Machine tool controller and part inspection monitor

• US 4,422,150 A
• Filed: 06/24/1982
• Issued: 12/20/1983
• Est. Priority Date: 05/23/1980
• Status: Expired due to Term

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Brinkerhoff, Kenneth W., Wylie, Charles F., Andrews, Robert B. Jr., Keller, Bruce E.
• Primary Examiner(s): Ruggiero, Joseph F.
• Application Number:
  US06/391,608
• Time in Patent Office: 544 Days
• Field of Search: 364/474, 364/475, 364/553, 364/167-171, 364/550, 364/551, 364/560, 318/561, 318/572, 318/570, 408/3, 408/8-13, 409/79, 409/80
• US Class Current: 700/193
• CPC Class Codes: G05B 19/4086 Coordinate conversions; Other special calculations
• CPC Class Codes: G05B 2219/33285 Diagnostic
• CPC Class Codes: G05B 2219/34316 Install nc system, check voltages, power supply with incorporated a-d
• CPC Class Codes: G05B 2219/34466 Bad circuits, watchdog, alarm, indication
• CPC Class Codes: G05B 2219/35367 Only read buffer, advance tape while machining with data from read buffer
• CPC Class Codes: G05B 2219/37275 Laser, interferometer
• CPC Class Codes: G05B 2219/37612 Transfer function, kinematic identification, parameter estimation, response
• CPC Class Codes: G05B 2219/42162 Model reference adaptive control MRAC, correction fictive-real error, position
• CPC Class Codes: G05B 2219/42329 Defective measurement, sensor failure

Abstract

A machine tool controller and part inspection monitor that controls part cutting by a machine tool (21) and provides a readout of cutter deviation beyond a preset tolerance is disclosed. Axis position sensors (23) continuously sense the position of the part (if the part is moved), the position of the cutter (if the cutter is moved) or the position of the part and the cutter (if both are moved) along various control axes. A data processor (31) uses the sensed axis position data to continuously determine the transfer function of the machine tool (21). The data processor (31) combines the transfer function information with data that defines the centerline of the cut to produce control signals suitable for controlling part and/or cutter movement. The location and amount of deviation from the defined centerline greater than the allowable tolerance are recorded and read out.

Claims

1. A machine tool controller and part inspection monitor for controlling the cutting of parts by a machine tool and producing a readout denoting deviations of the actual cutting path from the desired path beyond a predetermined tolerance, said machine tool controller and part inspection monitor comprising:

(A) position sensors for continuously sensing the relative position of a part to be cut and a cutter along predetermined axes and continuously producing axes position signals related thereto;

(B) centerline signal producing means for producing centerline signals that define the centerline of the cutting path of travel to be followed by said cutter as a part is being cut;

(C) positioning means for controlling the relative position of said part and said cutter in response to position command signals; and

,

(D) data processing means coupled to said position sensors, said centerline signal producing means and said positioning means for;

(1) receiving said axes position signal;

(2) receiving said centerline signals;

(3) continuously determining the transfer function of said machine tool;

(4) using said continuously determined transfer function and said centerling signals to produce position command signals adapted to cause said relative position of said cutter and said part to follow the centerline of the cutting path of travel defined by said centerline signals;

(5) applying said position command signals to said positioning means for controlling the operation of said positioning means such that the relative position of said cutter and said part follow the centerline of the cutting path of travel defined by said centerline signals; and

,

(6) determining when the relative position of said cutter and said part deviates from said centerline of the cutting path of travel defined by said centerline signals beyond a predetermined amount and storing for readout data related to said deviations.

2. A machine tool controller and part inspection monitor as claimed in claim 1 wherein said centerline of the cutting path of travel is defined by a series of vectors.

3. A machine tool controller and part inspection monitor as claimed in claim 2 wherein said data processing means includes a holding still mode of operation during which said centerline signals define a cut starting position and said position command signals are adapted to maintain the relative position of said cutter and said part at said cut starting position.

4. A machine tool controller and part inspection monitor as claimed in claim 3 wherein said holding still mode of operation includes:

(A) a GOV subroutine for;

(1) determining a correction vector running from the actual relative position of said part and said cutter, as defined by said axis position signals, to the cut starting position, as defined by said centerline signals; and

,

(2) determining displacement compensation velocity based on said correction vector and the acceleration limit of the machine tool being controlled normal to the centerline of the cutting path of travel defined by said centerline signals; and

,

(B) a MCHN subroutine for;

(1) determining velocity compensation based on a previously developed feedback factor;

(2) summing said velocity compensation with said displacement compensation velocity; and

,

(3) utilizing said sum of said velocity compensation and said displacement compensation to control said position command signals.

