F_m,x, F_1,y,…,F_m,y。

Micro-line section L₁,…,L_mL segmentation be abbreviated as δ L₁,…,δL_m。

So-called T segmentations planning is exactly, for micro-line section L₁,…,L_m, how to plan that T is split, make the feed speed of reference axis Between saltus step amount meet robust motion constraints：

︱ F_i+1,x-F_i,x︳≤δ_F,

︱ F_i+1,y-F_i,y︳≤δ_F；

In formula, δ_FFor X-axis, the permission saltus step amount of the feed speed of Y-axis, depending on the dynamic characteristic of axle, such as acceleration Deng being determined by processing technology；F_i,x、F_i,yFor L_iX-axis, the feeding progress of Y-axis, F_i+1,x、F_i+1,yFor L_i+1X-axis, Y-axis enters To progress.

Because driving shaft data flow is continuous " 1 ", the robust motion of driving shaft need only be checked.Master is represented with D Moving axis, then robust motion constraints be：

︱ F_i+1,d-F_i,d︳≤δ_F。

Secondly, micro-line section L_iFurther by it is discrete be δ L_i(i=1 ..., n_i), wherein n_iFor L_iDriving shaft data flow in The number of " 1 ".Thus, it should also check δ L_iBetween feed speed saltus step amount.

δ_FIt is for axle, and does not differentiate between the geometric properties of cutter track curve.Thus, δ_FIt is only applicable to micro-line section.

During Machining Arc, the feed speed saltus step amount of universal driving shaft and the feed speed saltus step amount of driving shaft differ greatly.

With the inverse circle O of inverse circle in the section of 1st quadrant the 1st_s,eExemplified by illustrate it.

Inverse circle O_s,eRadius be r；For starting point S in X-axis, coordinate is (r, 0)；Terminal E is characterized a little, and coordinate isX-axis is universal driving shaft, and Y-axis is driving shaft.From starting point to characteristic point, the universal driving shaft X amount of feeding is gradual from 0 Increase, its total feed amount are 0.3r, feed speed from 0 ramp up toTotal knots modification of its feed speed is substantially 0.7F.The driving shaft Y amount of feeding is then gradually reduced from maximum, and its total feed amount is 0.7r, and total knots modification of its feed speed is big Cause as 0.3F.During close to characteristic point, the feed speed of the two is equal, isDriving shaft Y total feed amount generally links 2.3 times of axle X total feed amount, total knots modification of universal driving shaft X feed speeds are about total knots modification of driving shaft Y feed speeds 2.3 times.Universal driving shaft X feed speed saltus step amount is far above driving shaft Y feed speed saltus step amount.

For the inverse circle in the section of 1st quadrant the 2nd, its starting point is characterized a littleTerminal in Y-axis, Coordinate is (0, r).X-axis is driving shaft, and Y-axis is universal driving shaft.Driving shaft X feed speed is ramped up to F, universal driving shaft from 0.7F Y feed speed then gradually decelerates to 0 from 0.7F.Universal driving shaft Y feed speed saltus step amount is far above driving shaft X feed speed Saltus step amount.

Circular arc in one section, its driving shaft data flow areIndividual " 1 ",Represent less than's Maximum integer.

OrderObviously, k saltus step necessarily occurs for the feed speed of driving shaft and universal driving shaft.Linkage The average value of axle feed speed saltus step amount isThe average value of driving shaft feed speed saltus step amount is The difference of the average value of driving shaft feed speed saltus step amount and the average value of universal driving shaft feed speed saltus step amount is about 1.1F/k.

Thus, the transition times k of reference axis feed speed is directly proportional to r, and the difference of the average value of saltus step amount is directly proportional to F, It is inversely proportional with r.It means that during Machining Arc, feed speed F is higher, and radius r is smaller, the jump of the feed speed of universal driving shaft Change number is then more, and the saltus step amount of its feed speed differs bigger with driving shaft, and robust motion is more severe, causes minor radius to be justified The crudy of arc is remarkably decreased.

For inverse circle, in 8 sections, its X-axis, active/linkage attribute of Y-axis and feed speed saltus step amount such as table 2, table Shown in 3.

The active of the X-axis of table 2/linkage attribute and feed speed saltus step amount

Section 1

Section 2

Section 3

Section 4

Section 5

Section 6

Section 7

Section 8

Actively/linkage

Universal driving shaft

Driving shaft

Universal driving shaft

Driving shaft

Universal driving shaft

Driving shaft

Universal driving shaft

Driving shaft

F saltus step amounts

Greatly

It is small

Greatly

It is small

Greatly

It is small

Greatly

It is small

The active of the Y-axis of table 3/linkage attribute and feed speed saltus step amount

Section 1

Section 2

Section 3

Section 4

Section 5

Section 6

Section 7

Section 8

Actively/linkage

Driving shaft

Universal driving shaft

Driving shaft

Universal driving shaft

Driving shaft

Universal driving shaft

Driving shaft

Universal driving shaft

F saltus step amounts

It is small

Greatly

It is small

Greatly

It is small

Greatly

It is small

Greatly

For along circle, can obtain the conclusion similar with table 2, table 3.

As can be seen here, in the process of circular arc, often served as section with cross quadrant when, X-axis, Y-axis alternate change actively/ Link attribute, and acute variation periodically occurs therewith for the saltus step amount of its feed speed.

For given radius r, because transition times k is constant, to improve robust motion, feed speed F can only be reduced.

On the other hand, the average value of the average value of driving shaft feed speed saltus step amount and universal driving shaft feed speed saltus step amount it Than forTimes, close to as many as 5 times.

Orderλ is referred to as the robust motion coefficient of stability of reference axis, abbreviation reference axis stability series Number.

It is noted that λ is unrelated with F, r, the intrinsic attribute of reference axis discrete motion when being Machining Arc.Thus, Machining Arc When, it is necessary to correct the δ of driving shaft_F。

With δ_FThe permission saltus step amounts of/λ as driving shaft feed speed.Only feed speed saltus step amount≤δ of driving shaft_F/ λ, It just can guarantee that feed speed saltus step amount≤δ of universal driving shaft_F。

In general, λ >=5 are taken.It can be properly increased according to the technological factor such as workpiece material, crudy λ.

During Machining Arc, driving shaft D robust motion constraints is：

︱ F_i+1,d-F_i,d︳≤δ_F/ λ,

In formula, λ >=5, F_i,dFor L_iDriving shaft D feeding progress, F_i+1,dFor L_i+1Driving shaft D feeding progress.

Thus, for micro-line section L₁,…,L_m, its macroscopical geometric properties, i.e. L should be identified_iWhether be circular arc micro-line section.

If ︱ F_i+1,d-F_i,d︳≤δ_FIt is invalid, F can be reduced during acceleration_i+1, F can be improved during deceleration_i+1, to meet that motion is flat Stability constraints.Herein, F_i+1For L_i+1Feeding progress.

Based on the feed speed after adjustment, according to formula t_i=L_i/F_i, try to achieve micro-line section L₁,…,L_mProcess time t₁,…, t_m。

Secondly, δ L are checked_iBetween feed speed saltus step amount.

