CN109277879B - Harmonic decomposition-based gear hobbing pitch error on-machine compensation method for large gear - Google Patents

Harmonic decomposition-based gear hobbing pitch error on-machine compensation method for large gear Download PDF

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CN109277879B
CN109277879B CN201810980427.0A CN201810980427A CN109277879B CN 109277879 B CN109277879 B CN 109277879B CN 201810980427 A CN201810980427 A CN 201810980427A CN 109277879 B CN109277879 B CN 109277879B
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error
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gear
pitch
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CN109277879A (en
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赫东锋
张凯
王建华
劳奇成
张君安
杨灿辉
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Xian Technological University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
    • B23Q15/08—Control or regulation of cutting velocity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness

Abstract

The invention discloses a harmonic decomposition-based gear hobbing processing pitch error on-machine compensation method for a large gear, and belongs to the technical field of gear processing error compensation of a numerical control gear hobbing machine. Firstly, on-machine measurement of tooth pitch accumulated deviation is carried out on a large gear containing machining allowance by using an on-machine measurement system of a numerical control gear hobbing machine to obtain a tooth pitch accumulated deviation curve of each tooth, then an amplitude spectrum and a phase spectrum of the tooth pitch accumulated deviation curve are obtained through discrete Fourier transform, then an error compensation quantity is obtained through the obtained amplitude spectrum and the obtained phase spectrum, finally the compensation quantity is input into the numerical control system in the form of a machining program or a compensation signal, and the instantaneous transmission ratio between a hob and a workpiece is adjusted by controlling the meshing relationship between the hob and the workpiece, so that on-machine compensation of the tooth pitch error of the gear is realized.

Description

Harmonic decomposition-based gear hobbing pitch error on-machine compensation method for large gear
Technical Field
The invention belongs to the technical field of gear machining error compensation of a numerical control gear hobbing machine, and particularly relates to an on-machine compensation method for gear hobbing pitch error of a large gear based on harmonic decomposition.
Background
The large gear is a basic part widely used in many fields such as industrial production, military, detection and the like, the requirement on the transmission performance of a large gear is higher and higher along with the development of a precision manufacturing technology, and the gear processing quality and precision determine the transmission performance of the gear. Hobbing is a common machining method for gear machining, has the advantages of high machining efficiency, high tooth profile precision, wide adaptability and the like, and is widely applied to the field of gear machining. The accumulated deviation of the gear pitch is an important index for evaluating the gear transmission performance, and is one of precision items which must be detected in the process of evaluating the geometric precision of the gear. It directly influences the accuracy of the gear pair movement and the working stability.
In order to improve the machining accuracy of the numerical control gear hobbing, a large number of researchers have made a lot of studies on improving the gear hobbing accuracy, and the gear hobbing accuracy is improved mainly from two aspects of error prevention and error compensation. The error prevention is to improve the machining precision by improving the design, manufacturing and assembling precision of machine tool parts. This approach, if feasible, can result in significant increases in manufacturing costs. Error compensation is achieved by artificially creating a new error to offset or attenuate the original error that is currently a problem, which is more economical and efficient than error prevention. Most researchers at present propose a plurality of error compensation methods, and the error compensation of the numerical control gear hobbing machine includes: thermal error compensation, geometric error compensation and drive chain error compensation of the machine tool. Among them, there are many patents for compensating geometric errors and thermal errors of a numerical control gear hobbing machine. For example, patents based on thermal error compensation of a numerical control gear hobbing machine include CN106483928, CN 10539560 and the like, such error compensation belongs to dynamic error compensation, and needs to monitor heat of a machine tool and a workpiece in a machining process in real time, and an algorithm for determining a compensation model is often complex in consideration of a comprehensive machining thermal deformation error caused by thermal deformation of the machine tool and the workpiece. Patents based on the compensation of eccentric error, run-out error and transmission error in the geometric error include CN101970164, CN103817380, CN 2485081, etc., and such error compensation mainly measures the geometric error of the numerical control gear hobbing machine tool in the machining process by means of modern signal analysis and processing means, establishes a dynamic error prediction model of the machining process according to the measured information, predicts the error in the actual machining process, and calculates the deviation of the track of formal machining, thereby performing error compensation on the corresponding links in the machining process.
