CN103530272B - It is a kind of for defining the method for discrimination of mechanism kinematic high-speed region - Google Patents
It is a kind of for defining the method for discrimination of mechanism kinematic high-speed region Download PDFInfo
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Abstract
The invention discloses a kind of for defining the method for discrimination of mechanism kinematic high-speed region, method includes the following steps: choosing influences maximum vibration shape frequency as mechanism intrinsic frequency to mechanism kinematic；Choose the frequency representative motion frequency of dominant frequency spectrum；Mechanism carries out flexible multibody dynamics emulation, calculates mechanism maximum residual oscillation amplitude corresponding to different motion frequency characteristic curve movement；Frequency is established than the relation curve between residual oscillation peak swing；According to curve, analysis is designed as flexible multibody dynamics system to train of mechanism and rigid body dynamic model carries out research and determines.It is complicated, at high cost and design hidden danger to avoid the design of mechanism existing for the design method based on experience by the high-speed motion range according to the research institution of determination institute of the driving frequency of mechanism, the intrinsic frequency of mechanism and mechanism by the present invention.In addition, the method for the present invention is simple, provide a kind of accurately for defining the method for discrimination of mechanism kinematic high-speed region.
Description
Technical field
The invention belongs to the mechanism design fields of numerical DC speed equipment, more particularly to one kind is for defining mechanism kinematic
The method of discrimination of high-speed region.
Background technique
There are two kinds of Design and analysis methods for the mechanism design field of numerical DC speed equipment: 1. moving mechanism as the more bodies of rigidity
Mechanical system carries out analysis design, i.e., assumes that each component of mechanism does not deform in design analytic process；2. using mechanism as
Flexible multibody dynamics system carries out analysis design, i.e., the influence that mechanism part deforms is considered in design analytic process,
Wherein method one is relatively simple, and has the design experiences of a large amount of maturations that can borrow, and design cost is relatively low, and method two is more
Complexity, design factor in need of consideration is more, and the design cycle is also relatively long, and design cost is relatively high, actual mechanism part
Part can all deform, and method one does not consider that the kinetic effect of mechanism part deformation influences substantially, it is contemplated that at
The factors such as this, most numerical control equipment, which uses, assumes that mechanism is designed analysis, base for the method one of rigid body dynamic model
In high speed motive force theory, when mechanism kinematic enters " high speed " region, moving component must make flexible body it is assumed that formation is so-called
" compliant mechanism " (flexible mechanism), at this point, due between mechanism part the rigid body of the presence in gap and component transport
Dynamic the problems such as coupling with its flexible deformation, kinetic model will be with variable coefficient, Non-smooth surface, Multiple nonlinearities even strong nonlinear terms
Combined Higher Order Differential Equation group form occurs, this brings very big difficulty to the solution of practical problem.
Currently, designer is often based upon experience and comes whether decision mechanism belongs to " height in actual product design process
Speed " mechanism determines whether to be designed using flexible multibody dynamics theory, this design method based on experience is easy to lead
Mechanism designer is caused the problem of conservative design or radical design occur or increase unnecessary design complexity and design
There are biggish design hidden danger for cost or product.
Summary of the invention
Being designed to provide for the embodiment of the present invention is a kind of for defining the method for discrimination of mechanism kinematic high-speed region, it is intended to
It solves existing designer and is based on whether experience decision mechanism belongs to high-speed mechanism, mechanism designer is easy to cause to protect
The problem of keeping design or radical design, increases unnecessary design complexity and design cost, so that there are biggish design is hidden
The problem of suffering from.
The embodiments of the present invention are implemented as follows, a kind of for defining the method for discrimination of mechanism kinematic high-speed region, the use
In the method for discrimination for defining mechanism kinematic high-speed region the following steps are included:
Choosing influences maximum vibration shape frequency as mechanism intrinsic frequency to mechanism kinematic；
Choose the frequency representative motion frequency of dominant frequency spectrum；
Mechanism carries out flexible multibody dynamics emulation, calculates mechanism corresponding to different motion frequency characteristic curve movement
Maximum residual oscillation amplitude；
Frequency is established than the relation curve between residual oscillation peak swing；
According to curve, analysis and rigid body dynamic model are designed as flexible multibody dynamics system to train of mechanism
Research is carried out to determine.