Micro-line section L_iDriving shaft D feed speed be F_i,d=n_i/t_i。

By n_iBy t_iDecile：δt_i,j=t_i/n_i, j=1 ..., n₁, i.e., every δ t_i,j1 feeding pulse of feeding is sent, it enters It is 1/ δ t to speed_i,j, the saltus step amount of feed speed is 1/ δ t_i,j+1-1/δt_i,j, because of 1/ δ t_i,j+1=1/ δ t_i,j, saltus step amount is 0. Due to micro-line section L_i+1Driving shaft feed speed F_i+1,dMore than micro-line section L_iDriving shaft feed speed F_i,d, therefore t_iIt can not wait Point, δ t_i,jIt should be gradually reduced, so as to ramp up, and make δ L_iWith δ L_i+1Between feed speed saltus step amount meet stable movement Property constraints；Similarly, if micro-line section L_i+1Driving shaft feed speed F_i+1,dLess than micro-line section L_iDriving shaft feed speed F_i,d, δ t_i,jShould gradually it increase, so as to gradually slow down.

Obviously, δ L_iBetween feed speed allow saltus step amount should be taken as δ_F/n_i。

Make 1/ δ t_i,j+1±1/δt_i,j=δ_F/n_i, j=1 ..., n₁, in formula, n_iFor micro-line section L_iDriving shaft data flow in The number of " 1 ", δ t_i,j、δt_i,j+1For with δ L_i,j、δL_i,j+1Corresponding time interval.

During acceleration, by formula δ t_i,j+1=δ t_i,jn_i/(δ_Fδt_i,j+n_i) try to achieve δ t_i,j+1；During deceleration, by formula δ t_i,j+1=δ t_i,jn_i/(δ_Fδt_i,j-n_i) try to achieve δ t_i,j+1, wherein δ t_i,1=t_i/n_i, t_iFor micro-line section L_iProcess time；

Repeat the above steps, generation micro-line section L_iT segmentations δ t_i(i=1 ..., n₁)。

Check L_iWith δ L_i(i=1 ..., n₁) when, should judge its whether be circular arc micro-line section, if the micro-line of circular arc Section, then take δ_FThe permission saltus step amounts of/λ as feed speed.

Repeat the above steps, until generation L_mT segmentations δ t_m(i=1 ..., n_m)。

According to given data format, in memory space generation micro-line section L₁,…,L_mServo-actuated table.

The transition times of feed speed between adjustment micro-line section between the difference of feed speed and increase micro-line section are to change Two kinds of main technological means of kind robust motion.In stepping type CNC system, the micro-line section L of circular arc_iTransition times k Equal to n_i.It is noted that micro-line section L_iCan only discrete be at most n_iSection, in other words, the micro-line section L of circular arc_iTransition times k be equal to n_i.Because feed speed depends on processing technology, adjustment is limited in scope, thus, by micro-line section L_iIt is further discrete and subtly Plan δ t_i, turn into the basic fundamental means for improving robust motion.In this application, different from existing CNC system, the time is Free variable, it can subtly plan δ t_iTo improve robust motion.

The micro-line section of existing CAM system generation loses macroscopical geometric properties of micro-line section, i.e., the micro-line section is straight line The micro-line section of accelerating sections/braking section, at the uniform velocity section or circular arc.On the other hand, during Machining Arc, existing CNC technologies do not differentiate between master Moving axis and universal driving shaft, the periodicity acute variation of reference axis feed speed saltus step amount is not considered, does not consider the motion of universal driving shaft yet Greatest differences between stationarity and the robust motion of driving shaft, for universal driving shaft, without the concept of the reference axis coefficient of stability.

2nd, the real-time control of technological parameter

WEDM technological parameter mainly includes frequency f, pulse width W, the single pulse energy E of high frequency electric pulse, cooling-water machine Temperature C, the torque M of tight silk motor, its corresponding part is high frequency electric source, coolant apparatus, tight silk motor.Typically by high frequency The frequency f of electric pulse, pulse width W, single pulse energy E marshallings, and represented with code, code is different, and f, W, E value is not yet Together.Thus, f, W, E can be considered a technological parameter, and its code is represented with G.

Generally, for the different curved sections on cutter track curve, for example, straight line or one section of circular arc, technological parameter It is different.Therefore, being directed to the straight line or the circular arc, work is set using the H instructions or E instructions of expansion in G code program Skill parameter.This is the basic skills of existing CNC system control technological parameter.This is not the real-time control of technological parameter.

The real-time control of so-called technological parameter refers to that technological parameter w follows the position put on cutter track curve and changed, i.e., W is the function of the coordinate (x, y) of point.

The junction (turning) of straight line/circular arc in cutter track curve is typically wedge angle or small arc-shaped.These wedge angles or roundlet The processing of arc is referred to as turning processing.Turning precision is the basic technical indicator of high-speed, high precision processing.

Technological parameter influences greatly on machining accuracy and surface quality, in particularly being processed at turning, it is necessary to which turning is entered The real-time control of row technological parameter.For example, the frequency f, pulse width w, single pulse energy E of electric pulse are controlled in real time.

Table 4

Table 4 is the schematic diagram of the parameter 7 of the 4 axle 3 linkage stepping type associated data stream of cutter track curve.Cutter track curve be x, y, u, V, the function of 7 variables such as G, C, M.In table, time T is n section by separate division：δt_i, i=1 ..., n.In δ t_iIt is interior, δ x_i、δy_i、δu_i、δv_iIt is not that " 0 " is exactly 3 parameter such as " 1 ", G, C, M in △ t_iInterior value is G_i、C_i、M_i。

CNC system is by switching, setting flag bit etc. to send technological parameter to these parts with interrupt mode.Switch, mark Will position is all switching value, controls the transmission channel of technological parameter.Without loss of generality, the application leads to the transmission for controlling technological parameter Road is referred to as switching.

Thus, the real-time control of technological parameter and the linkage of reference axis are inherently the same thing, can be by control technique ginseng Several switches is considered as virtual coordinates axle, it would be desirable to and the technological parameter controlled in real time is considered as the coordinate value of the virtual coordinates axle, so as to The real-time control of technological parameter and reference axis linkage are united, referred to as multiaxis multi-parameter links.

It is well known that time lag is characteristic intrinsic in industrial process, it is Dynamic mode most rambunctious in physical system.When Stagnant is even more the big problem that the real-time control of technological parameter is faced.Frequency f, pulse width W, the pulse of high frequency electric pulse ENERGY E, the temperature C of cooling-water machine, its response time inputted between output are generally several ms.

If τ is the response time between input and output, i.e. time lag.At the time of for needing to change technological parameter, it is necessary to τ sends control information in advance.In the existing CNC system defined based on IEEE, due to the limitation of interpolation cycle, τ's is past in advance Toward the substantial amounts of computing resource of consuming.

In this application, τ's is extremely simple in advance.

Assuming that in δ t_iInside need to change some technological parameter, in δ t_iThe S control rhythm and pace of moving things δ t before_i-pIn should then send Control information, its lead S are：

(δt_i-p+,…,+δt_i)≈τ

In formula, τ is the response time of the technological parameter, as systematic parameter and is stored in technological parameter storehouse.

For all technological parameters, according to the corresponding response time, its lead is calculated, adjusts the connection of virtual coordinates axle The corresponding relation of dynamic table and servo-actuated table, i.e. its linkage table move forward the S control rhythm and pace of moving things.For example, G lead is 5, relative to Servo-actuated table (δ t_i；I=1 ..., n), by its linkage table (G_i；I=1 ..., n), move forward 5 control rhythm and pace of moving things；C is cooling-water machine Temperature, its lead is 12, relative to servo-actuated table (δ t_i；I=1 ..., n), by its linkage table (C_i；I=1 ..., n) move forward 12 control rhythm and pace of moving things.

Thus the linkage table of the virtual coordinates axle after being adjusted.

