CN103324138B - Tester and testing method for numerically-controlled machine tool virtual transmission chain - Google Patents

Abstract

The invention discloses a tester and a testing method for a numerically-controlled machine tool virtual transmission chain. The tester comprises a portable computer, a signal collecting card, a signal connection line and tester software. Feedback signals of all servo shaft grating rulers and a coder of the numerically-controlled machine tool are collected with the tester; fluctuation of a virtual transmission ratio and fluctuation of the position of a shaft C are calculated; time-frequency analysis is performed on all shaft signals with the testing software; evaluation is performed on the performance of the numerically-controlled machine tool virtual transmission chain by synthesizing an analyzed result. The tester and testing method for the numerically-controlled machine tool virtual transmission chain is convenient to carry out, low in test cost, strong and practical in function and capable of providing means which is convenient and fast to adopt for the performance test and the fault diagnosis of the numerically-controlled machine tool virtual transmission chain.

Description

A kind of numerically-controlled machine virtual gear chain tester and method of testing

Technical field

The present invention relates to numerically-controlled machine field tests, particularly relate to a kind of numerically-controlled machine virtual gear chain tester and method of testing.

Background technology

Along with gear machine is towards high speed, high precision, high-level efficiency development, traditional mechanical drive train has been not suitable for the requirement of novel lathe to process and assemble precision and difficulty, transmission accuracy and transmission speed etc., thereby produce the new kind of drive, i.e. electronics transmission, this multi-motor coordination transmission control procedure based on digital form, i.e. so-called virtual gear chain.

The application of virtual gear chain is more and more wider, but also brings new problem, and owing to adopting the inline kind of drive between each axis servomotor, produce new driving error, namely link error.Research at present for interlock error is also relatively weak, not more effective virtual gear chain evaluation scheme.Market upper part testing tool, although the information that can obtain axis servomotor end by outer sensor analyzes driving-chain characteristic, but only carry out corresponding time frequency analysis for single shaft signal, extract fault signature, and there is the shortcomings such as testing tool installation is complicated, not easily use, testing cost height.The problems referred to above are that virtual gear chain performance test assessment brings very large difficulty.

Summary of the invention

In order to overcome the shortcoming of above-mentioned prior art, the object of the present invention is to provide a kind of numerically-controlled machine virtual gear chain tester and method of testing.

In order to achieve the above object, the technical solution used in the present invention is:

A kind of numerically-controlled machine virtual gear chain tester, this tester comprises computing machine, signal connecting line and the data acquisition card for gathering axis servomotor position feed back signal, the input end of described data acquisition card is connected with signal connecting line, and the output terminal of data acquisition card is connected with computing machine.

Described tester also comprises testing software, testing software is installed on computing machine, computing machine utilizes testing software and signals collecting cartoon letters, obtain axis servomotor position feed back signal, then carry out analyzing and processing to axis servomotor position feed back signal, the ratio of gear obtained between the axis servomotor of participation interaction relation and C axle fluctuates and C shaft position fluctuates.

The computing method of described ratio of gear fluctuation comprise the following steps:

First actual transmission ratio is calculated:

$\left[\begin{array}{c}{K_S}^{\′}\\ {K_Y}^{\′}\\ {K_Z}^{\′}\end{array}\right]={\left[\begin{array}{ccc}{P}_S& P_Y& P_Z\end{array}\right]}^{-1}*\left[P_C\right]$

Wherein, C, S, Y and Z represent C axle, S axle, Y-axis and Z axis successively, K _s', K _y' and K _z' be the actual transmission ratio of corresponding axis servomotor, P _c, P _s, P _yand P _zfor the physical location collection value of corresponding axis servomotor;

Then ratio of gear fluctuation is calculated:

$\left[{\mathrm{\Δ}}_K\right]=|\left[\begin{array}{c}{K_S}^{\′}\\ {K_Y}^{\′}\\ {K_Z}^{\′}\end{array}\right]-\left[\begin{array}{c}{K}_S\\ K_Y\\ K_Z\end{array}\right]|$

Wherein, Δ _kfor ratio of gear undulating quantity, K _s, K _yand K _zfor the theoretical electronic gear ratio of corresponding axis servomotor and C between centers.

