CN111618381A - Processing method and device for synchronous error and machine tool machining equipment - Google Patents

Processing method and device for synchronous error and machine tool machining equipment Download PDF

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Publication number
CN111618381A
CN111618381A CN202010542459.XA CN202010542459A CN111618381A CN 111618381 A CN111618381 A CN 111618381A CN 202010542459 A CN202010542459 A CN 202010542459A CN 111618381 A CN111618381 A CN 111618381A
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shaft
feed
value
time constant
parameter
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曹鹏
石璇
成飞
周繁荣
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Siemens Ltd China
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Siemens Ltd China
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23G—THREAD CUTTING; WORKING OF SCREWS, BOLT HEADS, OR NUTS, IN CONJUNCTION THEREWITH
    • B23G1/00—Thread cutting; Automatic machines specially designed therefor
    • B23G1/16—Thread cutting; Automatic machines specially designed therefor in holes of workpieces by taps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23G—THREAD CUTTING; WORKING OF SCREWS, BOLT HEADS, OR NUTS, IN CONJUNCTION THEREWITH
    • B23G1/00—Thread cutting; Automatic machines specially designed therefor
    • B23G1/44—Equipment or accessories specially designed for machines or devices for thread cutting
    • 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

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  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)

Abstract

The invention provides a processing method and a device of synchronous errors and machine tool processing equipment, wherein the method is applied to the tapping process of a machine tool and comprises the following steps: acquiring a following error of a main shaft of the machine tool and a following error of a feed shaft of the machine tool; determining a synchronous error between the main shaft and the feed shaft according to the following error of the main shaft and the following error of the feed shaft; judging whether the synchronous error is larger than a preset value or not, and if so, determining a first parameter influencing the position loop gain of the main shaft and the feed shaft; adjusting a first parameter that affects a position loop gain of the spindle and the feed shaft. The invention provides a method and a device for processing a synchronization error and machine tool processing equipment, which can automatically process the synchronization error.

Description

Processing method and device for synchronous error and machine tool machining equipment
Technical Field
The invention relates to the technical field of numerical control, in particular to a method and a device for processing a synchronous error and machine tool processing equipment.
Background
The threads may be obtained by a tapping process. In the tapping process of the machine tool, a screw tap is fixed on a main shaft of the machine tool, the main shaft can drive the screw tap to rotate, a feed shaft of the machine tool can control relative movement between a workpiece to be machined and the screw tap, and the main shaft is matched with the feed shaft, so that the screw tap is drilled into the workpiece, and threads are machined in the workpiece. In the tapping process, the main shaft and the feed shaft need to be ensured to be synchronous, and if the synchronous error between the main shaft and the feed shaft is large, the thread pitch of the processed thread cannot meet the requirement. Therefore, it is necessary to deal with the synchronization error between the spindle and the feed shaft before the tapping process.
In the prior art, a user needs to manually detect a synchronization error between a main shaft and a feed shaft, and when the synchronization error does not meet requirements, relevant parameters of a machine tool need to be manually adjusted so that the synchronization error meets requirements.
As can be seen from the above description, in the prior art, the synchronization error needs to be handled manually.
Disclosure of Invention
The embodiment of the invention provides a method and a device for processing a synchronization error and machine tool processing equipment, which can automatically process the synchronization error.
In a first aspect, an embodiment of the present invention provides a method for processing a synchronization error, which is applied to a tapping process of a machine tool, and the method includes:
acquiring a following error of a main shaft of the machine tool and a following error of a feed shaft of the machine tool;
determining a synchronous error between the main shaft and the feed shaft according to the following error of the main shaft and the following error of the feed shaft;
judging whether the synchronization error is larger than a preset value or not, if so,
determining a first parameter that affects a position loop gain of the spindle and the feed shaft;
adjusting a first parameter that affects a position loop gain of the spindle and the feed shaft.
In one possible implementation, the determining a synchronization error between the main shaft and the feed shaft includes:
converting the following error of the main shaft into a middle error according to a first formula, wherein the first formula is as follows:
Figure BDA0002539465100000021
determining the synchronization error according to equation two, wherein equation two is:
e＝||E3|-|E2||；
wherein E is1For following errors of the spindle, E2For the intermediate error, L is the pitch of the thread to be processed in the tapping process, E3Is the following error of the feed shaft, and e is the synchronization error.
In one possible implementation, the first parameter includes: limiting shaft impact;
then said adjusting a first parameter that affects the position loop gain of said main shaft and said feed shaft comprises: assigning a value of the shaft impact limit of the feed shaft to the shaft impact limit of the main shaft.
In one possible implementation, the first parameter includes: the time constant of the shaft impact filter;
then said adjusting a first parameter that affects the position loop gain of said main shaft and said feed shaft comprises: assigning a value of a time constant of the shaft impact filter of the feed shaft to a time constant of the shaft impact filter of the main shaft.
In one possible implementation, the first parameter includes: a filter type of shaft impact limitation;
then said adjusting a first parameter that affects the position loop gain of said main shaft and said feed shaft comprises: assigning a value of the filter type of the shaft impact limit for the feed shaft to the filter type of the shaft impact limit for the main shaft.
In one possible implementation, the first parameter includes: a single axis setpoint phase filter;
then said adjusting a first parameter that affects the position loop gain of said main shaft and said feed shaft comprises: assigning a value of the single-axis setpoint phase filter of the feed axis to the single-axis setpoint phase filter of the main axis.
In one possible implementation, the first parameter includes: the time constant of the single axis setpoint phase filter;
then said adjusting a first parameter that affects the position loop gain of said main shaft and said feed shaft comprises: assigning a value of a time constant of the single-axis setpoint phase filter of the feed axis to a time constant of the single-axis setpoint phase filter of the main axis.
In one possible implementation, the first parameter includes: adjusting dynamic response;
then said adjusting a first parameter that affects the position loop gain of said main shaft and said feed shaft comprises: assigning a value of the dynamic response adjustment of the feed shaft to the dynamic response adjustment of the spindle.
In one possible implementation, the first parameter includes: a time constant for dynamic response adjustment;
then said adjusting a first parameter that affects the position loop gain of said main shaft and said feed shaft comprises: assigning a value of the time constant of the dynamic response adjustment of the spindle to the time constant of the dynamic response adjustment of the feed shaft.
In one possible implementation, the first parameter includes: a position loop gain;
the adjusting a first parameter that affects a position loop gain of the spindle and the feed shaft includes: determining a minimum value of the setting value of the position loop gain of the main shaft and the setting value of the position loop gain of the feed shaft, and setting both the setting value of the position loop gain of the main shaft and the setting value of the position loop gain of the feed shaft to the minimum value.
