CN108776746B - Dynamic stiffness optimization method for improving dynamic characteristics of machine tool - Google Patents
Dynamic stiffness optimization method for improving dynamic characteristics of machine tool Download PDFInfo
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Abstract
The invention provides a dynamic stiffness optimization method for improving the dynamic characteristic of a machine tool, which is used for improving the dynamic characteristic of the whole machine tool and comprises the following steps: step 1, collecting acceleration data on each test point on a machine tool; step 2, constructing a complete machine simplified model of the machine tool, and acquiring modal data; step 3, determining the rigidity weak point of each structure of the machine tool by combining modal data and a rigidity sensitivity formula; step 4, determining a target function of structural rigidity distribution on each test point; step 5, calculating a reasonable optimized value of the rigidity of each structure of the machine tool through an objective function; comparing the change of modal frequency and amplitude of each order before and after the optimization of the machine tool through the optimization value; and 7, performing modal confidence criterion MAC verification on the reliability of the whole method by using the modal frequency of each order of the whole machine after the structural rigidity of the machine tool is optimized.
Description
Technical Field
The invention relates to the field of machine tool equipment, in particular to a dynamic stiffness optimization method for improving the dynamic characteristic of a machine tool.
Background
With the continuous development of the world manufacturing industry field, the numerical control machine tool manufacturing industry at present not only requires low manufacturing cost and convenient operation of the machine tool, but also requires higher processing precision and stable processing performance when processing workpieces. Therefore, improving the dynamic performance of numerically controlled machine tools is a major goal constantly pursued in the machine manufacturing industry. The rigidity is one of important structural parameters of a machine tool and has direct influence on the dynamic characteristics of the whole machine tool, the whole machine tool of a general machine tool mainly comprises a main spindle box, a stand column, a sliding plate, a workbench, a machine body and other large parts, and how to reasonably optimize the structural rigidity of each large part has profound influence on the improvement of the manufacturing technology of a numerical control machine tool.
At present, a structural rigidity optimization method aiming at improving the dynamic characteristics of a machine tool is mainly a simulation analysis method, modal shape parameters are obtained by carrying out independent simulation modal analysis on each part of main large parts of the machine tool, and a structural rigidity weak link and a corresponding method for strengthening rigidity are determined based on empirical analysis. Although the method is correct, there are three disadvantages: firstly, simulation design analysis optimization is independent optimization aiming at each structural part; secondly, the dynamic characteristics of the machine tool parts are improved by using the traditional methods of experience and analogy in the design process; and thirdly, a method for testing and finding the weak rigidity link in the actual machine tool whole product to modifying the weak rigidity link and completing the structural rigidity optimization of each part of the machine tool on the whole product level is lacked.
Disclosure of Invention
The present invention has been made to solve the above problems, and provides a dynamic stiffness optimization method for improving the dynamic characteristics of a machine tool.
The invention provides a dynamic stiffness optimization method for improving the dynamic characteristic of a machine tool, which is used for improving the dynamic characteristic of the whole machine tool and has the characteristics that the method comprises the following steps: step 1, acquiring acceleration data on each test point on a machine tool; step 2, constructing a complete machine simplified model of the machine tool, and acquiring modal frequency data and vibration mode matrix data of each order of the complete machine tool; and 3, determining the rigidity weak point of each structure of the machine tool by combining the modal frequency data of each order of the complete machine tool, the vibration mode matrix data and a rigidity sensitivity formula, wherein the rigidity sensitivity formula is as follows:
ωrthe order of r of the machine tool is the natural frequency; phi is air and phijrRespectively the vibration mode vectors, k, of the test point i and the test point j in the r order natural frequency of the machine toolijThe structural rigidity between a machine tool test point i and a machine tool test point j is obtained; step 4, determining an objective function of the structural rigidity distribution on each test point, wherein the objective function is as follows:
Max f(k)
variables are as follows: k ═ k1，k2，…kn)
Constraint conditions are as follows:
fi≥[fi]
Ψi≤[Ψi]
ki-min≤ki≤ki-max
f (k) is the dynamic characteristic of the whole machine tool; k is the structural rigidity of a part of the machine tool, k1、k2、knStructural rigidity, k, of the 1 st, 2 nd and n-th parts of the machine tool, respectivelyiFor the structural rigidity of the i-th part of the machine tool, fiFor the ith order natural frequency, [ f ] of the machine tooli]For the i-th lowest frequency value, psi, of the machine tooliFor the i-th order modal amplitude, [ psi ] of the machine tooli]Is the maximum amplitude of the ith order mode, k, of the machine tooli-minIs the lowest permissible value, k, of the structural rigidity of the i-th component of the machine tooli-maxThe highest allowable value of the structural rigidity of the ith part of the machine tool; step 5, calculating a reasonable optimized value of the rigidity of each structure of the machine tool through an objective function; and 6, comparing the change values of the modal frequency and the amplitude of each order before and after the optimization of the machine tool through the optimization value.
