CN109343476B - Position gain joint debugging method based on rigid tapping - Google Patents
Position gain joint debugging method based on rigid tapping Download PDFInfo
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- CN109343476B CN109343476B CN201811171389.0A CN201811171389A CN109343476B CN 109343476 B CN109343476 B CN 109343476B CN 201811171389 A CN201811171389 A CN 201811171389A CN 109343476 B CN109343476 B CN 109343476B
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
Abstract
The invention discloses a position gain joint debugging method based on rigid tapping, which comprises a CNC device, a tapping shaft servo driving device, a main shaft servo driving device, a feeding transmission device, a main shaft transmission device and an execution end device. The tapping shaft servo driving device drives the tap at the execution end to realize feeding motion through the feeding transmission device, and the spindle servo driving device drives the tap at the execution end to realize spindle rotation motion through the spindle transmission device. The debugging method utilizes the relation between the position lag pulse signal of the main shaft, the position lag pulse signal ratio of the tapping shaft and the thread pitch of the processing screw hole, so that the gain parameters of the positions of the main shaft and the tapping shaft are directly and rapidly debugged on the CNC device through the display device, and the high-speed and high-precision tapping is realized.
Description
Technical Field
The invention relates to a debugging device and a debugging method of a numerical control machine tool, in particular to a position gain joint debugging method based on rigid tapping.
Background
The CNC system rigid tapping of the existing numerical control machine tool is based on the following principle:
in the rigid tapping, the feed amount of the tapping shaft corresponding to 1 rotation of the main shaft must be equal to the pitch of the tapping, namely, the following conditions must be satisfied:
wherein, P: pitch of tapping (mm); f: the feed amount (mm/min) of the tapping shaft; s: the speed of the spindle (r/min).
As shown in fig. 1, which is a schematic diagram of a CNC tapping control system, it can be seen from the above principle that the CNC of the machine tool numerical control system needs to control the synchronous motion of the spindle and the tapping shaft and satisfy the condition of (1) to achieve high-speed and high-precision tapping. The system is set to send 1000 pulses every time the spindle rotates, the tapping shaft sends 1000 pulses every time the tapping shaft feeds a screw pitch P system, and the number of pulses required by each rotation of the spindle is sigma:
σ＝1000×G S (2)
the number of command pulses θ required per thread pitch P fed by the tapping shaft is:
θ＝1000×P×G Z (3)
wherein G is S For main shaft electronic gear ratio, G Z Electronic gear ratio for tapping shaft. The ratio of the command pulse theta required by each screw pitch P of the tapping shaft to the command pulse number sigma required by each spindle rotation is set as follows:
the system sends out a main shaft command pulse signal CPO S Current pulse signal POS fed back with position encoder S After comparison, the position lag pulse signal EPO is obtained S Then go through position proportional gain K VS Then pass through beta S /G S And converting the rotation speed into a corresponding spindle rotation speed S, and sending a command to a servo driver for driving the spindle. Also, the system sends out tapping axis command pulse signal CPO Z Current pulse signal POS fed back with position encoder Z After comparison, the position lag pulse signal EPO is obtained Z Then go through the position proportional gain link K VZ Then pass through beta Z /G Z And converting the feeding speed into a corresponding feeding speed F of the tapping shaft, and sending a command to a servo driver for driving the tapping shaft. From the figure it can be seen that the following formula holds:
CPO Z ＝POS Z +EPO Z (5)
CPO S ＝POS S +EPO S (6)
wherein beta is S Calculating a constant, beta, for the spindle position lag pulse Z A constant is calculated for the tapping shaft position lag pulse. When the machine tool is used for tapping, the CNC has spindle transmission deviation, tapping spindle transmission deviation, tap, material, abrasion, setting precision of proportional gain coefficient of driver position and beta S And beta Z The factors such as measurement errors and the like make the feeding motion and the main shaft motion unable to realize complete synchronous motion, so that a certain error exists in the pitch of the processed screw thread.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a position gain joint debugging device based on rigid tapping, which has high debugging efficiency and simple operation.
The invention further aims to provide a position gain joint debugging method based on rigid tapping to compensate various deviations and realize high-precision thread tapping.