Further, this is used to define the method for discrimination of mechanism kinematic high-speed region specific step is as follows:
The first step, the frequency of Dynamic Substructure Mode Shape；Choosing influences maximum vibration shape frequency conduct to mechanism kinematic
Mechanism intrinsic frequency chooses 1000 times of all frequencies below for containing up to motion frequency as Dynamic Substructure Mode Shape
Frequency；
Second step carries out frequency analysis to the motion process of mechanism, chooses the frequency of dominant frequency spectrum to represent motion frequency；
Third step carries out flexible multibody dynamics emulation to mechanism, calculates different motion frequency characteristic curve movement institute
Corresponding mechanism maximum residual oscillation amplitude；
4th step, using the ratio of mechanism intrinsic frequency relative motion frequency as horizontal axis, corresponding to response characteristic
Mechanism maximum residual oscillation amplitude is the longitudinal axis, establishes frequency than the relation curve between residual oscillation peak swing；
5th step, when train of mechanism is in the resulting curve lower left of the 4th step, train of mechanism must be as flexible more
Body dynamics system is designed analysis；Conversely, being studied as rigid body dynamic model.
Further, master mode, the concrete model of movement dominant frequency Spectrum ratio and residual oscillation amplitude relation Drawing of Curve and side
Method are as follows:
The first step carries out the calculating of master mode by machine components finite element model；
Second step, mechanism carry out simulation analysis by flexible multibody dynamics model, and the FFT transform of curve movement carries out
Parameter scanning draws out Parametric motion curve；
Third step, Parametric motion curve negotiating Dynamics Simulation Analysis and residual oscillation response computation go out maximum remaining vibration
Dynamic amplitude；
4th step, residual oscillation peak swing obtain movement dominant frequency Spectrum ratio by the FFT transform of curve movement；
5th step draws out master mode, movement dominant frequency Spectrum ratio and residual oscillation amplitude relation curve.
Provided by the present invention for defining the method for discrimination of mechanism kinematic high-speed region, pass through the driving frequency according to mechanism
The positioning accuracy request of rate, the intrinsic frequency of mechanism and mechanism come pointedly determine research institution of institute " high speed " move model
It encloses；Whether the present invention is " high speed " mechanism for mechanism for identifying, and then whether decision mechanism must be according to flexible multibody dynamics
Systems Theory is designed, and avoids the design method based on experience and mechanism design complexity and design cost is easy to cause to increase
And there are problems that designing hidden danger.In addition, the method for the present invention is simple, and it is easy to operate, it provides a kind of accurately for defining
The method of discrimination of mechanism kinematic high-speed region.
Detailed description of the invention
Fig. 1 is provided in an embodiment of the present invention for defining the flow chart of the method for discrimination of mechanism kinematic high-speed region.
Fig. 2 is soldering tip swing rod natural mode of vibration/movement principal component frequency ratio provided in an embodiment of the present invention and residual oscillation
The schematic diagram of the relationship of amplitude.
Fig. 3 is that master mode, movement dominant frequency Spectrum ratio and residual oscillation amplitude relation curve provided in an embodiment of the present invention are drawn
The concrete model and method flow diagram of system.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Fig. 1 shows the method for discrimination process provided by the present invention for defining mechanism kinematic high-speed region.For the ease of
Illustrate, only the parts related to the present invention are shown.
The method of discrimination for being used to define mechanism kinematic high-speed region of the embodiment of the present invention, this is used to define mechanism kinematic height
The method of discrimination in fast region the following steps are included:
Choosing influences maximum vibration shape frequency as mechanism intrinsic frequency to mechanism kinematic；
Choose the frequency representative motion frequency of dominant frequency spectrum；
Mechanism carries out flexible multibody dynamics emulation, calculates mechanism corresponding to different motion frequency characteristic curve movement
Maximum residual oscillation amplitude；
Frequency is established than the relation curve between residual oscillation peak swing；
According to curve, analysis and rigid body dynamic model are designed as flexible multibody dynamics system to train of mechanism
Research is carried out to determine.
As a prioritization scheme of the embodiment of the present invention, this is used to define the tool of the method for discrimination of mechanism kinematic high-speed region
Steps are as follows for body:
The first step, the frequency of Dynamic Substructure Mode Shape；Choosing influences maximum vibration shape frequency conduct to mechanism kinematic
Mechanism intrinsic frequency chooses 1000 times of all frequencies below for containing up to motion frequency as Dynamic Substructure Mode Shape
Frequency；
Second step carries out frequency analysis to the motion process of mechanism, chooses the frequency of dominant frequency spectrum to represent motion frequency；
Third step carries out flexible multibody dynamics emulation to mechanism, calculates different motion frequency characteristic curve movement institute
Corresponding mechanism maximum residual oscillation amplitude；
4th step, using the ratio of mechanism intrinsic frequency relative motion frequency as horizontal axis, corresponding to response characteristic
Mechanism maximum residual oscillation amplitude is the longitudinal axis, establishes frequency than the relation curve between residual oscillation peak swing；
5th step, when train of mechanism is in the resulting curve lower left of the 4th step, train of mechanism must be as flexible more
Body dynamics system is designed analysis；Conversely, being studied as rigid body dynamic model.
