| Aiming to optimize the software- and hardware-structures and improve real-time response, control performance and reliability, a distributive architecture of CNC tool grinding system with 6-axis was studied in this dissertation based on embedded technology. The mathematical model and the control algorithm for complex cutters'curves in 6-coordinate space are researched to feed the axes simultaneously. Under contents are included.(1) A distributive structure for CNC tool grinding system with 6-axis was designed. Based on embedded technology of ARM9 MCU (Micro-Controller Unit), FPGA (Field Programmable Gate Array) circuit, CAN (Controller Area Network) field bus, and embedded LINUX system, an embedded CNC tool grinding system in 6-axis feed with upper- and lower-controller structures was developed.(2) The mathematical models for position relationship of the complex curves in 6-coordinate space were researched and built. Based on the embedded CNC tool grinding structure with 6 axes, the multi-axis feed mathematical models for grinding the complex cutters with rake and clearance of the conical and ball-nose were designed and established.(3) The interpolation algorithms for logarithmic curve were proposed. The odd-even steps interpolation algorithm was designed and inferred to control the logarithmic relationships between the axes feed when grinding the conical and ball-nose cutters. It is featured with quick in computation and suitable for real-time application in embedded CNC system. Furthermore, a novel odd-even steps third order approach interpolation algorithm was presented so as to raise the control accuracy for interpolating the logarithmic curve.(4) A 6-coordinate feed control algorithm was newly designed. It was proposed to control the 6-axis feed for any complex space curve with 6-coordinate. Combining with the proposed odd-even steps interpolation algorithm for logarithmic curve, it realizes real-time control in the grinding process for complex cutters with conical and ball-nose.(5) The proposed logarithmic curve's interpolation algorithms and the 6-coordinate feed control algorithm for grinding the conical cutters were simulated by MATLAB software and got satisfied with high accuracy and effectiveness from validation.(6) An embedded CNC tool grinding prototype machine was built and the proposed control algorithms were tested in practice. Results from field grinding the rake and clearance of conical cutter proved the practical applications of both the embedded CNC system and the control algorithms.The characteristics, control accuracy and the efficiency of the proposed control algorithms were analyzed at the end part of the dissertation, and future work was also outlined.
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