极坐标堆焊沉积成型插补控制算法研究

Research on Interpolation Control Algorithm of Polar Arc Welding Deposition Molding

本文介绍了极坐标运动轨迹控制在堆焊增材制造中的优势,研究了极坐标直线插补和圆弧插补算法,采用三次多项式拟合各轴的速度曲线,结合位置伺服解决了逐点比较法中的悬臂摆振问题,通过实验对比发现极坐标插补在堆焊快速成型方面与直角坐标插补效率相当,结合机械回转填充方式能避免传统直角坐标方式的插补计算带来的响应滞后.最后与极坐标逐点比较法进行对比测试,验证了成型控制软件的执行效率,发现当插补精度为0.04mm时,可获得较好的成型精度与响应时间.

The advantages of polar coordinates in the manufacture of arc welding are introduced and the polar coordinate linear interpolation and arc interpolation algorithm are studied. The speed curve of each axis was fitted by three times polynomial. The problem of cantilever pendulum vibration in point by point comparison method is solved when combined the speed curve with position servo. Through experimental comparison, it is found that polar coordinate interpolation is quite the same as rectangular coordinate interpolation in arc welding forming. And it can be avoided the response delay caused by interpolation calculation of traditional Cartesian coordinates when combined with mechanical rotation filling method.Finally, the execution efficiency of the molding control software is verified. It is found that when the interpolation accuracy is 0.04 mm, better machining accuracy and response time can be obtained