Further, master mode, the concrete model of movement dominant frequency Spectrum ratio and residual oscillation amplitude relation Drawing of Curve and side
Method are as follows:
The first step carries out the calculating of master mode by machine components finite element model；
Second step, mechanism carry out simulation analysis by flexible multibody dynamics model, and the FFT transform of curve movement carries out
Parameter scanning draws out Parametric motion curve；
Third step, Parametric motion curve negotiating Dynamics Simulation Analysis and residual oscillation response computation go out maximum remaining vibration
Dynamic amplitude；
4th step, residual oscillation peak swing obtain movement dominant frequency Spectrum ratio by the FFT transform of curve movement；
5th step draws out master mode, movement dominant frequency Spectrum ratio and residual oscillation amplitude relation curve.
With reference to the accompanying drawing and specific embodiment is further described application principle of the invention.
As shown in Figure 1, the embodiment of the present invention includes following step for defining the method for discrimination of mechanism kinematic high-speed region
It is rapid:
S101: choosing influences maximum vibration shape frequency as mechanism intrinsic frequency to mechanism kinematic；
S102: the frequency representative motion frequency of dominant frequency spectrum is chosen；
S103: mechanism carries out flexible multibody dynamics emulation, calculates corresponding to different motion frequency characteristic curve movement
Mechanism maximum residual oscillation amplitude；
S104: frequency is established than the relation curve between residual oscillation peak swing；
S105: according to curve, analysis and rigid body dynamic are designed as flexible multibody dynamics system to train of mechanism
System carries out research and determines.
The specific steps of the present invention are as follows:
The first step, the frequency of Dynamic Substructure Mode Shape；Choosing influences maximum vibration shape frequency conduct to mechanism kinematic
Mechanism intrinsic frequency chooses 1000 times of all frequencies below for containing up to motion frequency as Dynamic Substructure Mode Shape
Frequency；
Second step carries out frequency analysis to the motion process of mechanism, chooses the frequency of dominant frequency spectrum to represent motion frequency；
Third step carries out flexible multibody dynamics emulation to mechanism, calculates different motion frequency characteristic curve movement institute
Corresponding mechanism maximum residual oscillation amplitude；
4th step, using the ratio of mechanism intrinsic frequency relative motion frequency as horizontal axis, corresponding to response characteristic
Mechanism maximum residual oscillation amplitude is the longitudinal axis, establishes said frequencies than the relation curve between residual oscillation peak swing；Such as
Shown in Fig. 2；
5th step, when train of mechanism is in the resulting curve lower left of the 4th step, train of mechanism must be as flexible more
Body dynamics system is designed analysis；Conversely, being studied as rigid body dynamic model；
Further, master mode, the concrete model of movement dominant frequency Spectrum ratio and residual oscillation amplitude relation Drawing of Curve and side
Method are as follows:
The first step carries out the calculating of master mode by machine components finite element model；
Second step, mechanism carry out simulation analysis by flexible multibody dynamics model, and the FFT transform of curve movement carries out
Parameter scanning draws out Parametric motion curve；
Third step, Parametric motion curve negotiating Dynamics Simulation Analysis and residual oscillation response computation go out maximum remaining vibration
Dynamic amplitude；
4th step, residual oscillation peak swing obtain movement dominant frequency Spectrum ratio by the FFT transform of curve movement；
5th step draws out master mode, movement dominant frequency Spectrum ratio and residual oscillation amplitude relation curve.