3rd, NC information banks

L segmentations are the geometrical invariants of cutter track curve, determine the geometric properties of cutter track curve.T segmentations determine process velocity It is unrelated with L segmentations with crudy.Coupled relation is not present between the L segmentations and T segmentations of cutter track curve.

Thus, L segmentations and the T segmentations of cutter track curve are not a real-time interpolation problems, but a non real-time planning Problem.

Cutter track curve is converted into a series of micro-line section by the application, is planned by CANC, generation micro-line section L segmentation with T is split, and according to given data format, the digital control information storehouse (Numerical of micro-line section is established in memory space Control informationbase), abbreviation NC information banks.

In the real-time control process of a cutter track curve, all numeral controls of NC information library storage control reference axis linkage Information processed, i.e. micro-line section L₁,…,L_mIn every micro-line section linkage table and servo-actuated table.

Linkage table is used to store the micro-line section L₁,…,L_mL segmentations δ L_i(i=1 ..., n)；L segmentation δ L_i(i= 1 ..., n) it is used for the amount of feeding of storage linkage reference axis, control reference axis links to produce resultant displacement；

Servo-actuated table is used to store micro-line section L₁,…,L_mT segmentations δ t_i(i=1 ..., n)；T segmentation δ t_i(i=1 ..., n) For storing the time interval between the amount of feeding, the feed speed of resultant displacement is controlled；

NC information banks also include micro-line section L₁,…,L_mIn every micro-line section status word；Status word is used for specified described The reference axis that links and its direction of feed；

NC information banks also include NC information bank concordance lists, and NC information banks concordance list includes micro-line section L₁,…,L_mIn every The first address of the linkage table of micro-line section and last address, the first address of servo-actuated table.

In above-mentioned form, the amount of feeding for the reference axis that links is made up of the data flow of linkage reference axis, for example, x data flows, Y data flows, u data flows, v data flows etc..The memory space that the data flow for the reference axis that links takes is quite big.

Linkage table can be compressed using following forms, but it is slightly slow to perform speed.

Driving shaft data flow is complete " 1 ", and without storage, it is complete " 1 " need only to identify its default value；Universal driving shaft data flow then uses base Specified with the cycle at bottom.

For example, linkage table includes " driving shaft " field, " substrate " field, " cycle " field, " status word " field." actively Axle " field is used to identify driving shaft, and driving shaft data flow is that default value is complete " 1 "；" substrate " field is used to identify number of motion axes evidence " 0 "/" 1 " distribution of stream in one cycle；" cycle " field is used for the number for identifying substrate, and the cycle is equal to the terminal of micro-line section The greatest common divisor of coordinate, for example, the greatest common divisor of the x coordinate of terminal and y-coordinate；" status word " field, which is used to identify, to link Reference axis and its direction of feed.

4th, processed file

The course of work of wire cutting can typically be divided into supporting process, logic control process and process.Supporting process It is related to accessibility aid operation, logic control is related to I/O devices, and process is related to the real-time control of cutter track curve.Correspondingly, CNC system is divided into three kinds of working conditions such as real-time control of accessibility aid operation, the logic control of I/O devices, cutter track curve.

Corresponding with these three working conditions, upstate instruction ST, switch order SW, path instructions TR describe to aid in Process, logic control process and process.

TR instructs the real-time control for cutter track curve.

According to processing technology, TR instructs editor module that the linkage table of micro-line section and servo-actuated table are divided into p sections, generation p bars TR Instruction.

Convenient to read, p bar TR instructions are identified with sequence number, such as TRi-5 represents the 5th article of TR instruction.

Every TR instructions carry NC information banks index, and for linking NC information bank concordance lists, NC information banks concordance list is corresponding Ground stores the first address and last address, the first address of servo-actuated table of the linkage table of every micro-line section in every TR instruction.

User, which clicks on " TRi-5 ", can check or change TRi-5 linkage table and servo-actuated table in NC information banks.

ST, which is instructed, to be used to operate miscellaneous function, such as sets the working conditions such as the startup, end, pause of process, is sat The miscellaneous functions such as the setting of mark system, origin return.Different ST instructions are identified with sequence number, and then instruction code is different for sequence number difference, such as ST1 represents pause.The sequence number instructed according to ST, ST instruction modules perform corresponding miscellaneous function.

SW is instructed for controlling switch amount, such as the opening of tight silk motor and closing, the opening of water pump and closing.Different SW instructions are identified with sequence number, and then instruction code is different for sequence number difference, such as SW1 represents to open water pump.The sequence number instructed according to SW, SW The corresponding switch of instruction module control.

According to processing technology, some ST instructions are inserted between p bars TR instructions and are instructed with SW.

It is cutter track curve that p bars TR, which instructs the instruction stream formed with some ST instructions, the SW instructions wherein inserted, Procedure, the application are referred to as the processed file of cutter track curve.

5th, the generation method of processed file

In the prior art, the process of cutter track curve is controlled in real time by G code program.

G code program is beginning of the fifties in last century paper tape/product of the punched card as basic input medium, readable Difference, it is not easy to use and is shared with exchanging, it is necessary to the programming personnel of specialty.

In terms of programming technique, the basic of this primitive stage is rested on based on the existing CNC system that IEEE is defined all the time Reason is that L segmentations and the T of the control information of reference axis, i.e. cutter track curve are split, it is necessary in the interpolation week of real time operating system Under phase is controlled, calculated in real time by corresponding interpolation module.

In common two-dimentional printer, its control system is also a CNC system.From the point of view of digital control, two dimension is beaten The print procedure of print machine and WEDM process have no any substantial difference.

In two-dimentional print procedure, print speed system pre-sets, and typically immobilizes；Character library is used to store the several of word What information (dot matrix), is pre-designed and is solidificated in read-only storage.In WEDM process, it is necessary to according to processing technology To plan feed speed, NC information banks should carry the geological information (linkage table) of micro-line section, also carry the speed of micro-line section Information (servo-actuated table), cutter track curve is different, and NC information banks are also different.Thus, for different workpiece, NC information banks must pass through CANC plane-generatings.

In addition, ink-jet parameter is also to pre-set, immobilized in print procedure, without real-time control.And high-frequency electrical arteries and veins The technological parameters such as the frequency f of punching, pulse width W, single pulse energy E depend on workpiece material, wire electrode material, cooling medium and Its temperature, machining accuracy, feed speed, the factors such as geometry of cutter track curve, must be controlled in real time in process System.

For cutter track curve, the application is planned by CANC, generates the linkage table of micro-line section and servo-actuated table；According to processing work All micro-line sections of cutter track curve are segmented by skill, TR directive generation modules, some TR instructions of genesis sequence arrangement.

Then, according to processing technology, processed file generation module inserts some ST instructions and instructed with SW, and cutter track curve adds Work file, which just generates, to be finished.

Herein, discharge process is similar to ink jet process, and micro-line section is similar to the word in word, such as Chinese character；The L of micro-line section Split δ L_i(i=1 ..., n) similar to Chinese character dot matrix in word；NC information banks are similar to the Chinese character base in word, NC information banks index Table is similar to the ISN (address code) of Chinese character, the outer code (input code) of the similar Chinese character of NC information banks index, the processing text of cutter track curve Part is then similar to the file being made up of in word thousands of individual Chinese characters.

Segmentation in the similar word of segmentation of micro-line section, TR are instructed then similar to the carriage return character in word.For example, according to processing Technique, micro-line section can be divided into roughing section, finishing section；And then for the micro-line section in turning (wedge angle and small arc-shaped), may be used also It is subdivided into some segments.

