CN106002489B - A kind of autocompensation installation and method for eliminating numerical control machine tool cutting flutter - Google Patents
A kind of autocompensation installation and method for eliminating numerical control machine tool cutting flutter Download PDFInfo
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- CN106002489B CN106002489B CN201610531427.3A CN201610531427A CN106002489B CN 106002489 B CN106002489 B CN 106002489B CN 201610531427 A CN201610531427 A CN 201610531427A CN 106002489 B CN106002489 B CN 106002489B
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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
Abstract
The invention discloses a kind of autocompensation installations for eliminating numerical control machine tool cutting flutter, it is placed at the knife rest of the numerically-controlled machine tool, the compensation device includes pedestal, and pedestal tool is used for installing cutter there are one cutter interface, which is used to carry out machining to workpiece；It is set on the inside of the pedestal of the cutter interface there are one force snesor, which is used to measure the size of cutting-vibration power；The force snesor is coupled by an elastic pre-tightening apparatus with flexible hinge and linear drive apparatus, which eliminates gap for pre-tightening；The flexible hinge is used to be amplified the driving force of linear drive apparatus output；For the driving force of the linear drive apparatus after flexible hinge is driven power amplification, then driving carries out straight reciprocating motion with the cutter that elastic pre-tightening apparatus is connected；Vibration displacement sensor is additionally provided on the inside of the pedestal of the linear drive apparatus rear end, which is used to detect the vibration displacement of knife rest.
Description
Technical field
The invention belongs to technical field of mechanical processing, more particularly to a kind of automatic compensation for eliminating numerical control machine tool cutting flutter
Apparatus and method.
Background technology
Discontinuous cutting cycle, workpiece and certain of cutting system and lathe intrinsic frequency between cutter and workpiece cutting face
The factors such as be close, and numerical control machine tool cutting process can be caused chatter phenomenon occur.It is sufficiently complex to induce the factor of cutting-vibration, no
The factors such as some intrinsic frequency between continuous cutting cycle, workpiece and cutting system and lathe is same or similar may all cause
The generation of flutter.
Due to flutter so that the precision of processing reduces, product quality declines and stock-removing efficiency declines, it is therefore necessary to logarithm
Flutter caused by controlling the cutting process of lathe compensates, i.e., the flutter of working angles is monitored on-line, predicted
And control.In this process, existing method be according to piezoelectric transducer monitor the flutter amplitude of workpiece or cutter change into
Row judges whether generation flutter, then uses the vibration suppression technology of magnetorheological fluid or ER fluid device to increase handle of a knife or boring bar etc.
The damping of cutting part and inhibit flutter.
However the response speed of magnetic, er material is slow, and there are serious nonlinear distortion phenomenon, cause to be difficult to at a high speed
Flutter caused by cutting is effectively compensated.In addition, sealing of this kind of intelligence liquid under high intensity pressure and Vibration Condition
Anti-leak is also the problem of one in Project Realization is very important.
On the other hand, how related vibration-reducing control method is simply mended according to the resonant frequency of flutter and displacement decision
Repay, and vibrate, between power there are a kind of Non-linear coupling, can have a negative impact to the compensation of cutting-vibration, and tradition is quivered
The compensation scheme that shakes fails to consider the coupling influence between this power and vibration displacement, and the compensation of flutter is difficult to obtain 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 1: 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 into smooth, denoising, while it is 50 to apply a frequency
~100Hz, amplitude are 1~3 μm of vibration signal, and feeding error signal is superimposed with treated by the vibration signal, rear defeated
Enter digital signal processing chip；
Step 3: the superposed signal for inputting digital signal processing chip is converted into electric signal and after power amplification, it is defeated
Go out and give magnetostriction compensation mechanism, bit shift compensation and vibration compensation chip are completed by magnetostriction compensation mechanism.
It improves the magnetostriction compensation mechanism of the compensation method of machining accuracy, bag using above-mentioned numerically controlled lathe accordingly
Giant magnetostrictive rod (6), coil (4), output ejector pin (8), the micro-displacement mechanism for including pedestal (5) and being arranged on pedestal (5)
(9), knife rest (10) and cutter (12) are provided on micro-displacement mechanism (9), the giant magnetostrictive rod (6) is arranged on
In coil (4), one end of the output ejector pin (8) is connected with one end of giant magnetostrictive rod (6), output ejector pin (8) it is another
One end is fixedly connected to drive the cutter on micro-displacement mechanism (9) with micro-displacement mechanism (9), it is characterised in that：Described
The end of micro-displacement mechanism (9) is additionally provided with a displacement sensor (18).
The content of the invention
The object of the present invention is to provide a kind of autocompensation installations and method for eliminating numerical control machine tool cutting flutter.
