CN109117547B - Method for optimizing dynamic characteristics of large part structure of machine tool - Google Patents
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Abstract
The invention provides a method for optimizing the dynamic characteristics of a machine tool large-piece structure, which is used for optimizing the mass and the rigidity of the machine tool large-piece structure and comprises the following steps: step 1, collecting acceleration data of each test point; step 2, constructing a simplified model and acquiring modal data; step 3, determining the structural quality weak point and the structural rigidity weak point of the large part of the machine tool according to a quality sensitivity formula and a rigidity sensitivity formula; step 4, determining a structural mass objective function and a structural rigidity objective function on each test point; step 5, calculating the optimized value of each structural mass and the optimized value of structural rigidity; step 6, comparing the changes of modal frequency and amplitude of each order before and after optimization of the structural mass of the large part of the machine tool and before and after optimization of the rigidity of the large part of the machine tool respectively; and 7, respectively utilizing the modal frequencies of each order after the structure quality of the large part of the machine tool is optimized and the rigidity is optimized to carry out the reliability verification of the whole method by using the modal confidence criterion MAC.
Description
Technical Field
The invention relates to the field of machine tool equipment, in particular to a method for optimizing the dynamic characteristics of a large part structure of a machine tool.
Background
The whole machine 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 quality and structural rigidity of each large part has a profound influence on improving the manufacturing technology of a numerical control machine tool.
At present, the machine tool industry still designs the static rigidity and the static strength of the machine tool by using the traditional methods of experience and analogy, and the important influence of the dynamic characteristics of the machine tool on the performance of the machine tool is not fully recognized. Some scientific researchers use a simulation method to design and study the dynamic performance of the large part structure of the machine tool, and although the simulation method is correct and scientific, a set of methods from finding a weak structural quality link and a weak structural rigidity link in actual product tests to modifying the weak structural quality link and the weak structural rigidity link is lacked, and finally, the structural quality optimization and the rigidity optimization of the large part structure of the machine tool are completed.
Disclosure of Invention
The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a method for efficiently and reliably completely optimizing the structural mass and structural rigidity of a machine tool large-sized structure.
The invention provides a method for optimizing the dynamic characteristics of a large part structure of a machine tool, which is used for optimizing the mass and the rigidity of the large part structure of the machine tool and is characterized by comprising the following steps of: step 1, acquiring acceleration data of each test point on a large-piece structure; step 2, constructing a simplified model of the large-piece structure, and acquiring modal frequency data and mode matrix data of each order of the large-piece structure; and step 3, combining modal frequency data and vibration mode matrix data of each order of the large-piece structure, and determining the quality weak point and the rigidity weak point of the large-piece structure respectively through a quality sensitivity formula and a rigidity sensitivity formula, wherein the quality sensitivity formula is as follows:
the stiffness sensitivity formula is:
ω r the r-th order natural frequency of a large-piece structure; phi is a ir And phi jr Respectively the vibration mode vectors m of a test point i and a test point j in the r-th order natural frequency of the large-piece structure ij Is the structural quality, k, between a test point i and a test point j of a large-piece structure ij The structural rigidity between the test point i and the test point j of the large-piece structure is set; step 4, determining a target function of the structural mass distribution and a target function of the structural rigidity distribution on each test point, wherein the target functions of the structural mass distribution are as follows:
Max f(m)
the variable is as follows: m = (m) 1 ，m 2 ，…m n )
Constraint conditions are as follows:
f i ≥[f i ]
ψ i ≤[ψ i ]
m i-min ≤m i ≤m i-max
f (m) is the dynamic characteristic of a large piece structure; m is the structural mass of a certain test point of the major structure, m 1 、m 2 、m n The 1 st test point, the 2 nd test point and the nth test point which are respectively of a large-piece structureStructural quality of the test points, m i Structural quality of the ith test point of a large piece structure, f i I-th order natural frequency, [ f ] of large piece structure i ]The ith lowest frequency value, psi, of large structure i The i-th order modal amplitude, [ psi ] of the large structure i ]Maximum amplitude of ith order mode, m, of large-piece structure i-min Is the lowest allowable value of the structure quality of the ith test point of the large-piece structure, m i-max The maximum allowable value of the structure quality of the ith test point of the large-piece structure is obtained; step 5, calculating a reasonable optimized value of the structural mass of each test point through the objective function of the structural mass of each test point, and calculating a reasonable optimized value of the structural rigidity of each test point through the objective function of the structural rigidity of each test point; and step 6, comparing the change values of modal frequency and amplitude of each order before and after the optimization of the large piece structure through the structural quality optimization value, and comparing the change values of modal frequency and amplitude of each order before and after the optimization of the large piece structure through the structural rigidity value.
