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18px;">5.1补偿实验设置</span></p><p><span style="font-size: 18px;">为验证该模型的实用性，设计开展了热误差补偿实验。实验的设备参数、测量方式与热特性实验相同，但计算机以OPC-UA协议与数控系统通讯,搭载的误差模型可基于传感器与系统寄存器的输入,计算补偿值并传递给数控系统。数控系统中与补偿有关的部分寄存器见表11，输入补偿值便可采用原点偏移法进行补偿。需要注意,补偿运动无法减小关键部件的热变形,原理上也不会影响刀尖点以外误差项的测量值。</span></p><p style="text-align: center;"><img src="/bethel/upload/images/202608/17875523136102.png" title="17875523136102.png" alt="image.png"/></p><p style="text-align: center;"><span style="font-size: 18px;">以下讨论如何计算各个轴的补偿值。当摇篮轴旋转补偿A轴时,会对Y、Z轴的测量值产生影响。故调整工作台上支架的安放位置,令DE0、DE1的支撑杆经过摇篮的转轴。此时根据式1得到A、Z、Y三个轴的补偿量:</span><img src="/bethel/upload/images/202608/17875523377527.png" title="17875523377527.png" alt="image.png"/></p><p><span style="font-size: 18px;">式中:d为传感器DE0到摇篮转轴的垂直距离。则 <span class="strut" style="font-size: 18px; height: 0.6833em;"></span>Δa<span class="mspace" style="font-size: 18px; margin-right: 0.2222em;"></span>⋅<span class="mspace" style="font-size: 18px; margin-right: 0.2222em;"></span><span class="strut" style="font-size: 18px; height: 0.6944em;"></span>d 是小角度假设下A轴补偿对Z轴的影响,对Y轴的影响为极小量。<span class="strut" style="font-size: 18px; height: 1.1079em; vertical-align: -0.15em;"></span><span class="vlist" style="font-size: 18px; height: 0.9579em;"><span style="font-size: 18px; top: -3em;"><span class="pstrut" style="font-size: 18px; height: 3em;"></span><span class="mord mathnormal" style="font-size: 18px; margin-right: 0.02778em;">θ</span></span><span style="font-size: 18px; top: -3.2634em;"><span class="pstrut" style="font-size: 18px; height: 3em;"></span><span class="accent-body" style="font-size: 18px; left: -0.1667em;">^</span></span></span><span class="vlist" style="height: 0.1514em; font-size: 18px; top: -2.55em; margin-left: -0.0278em; margin-right: 0.05em;"><span class="pstrut" style="font-size: 18px; height: 2.7em;"></span>s</span><span class="vlist" style="font-size: 18px; height: 0.15em;"></span> 等误差项为从误差模型中得到的预测值。</span></p><p><span style="font-size: 18px;">5.2补偿实验结果</span></p><p><span style="font-size: 18px;">补偿实验的条件为转速5000 r/min、高度 <span class="strut" style="font-size: 18px; height: 0.6833em;"></span><span class="mord mathnormal" style="font-size: 18px; margin-right: 0.22222em;">Y</span><span class="mspace" style="font-size: 18px; margin-right: 0.2778em;"></span>=<span class="mspace" style="font-size: 18px; margin-right: 0.2778em;"></span><span class="strut" style="font-size: 18px; height: 0.7278em; vertical-align: -0.0833em;"></span>−435 mm，实验情况如图11所示。在条件相同、环境温度相近(14℃)的两天进行了补偿前后的测量实验,并确认两次实验中测点温升量基本一致。以补偿前实验的数据为误差模型的验证集,实验最后(10000s)时的实测与预测误差项见表12,发现实测值绝对值小时预测的相对误差较大,但较小项的波动对刀尖点补偿总体影响不大,模型预测有较好的准确性。</span></p><p style="text-align: center;"><span style="font-size: 18px;"></span><img src="/bethel/upload/images/202608/17875523589192.png" title="17875523589192.png" alt="image.png"/><span style="font-size: 18px;"></span></p><p style="text-align: center;"><span style="font-size: 18px;">表12实测与预测误差项对比</span></p><p style="text-align: center;"><span style="font-size: 18px;"></span><img src="/bethel/upload/images/202608/17875523759780.png" title="17875523759780.png" alt="image.png"/></p><p><span style="font-size: 18px;">图12给出了补偿前后刀尖点误差的变化情况。除去模型本身的预测精度以外，运动轴的几何精度、补偿运动产生的振动均会对补偿的效果产生影响。在实验结束接近稳态时,<span class="strut" style="font-size: 18px; height: 0.8444em; vertical-align: -0.15em;"></span><span class="mord mathnormal" style="font-size: 18px; margin-right: 0.02778em;">θ</span><span class="vlist" style="height: 0.3283em; font-size: 18px; top: -2.55em; margin-left: -0.0278em; margin-right: 0.05em;"><span class="pstrut" style="font-size: 18px; height: 2.7em;"></span><span class="mord mathnormal mtight" style="font-size: 18px; margin-right: 0.13889em;">T</span></span><span class="vlist" style="font-size: 18px; height: 0.15em;"></span> 减小了4.44μrad(55%)、<span class="strut" style="font-size: 18px; height: 0.8444em; vertical-align: -0.15em;"></span><span class="mord mathnormal" style="font-size: 18px; margin-right: 0.02778em;">θ</span><span class="vlist" style="height: 0.3283em; font-size: 18px; top: -2.55em; margin-left: -0.0278em; margin-right: 0.05em;"><span class="pstrut" style="font-size: 18px; height: 2.7em;"></span><span class="mord mathnormal mtight" style="font-size: 18px; margin-right: 0.13889em;">T</span></span><span class="vlist" style="font-size: 18px; height: 0.15em;"></span> 笔误应为 <span class="strut" style="font-size: 18px; height: 0.8444em; vertical-align: -0.15em;"></span><span class="mord mathnormal" style="font-size: 18px; margin-right: 0.02778em;">θ</span><span class="vlist" style="height: 0.3283em; font-size: 18px; top: -2.55em; margin-left: -0.0278em; margin-right: 0.05em;"><span class="pstrut" style="font-size: 18px; height: 2.7em;"></span><span class="mord mathnormal mtight" style="font-size: 18px; margin-right: 0.13889em;">T</span></span><span class="vlist" style="font-size: 18px; height: 0.15em;"></span> 减小4.44μrad(55%)、<span class="strut" style="font-size: 18px; height: 0.8333em; vertical-align: -0.15em;"></span><span class="mord mathnormal" style="font-size: 18px; margin-right: 0.22222em;">Y</span><span class="vlist" style="height: 0.3283em; font-size: 18px; top: -2.55em; margin-left: -0.2222em; margin-right: 0.05em;"><span class="pstrut" style="font-size: 18px; height: 2.7em;"></span><span class="mord mathnormal mtight" style="font-size: 18px; margin-right: 0.13889em;">T</span></span><span class="vlist" style="font-size: 18px; height: 0.15em;"></span> 减小了5.83μm(73%)、Z减小了47.92μm(74%)，一定程度上满足了实时补偿的要求。</span></p><p style="text-align: center;"><span style="font-size: 18px;"></span><img src="/bethel/upload/images/202608/17875523972357.png" title="17875523972357.png" alt="image.png"/><span style="font-size: 18px;"></span></p><p><br/></p></div> <div class="blank30"></div> <!-- tag --> <div class="blank10"></div> 标签： <a href='/index.php?case=tag&act=show&tag=%E4%BA%94%E8%BD%B4%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>五轴加工中心</a> <div class="blank30"></div> <!--自动调用自定义字段--> <div 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