So, generate and edit as only documentary in common two-dimentional printer, in the absence of programming problem one Sample, the programming problem of cutter track curve are just converted into generation and the editor's problem of processed file.

The general format of the processed file of cutter track curve is：The tactic TR instructions of p bars, and some ST of insertion refer to Order instructs with SW.

For ease of reading, for some repeating parts in processed file, processed file generation module is compiled as following Ring, subprogram form.

6th, real-time kernel

The application gives up real time operating system, the real-time kernel proposed using patent of invention ZL 201110206679.6, uses In the process of control cutter track curve in real time, the application is improved, including virtual coordinates axle.

Real-time kernel includes processed file processing module, linkage reference axis setup module, linkage command setup module, the rhythm and pace of moving things Control module, terminal point control module.

SW instructions, the execution of SW instructions are routine techniques.

The processing on real-time process of cutter track curve is as follows.

After CNC system receives processed file startup order, after operating system sets running mark, power out of hand, set Running mark, start real-time kernel；

Processed file processing module reads a path instructions from processed file, the 1st in the path instructions article The NC information banks index of micro-line section, read from NC information bank concordance lists the linkage table of the micro-line section first address and last address, The first address of servo-actuated table, the status word of the micro-line section is read from NC information banks；

Linkage table first address is write L pointers by the reference axis setup module that links；Servo-actuated heading address is write into T pointers；Will Status word write state word register, specify linkage reference axis and its direction of feed；

According to T pointers, linkage command setup module reads the control rhythm and pace of moving things δ t in servo-actuated table_iAnd write T segmentation timers；

Timing in T segmentation timers arrives, the linkage that rhythm detection module is specified by linkage interface to status word Reference axis sends the amount of feeding that L pointers are specified, and the direction of feed that driving linkage reference axis is specified by status word is fed, and produces synthesis Displacement；The virtual coordinates axle specified to status word sends the technological parameter that L pointers are specified；

Terminal point control module judges whether L pointers are equal to the last address of the linkage table of the micro-line section, if L pointers are equal to connection The last address of dynamic table, the micro-line section completion of processing, processed file processing module read from NC information bank concordance lists next it is micro- The first address of the linkage table of line segment, the first address of servo-actuated table and last address, the shape of next micro-line section is read from NC information banks State word；Otherwise, T pointers point to δ t_i+1, continue to process the 1st article of micro-line section；

Repeat the above steps, until all micro-line section completion of processing in the path instructions；

Repeat the above steps, until all path instructions are finished, terminal point control module closes running mark.

Based on above-mentioned technical concept, the technical scheme that the application proposes is to carry out wire electrode radius to workpiece profile curve Compensation, obtains the movement locus at wire electrode center, i.e. cutter track curve, is broken down into some micro-line sections.Then in discrete seat L segmentation planning is carried out in mark system to micro-line section, T segmentation planning is carried out according to feed speed, in memory space generation micro-line section NC information banks.Finally, according to processing technology, all micro-line sections of cutter track curve are segmented, the one TR instruction of every section of correspondence.

All micro-line sections in TR instructions carry NC information banks index, for linking NC information bank concordance lists, to read The first address of its linkage table and last address, the first address of servo-actuated table.

Necessary ST instructions are inserted in TR instructions with after SW instructions, generating the processed file of cutter track curve.

Real-time kernel performs TR instructions, ST instructions, SW instructions, completes the processing on real-time process of cutter track curve.

Architecture

Fig. 3 is a kind of architectural schematic of stepping type CNC system, including hardware platform, software platform and application are soft Part system, the hardware platform are PC systems, and software platform is graphical interfaces operating system；Application software system includes CANC groups Part, NC information banks, processed file planning component, real-time kernel component；

(1), CANC plans component

CANC planning components include discrete coordinates system generation module, L segmentations planning module, T segmentation planning modules；

(1-1) discrete coordinates system generation module is used for according to given discrete scale, is the equidistant of discrete scale with distance Coordinate plane gridding is established discrete coordinates system by line on screen；

(1-2) according to the permission direction of motion of cutter track curve, it is micro- for being planned in discrete coordinates system that L splits planning module Line segment L₁,…,L_mL segmentations δ L_i(i=1 ..., n)；

Micro-line section L₁,…,L_mIncluding accelerating sections/braking section of the straight line in cutter track curve, at the uniform velocity section, circular arc approaches folding Line；

(1-3) is used for the stable movement for checking reference axis according to processing technology and the requirement of acceleration and deceleration, T segmentation planning modules Property, planning micro-line section L₁,…,L_mT segmentations δ t_i(i=1 ..., n)；

(2), NC information banks

NC information banks are used for the digital control information for storing control reference axis linkage, and digital control information includes micro-line section L₁,…,L_mIn every micro-line section linkage table and servo-actuated table；

Linkage table is used to store micro-line section L₁,…,L_mL segmentations δ L_i(i=1 ..., n)；L segmentation δ L_i(i=1 ..., n) For storing the amount of feeding of linkage reference axis, control reference axis links to produce resultant displacement；

NC information banks also include micro-line section L₁,…,L_mIn every micro-line section status word；Status word is used to specify linkage Reference axis and its direction of feed；

NC information banks also include NC information bank concordance lists, and NC information banks concordance list includes micro-line section L₁,…,L_mIn every The first address of the linkage table of micro-line section and last address, the first address of servo-actuated table；

(3), processed file planning component

Processed file planning component includes NC information banks generation module, path instructions editor module, NC information bank concordance lists Generation module, NC information banks index generation module, processed file generation module；

(3-1) is for micro-line section L₁,…,L_mL segmentation with T split, NC information banks generation module be used for according to given number According to form in memory space construction micro-line section L₁,…,L_mIn every micro-line section linkage table and servo-actuated table, generate NC information banks；

(3-2) is used for micro-line section L according to processing technology, path instructions editor module₁,…,L_mIt is divided into p sections, accordingly gives birth to Into p bar path instructions；

(3-3) for every micro-line section in every path instructions, NC information bank concordance lists generation module is used to generate NC Information bank concordance list；NC information banks concordance list accordingly stores the first ground of the linkage table of every micro-line section in every path instructions Location, the first address of servo-actuated table and last address；

(3-4) is used to generate NC letters for every micro-line section in every path instructions, NC information banks index generation module Storehouse index is ceased, NC information banks are indexed for linking the NC information banks；

(3-5) is used in p bar path instructions according to processing technology, processed file generation module, insertion switch order, shape State instructs, and generates processed file；

Switch order is used for opening and the closing for controlling tight silk motor, the opening of water pump and closing；

Status command is used for the startup, end, pause for controlling process, and Coordinate Setting, origin return；

(3), real-time kernel component

Real-time kernel component include processed file processing module, linkage reference axis setup module, linkage command setup module, Rhythm detection module, terminal point control module；

(1) after, CNC system receives the enabled instruction of processing operation, operating system sets real-time kernel running mark, starts Real-time kernel；

(2), processed file processing module reads a path instructions from processed file, according to the 1st of the path instructions the The NC information banks index of bar micro-line section, the first address and end ground of the linkage table of the micro-line section are read from NC information bank concordance lists Location, the first address of servo-actuated table, the status word of the micro-line section is read from NC information banks；

(3) linkage table first address is write L pointers by the reference axis setup module that, links；Servo-actuated heading address write-in T is referred to Pin；By status word write state word register, linkage reference axis and its direction of feed are specified；