The method for optimizing the dynamic characteristics of the large-piece structure of the machine tool further comprises the following steps: and 7, performing modal confidence criterion MAC verification by using the modal frequencies of all orders of the whole large-piece structure after the structural quality of all the test points of the large-piece structure is optimized, performing modal confidence criterion MAC verification by using the modal frequencies of all orders of the whole large-piece structure after the structural rigidity of all the test points of the large-piece structure is optimized, and repeating the step 6 until the MAC verification obtains an ideal result if the verification result is not ideal.
The method for optimizing the dynamic characteristics of the large-piece structure 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 large piece structure 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 large-piece structure by adopting a force hammer, and collecting acceleration data on each test point.
The method for optimizing the dynamic characteristics of the large-piece structure 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 a large structure, and comprise points on corners of the large structure and other vibration sensitive points on the large structure.
The method for optimizing the dynamic characteristics of the large-piece structure 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 method for optimizing the dynamic characteristics of the large-piece structure of the machine tool, provided by the invention, also has the following characteristics: when a large structure is hammered by a hammer, continuous knocking is avoided, and a one-point excitation multi-point response mode is adopted.
The method for optimizing the dynamic characteristics of the large-piece structure of the machine tool, provided by the invention, also has the following characteristics: in step 2, when constructing a simplified model of a large structure, the method specifically includes: (1) deleting all fine structure characteristics of the large structure, and only keeping a model structure consisting of lines and surfaces; (2) and (3) representing the test points by using the intersection points of lines in the large part structure, wherein the structural mass of the large part structure is averagely distributed on the test points according to the mass matrix, and the structural rigidity of the large part structure is averagely distributed on the test points according to the rigidity matrix.
The method for optimizing the dynamic characteristics of the large-piece structure of the machine tool, provided by the invention, also has the following characteristics: wherein, in the step 4,
the objective function of the structural stiffness distribution is:
Max f(k)
variables are as follows: k = (k) 1 ，k 2 ，…k n )
Constraint conditions are as follows:
f i ≥[f i ]
Ψ i ≤[Ψ i ]
k i-min ≤k i ≤k i-max
f (k) is the dynamic characteristic of the large piece structure; k is the structural rigidity of a certain test point of the large-piece structure, k 1 、k 2 、k n The structural rigidity of the 1 st test point, the 2 nd test point and the nth test point of the large element structure respectively, ki is the structural rigidity of the ith test point of the large element structure, f i Is the ith order natural frequency of the bulk structure,[f i ]the ith lowest frequency value, psi, of large structure i The i-th order modal amplitude, [ psi ] of the large structure i ]Maximum amplitude of ith order mode, k, of large-piece structure i-min Lowest permissible value, k, of structural rigidity of the ith test point of a large-piece structure i-max The highest allowable value of the structural rigidity of the ith test point of the large piece structure.
The method for optimizing the dynamic characteristics of the large-piece structure of the machine tool, provided by the invention, also has the following characteristics: the formula of MAC verification is as follows:
φ r and phi s Are respectively the r-th order and s-th order vibration mode vectors, phi, of the machine tool r T ，φ s T Are respectively phi r 、φ s The transposing of (1).
Action and Effect of the invention
According to the method for optimizing the dynamic characteristics of the large part structure of the machine tool, which is disclosed by the invention, because the analysis is made on the basis of experimental data, the structural quality weak link and the structural rigidity weak link of each test point of the large part structure of the machine tool are determined through the mass sensitivity calculation formula and the rigidity sensitivity calculation formula respectively, the objective function is utilized to carry out purposeful optimization on the structural quality and the structural rigidity, and finally whether the optimized structural quality result and the change values of each order modal frequency and amplitude of the structural rigidity result meet the optimization requirements or not is respectively carried out, so that the correct reliability of the optimized values of the structural quality and the structural rigidity of the large part of the machine tool is ensured. The method provided by the invention can efficiently, reliably and completely optimize the mass and rigidity of each large part of the machine tool.
Drawings
FIG. 1 is a schematic flow chart of a method for optimizing the dynamic characteristics of a large-size structure of a machine tool provided by the invention; and
FIG. 2 is a verification result diagram of the spindle box structure of a five-axis machine tool after being optimized in quality and passing through a modal confidence criterion MAC verification; and
FIG. 3 is a verification result diagram of the structural rigidity of a spindle box of a five-axis machine tool after being optimized and verified through a modal confidence criterion MAC.