Described C shaft position fluctuation adopts following steps to calculate:

First C axle theoretical position value is calculated:

$\left[{P_C}^{\′}\right]=\left[\begin{array}{ccc}{P}_S& P_Y& P_Z\end{array}\right]*\left[\begin{array}{c}{K}_S\\ K_Y\\ K_Z\end{array}\right]$

Wherein, C, S, Y and Z represent C axle, S axle, Y-axis and Z axis successively, P _c' be C axle theoretical position value, P _s, P _yand P _zfor the physical location collection value of corresponding axis servomotor, K _s, K _yand K _zfor the theoretical electronic gear ratio of corresponding axis servomotor and C between centers;

Then the fluctuation of C shaft position is calculated:

[Δ _P]=|[P _C']-[P _C]|

Wherein, Δ _pfor the fluctuation of C shaft position, P _cfor the physical location collection value of C axle.

Described computing machine is portable computer.

A kind of numerically-controlled machine virtual gear chain method of testing, comprises the following steps:

1) gather the axis servomotor position feed back signal of each axis servomotor of numerically-controlled machine, described numerically-controlled machine adopts multi-shaft interlocked mode to move;

2) according to axis servomotor position feed back signal, calculate the ratio of gear between axis servomotor and C axle participating in interaction relation and fluctuate, or, according to axis servomotor position feed back signal, calculate the fluctuation of C shaft position.

The axis servomotor position feed back signal of each axis servomotor of described collection numerically-controlled machine, comprise the following steps: adopt built-in sensors test philosophy, drawn from servo controller by the axis servomotor position feed back signal of threeway mode by each for numerically-controlled machine axis servomotor, then acquisition system is accessed, the data acquisition card that acquisition system comprises computing machine and is connected with computing machine.

The computing method of described ratio of gear fluctuation comprise the following steps:

First actual transmission ratio is calculated:

$\left[\begin{array}{c}{K_S}^{\′}\\ {K_Y}^{\′}\\ {K_Z}^{\′}\end{array}\right]={\left[\begin{array}{ccc}{P}_S& P_Y& P_Z\end{array}\right]}^{-1}*\left[P_C\right]$

Wherein, C, S, Y and Z represent C axle, S axle, Y-axis and Z axis successively, K _s', K _y' and K _z' be the actual transmission ratio of corresponding axis servomotor, P _c, P _s, P _yand P _zfor the physical location collection value of corresponding axis servomotor;

Then ratio of gear fluctuation is calculated:

$\left[{\mathrm{\Δ}}_K\right]=|\left[\begin{array}{c}{K_S}^{\′}\\ {K_Y}^{\′}\\ {K_Z}^{\′}\end{array}\right]-\left[\begin{array}{c}{K}_S\\ K_Y\\ K_Z\end{array}\right]|$

Wherein, Δ _kfor ratio of gear undulating quantity, K _s, K _yand K _zfor the theoretical electronic gear ratio of corresponding axis servomotor and C between centers.

Described C shaft position fluctuation adopts following steps to calculate:

First C axle theoretical position value is calculated:

$\left[{P_C}^{\′}\right]=\left[\begin{array}{ccc}{P}_S& P_Y& P_Z\end{array}\right]*\left[\begin{array}{c}{K}_S\\ K_Y\\ K_Z\end{array}\right]$

Wherein, C, S, Y and Z represent C axle, S axle, Y-axis and Z axis successively, P _c' be C axle theoretical position value, P _s, P _yand P _zfor the physical location collection value of corresponding axis servomotor, K _s, K _yand K _zfor the theoretical electronic gear ratio of corresponding axis servomotor and C between centers;

Then the fluctuation of C shaft position is calculated:

[Δ _P]=|[P _C']-[P _C]|

Wherein, Δ _pfor the fluctuation of C shaft position, P _cfor the physical location collection value of C axle.

If when ratio of gear fluctuation or the fluctuation of C shaft position exceed the scope of processing request, Time-Frequency Analysis is carried out to axis servomotor position feed back signal, obtain the single shaft signal of corresponding axis servomotor, then according to single shaft signal analysis interpretation of result failure cause, single shaft signal comprises speed, acceleration and frequency spectrum.

Advantage of the present invention is: be that virtual gear chain Performance Evaluation provides foundation by gathering NC machine tool feed system position feedback information, avoid installation external sensor, realize on-line testing assessment, lathe virtual gear Chain conveyer characteristic can be assessed, additionally reduce experimentation cost.The present invention be directed to the special test system of numerically-controlled machine virtual gear chain, method of testing is simple, and cost is lower, powerful practicality, for the chain performance test of lathe virtual gear and fault diagnosis provide conveniently means.

Accompanying drawing explanation

Fig. 1 is hardware acquisition principle figure of the present invention;

Fig. 2 is virtual gear chain test flow chart of the present invention;

Fig. 3 is testing software of the present invention functional structure chart.

