CN112433509A - Shutdown anti-shake control method and system for numerical control machine tool - Google Patents
Shutdown anti-shake control method and system for numerical control machine tool Download PDFInfo
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- 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
- G05B19/416—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 characterised by control of velocity, acceleration or deceleration
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention relates to the field of machining control, in particular to a shutdown anti-shake control method and a shutdown anti-shake control system for a numerical control machine tool. The method comprises the following steps: s1, collecting and acquiring a data set for judging the dynamic stability of the machine tool; s2, clustering the data set by adopting a rapid search and density peak algorithm to obtain a clustering center; s3, continuously collecting data, and judging the dynamic stability state of the numerical control machine tool by adopting an extension neural network algorithm; s4, determining whether a braking measure needs to be taken or not according to the judgment result of the dynamic stability in the previous step; s5, continuously acquiring the running speed of the spindle of the numerical control machine tool; s6, determining a braking strategy; and S7, executing the braking strategy of the step S6 until the movement speed of the main shaft of the numerical control machine tool is 0. The invention also comprises a system for realizing the method. The method and the system enable the machine tool to be stopped safely, stably and quickly, so that vibration and damage of the machine tool are avoided.
Description
Technical Field
The invention relates to the field of machining control, in particular to a shutdown anti-shake control method and system for a numerical control machine tool.
Background
The numerical control machine tool is a high-end precision machining device, well solves the problem of machining of complex, precise, small-batch and various parts, is a flexible and high-efficiency automatic machine tool, represents the development direction of modern machine tool control technology, and is a typical mechanical and electrical integration product. Wherein, the inclined lathe bed digit control machine tool is a high accuracy, efficient automatic machine tool. The multi-station tool turret or the power tool turret is equipped, the machine tool has wide technological performance, can process complex workpieces such as linear cylinders, oblique line cylinders, circular arcs and various threads, grooves, worms and the like, has various compensation functions of linear interpolation and circular arc interpolation, and plays a good economic effect in the batch production of complex parts.
However, like most machine tools, when the machine tool is stopped after the inclined body numerical control machine tool finishes machining, the motion control of the machine tool is a very important link, and although the conventional way of closing the servo mechanism can realize emergency stop, the machine tool may shake violently, so that the performance of the machine tool is affected, and even the machining precision of the machine tool is affected. Therefore, how to adopt proper intervention measures according to the dynamic stability of the machine tool when the operation is finished enables the machine tool to be safely, stably and quickly stopped, so that the vibration and the damage of the machine tool are avoided, and the technical problem to be solved by technical staff is urgently needed. But there is no good solution in the prior art.
Disclosure of Invention
In order to solve the problems of stopping vibration and damage of the numerical control machine tool in the prior art, the method and the system for controlling the numerical control machine tool to stop and prevent shaking can judge the dynamic stability state of the machine tool according to parameters when the machine tool finishes running, finish stopping braking in a targeted manner and solve the problems in the prior art.
