CN108490789A - A kind of electro spindle milling parameter robust Active Control Method and its active control system - Google Patents
A kind of electro spindle milling parameter robust Active Control Method and its active control system Download PDFInfo
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- CN108490789A CN108490789A CN201810431694.2A CN201810431694A CN108490789A CN 108490789 A CN108490789 A CN 108490789A CN 201810431694 A CN201810431694 A CN 201810431694A CN 108490789 A CN108490789 A CN 108490789A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
The invention discloses a kind of electro spindle milling parameter robust Active Control Method and its active control systems, are applied in the electro spindle comprising acting device, wherein the method includes the steps：Establish milling parameter active control dynamics model；Convert Dynamic Model of Milling Process to linearly invariant model；Analysis Mode perturbs, and carries out electro spindle Mode perturbation modeling to model；Milling parameter active control state augmentation model is established, and control algolithm is solved using structured singular value method；The active controlling force of electric chief axis system is calculated using designed control algolithm, and then obtains the driving voltage that driving piezoelectric actuator applies electric chief axis system active controlling force.Flutter when Milling Process can effectively be inhibited using the method for the present invention and system, expand milling stable region, improve processing quality and improve processing efficiency.
Description
Technical field
The invention belongs to Milling Process control technology field, especially a kind of Milling Process flutter robust Active Control Method
And its system.
Background technology
Milling Process is widely used in the industries such as Aeronautics and Astronautics, mold.In Milling Process, flutter is to restrict processing table
The key factor of face quality and productivity.Flutter is that the dynamic instability for the closed loop cutting system that lathe-tool-workpiece is constituted is existing
As root causes Relative Vibration very strong and lasting between cutter and workpiece in the anomalous variation of cutting force.Flutter is to cut
The chattering in processing, wherein regenerative chatter are cut, is evoked because of dynamic milling force caused by milling thickness change
Self-excitation flutter is the principal element for causing vibration.Cutting-vibration can leave chatter mark in piece surface, and matter is processed to reduce part
Amount；Due to the generation of flutter, have to take conservative cutting data in process to reduce machine tooling efficiency；It quivers
Scrapping in advance for process tool can be led to by shaking, while generate a large amount of noise pollution environment.
For the chatter phenomenon in Milling Processes, active vibration control technology is applied to the control to milling parameter
On.Active vibration control refers to during vibration control, according to detected vibration signal, using certain control plan
Slightly, by calculating in real time, and then drive ram applies control targe certain influence, reaches the mesh for suppressing or eliminating vibration
's.Pass through, each kinetic parameter of measuring system establishes milling system mathematical model, then designs control algolithm, this is to quiver
The core for active control of shaking；But milling dynamics systematic comparison is complicated, when the complexity of milling process is not only in that in system
Stagnant presence also resides in the periodicity of pirouette cutting movement in milling process, this cause be in milling dynamics equation
Number is in cyclically-varying, to increase the design difficulty of control algolithm.Therefore, the design tool of milling parameter Active Control Method
There is prodigious challenge.
Invention content
For problems of the prior art, the present invention proposes a kind of electro spindle milling parameter robust Active Control Method
And its active control system, the present invention considers the influence of model perturbation, to obtain the better Active Control Method of robustness.
The purpose of the present invention is being achieved by the following technical programs, a kind of electro spindle milling parameter robust active control
Method includes the following steps：
In first step：Establish milling parameter active control dynamics model：
Wherein：M is electric chief axis system mass matrix, and C is electric chief axis system damping matrix, and K is electric chief axis system rigidity square
Battle array, z (t) are the orthogonal x of cutter, the motion vector in the directions y,For the orthogonal x of cutter, the velocity vector in the directions y,For
The orthogonal x of cutter, the vector acceleration in the directions y, b are axial cutting depth, and z (t- τ) is cutting system time lag, and H (t) is time-varying
Cutting Force Coefficient matrix, period are all mutually τ, F with cutting system time laga(t) it is active controlling force；
In second step：Time-varying Cutting Force Coefficient matrix H (t) is averaged in one period tau：
In formula：It is the Cutting Force Coefficient matrix after being averaged；WithIt is the Cutting Force Coefficient after being averaged；
Cutting system time lag z (t- τ) is linearized using approximate algorithm and state augmentation：
In formula：Indicate that 2L ties up state vector,Indicate that 2L × 2L ties up matrix,Indicate that 2L × 2 ties up matrix,Indicate that 2 × 2L ties up matrix,To indicate 2 × 2 dimension squares
Battle array；
In third step：Electro spindle Mode perturbation model is established using Linear Fractional changing method：
In formula：X (t) is electric chief axis system state vector, qg(t) it is perturbation output vector, pg(t) it is perturbation output vector,
A is systematic observation matrix, B1It is power input matrix, B2It is perturbation input matrix, C1It is perturbation state output matrix, C2It is electric master
Axial displacement state output matrix, D11It is power feedforward matrix, D12Perturb feedforward matrix.