The technical scheme is that a kind of autocompensation installation for eliminating numerical control machine tool cutting flutter, the compensation device
It is placed at the knife rest of the numerically-controlled machine tool,
The compensation device include pedestal, the pedestal tool there are one cutter interface be used for cutter is installed, the cutter for pair
Workpiece carries out machining；
It is set on the inside of the pedestal of the cutter interface there are one force snesor, which is used to measure cutting-vibration
The size of power；
The force snesor is coupled by an elastic pre-tightening apparatus with flexible hinge and linear drive apparatus, and the elasticity is pre-
Tight device eliminates gap for pre-tightening；
The flexible hinge is used to be amplified the driving force of linear drive apparatus output；
The driving force of the linear drive apparatus is after flexible hinge is driven power amplification, and then driving elasticity pre-tightens dress
The cutter for putting connection carries out straight reciprocating motion；
Vibration displacement sensor is additionally provided on the inside of the pedestal of the linear drive apparatus rear end, the vibration displacement sensor
For detecting the vibration displacement of knife rest.
A kind of cutting-vibration force measuring method for being used to eliminate numerical control machine tool cutting flutter, using foregoing automatic compensation dress
It puts, setting is as follows：
The workpiece for preparing processing is installed on the master control lathe, and the numerically-controlled machine tool is in non-processing state, then should
State is A condition；
The cutter of the numerically-controlled machine tool is in the state being processed to workpiece, then the state is B state；
Comprise the following steps：
A1, the autocompensation installation are in A condition；
A2 inputs driving voltage to linear drive apparatusv(.),Obtain linear drive apparatus input voltage and power output it
Between relational model, be expressed as
(1)
Wherein,φ 1 When () is A condition, the mapping between the input voltage and power output of linear drive apparatus,For
The output valve of relational model between linear actuator input voltage and power output,kTo be more than or equal to 1 positive integer；
A3, if during actual cut, the measuring signal of force snesor isf 2 (k), have
(2)
Wherein,For B state when, linear drive apparatus power for generating under the effect of its input voltage,To cut
It cuts cutter in process and the vibration force generated is contacted with workpiece,For weighting coefficient,
(3)
It obtains the cutter and the cutting-vibration power generated is contacted with workpiecef 1 (k) 。
For in step A2Acquisition, take model（4）The method estimated in real time,
If the linear drive apparatus contains lagging characteristics, i.e.,：
（4）
WhereinFor model parameter；
N and m is polynomial order in model；
Using least square method, model is determined offline（4）(5) parameter in。
A kind of cutting-vibration displacement measurement method for being used to eliminate numerical control machine tool cutting flutter, using foregoing automatic compensation
Device, setting are as follows：
The workpiece for preparing processing is installed on the master control lathe, and the numerically-controlled machine tool is in non-processing state, then should
State is A condition；
The cutter of the numerically-controlled machine tool is in the state being processed to workpiece, then the state is B state；
Comprise the following steps：
B1, the autocompensation installation are in A condition；
B2 inputs driving voltage to linear drive apparatusv(), between linear drive apparatus input voltage and output displacement
Relational model be expressed as
(6)
Wherein,When () is A condition, the mapping between the input voltage and output displacement of linear drive apparatus,
The output valve of relational model between linear drive apparatus input voltage and output displacement,kTo be more than or equal to 1 positive integer；
B3, if during actual cut, the measuring signal of displacement sensor is,
(7)
Wherein,For B state when, linear drive apparatus displacement for generating under the effect of its input voltage,To cut
It cuts cutter in process and the flutter displacement generated is contacted with workpiece,For weighting coefficient,
(8)
It obtains, cutter described in cutting process contacts the cutting-vibration displacement generated with workpiece。
For step B2's, using model（9）The method estimated in real time：
That is, if linear drive apparatus contains lagging characteristics, have
（9）
（10）
Wherein, sgn () is sign function,
N is multinomial order,
For displacement sluggishness submodule shape parameter,
Using least square method, model is determined offline（9）(10) parameter in。
It is a kind of for eliminating the comprehensive compensation method of numerical control machine tool cutting flutter, using foregoing autocompensation installation,
C1 measures the Tool in Cutting workpiece using force snesor and causes flutter power；
C2 measures the Tool in Cutting workpiece using vibration displacement sensor and causes flutter displacement；
C3, the autocompensation installation include force compensating controller, ifFor the output of force compensating controller, if power
Compensating controller is expressed as：
(11)
Wherein,It, can be according to performance indicator for force compensating controller parameter
(12)
These parameters are obtained using least squares identification；
C4, the autocompensation installation include bit shift compensation controller, ifFor the output of bit shift compensation controller,
If bit shift compensation controller is expressed as：
(13)
Wherein,It, can be according to performance indicator for bit shift compensation controller parameter
(14)
It recognizes to obtain these parameters using least square method of recursion；
C5, according to flutter power and flutter displacement comprehensive compensation performance indicator：
(15)
Wherein, whereinTo be less than 1 compensation integration coefficient,
By formula（16）It determines to make formula（15）The benefit of linear drive apparatus in the knife rest of the performance indicator minimum of expression
Repay voltage
（16）.
Further, quivered using the cutting-vibration force measuring method for being previously described for eliminating numerical control machine tool cutting flutter
It shakes power；
Further, obtained using the cutting-vibration displacement measurement method for being previously described for eliminating numerical control machine tool cutting flutter
Flutter displacement。
Further, the linear drive apparatus is piezo actuator, magnetostrictive actuator or linear motor.
