CN108318122B - Adaptive vibration sensing method - Google Patents
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Abstract
An adaptive vibration sensing method performed by a sensing device and comprising the steps of: (A) calculating a measurement frequency range related to the operating speed of a machine tool; (B) sensing a vibration condition of a feeding system when the feeding system is static to obtain a smoothing signal related to environmental noise, wherein the smoothing signal has a plurality of noise values, and the plurality of noise values are distributed in the measurement frequency range; (C) comparing a frequency value corresponding to a minimum noise value of the smoothed signal as a measurement frequency value; (D) obtaining a suggested rotation speed of a motor according to the measurement frequency value; and (E) when the motor rotates according to the suggested rotating speed, the sensing device is used for sensing the feeding system to obtain a dynamic vibration signal indicating the vibration condition of the feeding system during rotation, so that the sensing device is prevented from being influenced by environmental noise, and the sensed dynamic vibration signal is more accurate.
Description
Technical Field
The present invention relates to a sensing method, and more particularly to an adaptive vibration sensing method for a machine tool.
Background
In recent years, with the rapid development of industry and technology, the related technology of the feeding system of the machine tool is developed, and therefore, how to detect whether the feeding system in the machine tool is abnormal (e.g., the internal mechanical components are worn) is a major research and development point. The existing detection method mainly uses an external vibration sensor to sense the feeding system so as to generate a vibration signal to a microprocessor, and the microprocessor judges whether the feeding system is abnormal or not according to the vibration signal. However, due to the influence of environmental noise (e.g., vibration of the machine tool itself, external environmental influence, and a lot of noise existing in industrial power supplies for supplying power to the feeding system and the vibration sensor), the vibration signal sensed by the vibration sensor is affected by these factors to cause errors, so that the microprocessor may make a judgment error when determining whether the feeding system is abnormal.
Therefore, other detection methods have been developed: (method one) sensing the feeding system by a special industrial vibration sensor (the sensor can be prevented from being influenced by noise) to prevent the generated vibration signal from being influenced by the above factors and having errors; and (method two) using a plurality of general vibration sensors to sense the feeding system to generate a plurality of vibration signals, the microprocessor obtaining a correction signal according to the vibration signals and judging whether the feeding system is abnormal or not according to the correction signal. However, the special industrial vibration sensor used in the first method is expensive, and the second method needs to use a plurality of general vibration sensors to solve the problem that the vibration signal is interfered by the vibration of the machine tool itself, the external environment and noise, and the like, which is relatively expensive. There is therefore still room for improvement in the existing methods of inspecting such feed systems in machine tools.
Disclosure of Invention
The present invention provides a self-adaptive vibration sensing method capable of avoiding sensing errors caused by environmental noise.
The adaptive vibration sensing method of the present invention is executed by a sensing device adapted to a machine tool including a feeding system and a motor electrically connected to the feeding system, the adaptive vibration sensing method comprising the steps of:
(A) calculating a measurement frequency range associated with the machine tool operating speed using the sensing device, the machine tool operating speed being limited to factory specifications;
(B) sensing the vibration condition of the feeding system when the feeding system is static by using the sensing device to obtain a smoothing signal related to the environmental noise, wherein the smoothing signal has a plurality of noise values which are distributed in the measurement frequency range;
(C) comparing a frequency value corresponding to a minimum noise value of the smoothed signal by using the sensing device as a measurement frequency value;
(D) obtaining a suggested rotation speed of the motor by using the sensing device according to the measurement frequency value; and
(E) when the motor drives the feeding system to rotate at the suggested rotating speed according to a motor control signal related to the suggested rotating speed, the sensing device is used for sensing the feeding system to obtain a dynamic vibration signal indicating the vibration condition of the feeding system during rotation.