In four steps：It establishes milling parameter active control state augmentation model and solves control using structured singular value method
Algorithm processed：
In formula：State vectorInput signal
Output signalThe state space matrices of augmentation model are as follows：
Calculating is led
Dynamic control force；
In 5th step：According to piezoelectric actuator ultra-precision driving voltage-power output model, calculated active controlling force
To calculate the driving voltage needed for piezoelectric actuator.
In electro spindle milling parameter robust Active Control Method, in first step：Active controlling force is floated by piezoelectric pile, magnetic
Bearing, magnetorheological materials or er material generate, τ=60/N Ω, wherein N is number of teeth, and Ω is electro spindle rotating speed.
In electro spindle milling parameter robust Active Control Method, in second step：The approximate algorithm approaches for Pade
Algorithm, Taylor expansion or linear interpolation approximatioss.
In electro spindle milling parameter robust Active Control Method, in third step：In electro spindle model to modal parameter,
Cutting Force Coefficient and/or working process parameter carry out perturbation modeling.
In electro spindle milling parameter robust Active Control Method, in four steps：Utilize structured singular value method, H..
Method, linear matrix inequality or circuit forming method carry out control algolithm solution.
According to a further aspect of the invention, a kind of electro spindle milling parameter robust active control system includes,
Cutter is connected on electro spindle,
Displacement sensor, the displacement sensor for measuring electro spindle displacement connect and send displacement signal to controller,
Current vortex sensor, the current vortex sensor for measuring electro spindle vibration connect and send vibration signal to control
Device,
Controller includes for acquiring displacement signal and vibration for the controller to electro spindle milling parameter robust control
Any one of the information acquisition unit and utilization claim 1-5 of the signal electro spindle milling parameter robust Active Control Method
The computing unit of active controlling force is calculated,
Actuator, the actuator for receiving the active control force signal that controller is sent out activate electro spindle to inhibit flutter.
In the active control system, the actuator is piezoelectric actuator.
In the active control system, information acquisition unit includes filter module.
In the active control system, computing unit is general processor, digital signal processor, special integrated electricity
Road ASIC or on-site programmable gate array FPGA.
In the active control system, the controller includes memory, and the memory includes one or more
Read only memory ROM, random access memory ram, flash memory or Electrical Erasable programmable read only memory EEPROM.
Flutter when Milling Process can effectively be inhibited using the method for the present invention and system, expand milling stable region, improve and add
Working medium amount simultaneously improves processing efficiency.
Above description is only the general introduction of technical solution of the present invention, in order to make the technological means of the present invention clearer
Understand, reach the degree that those skilled in the art can be implemented in accordance with the contents of the specification, and in order to allow the present invention
Above and other objects, features and advantages can be clearer and more comprehensible, below with the present invention specific implementation mode illustrate
Explanation.
Description of the drawings
By reading the detailed description in hereafter preferred embodiment, the present invention various other advantage and benefit
Those of ordinary skill in the art will become clear.Figure of description only for the purpose of illustrating preferred embodiments,
And it is not considered as limitation of the present invention.It should be evident that drawings discussed below is only some embodiments of the present invention,
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Other attached drawings.And throughout the drawings, identical component is presented with like reference characters.