The above patents all relate to the compensation of systematic errors of a gear hobbing machine tool, and the method has the problems that the machining errors are reduced and the gear machining errors are compensated by measuring various systematic errors of the gear hobbing machine tool and then reducing the errors, and the method has the following problems: because the error source needs to be monitored and measured in real time, the operation is troublesome, the cost is high, and the traditional geometric error compensation method is not suitable for the characteristics of large mass and diameter of the large gear, difficulty in repeated clamping and the like.
Disclosure of Invention
The invention aims to provide a gear hobbing pitch error on-machine compensation method for a large gear based on harmonic decomposition by taking pitch accumulated deviation of the large gear as a compensation object.
In order to achieve the purpose of the invention, the technical scheme provided by the invention is as follows: a gear hobbing processing pitch error on-machine compensation method for a large gear based on harmonic decomposition comprises the following steps:
1) utilizing a gear on-machine measuring system to measure the tooth pitch accumulated deviation of the large gear with the machining allowance to obtain the measurement data F of the tooth pitch accumulated deviationpki。
[Fpki]i＝1，2,3,…,z (1)
2) Cumulative deviation array F of tooth pitchpkAnd calculating an amplitude spectrum and a phase spectrum of the pitch accumulated deviation curve through discrete Fourier transform.
Figure BDA0001778358710000031
In the formula, AnIs the amplitude of the N-th harmonic,
Figure BDA0001778358710000032
the phase angle of the N harmonic.
3) ① amplitude A is taken out by filteringnThe amplitude greater than or equal to the threshold value T is compensated.
Ordering: a. thenMore than or equal to T is obtained: n is more than or equal to m and less than or equal to p (3)
② an error compensation function is established based on the compensated harmonic component obtained at ①
The equation is:
Figure BDA0001778358710000033
in the formula: cmpjError compensation amount for jth tooth
③ calculating compensation amount of each compensation motion according to ② error compensation function for different compensation motions;
4) and leading the obtained error compensation quantity into a numerical control system of a numerical control gear hobbing machine, controlling the meshing relation between the hob and the workpiece, and realizing the on-machine compensation of the gear hobbing processing pitch error.
In the above-mentioned step 3) - - - - ③, when the compensation movement is the rotation of the rotary table of the machine tool, the change amount C of the rotation speed of the rotary table of the machine toolPComprises the following steps:
CP＝Cmpj(5)
in the above steps 3) - - - - - ③, when the compensating motion is the rotation of the hob, the rotation speed of the hob is changed by an amount CgComprises the following steps:
Cg＝Cmpj*i12(6)
wherein: i.e. i12Is the transmission ratio.
In the above steps 3) - - - - - ③, when the compensating motion is the axial periodic motion of the hob, the axial periodic motion amount C of the hobgzComprises the following steps:
Cgz＝Cmpj*i12*P (7)
wherein P is the hob pitch, i12Is the transmission ratio.
And (4) introducing the error compensation quantity obtained in the step 4) into a numerical control system of the numerical control gear hobbing machine in the form of an error compensation signal or a generated machining compensation NC code.
Compared with the prior art, the invention has the advantages that:
1. according to the invention, the compensation amount is calculated by adopting a harmonic decomposition method through the accumulated deviation of the tooth pitch of the large gear measured by an on-machine measuring system, and the on-machine compensation of the tooth pitch error of the hobbing is realized by controlling the motion relation between the hob and the workpiece. The system error of the machine tool in the whole machining process does not need to be monitored in real time, machining parameters of hobbing can be adjusted according to the result of the measured tooth pitch accumulated deviation, and the method is simple, convenient, easy to operate and capable of saving machining cost.