In a possible implementation manner, when the control type of the feed shaft is a rotational speed feed-forward control, the first parameter includes: the type of feedforward control and the equivalent time constant of the speed loop used for the feedforward control;
the adjusting a first parameter that affects a position loop gain of the spindle and the feed shaft includes:
setting the type of the feedforward control of the main shaft as rotating speed feedforward control;
and assigning the value of the rotating speed loop equivalent time constant for feedforward control of the main shaft to the rotating speed loop equivalent time constant for feedforward control of the feed shaft.
In a possible implementation manner, when the control type of the feed shaft is a torque feed-forward control, the first parameter includes: the type of feedforward control and the current loop equivalent time constant used for feedforward control;
the adjusting a first parameter that affects a position loop gain of the spindle and the feed shaft includes:
setting the type of feedforward control of the main shaft as torque feedforward control;
and assigning the value of the current loop equivalent time constant for feedforward control of the feed shaft to the current loop equivalent time constant for feedforward control of the feed shaft.
In a possible implementation manner, when the control type of the feeding shaft is the feed-forward-free control, the first parameter includes: the type of feedforward control;
the adjusting a first parameter that affects a position loop gain of the spindle and the feed shaft includes:
setting the type of feedforward control of the main shaft to be feedforward-free control.
In a second aspect, an embodiment of the present invention provides a device for processing a synchronization error, which is applied to a tapping process of a machine tool, and includes:
the acquisition module is used for acquiring the following error of a main shaft of the machine tool and the following error of a feed shaft of the machine tool;
the determining module is used for determining a synchronous error between the main shaft and the feeding shaft according to the following error of the main shaft and the following error of the feeding shaft;
and the adjusting module is used for judging whether the synchronous error is larger than a preset value, if so, determining a first parameter influencing the position loop gain of the main shaft and the feeding shaft, and adjusting the first parameter influencing the position loop gain of the main shaft and the feeding shaft.
In one possible implementation manner, the determining module includes: a conversion unit and a determination unit;
the conversion unit is configured to convert the following error of the spindle into an intermediate error according to a first equation:
Figure BDA0002539465100000041
the determining unit is configured to determine the synchronization error according to equation two, where equation two is:
e＝||E3|-|E2||；
wherein E is1For following errors of the spindle, E2For the intermediate error, L is the pitch of the thread to be processed in the tapping process, E3Is the following error of the feed shaft, and e is the synchronization error.
In one possible implementation, the first parameter includes: limiting shaft impact;
the adjusting module is used for assigning the value of the shaft impact limit of the feeding shaft to the shaft impact limit of the main shaft.
In one possible implementation, the first parameter includes: the time constant of the shaft impact filter;
the adjusting module is used for assigning the value of the time constant of the shaft impact filter of the feeding shaft to the time constant of the shaft impact filter of the main shaft.
In one possible implementation, the first parameter includes: a filter type of shaft impact limitation;
the adjusting module is used for assigning the value of the filter type of the shaft impact limitation of the feeding shaft to the filter type of the shaft impact limitation of the main shaft.
In one possible implementation, the first parameter includes: a single axis setpoint phase filter;
and the adjusting module is used for assigning the value of the single-shaft set value phase filter of the feeding shaft to the single-shaft set value phase filter of the main shaft.
In one possible implementation, the first parameter includes: the time constant of the single axis setpoint phase filter;
the adjusting module is used for assigning the value of the time constant of the single-shaft set value phase filter of the feeding shaft to the time constant of the single-shaft set value phase filter of the main shaft.
In one possible implementation, the first parameter includes: adjusting dynamic response;
the adjustment module is configured to assign a value of the dynamic response adjustment of the feed shaft to the dynamic response adjustment of the spindle.
In one possible implementation, the first parameter includes: a time constant for dynamic response adjustment;
the adjusting module is used for assigning the value of the time constant of the dynamic response adjustment of the main shaft to the time constant of the dynamic response adjustment of the feed shaft.
In one possible implementation, the first parameter includes: a position loop gain;
the adjusting module is configured to determine a minimum value of the setting value of the position loop gain of the spindle and the setting value of the position loop gain of the feed shaft, and set both the setting value of the position loop gain of the spindle and the setting value of the position loop gain of the feed shaft to the minimum value.
In a possible implementation manner, when the control type of the feed shaft is a rotational speed feed-forward control, the first parameter includes: the type of feedforward control and the equivalent time constant of the speed loop used for the feedforward control;
the adjusting module is used for setting the type of feedforward control of the main shaft as rotating speed feedforward control, and assigning the value of the rotating speed loop equivalent time constant for feedforward control of the main shaft to the rotating speed loop equivalent time constant for feedforward control of the feed shaft.
In a possible implementation manner, when the control type of the feed shaft is a torque feed-forward control, the first parameter includes: the type of feedforward control and the current loop equivalent time constant used for feedforward control;
the adjusting module is used for setting the type of the feedforward control of the main shaft as torque feedforward control, and assigning the value of the current loop equivalent time constant for the feedforward control of the main shaft to the current loop equivalent time constant for the feedforward control of the feed shaft.
In a possible implementation manner, when the control type of the feeding shaft is the feed-forward-free control, the first parameter includes: the type of feedforward control;
the adjusting module is used for setting the type of the feedforward control of the main shaft to be the feedforward-free control.
In a third aspect, an embodiment of the present invention provides machine tool processing apparatus, including: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor is configured to invoke the machine-readable program to perform the method of any of the first aspects.
In a fourth aspect, embodiments of the present invention provide a computer-readable medium having stored thereon computer instructions, which, when executed by a processor, cause the processor to perform the method of any of the first aspects.
In the embodiment of the invention, the following error of the main shaft and the following error of the feed shaft are automatically obtained, and the synchronous error between the main shaft and the feed shaft is automatically determined based on the following error of the main shaft and the following error of the feed shaft. When the position loop gains of the main shaft and the feeding shaft are relatively close, the tracking errors of the main shaft and the feeding shaft are also relatively close, so that the synchronization error is smaller, and in order to enable the synchronization error to meet the requirement, only the first parameter influencing the position loop gains of the main shaft and the feeding shaft needs to be adjusted. And under the condition that the synchronization error is larger than the preset value, automatically determining a first parameter influencing the position loop gain of the main shaft and the feed shaft, and automatically adjusting the first parameter so that the adjusted synchronization error is not larger than the preset value. As can be seen from the above description, the scheme provided by the embodiment of the present invention can automatically process synchronization errors.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a method for processing a synchronization error according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for processing synchronization errors according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a device for processing synchronization errors according to an embodiment of the present invention;
fig. 4 is a schematic diagram of another synchronization error processing apparatus according to an embodiment of the present invention.