Flutter power caused by the Tool in Cutting of the present invention and the automatic compensating cutting tool carriage apparatus structure of displacement, it is real using force snesor
When measure the flutter power variation that Tool in Cutting workpiece generates, while the generation of Tool in Cutting workpiece is measured using displacement sensor in real time
Flutter change in displacement, according to the power and the real-time change of displacement measured, according to flutter power and displacement comprehensive compensation controlling party
Method calculates the driving voltage needed for the variation of corresponding linear actuator progress comprehensive compensation flutter power and displacement in real time, so as to
Generating the corresponding flutter generated with bit shift compensation Tool in Cutting workpiece of contributing in real time influences, and improves the finish of cutting workpiece
And processing efficiency.
The estimation of the linear actuator power output based on model of the present invention and the measuring method of cutting-vibration power, when using power
When sensor measures Tool in Cutting power, the driving force in measuring signal not only containing linear actuator output is simultaneously
Cutting-vibration power caused by being contacted containing cutter with workpiece, the coupling between both power will cause the measurement of force snesor
As a result the actual change of flutter power caused by cannot correctly reflecting cutting, the flutter power of cutter during so as to weaken to cutting
Compensating action.
The present invention provides a kind of flutter force measuring method therefore, i.e., is loaded first in band workpiece, but without machining
When, by inputting corresponding test voltage signal to linear actuator, while the output force signal of linear actuator is measured, so
Relational model between linear actuator input voltage and power output is established by system identifying method afterwards, and utilizes the model pair
The power output of driver is estimated in real time.Due to containing lagging characteristics using the linear actuator of intellectual material, need to build
When founding the relational model between the driving voltage of corresponding driver and power output, sluggish influence need to be considered.
During actual cut, the signal of measuring in real time that force snesor is obtained deducts straight line drive when being loaded by band workpiece
The estimate for the linear actuator power output that the power output model of dynamic device calculates just obtains cutter and quivering for generation is contacted with workpiece
The actual measured value for power of shaking.
The measuring method of the defeated Displacement Estimation of the linear actuator based on model and the cutting-vibration displacement force of the present invention, when adopting
With displacement sensor to flutter displacement measures caused by Tool in Cutting when, not only contain linear actuator in measuring signal
Cutting-vibration displacement caused by the displacement of generation also contacts simultaneously containing cutter with workpiece, the coupling between both displacements
The measurement result for causing position sensor cannot correctly be reflected to the actual change of cutting-vibration displacement, so as to weaken to cutting
The compensating action of the flutter displacement of cutter when cutting.
The present invention provides a kind of flutter displacement measurement method therefore, i.e., loads in band workpiece, but add without cutting first
Man-hour by inputting corresponding test voltage signal to linear actuator, while measures the output displacement letter of linear actuator
Number, relational model between linear actuator input voltage and output displacement is then established by system identifying method, and is utilized
The model estimates the output displacement of driver in real time.Due to containing sluggish spy using the linear actuator of intellectual material
Property, therefore when need to establish the relational model between the driving voltage and output displacement of corresponding driver, need to consider sluggish shadow
It rings.
During actual cut, the signal of measuring in real time that displacement sensor is obtained deducts straight line when being loaded by band workpiece
The estimate for the linear actuator output displacement that the displacement model of driver calculates just obtains cutter and contacts what is generated with workpiece
The actual measured value of flutter displacement.
The cutting-vibration power of the present invention and the comprehensive compensation method of displacement contact production with workpiece to eliminate working angles cutter
Raw flutter is to the adverse effect of machining accuracy and processing efficiency, it is necessary to be passed simultaneously using the force snesor and displacement installed on knife rest
Sensor is according to formula（3）With（8）Estimation is measured to flutter power and displacement, and by formula（16）Shown comprehensive compensation method
The adverse effect of flutter power and displacement is eliminated by the power and displacement of the output for controlling linear actuator.
The present invention gives a kind of apparatus and method compensated to cutting-vibration, its main feature is that existing not changing
On the premise of this body structure of numerically-controlled machine tool, using one kind can the automatic compensating cutting tool carriage of flutter, the built-in cutting force snesor of the knife rest,
Flutter vibration displacement sensor, the stress intensity and its change rate and cutting-vibration that can synchronously detect cutting-vibration in real time cause
The parameters such as knife rest vibration displacement amplitude, power variation size；While the also built-in flexible pre-tightening apparatus of the automatic compensating cutting tool carriage of the flutter,
Flexible hinge and linear actuator, the variation of the power according to caused by sensor detects flutter and vibration displacement parameter, at a high speed at
Reason device carries out predictive compensation respectively according to model of vibration to the lagging characteristics of vibration displacement caused by cutting and power, avoids sluggish spy
Property to next step Chatter Compensation control adversely affect.Using vibration displacement and the prediction result of power, according to vibration displacement with
Comprehensive compensation relation between force characteristic obtains the comprehensive compensation relation between control signal and power, displacement, so as to be driven to straight line
Dynamic device, which sends compensation control instruction, to be influenced cutting-vibration to carry out Active Compensation.The system that the device does not change existing numerically-controlled machine tool
Structure is applicable to the working angles of various Flexible Manufacture lathes or machining center.