The invention is realized by adopting the following technical scheme:
a shutdown anti-shake control method of a numerical control machine tool comprises the following steps:
s1, collecting a rolling error delta alpha x, a pitch error delta beta x and a yaw error delta gamma x of x-axis translation of the numerical control machine tool, and collecting a rolling error delta alpha z, a pitch error delta beta z and a yaw error delta gamma z of z-axis translation of the numerical control machine tool; obtaining a data set for judging the dynamic stability of the machine tool;
s2, clustering the data set by adopting a rapid search and density peak algorithm to obtain a clustering center in a dynamic stability state;
s3, continuously collecting a real-time machine tool dynamic stability data set, and judging the dynamic stability state of the numerical control machine tool by adopting an extension neural network algorithm;
s4, determining whether a braking measure needs to be taken or not according to the judgment result of the dynamic stability in the previous step; wherein the content of the first and second substances,
(1) when the dynamic stability is within the acceptable limit, no measure is taken for braking, so that the numerical control machine is naturally stopped;
(2) when the dynamic stability is in an unacceptable limit, taking a braking measure to perform jitter intervention;
s5, continuously acquiring the running speed of the spindle of the numerical control machine tool;
s6, presetting the number of periods when the running speed of the main shaft is decelerated to 0, calculating the speed control quantity in a single period, and acquiring the driving acceleration Acc1 and the braking acceleration Acc2 in the period, wherein the calculation method of the driving acceleration Acc1 is as follows:
(1) when T is less than or equal to F, Acc1 is Tx (v/(T.F)),
(2) when F is less than T and less than or equal to T and F, Acc1 is V/T,
(3) when T > T + F, Acc2 ═ (T- (T + F)) (V/(T · F));
the calculation method of the braking acceleration Acc2 is as follows:
(1) when t is less than or equal to F, V-Acc2 t,
(2) when F is less than T and less than or equal to T + F, V-Acc 2T-Acc 1 (T-F),
(3) when T > T + F, V-Acc2 · T-Acc1 · (T-F) -Acc2 · (T-F-T);
wherein V is an initial speed, T is a deceleration time, F is a filtering time, T is a deceleration moment, and V is a decelerated running speed;
and S7, executing the braking strategy of the step S6 until the movement speed of the main shaft of the numerical control machine tool is 0.
Further, in step S2, the clustering method proceeds as follows:
the data set is
Data point xiAnd data point yiThe distance between is expressed as:
dij＝dist(xi,xj)，
the local density of the data points is calculated using the following formula:
wherein the function χ (x) is:
ρidenotes those in S with xiIs less than the cut-off distance dcA point of (a);
when x isiWhen the local density of (a) is maximum, there are:
θi＝maxj(dij)，
wherein, thetaiDenotes the data point in S and xiThe maximum distance of (d);
otherwise, if xiIs not the maximum, there are:
wherein, thetaiDenotes the ratio x in SiLocal dense data points of (2) and (x)iA minimum distance of;
using rho for each point in the data setiAnd thetaiIs expressed by piAnd thetaiAnd drawing a decision graph as a horizontal coordinate and a vertical coordinate, and determining the category center of the stable state by the decision graph.
Further, the dynamic stability identification method in step S3 includes the following processes:
(1) reading data points collected in real time
Xt＝{xt1,xt2,...,xtn}，
(2) Using the formula
Calculating the distance between the acquired data point and the category center;
(3) if it satisfies
The data point belongs to that category;
(4) and sequentially finishing the identification of all the collected data points, judging that the dynamic stability of the machine tool is in an acceptable limit when at least more than 5 data points in the data set belong to the category, and otherwise judging that the dynamic stability of the machine tool is in an unacceptable limit.
Further, the number of cycles for decelerating the operation speed to 0 preset in step S6 is not less than 1000, and the duration of a single cycle is greater than 0.1S.
Further, each error collected in step S1 is an error corresponding to each precision index of the numerical control machine tool after the device completes the processing process.
Further, in the control process, the running speed of the spindle of the numerical control machine tool is separately controlled.
The invention also provides a shutdown anti-shake control system of the numerical control machine, which adopts the control method to control the shutdown shake of the numerical control machine, and the system comprises:
the data acquisition module is used for acquiring a rolling error delta alpha x, a pitch error delta beta x and a yaw error delta gamma x of x-axis translation of the numerical control machine tool, a rolling error delta alpha y, a pitch error delta beta y and a yaw error delta gamma y of y-axis translation, a rolling error delta alpha z, a pitch error delta beta z and a yaw error delta gamma z of z-axis translation; and the running speed v of the numerical control machine;
the processing module comprises a first sub-module and a second sub-module, wherein the first sub-module is used for completing the clustering process of the machine tool dynamic stability data set; the second submodule is used for finishing the process of identifying and judging the dynamic stability of the machine tool, and the third submodule is used for finishing the process of calculating the braking acceleration and the driving acceleration in the braking process;
the execution module is used for executing a corresponding brake control strategy;
the data acquisition module is electrically connected with the processing module, and the processing module is electrically connected with the execution module.
