CN106002489A - Automatic compensation device and method for eliminating cutting chatter of numerical control machine tool - Google Patents
Automatic compensation device and method for eliminating cutting chatter of numerical control machine tool Download PDFInfo
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- CN106002489A CN106002489A CN201610531427.3A CN201610531427A CN106002489A CN 106002489 A CN106002489 A CN 106002489A CN 201610531427 A CN201610531427 A CN 201610531427A CN 106002489 A CN106002489 A CN 106002489A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/12—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring vibration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/013—Control or regulation of feed movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
- B23Q17/0952—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining
- B23Q17/0971—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining by measuring mechanical vibrations of parts of the machine
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- Mechanical Engineering (AREA)
- Cutting Tools, Boring Holders, And Turrets (AREA)
- Automatic Control Of Machine Tools (AREA)
Abstract
The invention discloses an automatic compensation device for eliminating cutting chatter of a numerical control machine tool. The automatic compensation device is arranged at the position of a tool rest of the numerical control machine tool and comprises a base. The base is provided with a tool connector used for installing a tool used for cutting a workpiece. A force sensor is arranged on the inner side of the part, at the position of the tool connector, of the base and used for measuring the cutting chatter force. The force sensor is connected with a linear drive device through an elastic pre-tightening device and a flexible hinge, and the elastic pre-tightening device is used for pre-tightening and removing a gap. The flexible hinge is used for amplifying drive force output by the linear drive device. After the drive force of the linear drive device is subjected to drive force amplification through the flexible hinge, the drive force drives the tool connected with the elastic pre-tightening device to linearly reciprocate. A vibration displacement sensor is further arranged on the inner side of the part, at the rear end of the linear drive device, of the base and used for detecting the vibration displacement of the tool rest.
Description
Technical field
The invention belongs to Machining Technology field, particularly to a kind of automatic compensation eliminating numerical control machine tool cutting tremor
Apparatus and method.
Background technology
Cycle of discontinuously cutting, workpiece and cutting system and certain natural frequency of lathe between cutter and workpiece cutting face
The factor such as be close, and numerical control machine tool cutting process can be caused chatter phenomenon occur.The factor of induction cutting-vibration is sufficiently complex, no
Certain natural frequency between continuous cutting cycle, workpiece and cutting system and lathe is same or like etc., and factor all may cause
The generation of tremor.
Due to tremor, the precision reduction of processing, product quality are declined and stock-removing efficiency declines, it is therefore necessary to logarithm
Tremor produced by the cutting process of control lathe compensates, i.e. the tremor to working angles carries out on-line monitoring, prediction
And control.In this process, existing method be according to piezoelectric transducer monitor the tremor amplitude of workpiece or cutter change into
Row judges whether to occur tremor, and then use magnetic flow liquid or ER fluid device presses down the technology of shaking to increase handle of a knife or boring bar etc.
The damping of cutting part and suppress tremor.
But the response speed of magnetic, er material is slow, and there is serious nonlinear distortion phenomenon, cause being difficult at a high speed
The tremor that cutting produces effectively compensates.It addition, the liquid sealing under high intensity pressure and Vibration Condition of this kind of intelligence
Anti-leak is also a very important problem in Project Realization.
On the other hand, relevant vibration-reducing control method simply resonant frequency and displacement according to tremor determines how to mend
Repaying, and vibrate, there is a kind of Non-linear coupling between power, the compensation of cutting-vibration can be had a negative impact by it, and tradition is quivered
The compensation scheme that shakes fails to consider the coupling influence between this power and vibration displacement, and it is difficult to acquirement to the compensation of tremor and makes us full
The result of meaning.
The Chinese patent application of Publication No. CN200810020974.0, discloses a kind of raising lathe in machining precision
Compensation method, it is characterised in that: comprise the following steps,
Step one, measure the feeding error in the range of lathe tools total travel；
Step 2, the feeding error signal in above-mentioned steps one is done smooth, denoising, apply simultaneously a frequency be 50～
100Hz, amplitude is the vibration signal of 1～3 μm, and is superposed with the feeding error signal after process by this vibration signal, inputs afterwards
Digital signal processing chip；
Step 3, the superposed signal that supplied with digital signal processes chip are converted into the signal of telecommunication and after power amplification, and output is given
Magnetostriction compensation mechanism, is completed bit shift compensation and vibration compensation chip by magnetostriction compensation mechanism.