(4), according to T pointers, linkage command setup module reads the control rhythm and pace of moving things δ t in servo-actuated table_iAnd it is fixed to write T segmentations When device；

(5), the timing that T is split in timer is arrived, and rhythm detection module is specified by linkage interface to status word Linkage reference axis sends the amount of feeding that L pointers are specified, and the direction of feed that driving linkage reference axis is specified by status word feeds, produced Resultant displacement；The virtual coordinates axle specified to status word sends the technological parameter that L pointers are specified；

(6), terminal point control module judges whether L pointers are equal to the last address of the linkage table of the 1st article of micro-line section, if L refers to Pin is equal to the last address of linkage table, and the 1st article of micro-line section completion of processing performs step (2), and processed file processing module is from NC information The first address of the linkage table of the 2nd article of micro-line section, the first address of servo-actuated table and last address are read in the concordance list of storehouse, from NC information banks Read the status word of next micro-line section；Otherwise, step (4-4) is performed, T pointers point to δ t_i+1, continue to process the 1st article of micro-line Section；

(4-7) repeat step (4-2) is to step (4-6), until all micro-line sections in the 1st article of path instructions process Finish；

(4-8) repeat step (4-2) is to step (4-7), until all path instructions are finished, terminal point control module is closed Close running mark.

For WEDM, virtual coordinates axle includes switching high-frequency power, coolant-temperature switch, tight silk motor switch； Correspondingly, frequency of the technological parameter including high frequency electric source, pulse width, single pulse energy, the temperature of coolant, tight silk motor Torque.

As can be seen here, the real-time control process of so-called cutter track curve, it is exactly according to the control rhythm and pace of moving things δ t in servo-actuated table₁,…, δt_n, the servo drive that state of a control word is specified reads coordinate value increment from axle linkage table and writes the mistake of its position ring Journey.Real-time kernel produces linkage command；Linkage command is followed, servo drive constantly drives reference axis feeding to produce synthesis Displacement, high frequency electric source, coolant apparatus, tight silk motor are constantly changing technological parameter.

For example, being linked for the parameter of the axle of X, Y, U, V etc. 5 and G, C, M etc. 3, status word is " 11111110 ", is controlled in real time Journey is exactly, according to control rhythm and pace of moving things δ t₁,…,δt_n, real-time kernel is constantly by the δ t in servo-actuated table₁,…,δt_nIt is fixed to write T segmentations When device, produce linkage command, the step-by-step impulse in linkage table be sent to by the servo-drives such as X, Y, U, V by linkage interface The reference axis feeding such as device, driving X, Y, U, V produces resultant displacement；At the same time, model- following control rhythm and pace of moving things δ t₁,…,δt_n, pass through connection 3 technological parameters such as G, C, M will be sent to high frequency electric source, coolant apparatus, tight silk motor by mobile interface.

In transmitting terminal, linkage interface is similar to press δ t₁,…,δt_nThe rhythm and pace of moving things constantly uni-directional transmission state word parallel interface； In receiving terminal, the data bit switched with linkage interface of the servo-driver of each reference axis and each virtual coordinates axle Connection, similar interruption control line.

So renew in week, until the terminal of the cutter track curve.

Programming interface

CANC planning is non real-time.Thus, can be directly on screen after user establishes the data file of straight line, circular arc Planned using CANC, L segmentations and the T of planning cutter track curve are split, and then edit P instruction, ST instructions, SW instructions, generate cutter track The processed file of curve, so as to complete writing for procedure.

Similar word text files, the application need only click on/sliding window, can complete writing for procedure.The application Referred to as programming interface.

How edit trace is instructed to complete feed process, and this is the basic task of programming interface.

The application sets programming interface, including CANC planning functions area, processed file rule in graphical interfaces operating system Draw functional areas；

CANC planning functions area includes discrete coordinates system generation window, L segmentation planning window, T segmentation planning windows；It is discrete Coordinate system generation window link discrete coordinates system generation module, L segmentation planning window link L segmentations planning module, T segmentation planning Window link T segmentation planning modules；

Processed file planning function area includes NC information banks generation window, path instructions editor, NC information banks index Table generates window, NC information banks index generation window, processed file generation window；NC information banks generation window link NC information banks Generation module, track refer to editor link path instructions editor module, NC information banks concordance list generation window link NC information Storehouse concordance list generation module, NC information banks index generation window link NC information bank index generation modules, processed file generation window Mouth link processed file generation module.

Dynamic display of functional area is also set up in man-machine interface, for the process of Dynamic Announce micro-line section, by dynamically showing Show switch control.In this application, Dynamic Announce switch is considered as virtual coordinates axle.

Timing in T segmentation timers arrives, by linkage interface, dynamic that rhythm detection module is specified to status word Display switch sends the amount of feeding that L pointers are specified, the process of real-time display cutter track curve on screen.

The operational means of man-machine interaction marches toward the touch-control epoch after paper tape/punched card, keyboard, mouse.Touch-control brings pole Big facility, it is no longer necessary to mouse and keyboard can finishing man-machine interaction, the revolution being referred to as on finger tip.

The application operates above-mentioned functional areas and window using touch control manner.

Above-mentioned programming interface can be arranged on mobile phone.

Fig. 4 is the structural representation of above-mentioned programming interface.

The generation method of processed file

The application is instructed using TR, ST is instructed, SW instructs to describe the process of cutter track curve, passes through CNC system Man-machine interface editor TR instruction, ST instruction, SW instruction, generate cutter track curve processed file, so as to complete procedure Write.

The editor of processed file is similar with using word editing files, and editing process is visualized, control information is transparent, It is open, it is easy to operate.

The application has taken leave of G code programming, realizes the popular target of " everyone can program ", writes procedure Just as writing short message using word, " opening numerical control just as playing mobile phone, program just as photos and sending messages ", everyone can program, and realize What is programmed is popular.

Based on above-mentioned programming interface, the application proposes a kind of generation method of processed file, as shown in figure 5, including following Step：

(1) CANC planning steps

CANC planning steps include：

(1-1) discrete coordinates system generation step

Discrete coordinates system generation module is put down coordinate with the equal space line that distance is discrete scale according to given discrete scale Veil is formatted, and discrete coordinates system is established on screen；

(1-2) L splits planning step

According to the permission direction of motion of cutter track curve, L segmentation planning modules plan micro-line section in discrete coordinates system L₁,…,L_mL segmentation；Comprise the steps：

The 1st article of micro-line section is generated in discrete coordinates system, since the starting point of the 1st article of micro-line section, along the permission direction of motion Feed a discrete scale, arrive separately at two different lattice points, calculate and compare two lattice points and the 1st article of micro-line section away from From the minimum lattice point of selection astigmatic error；

Repeat the above steps, until the L segmentations of generation the last item micro-line section, generation micro-line section L₁,…,L_mL segmentation δ L_i(i=1 ..., n)；

(1-3) T splits planning step

According to processing technology, T segmentation planning modules check the robust motion of reference axis, plan the micro-line section L₁,…, L_mT segmentation；Comprise the steps：

(1-3-1) checks reference axis robust motion constraints：

︱ F_i+1,d-F_i,d︳≤δ_F(i=1 ..., n)；

F can be reduced if reference axis robust motion constraints Bu Full are sufficient, during acceleration_i+1, F can be improved during deceleration_i+1；Formula In, F_i+1For L_i+1Feeding progress；

(1-3-2) based on the feed speed after adjustment, according to formula t_i=L_i/F_i, try to achieve micro-line section L₁,…,L_mProcessing when Between t₁,…,t_m；