The first object of the invention is achieved by the following technical scheme: the position gain joint debugging device based on rigid tapping comprises a CNC device, a tapping shaft servo driving device, a main shaft servo driving device, a feeding transmission device, a main shaft transmission device and an execution end device, wherein the tapping shaft servo driving device drives a tap of the execution end device to realize feeding movement through the feeding transmission device, and the main shaft servo driving device drives the tap of the execution end to realize main shaft rotation movement through the main shaft transmission device; the position gain joint debugging device can control and adjust the feeding speed of the tapping shaft and the feeding speed of the main shaft.
Further, the CNC device comprises a tapping shaft proportional gain controller and a spindle proportional gain controller, the tapping shaft proportional gain controller receives tapping shaft pulse instructions of the CNC device and position feedback signals of a tapping shaft servo driving device, the tapping shaft pulse instructions are output to the tapping shaft servo driving device through calculation, and the spindle proportional gain controller receives spindle pulse instructions of the CNC device and position feedback signals of the spindle servo driving device and outputs spindle pulse instructions to the spindle servo driving device through calculation.
Further, the tapping shaft servo driving device comprises a first servo driver, a first servo motor and a first position encoder, wherein the first servo driver receives a feeding speed instruction of the tapping shaft proportional gain controller and sends a current signal to drive the first servo motor to move, the first servo motor drives a tap of an executing end device to realize feeding through the feeding transmission device, and the first position encoder is used for testing a position pulse signal of the first servo motor and sending the signal to the tapping shaft proportional gain controller.
Further, the main shaft servo driving device comprises a second servo driver, a second servo motor and a second position encoder, wherein the second servo driver receives a feeding speed instruction of the main shaft proportional gain controller and sends a current signal to drive the second servo motor to move, the second servo motor drives a tap of an execution end device to realize main shaft rotation through the main shaft transmission device, and the second position encoder is used for testing a position pulse signal of the second servo motor and sending the signal to the main shaft proportional gain controller.
Preferably, the CNC device further comprises a display device which receives and displays the tapping axis proportional gain controller and the spindle proportional gain controller output data.
The second object of the invention is achieved by the following technical scheme: the position gain joint debugging method based on rigid tapping is characterized by comprising the following steps of:
step one, test operation and preliminary debugging K VZ 、K VS And record EPO Z 、EPO S Judgment formulaWhether it is true or not,
if so, finishing parameter debugging;
if not, continuing to execute the second step;
wherein EPO Z Lagging pulse signals for the position of the tapping shaft; EPO (EPO) S A pulse signal is delayed for the position of the main shaft; alpha is the ratio of the command pulse theta of one pitch P per feed of the tapping shaft to the command pulse number sigma of the spindle per rotation
Step two: when EPO Z With EPO S The relation satisfies the relationWhen keeping K VZ Invariably increase K VS Or keep K VS Invariably reduce K VZ ；
When EPO Z With EPO S The relation satisfies the relationWill maintain K VS Invariably increase K VZ Or keep K VZ Invariably reduce K VS Wherein, beta S Calculating a constant, beta, for the spindle position lag pulse Z Calculating a constant for the position lag pulse of the tapping shaft, wherein F is the feeding amount (mm/min) of the tapping shaft, S is the rotating speed of the main shaft, and K is the rotating speed of the main shaft VS For proportional gain of spindle position, K VZ The tapping shaft position proportional gain link is adopted;
step three: repeating step one and recording EPO Z With EPO S JudgingWhether or not it is:
if so, finishing parameter debugging;
if not, continuing to execute the first step and the second step until the formula is obtainedAnd if so, finishing parameter debugging.