2. The method provided by the invention can be operated under various numerical control systems. Preliminary tests show that after the accumulated pitch deviation compensation processing, the accumulated pitch deviation of the gear can be reduced to about 2/3 of the accumulated pitch deviation of the original gear, namely, the accumulated pitch deviation of the gear is reduced to about 1/3. By applying the method, the machining precision can be greatly improved through the analysis treatment and the machining compensation of the accumulated tooth pitch deviation, and the method has the advantages of low cost and simple and convenient operation.
3. The invention reduces the complicated error signal acquisition and processing links required by the traditional machine tool system error compensation, realizes the on-machine compensation of the gear pitch error with lower compensation cost and simple operation, and improves the processing precision of the numerical control gear hobbing machine.
Drawings
FIG. 1 is a flow chart of a gear pitch error on-machine compensation method of the present invention;
FIG. 2 is a schematic diagram of the compensation of machining errors by inserting a compensation signal into a servo system of a numerical control gear hobbing machine in embodiments 1 to 3 of the present invention;
fig. 3 is a flowchart of compensating for a machining error by using an NC machining compensation code in embodiments 4 to 6 of the present invention.
Detailed Description
The invention is further illustrated with reference to the figures and examples.
The invention relates to a gear hobbing machine pitch error on-machine compensation method based on harmonic decomposition, which is shown in figure 1, and is characterized in that the pitch accumulated deviation is a result generated by the comprehensive action of various error sources, so that the pitch error on-machine compensation needs to be carried out on measurement data of the pitch accumulated deviation, an amplitude spectrum and a phase spectrum of a pitch accumulated deviation curve are obtained by utilizing discrete Fourier transform, an error compensation model mathematical equation is constructed through the obtained amplitude spectrum and phase spectrum, an error compensation quantity is obtained according to a gear meshing principle, an error compensation signal is generated or a numerical control machining NC code is generated by utilizing a compensation computer, and the meshing relation between a hob and a workpiece of a numerical control gear hobbing machine is controlled through the two methods, so that the on-machine compensation of the pitch error of the hobbing machine is realized.
In order to realize the online compensation of the pitch error of the hobbing machine, the accumulated pitch deviation of the large gear with the machining allowance is measured online, data processing is carried out by a harmonic decomposition method, an error compensation mathematical model is introduced to solve a compensation quantity, and then the compensation machining of the numerical control hobbing machine is controlled.
The design principle is as follows: the invention takes a large gear with machining allowance as an object to measure the tooth pitch accumulated deviation on machine, carries out harmonic decomposition on the measured tooth pitch accumulated deviation through discrete Fourier transform, respectively solves the amplitude and the phase of different frequency components in the tooth pitch accumulated deviation, then solves the error compensation quantity according to the frequency components, inserts the compensation quantity into the hobbing process, and controls the meshing relation between a hob and a gear blank to realize the on-machine compensation of the tooth pitch error of the large gear.
Referring to fig. 2, the gear hobbing pitch error on-machine compensation method for the large gear based on harmonic decomposition provided by the invention adopts harmonic decomposition to calculate error compensation amount, and inserts an error compensation signal into a servo system of a numerical control system to compensate machining errors. According to the difference of inserting error signals into a servo system of the numerical control machine tool, the embodiment can be divided into a compensation mode of changing the rotating speed of a rotary worktable of the machine tool, a compensation mode of changing the rotating speed of a hob and a compensation mode of performing periodic axial movement through the hob.