(1-3-3) planning micro-line section L_iT segmentations δ t_i(i=1 ..., n)：

By formula

δt_i,j+1=δ t_i,jn_i/(δ_Fδt_i,j±n_i)

Repeat the above steps, generation micro-line section L_iT segmentations δ t_i(i=1 ..., n₁)；

Repeat the above steps, until generation micro-line section L_mT segmentations, generation micro-line section L₁,…,L_mT segmentations δ t_i(i= 1,…,n)；

(2) processed file planning step

Processed file planning step includes：

(2-1) NC information bank generation steps

For micro-line section L₁,…,L_mL segmentations split with T, NC information banks generation module exists according to given data format Memory space construction micro-line section L₁,…,L_mIn every micro-line section linkage table and servo-actuated table, generate NC information banks；

(2-2) path instructions edit step

According to processing technology, path instructions editor module is by micro-line section L₁,…,L_mIt is divided into p sections, is correspondingly generated p bars track Instruction；

(2-3) NC information bank concordance list generation steps

For every micro-line section in every path instructions, NC information bank concordance lists generation module generation NC information bank indexes Table；NC information banks concordance list accordingly stores the first address of the linkage table of every micro-line section in every path instructions, servo-actuated table First address and last address；

(2-4) NC information banks index generation step

For every micro-line section in every path instructions, NC information banks index generation module generation NC information banks index, NC information banks are indexed for linking NC information banks；

(2-5) processed file generation step

According to processing technology, processed file generation module is in p bar path instructions, and insertion switch order, status command are raw Into processed file.

For circular arc, the application by its it is discrete be stepping type associated data stream, then according to the distribution of universal driving shaft data flow In the cycle, it is converted into some micro-line sections.Comprise the following steps that：

L segmentation planning modules generate 1 circular arc in discrete coordinates system, and since the starting point of the circular arc, edge allows to move Direction feeds a discrete scale, arrives separately at two different lattice points, calculate and compare the two lattice points and the circular arc away from From the minimum lattice point of selection astigmatic error；Repeat the above steps, until the terminal of the circular arc；Generate the L segmentation δ L of the circular arc_i(i =1 ..., s), s be the circular arc driving shaft data flow in " 1 " number；

According to the distribution period of the universal driving shaft data flow of the circular arc, the L of the circular arc is split into δ L_i(i=1 ..., s) conversion For k bar micro-line sections L₁,…,L_s, k ＜ s.

Fig. 5 is the flow chart of above-mentioned processed file generation method.

The real-time control method of cutter track curve

The processed file generated according to the method described above instead of common G code procedure.

TR instructions, ST instructions, SW instructions are only included in processed file.ST instructions, the processing category routine techniques of SW instructions.Cause And the essence for processing cutter track curve is exactly to handle TR instructions.

A kind of real-time control method of cutter track curve of cutter track curve, as shown in Figure 6,7, comprises the steps：

(1), real-time kernel starting step

After CNC system receives processing order, operating system sets real-time kernel running mark, starts real-time kernel；

(2), processed file processing step

Processed file processing module reads a path instructions from processed file, micro- according to the 1st of the path instructions the article The NC information banks index of line segment, read from NC information bank concordance lists the linkage table of the micro-line section first address and last address, with The first address of dynamic table, the status word of the micro-line section is read from NC information banks；

(3), link reference axis setting steps

Status word write state word register is specified linkage reference axis by the reference axis setup module that links；To be linked heading Address writes L pointers；Servo-actuated heading address is write into T pointers；

(4), linkage command setting steps

(5), rhythm detection step

Timing in T segmentation timers arrives, by linkage interface, linkage that rhythm detection module is specified to status word Reference axis sends the amount of feeding that the L pointers are specified, and the direction of feed that driving linkage reference axis is specified by status word feeds, produced Resultant displacement；The virtual coordinates axle specified to status word sends the technological parameter that L pointers are specified；

(6), terminal point control step

Terminal point control module judges whether L pointers are equal to the last address of the linkage table of the micro-line section, if L pointers are equal to connection The last address of dynamic table, the micro-line section completion of processing, performs step (2), processed file processing module is from NC information bank concordance lists The first address of the linkage table of next micro-line section, the first address of servo-actuated table and last address are read, is read from NC information banks next The status word of bar micro-line section；Otherwise, step (4) is performed, T pointers point to δ t_i+1, continue to process the micro-line section；

(7), repeat step (2) is to step (6), until all micro-line section completion of processing in the path instructions；

(8), repeat step (2) is to step (7), until all micro-line section completion of processing in all path instructions, terminal Control module closes running mark.

When existing stepping type CNC system is used for WEDM, the startup of interpolation cycle depends on the frequency conversion arteries and veins that high frequency electric source is sent Punching.High frequency electric source often produces 1 variable-frequency pulse, then sends 1 interrupt requests to CNC system, and CNC system responds interrupt requests, Start interpolation cycle, carry out interpolation operation after to dependent coordinate axle export a step-by-step impulse.Thus, WEDM feed speed takes Discharge condition certainly between wire electrode and workpiece, discharge condition is then relevant with factors, for example, the frequency of high frequency electric source, The material of pulse width, single pulse energy, the temperature of coolant, the torque of tight silk motor, wire electrode and workpiece, process velocity with Crudy etc..

In this application, WEDM feed speed has 3 kinds of control modes.

The mode that 1st kind of mode determines for above-mentioned steps, δ t_iT splits timer automatic start after write-in.

In the manner, feed speed is unrelated with the variable-frequency pulse of high frequency electric source.This mode is processed available for refine.Refine During processing, when particularly turning processes, allowance is small (μm level), and discharging gap opens wide, and cooling is good, is asked in the absence of deslagging Topic, discharge impact power is small, thus discharge condition quite stable.The techniques such as the frequency of high frequency electric source, pulse width, single pulse energy After parameter determines, it is vital that control in real time is carried out to feed speed.Split by T and planned, this mode can be to feeding speed Degree is subtly controlled in real time.

2nd kind of mode is Self Adaptive Control mode, i.e., feed speed is controlled by the variable-frequency pulse of high frequency electric source completely, with δ t_iIt is unrelated.

In the manner, the step (4) is not performed；

Step (3) is：The reference axis setup module that links refers to the status word write state word register of the 1st article of micro-line section Surely linked reference axis, and linkage table first address is write into L pointers；

Step (5) is：Real-time kernel is in inquiry state, and high frequency electric source detection discharge condition is real-time according to discharge condition Variable-frequency pulse is produced, sends interrupt requests, real-time kernel response interrupt requests to real-time kernel, rhythm detection module passes through linkage The amount of feeding that interface is specified to the linkage reference axis transmission L pointers that status word is specified, driving linkage reference axis are specified by status word Direction of feed feeding, produce resultant displacement；The virtual coordinates axle specified to status word sends the technological parameter that L pointers are specified.

As the special case of this mode, high frequency electric source need not detect discharge condition, and user specifies the frequency of variable-frequency pulse.This side Formula is mainly used in manually operated, or rapid advance.

3rd kind of mode is Partial controll mode, i.e. feed speed is given by processing technology, according between wire electrode and workpiece Discharge condition, high frequency electric source corrects the frequency of variable-frequency pulse in real time, i.e., real-time local correction feed speed.