The shutdown anti-shake control method of the numerical control machine tool provided by the invention has the following beneficial effects:
the invention analyzes the dynamic stability state of the numerical control machine tool through a neural network algorithm based on the rolling error, the pitch error and the deflection error delta in the X axis and the Y axis of the machine tool, takes the stability state as a criterion for intervening in the braking process after the numerical control machine tool is stopped, performs braking intervention only under the condition that the dynamic stability of the numerical control machine tool is judged to be poor, and otherwise allows the numerical control machine tool to be naturally stopped. In this method, a specific strategy is also designed for the braking intervention process.
The method can not only finish parking braking in a targeted manner, but also solve the problem of large amplitude jitter generated in the shutdown process of the numerical control machine tool in the prior art; and moreover, blind operation is not performed, intervention is performed only under the condition of need, the influence on the normal shutdown process of the machine tool is reduced, and unnecessary damage to the performance of the numerical control machine tool is avoided.
Drawings
Fig. 1 is a flowchart of a shutdown anti-shake control method of a numerically controlled machine tool according to this embodiment 1;
fig. 2 is a block diagram of a shutdown anti-shake control system of a numerically controlled machine tool according to this embodiment 2;
labeled as: 001. a data acquisition module; 002. a processing module; 003. an execution module; 021. a first sub-module; 022. a second sub-module; 023. and a third sub-module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
As shown in fig. 1, the present embodiment provides a shutdown anti-shake control method for a numerically-controlled machine tool, which includes the following steps:
a shutdown anti-shake control method of a numerical control machine tool comprises the following steps:
s1, collecting a rolling error delta alpha x, a pitch error delta beta x and a yaw error delta gamma x of x-axis translation of the numerical control machine tool, and collecting a rolling error delta alpha z, a pitch error delta beta z and a yaw error delta gamma z of z-axis translation of the numerical control machine tool; obtaining a data set for judging the dynamic stability of the machine tool;
s2, clustering the data set by adopting a rapid search and density peak algorithm to obtain a clustering center in a dynamic stability state; the clustering method comprises the following processes:
the data set is
Data point xiAnd data point yiThe distance between is expressed as:
dij＝dist(xi,xj)，
the local density of the data points is calculated using the following formula:
wherein the function χ (x) is:
ρidenotes those in S with xiIs less than the cut-off distance dcA point of (a);
when x isiWhen the local density of (a) is maximum, there are:
θi＝maxj(dij)，
wherein, thetaiDenotes the data point in S and xiThe maximum distance of (d);
otherwise, if xiIs not the maximum, there are:
wherein, thetaiDenotes the ratio x in SiLocal dense data points of (2) and (x)iA minimum distance of;
using rho for each point in the data setiAnd thetaiIs expressed by piAnd thetaiAnd drawing a decision graph as a horizontal coordinate and a vertical coordinate, and determining the category center of the stable state by the decision graph.
S3, continuously collecting a real-time machine tool dynamic stability data set, and judging the dynamic stability state of the numerical control machine tool by adopting an extension neural network algorithm; the dynamic stability identification method comprises the following processes:
(1) reading data points collected in real time
Xt＝{xt1,xt2,...,xtn}，
(2) Using the formula
Calculating the distance between the acquired data point and the category center;
(3) if it satisfies
The data point belongs to that category;
(4) and sequentially finishing the identification of all the collected data points, judging that the dynamic stability of the machine tool is in an acceptable limit when at least more than 5 data points in the data set belong to the category, and otherwise judging that the dynamic stability of the machine tool is in an unacceptable limit.