Detailed Description
In order to make the technical means, creation features, achievement purposes and effects of the invention easy to understand, the following embodiments specifically describe the method for optimizing the complete machine dynamic characteristics of the machine tool in combination with the accompanying drawings.
The invention provides a method for optimizing the dynamic characteristics of a large-piece structure of a machine tool, which is used for optimizing the mass and the rigidity of each part of the machine tool.
Fig. 1 is a schematic flow chart of a method for optimizing the dynamic characteristic of a spindle box of a machine tool provided by the invention.
As shown in FIG. 1, the method for optimizing the structural mass and rigidity of the spindle box of a five-axis machine tool comprises the following steps:
step 1-1, selecting 12 key sites of a spindle box 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 spindle box by adopting a force hammer, and acquiring acceleration data on each test point.
In addition, in step 1, the following features are provided:
(1) the key points refer to typical points capable of establishing a test model of the spindle box, and comprise points on the corner of the spindle box and other vibration sensitive points on a large-piece structure;
(2) when selecting the vibration pickup point, avoiding the selected vibration pickup point on the test point;
(3) when the main spindle box is hammered by a hammer, a one-point excitation multi-point response mode is adopted to avoid continuous knocking.
And 2, constructing a simplified model of the spindle box in LMS _ Testlab software, and acquiring modal frequency data and vibration mode matrix data of each order of the spindle box.
In addition, in step 2, the following features are provided:
(1) deleting all fine structural features of the spindle box, and only keeping a model structure consisting of lines and surfaces;
(2) and representing the test points by the intersection points of lines in the main shaft box, wherein the structural mass of the main shaft box is averagely distributed to the test points according to a mass matrix, and the structural rigidity of the main shaft box is averagely distributed to the test points according to a rigidity matrix.
the mass sensitivity formula is:
the stiffness sensitivity formula is:
ω r the r order natural frequency of the main spindle box; phi is a ir And phi jr Respectively as vibration mode vectors, m, of a test point i and a test point j in the r-th order natural frequency of a spindle box ij Is the structural mass, k, between the test point i and the test point j of the spindle box ij The structural rigidity between the test point i and the test point j of the spindle box is set;
step 4, determining an objective function of structural mass distribution and an objective function of structural rigidity distribution on each test point,
the objective function of the structural mass distribution is:
Max f(m)
the variable is as follows: m = (m) 1 ，m 2 ，…m n )
Constraint conditions are as follows:
f i ≥[f i ]
ψ i ≤[ψ i ]
m i-min ≤m i ≤m i-max
f (m) is the dynamic characteristic of the spindle box; m is the structural mass of a certain test point of the spindle box, m 1 、m 2 、m n The structural mass m of the 1 st test point, the 2 nd test point and the nth test point of the spindle box respectively i Structural mass of the i test point of the headstock, f i Is the ith natural frequency of the spindle head, [ f i ]Is the ith lowest frequency value, psi, of the headstock i For the ith modal amplitude of headstock, [ psi i ]Maximum amplitude of ith order mode of spindle box, m i-min Is the lowest permissible value of the structural quality, m, of the ith test point of the spindle box i-max The maximum allowable value of the structural quality of the ith test point of the spindle box is obtained;
the objective function of the structural stiffness distribution is:
Max f(k)
the variable is as follows: k = (k) 1 ，k 2 ，…k n )
Constraint conditions are as follows:
f i ≥[f i ]
Ψ i ≤[Ψ i ]
k i-min ≤k i ≤k i-max
f (k) is the dynamic characteristic of the spindle box; k is the structural rigidity of a certain test point of the spindle box, k 1 、k 2 、k n Respectively the structural rigidity of the 1 st test point, the 2 nd test point and the nth test point of the spindle box, ki is the structural rigidity of the ith test point of the spindle box, f i Is the ith natural frequency of the spindle head, [ f i ]Is the ith lowest frequency value, psi, of the headstock i For the ith modal amplitude of headstock, [ psi i ]Is the maximum amplitude, k, of the ith order mode of the spindle head i-min Is the lowest allowable value, k, of the structural rigidity of the ith test point of the spindle box i-max The highest allowable value of the structural rigidity of the ith test point of the spindle box.
And 5, in the LMS _ Testlab software, calculating a reasonable optimization value of the structural mass of each test point through the objective function of the structural mass of each test point, and calculating a reasonable optimization value of the structural rigidity of each test point through the objective function of the structural rigidity of each test point.