List of reference numerals:
101: obtaining following error of main shaft of machine tool and following error of feed shaft of machine tool
102: determining synchronization error between a spindle and a feed shaft
103: judging whether the synchronization error is larger than a preset value
104: determining the gain of the position loop affecting the spindle and feed axes if the synchronisation error is greater than a predetermined value
First parameter, execute 105
105: adjusting a first parameter affecting a position loop gain of a spindle and a feed shaft
201: obtaining following error of main shaft of machine tool and following error of feed shaft of machine tool
202: determining the synchronous error between the main shaft and the feed shaft according to the following errors of the main shaft and the feed shaft
203: judging whether the synchronization error is larger than the value of the error variable, if so, executing 204, otherwise, executing 206
204: assigns the synchronization error to an error variable, and executes step 205
205: judging whether the value of the error variable is larger than a preset value, if so, executing 208, otherwise, executing 206
206: i is equal to i +1, judging whether i is equal to the preset number, if so, executing 207, otherwise, returning to 201
207: saving a first parameter affecting the position loop gain of the spindle and feed shaft
208: determining a first parameter affecting the position loop gain of the spindle and feed axes, performing step 209
209: a portion of the first parameters is adjusted, and step 210 is executed
210: judging whether the feed shaft is in torque feed-forward control, if so, executing 211, otherwise, executing 212
211: adjusting the current loop equivalent time constant for feed forward control, go to step 214
212: judging whether the feed shaft is in the rotating speed feed-forward control, if so, executing 213, otherwise, executing 214
213: adjusting the equivalent time constant of the speed loop for feedforward control, go to step 214
214: set i to 0, return to step 201
301: the obtaining module 302: the determination module 303: adjusting module
3021: the conversion unit 3022: determining unit
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
The threads may be obtained by a tapping process. In the tapping process of the machine tool, a screw tap is fixed on a main shaft of the machine tool, the main shaft can drive the screw tap to rotate, a feed shaft of the machine tool can control relative movement between a workpiece to be machined and the screw tap, and the main shaft is matched with the feed shaft, so that the screw tap is drilled into the workpiece, and threads are machined in the workpiece. In the tapping process, the synchronization of the main shaft and the feed shaft needs to be ensured, and if the synchronization error between the main shaft and the feed shaft is large, the machined thread is out of tolerance or the screw tap is broken. Wherein, the out-of-tolerance means that the external dimension of the product exceeds the tolerance range specified by the product standard. Therefore, the synchronization error between the main spindle and the feed shaft needs to be dealt with before the tapping process so that the synchronization error meets the requirements. The handling of synchronization errors in the prior art is thus effected manually. In the prior art, the user needs to have a very comprehensive understanding of the numerical control system controlling the machine tool and adjust the synchronization error with reference to the relevant documents and by incorporating his own experience.
Through the above description, in the prior art, the synchronization error is mainly processed manually, and in order to be able to automatically process the synchronization error, as shown in fig. 1, an embodiment of the present invention provides a method for processing a synchronization error, which is applied to a tapping process of a machine tool, and the method includes:
step 101: acquiring a following error of a main shaft of the machine tool and a following error of a feed shaft of the machine tool;
step 102: determining a synchronous error between the main shaft and the feed shaft according to the following error of the main shaft and the following error of the feed shaft;
step 103: judging whether the synchronization error is larger than a preset value;
step 104: if the synchronous error is larger than a preset value, determining a first parameter influencing the position loop gain of the main shaft and the feed shaft, and executing a step 105;
step 105: adjusting a first parameter that affects a position loop gain of the spindle and the feed shaft.
In the embodiment of the invention, the following error of the main shaft and the following error of the feed shaft are automatically obtained, and the synchronous error between the main shaft and the feed shaft is automatically determined based on the following error of the main shaft and the following error of the feed shaft. When the position loop gains of the main shaft and the feeding shaft are relatively close, the tracking errors of the main shaft and the feeding shaft are also relatively close, so that the synchronization error is smaller, and in order to enable the synchronization error to meet the requirement, only the first parameter influencing the position loop gains of the main shaft and the feeding shaft needs to be adjusted. And under the condition that the synchronization error is larger than the preset value, automatically determining a first parameter influencing the position loop gain of the main shaft and the feed shaft, and automatically adjusting the first parameter so that the adjusted synchronization error is not larger than the preset value. As can be seen from the above description, the scheme provided by the embodiment of the present invention can automatically process synchronization errors.
In the embodiment of the present invention, the feed axis is generally the Z axis of the machine tool, but may be the X axis or the Y axis of the machine tool.
The following error of the spindle and the following error of the feed axis can be obtained from a numerical control system for controlling the machine tool. The first parameter refers to a parameter affecting the position loop gain of the spindle and the feed axis in a numerical control system for controlling the machine tool, and the position loop gain refers to an actual value of the position loop gain.
In the embodiment of the invention, if the synchronization error is not greater than the preset value, the tapping processing can be directly carried out by using the current parameters.
In the embodiment of the present invention, the following error refers to a difference between an actual position and a target position in a motor movement process, where the actual position refers to: the motor actually moves to a position at a time point, and the target position refers to: the position to which the motor should move at this point in time.
In the embodiment of the invention, after the first parameter is adjusted, the machine tool can be operated based on the adjusted first parameter, then the synchronization error between the main shaft and the feed shaft is checked again, if the synchronization error is not greater than the preset value after the first parameter is adjusted, the adjusted first parameter is stored, tapping is performed by directly using the adjusted first parameter in the tapping process, if the synchronization error is still greater than the preset value after the first parameter is adjusted, the first parameter is adjusted again, and the process is repeated until the synchronization error is not greater than the preset value.
In addition, whether the synchronization error is greater than the preset value or not can be determined through multiple detections, for example, multiple times of obtaining the following error of the main shaft and the following error of the feed shaft, and determining the synchronization error corresponding to the following error of the main shaft and the following error of the feed shaft obtained each time, when a preset number of synchronization errors are not greater than the preset value, determining that the synchronization error meets the requirement, retaining the parameter corresponding to the synchronization error, and when one of the preset number of synchronization errors is greater than the preset value, determining that the synchronization error does not meet the requirement, and needing to adjust the first parameter. Of course, whether the synchronization error is greater than the preset value may also be determined by other means, such as: and determining whether the average value of the multiple synchronization errors is larger than a preset value, determining whether the number of the multiple synchronization errors larger than the preset value exceeds a certain number, and the like.