In the manner, after step (3), real-time kernel is in inquiry state, and high frequency electric source detects discharge condition, according to Discharge condition produces variable-frequency pulse in real time, sends interrupt requests to real-time kernel, real-time kernel response interrupt requests, performs step (4)。

Step (5) also includes, the amount of feeding specified to the Dynamic Announce switch transmission L pointers that status word is specified, in screen Upper real-time display micro-line section L₁,…,L_mProcess.

Fig. 6 is the flow chart of above-mentioned multiaxis multi-parameter interlock method.

Fig. 7 is the flow chart of Fig. 6 sub-routines.

Above content is to combine the further description that specific preferred embodiment is made to the application, it is impossible to assert this The specific implementation of application is confined to these explanations.For the application person of an ordinary skill in the technical field, not On the premise of departing from the application design, some simple deduction or replace can also be made, should all be considered as belonging to the guarantor of the application Protect scope.

Claims

1. a kind of stepping type CNC system, for controlling linkage reference axis linkage, to realize the real-time control of cutter track curve, including Hardware platform, software platform and application software system, the hardware platform are PC systems, and the software platform is grasped for graphical interfaces Make system；Characterized in that, the application software system includes CANC planning components, NC information banks, processed file plans component, Real-time kernel；

(1), CANC plans component

(1-1) described discrete coordinates system generation module is used for according to given discrete scale, is the discrete scale with distance Coordinate plane gridding is established discrete coordinates system by equal space line on screen；

(1-2) is used to plan micro-line section L in the discrete coordinates system according to processing orientation, the L segmentations planning module₁,…, L_mL segmentations δ L_i(i=1 ..., n)；

The micro-line section L₁,…,L_mAccelerating sections/braking section including all straight lines in the cutter track curve, at the uniform velocity section, own Circular arc approaches broken line；

(1-3) is used for the robust motion for checking reference axis according to processing technology, the T segmentations planning module, and planning is described micro- Line segment L₁,…,L_mT segmentations δ t_i(i=1 ..., n)；

(2) NC information banks

The NC information banks are used for the digital control information for storing control reference axis linkage, and the digital control information includes described Micro-line section L₁,…,L_mIn every micro-line section linkage table and servo-actuated table；

The linkage table is used to store the micro-line section L₁,…,L_mL segmentations δ L_i(i=1 ..., n)；The L segmentation δ L_i (i=1 ..., n) is used for the amount of feeding for storing the linkage reference axis, and control reference axis links to produce resultant displacement；

The servo-actuated table is used to store the micro-line section L₁,…,L_mT segmentations δ t_i(i=1 ..., n)；The T segmentation δ t_i (i=1 ..., n) is used to store the time interval between the amount of feeding, controls the feed speed of the resultant displacement；

The NC information banks also include the micro-line section L₁,…,L_mIn every micro-line section status word；The status word is used for Specify the linkage reference axis and its direction of feed；

The NC information banks also include NC information bank concordance lists, and the NC information banks concordance list includes the micro-line section L₁,…,L_m In first address and the last address of linkage table of every micro-line section, the first address of servo-actuated table；

(3), processed file planning component

The processed file planning component includes NC information banks generation module, path instructions editor module, NC information bank concordance lists Generation module, NC information banks index generation module, processed file generation module；

(3-1) is for the micro-line section L₁,…,L_mL segmentations split with T, the NC information banks generation module is used for according to given Data format construct the micro-line section L in memory space₁,…,L_mIn every micro-line section linkage table and servo-actuated table, generation The NC information banks；

(3-2) is used for the micro-line section L according to processing technology, the path instructions editor module₁,…,L_mIt is divided into p sections, it is corresponding Ground generates p bar path instructions；

(3-3) for every micro-line section in every path instructions, the NC information banks concordance list generation module is used to generate NC Information bank concordance list；The NC information banks concordance list accordingly stores the linkage table of every micro-line section in every path instructions First address, the first address of servo-actuated table and last address；

(3-4) is used to generate NC letters for every micro-line section in every path instructions, the NC information banks index generation module Storehouse index is ceased, the NC information banks are indexed for linking the NC information banks；

(3-5) is used in the p bars path instructions according to processing technology, the processed file generation module, and insertion switch refers to Make, status command, generate processed file；

(4), real-time kernel component

The real-time kernel component include processed file processing module, linkage reference axis setup module, linkage command setup module, Rhythm detection module, terminal point control module；

After (4-1) described CNC system receives the enabled instruction of processing operation, the operating system sets real-time kernel to run mark Will, start the real-time kernel；

(4-2) described processed file processing module reads the 1st article of path instructions from the processed file, according to described 1st article The NC information banks index of the 1st article of micro-line section in path instructions, reads the 1st article of micro-line from the NC information banks concordance list The first address of the linkage table of section and last address, the first address of servo-actuated table, read the 1st article of micro-line section from the NC information banks Status word；

The linkage table first address is write L pointers by (4-3) described linkage reference axis setup module；By the servo-actuated heading address Write T pointers；By the status word write state word register, the linkage reference axis and its direction of feed are specified；

(4-4) reads the control rhythm and pace of moving things δ t in the servo-actuated table according to the T pointers, the linkage command setup module_iAnd write T splits timer；

Timing in (4-5) described T segmentation timers arrives, and the rhythm detection module is by linkage interface to the state The linkage reference axis that word is specified sends the amount of feeding that the L pointers are specified, and drives the linkage reference axis to press the state The direction of feed feeding that word is specified, produces resultant displacement；The virtual coordinates axle specified to the status word sends the L pointers and referred to Fixed technological parameter；

(4-6) described terminal point control module judges whether the L pointers are equal to the end of the linkage table of the 1st article of micro-line section Address, if the L pointers are equal to the last address of the linkage table, the 1st article of micro-line section completion of processing, perform step (4- 2), the processed file processing module read from the NC information banks concordance list linkage table of the 2nd article of micro-line section first address, The first address of servo-actuated table and last address, the status word of the 2nd article of micro-line section is read from the NC information banks；Otherwise, perform Step (4-4), T pointers point to δ t_i+1, continue to process the 1st article of micro-line section；

(4-8) repeat step (4-2) is to step (4-7), until all path instructions are finished, the terminal point control module is closed Close running mark.

2. stepping type CNC system as claimed in claim 1, is further characterized in that, the linkage table include " driving shaft " field, " substrate " field, " cycle " field, " status word " field；" driving shaft " field is used to identify driving shaft, driving shaft data Flow for default value entirely " 1 "；" substrate " field is used to identify " 0 "/" 1 " distribution of universal driving shaft data flow in one cycle； " cycle " field is used for the number for identifying the substrate, and the cycle is equal to the most grand duke of the terminal point coordinate of the micro-line section Approximate number；" status word " field is used for the reference axis and its direction of feed for identifying linkage.

3. stepping type CNC system as claimed in claim 1, is further characterized in that, the linkage reference axis includes virtual coordinates Axle, the virtual coordinates axle are the switch of control technological parameter.

4. stepping type CNC system as claimed in claim 2, is further characterized in that, the linkage table of the virtual coordinates axle is relative The S control rhythm and pace of moving things is moved forward in the servo-actuated table of the micro-line section：

(δt_i-s+,…,+δt_i) ≈ τ,

In formula, τ is the response time of the technological parameter.

