嵌入式數(shù)控工具磨削系統(tǒng)的六軸聯(lián)動建模及控制算法研究.pdf

1、中南大學博士學位論文嵌入式數(shù)控工具磨削系統(tǒng)的六軸聯(lián)動建模及控制算法研究姓名：陳興武申請學位級別：博士專業(yè)：交通信息工程及控制指導教師：蔣新華20100501博士學位論文ABSTRACTABSTRACTAimmgtooptimizethesoftwareandhardwarestructuresandimproverealtimeresponsecontroIperformanceandreliability，adistributivea

2、rchitectureofCNCtoolgrindingsystemwitll6一axiswasstudiedinthisdissertationbasedonembeddedtechnologyThemathematicalmodelandthecontrolalgorithmforcomplexcutters’curvesin6一coordinatespaceareresearchedtofeedtheaxessimultaneou

3、slyUndercontentsareincludedn)AdistributivestructureforCNCtoolgrindingsystemwith6一axisWasdesignedBasedonembeddedtechnologyofARM9MCU(MicroControllerUnit)，F(xiàn)PGA(FieldProgrammableGateArray)circuitCAN(ControllerAreaNetwork)fie

4、ldbus，andembeddedLINUXsystem，allembeddedCNCtoolgrindingsystemin6axisfeedwithupperandlowercontrollerstructuresWasdeveloped(2)Themathematicalmodelsforpositionrelationshipofthecomplexcurvesin6coordinatespacewereresearchedan

5、dbuiltBasedontheembeddedCNCtOolgrindingstructurewith6axesthemulti—axisfeedmathematicalmodelsforgrindingtllecomplexcutterswithrakeandclearanceoftheconicalandballnoseweredesignedandestablished(3)Theinterpolationalgorithmsf

6、orlogarithmiccurvewereproposedTheoddevenstepsinterpolationalgorithmWasdesignedandinferredtocontrolthelogarithmicrelationshipsbetweentheaxesfeedwhengrindingtheconicalandballnosecuaerSItiSfeaturedwithquickincomputationands

7、uitableforrealtimeapplicationinembeddedCNCsystemFurthermoreanoveloddevenstepSthirdorderapproachinteroolationalgorithmWaspresentedSOastaisethecontrolaccuracyforinterpolatingthelogarithmiccurve(4)A6coordinatefeedcontrolalg

8、orithmWasnewlydesignedItwasproposedtocontrolthe6axisfeedforanycomplexspacecurvewith6coordinateCombiningwiththeproposedoddevenst印Sinterpolationalgorithmforlogarithmiccurveitrealizesrealtimecontrolinthegrindingprocessforco

9、mplexcutterswithconicalandballnose(5)Theproposedlogarithmiccurve’sinterpolationalgorithmsandthe6coordinatefeedcontrolalgorithmforgrindingtheconicalcuttersweresimulatedbv^以盯LABsoRwareandgotsatisfiedwithhighaccuracyandeffe

10、ctivenessfromvalidation(6)AnembeddedCNCtoolgrindingprototypemachineWasbuiltandtheproposedcontrolalgorithmsweretestedinpracticeResultsfromfieldgrindingtherakeandclearanceofconicalcutterprovedthepracticalapplicationsofboth

11、theembeddedCNCsystemandthecontroIalgorithmsThecharacteristicscontrolaccuracyandtheef|ficiencyoftheproposedcontrolalgorithmswereanalyzedattheendpartofthedissertationandfutureworkwasalsooutlined舡YWoRDS：6axissimultaneousfee