In the embodiment of the present invention, since the following error of the main spindle is the following error for the rotation of the main spindle, and the following error value of the feed axis is the following error for the movement of the feed axis in the feed direction, and the direct comparison between the following error and the following error results in an inaccurate result, the following error of the main spindle may be converted into the following error in the feed direction of the feed axis in step 102, which is referred to as an intermediate error. After the conversion, the intermediate error and the following error of the feeding shaft belong to the same dimension, and then the intermediate error and the following error of the feeding shaft can be directly compared, so that the determination of the synchronization error between the main shaft and the feeding shaft in step 102 is completed. In one embodiment of the present invention, the process of step 102 may be specifically accomplished by:
converting the following error of the main shaft into a middle error according to a first formula, wherein the first formula is as follows:
Figure BDA0002539465100000091
determining the synchronization error according to equation two, wherein equation two is:
e＝||E3|-|E2||；
wherein E is1For following errors of the spindle, E2For the intermediate error, L is the pitch of the thread to be processed in the tapping process, E3Is the following error of the feed shaft, and e is the synchronization error.
Of course, the following error of the feed shaft may also be converted into a following error in the direction of rotation for the main shaft, so that the two can be directly compared.
In equation two, the synchronization error is determined by the absolute value of the intermediate error and the absolute value of the following error of the feed axis. Specifically, the synchronization error is an absolute value of a difference between an absolute value of the intermediate error and an absolute value of a following error of the feed shaft.
During machining of the machine tool, the position loop gain actually generated by the spindle and the feed shaft is affected by various parameters (denoted as first parameters) of the spindle and the feed shaft. The first parameter may include: one or more of an axis bump limit, a time constant of an axis bump filter, a filter type of an axis bump limit, a single axis setpoint phase filter, a time constant of a single axis setpoint phase filter, a dynamic response adjustment, a time constant of a dynamic response adjustment, a position loop gain, a type of feedforward control, a rotational speed loop equivalent time constant for feedforward control, and a current loop equivalent time constant for feedforward control. The spindle and the feed axis of the machine tool each have a first parameter. These parameters are part of the parameters used in the numerical control system for controlling the machine tool. The adjustment procedure for each of the above parameters is as follows:
in an embodiment of the present invention, the first parameter includes: a shaft impact limit, the adjusting a first parameter affecting a position loop gain of the spindle and the feed shaft comprising: assigning a value of the shaft impact limit of the feed shaft to the shaft impact limit of the main shaft.
In an embodiment of the invention, the shaft impact limit parameter is used to enable a shaft impact limit function, such as: when the value of the shaft impact limit is 1, the shaft impact limit function is turned on, and when the value of the shaft impact limit is 0, the shaft impact limit function is not turned on. A time constant may be set for this limit, which is always valid for this time.
In an embodiment of the present invention, the first parameter includes: a time constant of a shaft strike filter, the adjusting a first parameter that affects a position loop gain of the spindle and the feed shaft comprises: assigning a value of a time constant of the shaft impact filter of the feed shaft to a time constant of the shaft impact filter of the main shaft.
In the embodiment of the invention, the parameter of the time constant of the axis impact filter can make the curve of the axis set value smoother. The impact filter is effective when the value of the time constant of the shaft impact filter is greater than one position loop period.
In an embodiment of the present invention, the first parameter includes: a filter type of shaft impact limitation, the adjusting a first parameter that affects a position loop gain of the spindle and the feed shaft comprises: assigning a value of the filter type of the shaft impact limit for the feed shaft to the filter type of the shaft impact limit for the main shaft.
In an embodiment of the invention, the filter type of the shaft impact limit is used as a parameter for determining the filter type of the shaft impact limit. Specifically, when the value of the filter type of the shaft impact restriction is 1, the filter type of the shaft impact restriction is a 2 nd order filter, when the value of the filter type of the shaft impact restriction is 2, the filter type of the shaft impact restriction is an averaging term filter, and when the value of the filter type of the shaft impact restriction is 3, the filter type of the shaft impact restriction is a band elimination filter.
In an embodiment of the present invention, the first parameter includes: a single axis set point phase filter, the adjusting a first parameter that affects a position loop gain of the spindle and the feed axis comprising: assigning a value of the single-axis setpoint phase filter of the feed axis to the single-axis setpoint phase filter of the main axis.
In the embodiment of the present invention, when the value of the uniaxial set-point phase filter is 1, the set-point phase filter is activated (delay), and when the value of the uniaxial set-point phase filter is 0, the set-point phase filter is deactivated (delay).
In an embodiment of the present invention, the first parameter includes: a single axis setting a time constant of a phase filter, the adjusting a first parameter that affects a position loop gain of the spindle and the feed axis comprising: assigning a value of a time constant of the single-axis setpoint phase filter of the feed axis to a time constant of the single-axis setpoint phase filter of the main axis.
In an embodiment of the invention, a single axis sets the time constant of the phase filter-this parameter is used to set the time constant of the phase filter (lag/delay). The phase filter may set the set point phase response of an axis independent of the magnitude response. The value of this parameter may be from 0 to some time within 64 bit control periods, such as: when the bit control period is 2 milliseconds, the time constant of the single-axis set-point phase filter has a value ranging from 0 to 128 milliseconds. If the input value is beyond the range, the numerical control system will automatically limit the input value within the range, but will not give an alarm. Due to limitations of system conditions, when certain actions are performed, such as: tapping, safety backspacing, stop-and-go or program segment switching, delays in the setpoint loop may slow or degrade the response, so that a short time constant should be set as much as possible. This parameter is valid when the single axis setting the value of the phase filter is 1.
In an embodiment of the present invention, the first parameter includes: a dynamic response adjustment, the adjusting affecting a first parameter of a position loop gain of the spindle and the feed axis comprising: assigning a value of the dynamic response adjustment of the feed shaft to the dynamic response adjustment of the spindle.
In an embodiment of the invention, the dynamic response adjustment parameter is used to configure the functionality of whether to adjust by means of a dynamic response. Specifically, when the value of the dynamic response adjustment is 1, the dynamic response adjustment is activated, and when the value of the dynamic response adjustment is 0, the dynamic response adjustment is not activated.
In the embodiment of the invention, the first parameters of the feed shaft are generally optimized by adjusting the first parameters according to the shaft impact limitation, the time constant of the shaft impact filter, the filter type of the shaft impact limitation, the uniaxial set value phase filter, the time constant of the uniaxial set value phase filter and the dynamic response, and the first parameters of the main shaft are not generally optimized.
