摘要
为避免非辨识轴几何误差、伺服控制误差等干扰源对测量结果的负面影响,降低辨识模型复杂度,提出了一种基于球杆仪单轴运动测量的旋转轴几何误差辨识方法。以单轴运动模式代替传统的多轴联动测量模式,首先基于齐次坐标变换理论建立了旋转工作台在位置相关几何误差影响下的杆长变化量(ΔL)的数学模型;然后通过分析球杆仪的安装参数,基于列满秩辨识矩阵构建误差辨识模型,并据此设计了一种包含9次独立测量试验的辨识方案。该方案通过提高测量试验次数,减少了单次试验中较大测量误差可能造成的系统辨识精度损失,具有较高的方法鲁棒性。在辨识实验中,通过迭代调整的方式对刀具球进行精确安装,并排除了工件球安装误差和工作台位置无关几何误差的影响。最后,进行了ΔL的预测分析和误差补偿实验,补偿后工作台一圈内ΔL的最大绝对值由0.0103 mm减少至0.0020 mm,验证了该辨识方法的有效性。
In order to avoid the negative influence of the interference sources such as the geometric errors and servo-control errors of non-identified axes on the measurement results,and lower the complexity of the identification model,this paper proposes an identification method for the geometric errors of rotary axes based on uniaxial motion measurement of double ball bar(DBB),which uses uniaxial motion mode to replace the conventional multiaxial linkage measurement mode.Firstly,the mathematical models of the bar length change(ΔL)under the influence of the position-dependent geometric errors of the rotary worktable is established based on homogeneous coordinate transformation theory.Then,through analyzing the installation parameters of the DBB,an error identification model is constructed based on the column full-rank identification matrix,based on which an identification scheme including nine independent measurement tests is designed.The scheme has high robustness through increasing the number of the measurement tests,which reduces the possible identification accuracy loss caused by the relatively large measurement errors in a single test.In the identification experiments,accurate installation of the tool ball was achieved through iterative adjustment,and the influences of the installation errors of the workpiece ball and the position-independent geometric errors of the worktable were excluded.Finally,the prediction analysis ofΔL and the experiment of error compensation were performed.The maximum absolute value ofΔL in one rotation of the worktable is reduced from 0.0103 mm to 0.0020 mm after compensation,which verifies the effectiveness of the identification method.
作者
夏长久
王时龙
徐凯
马驰
Xia Changjiu;Wang Shilong;Xu Kai;Ma Chi(Sate Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing 400044,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2020年第7期19-28,共10页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金(51635003,51905057)
重庆市自然科学基金面上项目(cstc2019jcyj-msxmX0050,cstc2019-jcyj-msxm-X0058)
国家重点研发计划项目(2018YFB1701203)
中央高校基本科研业务费(2020CDJQY-A036)
重庆市留学人员回国创业创新支持计划(cx2019054)
西安交通大学制造系统工程国家重点实验室开放课题研究基金(sklms2020016)项目资助
关键词
旋转轴
几何误差
球杆仪
误差辨识
单轴运动测量
rotary axis
geometric error
double ball bar
error identification
uniaxial motion measurement
