臺灣博碩士論文加值系統

由於傳統的CNC 工具機只提供直線以及圓弧插補器，CAM 系統必須產生許多微小的直線及圓弧線段來逼近工件幾何外型，這種近似方法將會產生進給率變動太大、加速度不連續以及加工程式傳輸量太大等問題，在高速加工情況下，這些問題將會大幅降低工件的加工精度。
為了達到高速加工的需求，因此，本論文的目的是在PC-Based 開放式架構下，搭配即時多工作業系統(RTX)的各項功能及插補技術為核心，針對傳統的混合型G 碼(包含G00、G01、G02/G03、G06.2)開發一具有即時預視功能之混合型NC 碼插補器之功能。
首先，此混合型NC 碼插補演算法可事先預視200 個G01 短線段及G02/G03 圓弧線段，一方面可以由G01 連續短線段擬合成NURBS 曲線，另一方面可以將G01 和G02/03 線段混合使用。接著將預讀的線段產生出一平滑且具有加減速連續的速度命令及位置命令；該演算法同時可以偵測到NURBS 曲線和混合線段中的尖銳轉角，並藉由降低尖銳轉角處的加工速度來提升加工精度。
最後，將本論文所提出的方法以MATLAB 模擬其結果，並利用自行研發之PC-Based 控制器在三軸雕刻機進行實驗以驗證其演算法之可行性。

Since traditional CNC (Computer Numerical Control) machines only provide linear and circular interpolations, CAM(Computer Aided Manufacturing)systems have to generate many small linear and circular NC blocks for the parts.
This approach suffers from the problems such as f eedrate fluctuation, acceleration/deceleration (ACC/DEC) discontinuity, and a large volume of data transmission. The problems could significantly reduce machining accuracy
under high-speed machining.
For achieving high-speed and high-accuracy machining, a real-time look-ahead interpolator with hybird NC codes which includes G01, G02/G03, G06.2 etc. is proposed in this thesis. We develop the kernel techniques of
interpolator and its look-ahead function based on PC-Based open architecture. For evaluating real-time performance of the proposed algorithm, the PC -based motion controller with real-time extension (RTX) embedded in Windows
operation is applied to realize real -time computing and multi-tasking.
The proposed algorithm can preview 200 blocks of NC codes such as G01,G02/G03 and G06.2 using the look -ahead function. G01 continuous short segments which satisfied chord tolerance are fitting to be a NURBS curve.
Furthermore, the look-ahead algorithm detects sharp corners of NURBS curves and corners among hybird NC blocks, and adjusts feedrates at the sharp corners
for improving machining accuracy. Finally, the interpolator generates a smooth and continuous acceleration/deceleration feedrate profile for each NC blocks.
Simulations are performed to verify the proposed method using MATLAB.Experiments using a PC-Based controller are conducted to demonstrate that the feasibility and efficiency of the proposed algorithm on a three-axis engraving machine.

摘要·················································· i
ABSTRACT·············································· ii
致謝·················································· iii
目錄·················································· iv
表目錄················································ vii
圖目錄················································ viii
符號說明·············································· xi
第一章前言············································ 1
1.1 研究動機與目的···································· 1
1.2 文獻回顧·········································· 2
1.3 研究方法·········································· 9
1.4 各章節重點········································ 10
第二章PC-Based 開放式控制系統架構····················· 12
2.1 開放式架構控制系統································ 12
2.1.1 開放式架構控制系統之簡介························ 12
2.1.2 OSACA 架構······································ 12
2.2 PC-Based 多工作業系統····························· 14
2.3 整合PC-Based 即時多工作業系統架構················· 15
2.3.2 Windows XP 與RTX 子作業系統之整合··············· 17
2.3.3 PC-Based 控制器硬體平台與軟體模組··············· 18
第三章設計伺服控制系統之運動控制器···················· 20
3.1 建構伺服控制系統·································· 20
3.2 伺服控制系統之系統鑑別···························· 24
3.2.1 傅立葉分析法···································· 24
3.2.2 伺服控制系統之系統鑑別·························· 26
3.3 運動控制器設計···································· 30
3.3.1 速度迴路控制器·································· 30
3.3.2 位置迴路控制器·································· 32
3.3.3 速度前饋控制器·································· 33
第四章即時預視插補器系統架構·························· 36
4.1 插補器加減速架構·································· 36
4.2 CNC 插補器演算法·································· 43
4.2.1 線性插補器······································ 43
4.2.2 圓弧插補器······································ 44
4.2.3 NURBS 插補器···································· 55
4.3 預視插補器之設計·································· 57
4.3.1 預視Buffer 的運作原理··························· 57
4.3.2 預視單節的數量規劃······························ 58
4.3.3 伺服延遲········································ 60
4.3.3 轉角誤差與轉角速度規劃·························· 62
第五章模擬及實驗結果分析······························ 65
5.1 系統鑑別實驗結果·································· 65
5.2 插補器與加減速規劃模擬結果························ 70
5.3 預視插補實驗結果·································· 78
第六章結論與未來研究方向······························ 83
6.1 結論·············································· 83
6.2 未來研究方向······································ 84
參考文獻·············································· 85
Extended Abstract
作者簡歷

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