And 6, comparing the change values of modal frequency and amplitude of each order before and after the spindle box is optimized through the structural mass optimization value, and comparing the change values of modal frequency and amplitude of each order before and after the spindle box is optimized through the structural rigidity value.
In this embodiment, the changes of modal frequency and amplitude before and after the optimization of the structural mass of the spindle head of a five-axis machine tool are shown in table 1 below.
TABLE 1
As can be seen from the table 1, the front 3-order modal amplitude of a spindle box of a five-axis machine tool is reduced while the frequency is improved, the first-order modal frequency is improved by 60Hz, 7.4% and 23% of amplitude is reduced, and the dynamic characteristic of the whole machine is greatly improved.
In this embodiment, the changes of modal frequency and amplitude before and after the optimization of structural rigidity of a spindle head of a five-axis machine tool are shown in table 2 below.
TABLE 2
As can be seen from Table 2, the modal amplitude of the front 3 orders of the spindle box is reduced while the frequency is improved, the first order modal frequency is improved by 60Hz, improved by 7%, the amplitude is reduced by 60%, and the dynamic characteristic of the whole machine is greatly improved.
Step 7, performing mode confidence criterion MAC verification by using the mode frequency of each order of the whole main spindle box after the structural quality of each test point of the main spindle box is optimized, performing mode confidence criterion MAC verification by using the mode frequency of each order of the whole main spindle box after the structural rigidity of each test point of the main spindle box is optimized, 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:
φ r and phi s Are respectively the r-th order and s-th order vibration mode vectors phi of the machine tool large-piece structure r T ，φ s T Are respectively phi r 、φ s The transposing of (1).
FIG. 2 is a verification result diagram of the mode confidence criterion MAC verification after the structure quality of a spindle box of a five-axis machine tool is optimized.
As shown in fig. 2, in this embodiment, the first 3-order modal frequency after the structure quality of the spindle box of a certain five-axis machine tool is optimized 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.
FIG. 3 is a verification result diagram of the structural rigidity of a spindle box of a five-axis machine tool after being optimized and verified through a modal confidence criterion MAC.
As shown in fig. 3, in this embodiment, the first 3-order modal frequency after the structural rigidity of the spindle box of a certain five-axis machine tool is optimized 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 method for optimizing the dynamic characteristics of the large part structure of the machine tool, provided by the invention, can optimize the structural mass and structural rigidity of the main spindle box of the five-axis machine tool, can also optimize the structural mass and structural rigidity of any large part of any other type of machine tool, and has the advantages of wide application range, high efficiency and strong reliability.
Effects and effects of the embodiments
According to the method for optimizing the dynamic characteristics of the machine tool large part structure, analysis is performed on the basis of experimental data, the structural quality weak link and the structural rigidity weak link of each test point of the machine tool large part structure are determined through the mass sensitivity calculation formula and the rigidity sensitivity calculation formula respectively, then the objective function is used for purposefully optimizing the structural quality and the structural rigidity, and finally whether the optimized structural quality result and the change values of each order modal frequency and amplitude of the structural rigidity result meet the optimization requirements or not is determined respectively, so that the correct reliability of the optimized values of the structural quality and the structural rigidity of the machine tool large part is ensured. The method provided by the embodiment can efficiently, reliably and completely optimize the mass and the rigidity of each large part of the machine tool.