Description of the drawings
Fig. 1 is the autocompensation installation of the elimination numerical control machine tool cutting flutter in the embodiment of the present invention.
Wherein, 1 --- cutter, 2 --- cutter interface, 3 --- force snesor, 4 --- elasticity pre-tightens, and 5 --- it is flexible
Hinge, 6 --- linear drive apparatus, 7 --- vibration displacement sensor, 8 --- pedestal.
Specific embodiment
As shown in Figure 1, the present invention is for influence of the cutter flutter to cutting precision and workpiece quality in working angles, design
A kind of flutter on rest position for the cutting tool that may be mounted at numerically-controlled machine tool or flexible machining centre is detected and mended automatically
Device is repaid, gives corresponding flutter automatic compensating method.Automatically detection does not change with compensation device for flutter designed by the present invention
Become this body structure of numerically-controlled machine tool, the device need to be only mounted on the rest position of lathe.It is cutter 1 in figure, is used for
Machining is carried out to workpiece；Cutter interface 2, for replacing cutter and being connected with compensation driving mechanism；Force snesor 3, measurement
The size of cutting-vibration power；Elasticity pre-tightens 4, and gap is eliminated for pre-tightening；Flexible hinge 5, for amplifying driving force；Linear drives
Device 6 can be piezo actuator, magnetostrictive actuator or linear motor, and for driving flexible hinge, elasticity pre-tightens, 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 in pedestal 8.
When cutting tool contact with workpiece carry out cutting operation caused by flutter be transferred on rest position
Compensation device, power-displacement detecting couple that flutter is made of force snesor and displacement sensor in device, cutter setting frame flutter
Power size and displacement amplitude are measured in real time.If linear actuator generates corresponding power f under the action of driving voltage v, it
Between relation can be expressed as：
(e1)
Wherein f (k) is power (newton), and v (k) is driving voltage (volt), and φ () reflects for power mode input and outlet chamber
It penetrates.
It is not only defeated containing linear actuator in measuring signal when being measured using force snesor to Tool in Cutting power
The driving force that goes out while cutting-vibration power caused by also being contacted containing cutter with workpiece, i.e.,
(e2)
WhereinFor linear actuator under the effect of its input voltage the power that generates,It is arrived for force sensor measuring
Force signal,The vibration force generated is contacted with workpiece for cutter in cutting process,WithFor
Weighting coefficient.
The measurement result for causing force snesor cannot correctly be reflected the change of cutting force by the coupling between both power
Change, the compensating action of the flutter power of cutter during so as to weaken to cutting.The present invention provides a kind of measurement of flutter power therefore
Method is loaded in band workpiece first, but during without machining, by the way that linear actuator is given to input corresponding test voltage
Signal, while measure the output force signal of linear actuatorIf between linear actuator input voltage and power output
Relational model can be expressed as
(e3)
Wherein φ1() is to be loaded with workpiece but without between the input voltage and power output of linear actuator during cutting
Mapping,The output valve of relational model between linear actuator input voltage and power output.As a result, when actually cutting
During cutting, the measuring signal of force snesor isf 2 (k), linear drives when being deducted the band workpiece load shown in formula (e3)
The model output of device, just obtains cutter and the flutter power generated is contacted with workpiecef 1 (k)Actual measured value, i.e.,
(e4)
Due to that in practice, because of the limitation in cost reason and knife rest space, can not install additional and sense to linear actuator in engineering
Device measures its power output in real time, therefore the present invention proposes to establish when loading with workpiece, the driving voltage of driver and drive
Model between dynamic device power output, and the power output of driver is estimated in real time using the model.Due to using intelligent material
The linear actuator of material contains lagging characteristics, therefore need to establish the relation between the driving voltage of corresponding driver and power output
During model, sluggish influence need to be considered.The present invention implements mapping using following formula, i.e.,：
（e5）
WhereinFor model parameter；N and m is polynomial order in model；For power sluggishness submodel
Output, i.e.,：
（e6）
Wherein sgn () is sign function,, N is multinomial order, d0, dpAnd gpIt is sluggish for power
Submodule shape parameter.Using least square method, model can be determined offline（e5）Parameter in (e6)
。
When cutting tool contact with workpiece carry out cutting operation caused by flutter knife rest is caused to generate displacement, so as to lead
Undesirable cutting error is caused, influences machining precision, to compensate influence of the cutting-vibration displacement for machining precision,
Linear actuator is needed to generate corresponding displacement s* (k), size and flutter caused by cutting under the action of driving voltage v
Displacement amplitude is identical but phase is exactly the opposite.Relation between the displacement of linear actuator generation and driving voltage can represent
Into：
(e7)
WhereinThe displacement generated for driver（Micron）,For driver input and the mapping relations of outlet chamber.
When being measured using displacement sensor to the flutter displacement that Tool in Cutting workpiece generates, in measuring signal not
Cutting-vibration displacement caused by displacement only containing linear actuator output also contacts simultaneously containing cutter with workpiece, i.e.,
(e8)
WhereinFor linear actuator displacement for generating under the effect of its input voltage,It is surveyed for displacement sensor
The displacement signal measured,The flutter displacement generated is contacted with workpiece for cutter in cutting process and be that weighting is
Number.