The magnetostriction compensation mechanism of its compensation method of employing above-mentioned numerically controlled lathe raising machining accuracy accordingly, bag
Include pedestal (5) and the giant magnetostrictive rod (6) being arranged on pedestal (5), coil (4), output ejector pin (8), micro-displacement mechanism
(9), being provided with knife rest (10) and cutter (12) on micro-displacement mechanism (9), described giant magnetostrictive rod (6) is arranged on
In coil (4), one end of described output ejector pin (8) is connected with one end of giant magnetostrictive rod (6), output ejector pin (8) another
Be connected to fixing with micro-displacement mechanism (9) of one end drives the cutter on micro-displacement mechanism (9), it is characterised in that: described
The end of micro-displacement mechanism (9) is additionally provided with a displacement transducer (18).
Summary of the invention
It is an object of the invention to provide a kind of autocompensation installation eliminating numerical control machine tool cutting tremor and method.
The technical scheme is that, a kind of autocompensation installation eliminating numerical control machine tool cutting tremor, this compensation device
It is placed at the knife rest of described Digit Control Machine Tool,
Described compensation device includes pedestal, and this pedestal has a cutter interface for installing cutter, and this cutter is for workpiece
Carry out machining；
Being provided with a force transducer inside the pedestal of described cutter seam, this force transducer is for measuring cutting-vibration power
Size；
Described force transducer is coupled with flexible hinge and linear drive apparatus by an elastic pre-tightening apparatus, and this elasticity pretension fills
Put and eliminate gap for pretension；
Described flexible hinge is for being amplified the driving force of linear drive apparatus output；
The driving force of described linear drive apparatus, after flexible hinge is driven power amplification, drives elastic pre-tightening apparatus even then
The cutter connect carries out straight reciprocating motion；
Being additionally provided with vibration displacement sensor inside the pedestal of described linear drive apparatus rear end, this vibration displacement sensor is used for
The vibration displacement of detection knife rest.
A kind of cutting-vibration force measuring method for eliminating numerical control machine tool cutting tremor, uses aforesaid autocompensation installation,
Set as follows:
The workpiece preparing processing is installed on described master control lathe, and described Digit Control Machine Tool is in non-machining state, then this state
For A condition；
The cutter of described Digit Control Machine Tool is in the state being processed workpiece, then this state is B state；
Comprise the following steps:
A1, described autocompensation installation is in A condition；
A2, inputs driving voltage to linear drive apparatusv (.),Obtain between linear drive apparatus input voltage and power output
Relational model, be expressed as
(1)
Wherein,φ 1 When (.) is A condition, the mapping between input voltage and the power output of linear drive apparatus,For straight line
The output valve of the relational model between driver input voltage and power output,kFor the positive integer more than or equal to 1；
A3, if during actual cut, the measurement signal of force transducer isf 2 (k), have
f2(k)=β1f1(k)+β2f(k) (2)
Wherein, when f (k) is B state, the power that linear drive apparatus produces under its input voltage effect, f1K () is machining
During the vibration force that produces of cutter and absorption surface, β1＞ 0 and β2>=0 is weight coefficient,
OrderThen have
(3)
I.e. obtain the cutting-vibration power that described cutter produces with absorption surfacef 1 (k) 。
For in step A2Acquisition, take the method that model (4) is estimated in real time,
If described linear drive apparatus contains lagging characteristics, it may be assumed that
(4)
Wherein aiAnd bjFor model parameter；
N and m is polynomial order in model；
η (k-j) is the output of power sluggishness submodel, i.e.