Further, the beta in the step one Z The calculation method of (1) is as follows: the highest speed F which can be achieved when the tapping shaft is tapped is calculated H Intermediate speed F M And minimum speed F L Then, the tapping shaft servo drives are respectively given to move at the three constant speed instructions under the idle condition, and EPO is recorded ZH 、EPO ZM 、EPO ZL Beta is calculated according to the following formula ZH 、β ZM 、β ZL The method comprises the steps of carrying out a first treatment on the surface of the Then taking the average value as the final beta Z ；
Wherein EPO Z EPO for tapping shaft position lag pulse signals ZH 、EPO ZM 、EPO ZL Is a tapping shaft position lag pulse signal under three constant speeds, beta Z Calculating a constant, beta, for tapping shaft position lag pulse ZH 、β ZM 、β ZL Calculating constants for the tapping shaft position lag pulses at three constant speeds; f is the feed amount (mm/min) of the tapping shaft, G Z For tapping shaft electronic gear ratio, K VZ The tapping shaft position proportional gain link is adopted.
Further, the beta in the step one S The calculation method of (1) is as follows: the spindle servo drives are each set under no load at the highest rotational speed S H Medium rotation speed S M Minimum rotation speed S L Running, record EPO SH 、EPO SM 、EPO SL Beta is calculated according to the following formula SH 、β SM 、β SL Then taking the average value as the final beta S ；
Wherein EPO S EPO for spindle position lag pulse signal SH 、EPO SM 、EPO SL Is a main shaft position lag pulse signal under three rotating speeds, beta S Calculating a constant, beta, for the spindle position lag pulse SH 、β SM 、β SL Calculating constants S as the speed (r/min) of the spindle for the spindle position lag pulses at three speeds, G S K is the main shaft electronic gear ratio VS The gain link is the proportional gain link of the spindle position.
Preferably, the preliminary debugging K in step one VZ 、K VS Is carried out according to the following formula:
wherein K is VZ K is the proportional gain link of tapping shaft position VS Is the gain link of the spindle position proportion beta Z Calculating a constant, beta, for tapping shaft position lag pulse S A constant is calculated for the spindle position lag pulse.
Further, in the first step, K is judged VZ 、K VS The formula of parameter debugging matching is as follows:
wherein K is VZ K is the proportional gain link of tapping shaft position VS For the gain link of the spindle position proportion, ΔPOS Z For tapping the current position pulse increment of the spindle ΔPOS S EPO for pulse increment of current position of spindle Z EPO for tapping shaft position lag pulse signals S For the spindle position lag pulse signal, α is the ratio of the command pulse θ per pitch P fed to the tapping shaft to the command pulse number per spindle rotation, σ.
The invention has the beneficial effects that:
(1) The invention aims at the problems that when the machine tool is used for tapping, spindle transmission deviation, tapping spindle transmission deviation, tap, materials, abrasion, setting precision of proportional gain coefficient of driver position and beta exist in the machine tool S And beta Z The factors such as measurement error and the like enable the processed thread pitch to have a certain error, and the relation between the spindle position lag pulse signal, the tapping shaft position lag pulse signal ratio and the processed thread pitch is utilized, so that the proportional gain parameters of the spindle and the tapping shaft position can be rapidly debugged, the error of the tapping process is reduced, the tapping with high speed and high precision is realized, and the use difficulty of users is reduced.
(2) The invention can directly finish the debugging of parameters on the CNC device only through the display device, does not need to repeatedly measure the screw pitch of the machined part, is convenient and practical, is convenient to operate, and greatly improves the debugging efficiency.
Drawings
FIG. 1 is a schematic diagram of a CNC tapping control system in the background.
FIG. 2 is a block diagram of a position gain joint debugging device based on rigid tapping in the invention.
FIG. 3 is a flow chart of a position gain joint debugging method based on rigid tapping in the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings, but the embodiments of the present invention are not limited thereto.
Referring to fig. 2, the present embodiment discloses a position gain joint debugging device based on rigid tapping, which comprises a CNC device 1, a tapping shaft servo driving device 6, a spindle servo driving device 5, a feed transmission device 13, a spindle transmission device 14 and an execution end device 15. The CNC device 1 respectively sends tapping shaft feeding speed instructions and spindle speed instructions to the tapping shaft servo driving device 6 and the spindle servo driving device 5, the tapping shaft servo driving device 6 drives the tap of the execution end 15 to realize feeding movement through the feeding transmission device 13, and the spindle servo driving device 5 drives the tap of the execution end 15 to realize spindle rotation movement through the spindle transmission device 14.