As shown in Fig. 2, being soldering tip swing rod natural mode of vibration/movement principal component frequency ratio and residual oscillation amplitude relationship
Figure, the characteristics of according to high speed light loading mechanism, the ratio and positioning accuracy of intrinsic frequency and motion frequency principal component from mechanism are wanted
It asks, the definition (such as shadow region Fig. 2 belongs to high velocity) of high speed machine is defined with quantizating index, obtains die bond Welding head mechanism
Residual oscillation rule: when the ratio of intrinsic frequency and movement basic frequency is less than 100, residual oscillation amplitude is (i.e. fixed greater than 10 μm
Position precision≤± 10 μm)；When ratio is between 100-300, the amplitude of residual oscillation is very big with stiffness effect, improves intrinsic frequency
Residual oscillation can be significantly reduced in rate；After ratio is greater than 300, the raising of intrinsic frequency is reduced residual oscillation amplitude unknown
It is aobvious, it is contemplated that motion planning and end vibration damping improve positioning accuracy to improve, further, since the damping of swing rod material is compared
Small, vibration decaying needs the time long, if main motion frequency is forward, the vibration for allowing it to generate has more die-away times,
Residual oscillation amplitude can be then further decreased, provides theoretical direction for speed planning.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (3)
1. a kind of for defining the method for discrimination of mechanism kinematic high-speed region, which is characterized in that this is used to define mechanism kinematic height
The method of discrimination in fast region the following steps are included:
Choosing influences maximum vibration shape frequency as mechanism intrinsic frequency to mechanism kinematic；
Choose the frequency representative motion frequency of dominant frequency spectrum；
Mechanism carries out flexible multibody dynamics emulation, calculates the maximum of mechanism corresponding to different motion frequency characteristic curve movement
Residual oscillation amplitude；
Frequency is established than the relation curve between residual oscillation peak swing；With the ratio of mechanism intrinsic frequency relative motion frequency
Value is horizontal axis, using mechanism maximum residual oscillation amplitude corresponding to response characteristic as the longitudinal axis, establishes frequency ratio and remaining vibration
Relation curve between dynamic peak swing, the relation curve function are y=66336x-1.9348；
The x is with the ratio of mechanism intrinsic frequency relative motion frequency；
The y is mechanism maximum residual oscillation amplitude corresponding to response characteristic；
According to curve, analysis is designed as flexible multibody dynamics system to train of mechanism and rigid body dynamic model carries out
Research determines；When the train of mechanism is in the relation curve lower left, the train of mechanism must be as flexibility
Multi-body system is designed analysis；When the train of mechanism is in the resulting curve upper right side of the 4th step, as rigid
Body dynamics system is studied.
2. as described in claim 1 for defining the method for discrimination of mechanism kinematic high-speed region, which is characterized in that this is used for boundary
Determining the method for discrimination of mechanism kinematic high-speed region, specific step is as follows:
The first step, the frequency of Dynamic Substructure Mode Shape；Choosing influences maximum vibration shape frequency as mechanism to mechanism kinematic
Intrinsic frequency chooses frequency of the 1000 times of all frequencies below for containing up to motion frequency as Dynamic Substructure Mode Shape
Rate；
Second step carries out frequency analysis to the motion process of mechanism, chooses the frequency of dominant frequency spectrum to represent motion frequency；
Third step carries out flexible multibody dynamics emulation to mechanism, calculates corresponding to different motion frequency characteristic curve movement
Mechanism maximum residual oscillation amplitude；
4th step, using the ratio of mechanism intrinsic frequency relative motion frequency as horizontal axis, with mechanism corresponding to response characteristic
Maximum residual oscillation amplitude is the longitudinal axis, establishes frequency than the relation curve between residual oscillation peak swing；
5th step, when the train of mechanism is in the resulting curve lower left of the 4th step, the train of mechanism must be used as soft
Property multi-body system is designed analysis；When the train of mechanism is in the resulting curve upper right side of the 4th step, as
Rigid body dynamic model is studied.
3. as described in claim 1 for defining the method for discrimination of mechanism kinematic high-speed region, which is characterized in that master mode,
Move the concrete model and method of dominant frequency Spectrum ratio and residual oscillation amplitude relation Drawing of Curve are as follows:
The first step carries out the calculating of master mode by machine components finite element model；
Second step, mechanism carry out simulation analysis by flexible multibody dynamics model, and the FFT transform of curve movement carries out parameter
Scanning, draws out Parametric motion curve；
Third step, Parametric motion curve negotiating Dynamics Simulation Analysis and residual oscillation response computation go out maximum residual oscillation vibration
Width；
4th step, residual oscillation peak swing obtain movement dominant frequency Spectrum ratio by the FFT transform of curve movement；
5th step, the ratio using mechanism intrinsic frequency with respect to driving signal basic frequency are with residual oscillation peak swing as horizontal axis
The longitudinal axis, opening relationships curve.
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| CN106227149B (en) * | 2016-07-11 | 2018-10-19 | 广东工业大学 | A kind of galvanometer motor motion planning method shortening idle stroke positioning time |
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| US6684168B1 (en) * | 1999-04-20 | 2004-01-27 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Body displacement and vibration analysis method |
| CN101154213A (en) * | 2006-09-27 | 2008-04-02 | 上海电气集团股份有限公司 | Simulation platform of macrotype power station integrated automation system |
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| US6684168B1 (en) * | 1999-04-20 | 2004-01-27 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Body displacement and vibration analysis method |
| CN101154213A (en) * | 2006-09-27 | 2008-04-02 | 上海电气集团股份有限公司 | Simulation platform of macrotype power station integrated automation system |
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