Dynamical monitoring of a coordinate measuring machine using recursive filtering

摘要

A method for providing dynamic state information for a coordinate measuring machine that includes a base, a probe head, a machine structure with structural components linking the probe head to the base and a drive mechanism that moves the probe head relative to the base. A dynamic model is defined with actual state variables related to physical properties representing an actual state of the coordinate measuring machine. The actual state is derived by a calculation based on the dynamic model. A filtering process using the dynamic model includes deriving prediction variables based on the state variables that describe an expected proximate state of the coordinate measuring machine, measuring at least one of the state variables and determining observables, deriving successive state variables by comparing the prediction variables with the observables and updating the dynamic model using the successive state variables as the actual state variables.

主权项

1. A method for providing dynamic state information for at least a part of a coordinate measuring machine, the coordinate measuring machine comprising:
a base; a probe head; a machine structure with structural components for linking the probe head to the base; and at least one drive mechanism for providing movability of the probe head relative to the base, wherein the following steps are carried out for execution of the method: defining a dynamic model with an actual set of state variables, the state variables being related to a set of physical properties of at least the part of the coordinate measuring machine and representing an actual state of at least the part of the coordinate measuring machine; and deriving the actual state of at least the part of the coordinate measuring machine by a calculation based on the dynamic model; executing a filtering process with the dynamic model, the filtering process including:
deriving a set of prediction variables based on the state variables, the set of prediction variables describing an expected proximate state of at least the part of the coordinate measuring machine;measuring at least one of the physical properties and determining a set of observables based on the measuring;deriving a set of successive state variables by comparing the set of prediction variables with the set of observables, the successive state variables providing an adjusted representation of the proximate state of at least the part of the coordinate measuring machine; andupdating the dynamic model using the set of successive state variables as the actual set of state variables.