Embodiment

Below in conjunction with accompanying drawing, the invention will be further described.

See Fig. 1, a kind of numerically-controlled machine virtual gear chain tester.What the present invention adopted is built-in sensors signal sampling principle, the feedback signal between numerical control device (commercial unit) and control system is obtained by threeway mode, under the prerequisite that can not have an impact to control system, the road signal separated is incorporated in acquisition system, reaches the object obtaining signal.Described virtual gear chain tester, is divided into testing hardware system and software system, comprises portable computer, data acquisition card, signal connecting line, a few part of testing software.Described portable computer intercoms mutually with capture card, obtains data; Described data acquisition card input end is connected with signal connecting line, and data acquisition card output terminal is connected on portable computer; Described testing software is installed on portable computer, provides the function such as data acquisition, analyzing and processing.

See Fig. 2, utilize above-mentioned tester, the invention provides a kind of numerically-controlled machine virtual gear Transmission Characteristics of Chain Drives method of testing.The method can test numerically-controlled machine interlock error size, assesses the performance of numerically-controlled machine virtual gear chain.For numerically controlled tooth grinding machine, concrete method of testing comprises the steps:

1) experimentally demand and lathe information, arrange experiment acquisition parameter, lathe adopts multi-shaft interlocked mode to move.

First according to lathe information, experiment parameter is set.Lathe needs to move according to linked manner, and adopt at least two-axle interlocking mode comprising C axle (C axle refers to each resultant motion axle participating in interlock axis servomotor), movement velocity can set according to concrete machine tool capability.Sample frequency scope is 1 ~ 5KHz, is generally set to 1KHz and can meets analysis requirement.

2) each axis servomotor position feed back signal is gathered: adopt built-in sensors test philosophy, by threeway mode, each axis servomotor grating scale and encoder feedback signal are drawn from servo controller, access acquisition system, acquisition system as shown in Figure 1, wherein, capture card model can be IK220, PCI1784.According to step 1) in arrange carry out data collection task.

3) utilize ratio of gear wave theory approach provided by the invention, the ratio of gear calculated between each axis servomotor and C axle fluctuates;

For numerically controlled tooth grinding machine, the axis servomotor participating in interaction relation has C axle, S axle, Y-axis, Z axis, there is synchronous proportional relation: P between C axle and each axle _c=K _sp _s+ K _yp _y+ K _zp _z.

Wherein, P _c, P _s, P _y, P _zfor corresponding axis servomotor physical location collection value, K _s, K _y, K _zfor corresponding axis servomotor and the theoretical electronic gear ratio of C between centers.

According to above-mentioned synchronous proportional relation, the present invention proposes ratio of gear wave theory approach.First calculate actual transmission ratio, actual transmission than computing method is:

$\left[\begin{array}{c}{K_S}^{\′}\\ {K_Y}^{\′}\\ {K_Z}^{\′}\end{array}\right]={\left[\begin{array}{ccc}{P}_S& P_Y& P_Z\end{array}\right]}^{-1}*\left[P_C\right]$

Wherein, K _s', K _y' and K _z' be corresponding axis servomotor actual transmission ratio.

Then calculate ratio of gear fluctuation, computing method are:

$\left[{\mathrm{\Δ}}_K\right]=|\left[\begin{array}{c}{K_S}^{\′}\\ {K_Y}^{\′}\\ {K_Z}^{\′}\end{array}\right]-\left[\begin{array}{c}{K}_S\\ K_Y\\ K_Z\end{array}\right]|,$ Wherein, Δ _kfor ratio of gear undulating quantity.

4) utilize positional fluctuation analysis method provided by the invention, calculate C axle physical location and positional fluctuation.

First calculate C axle theoretical position value, computing method are:

$\left[{P_C}^{\′}\right]=\left[\begin{array}{ccc}{P}_S& P_Y& P_Z\end{array}\right]*\left[\begin{array}{c}{K}_S\\ K_Y\\ K_Z\end{array}\right],$ Wherein, P _c' be C axle theoretical position value.

Then calculate the fluctuation of C shaft position, computing method are:

[Δ _p]=| [P _c']-[P _c] |, wherein, Δ _pfor the fluctuation of C shaft position, P _cfor C axle physical location collection value.

5) other Time-Frequency Analysis functions utilizing software systems of the present invention to provide, as speed, acceleration, frequency spectrum etc., do to analyze further to single shaft signal.