When the measurement result for causing displacement sensor cannot correctly be reflected cutting by the correlation between both displacements
The actual displacement variation of workpiece oscillations.The present invention provides a kind of flutter displacement measurement method therefore, i.e., first in band workpiece, but not
When carrying out machining, by inputting corresponding test voltage signal to linear actuator, while the defeated of linear actuator is measured
Go out displacement signalIf the relational model between linear actuator input voltage and output displacement can be expressed as
(e9)
WhereinFor with workpiece but without reflecting between the input voltage and output displacement of linear actuator during cutting
It penetrates,The output valve of relational model between linear actuator input voltage and output displacement.Work as actual cut as a result,
In the process, the measuring signal of displacement sensor is, linear drives when being deducted the band workpiece load shown in formula (e9)
The displacement model output of device, just obtains cutter and the flutter displacement generated is contacted with workpieceActual measured value, i.e.,
(e10)
Due to that in practice, because of the limitation in cost reason and knife rest space, can not install additional and sense to linear actuator in engineering
Device measures its output displacement in real time, thus the present invention propose establish band workpiece load when, the driving voltage of driver with
Model between driver output displacement, and the output displacement of driver is estimated in real time using the model.Due to using
The linear actuator of intellectual material contains lagging characteristics, thus need to establish the driving voltage of corresponding driver and output displacement it
Between relational model when, need to consider sluggish influence.The present invention implements the mapping using following formula, i.e.,
（e11）
WhereinFor model parameter；n*And m*For polynomial order in model；For the sluggish son of displacement
Model：
（e12）
Wherein sgn () is sign function, and N is multinomial order,Join for displacement sluggishness submodel
Number.Using least square method, model can be determined offline（e11）Parameter in (e12),。
Adverse effect of the generation flutter to machining accuracy and processing efficiency is contacted to eliminate working angles cutter with workpiece, is needed
Flutter power and displacement are measured using the force snesor and displacement sensor installed on knife rest simultaneously, and by following compensation
Method eliminates the adverse effect of flutter power and displacement by controlling power and the displacement of the output of linear actuator.IfFor power
The output of compensating controller,For the output of bit shift compensation controller.And it sets force compensating controller and can be expressed as：
(e13)
WhereinWithIt, can be according to identification performance indicator for force compensating controller parameter
(e14)
These parameters are obtained using least squares identification.Similarly setting bit shift compensation controller can be expressed as：
(e15)
WhereinWithFor bit shift compensation controller parameter, these parameters can be according to following performance indicators
(e16)
It recognizes to obtain using least square method of recursion.After power and the corresponding parameter of motion compensator is determined respectively.It can root
According to flutter power and flutter displacement comprehensive compensation performance indicator：
(e17)
It is wherein the compensation integration coefficient less than 1.It is determined to make formula by following formula（e17）The performance indicator of expression is minimum
Knife rest in linear actuator offset voltage
（e18）
The compensation method will both compensate the influence of cutting-vibration power, while also take into account the influence of cutting-vibration displacement.
The realization of the comprehensive compensation method of the elimination numerical control machine tool cutting flutter of the present invention includes step：
1) using force sensor measuring result, flutter power is caused to Tool in Cutting by (e3), (e4), (e5), (e6) formulaMeasure estimation；
2）Simultaneously using displacement sensor result by (e9), (e10), (e11), (e12) formula draws Tool in Cutting
Play flutter displacementMeasure estimation；
3）According to estimationAnd the data such as driver input voltage in compensating cutting tool carriage, utilize formula（e13）With
（e15）And performance indicator（e14）With（e16）With least square method of recursion to power model formation（e13）With displacement model formula
（e15）In parameterEstimated.
4）According to the model parameter of acquisition, formula is used（e18）Driver compensation Tool in Cutting is calculated to generate flutter power and quiver
The control voltage to shake needed for displacement, the linear actuator which being applied in knife rest can be to flutter caused by Tool in Cutting
Power and displacement are compensated accordingly.
Claims (8)
1. a kind of autocompensation installation for eliminating numerical control machine tool cutting flutter, the compensation device are placed in the knife of the numerically-controlled machine tool
At frame, which is characterized in that
The compensation device includes pedestal, and pedestal tool is used for installing cutter there are one cutter interface, which is used for workpiece
Carry out machining；
It is set on the inside of the pedestal of the cutter interface there are one force snesor, which is used to measure cutting-vibration power
Size；
The force snesor is coupled by an elastic pre-tightening apparatus with flexible hinge and linear drive apparatus, which pre-tightens dress
It puts and eliminates gap for pre-tightening；
The flexible hinge is used to be amplified the driving force of linear drive apparatus output；
The driving force of the linear drive apparatus then drives and elastic pre-tightening apparatus after flexible hinge is driven power amplification
The cutter of connection carries out straight reciprocating motion；
Vibration displacement sensor is additionally provided on the inside of the pedestal of the linear drive apparatus rear end, which is used for
Detect the vibration displacement of knife rest.