Referring to fig. 2, the CNC device 1 includes a tapping axis proportional gain controller 3, a spindle proportional gain controller 4, and a display device 2. The tapping spindle proportional gain controller 3 receives a tapping spindle pulse command of the CNC device 1 and a position feedback signal of the tapping spindle servo driving device 6, and outputs a tapping spindle feed speed command to the tapping spindle servo driving device 6 through calculation. Similarly, the spindle proportional gain controller 4 receives the spindle pulse command from the CNC device 1 and the position feedback signal from the spindle servo drive 5, and outputs the spindle feed speed command to the spindle servo drive 5 by calculating and outputting the spindle feed speed command. The tapping axis proportional gain controller 3 and the spindle proportional gain controller 4 output data signals to the display device 2 for real-time display.
Referring to fig. 2, the tapping shaft servo driving device 6 includes a servo driver 7, a servo motor 8 and a position encoder 9. The servo driver 7 sends a current signal to drive the servo motor 8 to move. The servomotor 8 drives the tap of the actuating end 15 via the feed gear 13 for the feed movement. The position encoder 9 is configured to detect the position pulse signal of the servo motor 8 and send the detected position pulse signal to the tapping axis proportional gain controller 3 in the CNC device 1.
Referring to fig. 2, the spindle servo driving device 5 includes a servo driver 10, a servo motor 11 and a position encoder 12. The servo driver 10 receives the pulse signal of the spindle proportional gain controller 4 and sends a current signal to drive the servo motor 11 to move, and the servo motor 11 drives the tap of the execution end 15 to realize spindle rotation through the spindle transmission device 14. The position encoder 12 is configured to detect a position pulse signal of the servo motor 11 and send the detected signal to the spindle ratio gain controller 4 in the CNC device 1.
Referring to fig. 3, the embodiment discloses a position gain joint debugging method based on rigid tapping, which comprises the following steps:
1. calculating the highest speed F achieved when the tapping shaft is tapped H Intermediate speed F M And minimum speed F L The three constant speeds are respectively given to the tapping shaft servo driver under no loadDegree of movement, record EPO ZH 、EPO ZM 、EPO ZL According to the formulaRespectively calculating beta ZH 、β ZM 、β ZL Then taking the average value as the final beta Z ；
2. According to the same principle, the spindle servo drives are each set under no load at a maximum rotational speed S H Medium rotation speed S M Minimum rotation speed S L Running, record EPO SH 、EPO SM 、EPO SL According to the formulaRespectively calculating beta SH 、β SM 、β SL Then taking the average value as the final beta S ；
3. According to the formula relation:preliminary debug location proportional gain K VZ 、K VS ；
4. Preliminary test runs and records EPO Z 、EPO S Judgment formulaWhether or not to establish;
if so, finishing parameter debugging;
if not, continuing to execute the step 5;
5. when EPO Z With EPO S The relation satisfies the formulaWhen the screw is screwed into the screw hole with a go-no-go gauge or a standard screw, the screw pitch of the processed screw hole will show an increasing trend, and when the screw hole is inspected by screwing in the screw hole, the screw hole will show a loosening trend, and at the moment, K should be kept VZ Invariably increase K VS Or keep K VS Invariably reduce K VZ I.e. K VS ChangingFor K VS +ΔK VS (ΔK VS > 0) or K VZ Change to K VZ -ΔK VZ (ΔK VZ ＞0)；
6. When EPO Z With EPO S The relation satisfies the formulaWhen the screw is screwed into the screw hole by a go-no-go gauge or a standard screw, the screw pitch of the processed screw hole will show a decreasing trend, and when the screw hole is checked, the screw hole will show a tightening trend, and at the moment, K should be kept VS Invariably increase K VZ Or keep K VZ Invariably reduce K VS I.e. K VZ Change to K VZ +ΔK VZ (ΔK VZ > 0) or K VS Change to K VS -ΔK VS (ΔK VS ＞0)；
7. Repeat step 4 and record EPO Z With EPO S . Judgment formulaWhether or not it is:
if so, finishing parameter debugging;
if not, continuing to execute the steps 5, 6 and 7 until the formulaAnd if so, finishing parameter debugging.