Example 1: the method for compensating the gear hobbing processing pitch error by changing the rotating speed of the machine tool rotary worktable specifically comprises the following steps:
1) obtaining the accumulated deviation data F of the tooth pitch of the gear by performing on-machine measurement on the gear with the machining allowancepki
[Fpki]i＝1，2,3,…,z (1)
Thus obtaining: k cumulative tooth pitch deviation Fpk；
2) Carrying out harmonic decomposition on the data measured in the step 1) by adopting discrete Fourier transform to obtain an amplitude spectrum and a phase spectrum
Figure BDA0001778358710000061
In the formula, AnIs the amplitude of the N-th harmonic,
Figure BDA0001778358710000062
phase angle for the N harmonic;
3) solving error compensation quantity (namely the variable C of the rotating speed of the rotary worktable of the machine tool) by using a tooth pitch accumulated deviation mathematical compensation modelp) The method comprises the following steps:
① amplitude A is taken out by filteringnCompensating for amplitude greater than or equal to threshold T
Ordering: a. thenMore than or equal to T is obtained: n is more than or equal to m and less than or equal to p (3)
② an error compensation function is established based on the compensated harmonic component obtained at ①
The equation is:
Figure BDA0001778358710000071
in the formula: cmpjError compensation amount for jth tooth
③, when the compensation motion is the rotation of the rotary table, the change C of the rotary table rotation speedPComprises the following steps:
CP＝Cmpj(5)
4) the compensation computer converts the error compensation value into a pulse signal (for a servo system taking pulses as input quantity), and then the signal is added into a control signal of a servo ring of a rotary table of the numerical control gear hobbing machine to control the instantaneous rotating speed of the rotary table of the machine tool and adjust the transmission ratio between the hob and the workpiece, thereby realizing the compensation of the gear pitch error.
Example 2: the method for compensating the gear hobbing processing pitch error by changing the rotating speed of the hob specifically comprises the following steps:
1) obtaining the accumulated deviation data F of the tooth pitch of the gear by performing on-machine measurement on the gear with the machining allowancepki
[Fpki]i＝1，2,3,…,z (1)
Thus obtaining: k cumulative tooth pitch deviation Fpk；
2) Carrying out harmonic decomposition on the data measured in the step 1) by adopting discrete Fourier transform to obtain an amplitude spectrum and a phase spectrum
Figure BDA0001778358710000081
In the formula, AnIs the amplitude of the N-th harmonic,
Figure BDA0001778358710000082
phase angle for the N harmonic;
3) solving the error compensation quantity (namely the variable C of the rotating speed of the hob) by utilizing a tooth pitch accumulated deviation mathematical compensation modelg) The method comprises the following steps:
① amplitude A is taken out by filteringnCompensating for amplitude greater than or equal to threshold T
Ordering: a. thenMore than or equal to T is obtained: n is more than or equal to m and less than or equal to p (3)
② an error compensation function is established based on the compensated harmonic component obtained at ①
The equation is:
Figure BDA0001778358710000083
in the formula: cmpjError compensation amount for jth tooth
③, when the compensating motion is the rotation of the hob, the change C in the rotational speed of the hobgComprises the following steps:
Cg＝Cmpj*i12(6)
wherein: i.e. i12Is the transmission ratio.
4) The error compensation value is converted into an analog signal (a servo system taking an analog quantity as an input quantity) through a D/A converter, and then the signal is added into a control signal of a hob servo ring of the numerical control gear hobbing machine to control the instantaneous rotating speed of the hob and adjust the transmission ratio between the hob and a workpiece, so that the compensation of the tooth pitch error is realized.
Example 3: the method compensates for the gear hobbing processing pitch error through the periodical axial movement of the hob, and specifically comprises the following steps:
1) by means of a beltThe gear with machining allowance is measured on machine to obtain the accumulated deviation data F of the tooth pitch of the gearpki
[Fpki]i＝1，2,3,…,z (1)
Thus obtaining: k cumulative tooth pitch deviation Fpk；
2) Carrying out harmonic decomposition on the data measured in the step 1) by adopting discrete Fourier transform to obtain an amplitude spectrum and a phase spectrum
Figure BDA0001778358710000091
In the formula, AnIs the amplitude of the N-th harmonic,
Figure BDA0001778358710000092
phase angle for the N harmonic;
3) solving error compensation quantity (namely the axial periodic motion quantity C of the hob) by utilizing a tooth pitch accumulated deviation mathematical compensation modelgz) The method comprises the following steps:
① amplitude A is taken out by filteringnCompensating for amplitude greater than or equal to threshold T
Ordering: a. thenMore than or equal to T is obtained: n is more than or equal to m and less than or equal to p (3)
② an error compensation function is established based on the compensated harmonic component obtained at ①
The equation is:
Figure BDA0001778358710000093
in the formula: cmpjError compensation amount for jth tooth
③ when the compensating motion is axial periodical motion of hob, its amount CgzComprises the following steps:
Cgz＝Cmpj*i12*P (7)
wherein P is the hob pitch, i12Is the transmission ratio. .