In an embodiment of the present invention, the first parameter includes: dynamically responding to an adjusted time constant, then adjusting a first parameter that affects a position loop gain of the spindle and the feed axis comprises: assigning a value of the time constant of the dynamic response adjustment of the spindle to the time constant of the dynamic response adjustment of the feed shaft.
In embodiments of the present invention, the time constant of the dynamic response adjustment may be such that the "slowest" control loop is adjusted with interpolation between each other but different dynamic responses. The value of the time constant for dynamic response adjustment may be the difference between the equivalent time constant of the "slowest" control loop and the shaft dynamic response. This parameter takes effect when the value of the dynamic response adjustment is 1.
In general, the value of the time constant for dynamic response adjustment of the feed shaft is 0, while the value of the time constant for dynamic response adjustment of the spindle cannot be 0, and if the feed shaft is used as the standard during adjustment, the value of the time constant for dynamic response adjustment of the spindle may be 0, so that the spindle cannot normally operate.
In an embodiment of the present invention, the first parameter includes: a position loop gain, the adjusting a first parameter that affects the position loop gain of the main shaft and the feed shaft comprising: determining a minimum value of the setting value of the position loop gain of the main shaft and the setting value of the position loop gain of the feed shaft, and setting both the setting value of the position loop gain of the main shaft and the setting value of the position loop gain of the feed shaft to the minimum value.
In the embodiment of the present invention, the value of the position loop gain is a set value of the position loop gain, that is, an ideal value of the position loop gain, and the "first parameter affecting the position loop gains of the main shaft and the feed shaft" middle position loop gain refers to an actual value of the position loop gain, which are different. The value of this parameter, termed position loop gain, is generally different from the actual value of the position loop gain, because the actual value of the position loop gain is affected by many other parameters in addition to the set value of the position loop gain.
In order to avoid the damage of the mechanical part of the machine tool, the minimum value of the set value of the position loop gain of the main shaft and the set value of the position loop gain of the feed shaft is used as the standard when the position loop gain is adjusted.
The control types of the feed shaft may include rotation speed feedforward control, torque feedforward control, feedforward-less control and the like, and the first parameters that need to be adjusted for different control types are also different, and specifically, the following three implementation manners may be included:
the implementation mode is as follows:
when the control type of the feed shaft is rotating speed feedforward control, the first parameter comprises: the type of feedforward control and the equivalent time constant of the speed loop used for the feedforward control;
the adjusting a first parameter that affects a position loop gain of the spindle and the feed shaft includes:
setting the type of the feedforward control of the main shaft as rotating speed feedforward control;
and assigning the value of the rotating speed loop equivalent time constant for feedforward control of the main shaft to the rotating speed loop equivalent time constant for feedforward control of the feed shaft.
The implementation mode two is as follows:
when the control type of the feed shaft is torque feedforward control, the first parameter comprises: the type of feedforward control and the current loop equivalent time constant used for feedforward control;
the adjusting a first parameter that affects a position loop gain of the spindle and the feed shaft includes:
setting the type of feedforward control of the main shaft as torque feedforward control;
and assigning the value of the current loop equivalent time constant for feedforward control of the feed shaft to the current loop equivalent time constant for feedforward control of the feed shaft.
The implementation mode is three:
when the control type of the feed shaft is no feed forward control, the first parameter comprises: the type of feedforward control;
the adjusting a first parameter that affects a position loop gain of the spindle and the feed shaft includes:
setting the type of feedforward control of the main shaft to be feedforward-free control.
In an embodiment of the invention, the type of feedforward control this parameter is used to configure the type of control of the axis. For example: when the type of feedforward control is 0, it indicates no feedforward control, when the type of feedforward control is 1, it indicates rotational speed feedforward control, and when the type of feedforward control is 2, it indicates torque feedforward control.
In each implementation, a value of the feed-forward control type of the feed axis needs to be assigned to the feed-forward control type of the main axis, that is, the feed-forward control type of the main axis is configured to be the same as the feed-forward control type of the feed axis.
In the first implementation, when the control type is the rotation speed feedforward control, the rotation speed loop equivalent time constant for the feedforward control, which is required for implementing the rotation speed feedforward control, also needs to be adjusted. The equivalent time constant of the rotating speed loop for feedforward control can be equal to the equivalent time constant of the rotating speed closed loop, and the parameter also reflects the time characteristic of the rotating speed closed loop. The value of the parameter can be accurately determined by the step response of the measured rotational speed closed loop.
In the second embodiment, when the control type is the torque feedforward control, it is also necessary to adjust the current loop equivalent time constant for the feedforward control, which is required to realize the torque feedforward control. The value of this parameter can be accurately determined by measuring the step response of the current closed loop.
In the third implementation manner, when the control type is feedforward-free control, only the type of feedforward control of the main shaft needs to be set to be feedforward-free control.
The following describes in detail a method for processing a synchronization error according to an embodiment of the present invention, which includes the following steps:
step 201: and acquiring the following error of the main shaft of the machine tool and the following error of the feed shaft of the machine tool.
When the synchronous error is detected for the first time, a set of parameters for tapping are configured in advance in a numerical control system for controlling a machine tool to perform a tapping process, and the values of the parameters may include values configured by a user or default values. The obtained following error of the main shaft and the following error of the feed shaft are generated by the operation of the machine tool under the preset parameters.
After the first parameter is adjusted, the acquired following error of the main shaft and the following error of the feed shaft are generated by the operation of the machine tool under the adjusted parameter.
When the synchronization error is detected for the first time, a user can enter a synchronization error diagnosis interface through a hot key to trigger a subsequent synchronization error processing method.
Step 202: and determining the synchronous error between the main shaft and the feed shaft according to the following error of the main shaft and the following error of the feed shaft.
Specifically, the synchronization error may be determined according to equations one and two.
Step 203: and judging whether the synchronization error is larger than the value of the error variable, if so, executing the step 204, otherwise, executing the step 206.
The error variable is used to hold the maximum value of each synchronization error that has been determined before, and the initial value of the error variable is 0.
Step 204: the synchronization error is assigned to the error variable and step 205 is performed.
Step 205: and judging whether the value of the error variable is larger than a preset value, if so, executing a step 208, otherwise, executing a step 206.
If the value of the error variable is larger than the preset value, the synchronization error is unqualified.
For example: the preset value may be 0.02 mm.
In addition, the synchronization error can be divided into multiple levels, for example: the method can be divided into high quality, qualified and unqualified, each grade corresponds to a range, and the range corresponding to the unqualified is larger than a preset value.
And determining the range of the value of the error variable, further determining the current grade of the synchronous error, and displaying the current grade. The first parameter is adjusted only if the level of the synchronization error is not acceptable.