The adaptive vibration sensing method of the present invention, step (B) comprises the substeps of:
(B1) sensing the vibration condition of the feeding system when the feeding system is static by using the sensing device to generate a vibration signal related to environmental noise, wherein the vibration signal has a plurality of vibration values which are distributed in a static time range;
(B2) utilizing the sensing device to perform Fourier transform on the vibration signal into a static vibration signal, wherein the static vibration signal is distributed in a static frequency range, and the static frequency range is larger than the measurement frequency range;
(B3) calculating the upper envelope curve of the static vibration signal corresponding to the intersection of the static frequency range and the measurement frequency range in the static vibration signal by using the sensing device to obtain an envelope curve signal; and
(B4) smoothing the envelope signal according to a curve smoothing method by using the sensing device to obtain the smoothed signal.
In the adaptive vibration sensing method of the present invention, in step (B4), the curve smoothing method is one of a moving average method and a low-pass filtering method.
The adaptive vibration sensing method of the present invention, the step (a) includes the substeps of:
(A1) obtaining a first boundary frequency by using the sensing device according to a preset motor maximum rotating speed of the motor;
(A2) obtaining a second boundary frequency with the sensing device based on a predetermined maximum allowable rotational speed of a feed shaft of the feed system;
(A3) obtaining a third boundary frequency by using the sensing device according to a preset minimum rotating speed, wherein the preset minimum rotating speed is related to the rotating speed of the feeding shaft; and
(A4) and obtaining the measuring frequency range by using the sensing device according to the first to third boundary frequencies.
In the adaptive vibration sensing method of the present invention, in step (a4), the sensing device takes an intersection interval of the first to third boundary frequencies as the measurement frequency range, a maximum value of the measurement frequency range is smaller than the first and second boundary frequencies, and a minimum value of the measurement frequency range is larger than the third boundary frequency.
In the adaptive vibration sensing method of the present invention, in the steps (a1), (a2) and (A3), the sensing device obtains the first to third boundary frequencies according to the following equations:
f1＝ωm1/ψ,
f2＝ωm2/ψ,
f3＝ωm3/ψ,
f1, f2, f3 represent the first to third boundary frequencies, ω, respectivelyb1、ωb2、ωb3Respectively representing the predetermined maximum motor speed, the predetermined maximum allowable speed and the predetermined minimum speed, omegam1、ωm2、ωm3Representing the first, second and third revolution speeds of balls in a screw in the feed system, respectively, psi represents a phase angle between adjacent balls in a nut in the feed system, α represents the lead angle of the screw, α0Representing the contact angle of the balls in the nut with the nut grooves, αiRepresenting the contact angle of the balls in the nut with the screw grooves, β representing the ball spin angle, rbRepresents the radius of the ball in the nut, and rmRepresenting the pitch radius of the screw.
In step (D), the sensing device obtains the suggested rotation speed of the motor according to the following equation:
f4 represents the measured frequency value, ωb4Representing the suggested speed of the motor.
In the adaptive vibration sensing method of the present invention, in the steps (a1), (a2) and (A3), the sensing device obtains the first to third boundary frequencies according to the following equations:
f1, f2, f3 represent the first to third boundary frequencies, ω, respectivelyb1、ωb2、ωb3Representing the predetermined motor maximum rotation speed, the predetermined maximum allowable rotation speed and the predetermined minimum rotation speed, respectively, D representing the diameter of the balls in a bearing in the feeding system, D representing the pitch diameter of the bearing, α' representing the contact angle of the balls in the bearing with the inner ring of the bearing, and Z representing the number of balls in the bearing.
In step (D), the sensing device obtains the suggested rotation speed of the motor according to the following equation:
f4 represents the measured frequency value, ωb4Representing the suggested speed of the motor.
The invention has the beneficial effects that: the sensing device calculates the suggested rotating speed according to the measuring frequency value corresponding to the minimum noise value so that the sensing device senses the vibration condition of the feeding system after the motor drives the feeding system to rotate, and therefore the sensing device is prevented from being influenced by environmental noise, and the dynamic vibration signal sensed by the sensing device is accurate.