S4, determining whether a braking measure needs to be taken or not according to the judgment result of the dynamic stability in the previous step; wherein the content of the first and second substances,
(1) when the dynamic stability is within the acceptable limit, no measure is taken for braking, so that the numerical control machine is naturally stopped;
(2) when the dynamic stability is in an unacceptable limit, taking a braking measure to perform jitter intervention;
s5, continuously acquiring the running speed of the spindle of the numerical control machine tool;
s6, presetting the number of periods when the running speed of the main shaft is decelerated to 0, calculating the speed control quantity in a single period, and acquiring the driving acceleration Acc1 and the braking acceleration Acc2 in the period, wherein the calculation method of the driving acceleration Acc1 is as follows:
(1) when T is less than or equal to F, Acc1 is Tx (v/(T.F)),
(2) when F is less than T and less than or equal to T and F, Acc1 is V/T,
(3) when T > T + F, Acc2 ═ (T- (T + F)) (V/(T · F));
the calculation method of the braking acceleration Acc2 is as follows:
(1) when t is less than or equal to F, V-Acc2 t,
(2) when F is less than T and less than or equal to T + F, V-Acc 2T-Acc 1 (T-F),
(3) when T > T + F, V-Acc2 · T-Acc1 · (T-F) -Acc2 · (T-F-T);
wherein V is an initial speed, T is a deceleration time, F is a filtering time, T is a deceleration moment, and V is a decelerated running speed;
and S7, executing the braking strategy of the step S6 until the movement speed of the main shaft of the numerical control machine tool is 0.
The number of cycles for decelerating the running speed to 0 preset in step S6 is not less than 1000, and the duration of a single cycle is greater than 0.1S.
The errors collected in step S1 are errors corresponding to precision indexes of the numerical control machine after the device completes the processing procedure.
In the control process, the running speed of the main shaft of the numerical control machine tool is separately controlled.
Example 2
As shown in fig. 2, the present embodiment provides a shutdown anti-shake control system for a numerically controlled machine tool, which adopts the control method as in embodiment 1 to control shutdown shake of the numerically controlled machine tool, and the system includes:
the data acquisition module 001 is used for acquiring a rolling error delta alpha x, a pitch error delta beta x and a yaw error delta gamma x of x-axis translation of the numerical control machine tool, a rolling error delta alpha y, a pitch error delta beta y and a yaw error delta gamma y of y-axis translation, a rolling error delta alpha z, a pitch error delta beta z and a yaw error delta gamma z of z-axis translation; and the running speed v of the numerical control machine;
a processing module 002, which includes a first sub-module 021, for completing a clustering process of the machine tool dynamic stability data set; a second submodule 022 for performing a process of identifying and determining the dynamic stability of the machine tool, and a third submodule 023 for performing a process of calculating the braking acceleration and the driving acceleration during the braking process;
an execution module 003 for executing a corresponding braking control strategy;
the data acquisition module 001 is electrically connected with the processing module 002, and the processing module 002 is electrically connected with the execution module 003.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A shutdown anti-shake control method of a numerical control machine tool is characterized by comprising the following steps:
s1, collecting a rolling error delta alpha x, a pitch error delta beta x and a yaw error delta gamma x of x-axis translation of the numerical control machine tool, and collecting a rolling error delta alpha z, a pitch error delta beta z and a yaw error delta gamma z of z-axis translation of the numerical control machine tool; obtaining a data set for judging the dynamic stability of the machine tool;
s2, clustering the data set by adopting a rapid search and density peak algorithm to obtain a clustering center in a dynamic stability state;
s3, continuously collecting a real-time machine tool dynamic stability data set, and judging the dynamic stability state of the numerical control machine tool by adopting an extension neural network algorithm;
s4, determining whether a braking measure needs to be taken or not according to the judgment result of the dynamic stability in the previous step; wherein the content of the first and second substances,
(1) when the dynamic stability is within the acceptable limit, no measure is taken for braking, so that the numerical control machine is naturally stopped;
(2) when the dynamic stability is in an unacceptable limit, taking a braking measure to perform jitter intervention;
s5, continuously acquiring the running speed of the spindle of the numerical control machine tool;
s6, presetting the number of periods when the running speed of the main shaft is decelerated to 0, calculating the speed control quantity in a single period, and acquiring the driving acceleration Acc1 and the braking acceleration Acc2 in the period, wherein the calculation method of the driving acceleration Acc1 is as follows:
(1) when T is less than or equal to F, Acc1 is Tx (v/(T.F)),
(2) when F is less than T and less than or equal to T and F, Acc1 is V/T,
(3) when T > T + F, Acc2 ═ (T- (T + F)) (V/(T · F));
the calculation method of the braking acceleration Acc2 is as follows:
(1) when t is less than or equal to F, V-Acc2 t,
(2) when F is less than T and less than or equal to T + F, V-Acc 2T-Acc 2 (T-F),
(3) when T > T + F, V-Acc2 · T-Acc1 · (T-F) -Acc2 · (T-F-T);
wherein V is an initial speed, T is a deceleration time, F is a filtering time, T is a deceleration moment, and V is a decelerated running speed;
and S7, executing the braking strategy of the step S6 until the movement speed of the main shaft of the numerical control machine tool is 0.