Wherein,sgn(.) is sign function,
Δ v (k)=v (k)-v (k-1),
N is multinomial order,
α, d0,d p Withg p For power sluggishness submodel parameter,
Method of least square, off-line is utilized to determine the parameter alpha in model (4) and (5), d0, ai, bj, dpAnd gp。
A kind of cutting-vibration displacement measurement method for eliminating numerical control machine tool cutting tremor, uses aforesaid automatic compensation to fill
Put, set as follows:
The workpiece preparing processing is installed on described master control lathe, and described Digit Control Machine Tool is in non-machining state, then this state
For A condition；
The cutter of described Digit Control Machine Tool is in the state being processed workpiece, then this state is B state；
Comprise the following steps:
B1, described autocompensation installation is in A condition；
B2, inputs driving voltage to linear drive apparatusv(.), between linear drive apparatus input voltage and output displacement
Relational model is expressed as
(6)
Wherein, when Ψ (.) is A condition, the mapping between input voltage and the output displacement of linear drive apparatus,For straight line
The output valve of the relational model between driving means input voltage and output displacement,kFor the positive integer more than or equal to 1；
B3, if during actual cut, the measurement signal of displacement transducer is s2(k),
s2(k)=α1s1(k)+α2s*(k) (7)
Wherein, s*When () is B state k, the displacement that linear drive apparatus produces under its input voltage effect, s1K () is cutting
The tremor displacement that in the course of processing, cutter produces with absorption surface, α1＞ 0 and α2>=0 is weight coefficient,
Order
(8)
I.e. obtain, the cutting-vibration displacement s that cutter described in cutting process produces with absorption surface1(k)。
For step B2, use model (9) method estimated in real time:
That is, if linear drive apparatus contains lagging characteristics, have
(9)
Wherein, a* iAnd b* jFor model parameter；
n*And m*For order polynomial in model；
ρ (k-j) is displacement sluggishness submodel:
(10)
Wherein, sgn (.) is sign function,
N is multinomial order,
For displacement sluggishness submodel parameter,
Method of least square, off-line is utilized to determine the parameter in model (9) and (10)。
A kind of comprehensive compensation method for eliminating numerical control machine tool cutting tremor, uses aforesaid autocompensation installation,
C1, utilizes force transducer to record described Tool in Cutting workpiece and causes tremor power f1；
C2, utilizes vibration displacement sensor to record described Tool in Cutting workpiece and causes tremor displacement s1；
C3, described autocompensation installation includes force compensating controller, ifFor the output of force compensating controller, if force compensating
Controller is expressed as:
(11)
Wherein, μiAnd δjFor force compensating controller parameter, can be according to performance indications
(12)
Least squares identification is utilized to obtain these parameters；
C4, described autocompensation installation includes bit shift compensation controller, ifFor the output of bit shift compensation controller, if position
Shifting compensating controller is expressed as:
(13)
Wherein,For bit shift compensation controller parameter, can be according to performance indications
(14)
Least square method of recursion identification is utilized to obtain these parameters；
C5, according to tremor power and tremor displacement comprehensive compensation performance indications:
J=λ J1+(1-λ)J2 (15)
Wherein, wherein λ is the compensation integration coefficient less than 1,
The compensation electricity of linear drive apparatus in the knife rest that the performance indications making formula (15) represent are minimum is determined by formula (16)
Pressure
(16).
Further, use the cutting-vibration force measuring method being previously described for eliminating numerical control machine tool cutting tremor to obtain to quiver
Shake power f1；
Further, the cutting-vibration displacement measurement method being previously described for eliminating numerical control machine tool cutting tremor is used to obtain tremor
Displacement s1。
Further, described linear drive apparatus is piezo actuator, magnetostrictive actuator or linear electric motors.
The tremor power that the Tool in Cutting of the present invention causes and displacement automatic compensating cutting tool carriage apparatus structure, use force transducer real
Time measure Tool in Cutting workpiece produce tremor power change, simultaneously use displacement transducer measure in real time Tool in Cutting workpiece produce
Tremor change in displacement, according to measuring the power that arrives and the real-time change of displacement, according to tremor power and displacement comprehensive compensation controlling party
Method calculates the driving voltage needed for the change that corresponding linear actuator carries out comprehensive compensation tremor power and displacement in real time, thus
The tremor impact that producing in real time exerts oneself accordingly produces with bit shift compensation Tool in Cutting workpiece, improves the fineness of cutting workpiece
And working (machining) efficiency.
The linear actuator power output based on model of the present invention estimates the measuring method with cutting-vibration power, when the power of employing
When Tool in Cutting power is measured by sensor, it is measured and is not contained only the driving force of linear actuator output in signal the most also
The cutting-vibration power caused containing cutter and absorption surface, the coupling between both power will cause the measurement of force transducer
Result can not correctly reflect the actual change cutting the tremor power caused, thus weakens the tremor power of cutter when cutting
Compensating action.