Drawings
FIG. 1 is a block diagram illustrating a sensing device for use with a machine tool for implementing one embodiment of the adaptive vibration sensing method of the present invention;
FIG. 2 is a flow chart illustrating the adaptive vibration sensing method of the embodiment;
FIG. 3 is a flow chart illustrating how step 32 of FIG. 2 results in a smoothed signal;
FIG. 4 is a measurement diagram illustrating the variation of the noise amplitude of an oscillating signal with time according to the embodiment;
FIG. 5 is a frequency spectrum diagram illustrating the variation of noise amplitude versus frequency of a static vibration signal according to the embodiment;
FIG. 6 is a frequency spectrum diagram illustrating a portion of the static vibration signal of FIG. 5 corresponding to an intersection of a static frequency range and a measured frequency range; and
FIG. 7 is a waveform illustrating the variation of noise amplitude versus frequency for a smoothed signal according to this embodiment.
Detailed Description
Referring to fig. 1, a sensing device 1 and a machine tool 2 are shown, the sensing device 1 being used to implement an embodiment of the adaptive vibration sensing method of the present invention. The sensing device 1 is intended to be mounted in the machine tool 2. The machine tool 2 comprises a feed system 21, a motor 22, a controller 23 and other necessary components (not shown). The feeding system 21 includes a feeding shaft (not shown) and a bearing (not shown) disposed on a screw of the feeding shaft. The motor 22 is electrically connected between the screw of the feeding shaft of the feeding system 21 and the controller 23, receives a motor control signal related to a suggested rotation speed generated by the controller 23, and drives the screw of the feeding shaft to rotate at the suggested rotation speed according to the motor control signal. It should be noted that the screw is a ball screw.
The sensing device 1 is used for sensing a vibration condition of a device under test (not shown) in the feeding system 21 when the feeding system 21 rotates to determine whether the device under test is abnormal (e.g., the device under test is worn). In the present embodiment, the sensing device 1 comprises a vibration sensor 11 and a microprocessor 12. The vibration sensor 11 is an experimental sensor.
The vibration sensor 11 is electrically connected to the feeding system 21. The microprocessor 12 is electrically connected between the vibration sensor 11 and the controller 23. The vibration sensor 11 is used for sensing the vibration condition of the device under test to generate a dynamic vibration signal to the microprocessor 12, and the microprocessor 12 determines whether the device under test in the feeding system 21 is abnormal according to the dynamic vibration signal.
In the present embodiment, in order to avoid the vibration sensor 11 from being affected by environmental noise (e.g., the machine tool itself vibrates, the external environment affects, and there is much noise in the industrial power supply for supplying power to the feeding system and the vibration sensor), the dynamic vibration signal has an error, so the sensing device 1 will perform the adaptive vibration sensing method of the present invention when sensing whether the feeding system 21 is abnormal. Referring to fig. 2 and 3, the vibration sensor 11 is described as sensing the screw (i.e., the device under test) of the feeding shaft of the feeding system 21 as a first embodiment, but is not limited thereto. The vibration sensor 11 is electrically connected to the screw, and the adaptive vibration sensing method performed by the sensing device 1 includes the following steps:
step 31: the microprocessor 12 is used to calculate a measurement frequency range associated with the operating speed of the machine tool 2, which is limited to factory specifications.
In detail, step 31 further includes the detailed flows of substeps 311, 312, 313, and 314.
Substep 311: a first boundary frequency corresponding to the screw is obtained by the microprocessor 12 according to a predetermined maximum motor speed of the motor 22. The predetermined maximum motor speed is limited to factory specifications.