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 method for optimizing the dynamic characteristics of a massive structure of a machine tool, for optimizing the mass and rigidity of said massive structure of said machine tool, characterized in that it comprises the following steps:
step 1, acquiring acceleration data on each test point on the large piece structure;
step 2, constructing a simplified model of the large structure, and acquiring modal frequency data and mode matrix data of each order of the large structure;
step 3, combining the modal frequency data and the mode shape matrix data of each order of the large-piece structure, respectively determining the mass weak point and the rigidity weak point of the large-piece structure through a mass sensitivity formula and a rigidity sensitivity formula,
the mass sensitivity formula is:
the stiffness sensitivity formula is:
ω r for the r-th order natural frequency of said bulk structureRate; phi is a ir And phi jr Respectively are the vibration mode vectors m of the test point i and the test point j in the r order natural frequency of the large element structure ij Is the structural mass, k, between the test point i and the test point j of the large piece structure ij The structural rigidity between the large piece structural test point i and the test point j is obtained;
step 4, determining an objective function of structural mass distribution and an objective function of structural rigidity distribution on each test point,
the objective function of the structural mass distribution is:
Max f(m)
variables are as follows: m = (m) 1 ，m 2 ，…m n )
Constraint conditions are as follows:
f i ≥[f i ]
ψ i ≤[ψ i ]
m i-min ≤m i ≤m i-max
f (m) is the large piece structure dynamic characteristic; m is the structural mass of a certain test point of the large piece structure, m 1 、m 2 、m n The structure quality of the 1 st test point, the 2 nd test point and the nth test point of the large-piece structure, m i Is the structural mass, f, of the ith test point of the massive structure i Is the ith order natural frequency, [ f ] of the bulk structure i ]Is the ith lowest frequency value, psi, of said large structure i For the ith order modal amplitude, [ psi ] of said bulk structure i ]Is the maximum amplitude of the ith order mode of the large-piece structure, m i-min Is the lowest allowable value of the structure quality of the ith test point of the large-piece structure, m i-max The maximum allowable value of the structure quality of the ith test point of the large piece structure is obtained;
step 5, calculating a reasonable optimized value of the structural mass of each test point through the objective function of the structural mass of each test point, and calculating a reasonable optimized value of the structural rigidity of each test point through the objective function of the structural rigidity of each test point;
comparing the change values of modal frequency and amplitude of each order before and after the optimization of the large piece structure through a structural mass optimization value, and comparing the change values of modal frequency and amplitude of each order before and after the optimization of the large piece structure through a structural rigidity value; and
and 7, performing modal confidence criterion MAC verification by using the modal frequency of each order of the whole large-piece structure after the structural quality of each test point of the large-piece structure is optimized, performing modal confidence criterion MAC verification by using the modal frequency of each order of the whole large-piece structure after the structural rigidity of each test point of the large-piece structure is optimized, and repeating the step 6 until the MAC verification obtains an ideal result if the verification result is not ideal.
2. A method for optimizing the dynamics of a machine tool macrostructure according to claim 1, characterized in that:
wherein, the step 1 comprises the following substeps:
step 1-1, selecting a plurality of key sites of the large piece structure 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 large-piece structure by adopting a force hammer, and collecting acceleration data on each test point.
3. A method for optimizing the dynamics of a machine tool macrostructure according to claim 2, characterized in that:
the key points refer to typical points capable of establishing a test model of the large structure, and comprise points on corners of the large structure and other vibration sensitive points on the large structure.
4. A method for optimizing the dynamics of a machine tool macrostructure according to claim 2, characterized in that:
and when the vibration pickup point is selected, avoiding the selected vibration pickup point from being on the test point.
5. A method for optimizing the dynamics of a machine tool macrostructure according to claim 2, characterized in that:
when the heavy structure is hammered by a hammer, a one-point excitation multi-point response mode is adopted to avoid continuous knocking.
6. A method for optimizing the dynamics of a machine tool macrostructure according to claim 1, characterized in that:
in the step 2, when constructing the simplified model of the large structure, the following is embodied:
(1) deleting all fine structure characteristics of the large structure, and only keeping a model structure consisting of lines and surfaces;
(2) and representing the test points by the intersection points of the lines in the large structure, wherein the structural mass of the large structure is averagely distributed on the test points according to a mass matrix, and the structural rigidity of the large structure is averagely distributed on the test points according to a rigidity matrix.
7. A method for optimizing the dynamics of a machine tool macrostructure according to claim 1, characterized in that:
in step 4, the objective function of the structural stiffness distribution is:
Max f(k)
the variable is as follows: k = (k) 1 ，k 2 ，...k n )
Constraint conditions are as follows:
f i ≥[f i ]
Ψ i ≤[Ψ i ]
k i-min ≤k i ≤k i-max
f (k) is the bulk structure dynamic property; k is the structural rigidity of a certain test point of the large-piece structure, k 1 、k 2 、k n The structural rigidity k of the 1 st test point, the 2 nd test point and the nth test point of the large-piece structure respectively i Is the structural rigidity, f, of the ith test point of the massive structure i Is the ith order natural frequency of the bulk structure，[f i ]Is the ith lowest frequency value, psi, of said large structure i For the ith order modal amplitude, [ psi ] of said bulk structure i ]Is the maximum amplitude, k, of the ith order mode of the bulk structure i-min Is the lowest allowable value, k, of the structural rigidity of the ith test point of the large piece structure i-max The highest allowable value of the structural rigidity of the ith test point of the large piece structure.
8. A method for optimizing the dynamics of a machine tool macrostructure according to claim 1, characterized in that:
wherein, the formula of the MAC verification is as follows:
φ r and phi s Respectively an r-th order vibration mode vector and an s-th order vibration mode vector phi of the machine tool large-piece structure r T ，φ s T Are respectively phi r 、φ s The transposing of (1).
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