Provide a kind of tremor force measuring method for this present invention, first load at band workpiece, but do not carry out machining
Time, by inputting corresponding test voltage signal to linear actuator, measure the power output signal of linear actuator, so simultaneously
Set up the relational model between linear actuator input voltage and power output by system identifying method afterwards, and utilize this model pair
The power output of driver is estimated in real time.Owing to using the linear actuator of intellectual material to contain lagging characteristics, therefore need to build
When founding the relational model between driving voltage and the power output of corresponding driver, the impact of sluggishness need to be considered.
During actual cut, straight line when signal deduction is loaded by band workpiece of measuring in real time obtained by force transducer drives
The estimated value of the linear actuator power output that the power output model of dynamic device calculates, just obtains cutter and quivering that absorption surface produces
The actual measured value of power of shaking.
The defeated Displacement Estimation of linear actuator based on model of the present invention and the measuring method of cutting-vibration displacement force, when adopting
When the tremor displacement caused Tool in Cutting with displacement transducer measures, it is measured in signal and is not contained only linear actuator
The displacement produced also contains the cutting-vibration displacement that cutter causes, the coupling between both displacements with absorption surface simultaneously
The measurement result causing position sensor can not correctly be reflected the actual change of cutting-vibration displacement, thus weaken cutting
The compensating action of the tremor displacement of cutter when cutting.
Provide a kind of tremor displacement measurement method for this present invention, first load at band workpiece, but do not carry out cutting and add
In man-hour, by inputting corresponding test voltage signal to linear actuator, measure the output displacement letter of linear actuator simultaneously
Number, then set up the relational model between linear actuator input voltage and output displacement by system identifying method, and utilize
The output displacement of driver is estimated by this model in real time.Sluggish special owing to using the linear actuator of intellectual material to contain
Property, when therefore needing the relational model setting up between driving voltage and the output displacement of corresponding driver, the shadow of sluggishness need to be considered
Ring.
During actual cut, obtained by displacement transducer measures straight line when signal deduction is loaded by band workpiece in real time
The estimated value of the linear actuator output displacement that the displacement model of driver calculates, just obtains cutter and absorption surface generation
The actual measured value of tremor displacement.
The cutting-vibration power of the present invention and the comprehensive compensation method of displacement, produce with absorption surface for eliminating working angles cutter
Raw tremor, to machining accuracy and the adverse effect of working (machining) efficiency, needs to utilize the force transducer installed on knife rest and displacement to pass simultaneously
Sensor measures estimation, and the comprehensive compensation method as shown in formula (16) according to formula (3) and (8) to tremor power and displacement
The adverse effect of tremor power and displacement is eliminated by the power and displacement controlling the output of linear actuator.
The present invention gives a kind of apparatus and method that cutting-vibration is compensated, be characterized in do not change existing
On the premise of this body structure of Digit Control Machine Tool, use one can the automatic compensating cutting tool carriage of tremor, this knife rest built-in cutting force sensor,
Tremor vibration displacement sensor, can synchronize to detect the stress intensity of cutting-vibration and rate of change thereof in real time and cutting-vibration causes
The parameters such as knife rest vibration displacement amplitude, power change size；Simultaneously the automatic compensating cutting tool carriage of this tremor be also built-in with elastic pre-tightening apparatus,
Flexible hinge and linear actuator, detect the change of power that tremor causes and vibration displacement parameter according to sensor, at a high speed at
Vibration displacement and the lagging characteristics of power that cutting is caused by reason device according to model of vibration are predicted compensating respectively, it is to avoid sluggish special
Property to next step Chatter Compensation control adversely affect.Utilize predicting the outcome of vibration displacement and power, according to vibration displacement with
Comprehensive compensation relation between force characteristic, it is thus achieved that the comprehensive compensation relation between control signal and power, displacement, thus drive to straight line
Dynamic device sends compensation control instruction and cutting-vibration impact is carried out Active Compensation.This device does not change the system of existing Digit Control Machine Tool
Structure, is applicable to various Flexible Manufacture lathe or the working angles of machining center.