In the accompanying drawings：
Fig. 1 is a kind of electro spindle milling parameter robust Active Control Method according to an embodiment of the invention and system
Step schematic diagram；
Fig. 2 is a kind of electro spindle milling parameter robust Active Control Method according to an embodiment of the invention and system
Two-freedom milling schematic diagram；
Fig. 3 is a kind of electro spindle milling parameter robust Active Control Method according to an embodiment of the invention and system
10 rank Pade Approximation effect figures；
Fig. 4 is a kind of electro spindle milling parameter robust Active Control Method according to an embodiment of the invention and system
Mode perturbation model；
Fig. 5 is a kind of electro spindle milling parameter robust Active Control Method according to an embodiment of the invention and system
The front and back point of a knife displacement diagram of control；
Fig. 6 is a kind of electro spindle milling parameter robust Active Control Method according to an embodiment of the invention and system
As a result displacement frequency domain figure；
Fig. 7 is the structural schematic diagram of the active control system according to an embodiment of the invention for implementing the method.
The present invention is further explained below in conjunction with drawings and examples.
Specific implementation mode
Specific embodiments of the present invention are more fully described below with reference to accompanying drawings.Although showing the present invention's in attached drawing
Specific embodiment, it being understood, however, that may be realized in various forms the present invention without should be limited by embodiments set forth here
System.It is to be able to be best understood from the present invention on the contrary, providing these embodiments, and can be complete by the scope of the present invention
Be communicated to those skilled in the art.
It should be noted that having used some vocabulary in specification and claim to censure specific components.Ability
Field technique personnel it would be appreciated that, technical staff may call the same component with different nouns.This specification and right
It is required that not in such a way that the difference of noun is used as and distinguishes component, but differentiation is used as with the difference of component functionally
Criterion."comprising" or " comprising " as mentioned in working as in specification in the whole text and claim are an open language, therefore should be solved
It is interpreted into " including but not limited to ".Specification subsequent descriptions be implement the present invention better embodiment, so it is described description be with
For the purpose of the rule of specification, it is not limited to the scope of the present invention.Protection scope of the present invention is when regarding appended right
It is required that subject to institute's defender.
For ease of the understanding to the embodiment of the present invention, solved below in conjunction with attached drawing is further by taking specific embodiment as an example
Explanation is released, and each attached drawing does not constitute the restriction to the embodiment of the present invention.
In order to better understand, Fig. 1 is an electro spindle milling parameter robust Active Control Method work flow diagram, Fig. 2
It is the two-freedom milling of a kind of electro spindle milling parameter robust Active Control Method according to an embodiment of the invention and system
Schematic diagram is cut, as shown in Figs. 1-2, an electro spindle milling parameter robust Active Control Method includes the following steps：
1. a kind of electro spindle milling parameter robust Active Control Method, the described method comprises the following steps：
In first step S1：Establish milling parameter active control dynamics model：
Wherein：M is electric chief axis system mass matrix, and C is electric chief axis system damping matrix, and K is electric chief axis system rigidity square
Battle array, z (t) are the orthogonal x of cutter, the motion vector in the directions y,For the orthogonal x of cutter, the velocity vector in the directions y,For
The orthogonal x of cutter, the vector acceleration in the directions y, b are axial cutting depth, and z (t- τ) is cutting system time lag, and H (t) is time-varying
Cutting Force Coefficient matrix, period are all mutually τ, F with cutting system time laga(t) it is active controlling force；
In second step S2：Time-varying Cutting Force Coefficient matrix H (t) is averaged in one period tau：
In formula：It is the Cutting Force Coefficient matrix after being averaged；WithIt is the Cutting Force Coefficient after being averaged；
Cutting system time lag z (t- τ) is linearized using approximate algorithm and state augmentation：
In formula：Indicate that 2L ties up state vector,Indicate that 2L × 2L ties up matrix,Indicate that 2L × 2 ties up matrix,Indicate that 2 × 2L ties up matrix,To indicate 2 × 2 dimension squares
Battle array；
In third step S3：Electro spindle Mode perturbation model is established using Linear Fractional changing method：
In formula：X (t) is electric chief axis system state vector, qg(t) it is perturbation output vector, pg(t) it is perturbation output vector,
A is systematic observation matrix, B1It is power input matrix, B2It is perturbation input matrix, C1It is perturbation state output matrix, C2It is electric master
Axial displacement state output matrix, D11It is power feedforward matrix, D12Perturb feedforward matrix.