4) The compensation computer converts the error compensation value into a pulse signal (for a servo system taking pulses as input quantity) or converts the error compensation value into an analog signal (for a servo system taking analog quantity as input quantity) through a D/A converter, and then the signals are added into a control signal of a servo ring of a rotary table of the numerical control gear hobbing machine, so that the hob is controlled to perform periodic motion in the axial direction, and the transmission ratio between the hob and a workpiece is adjusted, thereby realizing the compensation of the tooth pitch error.
Referring to fig. 3, the implementation method adopts the technical scheme that NC codes containing compensation quantity are input into a control system of the numerical control gear hobbing machine to control the meshing motion of the hob and the workbench, so as to realize the compensation of gear machining errors. Depending on the components that implement the compensating motion, the present embodiment can be classified into a compensating mode in which the rotational speed of the rotary table of the machine tool is changed, a compensating mode in which the rotational speed of the hob is changed, and a compensating mode in which the periodic axial motion of the hob is used.
The following step 1), step 2) and step 3) of examples 4, 5 and 6 are the same as in examples 1, 2 and 3, respectively, and briefly described, except for the step 4).
Example 4: changing the rotating speed of a rotary worktable of a machine tool to perform on-machine compensation on the gear hobbing processing pitch error, comprising the following steps:
1) by performing on-machine measurement on the gear with the machining allowance, gear pitch deviation data is obtained, namely: k cumulative tooth pitch deviation Fpk；
2) Carrying out harmonic decomposition on the data measured in the step 1) by adopting discrete Fourier transform to obtain an amplitude spectrum and a phase spectrum;
3) solving error compensation quantity (namely the variable C of the rotating speed of the rotary worktable of the machine tool) by using a tooth pitch accumulated deviation mathematical compensation modelp) The concrete formula is shown as (5);
4) writing an NC numerical control machining compensation program according to the compensation quantity, wherein the programming steps are as follows: firstly, calculating the meshing relation between a hob shaft and a workbench, discretizing a hobbing processing process, then inserting a compensation function into the hobbing discrete process, changing the instantaneous rotating speed of a rotary workbench of a machine tool according to the compensation function, generating a processing compensation NC code, and finally inputting an NC program containing the variable for controlling the rotating speed of the hob into a control system of the hobbing machine; and (5) performing compensation processing to realize compensation of the tooth pitch error of the gear.
Example 5: the hobbing cutter pitch error on-machine compensation is carried out by changing the rotating speed of the hobbing cutter, and the method specifically comprises the following steps:
1) the accumulated deviation data of the tooth pitch of the gear is obtained by performing on-machine measurement on the gear with the machining allowance, namely: k cumulative tooth pitch deviation Fpk；
2) Carrying out harmonic decomposition on the data measured in the step 1) by adopting discrete Fourier transform to obtain an amplitude spectrum and a phase spectrum;
3) solving the error compensation quantity (namely the variable C of the rotating speed of the hob) by utilizing a tooth pitch accumulated deviation mathematical compensation modelg) The concrete formula is shown as (6);
4) writing an NC numerical control machining compensation program according to the compensation quantity, wherein the programming steps are as follows: firstly, calculating the meshing relation between a hob shaft and a workbench, discretizing a hobbing processing process, then inserting a compensation function into the hobbing discrete process, changing the instantaneous rotating speed of the hob according to the compensation function, generating a processing compensation NC code, and finally inputting an NC program containing the variable for controlling the rotating speed of the hob into a control system of the hobbing machine; and (5) performing compensation processing to realize compensation of the tooth pitch error of the gear.