Accompanying drawing explanation
Fig. 1 is the autocompensation installation eliminating numerical control machine tool cutting tremor in the embodiment of the present invention.
Wherein, 1 cutter, 2 cutter interfaces, 3 force transducers, 4 elastic pretensions, 5 is flexible
Hinge, 6 linear drive apparatus, 7 vibration displacement sensors, 8 pedestals.
Detailed description of the invention
, design as it is shown in figure 1, the present invention is directed to cutter tremor in working angles cutting precision and the impact of workpiece quality
Tremor on the rest position of a kind of cutting tool that may be mounted at Digit Control Machine Tool or flexible machining centre automatically detects and mends
Repay device, give corresponding tremor automatic compensating method.Tremor designed by the present invention automatically detects and does not changes with compensation device
Become this body structure of Digit Control Machine Tool, only this device need to be arranged on the rest position of lathe and just may be used.Figure is cutter 1, is used for
Workpiece is carried out machining；Cutter interface 2, is used for changing cutter and being connected with compensating drive mechanism；Force transducer 3, measures
The size of cutting-vibration power；Elastic pretension 4, eliminates gap for pretension；Flexible hinge 5, is used for amplifying driving force；Linear drives
Device 6, can be piezo actuator, magnetostrictive actuator or linear electric motors, is used for driving flexible hinge, elastic pretension, and then
Cutter is driven to carry out straight reciprocating motion；Vibration displacement sensor 7, for measuring the vibration displacement of knife rest；Above-mentioned parts device
In pedestal 8.
It is delivered to be arranged on rest position when cutting tool and absorption surface carry out tremor produced by cutting operation
Compensation device, the power-displacement detecting couple being made up of tremor force transducer and displacement transducer in device, cutter setting frame tremor
Power size and displacement amplitude are measured in real time.If linear actuator produces corresponding power f under the effect of driving voltage v, it
Relation between can be expressed as:
(e1)
Wherein f (k) is power (newton), and v (k) is driving voltage (volt), and φ (.) is the mapping of power mode input and outlet chamber.
When using force transducer that Tool in Cutting power is measured, its measurement signal does not contain only linear actuator defeated
The driving force gone out also contains the cutting-vibration power that cutter causes with absorption surface, i.e. simultaneously
f2(k)=β1f1(k)+β2f(k) (e2)
Wherein f (k) is the power that linear actuator produces under its input voltage effect, f2K () is the power that force sensor measuring arrives
Signal, f1K () is the vibration force that in cutting process, cutter produces with absorption surface, β1＞ 0 and β2>=0 is weighting system
Number.
The measurement result causing force transducer can not correctly be reflected the change of cutting force by the coupling between both power
Change, thus weaken the compensating action of the tremor power of cutter when cutting.The measurement of a kind of tremor power is given for this present invention
Method, first loads at band workpiece, but when not carrying out machining, by inputting corresponding test voltage to linear actuator
Signal, measures power output signal f (k) of linear actuator simultaneously, if the pass between linear actuator input voltage and power output
It is that model can be expressed as
(e3)
Wherein φ1Reflecting between input voltage and the power output of linear actuator when (.) is the load of band workpiece but does not cuts
Penetrate,Output valve for the relational model between linear actuator input voltage and power output.Thus, when actual cut process
In, the measurement signal of force transducer isf 2 (k), the mould of linear actuator when being deducted the band workpiece load shown in formula (e3)
Type exports, and just obtains the tremor power that cutter produces with absorption surfacef 1 (k)Actual measured value, i.e.
