SINUMERIK 840D系统在串并混联试验台曲线加工中的应用

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摘要

近年来一些少自由度并联机构成为新的研究热点，同时，数控系统的开放化是当今数控技术的主流。本课题就是针对这两个趋势，

分析了一种新型、结构简单、造价低的平面二自由度的并联机构，同时对 SINUMERIK 840D 数控系统的结构和性能进行了深入的研究，利

用其提供的 OEM 二次开发软件开发出了与新型平面二自由度的并联试验台配套的人机管理界面，实现了多种曲线的自动化加工。主要工作

如下：

(1) 分析了高速数控机床试验台的运动变换，建立几何约束方程，成功的建立

了该机构的正、逆解数学模型，同时对机构的速度、加速度进行分析，给出了刀位与各轴之间速度转换的数学模型及该试验台的作业空间，

为研究试验台的插补算法提供了理论依据。

(2) 根据试验台的位置、速度反演的数学模型给出了粗精插补的方法：粗插补

采用时间片的方法将刀位在时间轴上离散化，给出每个点序的位置、速度，精插补是在伺服驱动器上采用 PVT 运动模式实现了直线、圆弧

的插补。同时，研究了数控加工中插补节点的计算方法，利用参数化编程的方法实现了并联试验台的多曲线自动化加工。

(3) 深入研究了 SINUMERIK 840D 数控系统，利用其提供的 OEM 二次开发

软件，在 Visual Basic 环境下，开发出了与试验台配套的加工界面，利用 SINUMERIK 840D 系统的 NCDDE 服务器提供的变量服务、域服务、

程序调用服务等功能实现了 HMI 和NC 之间的数据传递以及系统内部的通讯，并建立了 HMI 的网络连接。

关键词：并联数控机床机构运动变换插补算法 NC 运动控制 SINUMERIK 840D 参数化编程

ABSTRACT

Less degree of freedom parallel mechanism become a new hotspot, in recent years, open CNC system also become an important direction of

CNC technology. According to these two trends, this paper not only has analyzed a 2 DOF planar parallel mechanism with simple structure and low

cost, at the same time, this subject also has researched in-depth the configuration of the SINUMERIK840D and has developed the HMI mating with the

new mechanism to realize automatic machining of various non-circular curve with the redevelopment software OEM provided by SINUMERIK

840D.The main research of this paper is as follows:

(1) The transform of platform was analyzed. The geometry constraint equations

for this mechanism are given. The forward kinematics of this mechanism is successfully derived in analytical form and reverse model is given. The

velocity and acceleration are analyzed. Work space of parallel mechanism and mathematical models of the transform platform of velocity between tool

position and every axis are given. Above content shows theoretical basis of interpolation algorithm.

(2) According to the models of position and velocity, algorithm including rough

interpolation and precise interpolation was given. In rough interpolation, tool position was discretized along the time axis and every point sequence of

position and velocity were given; in precise interpolation, the PVT algorithm is adopted. By the new algorithm, line interpolation and circular

interpolation were realized. The calculation method of interpolation node in NC machining was made in research.

(3) This paper developed machining interface mating with the new mechanism un-

der Visual Basic environment. Besides we have realized the data transmission between HMI and NC and system inner communication with the Variable

Service, Domain Service, PI Service offered by NCDDE Server of the 840D, moreover, the HMI network connections was built.