In the present embodiment, the microprocessor 12 estimates the first boundary frequency according to the following equations (1), (2) and (3):
f1＝ωm1the/psi equation (1),
f1 represents the first boundary frequency, ωb1Representing the predetermined maximum motor speed (e.g., 3000rpm), ωm1Represents a first revolution speed of the balls in the screw, ψ represents a phase angle between adjacent balls (not shown) in a nut in the feed system 21 (see fig. 1), α represents the lead angle of the screw, α0Representing the contact angle of the balls in the nut with the nut grooves, αiRepresenting the contact angle of the balls in the nut with the screw grooves, β representing the ball spin angle, rbRepresents the radius of the ball in the nut, and rmRepresents the pitch circle radius phi, α, α0、αi、β、rb、rmThe isoparametric parameters can be derived from the specifications of the feed shaft. The microprocessor 12 first calculates equation (3) and the predetermined maximum motor speed ωb1Substituting equation (2) to obtain the first revolution speed ωm1Then the first revolution speed omega is used againm1The first boundary frequency f1 can be obtained by substituting equation (1).
Substep 312: a second boundary frequency corresponding to the screw is obtained by the microprocessor 12 according to a predetermined maximum allowable rotation speed of the screw of the feed shaft of the feed system 21. The predetermined maximum allowable rotation speed is set according to the screw parameters (e.g., length) and the design of the screw support in the factory.
In the present embodiment, the microprocessor 12 estimates the second boundary frequency according to the following equations (4) and (5):
f2＝ωm2the/psi equation (4),
Substep 313: a third boundary frequency corresponding to the screw is obtained by the microprocessor 12 according to a predetermined minimum rotation speed, which is related to the rotation speed of the screw of the feed shaft. The predetermined minimum rotation speed is set by the user according to the measurement requirement and the original factory specification of the device to be tested, and different devices to be tested have different predetermined minimum rotation speeds.
In the present embodiment, the microprocessor 12 estimates the third boundary frequency according to the following equations (6) and (7):
f3＝ωm3the/psi equation (6),
ψ、α、α0、αi、β、rb、rmis as defined in equations (1) to (3), rb/rmIs the same as equation (3), f3 represents the third boundary frequency, ωb3Representing the predetermined minimum rotational speed (e.g. 1)000rpm)，ωm3Representing a third revolution speed of the balls in the screw. The microprocessor 12 first calculates the equation (3) and the predetermined minimum rotation speed ωb3Substituting equation (7) to obtain the third revolution speed ωm3Then the third revolution speed omega is set againm3Substituting equation (6) results in the third boundary frequency f 3.
It should be noted that when the predetermined maximum motor speed ω is reachedb1The predetermined maximum allowable rotation speed omegab2And the predetermined minimum rotation speed omegab3In rpm (i.e., rpm or rev/min), the predetermined maximum motor speed ω is first determinedb1The predetermined maximum allowable rotation speed omegab2And the predetermined minimum rotation speed omegab3Dividing the obtained data by 60, converting the obtained data into a rotation speed per second (rev/s), and then substituting the converted rotation speed into corresponding equations (2), (5) and (7).
Substep 314: the microprocessor 12 is utilized to take an intersection interval of the first to third boundary frequencies f1, f2, f3 as a measurement frequency range, a maximum value of the measurement frequency range is smaller than the first and second boundary frequencies f1, f2, and a minimum value of the measurement frequency range is larger than the third boundary frequency f 3. For example, in the present embodiment, the first to third boundary frequencies f1, f2 and f3 are 580Hz, 827Hz and 193Hz respectively according to the equations (1) to (7), so the measuring frequency range is 193Hz to 580 Hz.
Step 32: the vibration condition of the screw in the feeding system 21 when the screw is stationary is sensed by the sensing device 1 to obtain a smoothed signal related to the environmental noise, wherein the smoothed signal has a plurality of noise values, and the plurality of noise values are distributed in the measurement frequency range.
In detail, step 32 further includes the detailed flows of substeps 321, 322, 323, and 324.
Substep 321: the vibration sensor 11 is used to sense the vibration of the screw in the feeding system 21 when the screw is stationary, so as to generate a vibration signal related to the environmental noise, and the vibration signal has a plurality of vibration values distributed in a static time range. Further referring to fig. 4, a graph of the vibration signal is shown.