In four steps S4：It establishes milling parameter active control state augmentation model and is solved using structured singular value method
Control algolithm：
In formula：State vectorInput signal
Output signalThe state space matrices of augmentation model are as follows：
It calculates and obtains actively
Control force；
In 5th step S5：According to piezoelectric actuator ultra-precision driving voltage-power output model, calculated active control
Power calculates the driving voltage needed for piezoelectric actuator.
In the preferred embodiment of electro spindle milling parameter robust Active Control Method of the present invention, first step S1
In：Active controlling force is generated by piezoelectric pile, magnetic bearing, magnetorheological materials or er material, τ=60/N Ω, wherein
N is number of teeth, and Ω is electro spindle rotating speed.
In the preferred embodiment of electro spindle milling parameter robust Active Control Method of the present invention, second step S2
In：The approximate algorithm is Pade approximate algorithms, Taylor expansion or linear interpolation approximatioss.
In the preferred embodiment of electro spindle milling parameter robust Active Control Method of the present invention, third step S3
In：Perturbation modeling is carried out to modal parameter, Cutting Force Coefficient and/or working process parameter in electro spindle model.
In the preferred embodiment of electro spindle milling parameter robust Active Control Method of the present invention, four steps S4
In：Utilize structured singular value method, H..Method, linear matrix inequality or circuit forming method carry out control algolithm solution.
In the preferred embodiment of the method for the present invention, parameter is as shown in table 1 below,
1 simulation parameter of table
| Physical quantity | Numerical value |
| Number of teeth N | 4 |
| Tangential cutting COEFFICIENT Kt | 7.0×108N/mm2 |
| Normal direction cutting coefficient Kn | 2.1×108N/mm2 |
| Nominal modal mass m0 | 0.4934kg |
| Nominal modal damping c0 | 127.32Ns/m |
| Nominal modal stiffness k0 | 8×106N/m |
| Modal mass perturbation rm | 20% |
| Modal damping perturbation rc | 20% |
| Modal stiffness perturbation rk | 20% |
| Cutter diameter D | 10mm |
| Radial cutting depth a | 3mm |
| Nominal electro spindle rotating speed Ω | 12000r/min |
| Nominal axial direction cutting depth b | 3mm |
Method in order to further illustrate the present invention, Fig. 3 are a kind of electro spindle millings according to an embodiment of the invention
10 rank Pade Approximation effect figures of flutter robust Active Control Method and system, when it can be seen from the figure that is approached using Pade by original
The stagnant system converting feature that can retain original system well at High Order Linear Systems.By analysis：In a certain range
It is higher to approach order, obtained rational polynominal system and original system matching degree are higher.It is contemplated that Pade approaches order
Higher, the order of obtained milling parameter active control model will be higher, this is bigger for controller design difficulty.It is comprehensive with
Upper factor selects low order to approach as possible on the basis of can guarantee model accuracy.
Fig. 4 is a kind of electro spindle milling parameter robust Active Control Method according to an embodiment of the invention and system
Mode perturbation model has carried out perturbation modeling to modal mass, modal damping and modal stiffness simultaneously in figure.System is not at this time
It is a single model again, but the set of numerous model.The requirement of robust control is, for all in this set
Model, controller have been required for good control effect.
Fig. 5 is a kind of electro spindle milling parameter robust Active Control Method according to an embodiment of the invention and system
The front and back point of a knife displacement diagram of control, it can be seen from the figure that there is the point of a knife displacement of control milling system obviously small under identical parameters
In without control milling system, the point of a knife of milling system, which vibrates, to be alleviated, this is conducive to the surface quality for improving workpieces processing
And cutter life.
Fig. 6 is a kind of electro spindle milling parameter robust Active Control Method according to an embodiment of the invention and system
As a result displacement frequency domain figure in the amplitude frequency curve of point of a knife displacement, occurs one it can be seen from the figure that without control milling system
Apparent flutter frequency, and in having control milling system, only with teeth to cut frequency, flutter frequency is completely eliminated, this illustrates milling
It cuts chatter phenomenon and has obtained sufficient abatement.