2. it is a kind of for eliminating the measuring method of the cutting-vibration power of numerical control machine tool cutting flutter, based on described in claim 1
Autocompensation installation, setting are as follows：
The workpiece for preparing processing is installed on the numerically-controlled machine tool, and the numerically-controlled machine tool is in non-processing state, then the state
For A condition；
The cutter of the numerically-controlled machine tool is in the state being processed to workpiece, then the state is B state；
It is characterised in that it includes following steps：
A1, the autocompensation installation are in A condition；
A2 to linear drive apparatus input driving voltage v (), is obtained between linear drive apparatus input voltage and power output
Relational model is expressed as
Wherein,For A condition when, the mapping between the input voltage and power output of linear drive apparatus,For linear drives
The output valve of relational model between device input voltage and power output, k are the positive integer more than or equal to 1；
A3, if during actual cut, the measuring signal of force snesor is f2(k), have
f2(k)=β1f1(k)+β2f(k) (2)
Wherein, when f (k) is B state, the linear drive apparatus power that generates, f under the effect of its input voltage1(k) it is machining
Cutter contacts the vibration force generated, β with workpiece in the process1＞ 0 and β2>=0 is weighting coefficient,
OrderThen have
It obtains the cutter and the cutting-vibration power f generated is contacted with workpiece1(k)。
3. as claimed in claim 2 for eliminating the cutting-vibration force measuring method of numerical control machine tool cutting flutter, feature exists
In in step A2Acquisition, the method that model (4) is taken to be estimated in real time,
If the linear drive apparatus contains lagging characteristics, i.e.,：
<mrow>
<mover>
<mi>f</mi>
<mo>^</mo>
</mover>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>a</mi>
<mi>i</mi>
</msub>
<mover>
<mi>f</mi>
<mo>^</mo>
</mover>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mi>i</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>j</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>m</mi>
</munderover>
<msub>
<mi>b</mi>
<mi>j</mi>
</msub>
<mi>&eta;</mi>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mi>j</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>4</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein aiAnd bjFor model parameter；
N and m is polynomial order in model；
η (k-j) exports for power sluggishness submodel, i.e.,：
<mrow>
<mtable>
<mtr>
<mtd>
<mrow>
<mi>&eta;</mi>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mi>&eta;</mi>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mi>&alpha;</mi>
<mo>&lsqb;</mo>
<msub>
<mi>d</mi>
<mn>0</mn>
</msub>
<mi>s</mi>
<mi>g</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mi>v</mi>
<mo>(</mo>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mo>+</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>p</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<msub>
<mi>d</mi>
<mi>p</mi>
</msub>
<msup>
<mrow>
<mo>(</mo>
<mi>v</mi>
<mo>(</mo>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mrow>
<mn>2</mn>
<mi>p</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>-</mo>
<mi>&eta;</mi>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
<mo>|</mo>
<mi>&Delta;</mi>
<mi>v</mi>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>|</mo>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>+</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>p</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<msub>
<mi>g</mi>
<mrow>
<mi>p</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
<msup>
<mrow>
<mo>(</mo>
<mi>v</mi>
<mo>(</mo>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mrow>
<mn>2</mn>
<mi>p</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mi>&Delta;</mi>
<mi>v</mi>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
</mtable>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>5</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, sgn () is sign function,
Δ v (k)=v (k)-v (k-1),
N is multinomial order,
α, d0, dpAnd gpFor power sluggishness submodule shape parameter,
Using least square method, the parameter a in model (4) and (5) is determined offlineiAnd bjAnd α, d0, dpAnd gp。
4. it is a kind of for eliminating the cutting-vibration displacement measurement method of numerical control machine tool cutting flutter, based on described in claim 1
Autocompensation installation, setting are as follows：
The workpiece for preparing processing is installed on the numerically-controlled machine tool, and the numerically-controlled machine tool is in non-processing state, then the state
For A condition；
The cutter of the numerically-controlled machine tool is in the state being processed to workpiece, then the state is B state；
It is characterised in that it includes following steps：
B1, the autocompensation installation are in A condition；
B2, to linear drive apparatus input driving voltage v (), the pass between linear drive apparatus input voltage and output displacement
It is that model is expressed as
<mrow>
<msup>
<mover>
<mi>s</mi>
<mo>^</mo>
</mover>
<mo>*</mo>
</msup>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mi>&Psi;</mi>
<mrow>
<mo>(</mo>
<mi>v</mi>
<mo>(</mo>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
<mo>)</mo>
<mo>,</mo>
<msup>
<mover>
<mi>s</mi>
<mo>^</mo>
</mover>
<mo>*</mo>
</msup>
<mo>(</mo>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>6</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, when Ψ () is A condition, the mapping between the input voltage and output displacement of linear drive apparatus,For straight line