Step 206: and if so, executing the step 207, otherwise, returning to the step 201.
Where i has an initial value of 0.
The first parameter of each set is required to be detected for at least a preset number of times, the detection of only the preset number of times meets the requirement that the synchronization error is smaller than or equal to the preset value, and the first parameter of the set meets the requirement and can be used for the tapping machining process.
If i is not equal to the preset number, which indicates that the number of detections for the current set of first parameters is not enough, it is necessary to return to step 201 for the next detection.
Step 207: a first parameter affecting the position loop gain of the spindle and feed axes is stored.
If i is equal to the preset number, the synchronization errors meet the requirements after the detection of the preset number, the current first parameter is stored, and the stored first parameter can be used for performing the subsequent tapping process.
Step 208: a first parameter affecting the position loop gain of the spindle and feed axes is determined and step 209 is performed.
Specifically, the first parameter may include: an axis bump limit, a time constant of an axis bump filter, a filter type of an axis bump limit, a single axis setpoint phase filter, a time constant of a single axis setpoint phase filter, a dynamic response adjustment, a time constant of a dynamic response adjustment, a position loop gain, a type of feed forward control, and the like.
Step 209: assigning a value of a shaft impact limit of the feed shaft to a shaft impact limit of the main shaft, assigning a value of a time constant of a shaft impact filter of the feed shaft to a time constant of a shaft impact filter of the main shaft, assigning a value of a filter type of the shaft impact limit of the feed shaft to a filter type of the shaft impact limit of the main shaft, assigning a value of a uniaxial set value phase filter of the feed shaft to a uniaxial set value phase filter of the main shaft, assigning a value of a time constant of a uniaxial set value phase filter of the feed shaft to a time constant of a uniaxial set value phase filter of the main shaft, assigning a value of a dynamic response adjustment of the feed shaft to a dynamic response adjustment of the main shaft, assigning a value of a time constant of a dynamic response adjustment of the main shaft to a time constant of a dynamic response adjustment of the feed shaft, determining a minimum value of a set value of a position loop gain of the main shaft and a set value of a position loop gain of, the set value of the position loop gain of the main shaft and the set value of the position loop gain of the feed shaft are both set to minimum values, the value of the type of feed-forward control of the feed shaft is assigned to the type of feed-forward control of the main shaft, and step 210 is executed.
Specifically, a portion of the first parameters are adjusted, via step 209.
Step 210: and judging whether the value of the feed-forward control type of the feed shaft is torque feed-forward control, if so, executing step 211, otherwise, executing step 212.
Step 211: and assigning the value of the current loop equivalent time constant for the feed shaft for the feedforward control to the current loop equivalent time constant for the feed shaft for the feedforward control, and executing the step 214.
In the case where the value of the type of feed-forward control of the feed axis is the torque feed-forward control, the adjustment of the first parameter is completed.
Step 212: and judging whether the value of the feed-forward control type of the feed shaft is the rotating speed feed-forward control, if so, executing step 213, otherwise, executing step 214.
Step 213: and assigning the value of the equivalent time constant of the rotating speed loop of the main shaft for feedforward control to the equivalent time constant of the rotating speed loop of the feed shaft for feedforward control, and executing step 214.
In case the value of the type of feed-forward control of the feed shaft is a rotational speed feed-forward control, the adjustment of the first parameter is done.
Step 214: set i to 0 and return to step 201.
After the adjustment of the first parameter is completed, the step 201 is returned to detect the adjusted first parameter. And setting i to be 0, and avoiding that the detection is finished when the adjusted first parameter is not detected for a preset number of times.
In the embodiment of the invention, the synchronous error can be automatically detected and the first parameter can be automatically adjusted, debugging personnel do not need to manually process the synchronous error, the capability threshold of the debugging personnel is reduced, the debugging personnel do not need to know how to edit the test program, monitor which variables, how to convert and compare, check which parameters, how to modify and the like, the efficiency of detecting the synchronous error and adjusting the first parameter is improved, the debugging process of the tapping synchronous function is greatly simplified, and the stability in the tapping processing process is improved.
As shown in fig. 3, an embodiment of the present invention provides a synchronization error processing apparatus, which is applied to a tapping process of a machine tool, and includes:
an obtaining module 301, configured to obtain a following error of a main shaft of the machine tool and a following error of a feed shaft of the machine tool;
a determining module 302, configured to determine a synchronization error between the spindle and the feed axis according to the following error of the spindle and the following error of the feed axis;
an adjusting module 303, configured to determine whether the synchronization error is greater than a preset value, if so, determine a first parameter that affects position loop gains of the spindle and the feed shaft, and adjust the first parameter that affects the position loop gains of the spindle and the feed shaft.
As shown in fig. 4, in an embodiment of the present invention, the determining module 302 includes: a conversion unit 3021 and a determination unit 3022;
the conversion unit 3021 is configured to convert the following error of the spindle into an intermediate error according to a first equation:
Figure BDA0002539465100000171
the determining unit 3022 is configured to determine the synchronization error according to equation two, where equation two is:
e＝||E3|-|E2||；
wherein E is1For following errors of the spindle, E2For the intermediate error, L is the pitch of the thread to be processed in the tapping process, E3Is the following error of the feed shaft, and e is the synchronization error.
In an embodiment of the present invention, the first parameter includes: limiting shaft impact;
the adjusting module 303 is configured to assign a value of the shaft impact limit of the feed shaft to the shaft impact limit of the main shaft.
In an embodiment of the present invention, the first parameter includes: the time constant of the shaft impact filter;
the adjusting module 303 is configured to assign a value of a time constant of the shaft impact filter of the feeding shaft to a time constant of the shaft impact filter of the main shaft.
In an embodiment of the present invention, the first parameter includes: a filter type of shaft impact limitation;
the adjusting module 303 is configured to assign a value of the filter type of the shaft impact limit of the feed shaft to the filter type of the shaft impact limit of the main shaft.
In an embodiment of the present invention, the first parameter includes: a single axis setpoint phase filter;
the adjusting module 303 is configured to assign a value of the single-axis set-point phase filter of the feeding axis to the single-axis set-point phase filter of the main axis.
In an embodiment of the present invention, the first parameter includes: the time constant of the single axis setpoint phase filter;
the adjusting module 303 is configured to assign a value of a time constant of the single-axis set-point phase filter of the feed axis to a time constant of the single-axis set-point phase filter of the main axis.
In an embodiment of the present invention, the first parameter includes: adjusting dynamic response;
the adjusting module 303 is configured to assign a value of the dynamic response adjustment of the feed shaft to the dynamic response adjustment of the main shaft.