(e4)
Due in engineering reality, because of cost reason and the restriction in knife rest space, it is impossible to linear actuator is installed additional sensor pair
Its power output is measured in real time, when therefore the present invention proposes to set up the load of band workpiece, and the driving voltage of driver and driver
Model between power output, and utilize this model that the power output of driver is estimated in real time.Owing to using intellectual material
Linear actuator contains lagging characteristics, therefore needs the relational model setting up between driving voltage and the power output of corresponding driver
Time, the impact of sluggishness need to be considered.The present invention uses following formula to implement mapping, it may be assumed that
(e5)
Wherein aiAnd bjFor model parameter；N and m is polynomial order in model；η (k-j) is the output of power sluggishness submodel,
That is:
(e6)
Wherein sgn (.) is sign function, and Δ v (k)=v (k)-v (k-1), N are multinomial order, d0, dpAnd gpSluggish for power
Submodel parameter.Utilize method of least square, parameter a in model (e5) and (e6) can be determined with off-linei, bj, α, d0, dpAnd gp。
Cause knife rest to produce displacement when cutting tool and absorption surface carry out tremor produced by cutting operation, thus lead
Cause less desirable cutting error, affect machining precision, for compensating the cutting-vibration displacement impact for machining precision,
Linear actuator is needed to produce corresponding displacement s* (k), the tremor that its size causes with cutting under the effect of driving voltage v
Displacement amplitude is identical but phase place contrast.Relation between displacement and driving voltage that linear actuator produces can represent
Become:
s*(k)=Ψ (s (k-1), v (k-1)) (e7)
Wherein s*K () is the displacement (micron) that driver produces, Ψ (.) is the mapping relations of driver input and outlet chamber.
When using displacement transducer that the tremor displacement that Tool in Cutting workpiece produces is measured, in its measurement signal not
The displacement containing only linear actuator output also contains the cutting-vibration displacement that cutter causes with absorption surface, i.e. simultaneously
s2(k)=α1s1(k)+α2s*(k) (e8)
Wherein s*K () is the displacement that linear actuator produces under its input voltage effect, s2K () is that displacement sensor arrives
Displacement signal, s1K () is the tremor displacement that in cutting process, cutter produces with absorption surface, and be weight coefficient.
When the measurement result causing displacement transducer correctly can not be reflected cutting by the correlation between both displacements
The actual displacement change of workpiece oscillations.A kind of tremor displacement measurement method is provided, first at band workpiece, but not for this present invention
When carrying out machining, by inputting corresponding test voltage signal to linear actuator, measure the defeated of linear actuator simultaneously
Go out displacement signal s*K (), if the relational model between linear actuator input voltage and output displacement can be expressed as
(e9)
Mapping between input voltage and the output displacement of linear actuator when wherein Ψ (.) is band workpiece but does not cuts,Output valve for the relational model between linear actuator input voltage and output displacement.Thus, when actual cut process
In, the measurement signal of displacement transducer is s2(k), linear actuator when being deducted the band workpiece load shown in formula (e9)
Displacement model exports, and just obtains the tremor displacement s that cutter produces with absorption surface1The actual measured value of (k), i.e.
(e10)
Due in engineering reality, because of cost reason and the restriction in knife rest space, it is impossible to linear actuator is installed additional sensor pair
Its output displacement is measured in real time, when therefore the present invention proposes to set up the load of band workpiece, and the driving voltage of driver and driving
Model between device output displacement, and utilize this model that the output displacement of driver is estimated in real time.Owing to using intelligence
The linear actuator of material contains lagging characteristics, therefore needs to set up between driving voltage and the output displacement of corresponding driver
During relational model, the impact of sluggishness need to be considered.The present invention uses following formula to implement this mapping Ψ (.), i.e.
(e11)
Wherein a* iAnd b* jFor model parameter；n*And m*For order polynomial in model；ρ (k-j) is displacement sluggishness submodel:
(e12)
Wherein sgn (.) is sign function, and N is multinomial order,For displacement sluggishness submodel parameter.
Utilize method of least square, parameter a in model (e11) and (e12) can be determined with off-line* i, b* j,。
For eliminating working angles cutter with absorption surface generation tremor to machining accuracy and the adverse effect of working (machining) efficiency, need
To utilize the force transducer installed on knife rest and displacement transducer that tremor power and displacement are measured simultaneously, and by following compensation
Method eliminates the adverse effect of tremor power and displacement by the power and displacement controlling the output of linear actuator.IfFor power
The output of compensating controller,Output for bit shift compensation controller.And set force compensating controller and can be expressed as:
(e13)
Wherein μiAnd δjFor force compensating controller parameter, can be according to identification performance indications
(e14)
Least squares identification is utilized to obtain these parameters.In like manner set bit shift compensation controller can be expressed as:
(e15)
WhereinWithFor bit shift compensation controller parameter, these parameters can be according to following performance indications
(e16)
Least square method of recursion identification is utilized to obtain.After determining power and the corresponding parameter of motion compensator respectively.Can be according to quivering
Power of shaking and tremor displacement comprehensive compensation performance indications:
J=λ J1+(1-λ)J2 (e17)
It it is wherein the compensation integration coefficient less than 1.The cutter that the performance indications making formula (e17) represent are minimum is determined by following formula
The compensation voltage of the linear actuator in frame
(e18)
This compensation method will both compensate the impact of cutting-vibration power, also takes into account the impact of cutting-vibration displacement simultaneously.