See Fig. 3, in testing software, Setup Experiments module, data acquisition module can completing steps 1), 2) work; Signal analyse block is divided into dedicated analysis and Gneral analysis, and dedicated analysis can complete ratio of gear fluction analysis and C shaft position fluction analysis, step 3), 4) namely adopt dedicated analysis to complete; Gneral analysis comprises the civil time frequency analysis function such as speed, acceleration, frequency spectrum, completes further single shaft signal analysis work; Also comprise data management module (completing the functions such as the importing of data, derivation, deletion), laboratory report module (complete final experimental result standard forms to export, self-defined output content function is also provided).

6) according to step 3), 4), 5) analysis result, virtual gear Transmission Characteristics of Chain Drives is assessed.

According to analysis result, if when ratio of gear fluctuation or the fluctuation of C shaft position exceed the normal range of processing request, can system malfunctions be assert, can according to single shaft signal analysis interpretation of result failure cause.

More than show and describe ultimate principle of the present invention, principal character and advantage.The technician of the industry should understand; the present invention is by the impact of above-described embodiment, and what describe in above-described embodiment and instructions just illustrates principle of the present invention, without departing from the inventive concept of the premise; simply deduce and convert, all should be considered as protection scope of the present invention.

Claims (3)

1. a numerically-controlled machine virtual gear chain method of testing, is characterized in that: comprise the following steps:

1) gather the axis servomotor position feed back signal of each axis servomotor of numerically-controlled machine, described numerically-controlled machine adopts multi-shaft interlocked mode to move;

2) according to axis servomotor position feed back signal, calculate the ratio of gear between axis servomotor and C axle participating in interaction relation and fluctuate, or, according to axis servomotor position feed back signal, calculate the fluctuation of C shaft position;

The computing method of described ratio of gear fluctuation comprise the following steps:

First actual transmission ratio is calculated:

$\left[\begin{array}{c}{K_S}^{\′}\\ {K_Y}^{\′}\\ {K_Z}^{\′}\end{array}\right]={\left[\begin{array}{ccc}{P}_S& P_Y& P_Z\end{array}\right]}^{-1}*\left[P_C\right]$

Wherein, C, S, Y and Z represent C axle, S axle, Y-axis and Z axis successively, K _s', K _y' and K _z' be the actual transmission ratio of corresponding axis servomotor, P _c, P _s, P _yand P _zfor the physical location collection value of corresponding axis servomotor;

Then ratio of gear fluctuation is calculated:

$\left[{\mathrm{\Δ}}_K\right]=|\left[\begin{array}{c}{K_S}^{\′}\\ {K_Y}^{\′}\\ {K_Z}^{\′}\end{array}\right]-\left[\begin{array}{c}{K}_S\\ K_Y\\ K_Z\end{array}\right]|$

Wherein, Δ _kfor ratio of gear undulating quantity, K _s, K _yand K _zfor the theoretical electronic gear ratio of corresponding axis servomotor and C between centers;

Described C shaft position fluctuation adopts following steps to calculate:

First C axle theoretical position value is calculated:

${[P_C}^{\′}]=\left[\begin{array}{ccc}{P}_S& P_Y& P_Z\end{array}\right]*\left[\begin{array}{c}{K}_S\\ K_Y\\ K_Z\end{array}\right]$

Wherein, C, S, Y and Z represent C axle, S axle, Y-axis and Z axis successively, P _c' be C axle theoretical position value, P _s, P _yand P _zfor the physical location collection value of corresponding axis servomotor, K _s, K _yand K _zfor the theoretical electronic gear ratio of corresponding axis servomotor and C between centers;

Then the fluctuation of C shaft position is calculated:

[Δ _P]＝|[P _C']-[P _C]|

Wherein, Δ _pfor the fluctuation of C shaft position, P _cfor the physical location collection value of C axle.

2. a kind of numerically-controlled machine virtual gear chain method of testing according to claim 1, it is characterized in that: the axis servomotor position feed back signal of each axis servomotor of described collection numerically-controlled machine, comprise the following steps: adopt built-in sensors test philosophy, drawn from servo controller by the axis servomotor position feed back signal of threeway mode by each for numerically-controlled machine axis servomotor, then acquisition system is accessed, the data acquisition card that acquisition system comprises computing machine and is connected with computing machine.

3. a kind of numerically-controlled machine virtual gear chain method of testing according to claim 1, is characterized in that:

If when ratio of gear fluctuation or the fluctuation of C shaft position exceed the scope of processing request, Time-Frequency Analysis is carried out to axis servomotor position feed back signal, obtain the single shaft signal of corresponding axis servomotor, then according to single shaft signal analysis interpretation of result failure cause, single shaft signal comprises speed, acceleration and frequency spectrum.