Referring to fig. 3, the method of the position gain joint debugging device based on rigid tapping disclosed by the invention is realized by the following technical principles:
when the machine tool and the cutter reach ideal conditions, the tapping shaft instruction pulse position CPO is set in any infinitely short time in the rigid tapping process Z Delta is delta CPO Z Spindle command pulse position CPO S Delta is delta CPO S Tapping shaft current position POS Z Delta ΔPOS Z Spindle current position POS S Delta ΔPOS S . In the case of rigid tapping, the spindle speed and feed speed are almost constant, so EPO Z And EPO S Is almost constant. Thus, during any finite period of time during the rigid tapping process, CPO is calculated according to the equation Z ＝POS Z +EPO Z 、CPO S ＝POS S +EPO S It can be seen that
ΔPOS Z ＝ΔCPO Z -EPO Z (9)
ΔPOS S ＝ΔCPO S -EPO S (10)
Dividing by two to obtain
In order to ensure that the pitch of the machined screw hole is consistent with the predetermined pitch (in the case of ideal machine tool conditions), it is necessary to makeOtherwise, the processed screw pitch has larger error with the preset pitch, and the screw pitch has the following steps of
Both sides of the equation multiply by ΔCPO simultaneously S -EPO S The following formula of the method is obtained,
ΔCPO Z -EPO Z ＝α×(ΔCPO S -EPO S ) (13)
two sides of the equation are divided by ΔCPO S Is characterized by comprising the following formula,
and can be seen from formula (4)Simplifying the above formula to the following formula:
simplifying the above formula to the following formula:
the conclusion is drawn from formula (16): when the predetermined thread pitch processing is ensured, namely the ratio of the pulse increment of the current position is alpha, the ratio of the position lag pulse is alpha, and the two are equivalent.
From σ=1000×g S 、θ＝1000×P×G Z 、 The above formula can be expressed as:
substituted into (1)The formula can be:
as can be seen from the above equation, the position proportional gain of the tapping shaft and the position proportional gain of the spindle are in a constant proportional relationship, meaning that the position proportional gain of the spindle or the position proportional gain of the tapping shaft can be determined by determining the position proportional gain of the tapping shaft or the position proportional gain of the spindle according to the proportional relationship of equation (18) as long as the rigidity of the tapping shaft and the spindle is sufficient. After the proportional relation between the tapping shaft position proportional gain and the spindle position proportional gain is determined, qualified screw holes can be processed only under the condition that a machine tool shaft transmission system and a cutter system are normal.
Because the machine tool has spindle transmission deviation, tapping shaft transmission deviation, tap, material, abrasion, driver position proportional gain coefficient setting precision and beta Z And beta S The existence of factors such as measurement errors and the like can not realize the complete synchronous motion of the feeding motion and the main shaft motion even if the position proportional gain is configured according to the relation of the formula (18), so that a certain error exists in the thread pitch of the processed threads.
From the following componentsBy observing the EPO of the tapping shaft Z And EPO of main shaft S To judge ΔPOS Z And ΔPOS S Thereby fine tuning K VZ 、K VS Thereby achieving a predetermined rigid tapping effect.