Substep 322: the microprocessor 12 is utilized to perform fourier transformation on the vibration signal into a static vibration signal, and the static vibration signal is distributed in a static frequency range, which is larger than the measurement frequency range. Further referring to fig. 5, a frequency spectrum diagram of the static vibration signal is shown, and it can be seen from fig. 5 that the static frequency range is between 0Hz and 1000 Hz.
Substep 323: the microprocessor 12 is used to calculate the upper envelope of the static vibration signal (see further fig. 6) corresponding to the intersection of the static frequency range and the measured frequency range (i.e., 193Hz to 580Hz) in the static vibration signal to obtain an envelope signal.
Substep 324: the envelope signal is smoothed by the microprocessor 12 according to a curve smoothing method to obtain the smoothed signal (further refer to fig. 7). The curve smoothing method may be one of a moving average method and a low-pass filtering method performed by a low-pass filter (not shown). In this embodiment, the curve smoothing method is the moving average method. The smoothed signal is obtained by performing the moving average method on the spectral energy of the envelope signal according to a predetermined range value (e.g., + -15 Hz) set by a user.
Step 33: the microprocessor 12 compares a frequency value corresponding to a minimum noise value of the smoothed signal to obtain a measurement frequency value.
Step 34: the microprocessor 12 is utilized to obtain the suggested rotation speed (the optimal rotation speed) of the motor 22 according to the measured frequency value, and output the suggested rotation speed to the controller 23, so that the controller 23 generates the motor control signal according to the suggested rotation speed and outputs the motor control signal to the motor 22, so that the motor 22 drives the screw of the feeding shaft of the feeding system 21 to rotate at the suggested rotation speed according to the motor control signal.
In the present embodiment, the microprocessor 12 estimates the suggested speed according to the following equation (8):
ψ、α、α0、αi、β、rb、rmis as defined in equations (1) to (3), rb/rmThe formula is the same as equation (3), and f4 represents the measured frequency value, ωb4Representing the suggested speed of the motor. It should be noted that the suggested rotation speed ωb4In units of revolutions per second (rev/s).
Step 35: when the motor 22 drives the screw of the feeding system 21 to rotate at the recommended rotation speed according to the motor control signal, the vibration sensor 11 is used to sense the screw, so as to obtain the dynamic vibration signal indicating the vibration condition of the screw during rotation.
Fig. 7 is a waveform diagram of the smoothed signal. The vertical axis of the waveform is the amount of noise generated by the screw due to vibration of the machine tool 2 itself, external environmental or industrial power (i.e., environmental noise). As shown in fig. 7, the measurement frequency value is 270Hz, and the sum of the measurement frequency value and the predetermined range value serves as a suggested measurement frequency range (i.e., 270-15 to 270+ 15: 255 to 285). The noise corresponding to the measurement frequency value is minimal, and the noise corresponding to the suggested measurement frequency range is relatively small compared to the noise corresponding to other frequency ranges. That is, the vibration sensor 11 (see fig. 1) senses the screw within the suggested measuring frequency range (preferably, at the measuring frequency value), so that the vibration sensor 11 is prevented from being affected by environmental noise, and the sensed dynamic vibration signal is more accurate. Therefore, in this embodiment, after the microprocessor 12 calculates the suggested rotation speed according to the measurement frequency value to drive the feed shaft to rotate, the vibration sensor 11 senses the screw, so as to achieve the purpose of obtaining the more accurate dynamic vibration signal.
It should be noted that the suggested measuring frequency range can be changed by adjusting the predetermined range value, and other suggested measuring frequencies than the measuring frequency value in the suggested measuring frequency range can be used as the measuring frequency value, so as to obtain a sub-optimal rotating speed of the motor. Although the sub-optimal rotation speed is not the optimal recommended rotation speed, the recommended measurement frequency corresponding to the sub-optimal rotation speed has relatively less corresponding noise than other frequencies outside the recommended measurement frequency range in the measurement frequency range.