Fig. 7 be it is according to an embodiment of the invention implement the method active control system structural schematic diagram, one
Planting electro spindle milling parameter robust active control system includes,
Cutter 1, is connected on electro spindle,
Displacement sensor 2, the displacement sensor 2 for measuring electro spindle displacement connect and send displacement signal to controller
4,
Current vortex sensor 3, the current vortex sensor 3 for measuring electro spindle vibration connect and send vibration signal to control
Device 4 processed,
Controller 4 includes for acquiring displacement signal and shaking for the controller 4 to electro spindle milling parameter robust control
It moves the information acquisition unit 5 of signal and calculates active controlling force using the electro spindle milling parameter robust Active Control Method
Computing unit 6,
Actuator 7, the actuator 7 for receiving the active control force signal that controller 4 is sent out activate electro spindle to inhibit flutter.
In the preferred embodiment of active control system of the present invention, the actuator 4 is piezoelectric actuator.
In the preferred embodiment of active control system of the present invention, information acquisition unit 5 includes filter module.
In the preferred embodiment of active control system of the present invention, computing unit 6 is general processor, digital signal
Processor, application-specific integrated circuit ASIC or on-site programmable gate array FPGA.
In the preferred embodiment of active control system of the present invention, the controller 4 includes memory, the storage
Device includes that one or more read only memory ROMs, random access memory ram, flash memory or Electrical Erasable are programmable
Read-only memory EEPROM.
Although embodiment of the present invention is described above in association with attached drawing, the invention is not limited in above-mentioned
Specific embodiments and applications field, above-mentioned specific embodiment are only schematical, directiveness, rather than restricted
's.Those skilled in the art are under the enlightenment of this specification and in the range for not departing from the claims in the present invention and being protected
In the case of, a variety of forms can also be made, these belong to the row of protection of the invention.
Claims (10)
1. a kind of electro spindle milling parameter robust Active Control Method, the described method comprises the following steps：
In first step (S1)：Establish milling parameter active control dynamics model：
Wherein：M is electric chief axis system mass matrix, and C is electric chief axis system damping matrix, and K is electric chief axis system stiffness matrix, z
(t) it is the orthogonal x of cutter, the motion vector in the directions y,For the orthogonal x of cutter, the velocity vector in the directions y,For cutter
The vector acceleration in the direction orthogonal x, y, b are axial cutting depth, and z (t- τ) is cutting system time lag, and H (t) cuts for time-varying
Force coefficient matrix, period are all mutually τ, F with cutting system time laga(t) it is active controlling force；
In second step (S2)：Time-varying Cutting Force Coefficient matrix H (t) is averaged in one period tau：
In formula：It is the Cutting Force Coefficient matrix after being averaged；WithIt is the Cutting Force Coefficient after being averaged；
Cutting system time lag z (t- τ) is linearized using approximate algorithm and state augmentation：
In formula：Indicate that 2L ties up state vector,Indicate that 2L × 2L ties up matrix,Table
Show that 2L × 2 ties up matrix,Indicate that 2 × 2L ties up matrix,To indicate 2 × 2 dimension matrixes；
In third step (S3)：Electro spindle Mode perturbation model is established using Linear Fractional changing method：
In formula：X (t) is electric chief axis system state vector, qg(t) it is perturbation output vector, pg(t) it is perturbation output vector, A is
Systematic observation matrix, B1It is power input matrix, B2It is perturbation input matrix, C1It is perturbation state output matrix, C2It is electro spindle position
Shifting state output matrix, D11It is power feedforward matrix, D12Perturb feedforward matrix；
In four steps (S4)：It establishes milling parameter active control state augmentation model and solves control using structured singular value method
Algorithm processed：
In formula：State vectorInput signalIt is defeated
Go out signalThe state space matrices of augmentation model are as follows：
It calculates to obtain and actively control
Power processed；
In 5th step (S5)：According to piezoelectric actuator ultra-precision driving voltage-power output model, calculated active controlling force
To calculate the driving voltage needed for piezoelectric actuator.