In an embodiment of the present invention, the first parameter includes: a time constant for dynamic response adjustment;
the adjusting module 303 is configured to assign a value of the time constant of the dynamic response adjustment of the main shaft to the time constant of the dynamic response adjustment of the feed shaft.
In an embodiment of the present invention, the first parameter includes: a position loop gain;
the adjusting module 303 is configured to determine a minimum value of the setting value of the position loop gain of the spindle and the setting value of the position loop gain of the feed shaft, and set both the setting value of the position loop gain of the spindle and the setting value of the position loop gain of the feed shaft to the minimum value.
In an embodiment of the present invention, when the control type of the feed shaft is a rotational speed feedforward control, the first parameter includes: the type of feedforward control and the equivalent time constant of the speed loop used for the feedforward control;
the adjusting module 303 is configured to set the type of feedforward control of the main shaft as rotational speed feedforward control, and assign a value of the rotational speed loop equivalent time constant for feedforward control of the main shaft to the rotational speed loop equivalent time constant for feedforward control of the feed shaft.
In an embodiment of the present invention, when the control type of the feed shaft is a torque feedforward control, the first parameter includes: the type of feedforward control and the current loop equivalent time constant used for feedforward control;
the adjusting module 303 is configured to set the type of feedforward control of the main shaft as torque feedforward control, and assign a value of the current loop equivalent time constant of the main shaft for feedforward control to the current loop equivalent time constant of the feed shaft for feedforward control.
In an embodiment of the present invention, when the control type of the feeding shaft is the feed-forward-free control, the first parameter includes: the type of feedforward control;
the adjusting module 303 is configured to set the type of the feedforward control of the spindle to be feedforward-free control.
An embodiment of the present invention provides a machine tool processing apparatus, including: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor is configured to invoke the machine readable program to execute the method for processing the synchronization error according to any one of the embodiments of the present invention.
An embodiment of the present invention provides a computer-readable medium, where computer instructions are stored on the computer-readable medium, and when the computer instructions are executed by a processor, the processor is caused to execute any one of the methods for processing a synchronization error according to the embodiments of the present invention.
It is to be understood that the illustrated structure of the embodiment of the present invention does not constitute a specific limitation to the synchronization error processing device. In other embodiments of the invention the processing means of the synchronization errors may comprise more or fewer components than shown, or some components may be combined, some components may be split, or a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
Because the information interaction, execution process, and other contents between the units in the device are based on the same concept as the method embodiment of the present invention, specific contents may refer to the description in the method embodiment of the present invention, and are not described herein again.
The present invention also provides a computer readable medium storing instructions for causing a computer to perform a method of processing a synchronization error as described herein. Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the above-described embodiments are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.
In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.
Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.
Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.
Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion unit connected to the computer, and then causes a CPU or the like mounted on the expansion board or the expansion unit to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the above-described embodiments.
It should be noted that not all steps and modules in the above flows and system structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The system structures described in the above embodiments may be physical structures or logical structures, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by at least two physical entities, or some components in at least two independent devices may be implemented together.
In the above embodiments, the hardware unit may be implemented mechanically or electrically. For example, a hardware element may comprise permanently dedicated circuitry or logic (such as a dedicated processor, FPGA or ASIC) to perform the corresponding operations. The hardware elements may also comprise programmable logic or circuitry, such as a general purpose processor or other programmable processor, that may be temporarily configured by software to perform the corresponding operations. The specific implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
While the invention has been shown and described in detail in the drawings and in the preferred embodiments, it is not intended to limit the invention to the embodiments disclosed, but rather, it will be apparent to those skilled in the art that many more embodiments of the invention are possible that combine code auditing means in different embodiments described above, and such embodiments are within the scope of the invention.

Claims (14)

1. The processing method of the synchronous error is characterized by being applied to a tapping process of a machine tool, and comprises the following steps:
acquiring a following error of a main shaft of the machine tool and a following error of a feed shaft of the machine tool;
determining a synchronous error between the main shaft and the feed shaft according to the following error of the main shaft and the following error of the feed shaft;
judging whether the synchronization error is larger than a preset value or not, if so,
determining a first parameter that affects a position loop gain of the spindle and the feed shaft;
adjusting a first parameter that affects a position loop gain of the spindle and the feed shaft.
2. The method of claim 1,
the determining a synchronization error between the spindle and the feed shaft includes:
converting the following error of the main shaft into a middle error according to a first formula, wherein the first formula is as follows:
Figure FDA0002539465090000011
determining the synchronization error according to equation two, wherein equation two is:
e＝||E3|-|E2||；
wherein E is1For following errors of the spindle, E2For the intermediate error, L is the pitch of the thread to be processed in the tapping process, E3Is the following error of the feed shaft, and e is the synchronization error.
3. The method of claim 1,
the first parameter includes: limiting shaft impact;
then said adjusting a first parameter that affects the position loop gain of said main shaft and said feed shaft comprises: assigning a value of the shaft impact limit of the feed shaft to the shaft impact limit of the main shaft;
and/or the presence of a gas in the gas,
the first parameter includes: the time constant of the shaft impact filter;
then said adjusting a first parameter that affects the position loop gain of said main shaft and said feed shaft comprises: assigning a value of a time constant of the shaft impact filter of the feed shaft to a time constant of the shaft impact filter of the main shaft;
and/or the presence of a gas in the gas,
the first parameter includes: a filter type of shaft impact limitation;
then said adjusting a first parameter that affects the position loop gain of said main shaft and said feed shaft comprises: assigning a value of the filter type of the shaft impact limit for the feed shaft to the filter type of the shaft impact limit for the main shaft;
and/or the presence of a gas in the gas,
the first parameter includes: a single axis setpoint phase filter;
then said adjusting a first parameter that affects the position loop gain of said main shaft and said feed shaft comprises: assigning a value of the single-axis setpoint phase filter of the feed axis to the single-axis setpoint phase filter of the main axis;
and/or the presence of a gas in the gas,
the first parameter includes: the time constant of the single axis setpoint phase filter;
then said adjusting a first parameter that affects the position loop gain of said main shaft and said feed shaft comprises: assigning a value of a time constant of the single-axis setpoint phase filter of the feed axis to a time constant of the single-axis setpoint phase filter of the main axis;
and/or the presence of a gas in the gas,
the first parameter includes: adjusting dynamic response;
then said adjusting a first parameter that affects the position loop gain of said main shaft and said feed shaft comprises: assigning a value of the dynamic response adjustment of the feed shaft to the dynamic response adjustment of the spindle;
and/or the presence of a gas in the gas,
the first parameter includes: a time constant for dynamic response adjustment;
then said adjusting a first parameter that affects the position loop gain of said main shaft and said feed shaft comprises: assigning a value of the dynamic response adjusted time constant of the spindle to the dynamic response adjusted time constant of the feed shaft;
and/or the presence of a gas in the gas,
the first parameter includes: a position loop gain;
the adjusting a first parameter that affects a position loop gain of the spindle and the feed shaft includes: determining a minimum value of the setting value of the position loop gain of the main shaft and the setting value of the position loop gain of the feed shaft, and setting both the setting value of the position loop gain of the main shaft and the setting value of the position loop gain of the feed shaft to the minimum value.