The realization of comprehensive compensation method eliminating numerical control machine tool cutting tremor of the present invention includes step:
1) utilize force sensor measuring result, by (e3), (e4), (e5), (e6) formula, Tool in Cutting is caused tremor power f1Enter
Row is measured and is estimated；
2) utilizing displacement sensor result by (e9), (e10), (e11), Tool in Cutting is caused and quivers by (e12) formula simultaneously
Shake displacement s1Measure estimation；
3) according to the f estimated1, s1And the data such as driver input voltage in compensating cutting tool carriage, utilize formula (e13) and (e15) with
And performance indications (e14) and (e16) with least square method of recursion in power model formation (e13) and displacement model formula (e15)
Parameter μi, δj,Estimate.
4) according to the model parameter obtained, calculate driver with formula (e18) and compensate Tool in Cutting generation tremor power and quiver
Shake the control voltage needed for displacement, this voltage puts on the linear actuator in knife rest, the tremor that can cause Tool in Cutting
Power and displacement compensate accordingly.
Claims (8)
1. eliminating an autocompensation installation for numerical control machine tool cutting tremor, this compensation device is placed in the cutter of described Digit Control Machine Tool
At frame, it is characterised in that
Described compensation device includes pedestal, and this pedestal has a cutter interface for installing cutter, and this cutter is for workpiece
Carry out machining；
Being provided with a force transducer inside the pedestal of described cutter seam, this force transducer is for measuring cutting-vibration power
Size；
Described force transducer is coupled with flexible hinge and linear drive apparatus by an elastic pre-tightening apparatus, and this elasticity pretension fills
Put and eliminate gap for pretension；
Described flexible hinge is for being amplified the driving force of linear drive apparatus output；
The driving force of described linear drive apparatus, after flexible hinge is driven power amplification, drives and elastic pre-tightening apparatus then
The cutter connected carries out straight reciprocating motion；
Being additionally provided with vibration displacement sensor inside the pedestal of described linear drive apparatus rear end, this vibration displacement sensor is used for
The vibration displacement of detection knife rest.
2. for eliminating a measuring method for the cutting-vibration power of numerical control machine tool cutting tremor, based on described in claim 1
Autocompensation installation, sets as follows:
The workpiece preparing processing is installed on described master control lathe, and described Digit Control Machine Tool is in non-machining state, then this state
For A condition；
The cutter of described Digit Control Machine Tool is in the state being processed workpiece, then this state is B state；
It is characterized in that, comprise the following steps:
A1, described autocompensation installation is in A condition；
A2, inputs driving voltage to linear drive apparatusv (.),Obtain between linear drive apparatus input voltage and power output
Relational model, be expressed as
(1)
Wherein,φ 1 When (.) is A condition, the mapping between input voltage and the power output of linear drive apparatus,Drive for straight line
The output valve of dynamic relational model between device input voltage and power output,kFor the positive integer more than or equal to 1；
A3, if during actual cut, the measurement signal of force transducer isf 2 (k), have
f2(k)=β1f1(k)+β2f(k) (2)
Wherein, when f (k) is B state, the power that linear drive apparatus produces under its input voltage effect, f1K () is machining
During the vibration force that produces of cutter and absorption surface, β1＞ 0 and β2>=0 is weight coefficient,
OrderThen have
(3)
I.e. obtain the cutting-vibration power that described cutter produces with absorption surfacef 1 (k) 。
3. the cutting-vibration force measuring method for eliminating numerical control machine tool cutting tremor as claimed in claim 2, its feature exists
In, in step A2Acquisition, take the method that model (4) is estimated in real time,
If described linear drive apparatus contains lagging characteristics, it may be assumed that
(4)
It neutralizes as model parameter；
N and m is polynomial order in model；
η (k-j) is the output of power sluggishness submodel, it may be assumed that
(5)
Wherein, sgn (.) is sign function,
Δ v (k)=v (k)-v (k-1),
N is multinomial order,
d0, dpAnd gpFor power sluggishness submodel parameter,
Method of least square, off-line is utilized to determine parameter a in model (4) and (5)iAnd bjAnd α, d0,dpAnd gp。