In addition, in a second embodiment, the sensing device 1 can also perform the adaptive vibration sensing method to sense the bearing (not shown), i.e. the device under test, on the screw, but is not limited thereto. The second embodiment is the same as the adaptive vibration sensing method of the first embodiment, and the difference between the two embodiments is that: in this embodiment, the vibration sensor 11 (see fig. 1) is electrically connected to the bearing (not shown) of the screw, and the first to third boundary frequencies and the suggested rotation speed are calculated in different manners.
In the second embodiment, the microprocessor 12 (see fig. 1) obtains the first to third boundary frequencies and the suggested rotation speed according to the following equations (9) to (12), respectively:
f1, f2, f3 and f4 respectively represent the first to third boundary frequencies and the measured frequency value, ωb1、ωb2、ωb3、ωb4Representing the predetermined motor maximum rotation speed, the predetermined maximum allowable rotation speed, the predetermined minimum rotation speed and the recommended rotation speed, respectively, D representing the diameter of the balls in the bearing, D representing the pitch diameter (i.e., pitch circle diameter) of the bearing, α' representing the contact angle of the balls in the bearing with the inner ring of the bearing, and Z representing the contact angle of the balls in the bearing with the inner ring of the bearingThe number of balls in the bearing, D, α', Z, etc., can be derived from the specifications of the feed shaft.
It should be noted that, in this embodiment, the predetermined maximum motor speed ω is set when the motor speed is higher than the predetermined maximum motor speed ωb1The predetermined maximum allowable rotation speed omegab2And the predetermined minimum rotation speed omegab3When the unit of (c) is rpm (revolutions per minute), the predetermined maximum motor speed ω is first determinedb1The predetermined maximum allowable rotation speed omegab2And the predetermined minimum rotation speed omegab3Dividing the obtained data by 60, converting the obtained data into a rotation speed per second (rev/s), and then substituting the rotation speed per second into the corresponding equation (9), equation (10) and equation (11). In addition, the suggested speed ωb4In units of revolutions per second (rev/s).
In summary, the embodiment described above has the following advantages:
1. according to the adaptive vibration sensing method of the present invention, the vibration sensor 11 is prevented from being affected by environmental noise, so that the sensed dynamic vibration signal is more accurate, and the microprocessor 12 can correctly determine whether the device under test in the feeding system is abnormal.
2. Since the adaptive vibration sensing method of the present invention can prevent the environmental noise from affecting the correctness of the judgment of the microprocessor 12, the vibration sensor 11 of the sensing device 1 executing the adaptive vibration sensing method of the present invention can be a single experimental sensor, and there is no need to use a special industrial vibration sensor (3-4 times more expensive than the experimental sensor) or a plurality of ordinary vibration sensors, so as to reduce the manufacturing cost of the sensing device 1 required for detection.
The above description is only an example of the present invention, and the scope of the present invention should not be limited thereby, and the invention is still within the scope of the present invention by simple equivalent changes and modifications made according to the claims and the contents of the specification.
Claims (9)
1. An adaptive vibration sensing method performed by a sensing device adapted for use with a machine tool including a feed system and a motor electrically connected to the feed system, the adaptive vibration sensing method comprising the steps of:
(A) calculating a measurement frequency range associated with the machine tool operating speed using the sensing device, the machine tool operating speed being limited to factory specifications;
(B) sensing the vibration condition of the feeding system when the feeding system is static by using the sensing device to obtain a smoothing signal related to the environmental noise, wherein the smoothing signal has a plurality of noise values which are distributed in the measurement frequency range;
(C) comparing a frequency value corresponding to a minimum noise value of the smoothed signal by using the sensing device as a measurement frequency value;
(D) obtaining a suggested rotation speed of the motor by using the sensing device according to the measurement frequency value; and
(E) when the motor drives the feeding system to rotate at the suggested rotating speed according to a motor control signal related to the suggested rotating speed, the sensing device is used for sensing the feeding system to obtain a dynamic vibration signal indicating the vibration condition of the feeding system during rotation.