2. The machine halt anti-shake control method of the numerically controlled machine tool according to claim 1, wherein: in step S2, the clustering method includes the following steps:
the data set is
Data point xiAnd data point yiThe distance between is expressed as:
dij＝dist(xi,xj)，
the local density of the data points is calculated using the following formula:
wherein the function χ (x) is:
ρidenotes those in S with xiIs less than the cut-off distance dcA point of (a);
when x isiWhen the local density of (a) is maximum, there are:
θi＝maxj(dij)，
wherein, thetaiDenotes the data point in S and xiThe maximum distance of (d);
otherwise, if xiIs not the maximum, there are:
wherein, thetaiDenotes the ratio x in SiLocal dense data points of (2) and (x)iA minimum distance of;
using rho for each point in the data setiAnd thetaiIs expressed by piAnd thetaiAnd drawing a decision graph as a horizontal coordinate and a vertical coordinate, and determining the category center of the stable state by the decision graph.
3. The shutdown anti-shake control method of a numerically controlled machine tool according to claim 2, characterized in that: the truncation distance dc is 0.0015.
4. The shutdown anti-shake control method of a numerically controlled machine tool according to claim 2, characterized in that: the dynamic stability identification method in step S3 includes the following steps:
(1) reading data points collected in real time
Xt＝{xt1,xt2,...,xtn}，
(2) Using the formula
Calculating the distance between the acquired data point and the category center;
(3) if it satisfies
The data point belongs to that category;
(4) and sequentially finishing the identification of all the collected data points, judging that the dynamic stability of the machine tool is in an acceptable limit when at least more than 5 data points in the data set belong to the category, and otherwise judging that the dynamic stability of the machine tool is in an unacceptable limit.
5. The machine halt anti-shake control method of the numerically controlled machine tool according to claim 1, wherein: the number of cycles for decelerating the operation speed to 0 preset in the step S6 is not less than 1000, and the duration of a single cycle is greater than 0.1S.
6. The machine halt anti-shake control method of the numerically controlled machine tool according to claim 1, wherein: and the errors collected in the step S1 are corresponding to the precision indexes of the numerical control machine tool after the equipment finishes the processing process.
7. A shutdown anti-shake control system for a numerically controlled machine tool, wherein the control system controls shutdown shake of the numerically controlled machine tool by the control method according to any one of claims 1 to 6, and the system comprises:
the data acquisition module is used for acquiring a rolling error delta alpha x, a pitch error delta beta x and a yaw error delta gamma x of x-axis translation of the numerical control machine tool, a rolling error delta alpha y, a pitch error delta beta y and a yaw error delta gamma y of y-axis translation, a rolling error delta alpha z, a pitch error delta beta z and a yaw error delta gamma z of z-axis translation; and the running speed v of the numerical control machine;
the processing module comprises a first sub-module and a second sub-module, wherein the first sub-module is used for completing the clustering process of the machine tool dynamic stability data set; the second submodule is used for finishing the process of identifying and judging the dynamic stability of the machine tool, and the third submodule is used for finishing the process of calculating the braking acceleration and the driving acceleration in the braking process;
the execution module is used for executing a corresponding brake control strategy;
the data acquisition module is electrically connected with the processing module, and the processing module is electrically connected with the execution module.
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