臺灣博碩士論文加值系統

新一代CNC控制器趨勢朝向高品質、客製化與少量多樣為方向，其關鍵在於研究如何在不同的加工條件下，依舊保持高精度與高表面品質的表現。本研究的目標為設計一套系統化流程來建立伺服調機與插補參數優化技術，藉以提升五軸控制器的加工精度和效能。首先透過SIEMENS Auto Servo Tuning功能進行掃頻訊號激振機台，求得虛擬工具機模型，控制器再依據給定的系統規格優化伺服參數並達到五軸伺服匹配。接著推導位置命令與追蹤誤差間的轉移函數，藉以求得直線路徑與圓弧路徑的輪廓誤差與追蹤誤差的解析解，並使用SIEMENS Trace 功能擷取光學尺或編碼器的位置回授訊號加以驗證。此研究所優化插補參數包含:最大加加速度限制、摩擦力補償與向心加速度比例，而追蹤誤差、輪廓誤差與加工時間被視為加工性能指標。接著使用KAKINO標準路徑在3種平面下以實機空切的方式蒐集不同插補參數組合下的實驗數據數據，以此數據分析各參數對於加工時間、追蹤誤差與輪廓誤差產生的影響，用來調教關鍵的插補參數。最後使用NAS979標準進行實機空跑測試，蒐集三軸同動(圓柱路徑)及五軸同動(圓錐路徑)的實驗數據，確認五軸加工性能指標與插補參數之間的關係，提出一符合實際加工需求之最佳組合，用來驗證本研究提出的方法可以進一步提升五軸工具機之加工精度、效能與品質。

The trend of the new generation CNC controllers is moving towards high quality, customization, and small-batch diversity. The key lies in researching how to maintain high precision and surface quality under different machining conditions. The objective of this research is to design a systematic process for establishing servo tuning and interpolation parameter optimization techniques to enhance the machining precision and performance of five-axis controllers. Firstly, the SIEMENS Auto Servo Tuning functionality is used to excite the machine through frequency scanning signals, obtaining a virtual machine tool model. The controller then optimizes the servo parameters according to the specified system specifications to achieve five-axis servo matching. Next, the transfer functions between position commands and tracking errors are derived to obtain analytical solutions for contour errors and tracking errors of linear and circular path trajectories. The SIEMENS Trace functionality is used to capture position feedback signals from optical scales or encoders for validation.The optimization of interpolation parameters in this study includes: maximum acceleration limits, friction compensation, and centripetal acceleration ratio. Tracking error, contour error, and machining time are considered as performance indicators. Experimental data is collected using the KAKINO standard path in three planes with the machine in air-cutting mode to analyze the impact of different parameter combinations on machining time, tracking error, and contour error, to fine-tune the critical interpolation parameters.Finally, the NAS979 standard is used for real-machine running tests, collecting experimental data for three-axis simultaneous motion (cylindrical path) and five-axis simultaneous motion (conical path) to confirm the relationship between five-axis machining performance indicators and interpolation parameters. An optimal combination that meets actual machining requirements is proposed to verify that the method proposed in this research can further enhance the machining precision, performance, and quality of the five-axis machine.

摘要..........................i
Abstract......................ii
誌謝...........................iii
目錄............................iv
表目錄.........................vi
圖目錄..........................vii
符號說明.......................ix
第一章 緒論...................1
1.1 研究動機與目的..........1
1.2 文獻探討................2
1.3 研究方法................4
1.4 論文架構................4
第二章 五軸工具機之座標轉換.....5
2.1 機械座標定義............5
2.2 齊次座標轉換矩陣.........5
2.3 順逆向運動學............7
1 2.3.2 順向運動學.........8
2 2.3.3 逆向運動學.........9
第三章 商用控制器高階功能.......10
第四章 伺服控制迴路.............18
4.1 伺服控制迴路.............18
4.2 伺服誤差定義.............18
4.3 追蹤誤差解析解...........20
3 4.3.1 直線段............20
4 4.3.2 圓弧線段..........21
4.4 輪廓誤差解析解..........22
5 4.4.1 直線段............22
6 4.4.2 圓弧線段...........23
4.5 真圓度與同心度計算........23
7 4.5.1 真圓度............23
8 4.5.2 同心度............24
第五章 插補參數優化實驗.........26
5.1 實驗平台.................26
5.2 實驗架構..................27
5.3 測試路徑與擷取資料分析.....28
9 5.3.1 標準測試路徑..........28
10 5.3.2 銑削刀具...........29
11 5.3.3 擷取資料分析.......29
5.4 摩擦補償.................31
5.5 插補參數優化參數..........38
第六章 KAKINO路徑實驗結果.......40
6.1 KAKINO路徑實驗結果.......40
12 6.1.1 XY平面參數比較.....42
13 6.1.2 XZ平面參數比較.....43
14 6.1.3 YZ平面參數比較.....45
6.2 ISO-10791/7(M3)路徑實驗結果.....47
6.3 實驗結果........................50
第七章 結論與未來方向..................53
參考文獻...............................54

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