Key Words: parallel NC machine tool, interpolation algorithm,

SINUMERIK840D system, Parametric programming

第一章 绪论
目录
中文摘要
ABSTRACT
第一章 绪 论.................................................................................................................................................................................................................. 4
§1.1 本文的研究背景及意义.............................................................................................................................................................................. 4
§1.2 国内外的研究现状...................................................................................................................................................................................... 4
§1.2.1 并联机床数控系统建造的若干技术................................................................................................................................................. 4
§1.2.2 开放式系统的现状及发展趋势......................................................................................................................................................... 4
§1.2.3 数控编程的现状及发展趋势............................................................................................................................................................. 4
§1.3 本文的主要研究内容及组织结构.............................................................................................................................................................. 4
第二章 试验台的运动学分析......................................................................................................................................................................................... 4
§2.1 试验台机构分析......................................................................................................................................................................................... 4
§2.1.1 数控机床试验台组成........................................................................................................................................................................ 4
§2.1.2 试验台的几何模型............................................................................................................................................................................ 4
§2.2 机床机构的运动分析.................................................................................................................................................................................. 4
§2.2.1 机构组成及自由度分析.................................................................................................................................................................... 4
§2.2.2 试验台机构运动学的几何约束方程................................................................................................................................................. 4
§2.2.3 试验台机构位置的正、逆解模型..................................................................................................................................................... 4
§2.2.4 试验机构的速度与加速度分析......................................................................................................................................................... 4
§2.2.5 试验机构作业空间的分析................................................................................................................................................................. 4
§2.3 小结............................................................................................................................................................................................................. 4
第三章 曲线加工插补算法的研究.................................................................................................................................................................................. 4
§3.1 常用的数控系统插补控制方案.................................................................................................................................................................. 4
§3.2 试验台插补算法的分析.............................................................................................................................................................................. 4
§3.2.1 试验台的插补策略............................................................................................................................................................................ 4
§3.2.2 试验台操作空间上的粗插补............................................................................................................................................................. 4
§3.2.3 试验台各驱动轴的精插补................................................................................................................................................................. 4
§3.3 非圆曲线加工的实现.................................................................................................................................................................................. 4
§3.3.1 非圆曲线节点计算方法的研究......................................................................................................................................................... 4
§3.3.2 曲线加工的编程方法........................................................................................................................................................................ 4
§3.4 曲线加工参数化编程方法的研究............................................................................................................................................................... 4
§3.4.1 参数化编程的原理及方法................................................................................................................................................................. 4
1

SINUMERIK 840D 系统在串并混联试验台曲线加工中的应用

第一章 绪论
§3.4.2 西门子 840D 系统中参数编程的实现............................................................................................................................................... 4
§3.5 小结............................................................................................................................................................................................................. 4
第四章 高速数控机床试验台数控系统.......................................................................................................................................................................... 4
§4.1 西门子 840D 系统的功能及特点................................................................................................................................................................ 4
§4.1.1 840D 系统功能.................................................................................................................................................................................. 4
§4.1.2 840D 系统功能特点.......................................................................................................................................................................... 4
§4.2 试验平台控制系统的硬件结构.................................................................................................................................................................. 4
§4.3 系统的软件结构.......................................................................................................................................................................................... 4
§4.3.1 MMC 软件系统................................................................................................................................................................................. 4
§4.3.2 840D NC 软件系统............................................................................................................................................................................ 4
§4.3.3 PLC 软件系统.................................................................................................................................................................................... 4
§4.4 开放的西门子 840D 数控系统.................................................................................................................................................................... 4
§4.5 小结............................................................................................................................................................................................................. 4
第五章 系统应用软件及系统内部通讯.......................................................................................................................................................................... 4
§5.1 OEM 二次开发软件.................................................................................................................................................................................... 4
§5.1.1 OEM 的功能及 OEM 应用程序......................................................................................................................................................... 4
§5.1.2 顺序控制............................................................................................................................................................................................ 4
§5.1.3 界面开发及嵌入................................................................................................................................................................................ 4
§5.2 系统的内部通讯......................................................................................................................................................................................... 4
§5.2.1 动态数据交换.................................................................................................................................................................................... 4
§5.2.2 840D 数据交换服务.......................................................................................................................................................................... 4
§5.3 小结............................................................................................................................................................................................................. 4
第六章 系统运行及加工实例......................................................................................................................................................................................... 4
§6.1 系统软件的运行界面.................................................................................................................................................................................. 4
§6.2 加工实例分析............................................................................................................................................................................................. 4
§6.2.1 圆度误差的数学模型........................................................................................................................................................................ 4
§6.2.2 实例数据分析.................................................................................................................................................................................... 4
§6.3 小结............................................................................................................................................................................................................. 4
第七章 结论.................................................................................................................................................................................................................... 4
§7.1 总结............................................................................................................................................................................................................. 4
§7.2 展望............................................................................................................................................................................................................. 4
参考文献.......................................................................................................................................................................................................................... 4
3

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摘要：

摘要近年来一些少自由度并联机构成为新的研究热点，同时，数控系统的开放化是当今数控技术的主流。本课题就是针对这两个趋势，分析了一种新型、结构简单、造价低的平面二自由度的并联机构，同时对SINUMERIK840D数控系统的结构和性能进行了深入的研究，利用其提供的OEM二次开发软件开发出了与新型平面二自由度的并联试验台配套的人机管理界面，实现了多种曲线的自动化加工。主要工作如下：(1)分析了高速数控机床试验台的运动变换，建立几何约束方程，成功的建立了该机构的正、逆解数学模型，同时对机构的速度、加速度进行分析，给出了刀位与各轴之间速度转换的数学模型及该试验台的作业空间，为研究试验台的插补算法提供了理论...

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