4. for eliminating a cutting-vibration displacement measurement method for numerical control machine tool cutting tremor, based on described in claim 1
Autocompensation installation, sets as follows:
The workpiece preparing processing is installed on described master control lathe, and described Digit Control Machine Tool is in non-machining state, then this state
For A condition；
The cutter of described Digit Control Machine Tool is in the state being processed workpiece, then this state is B state；
It is characterized in that, comprise the following steps:
B1, described autocompensation installation is in A condition；
B2, inputs driving voltage to linear drive apparatusv(.), between linear drive apparatus input voltage and output displacement
Relational model is expressed as
(6)
Wherein, when Ψ (.) is A condition, the mapping between input voltage and the output displacement of linear drive apparatus,For straight line
The output valve of the relational model between driving means input voltage and output displacement,kFor the positive integer more than or equal to 1；
B3, if during actual cut, the measurement signal of displacement transducer is s2(k),
s2(k)=α1s1(k)+α2s*(k) (7)
Wherein, s*When () is B state k, the displacement that linear drive apparatus produces under its input voltage effect, s1K () is that cutting adds
The tremor displacement that during work, cutter produces with absorption surface, α1＞ 0 and α2>=0 is weight coefficient,
Order
(8)
I.e. obtain, the cutting-vibration displacement that cutter described in cutting process produces with absorption surface.
5. the cutting-vibration displacement measurement method for eliminating numerical control machine tool cutting tremor as claimed in claim 4, its feature
It is, for step B2, use model (9) method estimated in real time:
That is, if linear drive apparatus contains lagging characteristics, have
(9)
Wherein, a* iAnd b* jFor model parameter；
n*And m*For order polynomial in model；
ρ (k-j) is displacement sluggishness submodel:
(10)
Wherein, sgn (.) is sign function,
N is multinomial order,
For displacement sluggishness submodel parameter,
Method of least square, off-line is utilized to determine the parameter in model (9) and (10)With。
6. for eliminating a comprehensive compensation method for numerical control machine tool cutting tremor, based on the automatic compensation described in claim 1
Device, it is characterised in that
C1, utilizes force transducer to record described Tool in Cutting workpiece and causes tremor power f1；
C2, utilizes vibration displacement sensor to record described Tool in Cutting workpiece and causes tremor displacement s1；
C3, described autocompensation installation includes force compensating controller, ifFor the output of force compensating controller, if force compensating
Controller is expressed as:
(11)
Wherein, μiAnd δjFor force compensating controller parameter, can be according to performance indications
(12)
Least squares identification is utilized to obtain force compensating controller parameter；
C4, described autocompensation installation includes bit shift compensation controller, ifFor the output of bit shift compensation controller, if position
Shifting compensating controller is expressed as:
(13)
Wherein,For bit shift compensation controller parameter, can be according to performance indications
(14)
Least square method of recursion identification is utilized to obtain bit shift compensation controller parameter；
C5, according to tremor power and tremor displacement comprehensive compensation performance indications:
J=λ J1+(1-λ)J2 (15)
Wherein, it is wherein the compensation integration coefficient more than zero less than 1,
The compensation voltage of linear drive apparatus in the knife rest that the performance indications making formula (15) represent are minimum is determined by formula (16)
(16).
7. the comprehensive compensation method for eliminating numerical control machine tool cutting tremor as claimed in claim 6, it is characterised in that
Use as claimed in claim 2 or claim 3 for eliminating the cutting-vibration force measuring method acquisition of numerical control machine tool cutting tremor
Tremor power f1；
The cutting-vibration displacement measurement method using being used for as described in claim 4 or 5 to eliminate numerical control machine tool cutting tremor obtains
Obtain tremor displacement s1。
8. the autocompensation installation eliminating numerical control machine tool cutting tremor as claimed in claim 1, it is characterised in that described straight line
Driving means is piezo actuator, magnetostrictive actuator or linear electric motors.
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