2. The adaptive vibration sensing method according to claim 1, wherein step (B) comprises the sub-steps of:
(B1) sensing the vibration condition of the feeding system when the feeding system is static by using the sensing device to generate a vibration signal related to environmental noise, wherein the vibration signal has a plurality of vibration values which are distributed in a static time range;
(B2) utilizing the sensing device to perform Fourier transform on the vibration signal into a static vibration signal, wherein the static vibration signal is distributed in a static frequency range, and the static frequency range is larger than the measurement frequency range;
(B3) calculating the upper envelope curve of the static vibration signal corresponding to the intersection of the static frequency range and the measurement frequency range in the static vibration signal by using the sensing device to obtain an envelope curve signal; and
(B4) smoothing the envelope signal according to a curve smoothing method by using the sensing device to obtain the smoothed signal.
3. The adaptive vibration sensing method according to claim 2, wherein in step (B4), the curve smoothing method is one of a moving average method and a low-pass filtering method.
4. The adaptive vibration sensing method according to claim 1, wherein step (a) comprises the sub-steps of:
(A1) obtaining a first boundary frequency by using the sensing device according to a preset motor maximum rotating speed of the motor;
(A2) obtaining a second boundary frequency with the sensing device based on a predetermined maximum allowable rotational speed of a feed shaft of the feed system;
(A3) obtaining a third boundary frequency by using the sensing device according to a preset minimum rotating speed, wherein the preset minimum rotating speed is related to the rotating speed of the feeding shaft; and
(A4) and obtaining the measuring frequency range by using the sensing device according to the first to third boundary frequencies.
5. The adaptive vibration sensing method according to claim 4, wherein in step (A4), the sensing device takes an intersection interval of the first to third boundary frequencies as the measurement frequency range, a maximum value of the measurement frequency range is smaller than the first and second boundary frequencies, and a minimum value of the measurement frequency range is larger than the third boundary frequency.
6. The adaptive vibration sensing method according to claim 4, wherein in the steps (A1), (A2) and (A3), the sensing device obtains the first to third boundary frequencies according to the following equation:
f1＝ωm1/ψ,
f2＝ωm2/ψ,
f3＝ωm3/ψ,
f1, f2, f3 represent the first to third boundary frequencies, ω, respectivelyb1、ωb2、ωb3Respectively representing the predetermined maximum motor speed, the predetermined maximum allowable speed and the predetermined minimum speed, omegam1、ωm2、ωm3Representing the first, second and third revolution speeds of balls in a screw in the feed system, respectively, psi represents a phase angle between adjacent balls in a nut in the feed system, α represents the lead angle of the screw, α0Representing the contact angle of the balls in the nut with the nut grooves, αiRepresenting the contact angle of the balls in the nut with the screw grooves, β representing the ball spin angle, rbRepresents the radius of the ball in the nut, and rmRepresenting the pitch radius of the screw.
7. The adaptive vibration sensing method according to claim 6, wherein in step (D), the sensing device obtains the suggested rotation speed of the motor according to the following equation:
f4 represents the measured frequency value, ωb4Representative of the motorThe suggested speed of rotation.
8. The adaptive vibration sensing method according to claim 4, wherein in the steps (A1), (A2) and (A3), the sensing device obtains the first to third boundary frequencies according to the following equation:
f1, f2, f3 represent the first to third boundary frequencies, ω, respectivelyb1、ωb2、ωb3Representing the predetermined motor maximum speed, the predetermined maximum allowable speed and the predetermined minimum speed, respectively, D representing the diameter of the balls in a bearing in the feed system, D representing the bearing pitch diameter, α' representing the contact angle of the balls in the bearing with the inner ring of the bearing, and Z representing the number of balls in the bearing.
9. The adaptive vibration sensing method according to claim 8, wherein in step (D), the sensing device obtains the suggested rotation speed of the motor according to the following equation:
f4 represents the measured frequency value, ωb4Representing the suggested speed of the motor.
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