Example 6: the method specifically comprises the following steps of compensating the gear hobbing processing pitch error on machine through the axial periodic motion of the hob:
1) the accumulated deviation data of the tooth pitch of the gear is obtained by performing on-machine measurement on the gear with the machining allowance, namely: k cumulative tooth pitch deviation Fpk；
2) Carrying out harmonic decomposition on the data measured in the step 1) by adopting discrete Fourier transform to obtain an amplitude spectrum and a phase spectrum;
3) solving error compensation quantity (namely the axial periodic motion quantity C of the hob) by utilizing a tooth pitch accumulated deviation mathematical compensation modelgz) The concrete formula is shown as (7);
4) writing an NC numerical control machining compensation program according to the compensation quantity, wherein the programming steps are as follows: firstly, calculating the meshing relation between a hob shaft and a workbench, discretizing a hobbing processing process, then inserting a compensation function into the hobbing discrete process, enabling axial periodic motion of the hob to be changed according to the compensation function, generating a processing compensation NC code, and finally inputting an NC program containing the variable for controlling the rotating speed of the hob into a control system of the hobbing machine; and (5) performing compensation processing to realize compensation of the tooth pitch error of the gear.
The scope of the present invention is not limited to the above embodiments, and various substitutions and alterations can be made without departing from the spirit of the present invention.

Claims (5)

1. A gear hobbing processing pitch error on-machine compensation method for a large gear based on harmonic decomposition is characterized by comprising the following steps:
1) utilizing a gear on-machine measuring system to measure the tooth pitch accumulated deviation of the large gear with the machining allowance to obtain the measurement data F of the tooth pitch accumulated deviationpki；
[Fpki]i＝1，2,3,…,z (1)
2) Cumulative deviation array F of tooth pitchpkCalculating an amplitude spectrum and a phase spectrum of a tooth pitch accumulated deviation curve through discrete Fourier transform;
Figure FDA0002471129490000011
in the formula, AnIs the amplitude of the N-th harmonic,
Figure FDA0002471129490000012
phase angle for the N harmonic;
3) ① amplitude A is taken out by filteringnCompensating for the amplitude greater than or equal to the threshold T;
ordering: a. thenMore than or equal to T is obtained: n is more than or equal to m and less than or equal to p (3)
② according to the compensation harmonic component obtained by ①, the error compensation function equation is established as follows:
Figure FDA0002471129490000013
in the formula: cmpjError compensation amount for jth tooth
③ calculating compensation amount of each compensation motion according to ② error compensation function for different compensation motions;
4) and leading the obtained error compensation quantity into a numerical control system of a numerical control gear hobbing machine, controlling the meshing relation between the hob and the workpiece, and realizing the on-machine compensation of the gear hobbing processing pitch error.
2. The method for on-machine compensation of pitch error in hobbing of large gear based on harmonic decomposition as claimed in claim 1, wherein in said step 3) - - - ③, when the compensation motion is the rotation of the rotary table of the machine tool, the change C of the rotary table rotation speed is obtainedPComprises the following steps:
CP＝Cmpj(5)。
3. the method for on-machine compensation of pitch error in gear hobbing of large gear based on harmonic decomposition as claimed in claim 1, wherein in said step 3) - ③, when the compensation motion is the rotation of hob, the change C of hob rotation speed is determinedgComprises the following steps:
Cg＝Cmpj×i12(6)
wherein: i.e. i12Is the transmission ratio.
4. The on-machine compensation method for pitch error in gear hobbing of a large gear based on harmonic decomposition as claimed in claim 1, wherein in the step 3) - ③, when the compensation motion is the axial periodic motion of the hob, the axial periodic motion amount C of the hob is obtainedgzComprises the following steps:
Cgz＝Cmpj×i12×P (7)
wherein P is the hob pitch, i12Is the transmission ratio.
5. A gear hobbing pitch error on large gear based on harmonic decomposition as claimed in claim 2, 3 or 4, characterized in that the error compensation obtained in step 3) is introduced into the numerical control system of the numerical control hobbing machine in the form of error compensation signal or generating NC code for machining compensation.
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