2. according to the method described in claim 1, it is characterized in that, preferred, in first step (S1)：Active controlling force is by pressing
Pile, magnetic bearing, magnetorheological materials or er material generate, τ=60/N Ω, wherein N is number of teeth, and Ω is electricity
The speed of mainshaft.
3. according to the method described in claim 1, it is characterized in that, in second step (S2)：The approximate algorithm is forced for Pade
Nearly algorithm, Taylor expansion or linear interpolation approximatioss.
4. according to the method described in claim 1, it is characterized in that, in third step (S3)：Mode is joined in electro spindle model
Number, Cutting Force Coefficient and/or working process parameter carry out perturbation modeling.
5. according to the method described in claim 1, it is characterized in that, in four steps (S4)：Utilize structured singular value method, H∞
Method, linear matrix inequality or circuit forming method carry out control algolithm solution.
6. a kind of electro spindle milling parameter robust active control system, it is characterised in that：The active control system includes,
Cutter (1), is connected on electro spindle,
Displacement sensor (2), the displacement sensor (2) for measuring electro spindle displacement connect and send displacement signal to controller
(4),
Current vortex sensor (3), the current vortex sensor (3) for measuring electro spindle vibration connect and send vibration signal to control
Device (4) processed,
Controller (4), for including for acquiring displacement signal and shaking to the controller (4) of electro spindle milling parameter robust control
It moves the information acquisition unit (5) of signal and is actively controlled using any one of the claim 1-5 electro spindle milling parameter robusts
Method processed calculates the computing unit (6) of active controlling force,
Actuator (7), the actuator (7) for receiving the active control force signal that controller (4) is sent out activate electro spindle to inhibit to quiver
It shakes.
7. active control system according to claim 6, which is characterized in that the actuator (4) is piezoelectric actuator.
8. active control system according to claim 6, which is characterized in that information acquisition unit (5) includes filter module.
9. active control system according to claim 6, which is characterized in that computing unit (6) is general processor, number
Signal processor, application-specific integrated circuit ASIC or on-site programmable gate array FPGA.
10. active control system according to claim 6, which is characterized in that the controller (4) includes memory, institute
It includes one or more read only memory ROMs, random access memory ram, flash memory or Electrical Erasable to state memory
Programmable read only memory EEPROM.
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| CN109396948A (en) * | 2018-11-16 | 2019-03-01 | 华中科技大学 | A kind of Active Control Method and system improving five-axis milling system processing stability |
| CN109746762A (en) * | 2019-01-07 | 2019-05-14 | 北京理工大学 | A kind of on-line monitoring and suppressing method of deep hole boring processing flutter |
| CN110262234A (en) * | 2019-06-12 | 2019-09-20 | 西安交通大学 | A kind of robust adaptive milling spindle vibration control method of PI form |
| CN112096738A (en) * | 2020-09-30 | 2020-12-18 | 华中科技大学 | Current vibration suppression method and system applied to magnetic suspension bearing |
| CN112394642A (en) * | 2020-11-27 | 2021-02-23 | 华中科技大学 | Robot milling chatter identification method based on super-parameter optimization |
| CN112783138A (en) * | 2020-12-30 | 2021-05-11 | 上海交通大学 | Intelligent monitoring and abnormity diagnosis method and device for processing stability of production line equipment |
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| CN109396948A (en) * | 2018-11-16 | 2019-03-01 | 华中科技大学 | A kind of Active Control Method and system improving five-axis milling system processing stability |
| CN109746762A (en) * | 2019-01-07 | 2019-05-14 | 北京理工大学 | A kind of on-line monitoring and suppressing method of deep hole boring processing flutter |
| CN110262234A (en) * | 2019-06-12 | 2019-09-20 | 西安交通大学 | A kind of robust adaptive milling spindle vibration control method of PI form |
| CN112096738A (en) * | 2020-09-30 | 2020-12-18 | 华中科技大学 | Current vibration suppression method and system applied to magnetic suspension bearing |
| CN112394642A (en) * | 2020-11-27 | 2021-02-23 | 华中科技大学 | Robot milling chatter identification method based on super-parameter optimization |
| CN112783138A (en) * | 2020-12-30 | 2021-05-11 | 上海交通大学 | Intelligent monitoring and abnormity diagnosis method and device for processing stability of production line equipment |
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