The dynamic stiffness optimization method for improving the dynamic characteristics of the machine tool further comprises the following steps: and 7, performing modal confidence criterion MAC verification by using the modal frequency of each order of the whole machine after the structural rigidity of the machine tool is optimized, and if the verification result is not ideal, repeating the step 6 until the MAC verification obtains an ideal result.
The dynamic stiffness optimization method for improving the dynamic characteristics of the machine tool, provided by the invention, also has the following characteristics: wherein, step 1 comprises the following substeps: step 1-1, selecting enough key sites of a machine tool as test points; step 1-2, attaching an acceleration sensor to each test point; and 1-3, hammering a certain vibration pickup point of the machine tool by adopting a force hammer, and acquiring acceleration data on each test point.
The dynamic stiffness optimization method for improving the dynamic characteristics of the machine tool, provided by the invention, also has the following characteristics: the key points refer to typical points capable of establishing a test model of the machine tool, and comprise points on the corners of the machine tool and other vibration sensitive points on the machine tool.
The dynamic stiffness optimization method for improving the dynamic characteristics of the machine tool, provided by the invention, also has the following characteristics: when selecting the vibration pickup point, the selected vibration pickup point is avoided from being on the test point.
The dynamic stiffness optimization method for improving the dynamic characteristics of the machine tool, provided by the invention, also has the following characteristics: when the machine tool is hammered by a hammer, continuous knocking is avoided, and a one-point excitation multi-point response mode is adopted.
The dynamic stiffness optimization method for improving the dynamic characteristics of the machine tool, provided by the invention, also has the following characteristics: in step 2, when a complete machine simplified model of the machine tool is constructed, the concrete expression is as follows: deleting all fine structural features of the machine tool, and only keeping a model structure consisting of lines, surfaces and bodies; and secondly, representing the test points by the intersection points of lines in the machine tool structure, and evenly distributing the rigidity of each machine tool structure to the test points according to the rigidity matrix.
The dynamic stiffness optimization method for improving the dynamic characteristics of the machine tool, provided by the invention, also has the following characteristics: the formula of MAC verification is as follows:
φrand phisAre respectively the r-th order and s-th order vibration mode vectors, phi, of the machine toolr T，φs TAre respectively phir、φsThe transposing of (1).
Action and Effect of the invention
According to the dynamic stiffness optimization method for improving the dynamic characteristics of the machine tool, the analysis is made on the basis of experimental data, the structural stiffness weak link of each component of the machine tool is determined through a stiffness sensitivity calculation formula, the objective function is utilized to carry out purposeful optimization, and finally the modal confidence criterion MAC verification is carried out on the optimization result, so that the correct reliability of the optimized value of the stiffness of each component of the machine tool is ensured, and the dynamic characteristics of the whole machine tool are finally improved.
Drawings
FIG. 1 is a schematic flow chart of a dynamic stiffness optimization method for improving the dynamic characteristics of a machine tool provided by the present invention; and
FIG. 2 is a diagram of a verification result of a five-axis machine tool after each part is optimized and verified through a mode confidence criterion MAC.
Detailed Description
In order to make the technical means, creation features, achievement purposes and effects of the present invention easy to understand, the following embodiments specifically describe the dynamic stiffness optimization method for improving the dynamic characteristics of the machine tool according to the present invention with reference to the accompanying drawings.
The dynamic stiffness optimization method for improving the dynamic characteristic of the machine tool is used for improving the dynamic characteristic of the whole machine tool.
Fig. 1 is a schematic flow chart of a dynamic stiffness optimization method for improving the dynamic characteristics of a machine tool provided by the invention.
As shown in FIG. 1, the method for optimizing the structural rigidity of each component of a five-axis machine tool comprises the following steps:
step 1-1, selecting 252 key sites of a machine tool as test points;
step 1-2, attaching an acceleration sensor to each test point;
step 1-3, hammering a certain vibration pickup point of the machine tool by adopting a force hammer, collecting acceleration data on each test point by LMS _ Testlab hardware equipment, uploading the acceleration data to terminal equipment,
in addition, in step 1, the following features are provided:
firstly, key points refer to typical points capable of establishing a test model of a machine tool, and comprise points on the corner of the machine tool and other vibration sensitive points on the machine tool;
secondly, when the vibration pickup point is selected, the selected vibration pickup point is prevented from being on the test point;
and thirdly, when the machine tool is hammered by the hammer, a one-point excitation multi-point response mode is adopted to avoid continuous knocking.