The output valve of relational model between driving device input voltage and output displacement, k are the positive integer more than or equal to 1；
B3, if during actual cut, the measuring signal of displacement sensor is s2(k),
s2(k)=α1s1(k)+α2s*(k) (7)
Wherein, s*(k) when being B state, linear drive apparatus displacement for generating under the effect of its input voltage, s1(k) add for cutting
Cutter contacts the flutter displacement generated, α with workpiece during work1＞ 0 and α2>=0 is weighting coefficient,
Order
<mrow>
<msub>
<mi>s</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<msub>
<mi>&alpha;</mi>
<mn>1</mn>
</msub>
</mfrac>
<msub>
<mi>s</mi>
<mn>2</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mfrac>
<msub>
<mi>&alpha;</mi>
<mn>2</mn>
</msub>
<msub>
<mi>&alpha;</mi>
<mn>1</mn>
</msub>
</mfrac>
<mi>&Psi;</mi>
<mrow>
<mo>(</mo>
<mi>v</mi>
<mo>(</mo>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
<mo>)</mo>
<mo>,</mo>
<msup>
<mi>s</mi>
<mo>*</mo>
</msup>
<mo>(</mo>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>8</mn>
<mo>)</mo>
</mrow>
</mrow>
It obtains, cutter described in cutting process contacts the cutting-vibration displacement s generated with workpiece1(k)。
5. the cutting-vibration displacement measurement method as claimed in claim 4 for being used to eliminate numerical control machine tool cutting flutter, feature
It is, for step B2'sThe method estimated in real time using model (9)：
That is, if linear drive apparatus contains lagging characteristics, have
<mrow>
<msup>
<mover>
<mi>s</mi>
<mo>^</mo>
</mover>
<mo>*</mo>
</msup>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<msup>
<mi>n</mi>
<mo>*</mo>
</msup>
</munderover>
<msub>
<msup>
<mi>a</mi>
<mo>*</mo>
</msup>
<mi>i</mi>
</msub>
<msup>
<mover>
<mi>s</mi>
<mo>^</mo>
</mover>
<mo>*</mo>
</msup>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mi>i</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>j</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<msup>
<mi>m</mi>
<mo>*</mo>
</msup>
</munderover>
<msub>
<msup>
<mi>b</mi>
<mo>*</mo>
</msup>
<mi>j</mi>
</msub>
<mi>&rho;</mi>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mi>j</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>9</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, a* iAnd b* jFor model parameter；
n*And m*For polynomial order in model；
ρ (k-j) is displacement sluggishness submodel：
<mrow>
<mtable>
<mtr>
<mtd>
<mrow>
<mi>&rho;</mi>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mi>&rho;</mi>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msup>
<mi>&alpha;</mi>
<mo>*</mo>
</msup>
<mo>&lsqb;</mo>
<msubsup>
<mi>d</mi>
<mn>0</mn>
<mo>*</mo>
</msubsup>
<mi>S</mi>
<mi>g</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mi>v</mi>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mo>)</mo>
<mo>+</mo>
<msub>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>p</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<mrow></mrow>
</msub>
<msubsup>
<mi>d</mi>
<mi>p</mi>
<mo>*</mo>
</msubsup>
<msup>
<mrow>
<mo>(</mo>
<mi>v</mi>
<mo>(</mo>
<msub>
<mi>k</mi>
<mover>
<msub>
<mi>g</mi>
<mi>p</mi>
</msub>
<mo>&OverBar;</mo>
</mover>
</msub>
<mn>1</mn>
<mo>-</mo>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mrow>
<mn>2</mn>
<mi>p</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>-</mo>
<mi>&rho;</mi>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
<mo>|</mo>
<mi>&Delta;</mi>
<mi>v</mi>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>|</mo>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>p</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<msup>
<mrow>
<mo>(</mo>
<mi>v</mi>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mrow>
<mn>2</mn>
<mi>p</mi>
<mo>-</mo>
<mn>2</mn>
</mrow>
</msup>
<mi>&Delta;</mi>
<mi>v</mi>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
</mtable>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>10</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, sgn () is sign function,
N is multinomial order,
α*,WithFor displacement sluggishness submodule shape parameter,
Using least square method, the parameter a in model (9) and (10) is determined offline* iAnd b* jAnd α*,With
6. it is a kind of for eliminating the comprehensive compensation method of numerical control machine tool cutting flutter, based on automatic compensation described in claim 1
Device, which is characterized in that
C1 measures the Tool in Cutting workpiece using force snesor and causes flutter power f1；
C2 measures the Tool in Cutting workpiece using vibration displacement sensor and causes flutter displacement s1；
C3, the autocompensation installation include force compensating controller, ifFor the output of force compensating controller, if force compensating
Controller is expressed as：
<mrow>
<mover>
<mi>f</mi>
<mo>&OverBar;</mo>
</mover>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>&mu;</mi>
<mi>i</mi>
</msub>
<mover>
<mi>f</mi>
<mo>&OverBar;</mo>
</mover>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mi>i</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>j</mi>
<mo>=</mo>
<mn>0</mn>
</mrow>
<mi>m</mi>
</munderover>
<msub>
<mi>&delta;</mi>
<mi>j</mi>
</msub>
<mi>v</mi>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mi>j</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>11</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, μiAnd δjIt, can be according to performance indicator for force compensating controller parameter
<mrow>
<msub>
<mi>J</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>k</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>M</mi>
</munderover>
<msup>