4. The method according to claim 1 or 2,
when the control type of the feed shaft is rotating speed feedforward control, the first parameter comprises: the type of feedforward control and the equivalent time constant of the speed loop used for the feedforward control;
the adjusting a first parameter that affects a position loop gain of the spindle and the feed shaft includes:
setting the type of the feedforward control of the main shaft as rotating speed feedforward control;
and assigning the value of the rotating speed loop equivalent time constant for feedforward control of the main shaft to the rotating speed loop equivalent time constant for feedforward control of the feed shaft.
5. The method according to claim 1 or 2,
when the control type of the feed shaft is torque feedforward control, the first parameter comprises: the type of feedforward control and the current loop equivalent time constant used for feedforward control;
the adjusting a first parameter that affects a position loop gain of the spindle and the feed shaft includes:
setting the type of feedforward control of the main shaft as torque feedforward control;
and assigning the value of the current loop equivalent time constant for feedforward control of the feed shaft to the current loop equivalent time constant for feedforward control of the feed shaft.
6. The method according to claim 1 or 2,
when the control type of the feed shaft is no feed forward control, the first parameter comprises: the type of feedforward control;
the adjusting a first parameter that affects a position loop gain of the spindle and the feed shaft includes:
setting the type of feedforward control of the main shaft to be feedforward-free control.
7. Processing apparatus of synchronous error, characterized by, be applied to the tapping course of processing of lathe, the device includes:
an acquisition module (301) for acquiring a following error of a main shaft of the machine tool and a following error of a feed shaft of the machine tool;
a determination module (302) for determining a synchronization error between the spindle and the feed axis according to the following error of the spindle and the following error of the feed axis;
and the adjusting module (303) is used for judging whether the synchronous error is larger than a preset value, if so, determining a first parameter influencing the position loop gain of the main shaft and the feed shaft, and adjusting the first parameter influencing the position loop gain of the main shaft and the feed shaft.
8. The apparatus of claim 7,
the determination module (302) comprising: a conversion unit (3021) and a determination unit (3022);
the conversion unit (3021) is configured to convert the following error of the spindle into an intermediate error according to a first equation:
Figure FDA0002539465090000041
the determination unit (3022) is configured to determine the synchronization error according to equation two, where equation two is:
e＝||E3|-|E2||；
wherein E is1For following errors of the spindle, E2For the intermediate error, L is the pitch of the thread to be processed in the tapping process, E3Is the following error of the feed shaft, and e is the synchronization error.
9. The apparatus of claim 7,
the first parameter includes: limiting shaft impact;
the adjustment module (303) is configured to assign a value of the shaft impact limit of the feed shaft to the shaft impact limit of the main shaft;
and/or the presence of a gas in the gas,
the first parameter includes: the time constant of the shaft impact filter;
the adjusting module (303) is used for assigning the value of the time constant of the shaft impact filter of the feeding shaft to the time constant of the shaft impact filter of the main shaft;
and/or the presence of a gas in the gas,
the first parameter includes: a filter type of shaft impact limitation;
the adjusting module (303) is configured to assign a value of the filter type of the shaft impact limit of the feed shaft to the filter type of the shaft impact limit of the main shaft;
and/or the presence of a gas in the gas,
the first parameter includes: a single axis setpoint phase filter;
the adjustment module (303) is configured to assign a value of the single-axis setpoint phase filter of the feed axis to the single-axis setpoint phase filter of the main axis;
and/or the presence of a gas in the gas,
the first parameter includes: the time constant of the single axis setpoint phase filter;
the adjusting module (303) is used for assigning the value of the time constant of the single-shaft set value phase filter of the feeding shaft to the time constant of the single-shaft set value phase filter of the main shaft;
and/or the presence of a gas in the gas,
the first parameter includes: adjusting dynamic response;
the adjustment module (303) is configured to assign a value of the dynamic response adjustment of the feed shaft to the dynamic response adjustment of the main shaft;
and/or the presence of a gas in the gas,
the first parameter includes: a time constant for dynamic response adjustment;
-said adjustment module (303) for assigning a value of said dynamic response adjusted time constant of said spindle to said dynamic response adjusted time constant of said feed shaft;
and/or the presence of a gas in the gas,
the first parameter includes: a position loop gain;
the adjusting module (303) is configured to determine a minimum value of the setting value of the position loop gain of the spindle and the setting value of the position loop gain of the feed shaft, and set both the setting value of the position loop gain of the spindle and the setting value of the position loop gain of the feed shaft to the minimum value.
10. The apparatus according to claim 7 or 8,
when the control type of the feed shaft is rotating speed feedforward control, the first parameter comprises: the type of feedforward control and the equivalent time constant of the speed loop used for the feedforward control;
the adjusting module (303) is configured to set a type of feedforward control of the main shaft as rotational speed feedforward control, and assign a value of the rotational speed loop equivalent time constant for feedforward control of the main shaft to the rotational speed loop equivalent time constant for feedforward control of the feed shaft.
11. The apparatus according to claim 7 or 8,
when the control type of the feed shaft is torque feedforward control, the first parameter comprises: the type of feedforward control and the current loop equivalent time constant used for feedforward control;
the adjusting module (303) is configured to set a type of feedforward control of the main shaft as a torque feedforward control, and assign a value of the current loop equivalent time constant for feedforward control of the main shaft to the current loop equivalent time constant for feedforward control of the feed shaft.
12. The apparatus according to claim 7 or 8,
when the control type of the feed shaft is no feed forward control, the first parameter comprises: the type of feedforward control;
the adjusting module (303) is used for setting the type of the feedforward control of the main shaft to be the feedforward-free control.
13. Machine tool machining apparatus, characterized in that it comprises: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor, configured to invoke the machine readable program, to perform the method of any of claims 1-6.
14. Computer readable medium, characterized in that it has stored thereon computer instructions which, when executed by a processor, cause the processor to carry out the method of any one of claims 1-6.
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