And 2, constructing a complete machine simplified model of the machine tool in LMS _ Testlab software according to all key points, and acquiring modal frequency data and vibration mode matrix data of each order of the complete machine tool according to the acceleration data.
In addition, in step 2, the overall simplified model of the machine tool is constructed with the following characteristics:
deleting all fine structural features of the machine tool, and only keeping a model structure consisting of lines, surfaces and bodies;
and secondly, representing the test points by the intersection points of lines in the machine tool structure, and evenly distributing the rigidity of each machine tool structure to the test points according to the rigidity matrix.
wherein the stiffness sensitivity formula is:
ωris the r order natural frequency of the machine tool; phi is airAnd phijrRespectively are vibration mode vectors, k of a test point i and a test point j in the r order natural frequency of the machine toolijAnd the structural rigidity between the machine tool test point i and the machine tool test point j is obtained.
And 4, according to experimental requirements, determining a target function of structural rigidity distribution on each test point of the machine tool by taking the optimal dynamic characteristic of the whole machine as a target in the modifiable range of the structural rigidity of the machine tool, wherein the target function is as follows:
Max f(k)
variables are as follows: k ═ k (k)1，k2，…kn)
Constraint conditions are as follows:
fi≥[fi]
Ψi≤[Ψi]
ki-min≤ki≤ki-max
f (k) is the complete machine dynamic characteristic of the machine tool; k is the structural rigidity of a part of the machine tool, k1、k2、knStructural rigidity, k, of the 1 st, 2 nd and nth parts of the machine tool, respectivelyiIs the ith of the machine toolStructural rigidity of the individual components, fiIs the ith natural frequency, [ f ] of the machine tooli]For the ith lowest frequency value, ψ, of said machine tooliFor the i-th order modal amplitude, [ psi ] of the machinei]Is the maximum amplitude of the ith order mode, k, of the machine tooli-minIs the lowest permissible value, k, of the structural rigidity of the i-th component of the machine tooli-maxIs the highest permitted value of the structural rigidity of the ith component of the machine tool.
And 5, in LMS _ Testlab software, calculating a reasonable optimized value of the rigidity of each structure of the machine tool through an objective function.
And 6, comparing the change values of the modal frequency and the amplitude of each order before and after the optimization of the machine tool through the optimization values.
In this embodiment, the modal frequency and amplitude changes before and after the complete machine optimization of a five-axis machine tool are shown in table 1 below.
TABLE 1
As can be seen from Table 1, the amplitude of the front 7-order modal amplitude of the whole five-axis machine tool is reduced while the frequency is improved, particularly the first-order modal frequency is improved by 16%, the amplitude is reduced by 71%, the test requirements are met, and the dynamic characteristics of the whole machine are greatly improved.
And 7, performing modal confidence criterion MAC verification by using the modal frequency of each order of the whole machine after the structural rigidity of the machine tool is optimized, and if the verification result is not ideal, repeating the step 6 until the MAC verification obtains an ideal result.
The formula of MAC verification is as follows:
φrand phisAre respectively the r-th order and s-th order vibration mode vectors, phi, of the machine toolr T，φs TAre respectively phir、φsThe transposing of (1).
FIG. 2 is a diagram of a verification result of a five-axis machine tool after each part is optimized and verified through a mode confidence criterion MAC.
As shown in fig. 2, in this embodiment, the first 7-order modal frequency after optimization of a five-axis machine tool is extracted for performing modal confidence criterion MAC verification, and the verification result shows that: except for the diagonal line, the MAC values among all orders of modal frequencies are very small, which shows that the method has good orthogonality and ensures the reliability of the whole optimization method.
The dynamic stiffness optimization method for improving the dynamic characteristics of the machine tool, provided by the invention, can optimize the structural stiffness of each part of the five-axis machine tool, can also optimize the structural stiffness of each part of any other type of machine tool, finally improves the dynamic characteristics of the whole machine tool, and has the advantages of wide application range, high efficiency and strong reliability.
Effects and effects of the embodiments
According to the dynamic stiffness optimization method for improving the dynamic characteristics of the machine tool, the analysis is made on the basis of experimental data, the structural stiffness weak links of each component of the machine tool are determined through a stiffness sensitivity calculation formula, the objective function is utilized to carry out purposeful optimization, and finally the modal confidence criterion MAC verification is carried out on the optimization result, so that the correct reliability of the optimized values of the stiffness of each component of the machine tool is ensured, and the dynamic characteristics of the whole machine tool are finally improved.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.