<mrow>
<mo>&lsqb;</mo>
<msub>
<mi>f</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mover>
<mi>f</mi>
<mo>&OverBar;</mo>
</mover>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>12</mn>
<mo>)</mo>
</mrow>
</mrow>
Force compensating controller parameter is obtained using least squares identification；
C4, the autocompensation installation include bit shift compensation controller, ifFor the output of bit shift compensation controller, if position
Compensating controller is moved to be expressed as：
<mrow>
<mover>
<mi>s</mi>
<mo>&OverBar;</mo>
</mover>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<msup>
<mi>n</mi>
<mo>*</mo>
</msup>
</munderover>
<msubsup>
<mi>&mu;</mi>
<mi>i</mi>
<mo>*</mo>
</msubsup>
<mover>
<mi>s</mi>
<mo>&OverBar;</mo>
</mover>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mi>i</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>j</mi>
<mo>=</mo>
<mn>0</mn>
</mrow>
<msup>
<mi>m</mi>
<mo>*</mo>
</msup>
</munderover>
<msubsup>
<mi>&delta;</mi>
<mi>j</mi>
<mo>*</mo>
</msubsup>
<mi>v</mi>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mi>j</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>13</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein,WithIt, can be according to performance indicator for bit shift compensation controller parameter
<mrow>
<msub>
<mi>J</mi>
<mn>2</mn>
</msub>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>k</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>M</mi>
</munderover>
<msup>
<mrow>
<mo>&lsqb;</mo>
<msub>
<mi>s</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mover>
<mi>s</mi>
<mo>&OverBar;</mo>
</mover>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>14</mn>
<mo>)</mo>
</mrow>
</mrow>
Utilize recursive least-squares
Method recognizes to obtain bit shift compensation controller parameter；
C5, according to flutter power and flutter displacement comprehensive compensation performance indicator：
J=λ J1+(1-λ)J2 (15)
Wherein, λ is the compensation integration coefficient less than 1 more than zero,
The compensation electricity of the linear drive apparatus in the knife rest for the performance indicator minimum for making formula (15) expression is determined by formula (16)
Pressure
<mrow>
<mtable>
<mtr>
<mtd>
<mrow>
<mi>v</mi>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mrow>
<msubsup>
<mi>&delta;</mi>
<mn>0</mn>
<mn>2</mn>
</msubsup>
<mi>&lambda;</mi>
<mo>+</mo>
<msubsup>
<mi>&delta;</mi>
<mn>0</mn>
<mrow>
<mo>*</mo>
<mn>2</mn>
</mrow>
</msubsup>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>-</mo>
<mi>&lambda;</mi>
<mo>)</mo>
</mrow>
</mrow>
</mfrac>
<mo>{</mo>
<msub>
<mi>&lambda;&delta;</mi>
<mn>0</mn>
</msub>
<mo>&lsqb;</mo>
<msub>
<mi>f</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<munderover>
<mi>&Sigma;</mi>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>&mu;</mi>
<mi>i</mi>
</msub>
<mover>
<mi>f</mi>
<mo>&OverBar;</mo>
</mover>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mi>i</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>j</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>m</mi>
</munderover>
<msub>
<mi>&delta;</mi>
<mi>j</mi>
</msub>
<mi>v</mi>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mi>j</mi>
<mo>)</mo>
</mrow>
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7. the comprehensive compensation method as claimed in claim 6 for being used to eliminate numerical control machine tool cutting flutter, which is characterized in that
It is obtained using the cutting-vibration force measuring method for being used to eliminate numerical control machine tool cutting flutter as claimed in claim 2 or claim 3
Flutter power f1；
It is obtained using the cutting-vibration displacement measurement method for being used to eliminate numerical control machine tool cutting flutter as described in claim 4 or 5
Obtain flutter displacement s1。
8. a kind of autocompensation installation for eliminating numerical control machine tool cutting flutter, the compensation device are placed in the knife of the numerically-controlled machine tool
At frame, which is characterized in that
The compensation device includes pedestal, and pedestal tool is used for installing cutter there are one cutter interface, which is used for workpiece
Carry out machining；
It is set on the inside of the pedestal of the cutter interface there are one force snesor, which is used to measure cutting-vibration power
Size；
The force snesor is coupled by an elastic pre-tightening apparatus with flexible hinge and linear drive apparatus, which pre-tightens dress
It puts and eliminates gap for pre-tightening；
The flexible hinge is used to be amplified the driving force of linear drive apparatus output；
The driving force of the linear drive apparatus then drives and elastic pre-tightening apparatus after flexible hinge is driven power amplification
The cutter of connection carries out straight reciprocating motion；
Vibration displacement sensor is additionally provided on the inside of the pedestal of the linear drive apparatus rear end, which is used for
The vibration displacement of knife rest is detected,
The linear drive apparatus is piezo actuator, magnetostrictive actuator or linear motor.
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| CN108080968A (en) * | 2018-01-22 | 2018-05-29 | 深圳市创世纪机械有限公司 | Numerical control machine tool and carving machine with double independent stations |
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| CN117075535B (en) * | 2023-10-16 | 2024-01-02 | 上海诺倬力机电科技有限公司 | Vibration suppressing method, vibration suppressing device, electronic apparatus, and readable storage medium |
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