5. stepping type CNC system as claimed in claim 1, is further characterized in that, the graphical interfaces operating system includes compiling Journey interface；The programming interface includes CANC planning functions area, processed file planning function area；

The CANC planning functions area includes discrete coordinates system generation window, L segmentation planning window, T segmentation planning windows；It is described Discrete coordinates system generation window links discrete coordinates system generation module, L segmentation planning windows link the L segmentations rule Draw module, T segmentation planning windows link the T segmentations planning module；

The processed file planning function area includes NC information banks generation window, path instructions editor, NC information banks index Table generates window, NC information banks index generation window, processed file generation window；Described in the NC information banks generation window link NC information bank generation modules, the track refer to editor and link the path instructions editor module, the NC information banks index Table generation window links the NC information banks concordance list generation module, and the NC information banks index generation window links the NC letters Storehouse index generation module is ceased, the processed file generation window links the processed file generation module.

6. stepping type CNC system as claimed in claim 5, is further characterized in that, programming circle is operated using touch control manner Each functional areas and each window in face.

A kind of 7. processed file generation method of the stepping type CNC system based on described in claim 1, it is characterised in that including Following step：

(1) CANC planning steps

The CANC planning steps include：

(1-1) discrete coordinates system generation step

Discrete coordinates system generation module will be sat according to given discrete scale with distance for the equal space line of the discrete scale Mark plane net is formatted, and discrete coordinates system is established on screen；

(1-2) L splits planning step

According to processing orientation, the L segmentations planning module plans the micro-line section L in the discrete coordinates system₁,…,L_mL Segmentation；Comprise the steps：

The 1st article of micro-line section is generated in the discrete coordinates system, since the starting point of the 1st article of micro-line section, edge allows to move Direction feeds a discrete scale, arrives separately at two different lattice points, calculating and more described two lattice points and described 1st article The distance of micro-line section, select the minimum lattice point of astigmatic error；

Repeat the above steps, until generation micro-line section L_mL segmentation, generate the micro-line section L₁,…,L_mL segmentations δ L_i(i= 1,…,n)；

(1-3) T splits planning step：

(1-3-1) checks reference axis robust motion constraints：

︱ F_i+1,d-F_i,d︳≤δ_F(i=1 ..., n)；

In formula, F_i,dFor micro-line section L_iDriving shaft D feeding progress, F_i+1,dFor micro-line section L_i+1Driving shaft D feeding progress； δ_FFor the permission saltus step amount of reference axis feed speed, specified by processing technology；For the micro-line section of circular arc, then δ is taken_F/ λ is used as To the permission saltus step amount of speed, λ is the reference axis coefficient of stability, λ >=5；

F can be reduced if reference axis robust motion constraints Bu Full foot, during acceleration_i+1, F can be improved during deceleration_i+1；Formula In, F_i+1For L_i+1Feeding progress；

(1-3-2) based on the feed speed after adjustment, according to formula t_i=L_i/F_i, try to achieve the micro-line section L₁,…,L_mProcessing when Between t₁,…,t_m；

(1-3-3) plans the micro-line section L₁,…,L_mT segmentations δ t_i(i=1 ..., n)：By formula

δt_i,j+1=δ t_i,jn_i/(δ_Fδt_i,j±n_i)

Try to achieve δ t_i,j+1, j=1 ..., n₁；Take "+" in formula, during acceleration, take "-" during deceleration；n_iFor micro-line section L_iThe active number of axle According to the number of " 1 " in stream, δ t_i,j、δt_i,j+1For with δ L_i,j、δL_i,j+1Corresponding time interval, δ t_i,1=t_i/n_i, t_iFor micro-line Section L_iProcess time；

Repeat the above steps, until generating the micro-line section L_mT segmentation, generate the micro-line section L₁,…,L_mT segmentations δ t_i(i =1 ..., n)；

(2) processed file planning step

The processed file planning step includes：

(2-1) NC information bank generation steps

For the micro-line section L₁,…,L_mL segmentation with T split, the NC information banks generation module is according to given data lattice Formula constructs the micro-line section L in memory space₁,…,L_mIn every micro-line section linkage table and servo-actuated table, generate the NC letters Cease storehouse；

(2-2) path instructions edit step

According to processing technology, the path instructions editor module is by the micro-line section L₁,…,L_mIt is divided into p sections, is correspondingly generated p bars Path instructions；

(2-3) NC information bank concordance list generation steps

For every micro-line section in every path instructions, the NC information banks concordance list generation module generation NC information bank indexes Table；The NC information banks concordance list accordingly store the linkage table of every micro-line section in every path instructions first address, with The first address of dynamic table and last address；

(2-4) NC information banks index generation step

For every micro-line section in every path instructions, the NC information banks index generation module generation NC information bank indexes, The NC information banks are indexed for linking the NC information banks；

(2-5) processed file generation step

According to processing technology, processed file generation module is in the p bars path instructions, and insertion switch order, status command are raw Into processed file.

8. processed file generation method as claimed in claim 7, is further characterized in that, the L splits planning module described 1 circular arc is generated in discrete coordinates system, since the starting point of the circular arc, a discrete mark is fed along the permission direction of motion Degree, arrives separately at two different lattice points, calculates and compare the distance of the two lattice points and the circular arc, selects astigmatic error minimum Lattice point；Repeat the above steps, until the terminal of the circular arc；Generate the L segmentation δ L of the circular arc_i(i=1 ..., s), s are The number of " 1 " in the driving shaft data flow of the circular arc；

A kind of 9. cutter track curve real-time control method of the stepping type CNC system based on described in claim 1, it is characterised in that Comprise the steps：

(1), real-time kernel starting step

After CNC system receives processing order, the operating system sets real-time kernel running mark, starts the real-time kernel；

(2), processed file processing step

The processed file processing module reads the 1st article of path instructions from the processed file, is referred to according to the 1st article of track The NC information banks index of the 1st article of micro-line section in order, the connection of the 1st article of micro-line section is read from the NC information banks concordance list The first address of dynamic table and last address, the first address of servo-actuated table, the state of the 1st article of micro-line section is read from the NC information banks Word；

(3), link reference axis setting steps

The linkage table first address is write L pointers by the linkage reference axis setup module；By the servo-actuated heading address write-in T Pointer；By the status word write state word register, linkage reference axis is specified；

(4), linkage command setting steps

According to the T pointers, the linkage command setup module reads the control rhythm and pace of moving things δ t in the servo-actuated table_iAnd write T segmentations Timer；

(5), rhythm detection step

Timing in the T segmentations timer is arrived, and the rhythm detection module is referred to by linkage interface to the status word The fixed linkage reference axis sends the amount of feeding that the L pointers are specified, and drives the linkage reference axis to refer to by the status word Fixed direction of feed feeding, produces resultant displacement；The virtual coordinates axle specified to the status word sends what the L pointers were specified Technological parameter；

(6), terminal point control step

Terminal point control module judges whether the L pointers are equal to the last address of the linkage table of the 1st article of micro-line section, if The L pointers are equal to the last address of the linkage table, the 1st article of micro-line section completion of processing, perform step (2), the processing Document processing module reads the first address of the linkage table of the 2nd article of micro-line section, the head of servo-actuated table from the NC information banks concordance list Address and last address, the status word of the 2nd article of micro-line section is read from the NC information banks；Otherwise, step (4) is performed, T refers to Pin points to δ t_i+1, continue to process the 1st article of micro-line section；

(8), repeat step (2) is to step (7), until all micro-line section completion of processing in all path instructions, the terminal Control module closes the running mark.

10. cutter track curve real-time control method as claimed in claim 9, is further characterized in that, the step (5) also includes, The rhythm detection module sends the L pointers to the Dynamic Announce switch that the status word is specified by the linkage interface and referred to The fixed amount of feeding, the micro-line section L described in real-time display on screen₁,…,L_mProcess.