5. A machine tool controller and part inspection monitor as claimed in claim 4 wherein said MCHN subroutine utilizes said sum of said velocity compensation and said displacement compensation to control said position command signals by indexing said sum to the appropriate segment of a previously determined sensitivity and offset curve, which converts said sum into count signals, said count signals forming said position command signals.

6. A machine tool controller and part inspection monitor as claimed in claim 5 wherein the MCHN subroutine determines said transfer function of said machine tool by:

filtering the axes position signals produced by said position sensors to remove high frequency components therefrom;

determining measured velocity based on sequential axes position signals;

updating a related segment of said sensitivity and offset curve in accordance with said measured velocity;

determining a new velocity feedback factor based on said filtered axes position signals; and

,

determining the acceleration limit normal to the centerline of said cutting path of travel defined by said centerline signals.

7. A machine tool controller and part inspection monitor as claimed in claim 3 wherein said data processing means includes a geometry following mode of operation during which said centerline signals define a path of travel along which said cutter is to move and said position command signals are adapted to cause the relative position of said cutter and said part to follow said path of travel.

8. A machine tool controller and part inspection monitor as claimed in claim 7 wherein said geometry following mode of operation includes:

(A) a CTL subroutine for;

(1) setting a target feedrate;

(2) determining a correction vector running from the actual relative position of said part and said cutter, as defined by said axes position signals, to a point on said centerline defined by said centerline signals; and

,

(3) determining displacement compensation velocity based on said correction vector and said target feedrate; and

,

(B) a MCHN subroutine for;

(1) determining velocity compensation based on a previously developed feedback factor;

(2) summing said velocity compensation with said displacement compensation velocity; and

,

(3) utilizing said sum of said velocity compensation and said displacement compensation to control said position command signals.

9. A machine tool controller and part inspection monitor as claimed in claim 8 wherein said MCHN subroutine utilizes said sum of said velocity compensation and said displacement compensation to control said position command signals by indexing said sum to the appropriate segment of a previously determined sensitivity and offset curve, which converts said sum into count signals, said count signals forming said position command signals.

10. A machine tool controller and part inspection monitor as claimed in claim 9 wherein said MCHN subroutine determines said transfer function of said machine tool by:

filtering the axes position signals produced by said position sensors to remove high frequency components therefrom;

determining measured velocity based on sequential axes position signals;

updating a related segment of said sensitivity and offset curve in accordance with said measured velocity;

determining a new velocity feedback factor based on said filtered axes position signals;

updating acceleration and deceleration limits parallel to the centerline of said cutting path of travel; and

,

determining the acceleration limit normal to the centerline of said cutting path of travel defined by said centerline signals.

11. In a machine tool controller for controlling a machine tool such that the relative position of a part to be machined and a cutter for machining said part follow a predetermined path, the improvement comprising:

position sensors for continuously determining the relative position of the part to be machined and the cutter along predetermined axes and continuously producing axes position signals related thereto; and

,

data processing means connected to said position sensors for;

(a) receiving said continuously produced axes position signals;

(b) continuously determining the transfer function of said machine tool based on the information contained in said continuously produced axes position signals; and

, (c) utilizing said transfer function information to control the production of position command signals adapted to control said machine tool such that said cutter follows said predetermined path of travel.

12. The improvement claimed in claim 11 wherein said transfer function of said machine tool is determined by:

filtering the axes position signals produced by said position sensors to remove high frequency components therefrom;

determining measured velocity based on sequential axes position signals;

updating a related segment of a previously determined sensitivity and offset curve in accordance with said measured velocity;

determining a new velocity feedback factor based on said filtered axes position signals; and

,

determining the acceleration limit normal to the centerline of said cutting path of travel defined by said centerline signals.

13. The improvement claimed in claim 11 wherein said transfer function of said machine tool is determined by:

filtering the axes position signals produced by said position sensors to remove high frequency components therefrom;

determining measured velocity based on sequential axes position signals;

updating a related segment of a previously determined sensitivity and offset curve in accordance with said measured velocity;

determining a new velocity feedback factor based on said filtered axes position signals;

updating acceleration and deceleration limits parallel to the centerline of said cutting path of travel; and

,

determining the acceleration limit normal to the centerline of said cutting path of travel defined by said centerline signals.