Claims (8)
1. A dynamic stiffness optimization method for improving the dynamic characteristic of a machine tool is used for improving the dynamic characteristic of the whole machine tool and is characterized by comprising the following steps:
step 1, acquiring acceleration data on each test point on the machine tool;
step 2, constructing a complete machine simplified model of the machine tool, and acquiring modal frequency data and vibration mode matrix data of each order of the complete machine tool;
step 3, determining the rigidity weak point of each structure of the machine tool by combining modal frequency data of each order of the whole machine tool, vibration mode matrix data and a rigidity sensitivity formula,
the stiffness sensitivity formula is:
ωris the r order natural frequency of the machine tool; phi is airAnd phijrRespectively are vibration mode vectors, k of a test point i and a test point j in the r order natural frequency of the machine toolijThe structural rigidity between the machine tool test point i and the test point j is obtained;
step 4, determining a target function of the structural rigidity distribution on each test point,
the objective function is:
Maxf(k)
variables are as follows: k ═ k1，k2，…kn)
Constraint conditions are as follows:
fi≥[fi]
Ψi≤[Ψi]
ki-min≤ki≤ki-max
f (k) is the complete machine dynamic characteristic of the machine tool; k is the structural rigidity of a part of the machine tool, k1、k2、knStructural rigidity, k, of the 1 st, 2 nd and nth parts of the machine tool, respectivelyiStructural rigidity of the i-th part of the machine tool, fiIs the ith natural frequency, [ f ] of the machine tooli]For the ith lowest frequency value, ψ, of said machine tooliFor the i-th order modal amplitude, [ psi ] of the machinei]Is the maximum amplitude of the ith order mode, k, of the machine tooli-minIs the lowest permissible value, k, of the structural rigidity of the i-th component of the machine tooli-maxIs the highest allowable value of the structural rigidity of the ith part of the machine tool;
step 5, calculating a reasonable optimized value of the rigidity of each structure of the machine tool through the objective function; and
and 6, comparing the change values of the modal frequency and the amplitude of each order before and after the optimization of the machine tool through the optimization value.
2. The dynamic stiffness optimization method for improving the dynamic characteristics of the machine tool according to claim 1, further comprising:
and 7, performing modal confidence criterion MAC verification by using the modal frequency of each order of the whole machine after the structural rigidity of the machine tool is optimized, and if the verification result is not ideal, repeating the step 6 until the MAC verification obtains an ideal result.
3. The dynamic stiffness optimization method for improving the dynamic characteristics of the machine tool according to claim 1, wherein:
wherein, the step 1 comprises the following substeps:
step 1-1, selecting enough key sites of the machine tool as test points;
step 1-2, attaching an acceleration sensor to each test point;
and 1-3, hammering a certain vibration pickup point of the machine tool by adopting a force hammer, and acquiring acceleration data on each test point.
4. The dynamic stiffness optimization method for improving the dynamic characteristics of the machine tool according to claim 3, wherein:
wherein the key points refer to typical points where a test model of the machine tool can be built, including points on the corners of the machine tool and other vibration sensitive points on the machine tool.
5. The dynamic stiffness optimization method for improving the dynamic characteristics of the machine tool according to claim 3, wherein:
and when the vibration pickup point is selected, avoiding the selected vibration pickup point from being on the test point.
6. The dynamic stiffness optimization method for improving the dynamic characteristics of the machine tool according to claim 3, wherein:
when the machine tool is hammered by a hammer, continuous knocking is avoided, and a one-point excitation multi-point response mode is adopted.
7. The dynamic stiffness optimization method for improving the dynamic characteristics of the machine tool according to claim 1, wherein:
in the step 2, when the complete machine simplified model of the machine tool is constructed, the concrete expression is as follows:
deleting all fine structural features of the machine tool, and only keeping a model structure consisting of lines, surfaces and bodies;
and representing the test points by the intersection points of lines in the machine tool structure, and distributing the rigidity of each structure of the machine tool to the test points according to a rigidity matrix.
8. The dynamic stiffness optimization method for improving the dynamic characteristics of the machine tool according to claim 2, wherein:
wherein, the formula of the MAC verification is as follows:
φrand phisAre respectively the r-th order and s-th order vibration mode vectors of the machine tool, phir T，φs TAre respectively phir、φsThe transposing of (1).
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Effective date of registration: 20231116 Address after: Room 1006, Building 3, High tech Entrepreneurship Service Center, No. 82 Huayuan West Road, Chuzhou City, Anhui Province, 239000 Patentee after: Chuzhou Yongxing Precision Machinery Co.,Ltd. Address before: 200093 No. 516, military road, Shanghai, Yangpu District Patentee before: University of Shanghai for Science and Technology |