When (when)When it is obtained by the formula (11):
ΔCPO Z -EPO Z ＝(α+Δα)ΔCPO S -(α+Δα)EPO S (19)
two sides are divided by DeltaCPO S And simplify and get
EPO Z ＝(α+Δα)EPO S -ΔαΔCPO S (20)
Two sides are divided by EPO S And simplify and get
Because of ΔPOS S From (10) it can be seen that ΔCPO is greater than 0 S ＞EPO S 。
When delta alpha is more than 0, the pitch of the processed screw hole will show an increasing trend, and when the screw hole is checked by screwing a through-stop gauge or a standard screw into the screw hole, the screw hole will show a loosening trend, and at the moment, the screw hole has the following structure:
therefore K should be increased VS Reduce K VZ ；
When delta alpha is more than 0, the pitch of the processed screw hole will show a trend of decreasing, and when the screw hole is checked by screwing a through-stop gauge or a standard screw into the screw hole, the screw hole will show a trend of tightening, and at the moment, the method comprises the following steps:
therefore K should be increased VZ Reduce K VS 。
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (1)
1. The position gain joint debugging method based on rigid tapping is characterized by comprising the following steps of:
step one, test operation and preliminary debugging K VZ 、K VS And record EPO Z 、EPO S Judgment formulaWhether it is true or not,
if so, finishing parameter debugging;
if not, continuing to execute the second step;
wherein EPO Z Lagging pulse signals for the position of the tapping shaft; EPO (EPO) S A pulse signal is delayed for the position of the main shaft; alpha is the ratio of the command pulse theta of one pitch P per feed of the tapping shaft to the command pulse number sigma of each rotation of the main shaft;
step two: when EPO Z With EPO S The relation satisfies the relationWhen keeping K VZ Invariably increase K VS Or keep K VS Invariably reduce K VZ ；
When EPO Z With EPO S The relation satisfies the relationWill maintain K VS Invariably increase K VZ Or keep K VZ Invariably reduce K VS Wherein, beta S Calculating a constant, beta, for the spindle position lag pulse Z For the position lag pulse calculation constant of the tapping shaft, F is the feeding amount of the tapping shaft and is in mm/min, S is the rotating speed of the main shaft, K VS For proportional gain of spindle position, K VZ The tapping shaft position proportional gain is obtained;
step three: repeating step one and recording EPO Z With EPO S JudgingWhether or not it is: if so, finishing parameter debugging;
if not, continuing to execute the first step and the second step until the formula is obtainedIf true, completing parameter debugging;
step one, the preliminary debugging K VZ 、K VS Is carried out according to the following formula:
wherein K is VZ For tapping axis position proportional gain, K VS For spindle position proportional gain, beta Z Calculating a constant, beta, for tapping shaft position lag pulse S Calculating a constant for the spindle position lag pulse;
in the first step, judge K VZ 、K VS The formula of parameter debugging matching is as follows:
wherein K is VZ For tapping axis position proportional gain, K VS ΔPOS, which is the spindle position proportional gain Z For tapping the current position pulse increment of the spindle ΔPOS S EPO for pulse increment of current position of spindle Z EPO for tapping shaft position lag pulse signals S For the spindle position lag pulse signal, alpha is the ratio of the command pulse theta of one pitch P fed by the tapping shaft to the command pulse number sigma of each spindle rotation;
the beta in the step one Z The calculation method of (1) is as follows: the highest speed F which can be achieved when the tapping shaft is tapped is calculated H Intermediate speed F M And minimum speed F L Then, the tapping shaft servo drives are respectively given to move at the three constant speed instructions under the idle condition, and EPO is recorded ZH 、EPO ZM 、EPO ZL Beta is calculated according to the following formula ZH 、β ZM 、β ZL The method comprises the steps of carrying out a first treatment on the surface of the Then taking the average value as the final beta Z ；
Wherein EPO Z EPO for tapping shaft position lag pulse signals ZH 、EPO ZM 、EPO ZL Is a tapping shaft position lag pulse signal under three constant speeds, beta Z Calculating a constant, beta, for tapping shaft position lag pulse ZH 、β ZM 、β ZL Calculating constants for the tapping shaft position lag pulses at three constant speeds; f is the feed of the tapping shaft and is in mm/min, G Z For tapping shaft electronic gear ratio, K VZ The tapping shaft position proportional gain is obtained;
the beta in the step one S The calculation method of (1) is as follows: the spindle servo drives are each set under no load at the highest rotational speed S H Medium rotation speed S M Minimum rotation speed S L Running, record EPO SH 、EPO SM 、EPO SL Beta is calculated according to the following formula SH 、β SM 、β SL Then taking the average value as the final beta S ；
Wherein EPO S EPO for spindle position lag pulse signal SH 、EPO SM 、EPO SL Is a main shaft position lag pulse signal under three rotating speeds, beta S Calculating a constant, beta, for the spindle position lag pulse SH 、β SM 、β SL Calculating constants for spindle position lag pulses at three rotational speeds; s is the rotation speed of the main shaft and the unit is r/min, G S K is the main shaft electronic gear ratio VS Is the spindle position proportional gain.
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